CN112113375A - 3D snow carving printing robot - Google Patents

3D snow carving printing robot Download PDF

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Publication number
CN112113375A
CN112113375A CN202011100493.8A CN202011100493A CN112113375A CN 112113375 A CN112113375 A CN 112113375A CN 202011100493 A CN202011100493 A CN 202011100493A CN 112113375 A CN112113375 A CN 112113375A
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CN
China
Prior art keywords
snow
cylinder
motor
conveying
lump
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011100493.8A
Other languages
Chinese (zh)
Inventor
李建永
罗春阳
王立才
李来春
徐威震
李海连
王开宝
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Beihua University
Original Assignee
Beihua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihua University filed Critical Beihua University
Priority to CN202011100493.8A priority Critical patent/CN112113375A/en
Publication of CN112113375A publication Critical patent/CN112113375A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25C—PRODUCING, WORKING OR HANDLING ICE
    • F25C3/00—Processes or apparatus specially adapted for producing ice or snow for winter sports or similar recreational purposes, e.g. for sporting installations; Producing artificial snow
    • F25C3/04—Processes or apparatus specially adapted for producing ice or snow for winter sports or similar recreational purposes, e.g. for sporting installations; Producing artificial snow for sledging or ski trails; Producing artificial snow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)

Abstract

3D snow carving printing robot belongs to snow carving goods manufacture equipment technical field, and aim at solves the problem that the manufacturing process that prior art exists is loaded down with trivial details, consumes a large amount of manpower and material resources. The 3D snow carving printing robot of the invention includes: a substrate; a snow lump preparation device disposed on the base plate, by which compacted snow lumps of the same size are manufactured; the snow block conveying device is arranged on the substrate, one end of the snow block conveying device is arranged corresponding to a snow block outlet of the snow block preparation device, and the snow blocks are conveyed from one end of the snow block conveying device to the other end of the snow block conveying device through the snow block conveying device; and the snow block placing mechanical arm is used for placing the snow blocks on the snow block conveying device to a specified position and accumulating the snow blocks to form a snow carving product. The invention can quickly prepare snow blocks with standard specifications, and the snow blocks are placed according to the designated positions and stacked to form the snow carving product. Convenient operation, trouble-saving and labor-saving.

