CN116025165A - Printing apparatus, printing robot, and control method - Google Patents

Abstract

The application belongs to the technical field of building printing, and particularly relates to a printing device, a robot and a control method, wherein the printing device comprises the following components: the mixing extrusion bin is provided with a feed inlet and a discharge outlet; the extrusion nozzle is movably arranged at the discharge hole and is communicated with the inside of the mixing extrusion bin through the discharge hole so as to facilitate discharge; the direction changing assembly comprises a direction changing driving piece and a direction changing transmission piece, wherein the direction changing driving piece is arranged outside the mixing extrusion bin, one end of the direction changing transmission piece is connected with the direction changing driving piece, the other end of the direction changing transmission piece is connected with the extrusion nozzle, and the direction changing driving piece can drive the direction changing transmission piece to move so as to drive the extrusion nozzle to rotate around the axis of the discharge hole. According to the scheme, the proper rotation direction of the extrusion nozzle can be selected according to the printing path and when the bent angle of the printing line or the gradual change curve is printed, continuous curve printing is realized, printing efficiency can be effectively increased, and higher printing yield can be obtained.

Description

Printing apparatus, printing robot, and control method

Technical Field

The application relates to the technical field of building printing, in particular to a printing device, a robot and a control method.

Background

At present, the development of robotics is relatively perfect, and the robot is applied to a plurality of fields. The 3D printer is also a product with mature technology, and can print plastic or metal products; the 3D printer is also gradually applied to the building field, and more convenience is provided for building printing.

But traditional 3D printer when printing the building material, printing device has the printing effect poor and prints the inefficiency scheduling problem.

Disclosure of Invention

To solve the above-described technical problems, embodiments of the present application provide a printing apparatus, a robot, and a control method, which overcome, at least in part, one or more of the problems due to the limitations and disadvantages of the related art.

A first aspect of the present application provides a printing apparatus comprising:

the mixing extrusion bin is provided with a feed inlet and a discharge outlet;

the extrusion nozzle is movably arranged at the discharge hole and is communicated with the inside of the mixing extrusion bin through the discharge hole so as to facilitate discharge;

the direction changing assembly comprises a direction changing driving piece and a direction changing transmission piece, wherein the direction changing driving piece is arranged outside the mixing extrusion bin, one end of the direction changing transmission piece is connected with the direction changing driving piece, the other end of the direction changing transmission piece is connected with the extrusion nozzle, and the direction changing driving piece can drive the direction changing transmission piece to move so as to drive the extrusion nozzle to rotate around the axis of the discharge hole.

In an exemplary embodiment of the present application, the direction-changing transmission member is provided inside the mixing extrusion chamber.

In one exemplary embodiment of the present application, the direction-changing transmission member includes a direction-changing transmission shaft, a direction-changing driving gear, and a direction-changing transmission gear; wherein,,

the turning transmission gear is sleeved outside one end of the turning transmission shaft, and the other end of the turning transmission shaft is connected with the extrusion nozzle through at least one connecting rib;

the direction-changing driving gear is connected with the direction-changing driving piece and meshed with the direction-changing transmission gear, and the direction-changing driving gear can transmit under the driving of the direction-changing driving piece.

In one exemplary embodiment of the present application, the extrusion nozzle includes:

the mounting plate is movably arranged at the discharge hole and seals the discharge hole;

the discharging part is arranged in the central area of the mounting plate and is provided with an extrusion hole communicated with the inside of the mixing extrusion bin;

the direction-changing transmission shaft is connected with the mounting plate and/or the discharging part through the connecting ribs.

In one exemplary embodiment of the present application,

the radial cross-sectional area of the extrusion hole gradually decreases along the inlet end of the extrusion hole to the outlet end of the extrusion hole; and/or

The radial cross section of the extrusion hole is elliptical or rectangular.

In one exemplary embodiment of the present application, the printing apparatus further includes a stirring assembly including a stirring member and a stirring driving member;

the stirring driving piece is arranged outside the mixing extrusion bin;

the stirring piece is arranged in the mixing extrusion bin, and the stirring piece rotates under the driving of the stirring driving piece.

In an exemplary embodiment of the present application, the stirring member is provided with a fitting through hole therethrough;

at least part of the direction-changing transmission piece penetrates through the assembly through hole and is connected with the extrusion nozzle.

In an exemplary embodiment of the present application, the stirring member includes a stirring driving gear, a stirring driven gear, a stirring rod, and a helical blade; wherein,,

the stirring driving gear is connected with the stirring driving piece and can rotate under the driving of the stirring driving piece;

the stirring driven gear is sleeved outside the stirring rod and meshed with the stirring driving gear;

the helical blade is in a helical shape and is arranged outside the stirring rod in a helical manner.

In an exemplary embodiment of the present application, the helical blade includes:

the stirring part is sleeved outside the stirring rod; and

the extrusion part is sleeved outside the stirring rod and is positioned at one side of the stirring part close to the discharge port;

wherein the screw outer diameter of the extrusion part is smaller than the screw outer diameter of the stirring part.

