CN115284602A - Frameless 3D printing device based on rotor unmanned aerial vehicle - Google Patents

Abstract

The invention provides a frameless 3D printing device based on a rotor unmanned aerial vehicle, which comprises: the rotor unmanned aerial vehicle comprises a host and at least two rotor assemblies, wherein the rotor assemblies are connected with the host along a first direction, and the rotor unmanned aerial vehicle is used for driving a printing device to print in a multi-dimensional direction; the 3D printing part comprises an adjustable temperature control spray head, a power supply device and a material placing box, the adjustable temperature control spray head is connected with the host along a second direction; the first direction is vertical to the second direction, and the adjustable temperature control spray head is used for adjusting the lifting of the spray head when the printing device works or does not work. According to the device provided by the embodiment of the invention, the 3D printer is connected with the rotor unmanned aerial vehicle, the position of the 3D printer can be adjusted according to use occasions, the position of the spray head can be adjusted through the adjustable temperature control spray head, and the spray head can be folded when the printer is not used, so that a special protective frame is prevented from being arranged to protect the spray head, and the space of the device is also saved.

Description

A frameless 3D printing device based on a rotor drone

technical field

The invention relates to the technical field of geotechnical engineering testing, in particular to a frameless 3D printing device based on a rotor drone.

Background technique

3D printing technology is also called additive manufacturing or rapid prototyping. It is based on digital model files, using metal or plastic in the shape of powder, wire, block, etc., supplemented by adhesive materials or heat sources, and accumulated layer by layer. A technique for constructing objects in a manner. 3D printers are currently widely used in medicine, aerospace, geotechnical engineering and other fields.

The current 3D printer is mainly composed of a consumable supply device, a conveying device, a space control frame and a printing nozzle. The space control frame is a necessary part of all current 3D printers. It is mainly used to install several stepping motors to realize the space X, Y, Z. Three-way transmission to achieve the goal of 3D printing. The space control frame plays the role of carrying a horizontal and vertical moving stepper motor.

However, the existence of the space control framework also greatly limits the size of the 3D printing of the 3D model. The one-time printing size of the general model is often smaller than the space size of the frame, which is the main factor restricting the preparation of large-scale models for 3D printing.

Contents of the invention

The technical problem to be solved by the present invention is to provide a frameless 3D printing device based on the rotor UAV 1, to solve the problem that the existence of the existing space control frame also greatly limits the size of the 3D printing of the three-dimensional model, and the one-time printing of the general model The printing size is often smaller than the space size of the frame, which is the main factor that constrains the preparation of large-scale model 3D printing.

In order to solve the above technical problems, the present invention provides the following technical solutions:

A frameless 3D printing device based on a rotor drone, the device comprising:

The rotor UAV includes a host and at least two rotor assemblies, the rotor assembly is connected to the host along a first direction, and the rotor UAV is used to drive the printing device to print in multi-dimensional directions;

The 3D printing part includes an adjustable temperature-controlled nozzle, a power supply device and a material storage box, and the adjustable temperature-controlled nozzle, power supply device and material storage box are sequentially connected to the host along the second direction;

the first direction is perpendicular to the second direction;

The adjustable temperature-controlled spray head is used to adjust the lift of the print head when the printing device is working and not working.

In an optional embodiment, the adjustable temperature-control nozzle includes an adjustment part connected with the nozzle, and the adjustment part is connected with the host.

In an optional embodiment, the adjusting part includes a driving motor connected with a telescopic rod, the driving motor is connected with the host, and the telescopic rod is connected with the spray head.

In an optional embodiment, the host includes a top surface and a bottom surface, the power supply device is located on the top surface, and the material storage box penetrates the top surface and the bottom surface along the second direction.

In an optional embodiment, an accommodating space is formed between the material storage box and the bottom surface of the host, the adjustable temperature-controlled spray head is located in the accommodating space, and the adjustable temperature-controlled spray head can be placed in the accommodating space. Adjust the lifting height in the accommodation space.

In an optional embodiment, the height of the accommodating space is smaller than the length of the adjustable temperature-control nozzle after stretching, and greater than the length of the adjustable temperature-control nozzle after shrinking.

In an optional embodiment, the rotor assembly includes a connected rotor rod and a rotor, and the rotor rod is connected to the main engine.