Description

3D snow carving printing robot
Technical Field
The invention belongs to the technical field of snow carving product manufacturing equipment, and particularly relates to a 3D snow carving printing robot.
Background
The snow carving is one form of snow art, and is made with snow as shaping material and through kneading into fixed shape and combining. Most of snow carving products in the prior art are obtained by manually superposing snow blocks by means of mechanical equipment and then carving and decorating, so that the manufacturing process is complex, and a large amount of manpower and material resources are consumed.
Disclosure of Invention
The invention aims to provide a 3D snow carving printing robot, which solves the problems that in the prior art, the manufacturing process is complicated, and a large amount of manpower and material resources are consumed.
In order to achieve the above object, the 3D snow carving printing robot of the present invention includes:
a substrate;
a snow lump preparation device disposed on the base plate, by which compacted snow lumps of the same size are manufactured;
the snow block conveying device is arranged on the substrate, one end of the snow block conveying device is arranged corresponding to a snow block outlet of the snow block preparation device, and the snow blocks are conveyed from one end of the snow block conveying device to the other end of the snow block conveying device through the snow block conveying device;
and the snow block placing mechanical arm is used for placing the snow blocks on the snow block conveying device to a specified position and accumulating the snow blocks to form a snow carving product.
The snow lump preparation apparatus includes at least:
the conveying cylinder is provided with a conveying snow inlet at the cylinder wall close to one end part, and the other end of the conveying cylinder is used as a conveying snow outlet;
the spiral extrusion rod is arranged inside the conveying cylinder;
one end of the shaping cylinder is communicated with the snow conveying outlet of the conveying cylinder;
and the cutting device is arranged at the other end of the sizing cylinder and at least comprises a cutting knife which relatively moves along the plane of the sizing snow outlet of the sizing cylinder.
The snow lump preparation device further comprises a reducing cylinder connected between the conveying cylinder and the shaping cylinder, and one end of the inner size of the reducing cylinder, which is connected with the conveying snow outlet of the conveying cylinder, is larger than one end of the reducing cylinder, which is connected with the shaping snow inlet of the shaping cylinder.
The snow lump preparation device also comprises a snow collecting hopper communicated with the conveying snow inlet of the conveying cylinder.
The snow lump preparation apparatus further includes:
the conveying cylinder and the shaping cylinder are arranged on the bracket;
the compaction motor is arranged on the bracket and is parallel to the axis of the spiral extrusion rod;
and a compacting belt connected to an output shaft of the compacting motor and an end of the screw extrusion rod.
The cutting device includes:
the support is fixed at the end part of the sizing cylinder;
the cutting motor is arranged at the upper part of the support;
the snow guard plate is arranged in the vertical direction, and the splitting knife is arranged at the lower end of the snow guard plate;
the cutting motor is connected with the lead screw pair, and the cutting motor drives the snow baffle and the cutting knife to move in a tangent mode relative to the shaping snow outlet of the shaping cylinder integrally.
The snow lump conveying apparatus includes:
the conveying frame is fixed on the base plate, and one end, which is overlapped with one end of the snow block outlet of the snow block preparation device, of the conveying frame is used as a pushing station;
a driving shaft disposed at one end of the frame;
the driven shaft is arranged at the other end of the rack;
a transmission chain connected between the driving shaft and the driven shaft;
the transmission motor is arranged on the transmission rack and is connected with the driving shaft through a transmission belt;
a plurality of snow lump clamping devices evenly distributed on the conveying chain;
the air cylinder is arranged at one end, close to the pushing station, of one side face of the transmission rack and is arranged on the transmission rack through an air cylinder seat; the opening and closing of the snow block clamping device are adjusted through the air cylinder;
and the electric push rod is arranged on the transmission rack and positioned at the end part of one end of the pushing station, and snow blocks on the pushing station are pushed into the snow block clamping device through the electric push rod.
The snow lump clamping device includes:
the supporting plates are arranged on the transmission chain;
the fixed clamping plate is arranged on the supporting plate;
the movable clamping plate is in sliding fit with the fixed clamping plate;
the tension spring is connected between the fixed clamping plate and the movable clamping plate;
