CN109895385B

CN109895385B - Improved generation ejection of compact structure and 3D printing robot of 3D printing robot

Info

Publication number: CN109895385B
Application number: CN201910135796.4A
Authority: CN
Inventors: 林逢春
Original assignee: Quanzhou Bilin Three Dimensional Technology Co ltd
Current assignee: Quanzhou Bilin Three Dimensional Technology Co ltd
Priority date: 2019-02-25
Filing date: 2019-02-25
Publication date: 2021-08-27
Anticipated expiration: 2039-02-25
Also published as: CN109895385A

Abstract

The invention discloses an improved discharging structure of a 3D printing robot, which comprises a printing nozzle, a forming device and a conveying mechanism for conveying materials to the printing nozzle, wherein the forming device is fixedly connected to the lower end of the printing nozzle, and the discharging structure further comprises a curing device for accelerating the curing of the materials. Therefore, according to the improved discharging structure of the 3D printing robot, the curing device arranged on the discharging mechanism is used for accelerating the curing speed of materials, so that the 3D printing robot walking on the forming body can walk smoothly, and the shape of the forming body is guaranteed not to be damaged by the 3D printing robot.

Description

Improved generation ejection of compact structure and 3D printing robot of 3D printing robot

Technical Field

The invention relates to the field of 3D printing, in particular to an improved discharging structure of a 3D printing robot and the 3D printing robot.

Background

Three-dimensional printing (3D printing), one of the rapid prototyping technologies, is a technology for constructing an object by layer-by-layer printing using an adhesive material such as powdered metal or plastic based on a digital model file. An existing 3D printing robot is an extended robot disclosed in chinese patent CN106564189, which realizes layer-by-layer printing on a printed molded body by walking the 3D printing robot. Since the traveling mechanism on the rear side of the 3D printing robot needs to travel on the molded body that has just been printed out, there is a high demand for the curing rate of the molded body. The use of different printing materials requires the use of different methods for accelerating the curing, for example, heating, cooling or catalysis.

In view of the above, the applicant has made an intensive study on the above-mentioned defects in the prior art, and has made this invention.

Disclosure of Invention

The invention mainly aims to provide an improved discharging structure of a 3D printing robot and the 3D printing robot. It has the effect of accelerating the solidification from the material of ejection of compact structure printing out.

In order to achieve the above purpose, the solution of the invention is:

the utility model provides a 3D printing robot's improved generation ejection of compact structure, includes printing nozzle, forming device and is used for carrying the material for the conveying mechanism who prints the nozzle, forming device fixed connection be in printing nozzle's lower extreme, wherein, ejection of compact structure still includes the solidification equipment that is used for accelerating the material solidification.

Further, solidification equipment carries the host computer including the catalyst that sets up on 3D printing robot, be connected with the catalyst conveyer pipe on the catalyst carries the host computer, the free end of catalyst conveyer pipe is connected with the catalyst shower nozzle.

Further, the catalyst spray head comprises a first spray head arranged on the top of the printing nozzle.

Further, the catalyst spray head comprises a second spray head arranged at the top of the forming device.

Further, the catalyst spray head comprises a third spray head connected with the conveying mechanism.

Further, the curing device includes a heater/cooler disposed on the print nozzle.

Further, be provided with the storage battery on the 3D printing robot, the heater/cooler pass through the wire with the storage battery electricity is connected.

Further, the heater/cooler is disposed on top of the print nozzle.

Further, the heater/cooler is disposed at a side portion of the printing nozzle.

After the structure is adopted, the curing device arranged on the discharging mechanism accelerates the curing speed of materials, so that the 3D printing robot walking on the forming body can walk smoothly, and the shape of the forming body is guaranteed not to be damaged by the 3D printing robot.

Drawings

Fig. 1 is an internal structure diagram of a 3D printing robot.

Fig. 2 is a schematic structural view of a first head disposed on top of a printing nozzle.

Fig. 3 is a schematic view of a third head connected to the transport mechanism and a heater/cooler arranged on top of the print nozzle.

Fig. 4 is a schematic view of a heater/cooler disposed on top of the print nozzle.