In an optional embodiment, the 3D printing part further includes a consumable material transmission conduit, and the consumable material transmission conduit connects the material placement box and the adjustable temperature-control nozzle.

In an optional embodiment, the device further includes a telescopic support assembly, and the telescopic support assembly is connected to the host.

In an optional embodiment, the device further includes a binocular stereo camera, and the binocular stereo camera is connected to the host.

The beneficial effects of above-mentioned technical scheme of the present invention are as follows:

The device provided by the embodiment of the present invention can adjust the position of the 3D printer according to the occasion by connecting the 3D printer with the rotor drone, and the position of the nozzle can be adjusted through the adjustable temperature control nozzle. When the printer is not in use, the nozzle can be Folding it away avoids setting up a special protective frame to protect the nozzle, and also saves the space of the device.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of a frameless 3D printing device based on a rotor UAV 1 according to the present invention;

Fig. 2 is a side view of a frameless 3D printing device based on the rotor UAV 1 of the present invention;

FIG. 3 is a front view of a frameless 3D printing device based on a rotor drone 1 according to the present invention.

[reference sign]

1. Rotor drone; 11. Main engine; 12. Rotor assembly; 101. Top surface; 102. Bottom surface; 2. 3D printing part; 21. Adjustable temperature control nozzle; 21a. Adjustment part; 211. Drive motor; 212 . Telescopic rod; 21b, nozzle; 22. Power supply device; 23. Material storage box; 201. Consumable material transmission conduit;

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

A guardrail with good warning effect for building construction provided by the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can also adopt other alternative ways to implement for some known technologies; and the accompanying drawings It is only for more specific description of the embodiments, but not intended to specifically limit the present invention.

It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiment," "some embodiments," etc. indicate that the described embodiments may include particular features, structures, or characteristics, but Not every embodiment may include that particular feature, structure or characteristic. In addition, when a particular feature, structure or characteristic is described in connection with an embodiment, it should be within the knowledge of those skilled in the relevant art to implement such feature, structure or characteristic in combination with other embodiments (whether or not explicitly described).

In general, a term can be understood at least in part from its usage in context. For example, the term "one or more" as used herein may be used to describe any feature, structure or characteristic in the singular or may be used to describe a combination of features, structures or characteristics in the plural, depending at least in part on the context. Additionally, the term "based on" may be understood as not necessarily intended to convey an exclusive set of factors, but may instead allow for the presence of other factors not necessarily expressly described, depending at least in part on the context.

It will be appreciated that the meanings of "on", "over" and "above" in this disclosure should be read in the broadest possible manner such that "on" means not only "Directly on" something also includes the meaning of "on" something with an intervening feature or layer in between, and "on" or "over" not only means "on" something The meaning of "on" or "over" and may also include its meaning of "on" or "over" something without intervening features or layers in between.

In addition, spatial relative terms such as "under", "beneath", "lower", "above", "upper", etc. may be used herein for convenience of description to describe the relationship between one element or feature and another. The relationship of one or more elements or features as shown in the drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. A device may be otherwise oriented and spatially relative descriptors used herein similarly interpreted accordingly.

Please refer to Fig. 1-Fig. 3 together, the embodiment of the present invention provides a frameless 3D printing device based on the rotor UAV 1, the device includes:

The rotor drone 1 includes a host 11 and at least two rotor assemblies 12, the rotor assemblies 12 are connected to the host 11 along a first direction, and the rotor drone is used to drive the printing device to print in multi-dimensional directions;

The 3D printing part 2 includes an adjustable temperature-controlled nozzle 21, a power supply device 22 and a material storage box 23, and the adjustable temperature-controlled nozzle 21, the power supply device 22 and the material storage box 23 are connected to the host computer 11 along the second direction;

The first direction is perpendicular to the second direction, and the adjustable temperature-controlled spray head 21 is used to adjust the lift of the print head when the printing device is working and not working.

The device provided by the embodiment of the present invention has at least the following beneficial effects:

The device provided by the embodiment of the present invention is based on the cancellation of the limitation of the space frame. The printing device is continuously flying and moving up and down the rotor UAV to realize nozzle printing. The rotor UAV can drive the printing device to print in multi-dimensional directions, that is, through The rotor drone drives the 3D printing part to print in the X\Y\Z direction, which expands the scope of printing. By connecting the 3D printer to the rotor drone 1, the position of the 3D printer can be adjusted according to the occasion and status of use, and The position of the nozzle can be adjusted through the adjustable temperature-controlled nozzle 21. When the printer is not in use, the adjustable temperature-controlled nozzle 21 can be put away, which avoids setting up a special protective frame to protect the adjustable temperature-controlled nozzle 21, and also saves equipment. space.