and the ejector rod is arranged along the moving direction of the movable clamping plate, one end of the ejector rod extends out of the end part of the fixed clamping plate, the other end of the ejector rod acts on the movable clamping plate, and a cylinder rod of the air cylinder and the ejector rod of the snow lump clamping device which is positioned close to the pushing station are arranged oppositely.
The snow lump placement manipulator comprises:
a fixing base disposed on the substrate;
the waist driving motor is fixed on the fixed seat, and an output shaft of the waist driving motor is vertical to the plane of the base plate;
the shoulder rotating motor is arranged at the upper part of the waist rotating joint, and an output shaft of the shoulder rotating motor is vertical to an output shaft of the waist driving motor;
one end of the large arm is connected with an output shaft of the shoulder rotating motor;
the elbow slewing motor is installed at the other end of the large arm, and an output shaft of the elbow slewing motor and an output shaft of the shoulder slewing motor are arranged in parallel;
the output shaft of the small arm rotary motor is arranged in parallel with the large arm;
one end of the small arm is coaxially arranged with the output shaft of the small arm rotary motor;
the wrist driving motor is arranged at the other end of the small arm, and an output shaft of the wrist rotating motor is perpendicular to the small arm;
and the pneumatic clamping jaw is connected with the output shaft of the wrist driving motor.
The invention has the beneficial effects that: the 3D snow carving printing robot integrally comprises a snow block preparation device, a snow block transmission device, a snow block placing mechanical arm and a substrate, wherein the snow block preparation device is used for compacting loose snow and dividing the loose snow into snow blocks with standard specifications; the snow block conveying device is used for conveying snow blocks to the mechanical arm clamping station, and the length can be adjusted according to the field; the snow block placing mechanical arm 3 is used for placing the snow blocks to a specified position, and the snow blocks are gradually accumulated to form snow carving works. The invention can quickly prepare snow blocks with standard specifications, and the snow blocks are placed according to the designated positions and stacked to form the snow carving product. Convenient operation, trouble-saving and labor-saving.
Drawings
FIG. 1 is a schematic view of the overall structure of a 3D snow carving printing robot according to the present invention;
FIG. 2 is a schematic structural diagram of a snow block preparation device in the 3D snow carving printing robot according to the present invention;
FIG. 3 is a schematic structural diagram of a segmentation device in the 3D snow carving printing robot according to the present invention;
FIG. 4 is a schematic structural diagram of a snow mass conveying device in the 3D snow carving printing robot according to the present invention;
FIG. 5 is a schematic structural view of a snow block clamping device in the 3D snow carving printing robot according to the present invention;
FIG. 6 is a schematic structural diagram of a snow block placing manipulator in the 3D snow carving printing robot according to the present invention;
wherein: 1. a snow lump preparation device 101, a snow collecting hopper 102, a conveying cylinder 103, a spiral extrusion rod 104, a reducing cylinder 105, a cutting device 1051, a guide rail pair 1052, a lead screw pair 1053, a cutting knife 1054, a snow baffle 1055, a support 1056, a cutting motor 106, a shaping cylinder 107, a support, a 108, a compaction motor 109, a compaction belt 2, a snow lump transmission device 201, an electric push rod 202, a snow lump 203, a transmission belt 204, a transmission motor 205, a conveying chain 206, a driven shaft 207, a cylinder 208, a driving shaft 209, a snow lump clamping device 2091, a movable clamping plate 2092, a fixed clamping plate 2093, a tension spring 2094, a push rod, a 2095, a supporting plate 210, a transmission rack 211, a seat, a snow lump placing mechanical arm 3, a cylinder 301, a fixed seat 302, a waist driving motor 303, a rotary motor 304, a big arm 305, an elbow motor, 306. an arm rotation motor 307, an arm 308, a wrist driving motor 309, a pneumatic clamping jaw 4 and a base plate.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the 3D snow carving printing robot of the present invention includes:
a substrate 4;
a snow lump preparation device 1 arranged on said base plate 4, by means of which snow lump preparation device 1 compacted snow lumps 202 of the same size are manufactured;
the snow lump conveying device 2 is arranged on the substrate 4, one end of the snow lump conveying device 2 is arranged corresponding to a snow lump outlet of the snow lump preparation device 1, and the snow lump 202 is conveyed from one end of the snow lump conveying device 2 to the other end through the snow lump conveying device 2;
