CN209869407U - Both arms are 3D printing robot in coordination - Google Patents
Both arms are 3D printing robot in coordination Download PDFInfo
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- CN209869407U CN209869407U CN201920107613.3U CN201920107613U CN209869407U CN 209869407 U CN209869407 U CN 209869407U CN 201920107613 U CN201920107613 U CN 201920107613U CN 209869407 U CN209869407 U CN 209869407U
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Abstract
The utility model discloses a double-arm cooperative 3D printing robot, which comprises a robot body, a head, a power supply power system, a material supply system, a mobile system, a computer intelligent system, a 3D printing system, a main arm system, a secondary arm system, a main eye monitor, a main arm secondary eye monitor, a secondary arm secondary eye monitor and a paint filling device; the 3D printing system comprises a printing nozzle and a multifunctional processing mechanical claw. The robot has a cooperative double arm system. The printing shower nozzle on the main arm system carries out main printing work, and the multi-functional processing machinery claw on the sub-arm system carries out processing and repair work, divides the worker clearly and definitely, has increased the harmony of printing the process, has solved traditional 3D printing apparatus and has only contained single printing arm or shower nozzle to lack the problem of harmony, improved simultaneously and printed the precision not high need the shortcoming of printing inefficiency of artifical repair. Both arms collaborative work promotes printing work efficiency greatly, more effectual reduction of erection time and use manpower sparingly.
Description
Technical Field
The utility model relates to a 3D prints the field, specifically is a both arms are 3D printing robot in coordination.
Background
The rapid development of modern society science and technology enables building industrialization to become a hot tide, a new manufacturing technology and a new building technology are promoted in the new development era, and a 3D printing technology is produced in the middle of the 90 s of the 20 th century. Based on a virtual object created by a computer file, the 3D printing technology runs an additive manufacturing process, and material layer-by-layer superposition is realized by combining three-dimensional digital model design and multiple printing technologies and utilizing a certain specific mode, so that the virtual object becomes a real printed product. The rapid forming and the industrialization of the 3D printing technology realize seamless butt joint. Accordingly, advanced manufacturing technologies in the world also focus on the development and application of 3D printing technology, and have a great role in various fields, such as aerospace, national defense, medical equipment, education, and manufacturing.
With the increasing maturity of artificial intelligence technology, 3D printing and artificial intelligence also start to work effectively in combination. The industrial robot can replace traditional manpower on many streamlined processes, has the advantage that shortens the cycle simultaneously, improves work efficiency concurrently, is the essential "screw" of 4.0 of propelling industry. Undoubtedly, 3D printing speeds up the production and use of industrial robots, and 3D printing smart construction robots have become a very promising research direction.
At present, domestic 3D printing robot almost all uses single machinery to print the arm and implements the print job, and the whole arm of printing and printing shower nozzle function singleness, it is clear inadequately to divide the worker, and whole printing apparatus harmony is not good, and this just leads to printing efficiency lower, and the meticulous degree of the structural component of printing out is not high, and the work of repairing that can't be timely also to the finished product of printing simultaneously, probably still need additional artificial secondary operation, still remain to improve on the reduction of time resource and manpower resources. For example, the document with the application number of 201610828816.2 discloses an intelligent robot-assisted rapid modeling and 3D printing device, which still has only one printing arm, a single printing mode, and a traditional vertical printing mode is adopted, so that each function of the printing arm does not work in a coordinated manner, and the printing work is limited to some extent.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model discloses the technical problem who plans to solve provides a both arms 3D printing robot in coordination.
