CN104385600A - Space printing nozzle applied to mechanical arm - Google Patents

Abstract

The invention relates to a space printing nozzle applied to a mechanical arm, which consists of a mechanical part and an electronic control part. The mechanical part consists of a flange plate, an acrylic bottom plate, a stepping motor, a nozzle opener, a central turntable, and a fixed 3D printing nozzle. , movable 3D printing nozzle, cold air pipe and KUKA six-axis mechanical arm, the stepper motor is connected to the gear set; Through the nozzle opener, the end is connected to the feeding pipe; one end of the fixed 3D printing nozzle is fixed on the acrylic base plate through the central turntable, and the end is connected to the feeding pipe; the feeding pipe is connected to the material extruder; the central turntable is connected to the gear set; There is a cold air pipe next to the printing nozzle, and the electronic control part is composed of 5 stepping motor control boards, control board expansion board, main control board, operation panel, bread board, LED display and LED display control board. The structure of the invention is simple, Easy to operate.

Description

A space printing nozzle applied to a robotic arm

technical field

The invention relates to the technical field of 3D printing, in particular to a space printing nozzle applied to a mechanical arm.

Background technique

The currently widely used 3D printing technologies include fused deposition (FDM) and selective laser sintering (SLS). Problem: Firstly, the product is purely made of materials and lacks structural logic, so that 3D printing products generally have poor strength, especially the products printed by powder laser sintering, which lack tensile strength; secondly, due to their own poor structural strength and Due to the limitation of printed products, when it is necessary to print finer spatial lines, the printed products are very prone to damage due to the limited strength of the product. Therefore, the space line printing with structural strength is also the current 3D printing technology. One of the problems faced.

Contents of the invention

The object of the present invention is to propose a space printing nozzle applied to a mechanical arm that can print a self-supporting variable-section linear printing tool in the form of spider silk.

The space printing nozzle applied to the mechanical arm proposed by the present invention is composed of a mechanical part and an electronic control part, wherein:

The mechanical part consists of flange plate 2, acrylic base plate 12, stepper motor 1, nozzle opener 4, central turntable 5, fixed 3D printing nozzle 6, movable 3D printing nozzle 8, cold air pipe 7 and KUKA six-axis mechanical arm 3 , wherein the stepper motor 1 is connected to the gear set 10; the nozzle opener 4 is fixed on the acrylic base plate 12, the four movable 3D printing nozzles 8 are located around the fixed 3D printing nozzle 6, and one end of the movable 3D printing nozzle 8 passes through the nozzle to open and close 4, its connection with the nozzle opening and closing device 4 is fixed by a thermal insulation gasket 9, and the end of the movable 3D printing nozzle 8 is connected to the feed pipe 11; one end of the fixed 3D printing nozzle 6 passes through the central turntable 5 and is fixed on the acrylic base 12 , the connection between it and the central turntable 5 is fixed by an insulating gasket 9, and at the same time, the end of the fixed 3D printing nozzle 6 is connected to the feed pipe 11; the feed pipe 11 is connected to the material extruder 15; the central turntable 5 is connected to the gear set through a bearing 10. There is a copper cold air pipe 7 next to the fixed 3D printing nozzle 6 and the movable 3D printing nozzle 8. The cold air pipe 7 is connected to the air pump 16 through a plastic hose; stepping motor 1, nozzle opener 4, central turntable 5, The cold air pipes 7 are respectively fixed on the acrylic bottom plate 12 with mounting holes reserved by screws, the acrylic bottom plate 12 is connected to the flange plate 2 through the connector, and the flange plate 2 is connected to the KUKA mechanical arm 6;

The electronic control part is composed of 5 stepping motor control boards 13, control board expansion board 14, main control board 21, operation panel 17, bread board 18, LED display 20 and LED display control board 19, among which: operation panel 17 Connect the main control board 21 through the breadboard 18, and the LED display screen 20 connects the main control board 21 through the LED display control board 19; 4 stepping motor control boards 13 are connected to material extruder 15 to control material extrusion; material extruder 15 is connected to movable 3D printing nozzle 8 and fixed 3D printing nozzle 6; 1 stepping motor control board 13 is connected to central turntable 5 The stepping motor 1 at the back controls the rotation of the stepping motor 1; the control board expansion board 14 connects the movable 3D printing nozzle 8 and the fixed 3D printing nozzle 6 to control the temperature of the printing nozzle.