and the snow block placing mechanical arm 3 is used for placing the snow blocks 202 on the snow block conveying device 2 to a specified position through the snow block placing mechanical arm 3 and accumulating to form a snow carving product. The snow carving product is a snow carving work similar to a pixel lattice, is similar to a children's happy assembled toy, and is also similar to a cross-stitch work.
With reference to fig. 2 and 3, the snow mass preparation device 1 comprises at least:
the conveying cylinder 102, a conveying snow inlet is arranged at the cylinder wall of one end part of the conveying cylinder 102, and the other end of the conveying cylinder is used as a conveying snow outlet;
a screw extrusion rod 103 disposed inside the delivery cylinder 102; the pitch of the screw is gradually reduced from the power input end to the other end;
a shaping cylinder 106 with one end communicated with the snow outlet of the conveying cylinder 102;
and the cutting device 105 is arranged at the other end part of the sizing cylinder 106, and the cutting device 105 at least comprises a cutting knife 1053 which moves relatively along the plane of the sizing snow outlet of the sizing cylinder 106.
The snow lump preparation device 1 further comprises a reducing cylinder 104 connected between the conveying cylinder 102 and the sizing cylinder 106, wherein one end of the inner size of the reducing cylinder 104 connected with a snow conveying outlet of the conveying cylinder 102 is larger than one end connected with a sizing snow inlet of the sizing cylinder 106.
The snow lump preparation apparatus 1 further includes a snow hopper 101 communicating with the conveying inlet of the conveying cylinder 102.
The snow lump preparation apparatus 1 further includes:
the bracket 107, the conveying cylinder 102 and the sizing cylinder 106 are arranged on the bracket 107;
a compacting motor 108 disposed on the support 107 and disposed in parallel with the axis of the screw extrusion rod 103;
and a compacting belt 109 connected to an output shaft of the compacting motor 108 and an end of the screw extrusion rod 103.
The slicing apparatus 105 includes:
a support 1055 fixed to an end of the setting cylinder 106;
a cutting motor 1056 disposed at an upper portion of the support 1055;
the snow guard plate 1054 is arranged along the vertical direction, and the slitting knife 1053 is arranged at the lower end of the snow guard plate 1054;
the lead screw pair 1052 and the guide rail pair 1051 are connected between the support 1055 and the snow baffle 1054, the slicing motor 1056 is connected with the lead screw pair 1052, and the whole body of the snow baffle 1054 and the slicing knife 1053 is driven to move tangentially relative to the shaping snow outlet of the shaping cylinder 106 by the slicing motor 1056.
Loose snow enters the conveying cylinder 102 from the snow collecting hopper 101, the compacting motor 108 drives the spiral extrusion rod 103 to rotate through the compacting belt 109, the snow in the conveying cylinder 102 is extruded and pushed into the sizing cylinder 106 through the reducing cylinder 104, the sizing snow outlet of the sizing cylinder 106 is provided with the splitting device 105, the splitting device 105 is fixed at the port of the sizing cylinder 106 through the support 1055, the splitting motor 1056 is installed at the top of the support 1055 and driven by the splitting motor 1056, and is guided by the guide rail pair 1051 through the transmission of the lead screw pair 1052, so that the snow blocking plate 1054 is driven to move, and the splitting knife 1053 is fixed at the lower end of the snow blocking plate 1054. In the initial state that the snow block 202 is not compacted, the snow baffle 1054 moves downwards to block the port of the sizing cylinder 106 to form a closed cavity to facilitate the compaction of the snow block 202, after the snow is compacted, the snow baffle 1054 moves upwards, the compacted snow block 202 gradually exposes out of the port of the sizing cylinder 106, and when the snow block reaches the designated length, the snow baffle 1054 drives the splitting knife 1053 to move downwards to realize the splitting of the snow block 202.
Referring to fig. 4 and 5, the snow mass transfer device 2 comprises:
the conveying rack 210 is fixed on the substrate 4, and one end, overlapped with one end of the snow block outlet of the snow block preparation device 1, of the conveying rack 210 serves as a pushing station;
a drive shaft 208 disposed at one end of the housing;
a driven shaft 206 disposed at the other end of the frame;
a conveyor chain 205 connected between the drive shaft 208 and the driven shaft 206;
a transmission motor 204 disposed on the transmission frame 210, the transmission motor 204 being connected to the driving shaft 208 by a transmission belt 203;
a plurality of snow lump gripping means 209 evenly distributed on said conveying chain 205;
the air cylinder 207 is arranged at one end of one side surface of the transmission frame 210 close to the pushing station, and the air cylinder 207 is arranged on the transmission frame 210 through an air cylinder seat 211; the opening and closing of the snow block clamping device 209 are adjusted through the air cylinder 207;