In an exemplary embodiment of the present application, in the axial direction of the stirring rod: the spiral external diameters of all the stirring parts are equal, and the spiral external diameters of all the extruding parts are equal.

In an exemplary embodiment of the present application, the mixing extrusion bin includes a mixing bin and an extrusion bin that are connected, the bottom of the extrusion bin is provided with the discharge port, and the top of the mixing bin is fixedly provided with the direction-changing driving member and the stirring driving member; wherein,,

the inner diameter of the extrusion bin is smaller than that of the mixing bin; and/or

The stirring part is arranged in the mixing bin, and the extrusion part is arranged in the extrusion bin.

In one exemplary embodiment of the present application,

the mixing bin and the extrusion bin are coaxially arranged; and/or

The extrusion nozzle and the extrusion bin are coaxially arranged; and/or

The extrusion nozzle and the stirring rod are coaxially arranged.

In an exemplary embodiment of the present application, the mixing extrusion chamber is further provided with a mounting port for connection with a robotic arm.

A second aspect of the present application provides a robot comprising:

a work table;

the mechanical arm is arranged on the workbench;

the printing device comprises a mixed extrusion bin, an extrusion nozzle and a direction changing assembly, wherein the mixed extrusion bin is provided with a mounting port, a feeding port and a discharging port; the printing device is connected with the tail end of the mechanical arm through the mounting port; the extrusion nozzle is movably arranged at the discharge hole and is communicated with the inside of the mixing extrusion bin through the discharge hole so as to facilitate discharge; the direction changing assembly comprises a direction changing driving piece and a direction changing transmission piece, the direction changing driving piece is arranged outside the mixing extrusion bin, one end of the direction changing transmission piece is connected with the direction changing driving piece, the other end of the direction changing transmission piece is connected with the extrusion nozzle, and the direction changing driving piece can drive the direction changing transmission piece to drive the extrusion nozzle to rotate around the axis of the discharge hole;

the control system is arranged on the workbench, connected with the mechanical arm and the direction-changing driving piece, and can control the mechanical arm to move with the direction-changing driving piece so that the tail end of the mechanical arm moves according to a planned walking path and the extrusion nozzle rotates according to a planned angle.

In one exemplary embodiment of the present application, the robot further includes a conveying system including:

a support frame;

the material box is used for bearing materials;

the conveying pump is arranged at the material box and connected with the control system, and can be used for extracting materials in the material box under the control of the control system;

and the conveying pipeline is arranged at the support frame, one end of the conveying pipeline is connected with the conveying pump, and the other end of the conveying pipeline is connected with the feeding inlet of the mixing extrusion bin, so that the materials pumped by the conveying pump are conveyed to the mixing extrusion bin.

A third aspect of the present application provides a control method applied to a robot control system, including:

acquiring a print task;

a walking path of the tail end of the mechanical arm and a rotation angle of an extrusion nozzle in the printing device are planned according to the printing task;

controlling the tail end of the mechanical arm to move based on the walking path;

and controlling the working state of the direction-changing driving piece based on the rotation angle so as to enable the extrusion nozzle to rotate according to the rotation angle.

The printing device, the robot and the control method have the following beneficial effects:

the rotation angle of the extrusion nozzle is regulated through the driving and transmission actions of the direction-changing driving piece and the direction-changing transmission piece, so that the extrusion nozzle prints according to a preset printing path, the printing effect of building materials is controlled, and the printing yield of the building materials is improved; the robot can control the walking path at the tail end of the mechanical arm and the rotating angle of the extrusion nozzle of the printing device according to the preset walking path, so that continuous printing which is not limited to a pure plane is realized, the printing effect of a printing finished product is ensured, and the printing efficiency of the printing finished product is improved.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic diagram of a related art printing apparatus;

FIG. 2 shows a schematic diagram of another related art printing apparatus;

FIG. 3 shows a schematic diagram of a print path of the printing apparatus of the present application;

FIG. 4 is a schematic view showing the structure of a printing apparatus in the present application;

FIG. 5 illustrates a rear view of the printing apparatus of FIG. 4;

FIG. 6 shows a left side view of the printing apparatus of FIG. 4;

fig. 7 is a schematic view showing the structure of the printing apparatus in one state;

fig. 8 shows a schematic configuration diagram of the printing apparatus in another state;

FIG. 9 shows a schematic view of the stirrer in the present application;

FIG. 10 shows a front view of the stirring element of the present application;

FIG. 11 shows a schematic structural view of the direction changing assembly and the stirring assembly after being matched;

FIG. 12 is a partial schematic view showing the structure of the steering drive shaft, stirring rod and connecting rib after being matched;

fig. 13 shows a schematic structural view of the robot in the present application;

fig. 14 shows a control method flowchart of the control system in the present application.

