CN207496019U - A kind of robot 3D printer - Google Patents
A kind of robot 3D printer Download PDFInfo
- Publication number
- CN207496019U CN207496019U CN201720543904.8U CN201720543904U CN207496019U CN 207496019 U CN207496019 U CN 207496019U CN 201720543904 U CN201720543904 U CN 201720543904U CN 207496019 U CN207496019 U CN 207496019U
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- rotation section
- shaft rotation
- fixed part
- rotating shaft
- nozzle
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Abstract
The utility model belongs to printing device technical field, discloses a kind of robot 3D printer, including：Lathe, pedestal, manipulator, nozzle and processing platform；Pedestal is arranged on processing platform on lathe；Manipulator is pivotally attached to pedestal；Nozzle is arranged on manipulator front end；Wherein, manipulator is connected by the first pivot driver structure with pedestal driving；First pivot driver structure includes：First rotating shaft fixed part, first rotating shaft rotation section and the first actuator；First rotating shaft rotation section is rotationally movably connected with first rotating shaft fixed part；First actuator is connected between first rotating shaft fixed part and first rotating shaft rotation section, and driving first rotating shaft rotation section is rotated relative to first rotating shaft fixed part；First rotating shaft fixed part is fixedly linked with pedestal, and first rotating shaft rotation section is fixedly linked with manipulator.The utility model provides a kind of robot 3D printer of lift pins to various volume specification workpiece adaptability and printing effect.
Description
Technical field
The utility model is related to printing device technical field, more particularly to a kind of robot 3D printer.
Background technology
Existing printing device leads to the size that production is limited to processing platform, and machinable volume of part is limited, causes to adapt to
Property is poor.Meanwhile during for certain hanging structures, build support structure is needed, in order to the processing of various angles, leads to work
It measures big and complicated for operation.
Utility model content
The utility model provides a kind of robot 3D printer, and printing device operating space is small in the prior art for solution, width
The technical issues of degree is limited, and auxiliary support structure is complicated, and operating efficiency is low.
In order to solve the above technical problems, the utility model provides a kind of robot 3D printer, including：Lathe, pedestal,
Manipulator, nozzle and processing platform；
The pedestal is arranged on the processing platform on the lathe；And the pedestal is spindle rotationally arranged in the machine
On bed；
The manipulator is pivotally attached to the pedestal；
The nozzle is arranged on the manipulator front end；
Wherein, the manipulator is connected by the first pivot driver structure with pedestal driving；Described first pivots drive
Dynamic structure includes：First rotating shaft fixed part, first rotating shaft rotation section and the first actuator；
The first rotating shaft rotation section is rotationally movably connected with the first rotating shaft fixed part；First actuator
It is connected between the first rotating shaft fixed part and the first rotating shaft rotation section, drives the first rotating shaft rotation section with respect to institute
State the rotation of first rotating shaft fixed part；
The first rotating shaft fixed part is fixedly linked with the pedestal, and the first rotating shaft rotation section is consolidated with the manipulator
It is fixed to be connected.
Further, the manipulator includes：Upper arm, forearm and the second pivot driver structure；
The first end of the upper arm is fixedly linked with the first rotating shaft rotation section, and the second end of the upper arm passes through described
Second pivot driver structure and the first end of the forearm are pivotally attached to；
The second end of the forearm is connected with the nozzle.
Further, the second pivot driver structure includes：Second shaft fixed part, the second shaft rotation section and
Two actuators；
The second shaft rotation section is rotationally movably connected with the second shaft fixed part；Second actuator
It is connected between the second shaft fixed part and the second shaft rotation section, drives the second shaft rotation section with respect to institute
State the rotation of the second shaft fixed part；
The second end of the second shaft fixed part and the upper arm is fixedly linked, the second shaft rotation section with it is described
The first end of forearm is fixedly linked.
Further, the manipulator further includes：Third pivot driver structure and wrist；
The wrist is connected by the third pivot driver structure with the second end is pivoted of the forearm；
The nozzle is fixed on the wrist.
