CN209903474U - Mechanical arm type cement product 3D printer - Google Patents
Mechanical arm type cement product 3D printer Download PDFInfo
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- CN209903474U CN209903474U CN201920095410.7U CN201920095410U CN209903474U CN 209903474 U CN209903474 U CN 209903474U CN 201920095410 U CN201920095410 U CN 201920095410U CN 209903474 U CN209903474 U CN 209903474U
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- 239000004568 cement Substances 0.000 title claims abstract description 274
- 238000007639 printing Methods 0.000 claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000003860 storage Methods 0.000 claims abstract description 26
- 239000007921 spray Substances 0.000 claims abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 238000005507 spraying Methods 0.000 claims description 5
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 description 15
- 238000010146 3D printing Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000012255 powdered metal Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model provides a mechanical arm type cement product 3D printer, which comprises a printing nozzle, a supporting seat with a walking mechanism, a six-degree-of-freedom mechanical arm fixedly arranged on the supporting seat, a cement storage box arranged on the supporting seat, and a cement conveying mechanism used for conveying cement in the cement storage box into the printing nozzle; the printing nozzle is fixed at the tail end of the six-degree-of-freedom mechanical arm; the tail end of the six-degree-of-freedom mechanical arm is located beside the supporting seat and can move in a vertical plane perpendicular to the walking direction of the walking mechanism. The printing spray head comprises a cement conveying cylinder and a nozzle, and a second conveying screw rod is rotatably arranged in the cement conveying cylinder. The utility model is used for increase the convenience that mechanical arm formula cement products 3D printer used, still be used for improving the printing efficiency of mechanical arm formula cement products 3D printer.
Description
Technical Field
The utility model relates to a cement product prints the field, specifically is a mechanical arm formula cement product 3D printer for print cement product, mainly used prints the cement sculpture.
Background
Three-dimensional printing (i.e., three-dimensional printing) is a technique for constructing an object by layer-by-layer printing using an adhesive material such as powdered metal or plastic on the basis of a digital model file. Have been used for manufacturing models in the fields of mold manufacturing, industrial design and the like, and are now used for direct manufacturing of cement products, such as cement sculpture products.
A3D printer for cement products is a printer for printing cement sculpture products by adopting a three-dimensional printing technology in the prior art.
The existing cement product 3D printer mostly adopts a constructed frame to print, namely, the existing cement product 3D printer mostly needs to construct a corresponding frame in advance aiming at a cement sculpture product to be printed out, and the printing nozzle carries out three-dimensional printing based on the constructed frame, so that the use is inconvenient.
In addition, in view of the adhesiveness of cement materials, the nozzle of the printing nozzle of the existing cement product 3D printer is easily blocked, which limits the printing efficiency of the cement product 3D printer to a certain extent.
In addition, for the existing cement product 3D printer, when an undesirable part is printed in the cement printing process, a mud knife needs to be additionally found to correct the undesirable part, so that the printing efficiency of the cement product 3D printer is limited to a certain extent.
This is a disadvantage in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that, to prior art not enough, provide a robotic arm formula cement products 3D printer for increase the convenience that robotic arm formula cement products 3D printer used. The printing efficiency of cement product 3D printer still is used for improving.
In order to solve the technical problem, the utility model provides a mechanical arm type cement product 3D printer, which comprises a printing nozzle, a supporting seat with a traveling mechanism, a six-degree-of-freedom mechanical arm fixedly arranged on the supporting seat, a cement storage box arranged on the supporting seat, and a cement conveying mechanism used for conveying cement in the cement storage box into the printing nozzle;
the printing nozzle is fixed at the tail end of the six-degree-of-freedom mechanical arm;
the tail end of the six-degree-of-freedom mechanical arm is located beside the supporting seat and can move in a vertical plane perpendicular to the walking direction of the walking mechanism.
The walking mechanism is driven by an electric control driving mechanism.
