CN110712363A - Modular six-axis mechanical arm particle material extrusion molding device - Google Patents
Modular six-axis mechanical arm particle material extrusion molding device Download PDFInfo
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- CN110712363A CN110712363A CN201910991597.3A CN201910991597A CN110712363A CN 110712363 A CN110712363 A CN 110712363A CN 201910991597 A CN201910991597 A CN 201910991597A CN 110712363 A CN110712363 A CN 110712363A
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- 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
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
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- 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
- B29C64/205—Means for applying layers
- B29C64/209—Heads; Nozzles
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- 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
- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
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- 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
- B29C64/236—Driving means for motion in a direction within the plane of a layer
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- 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
- B29C64/245—Platforms or substrates
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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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
Abstract
The invention relates to the field of machinery, in particular to a modular six-axis mechanical arm granular material extrusion molding device which comprises a Z-axis assembly, wherein XY-axis assemblies are arranged above two sides of the Z-axis assembly, the XY-axis assemblies are fixed on the Z-axis assembly, mechanical arms are arranged on the XY-axis assemblies, the mechanical arms are fixed on a sliding table in transverse motion of the XY-axis assemblies, the output end of the front part of each mechanical arm is connected with a printing head, a bottom plate assembly is arranged in the middle of the Z-axis assembly, the Z-axis assembly and the bottom plate assembly are fixed and positioned through a bottom plate mounting positioning hole and a magnet, and the modular six-axis mechanical arm granular material extrusion molding device adopts independent mounting among all unit moving parts, reduces mounting difficulty, provides convenience for subsequent maintenance, increases the assembly precision of each independent unit assembly.
Description
Technical Field
The invention relates to the field of machinery, in particular to a modular six-axis mechanical arm granular material extrusion molding device.
Background
Extrusion molding is a molding method which has wide variations in the field of polymer material processing, high productivity, strong adaptability, wide application, and the largest occupied specific gravity. Extrusion molding is a process in which a melt (or viscous fluid) of a polymer is continuously molded by extrusion through a die having a certain shape by a screw or a plunger of an extruder, and the resulting product is a continuous profile having a constant cross-sectional shape.
The extrusion molding process is suitable for all polymer materials. Plastic extrusion molding, also known as extrusion molding, can mold almost all thermoplastics and can also be used for thermosets, but is limited to a few thermosets such as phenolics, and there are few types of articles of extrudable thermosets. Plastic extruded articles include pipes, plates, rods, sheets, films, monofilaments, cable wraps, profiles and composites of plastic and other materials, with about 50% of thermoplastic articles currently being extruded.
At present, most of extrusion molding needs a mold to manufacture a male mold and a female mold firstly, then the mold is formed by grouting, the working time in the early stage is long, the cost for preparing the mold is high, no advantage exists in small-batch individuation, a 3D printer is used for printing in the market, and the mold is formed by three-axis motion and material extrusion or laser sintering, so that the required effect can be achieved. However, the efficiency is relatively slow, a large number of supports are often needed when complex parts are printed, and the existing three-dimensional surface of an object cannot be additionally printed, so that the method is limited to a certain extent.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a modular six-axis mechanical arm particle material extrusion molding device, which solves the problems that the existing injection molding extrusion needs a mold, the efficiency of the 3D printing process is not high, a large amount of complex parts need to be supported, and the like, and is difficult to solve.
(II) technical scheme
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: the utility model provides a six arm granule material extrusion moulding device of modular, includes Z axle subassembly, its characterized in that: XY axle components are arranged above two sides of the Z axle component, the XY axle components are fixed on the Z axle component, mechanical arms are arranged on the XY axle components, the mechanical arms are fixed on a sliding table of the XY axle components in transverse motion, the output end of the front portion of the mechanical arms is connected with a printing head, a bottom plate component is arranged in the middle of the Z axle component, and the Z axle component and the bottom plate component are fixed and positioned through a bottom plate mounting positioning hole and a magnet.