The device provided by the embodiment of the present invention will be further explained and described through optional embodiments below.

It should be noted that the unmanned aerial vehicle in the printer provided by the relevant documents is used to bring the printer to a designated location, and is fixed by the space frame surrounding the printing nozzle, and then prints through the nozzle. The printing range of the related technology is limited to Within the scope of the frame, you can only print a model of about 20cm, and if it is larger, it can only be assembled, which is inconvenient. In addition, if you want to 3D print a building, you need to arrange a space frame that can surround the entire model, which is not easy to operate for larger-scale architectural models. , it is difficult to achieve printing. However, the embodiment of the present invention eliminates the limitation of the space frame, and drives the printer to print through the combination of the rotor UAV and the printer, thereby expanding the printing range and improving the printing efficiency.

It should be noted that the main engine 11 provided by the embodiment of the present invention can be rectangular, and the rotor assemblies 12 can be in two groups, three groups or four groups. As an example, when the rotor assemblies 12 are in two groups, the two groups of rotor assemblies 12 It can be arranged symmetrically. When there are four groups of rotor assemblies 12, the rotor assemblies 12 can be arranged at the four corners of the main engine 11. When there are three groups of rotor assemblies 12, two groups of rotor assemblies 12 in the three groups of rotor assemblies 12 are relatively arranged. The remaining group of rotor assemblies 12 are arranged on the diagonal of the rectangular main frame 11, and the above arrangement is adopted to ensure the balance and stability of the device. The embodiment of the present invention is not limited to the number and corresponding arrangement of the rotor assemblies 12 .

The host 11 provided by the embodiment of the present invention has a certain thickness, the first direction can be parallel to the direction extending to the thickness of the host 11 or opposite to the direction parallel to the thickness, and the second direction is a direction perpendicular to the thickness of the host 11 or parallel to the thickness of the host 11 in the opposite direction.

The rotor UAV 1 provided by the embodiment of the present invention also includes a positioning system, through which the printing target position can be positioned, and the rotor UAV 1 can bring the device to the target position. Further, when in use, after inputting the 3D printing model, the control software accurately locates the spatial coordinates through GPS, assigns the flight path of the rotor UAV 1, and synchronously controls the stepping material transfer task to realize the full-scale model printing preparation constrained by the space frame.

When the device provided by the embodiment of the present invention starts to print, the host 11 of the rotor UAV 1 starts, the rotor rotates, and after flying to the predetermined X, Y, Z coordinate position, the drive motor 211 controls the adjustable temperature-controlled nozzle 21 to elongate from the original position. To the working position, that is, position A to position B in Figure 3. The adjustable temperature control nozzle 21 starts 3D printing after reaching the operating temperature. After the printing is finished, the driving motor 211 controls the 3D printing nozzle to return to the original position.

The embodiment of the present invention provides a device to realize 3D printing at any position (X, Y, Z) by flying the rotor drone 1 in three-dimensional space, realize 3D printing without frame constraints, and carry out the preparation of 3D printing models of various sizes.

In an optional embodiment, the rotor assembly 12 includes a connected rotor rod and a rotor, and the rotor rod is connected to the main engine 11 .

The rotor bar is detachably connected with the main engine 11, and the rotor is detachably connected with the rotor bar. Further, the rotor is connected with the rotor rod along the second direction. The printer is driven by the rotor of the drone to fly to the designated place for printing.

In an optional embodiment, the adjustable temperature-control nozzle 21 includes a connected adjustment part 21 a and a nozzle 21 b, and the adjustment part 21 a is connected to the main machine 11 .

The up and down movement of the nozzle 21b provided by the related technology, that is, the movement in the Z direction is within the working range. When the device is not working, an external protective frame is required for protection, and the position of the nozzle 21b will also affect the safety of the nozzle 21b. In the embodiment of the present invention, the adjustment part 21a is connected to the nozzle 21b. During printing, the adjustment part 21a is used to adjust the nozzle 21b to be in contact with the printing substrate to realize printing. An additional protective frame is required for protection, and the nozzle 21b will not be damaged, which will affect the use of the nozzle 21b.