In the present invention, the central turntable 5 is provided with a rounded hexagonal tray, and the nozzle closer 4 is placed on the rounded hexagonal tray of the central turntable 5. The rotation of the central turntable 5 makes three movable 3D The printing nozzle 8 starts to open and close.

The working process of the present invention is as follows: after the tool is started on the LED display control board 19, the control board expansion board 14 first energizes and heats the three movable 3D printing nozzles 8 and one fixed 3D printing nozzle 6, and the control board expansion board 14 Control the heating to the temperature that can melt the ABS plastic (3D printing material), and then the main control board 21 starts to issue an extrusion command, and the 4 stepper motor control boards 13 start to work, and control the material extruder 15 to extrude the ABS plastic. At the same time, the fifth stepper motor control board starts to work, powers the stepper motor 1, drives the central turntable 5 to rotate, and the rotation of the rounded hexagonal central turntable 5 makes the three active 3D printing nozzles 8 start to open and close (as shown in Figure 4). At the same time, the KUKA six-axis robotic arm starts to carry the printing nozzle in this space to move along the preset path, and the nozzle can print a variable-section line shape similar to the cross-section of spider silk on the path.

The beneficial effects of the present invention are as follows: 1. The printed variable-section linear shape has good self-supporting ability, and can realize structurally stable spatial linear printing; 2. With the high flexibility of the KUKA six-axis mechanical arm, free spatial linear shape can be realized Printing; 3. Simple structure and low cost.

Description of drawings

Fig. 1 is a front view of the mechanical part of the present invention.

Figure 2 is a top view of the mechanical part of the present invention.

Fig. 3 is a left side view of the mechanical part of the present invention.

Fig. 4 is an axonometric view of the mechanical part of the present invention.

Fig. 5 is an assembly diagram of various parts of the mechanical part of the present invention.

Fig. 6 is a structural diagram of the electronic control part of the present invention.

Fig. 7 is a moving state diagram of the movable 3D printing nozzle of the present invention. Among them: the left picture is the closed state, and the right picture is the open state.

Numbers in the figure: 1 is a stepping motor; 2 is a flange; 3 is a KUKA six-axis mechanical arm; 4 is a nozzle closer; 5 is a central turntable; 6 is a fixed 3D printing nozzle; 3D printing nozzle; 9 is the thermal insulation gasket; 10 is the gear set; 11 is the feeding tube; 12 is the acrylic bottom plate; 13 is the stepper motor control board; 14 is the control board expansion board; 15 is the material extruder; 16 is the air pump 17 is the operation panel; 18 is the breadboard; 19 is the LED display control board; 20 is the LED display, and 21 is the main control board.

Detailed ways

Further illustrate the present invention below in conjunction with accompanying drawing.

Example 1:

As shown in the figure, the mechanical part is mainly composed of flange plate 2, acrylic base plate 12, stepper motor 1, nozzle opener 4, central turntable 5, fixed 3D printing nozzle 6, movable 3D printing nozzle 9, cold air pipe 7 and KUKA The six-axis robotic arm consists of 3 components. The flange plate 2 is matched with the KUKA six-axis robotic arm 3, and different types of KUKA six-axis robotic arm 3 and its corresponding flange plate 2 can be replaced according to actual needs. The acrylic bottom plate 12 is laser-cut from a 5mm thick acrylic plate, and there are holes for installing other parts on it. The model of the stepping motor 1 is 57HS7630A4 (single output shaft, four wires, shaft diameter 6.35, single flat, torque 1.8N.m), and the stepping motor 1 is connected with the gear set 10 . The gear set 10 is connected with the rounded hexagonal tray obtained by 3D printing through disc-shaped connectors, bearings and screws to form the central turntable 5 . The fixed 3D printing nozzle 6 passes through the central turntable 5 and is fixed on the acrylic base plate 12 by screws. There are threads on the movable 3D printing nozzle 8, and the thermal insulation gasket 9 is worn on the movable 3D printing nozzle 8, and then fixed on the nozzle closer 4 by a nut. The nozzle closer 4 has two custom-made rotating parts. A silk shaft passes through two bearings to connect the two customized rotating parts. At the same time, two springs are used to support the two rotating parts, so that the nozzle closer 4 is pushed against the central rotating basin. 5 rounded hexagonal trays. The cooling air cooling pipe 7 is made of copper, fixed on the acrylic base plate 12, and the air outlet is adjacent to the outlet of the fixed 3D printing nozzle 6 and the movable 3D printing nozzle 8.