Wherein, the top of the cement storage tank is provided with a cement injection port, and the bottom is provided with a cement outlet;
the cement conveying mechanism comprises a cement conveying pipe and a conveying power mechanism for extruding cement in the cement storage tank into a cement outlet;
the cement outlet is communicated with the printing spray head through the cement conveying pipe.
The conveying power mechanism comprises a first conveying screw rod and a first screw rod driving motor, wherein the first conveying screw rod is vertically distributed, and the first screw rod driving motor is used for driving the first conveying screw rod to extrude and convey cement into a cement outlet;
first carry the hob be located the cement bin, first hob driving motor fix the top at the cement bin, the roof that the cement bin was passed at the top of first transport hob is with first hob driving motor's output shaft coaxial coupling.
The printing nozzle comprises a cement conveying cylinder and a nozzle;
the top end of the cement conveying cylinder is provided with an installation flange used for being installed at the tail end of the six-degree-of-freedom mechanical arm, the side wall of the upper end of the cement conveying cylinder is provided with a cement inlet used for being communicated with the cement conveying pipe, and the bottom of the cement conveying cylinder is communicated with a cement inlet of the nozzle;
the nozzle is cylindrical, an electric control valve is arranged on the nozzle, a filter screen is arranged at one end of the cement conveying cylinder, which is far away from the nozzle, and the filter screen is positioned below the cement inlet;
a second conveying screw rod is rotatably arranged in the cement conveying cylinder, is positioned below the filter screen and is distributed along the length direction of the cement conveying cylinder;
and a second screw rod driving motor is fixed on the outer side wall of the cement conveying cylinder, and an output shaft of the second screw rod driving motor drives the second conveying screw rod through a transverse rotation-longitudinal rotation driving assembly.
The transverse rotation-longitudinal rotation driving assembly comprises a rotating shaft arranged in the cement conveying cylinder, and the rotating shaft is perpendicular to the second conveying screw rod;
one end of the rotating shaft penetrates through the wall of the cement conveying cylinder and is coaxially connected with an output shaft of the second screw rod driving motor, and the other end of the rotating shaft is provided with a first bevel gear;
and a second bevel gear is arranged at one end of the second conveying screw rod, which is far away from the nozzle, and is meshed and matched with the first bevel gear.
Wherein the inner diameter of the nozzle is gradually reduced from the cement inlet to the cement spout.
Wherein, the second conveying screw rod adopts a spiral iron sheet or a conveying screw rod with a spiral blade.
The outer side wall of the nozzle is provided with at least one mud knife for correcting printing, and the cutting edge of the mud knife is lower than the cement spraying port of the nozzle.
Wherein, a flow sensor is arranged on the inner side wall of the lower end of the cement conveying cylinder.
Compared with the prior art, the utility model has the advantages of:
(1) mechanical arm formula cement product 3D printer, its supporting seat that adopts six degrees of freedom arms and have running gear, print the shower nozzle and fix the end at six degrees of freedom arms, the end of the six degrees of freedom arms that wherein adopt is located one side of supporting seat and can move in the vertical plane of perpendicular to running gear's walking direction, it is visible the use of six degrees of freedom arms has avoided in to the background art the buildding of frame for need not build in the background art the frame, just can realize the three-dimensional printing of cement product, it is visible can increase the convenience that mechanical arm formula cement product 3D printer used.
(2) The mechanical arm type cement product 3D printer comprises a cement conveying cylinder and a nozzle, wherein a cement inlet for communicating the cement conveying pipe is arranged on the side wall of the upper end of the cement conveying cylinder, a filter screen is arranged at one end, away from the nozzle, of the cement conveying cylinder, a second conveying screw rod is rotatably arranged in the cement conveying cylinder, the filter screen is positioned below the cement inlet, the second conveying screw rod is positioned below the filter screen and distributed along the length direction of the cement conveying cylinder, a second screw rod driving motor is fixed on the outer side wall of the cement conveying cylinder, an output shaft of the second screw rod driving motor drives the second conveying screw rod through a transverse rotation-longitudinal rotation driving component, when in use, the second conveying screw rod is driven by the second screw rod driving motor in a rotating way, the second conveying screw rod rotates and conveys cement in the cement conveying cylinder to the nozzle for printing, this has reduced the emergence probability of cement jam nozzle phenomenon to a certain extent, has improved the printing efficiency of cement products 3D printer then to a certain extent.