Preferably, the Z axle subassembly includes Z axle curb plate, curb plate bottom foot rest, Z axle guide rail, Z axle slider, slider connecting piece, Z axle motor, Z axle ball, Z axle lead screw, bottom plate location magnet, the perpendicular installation Z axle guide rail in both sides on the Z axle curb plate, the Z axle guide rail is connected with Z axle slider, Z axle guide rail intermediate position is Z axle lead screw, Z axle motor is installed to Z axle lead screw bottom, the Z axle motor provides kinetic energy, Z axle slider Z axle ball passes through the slider connecting piece and connects them as a motion whole, install bottom plate location magnet on the slider connecting piece.
Preferably, the bottom end of the XY shaft assembly is provided with a Y-shaft left module and a Y-shaft right module, the Y-shaft left module and the Y-shaft right module are synchronously connected through a Y-shaft connecting rod, the top end of the right side of the Y-shaft connecting rod is connected with a Y-shaft motor, and the X-shaft lower module, the X-shaft upper module and the X-shaft motor all form the left-right movement of the X-shaft sliding block on the Y-shaft module.
Preferably, a mechanical arm base on the mechanical arm is mounted on the X-axis sliding block, an A-axis motor, a B-axis motor, a C-axis motor and a C-axis motor are respectively mounted at one end of the mechanical arm base, the other end of the mechanical arm base is connected with a mechanical arm tube, the mechanical arm tube can rotate by itself, the other end of the mechanical arm tube is connected with a mechanical arm switching cavity, the mechanical arm switching cavity rotates along with the mechanical arm tube, two sides of the mechanical arm switching cavity are connected with a mechanical arm output end cavity, the mechanical arm output end cavity can swing 180 degrees around the mechanical arm switching cavity, the front end of the mechanical arm output end cavity is a mechanical arm output shaft, and the;
further, the motor shaft of the shaft A motor is connected with a first straight gear of the shaft A, the first straight gear of the shaft A is meshed with a second straight gear of the shaft A, the second straight gear of the shaft A and a third bevel gear of the shaft A are coaxially output at different ends synchronously, the third bevel gear of the shaft A is vertically meshed with a fourth bevel gear of the shaft A, and the rotating force transmitted by the motor of the shaft A finally enables the top end part of the mechanical arm to swing for 180 degrees;
further, a motor shaft of the B-axis motor is connected with a first straight gear of the B-axis, the first straight gear of the B-axis is meshed with a second straight gear of the B-axis, a third helical gear of the B-axis and a fourth helical gear of the B-axis are coaxially output synchronously at different ends, the fourth helical gear is vertically meshed with a fifth straight gear of the B-axis, the fifth straight gear of the B-axis is meshed with a sixth straight gear of the B-axis, the sixth straight gear is coaxial with a seventh helical gear of the B-axis, the seventh helical gear of the B-axis is vertically meshed with an eighth helical gear of the B-axis, the other end of the eighth helical gear of the B-axis is connected with an output end of the B-axis, and finally, an output shaft at the top;
further, the C-axis motor is connected with a C-axis first straight gear, the C-axis first straight gear is meshed with a C-axis second straight gear, and the turning force transmitted by the C-axis motor finally enables the outer end of the mechanical arm except the mechanical arm base fixing part to integrally rotate for 360 degrees.
Preferably, the printing head comprises a printing head feeding material, a printing head screw rod, a printing head nozzle and a printing head heating coil, and the printing head is arranged at the output end of the B shaft so as to realize six-axis direction movement of the printing head; beat printer head screw structure and contain screw rod connecting portion, screw rod flood dragon, screw rod bulb, this structure realizes granule material output in order.
Preferably, the bottom plate assembly comprises a printing device bottom plate, a bottom plate lower trolley and bottom plate rollers, when the bottom plate assembly is lowered to the lowest position, the bottom plate lower trolley is started, the bottom plate rollers can rotate out of the printing device, and printed objects are conveniently conveyed.
