CN106827169A - A kind of 3D building printheads and its mobile 3 D building printing equipment - Google Patents
A kind of 3D building printheads and its mobile 3 D building printing equipment Download PDFInfo
- Publication number
- CN106827169A CN106827169A CN201710033773.3A CN201710033773A CN106827169A CN 106827169 A CN106827169 A CN 106827169A CN 201710033773 A CN201710033773 A CN 201710033773A CN 106827169 A CN106827169 A CN 106827169A
- Authority
- CN
- China
- Prior art keywords
- printhead
- bearing
- print head
- head body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Materials Engineering (AREA)
- Ceramic Engineering (AREA)
- Ink Jet (AREA)
Abstract
The invention discloses a kind of 3D building printheads, including hollow print head body, feed arrangement, installed in print head body bottom and the nozzle that is docked with the middle cavity of print head body；The outer wall of print head body is set with least about the two sets bearing assemblies being staggeredly arranged, and the printhead link being connected with for being connected with printing device is corresponded on every suit bearing assembly outer wall；Can be rotated against by axle of print head body between printhead link another printhead link adjacent thereto, the angle of cut of the two is variable.A kind of mobile 3 D building printing equipment is also provided simultaneously.The present invention is easy to move to building-site and directly prints 3D buildings, and mobile, assembling and debugging are convenient.The load forces and stability of combined machine arm are increased, feeding amount is bigger, translational speed is fast, and repetitive positioning accuracy is high, improve print speed and print quality, mechanical arm can be made longer, can print bigger building.
Description
Technical field
The invention belongs to increase material modeling technology area, and in particular to a kind of 3D building printheads and its mobile 3 D building printing
Device.
Background technology
3D printing is a kind of increases material manufacturing technology that final products are directly formed by stack material.
At present, known 3D buildings printer is by printer main body, printhead, 3D motion mechanism, feed device, work
The construction such as platform, control system, Aided Machine, electrical installation is formed.It is broadly divided into following several structure types：
1. gantry frame structure：Arranged with 2-4 column, be horizontally mounted x, y-axis, printhead is arranged in x-axis, and column is used as z
Axle, printhead prints building element in 3d space movement.It has two kinds of modes of production, and first way is gantry 3D printer
It is fixedly mounted in factory, building element is printed first, be then transported to Assembling into building, defect is to print, fill
With, transport etc. link it is more, increased production cost and period.The second way is that gantry 3D printer is pacified in building-site
Dress, debugging, printing and dismantle, defect is that equipment heaviness, transport trouble, installation and debugging technical sophistication, production cost be high, the cycle
It is long.
2. parallel combining structure：It is made up of two mechanical arm 3D printers, is divided on two parallel 3D printer mechanical arms
Horizontal x-axis two ends are not connected, and shared printhead is arranged in x-axis, and 2 3D printers are relied on along landing ground y-axis synchronizing moving
Mechanical arm oscillation adjustment z-axis changes, and printhead completes printing in 3d space movement.Defect is two 3D printers of combination of requirement
The synchronization-moving road of base is very smooth, in addition need using crawler belt move or laying track, increased road, equipment or
Orbit construction, installation, the time of debugging and cost.It is very high to synchronization-moving precise requirements, and print quality control is received
To influence.Two mechanical arms of printer of this structure are all hanging towards same direction, so mechanical arm can not bear larger
Load, printhead feed device quality can not be too big, and printing effect is impacted.And mechanical arm be made can not be oversize, printing is empty
Between be restricted.In addition, it can not overcome the mechanical of acceleration impact that two unidirectional mechanical arms are produced when mobile to miss
Difference, printhead repetitive positioning accuracy is low, and print quality is impacted.
3. single mechanical arm configuration：Transportable mechanical arm 3D printer, is existed by the printhead installed on mechanical arm
3d space movement completes printing.Defect is the machine error of the acceleration impact that single mechanical arm movement can not be overcome to produce, and is beaten
Print is immovable too fast, and print speed is impacted, and printhead repetitive positioning accuracy is low, and print quality is impacted, while vacantly
Single mechanical arm, it is impossible to bear too big load, printhead feed device quality can not be too big, and printing effect is impacted, and
Mechanical arm can not be made oversize, and print space is restricted.