1. A first printhead; 2. a second print head; 100. mixing and extruding the mixture; 101. a mixing bin; 1011. a feed inlet; 1012. a mounting port; 102. extruding the mixture out of a bin; 1021. a discharge port; 200. an extrusion nozzle; 201. a mounting plate; 202. a discharging part; 203. extruding the hole; 300. a direction changing component; 301. a direction-changing driving member; 3011. a direction-changing driving motor; 3012. a turning gear motor; 302. a direction-changing transmission member; 3021. a direction-changing transmission shaft; 3022. a turning transmission gear; 3023. a connecting rib; 400. a stirring assembly; 401. a stirring member; 401a, an assembly through hole; 4011. a stirring driven gear; 4012. a stirring rod; 4013. a helical blade; 4013a, a stirring section; 4013b, an extrusion section; 402. a stirring driving member; 4021. a stirring driving motor; 4022. a stirring speed reducing motor; 500. a work table; 600. a mechanical arm; 700. a printing device; 800. a control system; 900. a conveying system; 901. a support frame; 902. a material box; 903. and a conveying pipeline.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the disclosed aspects may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

The disclosure is further described in detail below with reference to the drawings and detailed description. It should be noted that the technical features of the embodiments of the present disclosure described below may be combined with each other as long as they do not collide with each other. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.

In the related art, a robot prints according to a preset printing path, and a printing head prints according to the printing path, for example, fig. 1 shows a printing path of a first printing head 1, and the first printing head 1 performs straight line reciprocating printing from bottom to top according to a direction indicated by an arrow in the figure, so that a printing mode is relatively single, and printing efficiency is low; in the printing path of the other robot printing device shown in fig. 2, the second printing head 2 performs straight reciprocating printing according to the direction indicated by the arrow, and the printing direction is stacked from bottom to top, when the curve printing is performed in this way, when a corner or gradual curve is encountered, intermittent printing is required, and the building material cannot be continuously printed, and in this way, the printing effect is poor at the corner, and the printed finished product effect is poor.

Based on this, this application embodiment provides a printing device, mainly used 3D prints technical field, prints to the material, and as shown in fig. 3, can print in succession to the curve printing route, and the printing effect is better.

It should be noted that the printing device is not limited to the 3D printing field, and can be used in other printing technical fields; furthermore, materials mentioned in this application include, but are not limited to, cement, concrete, clay and sand.

As shown in fig. 4, the printing apparatus of the embodiments of the present application may include a mixing extrusion chamber 100 for containing printing material, an extrusion nozzle 200, and a direction changing assembly 300.

Wherein, mix extrusion storehouse 100 is including continuous mixing warehouse 101 and extrusion warehouse 102, and mixing warehouse 101 is equipped with the feed inlet 1011 that is used for the input material and is used for the installation of with arm 600, and the installation mouth 1012 is seted up on mixing warehouse 101 to have a plurality of screw holes, through fixed mode such as bolt and arm 600 fixed connection, so that arm 600 can accurate control printing device 700.

It should be noted that, the mounting port 1012 may have a circular, square or oval cross section, but is not limited thereto, and may be connected to the mechanical arm 600; the mounting port 1012 may be provided on the outer wall of the mixing chamber 101 or the outer wall of the extrusion chamber 102, and the position of the mounting port 1012 is not limited thereto, as long as it can be connected to the robot arm 600.

Further, as shown in fig. 5 and 6, the inlet 1011 is provided at the outer wall of the upper half of the mixing chamber 101 and is inclined so as to facilitate inflow of the fluid materials; the mixing bin 101 is mutually communicated with the extrusion bin 102, so that the material flowing into the mixing bin 101 flows into the extrusion bin 102, and the bottom of the extrusion bin 102 is provided with a discharge port 1021, so that the discharge port 1021 is used for extruding fluid materials, and printing of building finished products is completed.

Illustratively, depending on the nature of the fluid material, and to further facilitate the flow of the material, a discharge port 1021 is provided at the bottom of extrusion chamber 102, as shown in fig. 5 and 6; in addition, for more regular extruded material and more convenient assembly of the mixing and extrusion chambers 101 and 102, the mixing and extrusion chambers 101 and 102 are coaxially arranged.

It should be noted that, the feeding port 1011 in the present application may be disposed at the top of the mixing chamber 101, and the discharging port 1021 may be disposed on the side wall of the extrusion chamber 102, so that feeding and discharging may be mainly completed. In addition, the mixing bin 101 is a storage bin and mainly provides the extrusion bin 102 with material, so that in order to prevent the extrusion bin 102 from being insufficient in material and affecting the printing effect, the diameter of the cylindrical mixing bin 101 is larger than that of the cylindrical extrusion bin 102.