The technical scheme of the utility model for solving the technical problems is to provide a double-arm cooperative 3D printing robot, which comprises a robot body, a head, a power supply power system, a material supply system, a mobile system and a computer intelligent system; the robot is characterized by further comprising a 3D printing system, a main arm system, a secondary arm system, a main eye monitor, a main arm secondary eye monitor, a secondary arm secondary eye monitor and a paint filling device; the 3D printing system comprises a printing nozzle and a multifunctional processing mechanical claw;
the machine body is arranged on the mobile system; the power supply power system, the material supply system and the computer intelligent system are all arranged on the machine body; the head is arranged at the upper part of the machine body, and the front surface of the head is provided with a main eye monitor; the main arm system is arranged at the top of the head part through a spherical pair, and the tail end of the main arm system is provided with a printing spray head; the secondary arm system is arranged on the side surface of the head part through a spherical pair, and the tail end of the secondary arm system is provided with a multifunctional processing mechanical claw; a main arm secondary eye monitor is installed on the main arm system, and a secondary arm secondary eye monitor and a paint filling device are installed on the secondary arm system;
the material supply system is respectively connected with the printing nozzle and the additive printing nozzle of the multifunctional processing mechanical claw; the paint filling device is connected with the coloring nozzle of the multifunctional processing mechanical claw; the computer intelligent system is respectively connected with the printing spray head, the multifunctional processing mechanical claw, the power supply power system, the material supply system, the moving system, the main arm system, the secondary arm system, the main eye monitor, the main arm secondary eye monitor, the secondary arm secondary eye monitor and the paint filling device.
Compared with the prior art, the utility model discloses beneficial effect lies in:
(1) the robot has a cooperative double arm system. The printing shower nozzle on the main arm system carries out main printing work, and the multi-functional processing machinery claw on the sub-arm system carries out processing and repair work, divides the worker clearly and definitely, has increased the harmony of printing the process, has solved traditional 3D printing apparatus and has only contained single printing arm or shower nozzle to lack the problem of harmony, improved simultaneously and printed the precision not high need the shortcoming of printing inefficiency of artifical repair. Both arms collaborative work promotes printing work efficiency greatly, more effectual reduction of erection time and use manpower sparingly.
(2) On the basis of having the printing shower nozzle, improve the single function of printing arm in the past, increased multi-functional processing machinery claw, have to print the object and carry out increase material improvement, subtract material modification and add the function of coloring. The multifunctional processing mechanical claw is used for assisting in processing, the working state of the multifunctional processing mechanical claw lags behind the printing spray head, operation conflict cannot be generated between the multifunctional processing mechanical claw and the printing spray head, and the printing working efficiency is improved.
(3) The primary eye monitor positioned at the head of the robot, the secondary eye monitor positioned at the primary arm system and the secondary eye monitor positioned at the secondary arm system form a complete three-in-one printing process monitoring system, which is beneficial to the all-round monitoring of the printing process, recording the state information of all printing works in the whole process, continuously correcting the current printing scheme and improving the precision and the two-arm adaptability.
(4) The resulting printing member is more excellent in precision and appearance, and the printing process is more efficient. The printing of the main arm is completed following the repairing process of the secondary arm, and the printing work of the next stage is synchronously performed at the moment, so that a large amount of manual repairing processes for the components after the printing of the components is completed are omitted, the manual repairing rate of the printed components is lower, the time and the labor are better saved, and the construction period is shortened.
(5) The computer intelligent system of the robot can be connected with an upper computer, so that remote human-computer interaction and remote control are realized, and artificial intelligence is embodied.
Drawings
Fig. 1 is a schematic view of the overall structure of an embodiment of the present invention.
Fig. 2 is an enlarged schematic view of a head mount according to an embodiment of the present invention.
Fig. 3 is a schematic view of the installation of a main arm system according to an embodiment of the present invention.
Fig. 4 is a schematic view of the installation of the sub-arm system according to an embodiment of the present invention.
