CN209774711U - Anti-overturning counterweight device of mobile 3D printing robot - Google Patents
Anti-overturning counterweight device of mobile 3D printing robot Download PDFInfo
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- CN209774711U CN209774711U CN201920567196.0U CN201920567196U CN209774711U CN 209774711 U CN209774711 U CN 209774711U CN 201920567196 U CN201920567196 U CN 201920567196U CN 209774711 U CN209774711 U CN 209774711U
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- bottom plate
- printing robot
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- servo motor
- printing
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Abstract
The utility model discloses a portable 3D printing robot prevents counter weight device that topples, include the bottom plate of being connected with 3D printing robot's waist joint, install servo motor on the bottom plate, servo motor passes through coupling joint ball, the ball both ends are passed through the supporting shoe and are supported on the bottom plate, the last nut that is equipped with of ball, nut both sides fixed mounting has the removal slider, remove the slider bottom and slide on the bottom plate through establishing the guide rail on the bottom plate, remove slider upper portion and install the balancing weight, and the position at balancing weight place keeps 180 opposite direction with the arm direction of stretching out all the time. The three-dimensional printing robot is characterized by further comprising angle sensors, wherein the angle sensors are installed at joints of a mechanical arm of the 3D printing robot, and the angle sensors and the servo motor are respectively and electrically connected with a control system of the 3D printing robot. The utility model discloses according to the focus of arm, adjust the focus of balancing weight on the bottom plate to the focus of balanced robot can prevent that the robot from turning on one's side, improves its stability.
Description
Technical Field
The utility model relates to a prevent counterweight device that topples specifically is a portable 3D printing robot prevents counterweight device that topples belongs to the anti-overturning technical field.
background
In the field of industrial manufacturing, manufacturing modes can be divided into three categories based on deformation, material reduction and material increase, wherein the material increase manufacturing is commonly called 3D printing, the forming of complex structural parts which are difficult to manufacture in the past can be solved, the processing procedures are greatly reduced, and the processing period is shortened. However, due to the structural limitation of the existing 3D printer, the size of a printed product is limited, and in order to solve the technical problems, the 3D printing robot is installed on a movable working platform, and along with the movement of the working platform, the 3D printing robot realizes 3D printing in any space range, so that the working interval of 3D printing is greatly increased, and the forming capability is improved.
However, when the mechanical arm of the 3D printing robot moves, if the mechanical arm extends outward too long, the position of the center of gravity of the robot may be changed, and when the overturning moment is too large, the robot may even roll over, which may result in poor stability.
Disclosure of Invention
Problem to above-mentioned prior art exists, the utility model provides a portable 3D printing robot prevents weight device that overturns can solve effectively and arouse the technical problem that the robot turned on one's side because of the moment of overturning too big, improves the stability of robot work.
The utility model relates to a portable 3D printing robot prevents weight device that topples, comprising a base plate, bottom plate one end is in the same place with 3D printing robot's waist joint welding, install servo motor on the bottom plate, ball and balancing weight, servo motor output shaft passes through the shaft coupling and is connected with ball, ball both ends are supported on the bottom plate through the supporting shoe, the last nut that is equipped with of ball, nut both sides fixed mounting has the removal slider, the removal slider bottom slides on the bottom plate through the guide rail that sets up on the bottom plate, removal slider upper portion is installed the balancing weight, and the position that the balancing weight is located and arm extension direction keep 180 opposite directions all the time;
The three-dimensional printing robot is characterized by further comprising angle sensors, wherein the angle sensors are installed at each joint on the mechanical arm of the 3D printing robot, and the angle sensors and the servo motor are respectively and electrically connected with a control system of the 3D printing robot.
Further, the bottom plate is the echelonment, and the first ladder of bottom plate and 3D printing robot's waist joint fixed connection, the second ladder is placed on 3D printing robot's slewing bearing, and servo motor, shaft coupling, ball, balancing weight, guide rail are all installed on the second ladder.
Furthermore, a supporting device used for supporting the bottom plate to move on the working platform is installed at the bottom of the outer end of the bottom plate, the supporting device comprises two supporting frames and a roller installed between the two supporting frames, and the bottom plate moves on the working platform through the roller of the supporting device.