Further, the third pivot driver structure includes：Third shaft fixed part, third shaft rotation section and
Three actuators；
The third shaft rotation section is rotationally movably connected with the third shaft fixed part；The third actuator
It is connected between the third shaft fixed part and the third shaft rotation section, drives the third shaft rotation section with respect to institute
State the rotation of third shaft fixed part；
The second end of the third shaft fixed part and the forearm is fixedly linked, the third shaft rotation section with it is described
Wrist is connected.
Further, the manipulator further includes：Nozzle fixed frame and the first electric rotating machine；
First electric rotating machine is fixed on the wrist, and turning end and the nozzle of first electric rotating machine are consolidated
Determine frame to be connected, the nozzle fixed frame can be driven to rotate；
The nozzle is arranged in the nozzle fixed frame.
Further, the processing platform includes：Workbench, the second electric rotating machine, electric machine support and platform support；
Second electric rotating machine is fixed on the electric machine support；
The workbench is arranged on above the electric machine support, and is connected with the turning end of second electric rotating machine；
The electric machine support is supported by the platform support.
Further, third electric rotating machine is set on the platform support；The electric machine support is put down by shaft with described
Platform stent is movably connected；
The turning end of the third electric rotating machine is connected with the electric machine support, can drive the electric machine support around described turn
Shaft rotation is moved.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
The robot 3D printer provided in the embodiment of the present application, by the pedestal that can be rotated in lathe upper horizontal plane,
It can printing pose adjustment and position of the opposite base in the manipulator cooperation processing platform realization of vertical rotation in surface is a wide range of
Adjustment, so as to realize that the workpiece of various volumes prints demand, the size without being limited to workbench.And further lead to
It crosses, forearm, upper arm, wrist coordinates the first pivot driver structure, the second pivot driver structure, third pivot driver structure, first
The refinement of electric rotating machine elevating mechanism hand so that the efficiency and quality of printing are substantially improved；It is matched to pass through, work
Platform, the second electric rotating machine, third electric rotating machine can realize the adjustment at the inclination angle and horizontal position of processing platform, so as to improve
It promises the printing of quality, particularly hanging structure, can be greatly decreased or even avoid the use of supporting structure, improve printing effect
Rate simplifies printing；It can be processed from side by the rotation of nozzle holder, can also be made by the rotation of motor support
Workbench makees the inclination of certain angle, so as to avoid process support, reduces processing capacity, improves processing efficiency, reduces subsequent clear
Except support workload.The 3D printing of DLF (Direct Laser Fabrication) can also be can also be achieved by replacing nozzle
Mode.
Description of the drawings
Fig. 1 is robot 3D printer structure diagram provided by the utility model.
Specific embodiment
The embodiment of the present application solves printing device operating space in the prior art by providing a kind of robot 3D printer
The technical issues of small, amplitude is limited, and auxiliary support structure is complicated, and operating efficiency is low.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
It states technical solution to be described in detail, it should be understood that the specific features in the utility model embodiment and embodiment are to this Shen
Please technical solution detailed description rather than restriction to technical scheme, in the absence of conflict, the application is real
Applying the technical characteristic in example and embodiment can be combined with each other.
Referring to Fig. 1, a kind of robot 3D printer, including：Lathe 1, pedestal 2, manipulator (3~8,10), nozzle 11 with
And processing platform (13~16).
The pedestal 2 is arranged on the processing platform on the lathe 1；And the pedestal 2 is spindle rotationally arranged in institute
It states on lathe 1；360 degree of rotations, adjustment printing posture are done in the horizontal plane.
The manipulator is pivotally attached to the pedestal 2；
The nozzle 11 is arranged on the manipulator front end.