4. triangle parallel connection arm configuration：A printhead is connected with 3 groups of parallel arm triangles, by the change of parallel arm, is beaten
Print head completes printing in 3d space movement.Defect is that parallel arm 3D printer needs to assemble, debug, print and tear open in building-site
Unload, equipment heaviness, transport trouble, installation and debugging technical sophistication and production cycle are more long, the building for being printed is in parallel three
The centre of angle arm, print space is restricted, and the construction area of printing is smaller, and vibrations are big when Triangular Arm in parallel runs, printing precision
It is low.
The content of the invention
Regarding to the issue above, the present invention is intended to provide a kind of conveniently moving, be easily installed debugging, stabilization of equipment performance is good, beat
Print-out rate is fast, print quality is high 3D building printheads and its mobile 3 D building printing equipment.
The technical scheme of solve problem of the present invention is：A kind of 3D builds printhead, including hollow print head body, installation
At the top of print head body and can by material feeding print head body middle cavity in feed arrangement, installed in print head body
Bottom and the nozzle docked with the middle cavity of print head body；
The outer wall of the print head body is set with least about the two sets bearing assemblies being staggeredly arranged, outside every suit bearing assembly
The printhead link being connected with for being connected with printing device is corresponded on wall；
Can be rotated against by axle of print head body between printhead link another printhead link adjacent thereto, two
The angle of cut of person is variable.
In such scheme, many sets are installed in a print head body can connect the interface of printing device, can connect many
Platform printing device, i.e., many printing devices share a printhead, and nozzle is in center all the time.
Specifically, the bearing assembly includes the bearing cap of bearing, lock ring on bearing, the bearing cap passes through bearing cap
Support is fixedly connected with printhead link；
The groove for bearing set is interval with the outer wall of print head body.
Further, the bearing assembly has two sets, respectively first set bearing assembly and second set of bearing assembly, each
Set bearing assembly includes two bearings and two bearing caps；
Each complete bearing is made up of the docking of two and half circular journal bearings；Each complete bearing cap is by two dismountable half
Circular journal bearing lid is spliced to form；
The bearing lid support is fixedly connected with two semicircle bearing caps positioned at the same side；
Four circle grooves are interval with the outer wall of the print head body, from top to bottom respectively the first groove, the second groove,
Three grooves, the 4th groove；Two bearings of the first set bearing assembly are respectively arranged in the second groove and the 4th groove, the
Two sets of the two of bearing assembly bearings are respectively arranged in the first groove and the 3rd groove so that first set bearing assembly with
Second set of bearing assembly interlaced arrangement.
Specifically, the printhead link includes printing head support part, the clamping plate for being connected with bearing lid support, clamping plate
It is detachably connected with printing head support part；Pull pressure sensor is provided between the printing head support part and clamping plate.
Pull pressure sensor is used to monitor the pressure change between printing head support part and clamping plate, pull pressure sensor output
In overrate, controller stops the movement of mechanical arm to signal, to protect the safety of printing equipment.
Preferably, positioning terminal is installed on the printhead link, for the locus of aligning print heads.
Preferably, thermosistor is installed in the print head body.Thermosistor is cement temperatures to be carried out in building trade
The common equipment of control.
Specifically, the feed arrangement is including delivery pump, the motor of driving conveying pump operation, at the top of delivery pump
Feed pipe.
Accordingly, the present invention also provides a kind of mobile 3 D building printing equipment, including moveable building print car, described
Print car includes mechanical arm, also builds printhead including the 3D described in such scheme, and quantity and the printhead of the print car connect
The quantity for connecing frame is identical, and the mechanical arm is removably connected with printhead link, and printhead is in vertical state all the time.
In such scheme, the opposed connection of mechanical arm on many print cars shares 3D printing head, shares a 3D printing work
Make coordinate points, in synchronizing moving, the angle of cut is changed mechanical arm, and print head body can vertically be rotated in bearing arrangement,
Remain that print-head nozzle is in center, moved in 3d space by mechanical arm that output printing working medium completes 3D buildings
Printing.
3D printing head is changed at least two mechanical arms and supports jointly from the independent support of an original mechanical arm, increased support
Power and stability, the mechanical arm of opposed installation form the domes of opposition, improve the load intensity of combined machine arm, can
Load mass bigger 3D printing head and feed device, can increase feed tube diameter, increase feeding amount, improve printing effect.