As shown in fig. 5 and 6, further, in order to ensure complete outflow of the material and without affecting printing efficiency, the extrusion nozzle 200 is movably arranged at the discharge port 1021 at the bottom of the extrusion bin 102, the extrusion nozzle 200 is mutually communicated with the inside of the extrusion bin 102, and the material in the extrusion bin can flow out through the extrusion nozzle 200, so that 3D printing is performed; in order to make the extruded material better and more consistent, the extrusion nozzle 200 may be coaxially arranged with the discharge port 1021.

As shown in fig. 6 and 7, the extrusion nozzle 200 at least includes a mounting plate 201 movably mounted at the discharge port 1021 and a discharge portion 202 disposed at the center of the mounting plate 201, the mounting plate 201 disposed at the discharge port 1021 can seal the discharge port 1021 to prevent the material in the extrusion bin 102 from flowing out, and the discharge portion 202 is further provided with an extrusion hole 203 communicating with the inside of the extrusion bin 102; extrusion orifice 203 includes an entry end and an exit end, wherein the entry end faces the interior of extrusion chamber 102 for withdrawing material; instead, the outlet end is located outside of the extrusion chamber 102 to facilitate printing.

It should be noted that, the radial cross-sectional area of the extrusion hole 203 from the inlet end to the outlet end is gradually reduced, and/or the radial cross-section of the extrusion hole 203 is elliptical or rectangular, so as to control the molding and flow speed of the material; specifically, the extrusion hole 203 is a flat print head for printing stacked materials, and the direction changing assembly 300 can drive the printing hole to rotate by a proper angle according to a printing path when printing the bent angle of a line or printing a gradual change curve.

As shown in fig. 11 and 12, the direction changing assembly 300 includes a direction changing driving member 301 and a direction changing transmission member 302, wherein the direction changing driving member 301 is fixedly installed on the outer wall of the mixing bin 101, and specifically is arranged on the top outer wall of the mixing bin 101, so that space is saved; one end of the direction-changing transmission member 302 is rotatably connected with the direction-changing driving member 301, and the other end is connected with the extrusion nozzle 200, and the direction-changing transmission member 302 drives the extrusion nozzle 200 to rotate around the axis of the discharge port 1021 under the driving action of the direction-changing driving member 301, so as to change the angle of the extrusion nozzle 200 according to the required printing path, thereby changing the printing effect and the printing yield.

It should be noted that, in the embodiment of the present application, the direction-changing transmission member 302 may be fixedly connected to the extrusion nozzle 200, or may be movably connected to the extrusion nozzle 200, and may be capable of driving the extrusion nozzle 200 to rotate; further, the axis of the extrusion nozzle 200 may be collinear with the axis of the discharge port 1021.

As shown in fig. 4, 5 and 6, the direction-changing driving member 301 may be two motors of a direction-changing driving motor and a direction-changing speed-reducing motor, or may be any one motor of a direction-changing driving motor and a direction-changing speed-reducing motor, so long as the direction-changing driving member 302 can be driven and controlled; in this embodiment, the direction-changing driving motor and the direction-changing speed-reducing motor are used together, and the direction-changing driving motor and the direction-changing speed-reducing motor can be arranged on the top outer wall of the mixing bin 101 and are arranged side by side, so that the installation is convenient, the space is saved, and the rotation is not affected mutually.

As shown in fig. 4, 5 and 6, the direction-changing transmission member 302 may be disposed inside the mixing chamber 101 and the extrusion chamber 102, or may be disposed outside the mixing chamber 101 and the extrusion chamber 102; when the printing device 700 is arranged in the device, the space occupied by the printing device 700 is saved, and the extrusion nozzle 200 can be driven in a better control way; when the device is arranged outside the device, the maintenance and the assembly are simpler, and the operation is visual. In this embodiment, a direction changing actuator 302 is provided inside the mixing chamber 101 and the extrusion chamber 102.

In an alternative embodiment, as shown in fig. 11, the direction-changing driving member 302 includes a direction-changing driving shaft 3021, a direction-changing driving gear (not shown in the figure) and a direction-changing driving gear 3022, one end of the direction-changing driving shaft 3021 is sleeved with the direction-changing driving gear 3022 and is fixedly connected to the extrusion nozzle 200, the other end of the direction-changing driving gear (not shown in the figure) is fixedly sleeved on an output shaft of the direction-changing driving motor or the direction-changing speed-reducing motor, and the direction-changing driving gear 3022 is meshed with the direction-changing driving gear so that the direction-changing driving motor or the direction-changing speed-reducing motor drives the direction-changing driving shaft 3021 to rotate, thereby driving the extrusion nozzle 200 to rotate around an axis of the discharge port 1021.

It should be noted that, when the direction-changing transmission gear 3022 in the direction-changing transmission shaft 3021 is meshed with the direction-changing driving gear (not shown) in the direction-changing driving member 301, a parallel meshing mode or a vertical meshing mode may be adopted, but the method is not limited thereto, and in the present embodiment, a parallel meshing mode is adopted, so that the overall structure is simple, and the conversion effect is good.