(3) Mechanical arm formula cement product 3D printer, be equipped with on its nozzle and be used for revising the mud sword of printing, when cement printing in-process appears printing the unsatisfactory part, be convenient for revise printing the unsatisfactory part, avoided printing the in-process to the look for of mud sword, it is visible to have improved the printing efficiency of cement product 3D printer to a certain extent.
(4) Mechanical arm formula cement product 3D printer, ann has a flow sensor on its inside wall that prints the lower extreme of the cement conveying cylinder of shower nozzle for detect the liquid level of cement in the cement conveying cylinder, be convenient for print the in-process at cement, ensure to print the cement that has all the time to be used for printing in the shower nozzle, thereby ensure going on smoothly of cement print job.
Therefore, compared with the prior art, the utility model has the substantive characteristics and the progress, and the beneficial effects of the implementation are also obvious.
Drawings
Figure 1 is the utility model discloses a mechanical arm formula cement product 3D printer's schematic structure diagram.
Fig. 2 is a schematic cross-sectional view of the print head shown in fig. 1.
Fig. 3 is a specific embodiment of the traveling mechanism of the mechanical arm type cement product 3D printer.
Fig. 4 is an enlarged schematic view of the point a shown in fig. 1.
Fig. 5 is an enlarged schematic view of the point B shown in fig. 1.
Wherein: 1. mounting flange, 2, a first screw rod driving motor, 3, a cement injection port, 4, a cement storage box, 5, a first conveying screw rod, 6, a cement outlet, 7, a chain, 8, a supporting seat, 9, a cement conveying pipe, 10, a six-degree-of-freedom mechanical arm, 11, a printing spray head, 12, a mud knife, 13, a groove, 14, a driving sprocket, 15, a servo motor, 16, a driven sprocket, 11.1, a cement conveying cylinder, 11.2, 11.3, a rotating shaft, 11.4, a supporting plate, 11.5, a second screw rod driving motor, 11.6, a mounting flange, 11.7, a flange mounting hole, 11.8, a filter screen, 11.9, a cement inlet, 11.10, a flow sensor, 11.11, a second conical gear, 11.12, a supporting rod, 11.13, a sleeve, 11.14, a second conveying screw rod, 11.15, a spiral blade, 11.16, a bearing, 11.17, a cement spraying port, 11.18, a first conical gear, 11.19 and an electric control valve.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following description will clearly and completely describe the technical solutions of the present invention with reference to the accompanying drawings.
Fig. 1-5 show a specific embodiment of the mechanical arm type 3D printer for cement products according to the present invention. In this embodiment, the mechanical arm type cement product 3D printer includes a printing nozzle 11, a support base 8 with a traveling mechanism, a six-degree-of-freedom mechanical arm 10 fixedly mounted on the support base 8, a cement storage bin 4 mounted on the support base 8, and a cement conveying mechanism for conveying cement in the cement storage bin 4 to the printing nozzle 11; the printing nozzle 11 is fixed at the tail end of the six-degree-of-freedom mechanical arm 10; the end of the six-degree-of-freedom mechanical arm 10 is located beside the support base 8 and can move in a vertical plane perpendicular to the walking direction of the walking mechanism. During the use, the cement that is used for printing that stirs the good earlier in the external world pours into cement bin 4 into, later through cement conveying mechanism with cement bin 4 in cement bin carry to print shower nozzle 11 in, carry out three-dimensional printing by printing shower nozzle 11. The use of the six-degree-of-freedom mechanical arm avoids the construction of the frame in the background technology, so that the three-dimensional printing of the cement product can be realized without constructing the frame in the background technology, and the use convenience of the mechanical arm type cement product 3D printer can be improved.