The electronic control part of the present invention consists of 5 stepping motor control boards 13 (4 of which control the stepping motor in the printing material extruder, and 1 controls the stepping motor driving the central turntable), the model is A4988, and 1 controls Board expansion board 14, model RAMPS1.4, 1 main control board 21, model Arduino Mega 2560, 1 operation panel 17, 1 breadboard 18, 1 LED display 20 and a LED display control board 19 , LED display screen and control panel are supporting equipment, the model is Reprap Ramps 1.4 2004LCD, composed. The connection method is shown in the figure.

Claims (2)

1. be applied to the space printing head on mechanical arm, be grouped into by mechanical part and electronic control unit, it is characterized in that:

Mechanical part is made up of ring flange (2), acrylic base plate (12), stepper motor (1), shower nozzle opening/closing device (4), central rotating disk (5), fixing 3D printing head (6), movable 3D printing head (8), cool air hose (7) and KUKA six shaft mechanical arm (3), wherein, stepper motor (1) connects gear train (10); Shower nozzle opening/closing device (4) is fixed on acrylic base plate (12), four movable 3D printing heads (8) are positioned at fixing 3D printing head (6) surrounding, movable 3D printing head (8) one end is through shower nozzle opening/closing device (4), itself and shower nozzle opening/closing device (4) junction are fixed by heat insulating washer (9), and movable 3D printing head (8) end connects feed pipe (11) simultaneously; Fixing 3D printing head (6) one end is fixed on acrylic base plate (12) through central rotating disk (5), itself and central rotating disk (5) junction are fixed by heat insulating washer (9), fix 3D printing head (6) end simultaneously and connect feed pipe (11); Described feed pipe (11) connecting material extruder (15); Central authorities' rotating disk (5) connect gear train (10) by bearing; There is a copper cool air hose (7) on fixing 3D printing head (6) and movable 3D printing head (8) side, and cool air hose (7) is by the external air pump of plastic flexible pipe (16); Stepper motor (1), shower nozzle opening/closing device (4), central rotating disk (5), cool air hose (7) are fixed on respectively by screw and are reserved with on the acrylic base plate (12) of installing hole, acrylic base plate (12) is connected with ring flange (2) by connector, and described ring flange (2) connects KUKA mechanical arm (6);

Electronic control part is made up of 5 step motor control plates (13), control panel expansion board (14), master board (21), guidance panel (17), bread board (18), LED display (20) and LED display control panel (19), wherein: guidance panel (17) connects master board (21) by bread board (18), LED display (20) connects master board (21) by LED display control board (19); Master board (21) connects 5 step motor control plates (13), control panel expansion board (14) and air pump (16) respectively; 4 step motor control plates (13) connecting material extruder (15), control material and extrude; Material extruder (15) connection activity 3D printing head (8) and fixing 3D printing head (6); 1 step motor control plate (13) connects central rotating disk (5) stepper motor below (1), and control step motor (1) rotates; Control panel expansion board (14) connection activity 3D printing head (8) and fixing 3D printing head (6), control the temperature of printing head.

2. the space printing head be applied on mechanical arm according to claim 1, it is characterized in that described central rotating disk (5) is provided with fillet hexagon pallet, described shower nozzle closer (4) withstands on central authorities and turns on the fillet hexagon pallet of basin (5), and the rotation of central rotating disk (5) makes 3 movable 3D printing heads (8) start to open and closed action.