And, mechanical arm can be made longer, make the space of 3D printing bigger, can print bigger building.Share printhead water
When translation is dynamic, the combined machine arm of opposed installation can eliminate the machine that a part of mechanical arm moves horizontally the acceleration impact of generation
Tool error, can improve translational speed, and printhead repetitive positioning accuracy is high, improves stabilization of equipment performance, print quality and printing
Efficiency.
Specifically, the print car also includes car body, control cabinet, the rotating base being fixed on car body, is arranged at car body
The telescopic legs of corner, the mechanical arm is fixed on rotating base.
Preferably, positioning terminal is installed, the positioning terminal is GPS, or dipper system on the printhead link,
Or laser, or infrared, or radio frequency, or WiFi, positioning terminal is electrically connected with control cabinet.
Remarkable result of the invention is：It is easy to move to building-site and directly prints 3D buildings, mobile, assembling and debugs
It is convenient.Printhead is shared by the opposed connection of at least two mobile 3 D print cars, load forces of combined machine arm and steady are increased
Qualitative, feeding amount can be bigger, and translational speed can faster, and repetitive positioning accuracy is high, improves print speed and print quality,
Mechanical arm can be made longer, can print bigger building, can shorten the production cycle and reduce production cost.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 is that 3D of the present invention builds print head structure figure.
Fig. 2 is that 3D of the present invention builds print head structure exploded view.
Fig. 3 is that mobile 3 D of the present invention builds printing equipment structure chart.
In figure：1- feed arrangements, 2- bearing assemblies, 3- printhead links, 4- print head bodies, 5- nozzles, 6- tension and compression
Force snesor, 7- positioning terminals, 8- thermosistors, 9- print cars, 11- delivery pumps, 12- motors, 13- feed pipes, 21- bearings, 22-
Bearing cap, 23- bearing lid supports, 24- first set bearing assemblies, second set of bearing assembly of 25-, 31- printing head support parts, 32- folders
Plate, the grooves of 41- first, the grooves of 42- second, the grooves of 43- the 3rd, the grooves of 44- the 4th, 91- mechanical arms, 92- car bodies, 93- controls
Case, 94- rotating bases, 95- telescopic legs, 96- balancing pole mechanisms.
Specific embodiment
As shown in Fig. 1~2, a kind of 3D builds printhead, including hollow print head body 4, installed in print head body 4
Top and can by material feeding print head body 4 middle cavity in feed arrangement 1, installed in the bottom of print head body 4 and with
The nozzle 5 of the middle cavity docking of print head body 4.
The outer wall of the print head body 4 is set with least about the two sets bearing assemblies 2 being staggeredly arranged.Every suit bearing
The printhead link 3 being connected with for being connected with printing device is corresponded on the outer wall of component 2.
The bearing assembly 2 includes bearing cap 22 of the bearing 21, lock ring on bearing 21, and the bearing cap 22 passes through bearing
Lid support 23 is fixedly connected with printhead link 3.It is interval with the outer wall of print head body 4 for bearing set 21
Groove.
In a kind of preferred scheme, the bearing assembly 2 has two sets, respectively first set bearing assembly 24 and second set of axle
Bearing assembly 25, every suit bearing assembly includes two bearings 21 and two bearing caps 22.Each complete bearing 21 is by two
The docking of half circular journal bearing is constituted.Each complete bearing cap 22 is spliced to form by two dismountable semicircle bearing caps.The axle
Lid support 23 is held to be fixedly connected with two semicircle bearing caps positioned at the same side.Interval sets on the outer wall of the print head body 4
There are four circle grooves, from top to bottom respectively the first groove 41, the second groove 42, the 3rd groove 43, the 4th groove 44.Described first
Two bearings 21 for covering bearing assembly 24 are respectively arranged in the second groove 42 and the 4th groove 44.Second set of bearing assembly 25
Two bearings are respectively arranged in the first groove 41 and the 3rd groove 43, so that first set bearing assembly 24 and second set of axle
The interlaced arrangement of bearing assembly 25.
Can be with print head body 4 as axle between the printhead link 3 another printhead link adjacent thereto
Rotate against, the angle of cut of the two is variable.Printhead link 3 is including printing head support part 31, for being connected with bearing lid support 23
Clamping plate 32.Clamping plate 32 is detachably connected with printing head support part 31.Tension and compression are provided between the printing head support part 31 and clamping plate 32
Force snesor 6.