Alternatively, the output shaft of the steering driving motor or the steering reducing motor and the steering transmission shaft 3021 may also be in the form of direct connection, flat keys, splines, a coupling or a right angle converter for transmitting torque, so as to save the space of the printing apparatus 700; however, the connection method is not limited thereto, and the direction-changing driving motor or the direction-changing speed reducer can drive the direction-changing transmission shaft 3021 to coaxially rotate.

As shown in fig. 12, at least one connecting rib 3023 is formed on a side of the direction-changing transmission shaft 3021 away from the direction-changing driving member 301, the connecting rib 3023 can be fixedly connected with the direction-changing transmission shaft 3021, and can be movably and detachably connected with the direction-changing transmission shaft 3021, and when the fixed connection is adopted, the transmission effect is better, and the extrusion position of the extrusion hole 203 can be accurately controlled; when the movable disassembly connection is adopted, the turning transmission shaft 3021 and the connecting rib 3023 are more convenient and simpler to assemble and maintain.

Specifically, when the direction-changing transmission shaft 3021 is connected to the extrusion nozzle 200, the connection rib 3023 is connected to the mounting plate 201, or may be connected to the discharge portion 202, or may be connected to both the mounting plate 201 and the discharge portion 202, so long as the rotation direction of the extrusion nozzle 200 can be controlled; specifically, in this embodiment, the connecting rib 3023 is fixedly connected to the inner wall of the discharging portion 202, so as to facilitate driving the extrusion hole 203 to rotate, and a manner of welding the connecting rib 3023 to the inner wall of the discharging portion 202 may be adopted.

It should be noted that, the direction-changing driving member 301 drives the direction-changing driving member 302, and since the connection rib 3023 of the direction-changing driving shaft 3021 in the direction-changing driving member 301 is fixedly connected with the discharging portion 202, the extrusion hole 203 can be driven to select different rotation angles according to different bent angles or printing paths, so that the printing effect is better, and the printing efficiency can be increased by self-adjusting according to different angles.

In an alternative embodiment, when the mixing extrusion bin 100 is filled with materials and the rotation condition of the extrusion nozzle 200 is met, the connecting ribs 3023 and the discharging portion 202 can be movably connected, so that the assembly is simpler, the maintenance is convenient, and the production cost can be reduced.

As shown in fig. 9, 10 and 11, the printing device 700 in the present application further includes a stirring assembly 400 for stirring materials, where the stirring assembly 400 includes a stirring member 401 and a stirring driving member 402, and the stirring driving member 402 is similar to the direction-changing driving member 301 and is also disposed on the outer wall of the mixing bin 101, specifically disposed on the top outer wall of the mixing bin 101, so as to save space; moreover, in order to prevent solidification of the material, it is necessary to provide the stirring member 401 inside the mixing extrusion chamber 100 and the stirring driving member 402 is rotatably connected to the stirring member 401, thereby achieving stirring and extrusion of the material in the mixing extrusion chamber 100 at the same rate.

It should be noted that, when the stirring member 401 is disposed in the mixing extrusion bin 100, the bottom of the stirring member 401 is located at the discharge portion 202 and above the extrusion hole 203, so as to facilitate the extrusion of the material in a proper manner, and the discharge portion 202 is not blocked, so as to affect the printing effect; in addition, since the storage amount of the materials in the mixing bin 101 is too large, in order to prevent the materials in the mixing bin 101 from being solidified, the materials in the mixing bin 101 need to be stirred, and blades with larger spiral outer diameters are adopted; while the lower extrusion bin 102 mainly ensures stable extrusion, so that the extruded material can be molded controllably, and blades with smaller spiral outer diameters are adopted.

As shown in fig. 4, 5 and 6, the stirring driving member 402 adopts a stirring system driving motor and a stirring system speed reducer, so that the stirring system driving motor or the stirring system speed reducer can be selected according to different working conditions, the stirring speed of the stirring member 401 is adjusted, the flow rate and the extrusion efficiency of materials are controlled, and the turning driving motor and the turning speed reducer are arranged in the same row, so that the rotation is not affected.

In order to unify the stirring assembly 400 and the direction changing assembly 300, a set of transmission chains is used to realize the functions conventionally realized by two sets of transmission chains, so that a through assembly through hole 401a is formed in the stirring member 401, and at least part of the direction changing transmission member 302 passes through the assembly through hole 401a and is fixedly connected with the discharging portion 202 in the extrusion nozzle 200, thereby realizing the adjustment of the position of the extrusion nozzle 200.

By way of example, as shown in fig. 11, the stirring member 401 includes a stirring driving gear (not shown in the drawing), a stirring driven gear 4011, a stirring rod 4012 and a helical blade 4013, the stirring driving gear is fixedly sleeved at the output shaft ends of the stirring system driving motor and the stirring system reducing motor, and the stirring driven gear 4011 is fixedly sleeved at the top end of the stirring member 401, the stirring driving gear in the output shaft end and the stirring driven gear 4011 are in transmission through a gear engagement manner, the transmission effect is better, and the materials in the mixing extrusion bin 100 are not easy to slide off, so that stirring and extrusion of the materials are realized.