In the figure: 1. a body; 2. a head portion; 3. a 3D printing system; 4. a power supply power system; 5. a material supply system; 6. a mobile system; 7. a computer intelligence system; 8. a primary arm system; 9. a secondary arm system; 10. a dominant eye monitor; 11. a primary arm secondary eye monitor; 12. a sub-arm sub-eye monitor; 13. a paint filling device; 3-1, printing a spray head; 3-2, processing the mechanical claw with multiple functions; 3-2-1, adding material and printing a nozzle; 3-2-2, reducing the material cutter; 3-2-3, coloring nozzle; 8-1, main arm shoulder rod; 8-2, a large main arm; 8-3, a small main arm; 9-1, a secondary arm shoulder rod; 9-2, major minor arm; 9-3, small minor arm;
Detailed Description
Specific embodiments of the present invention are given below. The specific embodiments are only used for further elaboration of the invention, and do not limit the scope of protection of the claims of the present application.
The utility model provides a double-arm cooperative 3D printing robot (robot for short, see fig. 1-4), which comprises a machine body 1, a head 2, a power supply system 4, a material supply system 5, a mobile system 6 and a computer intelligent system 7; the robot is characterized by further comprising a 3D printing system 3, a main arm system 8, a secondary arm system 9, a main eye monitor 10, a main arm secondary eye monitor 11, a secondary arm secondary eye monitor 12 and a paint filling device 13; the 3D printing system 3 comprises a printing nozzle 3-1 and a multifunctional processing mechanical claw 3-2;
the body 1 is arranged on a mobile system 6; the power supply power system 4, the material supply system 5 and the computer intelligent system 7 are all arranged on the machine body 1; the head 2 is arranged at the upper part of the machine body 1, and the center of the front surface of the head 2 is provided with a main eye monitor 10; the main arm system 8 is arranged at the top of the head part 2 through a spherical pair, and the tail end of the main arm system is provided with a printing spray head 3-1; the secondary arm system 9 is arranged on the side surface (the right side in the embodiment) of the head part 2 through a spherical pair, and the tail end of the secondary arm system is provided with a multifunctional processing machine claw 3-2; a primary arm secondary eye monitor 11 is mounted on primary arm system 8, and a secondary arm secondary eye monitor 12 and paint filling apparatus 13 are mounted on secondary arm system 9.
The 3D printing system 3 performs printing work according to a modeling information instruction input by the computer intelligent system 7;
the power supply power system 4 is used for providing required power supply power for all parts of the whole robot.
The material supply system 5 is used for supply of printing material; the material supply system 5 is respectively connected with the printing nozzle 3-1 and the additive printing nozzle 3-2-1 of the multifunctional processing machine claw 3-2 through material conveying pipelines penetrating through the machine body 1, the main arm system 8 and the sub-arm system 9, and conveys materials to the printing nozzle 3-1 and the additive printing nozzle 3-2-1 of the multifunctional processing machine claw 3-2, so that the materials required by printing work are provided, and the materials are preferably cement-based materials.
The paint filling device 13 is connected with the coloring nozzle 3-2-3 of the multifunctional processing machine claw 3-2 and is used for filling paint into the coloring nozzle 3-2-3.
The moving system 6 realizes the movement of any position of the robot by receiving the control command transmitted by the computer intelligent system 7, thereby maximizing the printing working area;
the computer intelligent system 7 is respectively connected with the printing spray head 3-1, the multifunctional processing mechanical claw 3-2, the power supply power system 4, the material supply system 5, the moving system 6, the main arm system 8, the secondary arm system 9, the main eye monitor 10, the main arm secondary eye monitor 11, the secondary arm secondary eye monitor 12 and the paint filling device 13. The computer intelligent system 7 is a central processing system of the robot and is used for inputting modeling information and intelligently analyzing work progress; after the modeling work information is input, the main arm system 8, the sub-arm system 9 and the 3D printing system 3 receive an instruction to perform printing work, and the start and the end of the whole printing work are controlled; meanwhile, wireless network can be utilized to be in wireless connection with manpower, remote wireless operation can be carried out, and man-machine interaction is realized.