(III) advantageous effects
The invention has the beneficial effects that:
1. this six arm granule material extrusion moulding device of modular adopts independent installation between each unit moving part, reduces the installation degree of difficulty, also facilitates for follow-up maintenance, increases each independent unit subassembly's assembly precision simultaneously, reduces the error, realizes the accurate printing of high accuracy.
2. This six arm granule material extrusion moulding device of modular, preceding triaxial adopts the general XYZ three-dimensional setting of lathe, and every axle adopts the double guide rail structure, guarantee that overall structure's rigidity has also reduced repeated positioning accuracy error simultaneously, the whole modular installation of arm is adopted to back triaxial, rotation angle between each axle is abundant, can go on perpendicularly according to the actual conditions who prints the object, control inclination and control and print perpendicularly, the part that is complicated again also can print out, and the maximum reduces to print supporting material and uses, reduce the printing time.
3. This six arm granule material extrusion moulding device of modular, the screw rod in beating the printer head is connected with the output unit lug connection of B axle, can realize the continuous balanced isobaric extrusion and the non-stick of material through the motion output of B axle, realizes accurate high quality printing.
4. This six arm granule material extrusion moulding device of modular prints the bottom plate and adopts location magnet installation, drops to the extreme low position after the object is printed and is accomplished, and the travelling bogie work of bottom plate lower part is printed a shipment in the transportation, has conveniently simplified the flow of getting goods.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural view of a Z-axis lifting part of the present invention;
FIG. 3 is a schematic perspective view of an XY module according to the present invention;
FIG. 4 is a schematic view of a robotic arm according to the present invention;
FIG. 5 is a partially enlarged structural view of the active end of the robot arm according to the present invention;
FIG. 6 is a partial enlarged view of the driven end of the robot arm of the present invention;
FIG. 7 is a schematic view of a printhead structure according to the present invention;
FIG. 8 is a schematic view of the construction of the base plate assembly of the present invention;
FIG. 9 is a schematic view of a printhead screw according to the present invention.
In the figure: 1Z-axis assembly, 2 XY-axis assembly, 3 mechanical arm, 4 printing head, 5 bottom plate assembly, 1001Z-axis side plate, 1002 side plate bottom foot rest, 1003Z-axis guide rail, 1004Z-axis slide block, 1005 slide block connecting piece, 1006Z-axis motor, 1007Z-axis ball, 1008Z-axis lead screw, 1009 bottom plate positioning magnet, 2001Y-axis left module, 2002Y-axis connecting rod, 2003Y-axis right module, 2004Y-axis motor, 2005X-axis lower module, 2006X-axis upper module, 2007X-axis motor, 2008X-axis slide block, 3001 mechanical arm base, 3002A-axis motor, 3003B-axis motor, 3004C-axis motor, 3005 mechanical arm tube, 3006 mechanical arm switching cavity, 3007 mechanical arm output cavity, 3008 mechanical arm output shaft, 3009B-axis first straight gear, 3010B-axis second straight gear, 3011A-axis first straight gear, 3012A-axis second straight gear, 3013C-axis first straight gear, 3014C-axis second straight gear, 3015A-axis third oblique gear, 3016B axis third bevel gear, 3017B axis fourth bevel gear, 3018A axis fourth bevel gear, 3019B axis fifth spur gear, 3020B axis sixth spur gear, 3021B axis seventh bevel gear, 3022B axis eighth bevel gear, 3023B axis output, 4001 printhead feed, 4002 printhead screw, 4003 printhead nozzle, 4004 printhead heater coil, 4002-1 screw connection, 4002-2 screw auger, 4002-3 screw ball, 5001 printer chassis, 5002 chassis mounting alignment holes, 5003 chassis lower cart, 5004, chassis roller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 9, the present invention provides a technical solution: the utility model provides a six arm granule materials extrusion moulding device of modular, including Z axle subassembly 1, Z axle subassembly 1's both sides top is provided with XY axle subassembly 2, XY axle subassembly 2 is fixed on Z axle subassembly 1, be provided with arm 3 on the XY axle subassembly 2, arm 3 is fixed on the slip table of XY subassembly 2 lateral motion, 3 anterior output ends of arm are connected with and are beaten printer head 4, be bottom plate subassembly 5 in the middle of Z axle subassembly 1, Z axle subassembly 1 and bottom plate subassembly 5 are fixed and the setting through bottom plate installation locating hole 5002 and magnet.