The running gear can adopt a chain wheel running gear, can also adopt a crawler running gear, and can also adopt other running gears which have the same function as the running gear in the application, such as the running wheels with corresponding quantity, and the like. The traveling mechanism in the embodiment adopts a sprocket traveling mechanism, and referring to fig. 1 and fig. 3, the sprocket traveling mechanism comprises two driving sprockets and two driven sprockets, the two driving sprockets and the two driven sprockets are in one-to-one correspondence and are used in a matched mode, and sprockets are hung on the driving sprockets and the driven sprockets used in the matched mode respectively. As shown in fig. 3, the driving force drives the driving sprocket 14 to rotate, and the driven sprocket 16 follows up under the driving action of the sprocket 7, thereby driving the mechanical arm type cement product 3D printer to walk.
In order to drive the mechanical arm type cement product 3D printer to travel, in this embodiment, the traveling mechanism is driven by an electronic control driving mechanism, and the electronic control driving mechanism employs two servo motors, and the two servo motors are used to drive the two driving sprockets in a one-to-one correspondence manner. When the mechanical arm type cement product 3D printer is used, the servo motor drives the driving chain wheel 14 to rotate, and the mechanical arm type cement product 3D printer is controlled to walk.
The servo motor can relatively stabilize the starting, running and stopping of the mechanical arm type cement product 3D printer, reduce or even prevent the interference on the printing work of the mechanical arm type cement product 3D printer to a certain extent, and play a role in energy conservation to a certain extent.
Referring to fig. 1 and 4, a cement inlet 3 is provided at the top of a cement storage tank 4, and a cement outlet 6 is provided at the bottom. Referring to fig. 1 and 5, the cement conveying mechanism comprises a cement conveying pipe 9 and a conveying power mechanism for extruding cement in the cement storage tank 4 into the cement outlet 6; the cement outlet 6 is communicated with the printing spray head 11 through the cement conveying pipe 9. Referring to fig. 1 and 4, the conveying power mechanism includes a first conveying screw 5 which is vertically distributed, and a first screw driving motor 2 for driving the first conveying screw 5 to squeeze and convey cement into a cement outlet 6; the first conveying screw rod 5 is positioned in the cement storage box 4, the first screw rod driving motor 2 is fixed at the top of the cement storage box 4, and the top of the first conveying screw rod 5 penetrates through the top wall of the cement storage box 4 and is coaxially connected with an output shaft of the first screw rod driving motor 2. The part of the first conveying screw rod 5 positioned in the cement storage tank 4 is provided with a screw blade, and the bottom of the first conveying screw rod 5 is adjacent to the cement outlet 6 and is positioned right above the cement outlet 6. During the use, through the first screw rod 5 rotation of carrying of first screw rod driving motor 2 drive, the first screw rod 5 of carrying extrudes the pressure in the cement screw of cement bin 4 in the rotatory in-process and advances to printing shower nozzle 11 in the cement export 6, then carries through cement conveyer pipe 9, supplies to print shower nozzle 11 and prints the use.