and the electric push rod 201 is arranged on the transmission rack 210 and positioned at one end part of the pushing station, and the snow blocks 202 on the pushing station are pushed into the snow block clamping device 209 through the electric push rod 201.
The snow lump clamping device 209 comprises:
pallets 2095 disposed on the conveyor chain;
a fixed clamp plate 2092 disposed on the support plate 2095;
a movable clamp plate 2091 slidably engaged with the fixed clamp plate 2092;
a tension spring 2093 connected between the fixed splint 2092 and the movable splint 2091;
and an ejector rod 2094 arranged along the moving direction of the movable clamping plate 2091, wherein one end of the ejector rod 2094 extends out from the end part of the fixed clamping plate 2092, the other end of the ejector rod 2094 acts on the movable clamping plate 2091, and a cylinder rod of the air cylinder 207 and the ejector rod 2094 of the snow lump clamping device 209 positioned at the position close to the pushing station are oppositely arranged.
The snow block transmission device 2 is used for realizing the work transfer of the snow blocks 202, the snow blocks 202 are transferred from the splitting station to the mechanical arm clamping station, the snow block transmission device 2 is integrally arranged on the transmission rack 210, the left end of the transmission rack 210 is provided with the driving shaft 208, the right end of the transmission rack 210 is provided with the driven shaft 206, the conveying chain 205 is arranged between the two shafts, the snow block clamping devices 209 are uniformly distributed on the conveying chain 205, and the conveying of the snow blocks 202 is realized through the driving of the transmission motor 204 and the transmission of the transmission belt 203.
The separated snow blocks 202 fall into a pushing station and are pushed to a snow block clamping device 209 by an electric push rod 201, a supporting plate 2095 of the snow block clamping device 209 is connected with a conveying chain 205, a fixed clamping plate 2092 and a movable clamping plate 2091 are arranged at the top of the supporting plate 2095, and the two clamping plates are tensioned by a tension spring 2093 to provide clamping force for the snow blocks 202. When the clamping device runs to the left end clamping station of the transmission device, the clamping plate needs to be opened, the cylinder 207 pushes out the cylinder rod to push the ejector rod 2094 in the fixed clamping plate 2092, and the other end of the ejector rod 2094 acts on the movable clamping plate 2091 to push the movable clamping plate 2091 to overcome the tension of the tension spring 2093, so that overtime opening is realized. When the snow block 202 is pushed into the middle of the clamp plate by the electric push rod 201, the cylinder rod of the air cylinder 207 retracts, and the movable clamp plate 2091 retracts to clamp the snow block 202 by the pulling force of the tension spring 2093.
With reference to fig. 6, the snow lump placing robot 3 comprises:
a fixing base 301 provided on the substrate 4;
a waist driving motor 302 fixed on the fixed seat 301, wherein an output shaft of the waist driving motor 302 is perpendicular to the plane of the substrate 4;
a shoulder rotary motor 303 arranged at the upper part of the waist rotary joint, wherein the output shaft of the shoulder rotary motor 303 is vertical to the output shaft of the waist driving motor 302;
a large arm 304 having one end connected to an output shaft of the shoulder rotating motor 303;
an elbow slewing motor 305 installed at the other end of the large arm 304, wherein an output shaft of the elbow slewing motor 305 and an output shaft of the shoulder slewing motor 303 are arranged in parallel;
a small arm slewing motor 306 installed at an output end of the elbow slewing motor 305, an output shaft of the small arm slewing motor 306 and the large arm 304 being arranged in parallel;
a small arm 307 with one end coaxial with the output shaft of the small arm rotary motor 306;
a wrist driving motor 308 arranged at the other end of the small arm 307, wherein the output shaft of the wrist rotating motor is vertical to the small arm 307;
and a pneumatic gripper 309 connected to an output shaft of the wrist drive motor 308.
The snow block placing manipulator 3 is used for placing the conveyed snow blocks 202 at a specified spatial position, so that the conveyed snow blocks are gradually accumulated into a pixilated snow carving product. The fixed seat 301 is fixedly connected with the base plate 4, and the waist driving motor 302 is arranged at the top of the fixed seat, so that the horizontal rotation of 270 degrees can be realized. The upper part of the waist rotary joint is provided with a shoulder rotary motor 303 which can drive a large arm 304 to realize 200-degree rotation. An elbow turning motor 305 and a small arm turning motor 306 are mounted at the front end of the large arm 304 to control the movement of the small arm 307. A wrist driving motor 308 is mounted at the front end of the forearm 307 to control the wrist movement. The wrist is connected with a pneumatic clamping jaw 309, and MHY2-10D type 180-degree opening and closing pneumatic clamping is selected to realize the clamping of the snow block 202.