In this embodiment, specifically, the Z-axis assembly 1 includes a Z-axis side plate 1001, a side plate bottom foot rest 1002, a Z-axis guide rail 1003, a Z-axis slider 1004, a slider connector 1005, a Z-axis motor 1006, a Z-axis ball 1007, a Z-axis screw 1008, a bottom plate positioning magnet 1009, the Z-axis guide rail 1003 is vertically installed on two sides of the Z-axis side plate 1001, the Z-axis guide rail 1003 is connected with the Z-axis slider 1004, the Z-axis screw 1008 is located in the middle of the Z-axis guide rail 1003, the Z-axis motor 1006 is installed at the bottom of the Z-axis screw 1008, the Z-axis motor 1006 provides kinetic energy, the Z-axis ball 1007 connects the Z-axis slider 1004 with the Z-axis slider as a whole through the slider connector 1005, and.
In this embodiment, specifically, a Y-axis left module 2001 and a Y-axis right module 2003 are installed at the bottom end of the XY-axis assembly 2, the middle of the Y-axis left module 2001 and the middle of the Y-axis right module 2003 are synchronously connected through a Y-axis connecting rod 2002, a Y-axis motor 2004 is connected to the top end of the right side of the Y-axis connecting rod 2002, and the X-axis lower module 2005, the X-axis upper module 2006 and the X-axis motor 2007 all form left and right movement of an X-axis slider 2008 on the Y-axis module.
In this embodiment, it is concrete, arm base 3001 installs on arm 3 on X axle slider 2008, 3001 one end, arm tube 3005 is connected to the arm base 3001 other end, arm tube 3005 can self-rotation, arm switching chamber 3006 is connected to the arm tube 3005 other end, arm switching chamber 3006 rotates along with arm tube 3005, arm output end cavity is connected to arm switching chamber 3006 both sides, arm output end cavity 3007 can be 180 degrees swings around arm switching chamber 3006, arm output end cavity front end is the arm output shaft, the arm output shaft is free rotation.
The motor shaft of the A-axis motor 3002 is connected with a first straight gear 3011 of the A-axis, the first straight gear 3011 of the A-axis is meshed with a second straight gear 3012 of the A-axis, the second straight gear 3012 of the A-axis and a third bevel gear 3015 of the A-axis are output synchronously at different coaxial ends, the third bevel gear 3015 of the A-axis is vertically meshed with a fourth bevel gear 3018 of the A-axis, and finally the top end part of the mechanical arm swings for 180 degrees by the rotating force transmitted by the motor 3002 of the A-axis.
A motor shaft of a B-axis motor 3003 is connected with a first B-axis straight gear 3009, the first B-axis straight gear 3009 is meshed with a second B-axis straight gear 3010, a third B-axis helical gear 3016 and a fourth B-axis helical gear 3017 are coaxially output synchronously at different ends, the fourth helical gear 3017 is vertically meshed with a fifth B-axis straight gear 3019, the fifth B-axis straight gear 3019 is meshed with a sixth B-axis straight gear 3020, the sixth straight gear 3020 is coaxial with a seventh B-axis helical gear 3021, the seventh B-axis helical gear 3021 is vertically meshed with an eighth B-axis helical gear 3022, the other end of the eighth B-axis helical gear 3022 is connected with a B-axis output end 3023, and finally, the output shaft at the top end of the mechanical arm is freely rotated by the rotating force transmitted by the B-.