Preferably, the power supply system 4 and the material supply system 5 are both installed on a side port (right side in this embodiment) of the body 1; the computer intelligent system 7 is arranged at the rear part of the machine body 1; when deviation or fault occurs in 3D printing work and the computer intelligent system 7 needs to be operated manually, the computer intelligent system 7 is positioned at the rear part of the machine body 1, so that an operator can directly realize the 3D printing work progress, and the work progress condition can be conveniently known in real time; meanwhile, in order not to affect manual operation and 3D printing work, the power supply system 4 and the material supply system 5 are disposed on one side (the right side in this embodiment) of the main body 1, so that power and material supply work can be performed simultaneously.
The main eye monitor 10 is spherical, has a spherical radius of 2-5 cm, and is mainly used for monitoring the printing state of a printed matter on the front side and collecting information; meanwhile, the laser scanning positioning device has a laser scanning positioning function, and the purpose of reducing working errors is achieved. The primary arm secondary eye monitor 11 and the secondary arm secondary eye monitor 12 are small spherical cameras, the radius of a sphere is 2-4 cm, and the primary arm secondary eye monitor and the secondary arm secondary eye monitor are used for collecting real-time state information of printed matters on the premise that normal 3D printing work is not influenced.
The printing nozzle 3-1 is used for carrying out normal printing work of 3D printing; the spray head is of a tubular structure, and the radius of the spray head can be 2mm, 3mm, 5mm, 1cm, 2cm or 4 cm; the multifunctional processing mechanical claw 3-2 is provided with 3 claw ends, and each claw end is respectively provided with an additive printing nozzle 3-2-1, a subtractive cutter 3-2-2 and a coloring nozzle 3-2-3; the additive printing nozzle 3-2-1 is used for performing additive improvement on a printing object, and the radius of the nozzle can be 2mm, 3mm, 5mm or 1 cm; the material reducing cutter 3-2-2 is used for reducing and modifying the printing object, and the length is 0.2 m-0.4 m; the coloring nozzle 3-2-3 is used for coloring the printing object, and the radius of the nozzle can be 5mm, 1cm or 2 cm.
The main arm system 8 has 6 degrees of freedom and comprises a main arm shoulder rod 8-1, a large main arm 8-2 and a small main arm 8-3; one end of the main arm shoulder rod 8-1 is arranged at the top of the head part 2, and forms a spherical pair with the head part 2, so that the main arm shoulder rod can rotate freely at the top; one end of the main arm 8-2 is connected with the other end of the main arm shoulder rod 8-1 through a rotating shaft, and forms a revolute pair with the main arm shoulder rod 8-1; one end of the small main arm 8-3 is connected with the other end of the large main arm 8-2 through a rotating shaft, and forms a rotating pair with the large main arm 8-2; the other end of the small main arm 8-3 is provided with a main arm secondary eye monitor 11, and the tail end of the small main arm 8-3 is provided with a printing nozzle 3-1.
The secondary arm system 9 has 6 degrees of freedom and comprises a secondary arm shoulder rod 9-1, a large secondary arm 9-2 and a small secondary arm 9-3; one end of the secondary arm shoulder rod 9-1 is arranged on the side surface (the right side in the embodiment) of the head part 2, and forms a spherical pair with the head part 2, so that the secondary arm shoulder rod can rotate freely on the side part; one end of the large secondary arm 9-2 is connected with the other end of the secondary arm shoulder rod 9-1 through a rotating shaft, and forms a revolute pair with the secondary arm shoulder rod 9-1; one end of the small secondary arm 9-3 is connected with the other end of the large secondary arm 9-2 through a rotating shaft to form a rotating pair with the large secondary arm 9-2; the other end of the small secondary arm 9-3 is provided with a secondary arm secondary eye monitor 12 and a paint filling device 13, the paint filling device 13 is positioned behind the secondary arm secondary eye monitor 12, and the tail end of the small secondary arm 9-3 is provided with a multifunctional processing mechanical claw 3-2.