Claims (9)

  1. 3D snow carving printing robot includes:
    a substrate (4);
    it is characterized by also comprising:
    a snow lump preparation device (1) arranged on the base plate (4), wherein compacted snow lumps with the same size are manufactured and obtained through the snow lump preparation device (1);
    the snow lump conveying device (2) is arranged on the substrate (4), one end of the snow lump conveying device (2) is arranged corresponding to a snow lump outlet of the snow lump preparation device (1), and the snow lump is conveyed from one end of the snow lump conveying device (2) to the other end through the snow lump conveying device (2);
    and the snow block placing mechanical arm (3) is used for placing the snow blocks on the snow block conveying device (2) to a specified position through the snow block placing mechanical arm (3) and accumulating to form a snow carving product.
  2. 2. 3D snow carving printing robot according to claim 1 characterized in that the snow lump preparation device (1) comprises at least:
    the conveying cylinder (102), the cylinder wall of the conveying cylinder (102) near one end is provided with a conveying snow inlet, and the other end is used as a conveying snow outlet;
    a screw extrusion rod (103) arranged inside the conveying cylinder (102);
    one end of the sizing cylinder (106) is communicated with the snow conveying outlet of the conveying cylinder (102);
    and the cutting device (105) is arranged at the other end of the sizing cylinder (106), and the cutting device (105) at least comprises a cutting knife (1053) which moves relatively along the plane of the sizing snow outlet of the sizing cylinder (106).
  3. 3. The 3D snow carving printing robot as claimed in claim 2 characterized in that the snow lump preparation device (1) further comprises a reducer cylinder (104) connected between the delivery cylinder (102) and a sizing cylinder (106), wherein one end of the inside dimension of the reducer cylinder (104) connected with a delivery outlet of the delivery cylinder (102) is larger than one end connected with a sizing inlet of the sizing cylinder (106).
  4. 4. The 3D snow carving printing robot as claimed in claim 2 characterized in that the snow lump preparation device (1) further includes a snow hopper (101) communicating with a conveying snow inlet of the conveying cylinder (102).
  5. 5. 3D snow carving printing robot according to claim 2 characterized in that the snow lump preparation device (1) further comprises:
    a support (107), the delivery cartridge (102) and the sizing cartridge (106) being arranged on the support (107);
    a compaction motor (108) arranged on the bracket (107) and parallel to the axis of the spiral extrusion rod (103);
    and a compacting belt (109) connected to an output shaft of the compacting motor (108) and an end of the screw extrusion rod (103).
  6. 6. The 3D snow carving printing robot according to claim 2 characterized in that the cutting device (105) comprises:
    a support (1055) fixed at the end of the setting cylinder (106);
    a cutting motor (1056) arranged at the upper part of the support (1055);
    the snow blocking plate (1054) is arranged along the vertical direction, and the slitting knife (1053) is arranged at the lower end of the snow blocking plate (1054);
    the cutting machine comprises a lead screw pair (1052) and a guide rail pair (1051) which are connected between a support (1055) and a snow baffle (1054), wherein the cutting motor (1056) is connected with the lead screw pair (1052), and the cutting motor (1056) drives the snow baffle (1054) and the cutting knife (1053) to integrally and tangentially move relative to a shaping snow outlet of a shaping cylinder (106).
  7. 7. 3D snow carving printing robot according to claim 1 characterized in that the snow lump conveying device (2) comprises:
    the conveying rack (210) is fixed on the substrate (4), and one end, overlapped with one end of a snow block outlet, of the conveying rack (210) and the snow block preparation device (1) serves as a pushing station;
    a drive shaft (208) disposed at one end of the housing;