Compared with the prior art, the utility model discloses angle sensor gathers the turned angle of each joint of arm in real time, and with signal transmission to control system, control system calculates the focus of arm, and calculate the shift position of balancing weight according to the focus of arm, and send control command to servo motor in real time, adjust the focus of balancing weight on the bottom plate through servo motor and ball, with the focus of balanced robot, when the arm motion of portable 3D printing robot has been prevented effectively, arouse the change of robot focus position, lead to toppling the moment too big and arouse and turn on one's side, the stability of robot work has been improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
Fig. 3 is a partially enlarged schematic view of fig. 2.
in the figure: 1. the device comprises a working platform, 2. a rotary bearing, 3. a base, 4. a waist joint, 5. a bottom plate, 5-1. a first ladder, 5-2. a second ladder, 6. a servo motor, 7. a coupler, 8. a balancing weight, 9. a movable sliding block, 10. a ball screw, 10-1. a nut, 11. a guide rail, 12. a supporting block, 13. a supporting frame, 14. a roller and 16. a mechanical arm.
Detailed Description
the present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, the utility model relates to a movable 3D printing robot anti-overturning counterweight device, including bottom plate 5, bottom plate 5 one end is in the same place with 3D printing robot's waist joint 4 welding, install servo motor 6 on bottom plate 5, ball 10 and balancing weight 8, servo motor 6 output shaft is connected with ball 10 through shaft coupling 7, ball 10 both ends are supported on bottom plate 5 through supporting shoe 12, ball 10 is equipped with nut 10-1, nut 10-1 both sides fixed mounting has movable slider 9, movable slider 9 bottom slides on bottom plate 5 through setting up guide rail 11 on bottom plate 5, movable slider 9 upper portion installs balancing weight 8, and the position that balancing weight 8 is located keeps 180 opposite directions all the time with arm 16 direction of stretching out;
The three-dimensional printing robot further comprises angle sensors, the angle sensors are installed at all joints of a mechanical arm 16 of the 3D printing robot, and the angle sensors and the servo motor 6 are electrically connected with a control system of the 3D printing robot respectively.
In order to reduce the rotational friction with the robot, the bottom plate 5 is in a step shape, a first step 5-1 of the bottom plate 5 is fixedly connected with a waist joint 4 of the 3D printing robot, a second step 5-2 is placed on a rotary bearing 2 of the 3D printing robot, and a servo motor 6, a coupler 7, a ball screw 10 and a balancing weight 8 are all installed on the second step 5-2.
In order to prevent the counterweight 8 from exceeding the outer diameter of the slewing bearing 2 too far to crush the bottom plate 5, a supporting device for supporting the bottom plate 5 to move on the working platform 1 is arranged at the bottom of the outer end (i.e. the end far away from the waist joint 4) of the bottom plate 5, the supporting device comprises two supporting frames 13 and a roller 14 arranged between the two supporting frames 13, and the bottom plate 5 moves on the working platform 1 through the roller 14 of the supporting device.
As shown in fig. 2 and fig. 3, for the utility model discloses a specific embodiment, in this embodiment, use this device on portable 3D printing robot, this portable 3D printing robot comprises 3D printing robot and work platform 1, and 3D printing robot passes through base 3 and installs on work platform 1, and the cover is equipped with slew bearing 2 on the base 3, and base 3 top is 3D printing robot's waist joint 4, and 3D printing robot's arm 16 is installed on waist joint 4. During printing, the working platform 1 is moved to drive the 3D printing robot to move, a control system of the 3D printing robot drives the waist joint 4 to rotate through the motor, so as to drive the counterweight block 8 on the bottom plate 5 to realize circular motion on the working platform 1, meanwhile, a mechanical arm 16 of the 3D printing robot extends out or retracts under the control of the control system, an angle sensor arranged at each joint of the mechanical arm 16 collects the rotating angle of each joint of the mechanical arm 16 in real time and transmits a signal to the control system, the control system calculates the working gravity center of the mechanical arm 16 and calculates the moving position of the counterweight block 8 through the gravity center, a control instruction is sent to the servo motor 6 in real time, the servo motor 6 controls the ball screw 10 to rotate through the coupler 7 according to the received control instruction, a nut 10-1 on the ball screw 10 drives the moving slide block 9 to move on the guide rail 11, the gravity center position of the configuration block 8 is changed to generate a stable moment to balance the overturning moment generated by the mobile 3D printing robot, so that the phenomenon that the overturning moment is too large to cause rollover due to the change of the gravity center position of the mobile 3D printing robot when the mechanical arm 16 of the 3D printing robot moves is effectively prevented.