Wherein, the manipulator is connected by the first pivot driver structure 3 with the pedestal 2 driving；Described first pivots
Driving structure 3 includes：First rotating shaft fixed part, first rotating shaft rotation section and the first actuator；
The first rotating shaft rotation section is rotationally movably connected with the first rotating shaft fixed part；First actuator
It is connected between the first rotating shaft fixed part and the first rotating shaft rotation section, drives the first rotating shaft rotation section with respect to institute
State the rotation of first rotating shaft fixed part；
The first rotating shaft fixed part is fixedly linked with the pedestal 2, the first rotating shaft rotation section and the manipulator
It is fixedly linked.
When carrying out pose adjustment, by the first actuator, the first rotating shaft rotation section is driven relative to first rotating shaft
Fixed part rotates, and is rotated so as to fulfill upper arm relative to pedestal 2, adjustment printing posture.
The present embodiment gives an implementation also directed to the concrete structure of manipulator, specifically.
The manipulator includes：Upper arm 4,6 and second pivot driver structure 5 of forearm.
The first end of the upper arm 4 is fixedly linked with the first rotating shaft rotation section, and the second end of the upper arm 4 passes through institute
It states the second pivot driver structure 5 and the first end of the forearm 5 is pivotally attached to；
The second end of the forearm 5 is connected with the nozzle 11.
Correspondingly, the second pivot driver structure 5 includes：Second shaft fixed part, the second shaft rotation section and
Two actuators；
The second shaft rotation section is rotationally movably connected with the second shaft fixed part；Second actuator
It is connected between the second shaft fixed part and the second shaft rotation section, drives the second shaft rotation section with respect to institute
State the rotation of the second shaft fixed part；
The second end of the second shaft fixed part and the upper arm is fixedly linked, the second shaft rotation section with it is described
The first end of forearm is fixedly linked.
Preferably, in order to further enhance the precision of pose adjustment and amplitude, the present embodiment is additionally provided for the machine
The prioritization scheme of tool hand.The manipulator further includes：Third pivot driver structure 7 and wrist 8.
The wrist 8 is connected by the third pivot driver structure 7 with the second end is pivoted of the forearm 6；
The nozzle 11 is fixed on the wrist 8.
Correspondingly, the third pivot driver structure includes：Third shaft fixed part, third shaft rotation section and third
Actuator；
The third shaft rotation section is rotationally movably connected with the third shaft fixed part；The third actuator
It is connected between the third shaft fixed part and the third shaft rotation section, drives the third shaft rotation section with respect to institute
State the rotation of third shaft fixed part；
The second end of the third shaft fixed part and the forearm is fixedly linked, the third shaft rotation section with it is described
Wrist is connected.
In order to which the posture for promoting nozzle becomes more meticulous adjustment, present embodiments provide the pose adjustment structure of nozzle, it is specific come
It says.
The manipulator further includes：10 and first electric rotating machine of nozzle fixed frame.
First electric rotating machine is fixed on the wrist 8, turning end and the nozzle of first electric rotating machine
Fixed frame 10 is connected, and the nozzle fixed frame 10 can be driven to rotate；11 tail end of nozzle connection rapidoprint intake line 9.
The nozzle 11 is arranged in the nozzle fixed frame 10.By the rotation of nozzle fixed frame 10, nozzle 11 is realized
Pose adjustment.
Precision and efficiency are promised in order to be promoted, what the present embodiment also provided the pose adjustment structure design of processing platform.
Specifically, the processing platform includes：Workbench 13, the second electric rotating machine 14, electric machine support 15 and platform
Stent 16；Workpiece 12 is arranged on workbench 13.
Second electric rotating machine 14 is fixed on the electric machine support 15；The workbench 13 is arranged on the motor branch
16 top of frame, and be connected with the turning end of second electric rotating machine 14；The electric machine support 15 passes through the platform support 16
Support.
Third electric rotating machine is set on the platform support 16；The electric machine support 15 passes through shaft and the platform support
16 are movably connected；The turning end of the third electric rotating machine is connected with the electric machine support 15, can drive the electric machine support 15
It is rotated around the shaft.