Thermosistor 8 is installed in the print head body 4.The operating temperature of the regulation printing working medium of thermosistor 8.
The feed arrangement 1 is including delivery pump 11, the motor 12 of the driving operation of delivery pump 11, installed in the top of delivery pump 11
Feed pipe 13.
As shown in figure 3, the present invention also provides a kind of mobile 3 D building printing equipment, including moveable building print car 9,
Print car includes mechanical arm 91, car body 92, control cabinet 93, the rotating base 94 being fixed on car body 92, is arranged at car body 92 4
The telescopic legs 95 at angle, balancing pole mechanism 96, the mechanical arm 91 are fixed on rotating base 94.Also include such scheme institute
The 3D building printheads stated, the quantity of the print car 9 is identical with the quantity of printhead link 3.The mechanical arm 91 with beat
The dismountable connection of print head link 3, and printhead is in vertical state all the time.Balancing pole mechanism 96 ensures printing head support part 31
Perpendicular attitude is remained in 3d space movement.
Positioning terminal 7 is installed on the printhead link 3, for the locus of aligning print heads.The positioning
Terminal 7 is GPS, or dipper system, or laser, or infrared, or radio frequency, or WiFi, and positioning terminal 7 is electrically connected with control cabinet 93.
Pull pressure sensor 6 is used to monitor the pressure change between printing head support part 31 and clamping plate 32, pull pressure sensor 6
In overrate, controller stops the movement of mechanical arm 91 to the signal of output, to protect the safety of printing equipment.
The opposed connection of mechanical arm 91 on many print cars 9 shares 3D printing head, shares a 3D printing operating coordinates point,
In synchronizing moving, the angle of cut is changed mechanical arm 91, and print head body 4 can vertically be rotated in bearing arrangement, be protected all the time
Hold print-head nozzle 5 and be in center, moved in 3d space by mechanical arm 91, output printing working medium completes 3D buildings and beats
Print.
3D printing head is changed at least two mechanical arms and supports jointly from the independent support of an original mechanical arm, increased support
Power and stability, the mechanical arm 91 of opposed installation form the domes of opposition, improve the load intensity of combined machine arm, energy
Enough load mass bigger 3D printing head and feed device 1, can increase the diameter of feed pipe 13, increase feeding amount, improve printing
Efficiency.And, mechanical arm 91 can be made longer, make the space of 3D printing bigger, can print bigger building.Share and beat
When print head is moved horizontally, the combined machine arm 91 of opposed installation can eliminate the acceleration that a part of mechanical arm 91 moves horizontally generation
The machine error of impact is spent, translational speed can be improved, printhead repetitive positioning accuracy is high, improve stabilization of equipment performance, printing
Quality and printing effect.
Claims (10)
1. a kind of 3D builds printhead, it is characterised in that：Including hollow print head body（4）, installed in print head body（4）
Top and material can be sent into print head body（4）Middle cavity in feed arrangement（1）, installed in print head body（4）Bottom
Portion and and print head body（4）Middle cavity docking nozzle（5）；
The print head body（4）Outer wall be set with least about the two sets bearing assemblies being staggeredly arranged（2）, every suit bearing
Component（2）The printhead link being connected with for being connected with printing device is corresponded on outer wall（3）；
Printhead link（3）Can be with print head body between another printhead link adjacent thereto（4）For axle is relative
Rotation, the angle of cut of the two is variable.
2. 3D according to claim 1 builds printhead, it is characterised in that：The bearing assembly（2）Including bearing（21）、
Lock ring is in bearing（21）On bearing cap（22）, the bearing cap（22）By bearing lid support（23）With printhead link
（3）It is fixedly connected；
In print head body（4）Outer wall on be interval with for bearing set（21）Groove.