The area of the paint filling device 13 is 6-12 cm2。
The utility model discloses a theory of operation and work flow are:
and establishing a physical model on modeling software of an external computer, planning information of a printing path, inputting the information into the computer intelligent system 7, setting a processing mode of the sub-arm system 9, and selecting time lag or path lag.
Firstly, checking whether a main arm system 8 and a sub-arm system 9 of the robot can work normally, whether materials are sufficient and whether a power supply is sufficient; if the standard is not met, the computer intelligent system 7 can be manually controlled through an external computer in a wireless mode, and the material supply system 5 and the power supply power system 4 are controlled through the computer intelligent system 7 to be adjusted in time. The external computer controls the movement system 6 to move the robot to the working position, and the movement process is accurately positioned by the main eye monitor 10.
And starting to work, the main arm system 8 and the printing spray head 3-1 start to work according to the planned printing path, the main eye monitor 10 starts to monitor the printing working process in real time, and the main arm secondary eye monitor 11 and the secondary arm secondary eye monitor 12 simultaneously assist in monitoring. The printing component state information and the printing work progress information collected by the primary eye monitor 10, the primary arm secondary eye monitor 11 and the secondary arm secondary eye monitor 12 are transmitted to the computer intelligent system 7 for real-time analysis, and the analysis process and the analysis software are the prior art. The computer intelligent system 7 compares the printing path state and the printing finished product state of each printing stage with the information generated by the external computer; if the expected printing effect at the stage is met, the secondary arm system 9 and the multifunctional processing mechanical claw 3-2 do not receive a processing instruction at the stage, and the stage does not work; if the expected printing effect at the stage is not met, the computer intelligent system 7 sends a modification instruction, and the secondary arm system 9 and the multifunctional processing machine claw 3-2 start to process at the stage: firstly, the secondary arm system 9 moves to a working position, then the additive printing nozzle 3-2-1 performs additive improvement on the defective position of the printing object, then the additive cutter 3-2-2 performs additive reduction on the redundant position of the printing object, and finally the coloring nozzle 3-2-3 performs color spraying on the position of the printing object needing coloring, so that the work of the stage is completed, and the primary arm system 8 and the printing nozzle 3-1 start the work of the next stage while the secondary arm system 9 and the multifunctional processing machine claw 3-2 work.
The primary arm system 8 and the secondary arm system 9 work cooperatively until the entire printing work is completed.
The control of the external computer and the control of the computer intelligent system 7 are the existing mature technologies.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (7)
1. A double-arm cooperative 3D printing robot comprises a robot body, a head, a power supply power system, a material supply system, a mobile system and a computer intelligent system; the robot is characterized by further comprising a 3D printing system, a main arm system, a secondary arm system, a main eye monitor, a main arm secondary eye monitor, a secondary arm secondary eye monitor and a paint filling device; the 3D printing system comprises a printing nozzle and a multifunctional processing mechanical claw;
the machine body is arranged on the mobile system; the power supply power system, the material supply system and the computer intelligent system are all arranged on the machine body; the head is arranged at the upper part of the machine body, and the front surface of the head is provided with a main eye monitor; the main arm system is arranged at the top of the head part through a spherical pair, and the tail end of the main arm system is provided with a printing spray head; the secondary arm system is arranged on the side surface of the head part through a spherical pair, and the tail end of the secondary arm system is provided with a multifunctional processing mechanical claw; a main arm secondary eye monitor is installed on the main arm system, and a secondary arm secondary eye monitor and a paint filling device are installed on the secondary arm system;
the material supply system is respectively connected with the printing nozzle and the additive printing nozzle of the multifunctional processing mechanical claw; the paint filling device is connected with the coloring nozzle of the multifunctional processing mechanical claw; the computer intelligent system is respectively connected with the printing spray head, the multifunctional processing mechanical claw, the power supply power system, the material supply system, the moving system, the main arm system, the secondary arm system, the main eye monitor, the main arm secondary eye monitor, the secondary arm secondary eye monitor and the paint filling device.