In order to improve the printing efficiency of the mechanical arm type cement product 3D printer, the printing nozzle 11 of the present embodiment includes a cement conveying cylinder 11.1 and a nozzle 11.2, wherein: the top end of the cement conveying cylinder 11.1 is provided with an installation flange 11.6 used for being installed at the tail end of the six-degree-of-freedom mechanical arm 10, the side wall of the upper end of the cement conveying cylinder 11.1 is provided with a cement inlet 11.9 used for being communicated with the cement conveying pipe 9, and the bottom of the cement conveying cylinder 11.1 is communicated with a cement inlet of the nozzle 11.2; the nozzle 11.2 is cylindrical, an electric control valve 11.19 is arranged on the nozzle 11.2, a filter screen 11.8 is arranged at one end of the cement conveying cylinder 11.1 far away from the nozzle 11.2, and the filter screen 11.8 is positioned below the cement inlet 11.9; a second conveying screw rod 11.14 is rotatably arranged in the cement conveying cylinder 11.1, and the second conveying screw rod 11.14 is positioned below the filter screen 11.8 and distributed along the length direction of the cement conveying cylinder 11.1; a second screw rod driving motor 11.5 is fixed on the outer side wall of the cement conveying cylinder 11.1, and an output shaft of the second screw rod driving motor 11.5 drives the second conveying screw rod 11.14 through a transverse rotation-longitudinal rotation driving component. When the cement printing machine is used, cement conveyed by the cement conveying cylinder 11.1 enters the cement conveying cylinder 11.1 through the cement inlet 11.9, the unqualified part of the particle size in the cement is filtered by the filter screen 11.8, the second conveying screw rod rotates and conveys the cement in the cement conveying cylinder to the nozzle under the rotation drive of the second screw rod driving motor, and the cement printing can be carried out by opening the electric control valve 11.19. Wherein, the screw rod is carried to the second and is being rotated and carry the in-process to the nozzle with the cement in the cement transport cylinder, has played certain stirring effect, and this has reduced the emergence probability that cement blocks up the nozzle phenomenon to a certain extent, has improved the printing efficiency of cement products 3D printer to a certain extent then.
In the present embodiment, referring to fig. 2, the transverse-rotation-longitudinal-rotation driving assembly includes a rotating shaft 11.3 disposed in the cement conveying cylinder 11.1, and the rotating shaft 11.3 is perpendicular to the second conveying screw 11.14; one end of the rotating shaft 11.3 penetrates through the wall of the cement conveying cylinder 11.1 to be coaxially connected with an output shaft of the second screw rod driving motor 11.5, and the other end of the rotating shaft is provided with a first bevel gear 11.18; the end of the second conveying screw 11.14 far away from the nozzle 11.2 is provided with a second bevel gear 11.11, and the second bevel gear 11.11 is meshed and matched with the first bevel gear 11.18. Therefore, the transverse rotation-longitudinal rotation driving assembly is simple in structure.
In addition, referring to fig. 2, a bearing 11.16 is sleeved on the periphery of the second conveying screw rod 11.14, a sleeve 11.13 is sleeved on the periphery of the bearing 11.16, and the periphery of the sleeve 11.13 is fixed on the inner side wall of the cement conveying cylinder 11.1 through two support rods 11.12. Wherein, the bearing 11.16 is fixed on the periphery of the second conveying screw rod 11.14, the sleeve 11.13 is fixed on the bearing 11.16, and the support rod 11.12, the sleeve 11.13 and the bearing 11.16 are used for supporting the second conveying screw rod 11.14. In particular, a person skilled in the art may add a corresponding number of bearings 11.16, and a corresponding number of sleeves 11.13 and support rods 11.12, depending on the actual situation, for example, to increase the rotational stability of the second conveying screw 11.14, wherein each of the added bearings 11.16, sleeves 11.13 and support rods 11.12 is installed at another position of the second conveying screw 11.14 with reference to the installation manner shown in fig. 2. In the present embodiment, the second conveying screw 11.14 is a conveying screw having a screw blade 11.15.
It should be noted that the first conveying screw 5 and the second conveying screw 11.14 described in the present embodiment may be replaced with a screw iron piece, or may be replaced with another conveying screw having the same function as in the prior art.
In this embodiment, the nozzle 11.2 has an inner diameter that gradually decreases from its cement inlet to its cement outlet 11.17, facilitating cement printing.
In order to facilitate correction of an unreasonable printing place in the cement printing process, in the embodiment, two mud knives 12 for correcting printing are arranged on the outer side wall of the nozzle 11.2, the two mud knives 12 are respectively arranged on two sides of the nozzle 11.2, and the cutting edges of the two mud knives 12 are opposite and lower than a cement spraying port 11.17 of the nozzle 11.2. During the use, when the cement printing in-process appears printing the unsatisfactory position, directly revise the unsatisfactory position of printing through mud sword 12, it is thus clear that the searching of printing in-process to the mud sword has been avoided, and this has improved the printing efficiency of cement products 3D printer to a certain extent.