3. 3D according to claim 2 builds printhead, it is characterised in that：The bearing assembly（2）There are two sets, respectively
First set bearing assembly（24）With second set of bearing assembly（25）, every suit bearing assembly include two bearings（21）And two axles
Hold lid（22）；
Each complete bearing（21）It is made up of the docking of two and half circular journal bearings；Each complete bearing cap（22）Can by two
The semicircle bearing cap of dismounting is spliced to form；
The bearing lid support（23）It is fixedly connected with two semicircle bearing caps positioned at the same side；
The print head body（4）Outer wall on be interval with four circle grooves, respectively the first groove from top to bottom（41）, second
Groove（42）, the 3rd groove（43）, the 4th groove（44）；The first set bearing assembly（24）Two bearings（21）Pacify respectively
Loaded on the second groove（42）With the 4th groove（44）In, second set of bearing assembly（25）Two bearings to be respectively arranged in first recessed
Groove（41）With the 3rd groove（43）In, so that first set bearing assembly（24）With second set of bearing assembly（25）Staggeredly cloth
Put.
4. 3D according to claim 2 builds printhead, it is characterised in that：The printhead link（3）Including printing
Head bracket（31）, for bearing lid support（23）The clamping plate of connection（32）, clamping plate（32）With printing head support part（31）Detachably
Connection；The printing head support part（31）With clamping plate（32）Between be provided with pull pressure sensor（6）.
5. 3D according to claim 1 builds printhead, it is characterised in that：The printhead link（3）On be provided with
Positioning terminal（7）.
6. 3D according to claim 1 builds printhead, it is characterised in that：The print head body（4）On tune is installed
Warm device（8）.
7. 3D according to claim 1 builds printhead, it is characterised in that：The feed arrangement（1）Including delivery pump
（11）, drive delivery pump（11）The motor of operation（12）, installed in delivery pump（11）The feed pipe at top（13）.
8. a kind of mobile 3 D building printing equipment, including moveable building print car（9）, the print car include mechanical arm
（91）, it is characterised in that：Also include the 3D building printheads described in any one of the claims 1~7, the print car（9）
Quantity and printhead link（3）Quantity it is identical, the mechanical arm（91）With printhead link（3）Removably connect
Connect, and printhead is in vertical state all the time.
9. mobile 3 D according to claim 8 builds printing equipment, it is characterised in that：The print car（9）Also include car
Body（92）, control cabinet（93）, be fixed on car body（92）On rotating base（94）, be arranged at car body（92）The scalable branch of corner
Leg（95）, the mechanical arm（91）It is fixed on rotating base（94）On.
10. mobile 3 D according to claim 9 builds printing equipment, it is characterised in that：The printhead link（3）On
Positioning terminal is installed（7）, the positioning terminal（7）It is GPS, or dipper system, or laser, or it is infrared, or radio frequency, or
WiFi, positioning terminal（7）With control cabinet（93）Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710033773.3A CN106827169B (en) | 2017-01-18 | 2017-01-18 | A kind of 3D building print head and its mobile 3 D build printing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710033773.3A CN106827169B (en) | 2017-01-18 | 2017-01-18 | A kind of 3D building print head and its mobile 3 D build printing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106827169A true CN106827169A (en) | 2017-06-13 |
| CN106827169B CN106827169B (en) | 2019-01-22 |
Family
ID=59124592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710033773.3A Active CN106827169B (en) | 2017-01-18 | 2017-01-18 | A kind of 3D building print head and its mobile 3 D build printing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106827169B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443735A (en) * | 2017-07-25 | 2017-12-08 | 中国建筑股份有限公司 | A kind of vehicular builds 3D printing equipment |
| CN107724240A (en) * | 2017-09-28 | 2018-02-23 | 宁波大红鹰学院 | A kind of small bridge construction 3D printer |
| CN109514690A (en) * | 2019-01-21 | 2019-03-26 | 齐鲁工业大学 | A kind of Novel moveable mechanical arm type 3D printing equipment |
