CN114407354A - Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device - Google Patents
Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device Download PDFInfo
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- CN114407354A CN114407354A CN202210210557.2A CN202210210557A CN114407354A CN 114407354 A CN114407354 A CN 114407354A CN 202210210557 A CN202210210557 A CN 202210210557A CN 114407354 A CN114407354 A CN 114407354A
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- 238000010146 3D printing Methods 0.000 title claims abstract description 44
- 238000007639 printing Methods 0.000 claims abstract description 67
- 230000007704 transition Effects 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 9
- 239000003086 colorant Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000012255 powdered metal Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Images
Classifications
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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
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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
- B29C64/227—Driving means
- B29C64/241—Driving means for rotary motion
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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
Abstract
The invention discloses a multi-degree-of-freedom dual-nozzle crawler moving type 3D printing device which comprises a crawler base, a multi-degree-of-freedom mechanical arm, a moving guide rail and a 3D printing nozzle, wherein the crawler base is provided with a plurality of printing nozzles; the crawler base upper shell is provided with a round hole, the multi-degree-of-freedom mechanical arm is provided with a steering engine output shaft, and the steering engine is fixedly connected with the round hole; the other end of the multi-degree-of-freedom mechanical arm is fixedly connected with the steering engine and the 2 moving guide rails; 2 remove the guide rail and print the shower nozzle with 2 3D respectively and be connected. The movable guide rail is used for moving the printing nozzle, the moving precision is high, meanwhile, due to the existence of the fifth steering engine, the printing can be carried out like a compass when a circle is printed, and the precision of printing the arc is higher than that of the traditional 3D printing equipment; the invention adopts double-nozzle printing, the double nozzles can be used for cooperatively printing the same product, the printing speed is accelerated, 2 same products can be synchronously printed, simultaneously, 2-color printing can be realized by using materials with 2 colors, and 3D printing of 2 different materials can also be realized by replacing the printing nozzles.
Description
Technical Field
The invention relates to the field of 3D printing, in particular to a crawler-type walking device of a double-nozzle 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.
Current 3D printing apparatus mainly is box formula 3D printing apparatus, prints off-the-shelf size and receives the box size restriction, lacks the flexibility simultaneously, and equipment can't independently carry out 3D and print.
The existing 3D printing robot adopts a single-nozzle working mode, the printing speed and efficiency are low, and therefore the multi-nozzle 3D printing robot can be transported as required.
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 aims to overcome the defects in the prior art and provides a multi-degree-of-freedom double-nozzle crawler-type walking 3D printing robot device which has the characteristics of double-nozzle cooperative printing, synchronous printing of double nozzles, high walking precision, high printing speed, small limitation on the volume of a printed product and the like.
The purpose of the invention is realized by the following technical scheme:
a multi-degree-of-freedom dual-nozzle crawler belt moving type 3D printing device comprises a chassis, a crawler belt, a driving wheel set, a driven wheel set, a crawler upper shell, a first steering engine, a second steering engine, a first support, a third steering engine, a second support, a fourth steering engine, a third support and a printing end, wherein the driving wheel set is arranged on the chassis; the driving wheel set comprises a driving gear assembly shaft, a driving gear and a driving motor; the driven wheel set comprises a plate spring, a driven wheel bracket, a first driven wheel, a bearing, a shaft lever, a bearing sleeve hole and a second driven wheel; the printing end comprises a fifth steering engine, a movable guide rail and a 3D printing nozzle assembly;
the crawler belt assembly device comprises a chassis, a driving gear assembly shaft, a bearing sleeve hole, a second driven wheel, a driving gear assembly shaft and a driving gear assembly shaft, wherein an inner cavity of the driving gear assembly shaft is in transition fit with an outer ring of the driving gear assembly shaft;
the head end of the driving gear assembly shaft is connected with a driving motor positioned in the chassis, the tail end of the driving gear assembly shaft is connected with the driving gear, driving teeth which are mutually meshed are arranged on the inner sides of the driving gear and the crawler, and the first driven wheel and the second driven wheel are matched with a groove on the inner side of the crawler;
arc-shaped plate springs are symmetrically arranged on the left side wall and the right side wall of the chassis, driven wheel brackets are mounted at two ends of each plate spring, and the driven wheel brackets are movably connected with a first driven wheel through bearings;
the crawler upper shell is provided with a hole fixedly connected with a driving shaft of a first steering engine, and the first steering engine can rotate relative to the crawler upper shell; the first steering engine is connected with the second steering engine, the second steering engine is connected with the third steering engine through a first support, the third steering engine is connected with the fourth steering engine through a second support, and the fourth steering engine is connected with the printing end through a third support.