An alternative embodiment, the output shaft of the stirring system driving motor or the stirring system reducing motor and the turning transmission shaft 3021 may also adopt the form of direct connection, flat keys, splines, right angle converters, couplings and the like for transmitting torque, so as to save the space of the printing apparatus 700; however, the connection method is not limited thereto, and the stirring system driving motor or the stirring system speed reducer can drive the stirring member 401 to coaxially rotate.

In order to ensure the rotation adjustment efficiency, the stirring and the turning are prevented from interfering with each other, so that the top end of the stirring member 401 is lower than the top end of the turning transmission shaft 3021, and a turning driving gear (not shown in the drawing) is disposed above the stirring driving gear, so that the stirring driven gear 4011 and the turning transmission gear 3022 do not interfere with each other, and respective control is completed.

As shown in fig. 9 and 10, the spiral blade 4013 includes a stirring portion 4013a and an extruding portion 4013b, wherein the spiral blade 4013 adopts a spiral blade, and of course, other blades capable of stirring materials can be adopted, and the structure is not limited to this; the stirring part 4013a with larger spiral outer diameter is spirally sleeved on the upper half part of the stirring rod 4012 and is completely arranged in the mixing bin 101, and is mainly used for stirring materials in the mixing bin 101 and preventing the materials from being solidified in the bin; the extrusion part 4013b with smaller spiral outer diameter is sleeved on the lower half part of the stirring rod 4012 and is mainly arranged in the extrusion bin 102, and the extrusion part 4013b is partially arranged in the discharge part 202, so that the extruded materials are stable, the material forming is controllable, and the materials of the discharge part 202 are prevented from solidifying.

Wherein, since the outer diameter of the mixing bin 101 is larger than the outer diameter of the extrusion bin 102, the mixing bin 101 can store more materials than the extrusion bin 102, and in order to ensure stirring and rotation efficiency, the outer diameter of the helical blades in the stirring section 4013a is larger than the outer diameter of the helical blades of the extrusion section 4013 b.

Illustratively, in the axial direction of the stirring rod 4012, in order to ensure better stirring efficiency and extrusion efficiency, the spiral outer diameter of each part of the stirring portion 4013a is set equal, and the spiral outer diameter of each part of the stirring portion 4013a is set equal.

Optionally, the stirring section 4013a may also be located partially within the extrusion chamber 102 for the purpose of preventing solidification of material within the extrusion chamber 102; further, in the axial direction of the stirring rod 4012, the diameters of the helical blades of the stirring portion 4013a to the extrusion portion 4013b may also be set to be gradually reduced so that stirring is more uniform.

Wherein, in order to ensure the best stirring and extrusion effect, the mixing bin 101 is coaxially arranged with the extrusion bin 102, the extrusion nozzle 200 and the extrusion bin 102 are coaxially arranged, and the extrusion nozzle 200 and the stirring rod 4012 are coaxially arranged.

In an alternative embodiment, the mixing bin 101 is coaxially arranged with the extrusion bin 102, and the extrusion nozzle 200 and the extrusion bin 102 are coaxially arranged, or the extrusion nozzle 200 and the stirring rod 4012 are coaxially arranged, that is, the stirring rod 4012 can be non-coaxially arranged with the mixing bin 101 and the extrusion bin 102, so that the installation test efficiency of the stirring rod 4012 is ensured.

In an alternative embodiment, mixing chamber 101 is coaxially disposed with extrusion chamber 102, extrusion nozzle 200 is coaxially disposed with extrusion chamber 102, or extrusion nozzle 200 is coaxially disposed with stirring rod 4012 for ease of installation.

In alternative embodiments, mixing chamber 101 is disposed coaxially with extrusion chamber 102 and extrusion nozzle 200 is disposed coaxially with stirring rod 4012, or extrusion nozzle 200 is disposed coaxially with extrusion chamber 102.

Embodiments of the present application also provide a robot that is primarily used in industry, including but not limited to industrial robots and collaborative robots, which may be five-axis, six-axis, or seven-axis robots.

Illustratively, the embodiment of the application provides a five-axis robot applied to industry.

Specifically, as shown in fig. 13, the industrial robot may include the printing apparatus 700 according to any of the foregoing embodiments, and the description thereof will not be repeated here.

The robot may include a workbench 500, a mechanical arm 600 and a control system 800, where the workbench 500 is provided with the control system 800, the control system 800 is connected with the mechanical arm 600 and the direction-changing driving member 301, and since the tail end of the mechanical arm 600 is fixedly connected with the mounting port 1012, the mechanical arm 600 drives the printing device 700 to move when the mechanical arm 600 is driven by the control system 800, and the mechanical arm 600 is utilized to realize the overturning and tilting of the printing device 700, so as to stack from bottom to top, and the printing device is not limited in a pure plane, and meanwhile, continuous curve printing is realized by utilizing the adhesiveness of materials, so that more efficient printing is realized.