Fig. 5 is a schematic view of a heater/cooler disposed at the side of the print nozzle.

Fig. 6 is a structural diagram of another view angle of the first head disposed on top of the printing nozzle.

Fig. 7 is a schematic structural diagram of a second spray head arranged at the top of the forming device and a third spray head connected with the conveying mechanism.

Fig. 8 is a schematic view of the structure of a printing nozzle and a molding device.

Fig. 9 is a schematic sectional view of the molding apparatus.

Fig. 10 to 12 are views showing the operation of the print head with the casing removed.

Fig. 13 is a working state diagram of the 3D printing robot.

Fig. 14 is a schematic structural view of the traveling mechanism.

In the figure: a printing nozzle 1 and a molding device 2; a conveying mechanism 3; the catalyst delivery main 41; a catalyst delivery pipe 42; a first shower head 43; a second spray head 44; a third shower head 45; a heater/cooler 51; a battery cell 52; a wire 53; a first molding side plate 61; a first gathering plate 611; a second profiled side plate 62; a second gathering plate 621; a first transition pilot segment 631; a second transition pilot section 632; a profiled top plate 64; a molding cavity 65; a discharge opening 66; a transverse discharge channel 661; a discharge block 662; a longitudinal discharge channel 663; the first guide mechanism 71; a second guide mechanism 72; a first driver 711; a second driver 721; a traveling mechanism 8; a transmission device 81; a track frame 82; a traveling crawler 83; a drive wheel 84; a steering lift 85; the drive host 86; a 3D printing robot 100; a molded body 200; a chassis 300.

Detailed Description

In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.

As shown in fig. 1 to 14, the discharging structure with a curing device of a 3D printing robot 100 according to the present invention includes a printing nozzle 1, a forming device 2, and a conveying mechanism 3 for conveying a material to the printing nozzle 1, wherein the forming device 2 is fixedly connected to a lower end of the printing nozzle 1, and the discharging structure further includes a curing device for accelerating curing of the material.

In this way, according to the discharging structure with the curing device of the 3D printing robot 100, the curing device arranged on the discharging mechanism accelerates the curing speed of the material, so that the 3D printing robot 100 walking on the molded body 200 can walk smoothly, and the shape of the molded body 200 is guaranteed not to be damaged by the 3D printing robot 100.

Preferably, the curing device comprises a catalyst delivery host 41 arranged on the 3D printing robot 100, the catalyst delivery host 41 is connected with a catalyst delivery pipe 42, and a free end of the catalyst delivery pipe 42 is connected with a catalyst spray head. The catalyst is stored in the catalytic host; the catalyst is transported through the catalyst transport tube 42 to the catalyst spray head, which then transports the catalyst into the material.

Preferably, the catalyst spray head includes a first spray head 43 disposed on top of the printing nozzle 1. The conveying mechanism 3 is connected to the side part of the printing nozzle 1, and the catalyst enters the material from the top of the printing nozzle 1.

Preferably, the catalyst spray head includes a second spray head 44 disposed at the top of the molding apparatus 2. Thus, the catalyst is added during the molding process and catalytically cures while molding. Is suitable for catalysts with very fast curing speed, and avoids the material curing in the printing nozzle 1.

In order to ensure the catalytic effect that a certain catalyst needs a period of time to be solidified after being added to the material, and the catalytic speed is relatively slow, it is preferable that the catalyst spray nozzle includes a third spray nozzle 45 connected to the conveying mechanism 3. Thus, the material to which the catalyst is added needs to be transported for a certain time before it reaches the printing nozzle 1, and the catalyst is solidified.

The first spray head 43, the second spray head 44 and the third spray head 45 can be respectively connected with the catalyst delivery pipe 42 to deliver different catalysts, and multiple catalysts can be used together to achieve the best curing effect.

As a second embodiment of the present invention: the curing device comprises a heater/cooler 51 arranged on the print nozzle 1. Some materials need to be heated or cooled to accelerate solidification, and through setting up heater/cooler 51 on the print nozzle 1 can accelerate solidification to the material when printing the ejection of compact, guarantees 3D printing robot 100's normal walking and avoids the moulded body 200 to be destroyed by 3D printing robot 100.