    a driven shaft (206) arranged at the other end of the frame;
    a conveyor chain (205) connected between the drive shaft (208) and the driven shaft (206);
    a transmission motor (204) disposed on the transmission frame (210), the transmission motor (204) being connected to the driving shaft (208) by a transmission belt (203);
    -a plurality of snow mass gripping devices (209) evenly distributed on said conveying chain (205);
    the air cylinder (207) is arranged at one end, close to the pushing station, of one side face of the transmission rack (210), and the air cylinder (207) is arranged on the transmission rack (210) through an air cylinder seat (211); the opening and closing of the snow block clamping device (209) are adjusted through the air cylinder (207);
    and the electric push rod (201) is arranged on the transmission rack (210) and positioned at one end part of the pushing station, and snow blocks on the pushing station are pushed into the snow block clamping device (209) through the electric push rod (201).
  8. 8. The 3D snow carving printing robot according to claim 7 characterized in that the snow lump clamping device (209) comprises:
    a pallet (2095) disposed on the conveyor chain;
    a fixed splint (2092) disposed on the support plate (2095);
    a movable clamp plate (2091) slidably engaged with the fixed clamp plate (2092);
    a tension spring (2093) connected between the fixed splint (2092) and the movable splint (2091);
    and the ejector rod (2094) is arranged along the movement direction of the movable clamping plate (2091), one end of the ejector rod (2094) extends out of the end part of the fixed clamping plate (2092), the other end of the ejector rod acts on the movable clamping plate (2091), and the cylinder rod of the air cylinder (207) and the ejector rod (2094) of the snow lump clamping device (209) close to the pushing station are oppositely arranged.
  9. 9. The 3D snow carving printing robot according to any one of claims 1-8 characterized in that the snow lump placing robot (3) comprises:
    a fixed seat (301) arranged on the substrate (4);
    the waist driving motor (302) is fixed on the fixed seat (301), and an output shaft of the waist driving motor (302) is vertical to the plane of the base plate (4);
    a shoulder rotating motor (303) arranged at the upper part of the waist rotating joint, wherein the output shaft of the shoulder rotating motor (303) is vertical to the output shaft of the waist driving motor (302);
    a large arm (304) with one end connected with the output shaft of the shoulder rotating motor (303);
    an elbow slewing motor (305) mounted at the other end of the large arm (304), wherein an output shaft of the elbow slewing motor (305) and an output shaft of the shoulder slewing motor (303) are arranged in parallel;
    a small arm rotary motor (306) installed at the output end of the elbow rotary motor (305), wherein the output shaft of the small arm rotary motor (306) and the large arm (304) are arranged in parallel;
    a small arm (307) with one end coaxial with the output shaft of the small arm rotary motor (306);
    a wrist driving motor (308) arranged at the other end of the small arm (307), wherein the output shaft of the wrist revolving motor is vertical to the small arm (307);
    and a pneumatic clamping jaw (309) connected with an output shaft of the wrist driving motor (308).
CN202011100493.8A 2020-10-15 2020-10-15 3D snow carving printing robot Pending CN112113375A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011100493.8A CN112113375A (en) 2020-10-15 2020-10-15 3D snow carving printing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011100493.8A CN112113375A (en) 2020-10-15 2020-10-15 3D snow carving printing robot

Publications (1)

Publication Number Publication Date
CN112113375A true CN112113375A (en) 2020-12-22

Family

ID=73793975

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011100493.8A Pending CN112113375A (en) 2020-10-15 2020-10-15 3D snow carving printing robot

Country Status (1)

Country Link
CN (1) CN112113375A (en)

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