In addition, in order to ensure that cement for printing is always available in the printing nozzle during cement printing, and to ensure smooth cement printing work, in the embodiment, a flow sensor 11.10 is installed on the inner side wall of the lower end of the cement conveying cylinder 11.1. In the cement printing process, the liquid level of cement in the cement conveying cylinder is detected through the flow sensor in real time, when the amount of the cement in the cement conveying cylinder 11.1 is reduced to a position below the flow sensor 11.10, the detection value of the flow sensor 11.10 is basically 0, cement is supplemented into the cement conveying cylinder 11.1 through the cement inlet 11.9, it is seen that cement for printing is always available in the printing nozzle, and therefore smooth operation of cement printing is guaranteed.
It should be noted that, referring to fig. 1, the six-degree-of-freedom mechanical arm 10 in the present invention includes a first mechanical arm 10.1, a second mechanical arm 10.2 and a third mechanical arm 10.3, which are cooperatively used, wherein a first end (with an installation base) of the first mechanical arm 10.1 is fixed on an upper end surface of the supporting base 8, and a third mechanical arm 10.3 has a terminal of the six-degree-of-freedom mechanical arm 10 (an end for installing the printing nozzle 11 and the third mechanical arm 10.3 for installing the printing nozzle 11 is located beside the supporting base 8, a second end of the first mechanical arm 10.1 and a first end of the second mechanical arm 10.2, a second end of the second mechanical arm 10.2 and an end of the third mechanical arm 10.3 far from the end for installing the printing nozzle 11 are respectively and movably connected by a mechanical arm movable connection device, wherein the first mechanical arm 10.1, the second mechanical arm 10.2 and the third mechanical arm 10.3 are located on the same plane, and the plane is denoted as a plane M, this plane M with in the utility model travelling mechanism's walking direction is perpendicular, first arm 10.1, second arm 10.2 and third arm 10.3 all are located this plane M, second arm 10.2's second end can use the second end of first arm 10.1 to move in plane M as the fulcrum, third arm 10.3's the one end that is used for the installation to print shower nozzle 11 can use second end of second arm 10.2 to move in plane M as the fulcrum, the one end that is used for the installation to print shower nozzle 11 of visible third arm 10.3 can be at the vertical plane internal motion of perpendicular to travelling mechanism's walking direction.
It should be noted that, in the present invention, the six-degree-of-freedom mechanical arm 10, each corresponding component thereof, for example, the mechanical arm movable connecting device, can be implemented by any related technology having corresponding functions in the prior art, and this is the prior art and is not repeated herein.
It should be noted that, referring to fig. 1, for the convenience of implementation, the support base 8 is provided with a groove 13 for accommodating the cement outlet 6 and a portion of one end of the cement delivery pipe 9 communicating with the cement outlet 6, the groove 13 is a rectangular groove, and the width of the groove 13 does not affect the stability of the installation of the cement storage tank 4, for example, when the cement outlet 6 and the cement delivery pipe 9 have the same diameter, the width of the groove 13 is equal to or slightly larger than the diameter of the cement outlet 6 (or the diameter of the cement delivery pipe 9) (i.e., the width of the groove 13) compared with the diameter of the cement outlet 6 (or the diameter of the cement delivery pipe 9)).
In addition, each directional word in the present invention is based on fig. 1.