For example, the control system 800 receives a working instruction, sends a working signal according to the working instruction, and the mechanical arm 600 and the direction-changing driving member 301 both receive different working signals, so as to control the working state of the mechanical arm 600 or the direction-changing driving member 301, control the mechanical arm 600 to move according to a planned path, and control the direction-changing transmission shaft 3021 to rotate according to a preset path, so as to control the extrusion nozzle 200 to rotate according to a planned and preset angle, complete preset printing, realize curve printing, and adjust the angle of the extrusion nozzle 200 according to different printing angles, so as to print a more efficient printing product.

The control system 800 may further control the rotation of the stirring driving member 402, so as to control the rotation rates of the stirring portion 4013a and the extruding portion 4013b, so that the efficient and neat extrusion can be performed while satisfying the requirement that the fluid material is not solidified.

In some embodiments of the present application, as shown in fig. 13, the robot further includes a conveying system 900, where the conveying system 900 includes a support frame 901, a material tank 902, a conveying pump (not shown), and a conveying pipe 903; wherein, the material is proportioned, mixed, stirred and pressurized in the material box 902, and flows into the mixing bin 101 through the conveying pump and the conveying pipeline 903, and the supporting frame 901 is adopted to support the material due to overweight material in the process of conveying the material.

It should be noted that, the transfer pump is disposed in the material box 902, receives the related instruction of the control system 800, and performs operation to extract the material in the material box 902; further, one end of the conveying pipe 903 is connected to an outlet end of the conveying pump, and the other end is connected to the feed port 1011, to thereby convey the fluid material for the printing apparatus 700.

As shown in fig. 14, an embodiment of the present application further provides a control method applied to a robot control system, which mainly includes the following steps:

s1: an acquisition module in the control system acquires a print job;

s2: a processing module in the control system plans a walking path at the tail end of the mechanical arm and a rotation angle of an extrusion nozzle in the printing device according to the acquired printing task; specifically, the control system controls the turning driving piece to rotate, and the turning driving motor or the turning speed reducing motor is selected to rotate, so that the turning transmission shaft is controlled, and then the rotation proper angle of the extrusion nozzle is controlled, so that the printing process is accurately controlled, and more efficient printing is realized;

s3: the output module is used for controlling the tail end of the mechanical arm to move based on the walking path;

s4: the output module is used for controlling the working state of the direction-changing driving piece according to the rotation angle so as to enable the extrusion nozzle to rotate according to the rotation angle, and accurate control and printing are completed.

Wherein, since the stirring extrusion rate of the extrusion bin needs to strictly control the speed, the stirring part and the extrusion part need to rotate at the same speed; the control system can output a stirring task according to a preset stirring rate; thereby control the operating condition of stirring driving piece to the rotation rate of stirring portion and extrusion part in the control puddler, thereby prevent that the material from solidifying, and the extrusion material of work order, accomplish 3D and print.

In the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly attached, detachably attached, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In the description of the present specification, a description of the terms "some embodiments," "exemplary," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present disclosure have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the present disclosure, and that variations, modifications, alternatives, and variations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure, which is therefore intended to be within the scope of the present disclosure as defined by the claims and specification.

Claims (16)

1. A printing apparatus, comprising:

the mixing extrusion bin is provided with a feed inlet and a discharge outlet;

the extrusion nozzle is movably arranged at the discharge hole and is communicated with the inside of the mixing extrusion bin through the discharge hole so as to facilitate discharge;

the direction changing assembly comprises a direction changing driving piece and a direction changing transmission piece, wherein the direction changing driving piece is arranged outside the mixing extrusion bin, one end of the direction changing transmission piece is connected with the direction changing driving piece, the other end of the direction changing transmission piece is connected with the extrusion nozzle, and the direction changing driving piece can drive the direction changing transmission piece to move so as to drive the extrusion nozzle to rotate around the axis of the discharge hole.

2. The printing device of claim 1, wherein the direction changing actuator is disposed within the mixing extrusion chamber.

3. The printing device of claim 2, wherein the direction change transmission member comprises a direction change transmission shaft, a direction change drive gear, and a direction change transmission gear; wherein,,

the turning transmission gear is sleeved outside one end of the turning transmission shaft, and the other end of the turning transmission shaft is connected with the extrusion nozzle through at least one connecting rib;

the direction-changing driving gear is connected with the direction-changing driving piece and meshed with the direction-changing transmission gear, and the direction-changing driving gear can transmit under the driving of the direction-changing driving piece.