Preferably, a storage battery 52 is arranged on the 3D printing robot 100, and the heater/cooler 51 is electrically connected with the storage battery 52 through a lead 53. The battery 52 provides energy to the heater/cooler 51. Further, the heater is a heating plate; the cooler is a semiconductor refrigerating sheet.

Preferably, the heater/cooler 51 is arranged on top of the print nozzle 1. The conveying mechanism 3 is connected to the side part of the printing nozzle 1, and a heater/cooler 51 arranged at the top of the printing nozzle 1 heats/cools the material.

Preferably, the heater/cooler 51 is provided at a side of the printing nozzle 1. When the transport mechanism 3 is attached to the side of the print nozzle 1, the heater/cooler 51 is disposed on the side of the print nozzle 1 that does not have the transport mechanism 3; when the transport mechanism 3 is disposed on top of the print nozzle 1, the heater/cooler 51 is disposed on any one of the side surfaces of the print nozzle 1.

Preferably, the heater/cooler 51 is disposed on top of the molding device 2. And curing the materials in the forming process.

The catalyst spray head and the heater/cooler 51 can be arranged together under the condition of avoiding interference according to the properties of the catalyst, namely the heater/cooler 51 is arranged when the catalyst spray head is arranged, so that the material has better use effect.

As shown in fig. 8 and 9, the molding device preferably includes a first molded side plate 61, a second molded side plate 62, and a molded top plate 64. The printing nozzle 1 and the molded top plate 64 are fixedly connected to the upper ends of the first molded side plate 61 and the second molded side plate 62, and the printing nozzle 1 is positioned on the front side of the molded top plate 64; the forming top plate 64, the first forming side plate 61 and the second forming side plate 62 enclose a u-shaped forming cavity 65.

In this way, the printing nozzle 1 outputs the material required for 3D printing, and the printing nozzle advances with the advance of the 3D printing robot 100. The material is shaped by passing through the u-shaped shaping cavity 65, the first 61 and second 62 side shaping plates smooth the side walls of the shaped body 200, and the top shaping plate 64 trims the top of the shaped body 200. Compared with the prior art, the printing nozzle 1 has the advantages that the printed forming body 200 is trimmed by the arrangement of the first forming side plate 61, the second forming side plate 62 and the forming top plate 64 which are fixedly connected with the printing nozzle 1, the whole structure is compact, and an additional trimming structure is not needed.

Preferably, the distance between the first and second

side molding plates

61 and 62 is gradually reduced from front to back.

Preferably, the first and second

molding side plates

61 and 62 are disposed in parallel.

Since the material for 3D printing has a certain fluidity, the material on the molded body 200 is effectively used. Preferably, the front sides of the first and second forming

side plates

61 and 62 are formed with a first gathering plate 611 and a second gathering plate 621 which are inclined outward. In this way, as the print head advances, the material on the forming body 200 can be gathered in the forming cavity 65.

In order to smoothly convey the 3D printed material to the forming body 200 when the printing nozzle 1 outputs the 3D printed material from top to bottom, a first transition guide section 631 is preferably formed at the front side of the material nozzle. Thus, under the guiding action of the first transition guide section 631, the 3D printed material is changed from top to bottom to incline in the direction opposite to the advancing direction of the print head, and can be smoothly conveyed to the forming body 200.

In order to avoid that the included angle between the printing nozzle 1 and the forming top plate 64 affects the conveying of the 3D printed material onto the forming body 200, a second transition guide section 632 is preferably formed between the printing nozzle 1 and the forming top plate 64. The second transition guide section 632 is matched with the first transition guide section 631, so that 3D printed materials are changed from top to bottom to incline in the direction opposite to the advancing direction of the printing nozzle, and the printing process is smoother.

Preferably, a discharge opening 66 for extruding the excessive materials is formed on each of the first forming side plate 61 and the second forming side plate 62. Since the discharging amount of the printing nozzle 1 is not always completely consistent with the traveling speed of the 3D printing robot 100, in order to ensure the printing effect, the discharging amount of the material needs to be slightly increased, and the redundant material is discharged through the discharge opening 66 on the first molding side plate 61 and the second molding side plate 62.