Pedestal 2 can make 360 degree of revolution operations on lathe bed 1, and upper arm 4 can be under the driving of the first pivot driver structure
The rotary motion of certain angle (>=180 degree), forearm 6 can also make certain angle in the driving of the second pivot driver structure
(>=180 degree) rotary motion, wrist 8 can also make certain angle (>=180 degree) under the driving of third pivot driver structure
Rotary motion, nozzle holder 10 can make 360 degree of rotary motion around wrist.
Workbench 13 can make 360 degree of rotary motion about the z axis under the driving of the second electric rotating machine 14, workbench 13 and
Second electric rotating machine 14 can make the rotation fortune of certain angle (>=270 degree) under the driving of electric machine support 15 around X axis together
It is dynamic.
Stl file is converted into after the 3D models generation of work piece, and Machining Instruction, profit are generated according to working process parameter
With in control system input robot 3D printer.According to the first pivot driver of order-driven structure, the second pivot driver structure,
Third pivot driver structure and wrist and nozzle holder realize the working motion of nozzle 11.Feeding is completed by nozzle 11.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
The robot 3D printer provided in the embodiment of the present application, by the pedestal that can be rotated in lathe upper horizontal plane,
It can printing pose adjustment and position of the opposite base in the manipulator cooperation processing platform realization of vertical rotation in surface is a wide range of
Adjustment, so as to realize that the workpiece of various volumes prints demand, the size without being limited to workbench.And further lead to
It crosses, forearm, upper arm, wrist coordinates the first pivot driver structure, the second pivot driver structure, third pivot driver structure first to revolve
The refinement of rotating motor elevating mechanism hand is that the efficiency of printing and quality are substantially improved；It is matched to pass through, work
Platform, the second electric rotating machine, third electric rotating machine can realize the adjustment at the inclination angle and horizontal position of processing platform, so as to improve
It promises the printing of quality, particularly hanging structure, can be greatly decreased or even avoid the use of supporting structure, improve printing effect
Rate simplifies printing；It can be processed from side by the rotation of nozzle holder, can also be made by the rotation of motor support
Workbench makees the inclination of certain angle, so as to avoid process support, reduces processing capacity, improves processing efficiency, reduces subsequent clear
Except support workload.The 3D printing of DLF (Direct Laser Fabrication) can also be can also be achieved by replacing nozzle
Mode.
It should be noted last that more than specific embodiment is only to illustrate the technical solution of the utility model rather than limit
System, although the utility model is described in detail with reference to example, it will be understood by those of ordinary skill in the art that, it can be right
The technical solution of the utility model is modified or replaced equivalently, without departing from the spirit and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (8)
1. a kind of robot 3D printer, which is characterized in that including：Lathe, pedestal, manipulator, nozzle and processing platform；
The pedestal is arranged on the processing platform on the lathe；And the pedestal is spindle rotationally arranged in the lathe
On；
The manipulator is pivotally attached to the pedestal；
The nozzle is arranged on the manipulator front end；
Wherein, the manipulator is connected by the first pivot driver structure with pedestal driving；The first pivot driver knot
Structure includes：First rotating shaft fixed part, first rotating shaft rotation section and the first actuator；
The first rotating shaft rotation section is rotationally movably connected with the first rotating shaft fixed part；The first actuator connection
Between the first rotating shaft fixed part and the first rotating shaft rotation section, the first rotating shaft rotation section relatively described is driven
One shaft fixed part rotates；
The first rotating shaft fixed part is fixedly linked with the pedestal, the first rotating shaft rotation section and the manipulator stationary phase
Even.
2. robot 3D printer as described in claim 1, which is characterized in that the manipulator includes：Upper arm, forearm and
Second pivot driver structure；
The first end of the upper arm is fixedly linked with the first rotating shaft rotation section, and the second end of the upper arm passes through described second
Pivot driver structure and the first end of the forearm are pivotally attached to；
The second end of the forearm is connected with the nozzle.