The motor of the shaft C3004 is connected with a shaft C first straight gear 3013, the shaft C first straight gear is meshed with a shaft C second straight gear, and the rotating force transmitted by the shaft motor 3004 finally enables the outer end of the mechanical arm except the fixing part of the mechanical arm base 3001 to integrally rotate for 360 degrees.
In this embodiment, specifically, the print head 4 includes a print head feed 4001, a print head screw 4002, a print head nozzle 4003, and a print head heating coil 4004, the print head 4 is mounted on the B-axis output end 3023 to realize six-axis movement of the print head 4, and the print head screw 4002 includes a screw connecting portion 4002-1, a screw dragon 4002-2, and a screw bulb 4002-3, and this structure realizes ordered output of the pellet materials.
In this embodiment, the bottom plate assembly 5 includes a printing apparatus bottom plate 5001, a bottom plate lower trolley 5003, and a bottom plate roller 5004. when the bottom plate assembly 5 is lowered to the lowest position, the bottom plate lower trolley 5003 is started, and the bottom plate roller 5004 can be rotated out of the printing apparatus, thereby facilitating the transportation of the printed article.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a six arm granule material extrusion moulding device of modular, includes Z axle subassembly (1), its characterized in that: XY axle subassembly (2) are provided with above the both sides of Z axle subassembly (1), XY axle subassembly (2) are fixed on Z axle subassembly (1), be provided with arm (3) on XY axle subassembly (2), arm (3) are fixed on XY subassembly (2) lateral motion's slip table, the anterior output of arm (3) is connected with and is beaten printer head (4), be bottom plate subassembly (5) in the middle of Z axle subassembly (1), Z axle subassembly (1) and bottom plate subassembly (5) are fixed and the fixed position through bottom plate installation locating hole (5002) and magnet.
2. The modular six-axis robotic arm pellet extrusion molding apparatus of claim 1, wherein: z axle subassembly (1) includes Z axle curb plate (1001), curb plate bottom foot rest (1002), Z axle guide rail (1003), Z axle slider (1004), slider connecting piece (1005), Z axle motor (1006), Z axle ball (1007), Z axle lead screw (1008), bottom plate location magnet (1009), Z axle guide rail (1003) are installed perpendicularly to both sides on Z axle curb plate (1001), Z axle guide rail (1003) are connected with Z axle slider (1004), Z axle guide rail (1003) intermediate position is Z axle lead screw (1008), Z axle motor (1006) are installed to Z axle lead screw (1008) bottom, Z axle motor (1006) provide kinetic energy, Z axle slider (1004) Z axle ball (1007) are connected as a motion whole through slider connecting piece (1005), install bottom plate location magnet (1009) on slider connecting piece (1005).
3. The modular six-axis robotic arm pellet extrusion molding apparatus of claim 2, wherein: the X-axis module comprises an XY-axis assembly (2) and is characterized in that a Y-axis left module (2001) and a Y-axis right module (2003) are mounted at the bottom end of the XY-axis assembly (2), the Y-axis left module (2001) and the Y-axis right module (2003) are synchronously connected through a Y-axis connecting rod (2002), a Y-axis motor (2004) is connected to the right top end of the Y-axis connecting rod (2002), and the X-axis lower module (2005), the X-axis upper module (2006) and the X-axis motor (2007) all form left-right movement of an X-axis sliding block (2008) on the Y.