The movable guide rail is fixedly connected with a fifth steering engine, and the 3D printing nozzle assembly is movably connected with the movable guide rail.
Furthermore, the driven wheel support is triangular, the top corner end of each driven wheel support is connected with the plate spring, and two bottom corner ends of each driven wheel support are respectively provided with a first driven wheel.
Furthermore, be equipped with two 3D in the 3D printing shower nozzle subassembly and print the shower nozzle.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the walking device provided by the invention adopts the crawler-type base, the walking precision is high, the sliding is difficult, the autonomous walking 3D printing can be realized through programming, the damaged surface of the material can be automatically walked and repaired, meanwhile, the length and the width of a 3D printing product are theoretically unlimited, and the height is limited by the height of the mechanical arm.
2. According to the invention, the printing nozzle is positioned by adopting the multi-degree-of-freedom mechanical arm, so that the printing nozzle can move in 6 degrees of freedom, and can be adjusted to be perpendicular to the inclined plane for 3D printing, so that 3D printing on the inclined plane is realized, and more use scenes are provided compared with the traditional 3D printing equipment.
3. The printing device provided by the invention has the advantages that the moving guide rail is used for moving the printing nozzle, the moving precision is high, meanwhile, due to the existence of the fifth steering engine, the printing can be carried out like a compass when a circle is printed, and the precision of printing the arc is higher than that of the traditional 3D printing equipment
4. The invention adopts double-nozzle printing, the double nozzles can be used for cooperatively printing the same product, the printing speed is accelerated, 2 same products can be synchronously printed, simultaneously, 2-color printing can be realized by using materials with 2 colors, and mixed 3D printing of 2 different materials can also be realized by replacing different types of printing nozzles.
5. The driven wheel support is triangular, and a first driven wheel is respectively installed at two bottom corner ends of each driven wheel support, so that the crawler is facilitated to drive the chassis to stably and reliably move, and the printing precision is ensured.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of the multi-degree-of-freedom double-nozzle crawler type walking 3D printing robot device.
Fig. 2a and fig. 2b are schematic diagrams of the printing process of synchronously printing 2 identical products by 2 printing nozzles according to the present invention.
Fig. 3a and 3b are schematic diagrams of a printing process in which 2 printing nozzles cooperate to print the same product and an arc is printed by using an output shaft of a fifth steering engine as a circle center according to the invention.
Fig. 4a and 4b are schematic views of the detailed structure of the partial assembly of the chassis of the tracked vehicle.
FIG. 5 is a schematic diagram of the detailed structure of the dual nozzle printing assembly of the present invention
Reference numerals: 1-chassis, 2-crawler, 3-driving wheel group, 4-driven wheel group, 5-crawler upper shell, 6-first steering gear, 7-second steering gear, 8-first bracket, 9-third steering gear, 10-second bracket, 11-fourth steering gear, 12-third bracket, 13-printing end, 301-driving gear assembly shaft, 302-driving gear, 303-driving motor, 401-plate spring, 402-driven wheel bracket, 403-first driven wheel, 404-bearing, 405-shaft lever, 406-bearing sleeve hole, 407-second driven wheel, 1301-fifth steering gear, 1302-moving guide rail and 1303-3D printing nozzle assembly.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 to 5, the invention provides a multi-degree-of-freedom double-nozzle crawler-type walking 3D printing robot device, which comprises a chassis 1, a crawler 2, a driving wheel set 3, a driven wheel set 4, a crawler upper shell 5, a first steering engine 6, a second steering engine 7, a first support 8, a third steering engine 9, a second support 10, a fourth steering engine 11, a third support 12 and a printing end 13; the driving wheel set comprises a driving gear assembly shaft 301, a driving gear 302 and a driving motor 303; the driven wheel set comprises a plate spring 401, a driven wheel bracket 402, a first driven wheel 403, a bearing 404, a shaft rod 405, a bearing sleeve hole 406 and a second driven wheel 407; the printing end 13 comprises a fifth steering engine 1301, a movable guide rail 1302 and a 3D printing nozzle assembly 1303;
the crawler belt type crawler belt driving device is characterized in that an upper shell 5 of the crawler belt type crawler belt is fixedly mounted at the top of the chassis 1, driving gear assembling shafts 301 are symmetrically mounted on the left side wall and the right side wall of one end of the chassis 1, bearing sleeve holes 406 are formed in the left side wall and the right side wall of the other end of the chassis 1, an inner cavity of each bearing sleeve hole 406 is in transition fit with an outer ring of each bearing 404, and each bearing 404 is connected with a second driven wheel 407 through a shaft rod 405. Two modes can be adopted, wherein one mode is that the bearing 404 adopts a tapered roller bearing, after the inner ring of the bearing 404 is attached to the boss of the second driven wheel 407, the shaft rod 405 adopts a structure with a smooth middle part and a thread at the tail end and is provided with 2 shafts, and the two shaft rods respectively pass through the bearing 404 and the second driven wheel 407 and then are screwed with nuts in the chassis 1; the other mode is that the shaft rod 405 is provided with only one structure with threads at two ends, the shaft rod 405 is rotatably connected with the bearings 404 in the two bearing sleeve holes 406, and two ends of the shaft rod 405 are respectively connected with the second driven wheel 407 and fixed through nuts.