3. robot 3D printer as claimed in claim 2, which is characterized in that the second pivot driver structure includes：The
Two shaft fixed parts, the second shaft rotation section and the second actuator；
The second shaft rotation section is rotationally movably connected with the second shaft fixed part；The second actuator connection
Between the second shaft fixed part and the second shaft rotation section, the second shaft rotation section relatively described the is driven
Two shaft fixed parts rotate；
The second end of the second shaft fixed part and the upper arm is fixedly linked, the second shaft rotation section and the forearm
First end be fixedly linked.
4. robot 3D printer as claimed in claim 2, which is characterized in that the manipulator further includes：Third, which pivots, drives
Dynamic structure and wrist；
The wrist is connected by the third pivot driver structure with the second end is pivoted of the forearm；
The nozzle is fixed on the wrist.
5. robot 3D printer as claimed in claim 4, which is characterized in that the third pivot driver structure includes：The
Three shaft fixed parts, third shaft rotation section and third actuator；
The third shaft rotation section is rotationally movably connected with the third shaft fixed part；The third actuator connection
Between the third shaft fixed part and the third shaft rotation section, the third shaft rotation section relatively described is driven
Three shaft fixed parts rotate；
The second end of the third shaft fixed part and the forearm is fixedly linked, the third shaft rotation section and the wrist
It is connected.
6. robot 3D printer as claimed in claim 4, which is characterized in that the manipulator further includes：Nozzle fixed frame
And first electric rotating machine；
First electric rotating machine is fixed on the wrist, the turning end of first electric rotating machine and the nozzle fixed frame
It is connected, the nozzle fixed frame can be driven to rotate；
The nozzle is arranged in the nozzle fixed frame.
7. such as claim 1~6 any one of them robot 3D printer, which is characterized in that the processing platform includes：Work
Make platform, the second electric rotating machine, electric machine support and platform support；
Second electric rotating machine is fixed on the electric machine support；
The workbench is arranged on above the electric machine support, and is connected with the turning end of second electric rotating machine；
The electric machine support is supported by the platform support.
8. robot 3D printer as claimed in claim 7, it is characterised in that：Third electric rotating is set on the platform support
Machine；The electric machine support is movably connected by shaft and the platform support；
The turning end of the third electric rotating machine is connected with the electric machine support, and the electric machine support can be driven to turn around the shaft
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720543904.8U CN207496019U (en) | 2017-05-17 | 2017-05-17 | A kind of robot 3D printer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720543904.8U CN207496019U (en) | 2017-05-17 | 2017-05-17 | A kind of robot 3D printer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207496019U true CN207496019U (en) | 2018-06-15 |
Family
ID=62496905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720543904.8U Expired - Fee Related CN207496019U (en) | 2017-05-17 | 2017-05-17 | A kind of robot 3D printer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207496019U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994784A (en) * | 2017-05-17 | 2017-08-01 | 江汉大学 | A kind of robot 3D printer |
| CN109435226A (en) * | 2018-12-27 | 2019-03-08 | 浙江大学 | A kind of a wide range of 3D printing method |
| CN109591285A (en) * | 2018-12-03 | 2019-04-09 | 青岛瑟克塞斯3D打印科技有限公司 | A kind of 3D printer of plurality of nozzle-type fusion technology |
-
2017
- 2017-05-17 CN CN201720543904.8U patent/CN207496019U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994784A (en) * | 2017-05-17 | 2017-08-01 | 江汉大学 | A kind of robot 3D printer |
| CN109591285A (en) * | 2018-12-03 | 2019-04-09 | 青岛瑟克塞斯3D打印科技有限公司 | A kind of 3D printer of plurality of nozzle-type fusion technology |
| CN109435226A (en) * | 2018-12-27 | 2019-03-08 | 浙江大学 | A kind of a wide range of 3D printing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180615 Termination date: 20190517 |