4. The modular six-axis robotic arm pellet extrusion molding apparatus of claim 1, wherein: the mechanical arm comprises a mechanical arm base (3001) arranged on a mechanical arm (3) and an X-axis sliding block (2008), wherein an A-axis motor (3002), a B-axis motor (3003) and a C-axis motor (3004) are respectively arranged at one end of the mechanical arm base (3001), the other end of the mechanical arm base (3001) is connected with a mechanical shaft arm pipe (3005), the mechanical arm pipe (3005) can rotate per se, the other end of the mechanical arm pipe (3005) is connected with a mechanical arm switching cavity (3006), the mechanical arm switching cavity (3006) rotates along with the mechanical arm pipe (3005), two sides of the mechanical arm switching cavity (3006) are connected with a mechanical arm output end cavity (3007), the mechanical arm output end cavity (3007) can swing 180 degrees around the mechanical arm switching cavity (3006), the front end of the mechanical arm output end cavity (3007) is a mechanical arm output shaft (3008), and the mechanical arm output shaft (300;
the motor shaft of the A-axis motor (3002) is connected with a first straight gear (3011) of an A-axis, the first straight gear (3011) of the A-axis is meshed with a second straight gear (3012) of the A-axis, the second straight gear (3012) of the A-axis and a third bevel gear (3015) of the A-axis are synchronously output at different coaxial ends, the third bevel gear (3015) of the A-axis is vertically meshed with a fourth bevel gear (3018) of the A-axis, and a rotating force transmitted by the motor (3002) of the A-axis finally enables a top end component of the mechanical arm to swing for 180 degrees;
the B-axis motor (3003) is connected with a B-axis first straight gear (3009) through a motor shaft, the B-axis first straight gear (3009) is meshed with a B-axis second straight gear (3010), a B-axis third bevel gear (3016) and a B-axis fourth bevel gear (3017) are synchronously output at different coaxial ends, the fourth bevel gear (3017) is vertically meshed with a B-axis fifth straight gear (3019), the B-axis fifth straight gear (3019) is meshed with a B-axis sixth straight gear (3020), the sixth bevel gear (3020) is coaxial with a B-axis seventh bevel gear (3021), the B-axis seventh bevel gear (3021) is vertically meshed with a B-axis eighth bevel gear (3022), the other end of the B-axis eighth bevel gear (3022) is connected with a B-axis output end (3023), and a turning force transmitted by the B-axis motor (3003) finally enables an output shaft at the top end of the mechanical arm to freely rotate;
the C-axis motor (3004) is connected with a C-axis first straight gear (3013), the C-axis first straight gear (3013) is meshed with a C-axis second straight gear (3014), and the turning force transmitted by the C-axis motor (3004) finally enables the outer end of the mechanical arm except the fixing part of the mechanical arm base (3001) to integrally rotate for 360 degrees.
5. The modular six-axis robotic arm pellet extrusion molding apparatus of claim 1, wherein: the printing head (4) comprises a printing head feeding material (4001), a printing head screw rod (4002), a printing head nozzle (4003) and a printing head heating coil (4004), and the printing head (4) is arranged at an output end (3023) of a B shaft so as to realize six-axis direction movement of the printing head (4);
the printing head screw rod (4002) structure comprises a screw rod connecting part (4002-1), a screw rod flood dragon (4002-2) and a screw rod ball head (4002-3), and the structure realizes ordered output of granular materials.
6. The modular six-axis robotic arm pellet extrusion molding apparatus of claim 1, wherein: the bottom plate component (5) comprises a printing device bottom plate (5001), a bottom plate lower part trolley (5003) and bottom plate rollers (5004), when the bottom plate component (5) is lowered to the lowest position, the bottom plate lower part trolley (5003) is started, the bottom plate rollers (5004) can rotate out of the printing device, and articles printed are convenient to convey.
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| CN201910991597.3A CN110712363B (en) | 2019-10-18 | 2019-10-18 | Modular six-axis mechanical arm particle material extrusion molding device |
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| CN201910991597.3A CN110712363B (en) | 2019-10-18 | 2019-10-18 | Modular six-axis mechanical arm particle material extrusion molding device |
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| CN110712363B CN110712363B (en) | 2021-07-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022079504A1 (en) * | 2021-08-05 | 2022-04-21 | Majlsei Hosein | Parallel axis with plate printer (p.a.p printer) |
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