Preferably, the discharge opening 66 comprises a transverse discharge channel 661 disposed on the first and second forming

side plates

61, 62; the discharge opening 66 further includes a discharge block 662 formed on outer sidewalls of the first and second

molding side plates

61 and 62, and a longitudinal discharge channel 663 having a bottom opening is formed in the discharge block 662, and the longitudinal discharge channel 663 communicates with the transverse discharge channel 661. Thus, the excess material is squeezed to pass through the transverse discharge channel 661, and the formed body 200 is compacted to ensure the strength after curing. Excess material is discharged to the ground through the bottom opening of longitudinal discharge channel 663. Further, the cross-sectional shape of the transverse discharge channel 661 is triangular. The side of the transverse discharging channel 661 in the forward direction is arranged vertically, and the included angle between the remaining two sides is an obtuse angle. This way excess material will enter the transverse discharge channel 661 and the surface of the shaped body 200 will be trimmed at the edges forming the obtuse angle as the print head advances.

The utility model provides a 3D printing robot 100, includes casing 300, two running gear and guiding mechanism that set up on 3D printing robot 100's casing 300 around, still including ejection of compact structure. The conveying mechanism 3 is used for conveying printing materials to the discharging structure.

Preferably, the guide mechanism includes a first guide mechanism 71 and a second guide mechanism 72 fixedly disposed at both sides of the 3D printing robot 100, and the first guide mechanism 71 and the second guide mechanism 72 are disposed at both sides of the printed molded body 200 and attached to the molded body 200.

The 3D printing robot 100 can stably travel on the molded body 200 by the clamping action of the first guide mechanism 71 and the second guide mechanism 72. When the 3D printing robot 100 travels forward to print, the first guide mechanism 71 and the second guide mechanism 72 can smooth the molded body 200 that has just been printed out, and ensure the flatness of the side wall of the molded body 200. During the use, first guiding mechanism 71 and second guiding mechanism 72 card are in the moulded body 200 both sides, can realize the printing of moulded body 200, compare with prior art, and 3D printing robot 100 operates more steadily safely, has avoided the danger that drops from the eminence for the printing process is safer.

During the use, first guiding mechanism 71 and second guiding mechanism 72 card are in the moulded body 200 both sides, can realize the printing of moulded body 200, compare with prior art, and 3D printing robot 100 operates more steadily safely, has avoided the danger that drops from the eminence for the printing process is safer.

In order to further increase the stability of the 3D printing robot 100 and avoid the first guide mechanism 71 and the second guide mechanism 72 from only adhering to the molded body 200 which is not very firm just after printing, it is preferable that the first guide mechanism 71 and the second guide mechanism 72 adhere to at least two layers of the molded body 200. In this way, the first guide mechanism 71 and the second guide mechanism 72 at least adhere to one layer of the molded body 200 printed on the 3D printing robot 100 in one cycle, and since the molded body 200 printed in the previous cycle has a long curing time and better stability, the first guide mechanism 71 and the second guide mechanism 72 can be adhered more firmly. Further, the first guide mechanism 71 and the second guide mechanism 72 are attached to the two-layer molded body 200.

Preferably, the first guide means 71 and the second guide means 72 are cylindrical guide rollers. By providing the cylindrical guide roller, the 3D printing robot 100 can freely and smoothly turn when running along a curved path. Further, the guiding device further includes a driving component for driving the first guiding mechanism 71 and the second guiding mechanism 72 to rotate, and the driving component is fixedly disposed on the housing 300 of the 3D printing robot 100. As the 3D printing robot 100 advances, the first guide mechanism 71 and the second guide mechanism 72 rotate under the driving of the driving assembly. The formed body 200 which is just printed is smoothed through the active rotation of the first guide mechanism 71 and the second guide mechanism 72, and the forming effect is further ensured.

Preferably, the driving assembly includes a first driver 711 and a second driver 721, and the first driver 711 and the second driver 721 are disposed on the housing 300 of the 3D printing robot 100 and respectively drive the first guide mechanism 71 and the second guide mechanism 72 to rotate. By providing the first driver 711 and the second driver 721 on the first guide mechanism 71 and the second guide mechanism 72, respectively, the structure of the driving assembly is greatly simplified. The entirety of the 3D printing robot 100 is made more compact.