The head end of the driving gear assembly shaft 301 is connected with a driving motor 303 positioned in the chassis 1, the tail end of the driving gear assembly shaft is connected with the driving gear 302, driving teeth which are mutually meshed are arranged on the inner sides of the driving gear 302 and the crawler 2, and the first driven wheel 403 and the second driven wheel 407 are matched with a groove on the inner side of the crawler 2; the driving gear 302 and the driving gear assembly shaft 301 are fixedly connected through a bolt group, the driving gear assembly shaft 301 is matched with a hole in the side edge of the chassis 1, the rear half section of an output shaft of the driving motor 303 is in square fit connection with a square hole formed in the tail end of the driving gear assembly shaft 301, the driving motor 303 and the chassis 1 are fixedly connected through the bolt group, the inner ring of the first driven wheel 403 is in interference fit with the outer ring of the bearing 404, and the inner ring of the bearing 404 is in transition fit with the driven wheel support 402.
Both sides of the inner side of the crawler belt in the embodiment are provided with teeth for being meshed with the driving gear 302, and the middle of the crawler belt is provided with a groove.
Arc-shaped plate springs 401 are symmetrically arranged on the left side wall and the right side wall of the chassis 1, the plate springs 401 are fixedly connected with bosses on the side edges of the chassis 1, driven wheel brackets 402 are mounted at two ends of the plate springs 401, and the driven wheel brackets 402 are movably connected with first driven wheels 403 through bearings 404; in this embodiment, the driven wheel bracket 402 is triangular, the top corner end of each driven wheel bracket 402 is connected to the plate spring 401, and two bottom corner ends of each driven wheel bracket 402 are respectively provided with a first driven wheel 403.
The crawler is characterized in that a hole is formed in the upper shell of the crawler and fixedly connected with a driving shaft of a first steering engine 6, the first steering engine 6 can rotate relative to the upper shell 5 of the crawler, the first steering engine 6 is connected with a second steering engine 7, the second steering engine 7 is connected with a third steering engine 9 through a first support 8, the third steering engine 9 is connected with a fourth steering engine 11 through a second support 10, and the fourth steering engine 11 is connected with a printing end 13 through a third support 12. The movable guide rail 1302 is fixedly connected with a fifth steering engine 1301, and the 3D printing spray head assembly 1303 is movably connected with the movable guide rail 1302.
Specifically, the printing mode of the multi-degree-of-freedom double-nozzle crawler-type walking 3D printing robot device is as follows:
taking the dual-nozzle synchronous printing of 2 identical products as an example, as shown in fig. 2a and fig. 2b, when the size of a product is small, the invention can print 2 identical products at the same time, firstly, the crawler-type locomotive is driven, the device is moved to a printing position, the printing nozzle is moved to a printing plane, a parameter model of the printed product is input in a computer, a system automatically generates a printing program, during the period, the relative position of the 2 3D printing nozzles is ensured not to be changed, meanwhile, the straight line connecting two vertexes of the 2 3D printing nozzles is ensured to be always parallel to the printing plane, then, the device automatically operates according to the program, the dual-nozzle synchronous printing can be completed, and after the printing is finished, the printing device can return to a designated position according to a preset program.