Claims (3)
1. The anti-overturning counterweight device of the mobile 3D printing robot is characterized by comprising a base plate (5), one end of the base plate (5) is welded with a waist joint (4) of the 3D printing robot, a servo motor (6), a ball screw (10) and a counterweight block (8) are installed on the base plate (5), an output shaft of the servo motor (6) is connected with the ball screw (10) through a coupler (7), two ends of the ball screw (10) are supported on the base plate (5) through supporting blocks (12), a nut (10-1) is arranged on the ball screw (10), two sides of the nut (10-1) are fixedly provided with a mobile slider (9), the bottom of the mobile slider (9) slides on the base plate (5) through a guide rail (11) arranged on the base plate (5), the counterweight block (8) is installed on the upper portion of the mobile slider (9), the position of the balancing weight (8) and the extending direction of the mechanical arm (16) are always kept in the opposite direction of 180 degrees;
The three-dimensional printing robot is characterized by further comprising angle sensors, wherein the angle sensors are installed at joints of a mechanical arm (16) of the 3D printing robot, and the angle sensors and the servo motor (6) are respectively and electrically connected with a control system of the 3D printing robot.
2. The anti-overturning balancing device for the mobile 3D printing robot according to claim 1, wherein the bottom plate (5) is stepped, a first step (5-1) of the bottom plate (5) is fixedly connected with a waist joint (4) of the 3D printing robot, a second step (5-2) is arranged on a rotary bearing (2) of the 3D printing robot, and the servo motor (6), the coupler (7), the ball screw (10) and the balancing weight (8) are all arranged on the second step (5-2).
3. The mobile 3D printing robot anti-overturning weight device as claimed in claim 1 or 2, characterized in that a supporting device for supporting the bottom plate (5) to move on the working platform (1) is installed at the bottom of the outer end of the bottom plate (5), the supporting device comprises two supporting frames (13) and a roller (14) installed between the two supporting frames (13), and the bottom plate (5) moves on the working platform (1) through the roller (14) of the supporting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920567196.0U CN209774711U (en) | 2019-04-24 | 2019-04-24 | Anti-overturning counterweight device of mobile 3D printing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920567196.0U CN209774711U (en) | 2019-04-24 | 2019-04-24 | Anti-overturning counterweight device of mobile 3D printing robot |
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| Publication Number | Publication Date |
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| CN209774711U true CN209774711U (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920567196.0U Active CN209774711U (en) | 2019-04-24 | 2019-04-24 | Anti-overturning counterweight device of mobile 3D printing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111512944A (en) * | 2020-04-29 | 2020-08-11 | 成都市农林科学院 | Transplanting robot suitable for water culture seedlings |
| CN111634667A (en) * | 2020-05-20 | 2020-09-08 | 合肥工业大学 | Upset self-balancing anchor clamps suitable for intelligence lifting means |
| CN113341250A (en) * | 2021-06-02 | 2021-09-03 | 嘉兴威凯检测技术有限公司 | Electrostatic discharge immunity testing device |
-
2019
- 2019-04-24 CN CN201920567196.0U patent/CN209774711U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111512944A (en) * | 2020-04-29 | 2020-08-11 | 成都市农林科学院 | Transplanting robot suitable for water culture seedlings |
| CN111512944B (en) * | 2020-04-29 | 2021-12-17 | 成都市农林科学院 | Transplanting robot suitable for water culture seedlings |
| CN111634667A (en) * | 2020-05-20 | 2020-09-08 | 合肥工业大学 | Upset self-balancing anchor clamps suitable for intelligence lifting means |
| CN111634667B (en) * | 2020-05-20 | 2021-10-01 | 合肥工业大学 | Upset self-balancing anchor clamps suitable for intelligence lifting means |
| CN113341250A (en) * | 2021-06-02 | 2021-09-03 | 嘉兴威凯检测技术有限公司 | Electrostatic discharge immunity testing device |
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