The travelling mechanism 8 comprises a driving host 86, a transmission device 81, a crawler support 82 and a travelling crawler 83; the track support 82 is provided with a driving wheel 84 for driving the walking track 83; the driving main machine 86 is fixedly connected to the housing 300 of the 3D printing robot 100, the track support 82 and the walking track 83 are disposed below the driving main machine 86, and the transmission device 81 is connected to the driving main machine 86 and the driving wheel 84, respectively.

As shown in fig. 7, the traveling mechanism 8 further includes a steering lifting device 85 for lifting and rotating the track frame 82, the steering lifting device 85 is disposed on the driving main machine 86, and a free end of the steering lifting device 85 is fixedly connected to the track frame 82. Through setting up crawler-type running gear, compare in wheeled running gear, have the characteristics of moving accurate, difficult skidding. The traveling crawler 83 of the traveling mechanism 8 travels on the printed molded body 200, and the driving main machine 86 drives the steering lifting device 85 to ascend, descend and steer. When printing is required according to a curved path, the steering lifting device 85 drives the crawler support 82 to rotate by a specified angle, and the two traveling mechanisms 8 advance together to realize steering. When 3D printing is performed, the front traveling mechanism 8 travels on the molded article 200 printed one turn before, and the rear traveling mechanism 8 travels on the molded article 200 printed just before, with a difference in height of one layer between the two. When the layer needs to be changed when the printing of one layer is finished, the travelling mechanism 8 at the front side is lifted by the steering lifting device 85 to lift the height of one layer so as to realize the transition between the layers of the printing formed body 200, and the state that the travelling mechanism 8 at the rear side is higher than the travelling mechanism 8 at the front side by one layer of the height of the formed body 200 is recovered after the transition is finished.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.

Claims

1. An improved discharging structure of a 3D printing robot comprises a printing nozzle, a forming device and a conveying mechanism for conveying materials to the printing nozzle, wherein the forming device is fixedly connected to the lower end of the printing nozzle;

the curing device comprises a catalyst conveying host arranged on the 3D printing robot, the catalyst conveying host is connected with a catalyst conveying pipe, and the free end of the catalyst conveying pipe is connected with a catalyst spray head;

the catalyst spray head comprises a first spray head arranged on the top of the printing nozzle; the catalyst spray head comprises a second spray head arranged at the top of the forming device;

the forming device comprises a first forming side plate, a second forming side plate and a forming top plate; the printing nozzle and the molding top plate are fixedly connected to the upper ends of the first molding side plate and the second molding side plate, and the printing nozzle is located on the front side of the molding top plate; the forming top plate, the first forming side plate and the second forming side plate form an inverted U-shaped forming cavity in an enclosing mode;

the first forming side plate and the second forming side plate are both provided with discharge ports for extruding redundant materials; the discharge opening comprises a transverse discharge channel arranged on the first forming side plate and the second forming side plate; the discharge opening further comprises a discharge block formed on the outer side wall of the first forming side plate and the outer side wall of the second forming side plate, a longitudinal discharge channel with a bottom opening is formed in the discharge block, and the longitudinal discharge channel is communicated with the transverse discharge channel.

2. The improved discharging structure of a 3D printing robot as claimed in claim 1, wherein said catalyst spraying nozzle comprises a third spraying nozzle connected with said conveying mechanism.

3. The improved discharging structure of 3D printing robot according to claim 1, wherein said solidifying device comprises a heater/cooler disposed on said printing nozzle.

4. The improved discharging structure of 3D printing robot as claimed in claim 3, wherein said heater/cooler is disposed on top of said printing nozzle.

5. The improved discharging structure of 3D printing robot as claimed in claim 3, wherein said heater/cooler is disposed at the side of said printing nozzle.

6. A3D printing robot, including casing, two sets up running gear and guiding mechanism on 3D printing robot's casing in front and back, still include according to any one of claims 1 to 5 ejection of compact structure.