Further, the adjustment part 21a is rotatably connected to the nozzle 21b, and the rotation of the adjustment part 21a drives the rotation of the nozzle 21b, thereby adjusting the position of the nozzle 21b in the Z-axis direction.

In an optional embodiment, the adjustment part 21a includes a connected drive motor 211 and a telescopic rod 212, the drive motor 211 is connected to the host machine 11, and the telescopic rod 212 is connected to the spray head 21b.

Further, the telescopic rod 212 may be a hydraulic rod, which is driven up and down by hydraulic drive.

Further, the adjustable temperature-control spray head 21 provided by the embodiment of the present invention further includes a stepping motor, one end of which is connected to the telescopic rod 212, and the other end is connected to the spray head 21b. The movement of the spray head 21b in the X and Y directions can be controlled by a stepping motor. For example, the number of stepping motors can be three.

In an optional embodiment, the host 11 includes a top surface 101 and a bottom surface 102 , the power supply device 22 is located on the top surface 101 , and the material storage box 23 penetrates the top surface 101 and the bottom surface 102 along the second direction.

In an optional embodiment, an accommodating space is formed between the material storage box 23 and the bottom surface 102 of the main machine 11, the adjustable temperature-controlled nozzle 21 is located in the accommodating space, and the adjustable temperature-controlled nozzle 21 can be adjusted to lift in the accommodating space high.

The printing device provided by the related technology generally sets the power supply device 22 and the material device on the top surface 101 of the host computer 11, and the nozzle 21b is located on the bottom surface 102, but when the printing device is working or not working, the safety of the nozzle 21b will be affected, resulting in the nozzle 21b being blocked. External damage, etc. In the embodiment of the present invention, the power supply device 22 is arranged on the top surface 101 of the main machine 11, and the material storage box 23 runs through the top surface 101 and the bottom surface 102 of the main machine 11 along the second direction, so that the material storage box 23 only occupies a small part of the bottom surface 102 of the main machine 11 space, and an accommodation space is formed between the material placement box 23 and the main machine 11, so that the nozzle 21b is located in the accommodation space, and can be raised or lowered along the Z-axis direction in the accommodation space. When the device does not need to work, the nozzle 21b is raised At this preset height, due to the protection of the material storage box 23 located on the bottom surface 102 side of the main machine 11, the nozzle 21b will not be damaged, and a special protective frame is further avoided, which saves the space occupied by the device The rate also reduces the device cost.

The printing consumables box is directly connected to the host computer 11, and material delivery can be realized through a stepping motor, without affecting the flight of the rotor UAV 1 and the 3D printing process.

Further, the size of the material storage box 23 can be determined according to the size of the adjustable temperature-control nozzle 21 , so as to ensure that the size of the formed accommodation space can completely accommodate the adjustable temperature-control nozzle 21 .

In an optional embodiment, the height of the accommodating space is smaller than the length of the adjustable temperature-control nozzle 21 after stretching, and greater than the length of the adjustable temperature-control nozzle 21 after contraction.

It can be understood that the nozzle 21b needs to extend out of the accommodation space for printing during printing, and the material storage box 23 cannot hinder the normal operation of the nozzle 21b, and can be protected by the material storage box 23 after shrinking when the nozzle 21b is not working, so the setting The height of the accommodating space is smaller than the length of the adjustable temperature-control nozzle 21 after stretching, and greater than the length of the adjustable temperature-control nozzle 21 after shrinking. Furthermore, the length of the material storage box 23 located on the bottom surface 102 of the main machine 11 is smaller than the length of the adjustable temperature-control nozzle 21 after stretching, and longer than the length of the adjustable temperature-control nozzle 21 after contraction.

In an optional embodiment, the 3D printing unit 2 further includes a consumable material transmission conduit 201 , and the consumable material transmission conduit 201 is connected to the material placement box 23 and the adjustable temperature-control nozzle 21 .

The consumable conveying conduit 201 can be set according to the printing requirements. When there are multiple types of printing materials, there can be multiple consumable conveying conduits 201 . The number of consumable conveying conduits 201 is not limited in this embodiment of the present invention. Further, the material of the consumables conveying conduit 201 is soft material, that is, it can move with the movement of the spray head 21b, and the consumables conveying conduit 201 will not be damaged.