2. The dual-arm cooperative 3D printing robot of claim 1, wherein the power supply system and the material supply system are both mounted on a side port of the body; the computer intelligent system is installed at the rear part of the machine body.
3. The dual-arm cooperative 3D printing robot according to claim 1, wherein the main eye monitor is spherical, the radius of the spherical shape is 2-5 cm, and the main eye monitor has a laser scanning positioning function; the primary arm secondary eye monitor and the secondary arm secondary eye monitor are both spherical cameras, and the radius of a sphere is 2-4 cm.
4. The dual-arm cooperative 3D printing robot according to claim 1, wherein the multifunctional processing machine gripper has 3 gripper ends, each gripper end being provided with an additive printing nozzle, a subtractive cutter and a coloring nozzle; the additive printing nozzle is used for performing additive improvement on a printing object; the material reducing cutter is used for reducing and modifying the printing object; the coloring nozzle is used for coloring the printing object.
5. The dual-arm cooperative 3D printing robot according to claim 1, wherein the master arm system comprises a master arm shoulder bar, a large master arm, and a small master arm; one end of the main arm shoulder rod is arranged at the top of the head part and forms a spherical pair with the head part; one end of the main arm is connected with the other end of the main arm shoulder rod, and forms a revolute pair with the main arm shoulder rod; one end of the small main arm is connected with the other end of the large main arm to form a revolute pair with the large main arm; the other end of the small main arm is provided with a main arm secondary eye monitor, and the tail end of the small main arm is provided with a printing spray head.
6. The dual-arm cooperative 3D printing robot according to claim 1, wherein the secondary arm system comprises a secondary arm shoulder bar, a large secondary arm, and a small secondary arm; one end of the secondary arm shoulder rod is arranged on the side surface of the head part and forms a spherical pair with the head part; one end of the large secondary arm is connected with the other end of the secondary arm shoulder rod to form a revolute pair with the secondary arm shoulder rod; one end of the small secondary arm is connected with the other end of the large secondary arm to form a revolute pair with the large secondary arm; the other end of the small secondary arm is provided with a secondary arm secondary eye monitor and a paint filling device, and the tail end of the small secondary arm is provided with a multifunctional processing mechanical claw.
7. The dual-arm cooperative 3D printing robot according to claim 6, wherein the paint filling device is located behind the sub-arm sub-eye monitor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920107613.3U CN209869407U (en) | 2019-01-23 | 2019-01-23 | Both arms are 3D printing robot in coordination |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920107613.3U CN209869407U (en) | 2019-01-23 | 2019-01-23 | Both arms are 3D printing robot in coordination |
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| CN209869407U true CN209869407U (en) | 2019-12-31 |
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| CN201920107613.3U Active CN209869407U (en) | 2019-01-23 | 2019-01-23 | Both arms are 3D printing robot in coordination |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703017A (en) * | 2019-01-23 | 2019-05-03 | 河北工业大学 | A kind of both arms collaboration 3D printing robot |
| WO2021151617A1 (en) * | 2020-01-29 | 2021-08-05 | Eth-Zürich | Method and device for 3d printing |
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2019
- 2019-01-23 CN CN201920107613.3U patent/CN209869407U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703017A (en) * | 2019-01-23 | 2019-05-03 | 河北工业大学 | A kind of both arms collaboration 3D printing robot |
| WO2021151617A1 (en) * | 2020-01-29 | 2021-08-05 | Eth-Zürich | Method and device for 3d printing |
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Effective date of registration: 20220309 Address after: 050000 No. C3, 5th floor, Chuangxin building, No. 315 Changjiang Avenue, high tech Zone, Shijiazhuang, Hebei Patentee after: Hebei sikote Intelligent Construction Technology Co.,Ltd. Address before: 300130 No. 8, Hebei University of Technology, Tianjin, Hongqiao No. 330 Patentee before: Hebei University of Technology |