4. A printing device according to claim 3, wherein the nozzle comprises:

the mounting plate is movably arranged at the discharge hole and seals the discharge hole;

the discharging part is arranged in the central area of the mounting plate and is provided with an extrusion hole communicated with the inside of the mixing extrusion bin;

the direction-changing transmission shaft is connected with the mounting plate and/or the discharging part through the connecting ribs.

5. The printing apparatus of claim 4, wherein the printing unit is configured to,

the radial cross-sectional area of the extrusion hole gradually decreases along the inlet end of the extrusion hole to the outlet end of the extrusion hole; and/or

The radial cross section of the extrusion hole is elliptical or rectangular.

6. The printing device of claim 2, further comprising a stirring assembly comprising a stirring member and a stirring drive member;

the stirring driving piece is arranged outside the mixing extrusion bin;

the stirring piece is arranged in the mixing extrusion bin, and the stirring piece rotates under the driving of the stirring driving piece.

7. The printing apparatus of claim 6, wherein said stirring member is provided with an assembly through hole therethrough;

at least part of the direction-changing transmission piece penetrates through the assembly through hole and is connected with the extrusion nozzle.

8. The printing apparatus of claim 6, wherein said stirring member comprises a stirring driving gear, a stirring driven gear, a stirring rod, and a helical blade; wherein,,

the stirring driving gear is connected with the stirring driving piece and can rotate under the driving of the stirring driving piece;

the stirring driven gear is sleeved outside the stirring rod and meshed with the stirring driving gear;

the helical blade is in a helical shape and is arranged outside the stirring rod in a helical manner.

9. The printing device of claim 8, wherein the spiral vane comprises:

the stirring part is sleeved outside the stirring rod; and

the extrusion part is sleeved outside the stirring rod and is positioned at one side of the stirring part close to the discharge port;

wherein the screw outer diameter of the extrusion part is smaller than the screw outer diameter of the stirring part.

10. The printing apparatus of claim 9, wherein in an axial direction of said agitator bar: the spiral external diameters of all the stirring parts are equal, and the spiral external diameters of all the extruding parts are equal.

11. The printing device according to claim 9, wherein the mixing extrusion bin comprises a mixing bin and an extrusion bin which are connected, the bottom of the extrusion bin is provided with the discharge hole, and the top of the mixing bin is fixedly provided with the turning driving piece and the stirring driving piece; wherein,,

the inner diameter of the extrusion bin is smaller than that of the mixing bin; and/or

The stirring part is arranged in the mixing bin, and the extrusion part is arranged in the extrusion bin.

12. The printing apparatus of claim 11, wherein the printing unit is further configured to,

the mixing bin and the extrusion bin are coaxially arranged; and/or

The extrusion nozzle and the extrusion bin are coaxially arranged; and/or

The extrusion nozzle and the stirring rod are coaxially arranged.

13. The printing device of any of claims 1-12, wherein the mixing extrusion chamber is further provided with a mounting port for connection with a robotic arm.

14. A robot, comprising:

a work table;

the mechanical arm is arranged on the workbench;

the printing device comprises a mixed extrusion bin, an extrusion nozzle and a direction changing assembly, wherein the mixed extrusion bin is provided with a mounting port, a feeding port and a discharging port; the printing device is connected with the tail end of the mechanical arm through the mounting port; the extrusion nozzle is movably arranged at the discharge hole and is communicated with the inside of the mixing extrusion bin through the discharge hole so as to facilitate discharge; the direction changing assembly comprises a direction changing driving piece and a direction changing transmission piece, the direction changing driving piece is arranged outside the mixing extrusion bin, one end of the direction changing transmission piece is connected with the direction changing driving piece, the other end of the direction changing transmission piece is connected with the extrusion nozzle, and the direction changing driving piece can drive the direction changing transmission piece to drive the extrusion nozzle to rotate around the axis of the discharge hole;

the control system is arranged on the workbench, connected with the mechanical arm and the direction-changing driving piece, and can control the mechanical arm to move with the direction-changing driving piece so that the tail end of the mechanical arm moves according to a planned walking path and the extrusion nozzle rotates according to a planned angle.

15. The robot of claim 14, further comprising a transport system, the transport system comprising:

a support frame;

the material box is used for bearing materials;

the conveying pump is arranged at the material box and connected with the control system, and can be used for extracting materials in the material box under the control of the control system;

and the conveying pipeline is arranged at the support frame, one end of the conveying pipeline is connected with the conveying pump, and the other end of the conveying pipeline is connected with the feeding inlet of the mixing extrusion bin, so that the materials pumped by the conveying pump are conveyed to the mixing extrusion bin.

16. A control method applied to the control system of the robot according to claim 14 or 15, comprising:

acquiring a print task;

a walking path of the tail end of the mechanical arm and a rotation angle of an extrusion nozzle in the printing device are planned according to the printing task;

controlling the tail end of the mechanical arm to move based on the walking path;

and controlling the working state of the direction-changing driving piece based on the rotation angle so as to enable the extrusion nozzle to rotate according to the rotation angle.

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