In an optional embodiment, the device further includes a telescopic support assembly 3, and the telescopic support assembly 3 is connected to the host 11.

Further, the telescopic brackets provided by the embodiment of the present invention can be divided into two groups, and the two groups of telescopic brackets are arranged at both ends of the host 11 . The retractable support includes a connected rotating shaft and a support frame. The rotating shaft is connected to the host computer 11. When the device is working, the controller controls the support frame to be placed at the target position for printing. It controls the rotation of the rotating shaft, and the support frame is put away to be on the same level as the rotor assembly 12, so as to improve the stability of the device.

Further, when the main engine 11 provided by the embodiment of the present invention is a cuboid, the rotor assembly 12 can be located at opposite ends of the cuboid main engine 11, and the telescopic bracket is located at the other two ends, and they are arranged oppositely, that is, the rotor assembly 12 is adjacent to the telescopic bracket Settings to ensure the normal operation of each component without affecting each other.

In an optional embodiment, the device further includes a binocular stereo camera 4 , and the binocular stereo camera 4 is connected to the host 11 .

By setting the binocular stereo camera 4, the environment of the device can be observed in real time, and the environment of the device can be fed back to the controller in real time, and the normal operation of the device can be controlled by the controller. Furthermore, the binocular stereo camera system is placed at the front end of the rotor UAV 1, which can identify the target in the printing area and assist the 3D printing process.

Further, when printing, the working state of the device can be obtained through the controller. When the device flies to the designated place through the rotor UAV 1, the controller controls the drive motor 211 to rotate and adjust the position of the nozzle 21b to print. When the device is completed After printing, the controller controls the rotation of the drive motor 211 to adjust the nozzle 21b to shrink into the accommodation space.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, these improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (10)

1. A frameless 3D printing device based on a rotorcraft, the device comprising:

the rotor unmanned aerial vehicle comprises a host and at least two rotor assemblies, wherein the rotor assemblies are connected with the host along a first direction, and the rotor unmanned aerial vehicle is used for driving a printing device to print in a multi-dimensional direction;

the 3D printing part comprises an adjustable temperature control spray head, a power supply device and a material placing box, wherein the adjustable temperature control spray head, the power supply device and the material placing box are sequentially connected with the host along a second direction;

the first direction is perpendicular to the second direction;

the adjustable temperature control spray head is used for adjusting the lifting of the spray head when the printing device works or does not work.

2. The unmanned rotorcraft-based frameless 3D printing device of claim 1, wherein the adjustable temperature-controlled spray head comprises an adjustment portion and a spray head connected, the adjustment portion being connected with the host.

3. The frameless 3D printing device based on a rotary-wing drone of claim 2, wherein the adjustment portion includes a drive motor and a telescoping rod connected, the drive motor being connected with the host, the telescoping rod being connected with the spray head.

4. The unmanned rotorcraft-based frameless 3D printing device of claim 1, wherein the host computer includes a top surface and a bottom surface, the power supply device being located on the top surface, the material placement box extending through the top and bottom surfaces in the second direction.

5. The frameless 3D printing device based on a rotary-wing unmanned aerial vehicle of claim 4, wherein an accommodating space is formed between the material placing box and the bottom surface of the main machine, the adjustable temperature-control spray head is located in the accommodating space, and the lifting height of the adjustable temperature-control spray head can be adjusted in the accommodating space.

6. The frameless 3D printing device based on a rotary-wing drone of claim 5, wherein the height of the receiving space is less than the extended length of the adjustable temperature control showerhead and greater than the retracted length of the adjustable temperature control showerhead.

7. The unmanned rotorcraft-based frameless 3D printing device of claim 1, wherein the rotor assembly comprises a rotor rod and a rotor connected, the rotor rod being connected with the host.

8. The unmanned rotorcraft-based frameless 3D printing device of claim 1, wherein the 3D printing portion further comprises a consumable transfer conduit connecting the material placement box and the adjustable temperature controlled spray head.

9. The unmanned rotorcraft-based frameless 3D printing device of claim 1, further comprising a telescoping boom assembly, the telescoping boom assembly interfacing with the host computer.

10. The unmanned rotorcraft-based frameless 3D printing device of claim 1, further comprising a binocular stereo camera connected to the host.

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