It should be noted that, in the specific implementation of the present invention, the electronic control of the various electronic control components (such as the traveling mechanism, the six-degree-of-freedom mechanical arm 10, the cement conveying mechanism, and the electric control valve 11.19) involved in the mechanical arm type cement product 3D printer may be implemented through an external control device, and the working process specifically includes five aspects shown in the following (1) to (5):
(1) before the cement printing work is started, firstly, the stirred cement is filled into the cement storage tank 4 through the cement injection port 3, then the cement in the cement storage tank 4 is conveyed into the printing nozzle 11 through the cement conveying mechanism, and the conveying of the cement into the printing nozzle 11 is stopped after a certain amount of cement is stored in the printing nozzle 11;
(2) when the printing work is started, according to the preset printing drawing requirement, the walking mechanism and the six-degree-of-freedom mechanical arm 10 are controlled to move in the accurate position direction through an external control device, and after the printing nozzle 11 is located, the electric control valve 11.19 is controlled to be opened through the external control device, so that the printing nozzle 11 starts to perform cement printing; in the cement printing process, an external control device controls a travelling mechanism to travel and controls a six-degree-of-freedom mechanical arm 10 to drive a printing nozzle 11 to move according to the requirement of a preset printing drawing so as to ensure that a printed product is consistent with the required requirement;
(3) in the cement printing process, whether the amount of cement in the printing nozzle 11 is insufficient is judged on the basis of a detection value sent by the flow sensor in real time, and if the judgment result is yes, the cement in the cement storage tank 4 is supplemented into the printing nozzle 11 through the cement conveying mechanism so as to ensure the continuity of cement printing.
(4) After the printing of the current area is finished, the electric control valve 11.19 is controlled to be closed, and the printing nozzle 11 is moved to the next area to be printed and then the printing is started.
(5) In the cement printing process, if the printing part of the printed product is unqualified, the mud knife 12 is used for correction so as to ensure the aesthetic property of the product.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a mechanical arm formula cement product 3D printer, is including printing shower nozzle (11), its characterized in that:
the mechanical arm type cement product 3D printer further comprises a supporting seat (8) with a traveling mechanism, a six-degree-of-freedom mechanical arm (10) fixedly installed on the supporting seat (8), a cement storage box (4) installed on the supporting seat (8), and a cement conveying mechanism used for conveying cement in the cement storage box (4) to a printing nozzle (11);
the printing nozzle (11) is fixed at the tail end of the six-degree-of-freedom mechanical arm (10);
the tail end of the six-degree-of-freedom mechanical arm (10) is located beside the supporting seat (8) and can move in a vertical plane perpendicular to the walking direction of the walking mechanism.
2. The robotic arm cement product 3D printer as claimed in claim 1, wherein:
the walking mechanism is driven by the electric control driving mechanism.
3. The robotic arm cement product 3D printer as claimed in claim 1, wherein:
the top of the cement storage tank (4) is provided with a cement injection port (3), and the bottom is provided with a cement outlet (6);
the cement conveying mechanism comprises a cement conveying pipe (9) and a conveying power mechanism for extruding cement in the cement storage tank (4) into the cement outlet (6);
the cement outlet (6) is communicated with the printing spray head (11) through the cement conveying pipe (9).
4. The robotic arm cement product 3D printer as claimed in claim 3, wherein:
the conveying power mechanism comprises a first conveying screw rod (5) which is vertically distributed and a first screw rod driving motor (2) which is used for driving the first conveying screw rod (5) to extrude and convey cement into a cement outlet (6);
the first conveying screw rod (5) is located in the cement storage box (4), the first screw rod driving motor (2) is fixed to the top of the cement storage box (4), and the top of the first conveying screw rod (5) penetrates through the top wall of the cement storage box (4) and is coaxially connected with an output shaft of the first screw rod driving motor (2).
5. The robotic arm cement product 3D printer as claimed in claim 3, wherein:
the printing spray head (11) comprises a cement conveying cylinder (11.1) and a nozzle (11.2);
the top end of the cement conveying cylinder (11.1) is provided with a mounting flange (11.6) used for being mounted at the tail end of the six-degree-of-freedom mechanical arm (10), the side wall of the upper end of the cement conveying cylinder (11.1) is provided with a cement inlet (11.9) used for being communicated with the cement conveying pipe (9), and the bottom of the cement conveying cylinder (11.1) is communicated with a cement inlet of the nozzle (11.2);
the nozzle (11.2) is cylindrical, the electric control valve (11.19) is arranged on the nozzle (11.2), a filter screen (11.8) is arranged at one end, away from the nozzle (11.2), of the cement conveying cylinder (11.1), and the filter screen (11.8) is positioned below the cement inlet (11.9);
a second conveying screw rod (11.14) is rotatably arranged in the cement conveying cylinder (11.1), and the second conveying screw rod (11.14) is positioned below the filter screen (11.8) and distributed along the length direction of the cement conveying cylinder (11.1);
a second screw rod driving motor (11.5) is fixed on the outer side wall of the cement conveying cylinder (11.1), and an output shaft of the second screw rod driving motor (11.5) rotates to drive the second conveying screw rod (11.14) through a transverse rotation and longitudinal rotation driving assembly.