Taking the example of the double-nozzle collaborative printing of the same product, as shown in fig. 3a and fig. 3b, firstly, the crawler-type locomotive is driven, the device is moved to the printing position, the printing nozzle is moved to the printing plane, the parameter model of the printed product is input in the computer, the system automatically generates the printing program, the double-nozzle collaborative printing of the same product is faster than the printing speed of the traditional printing equipment by 1 time, because of the existence of the fifth steering engine, the arc can be printed by taking the output shaft of the fifth steering engine as the center of a circle in the printing process, the 3D printing nozzle is taken as the compass, the printing precision is higher in the arc printing process, different types of nozzles and printing materials can be replaced, the program is replaced, the device can perform double-color printing or simultaneously print different materials, the step of manually replacing the materials and the nozzles is omitted, the labor cost is saved, and due to the characteristics of the mobile 3D printing robot, printing apparatus can accomplish to follow away and beat along with walking, can directly repair at some impaired surfaces and print, the height of printing the product receives the high restriction of arm, but the length and the width of printing the product do not have the upper limit in theory, and printing robot can begin to print from the product center earlier, circles around the center, and the limit is walked and is beaten on the limit, also can begin to print from the product edge, divide into a plurality of lines with the product, prints line by line, and this is that traditional box formula 3D printer can't accomplish.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (3)
1. A multi-degree-of-freedom double-nozzle crawler belt moving type 3D printing device is characterized by comprising a chassis (1), a crawler belt (2), a driving wheel set (3), a driven wheel set (4), a crawler upper shell (5), a first steering engine (6), a second steering engine (7), a first support (8), a third steering engine (9), a second support (10), a fourth steering engine (11), a third support (12) and a printing end (13); the driving wheel set comprises a driving gear assembly shaft (301), a driving gear (302) and a driving motor (303); the driven wheel set comprises a plate spring (401), a driven wheel bracket (402), a first driven wheel (403), a bearing (404), a shaft lever (405), a bearing sleeve hole (406) and a second driven wheel (407); the printing end (13) comprises a fifth steering engine (1301), a movable guide rail (1302) and a 3D printing spray head assembly (1303);
the crawler belt assembly device is characterized in that an upper shell (5) of the crawler belt is fixedly mounted at the top of the chassis (1), driving gear assembly shafts (301) are symmetrically mounted on the left side wall and the right side wall of one end of the chassis (1), bearing sleeve holes (406) are formed in the left side wall and the right side wall of the other end of the chassis (1), an inner cavity of each bearing sleeve hole (406) is in transition fit with an outer ring of each bearing (404), and each bearing (404) is connected with a second driven wheel (407) through a shaft rod (405);
the head end of the driving gear assembly shaft (301) is connected with a driving motor (303) positioned in the chassis (1), the tail end of the driving gear assembly shaft is connected with the driving gear (302), driving teeth which are meshed with each other are arranged on the inner sides of the driving gear (302) and the crawler (2), and the first driven wheel (403) and the second driven wheel (407) are matched with a groove on the inner side of the crawler (2);
arc-shaped plate springs (401) are symmetrically arranged on the left side wall and the right side wall of the chassis (1), driven wheel brackets (402) are mounted at two ends of each plate spring (401), and each driven wheel bracket (402) is movably connected with a first driven wheel (403) through a bearing (404);
the crawler upper shell (5) is provided with a hole fixedly connected with a driving shaft of the first steering engine (6), and the first steering engine (6) can rotate relative to the crawler upper shell (5); the first steering engine (6) is connected with the second steering engine (7), the second steering engine (7) is connected with the third steering engine (9) through a first support (8), the third steering engine (9) is connected with the fourth steering engine (11) through a second support (10), and the fourth steering engine (11) is connected with the printing end (13) through a third support (12).
The moving guide rail (1302) is fixedly connected with a fifth steering engine (1301), and the 3D printing spray head assembly (1303) is movably connected with the moving guide rail (1302).
2. The multi-degree-of-freedom dual-nozzle crawler mobile 3D printing device according to claim 1, wherein the driven wheel brackets (402) are triangular, the top corner end of each driven wheel bracket (402) is connected with a plate spring (401), and two bottom corner ends of each driven wheel bracket (402) are respectively provided with a first driven wheel (403).
3. The multi-degree-of-freedom dual-nozzle crawler mobile 3D printing device according to claim 1, wherein two 3D printing nozzles are arranged in the 3D printing nozzle assembly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210210557.2A CN114407354A (en) | 2022-03-03 | 2022-03-03 | Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210210557.2A CN114407354A (en) | 2022-03-03 | 2022-03-03 | Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device |
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| CN114407354A true CN114407354A (en) | 2022-04-29 |
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| CN202210210557.2A Pending CN114407354A (en) | 2022-03-03 | 2022-03-03 | Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114833914A (en) * | 2022-07-01 | 2022-08-02 | 华南理工大学 | 3D printer mechanical arm for intelligent construction and use method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833914A (en) * | 2022-07-01 | 2022-08-02 | 华南理工大学 | 3D printer mechanical arm for intelligent construction and use method thereof |
| CN114833914B (en) * | 2022-07-01 | 2022-09-06 | 华南理工大学 | 3D printer mechanical arm for intelligent construction and use method thereof |
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