6. The robotic arm cement product 3D printer as claimed in claim 5, wherein:
the transverse rotation and longitudinal rotation driving assembly comprises a rotating shaft (11.3) arranged in a cement conveying cylinder (11.1), and the rotating shaft (11.3) is vertical to the second conveying screw rod (11.14);
one end of the rotating shaft (11.3) penetrates through the wall of the cement conveying cylinder (11.1) and is coaxially connected with an output shaft of the second screw rod driving motor (11.5), and the other end of the rotating shaft is provided with a first bevel gear (11.18);
one end of the second conveying screw rod (11.14) far away from the nozzle (11.2) is provided with a second bevel gear (11.11), and the second bevel gear (11.11) is meshed and matched with the first bevel gear (11.18).
7. The robotic arm cement product 3D printer as claimed in claim 5 or 6, wherein:
the inner diameter of the nozzle (11.2) is gradually reduced from a cement inlet to a cement spraying port (11.17).
8. The robotic arm cement product 3D printer as claimed in claim 5 or 6, wherein:
the second conveying screw rod (11.14) adopts a spiral iron sheet or a conveying screw rod with a spiral blade (11.15).
9. The robotic arm cement product 3D printer as claimed in claim 5 or 6, wherein:
the outer side wall of the nozzle (11.2) is provided with at least one mud knife (12) for correcting printing, and the cutting edge of the mud knife (12) is lower than a cement spraying port (11.17) of the nozzle (11.2).
10. The robotic arm cement product 3D printer as claimed in claim 5 or 6, wherein:
and a flow sensor (11.10) is arranged on the inner side wall of the lower end of the cement conveying cylinder (11.1).
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| CN201920095410.7U CN209903474U (en) | 2019-01-21 | 2019-01-21 | Mechanical arm type cement product 3D printer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514689A (en) * | 2019-01-21 | 2019-03-26 | 齐鲁工业大学 | A kind of mechanical arm type cement products 3D printer |
| CN112171847A (en) * | 2020-09-10 | 2021-01-05 | 华中科技大学 | Ultrasonic-assisted 3D printing concrete nozzle device and extrusion system |
-
2019
- 2019-01-21 CN CN201920095410.7U patent/CN209903474U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514689A (en) * | 2019-01-21 | 2019-03-26 | 齐鲁工业大学 | A kind of mechanical arm type cement products 3D printer |
| CN112171847A (en) * | 2020-09-10 | 2021-01-05 | 华中科技大学 | Ultrasonic-assisted 3D printing concrete nozzle device and extrusion system |
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Address after: 250300 No. 3501 University Road, Changqing District, Jinan City, Shandong Province Patentee after: Qilu University of Technology Patentee after: Shandong Dongyuan Building Energy Conservation Technology Co.,Ltd. Address before: 250300 No. 3501 University Road, Changqing District, Jinan City, Shandong Province Patentee before: Qilu University of Technology Patentee before: JINAN DONGYUAN CEMENT PRODUCTS Co.,Ltd. |
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Address after: 250300 No. 3501 University Road, Changqing District, Jinan City, Shandong Province Patentee after: Qilu University of Technology (Shandong Academy of Sciences) Country or region after: China Patentee after: Shandong Dongyuan Building Energy Conservation Technology Co.,Ltd. Address before: 250300 No. 3501 University Road, Changqing District, Jinan City, Shandong Province Patentee before: Qilu University of Technology Country or region before: China Patentee before: Shandong Dongyuan Building Energy Conservation Technology Co.,Ltd. |