| CN110696142A (en) * | 2019-10-14 | 2020-01-17 | 李享 | 3D building printer |
| CN110733096A (en) * | 2019-10-14 | 2020-01-31 | 李享 | A printer head applied to a 3D architectural printer |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040126198A1 (en) * | 2002-12-27 | 2004-07-01 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN103317726A (en) * | 2013-06-19 | 2013-09-25 | 广州捷和电子科技有限公司 | Nozzle transmission mechanism for 3D printer and 3D printer with same |
| CN104858859A (en) * | 2015-05-27 | 2015-08-26 | 北京交通大学 | Multi-output 3D printing redundant parallel robot |
| CN204773599U (en) * | 2015-05-09 | 2015-11-18 | 昆山市奇迹三维科技有限公司 | Parallel 3D printer strenghthened type linking arm device |
| CN105415684A (en) * | 2015-12-18 | 2016-03-23 | 济南大学 | Delta 3d printer |
| CN205362676U (en) * | 2016-01-21 | 2016-07-06 | 鞍山德威亚激光科技有限公司 | Laser 3D print system of robot |
| CN205462906U (en) * | 2016-03-18 | 2016-08-17 | 武汉高木汽车部件有限公司 | A spray assembly for automobile parts production |
| CN105965897A (en) * | 2016-06-29 | 2016-09-28 | 桂林电子科技大学 | Mechanical-arm-type 3D printer |
| US20160332296A1 (en) * | 2015-05-14 | 2016-11-17 | Daniel Kurnianto | Control Mechanism for End-effector Maneuver |
-
2017
- 2017-01-18 CN CN201710033773.3A patent/CN106827169B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040126198A1 (en) * | 2002-12-27 | 2004-07-01 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN103317726A (en) * | 2013-06-19 | 2013-09-25 | 广州捷和电子科技有限公司 | Nozzle transmission mechanism for 3D printer and 3D printer with same |
| CN204773599U (en) * | 2015-05-09 | 2015-11-18 | 昆山市奇迹三维科技有限公司 | Parallel 3D printer strenghthened type linking arm device |
| US20160332296A1 (en) * | 2015-05-14 | 2016-11-17 | Daniel Kurnianto | Control Mechanism for End-effector Maneuver |
| CN104858859A (en) * | 2015-05-27 | 2015-08-26 | 北京交通大学 | Multi-output 3D printing redundant parallel robot |
| CN105415684A (en) * | 2015-12-18 | 2016-03-23 | 济南大学 | Delta 3d printer |
| CN205362676U (en) * | 2016-01-21 | 2016-07-06 | 鞍山德威亚激光科技有限公司 | Laser 3D print system of robot |
| CN205462906U (en) * | 2016-03-18 | 2016-08-17 | 武汉高木汽车部件有限公司 | A spray assembly for automobile parts production |
| CN105965897A (en) * | 2016-06-29 | 2016-09-28 | 桂林电子科技大学 | Mechanical-arm-type 3D printer |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443735A (en) * | 2017-07-25 | 2017-12-08 | 中国建筑股份有限公司 | A kind of vehicular builds 3D printing equipment |
| CN107443735B (en) * | 2017-07-25 | 2023-05-12 | 中国建筑股份有限公司 | Vehicle-mounted building 3D printing equipment |
| CN107724240A (en) * | 2017-09-28 | 2018-02-23 | 宁波大红鹰学院 | A kind of small bridge construction 3D printer |
| CN107724240B (en) * | 2017-09-28 | 2019-07-16 | 宁波大红鹰学院 | A 3D printer for small bridge construction |
| CN109514690A (en) * | 2019-01-21 | 2019-03-26 | 齐鲁工业大学 | A kind of Novel moveable mechanical arm type 3D printing equipment |
| CN110696142A (en) * | 2019-10-14 | 2020-01-17 | 李享 | 3D building printer |
| CN110733096A (en) * | 2019-10-14 | 2020-01-31 | 李享 | A printer head applied to a 3D architectural printer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106827169B (en) | 2019-01-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106827169A (en) | A kind of 3D building printheads and its mobile 3 D building printing equipment | |
| CN105291194B (en) | Five spindle noses and Water Cutting process equipment with precision adjusting device | |
| US9925722B2 (en) | 3-D printer | |
| CN102514645B (en) | Spherical rolling robot | |
| KR20180017855A (en) | Apparatus and method for controlling stability of unmanned aerial vehicle | |
| CN108973124B (en) | Delta type five-degree-of-freedom 3D printer | |
| JP5729843B2 (en) | Capsule type variable shaft compound processing machine | |
| CN104369379A (en) | Three-dimensional printer | |
| CN106515019A (en) | 3d printer | |
| CN205498077U (en) | 3d printer | |
| CN105415691B (en) | It is a kind of that the cylindrical coordinates formula 3D printer that many shower nozzles are printed simultaneously can be achieved | |
| CN110666471B (en) | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections | |
| CN104437937A (en) | Five-degree-of-freedom series-parallel spraying mechanism for passenger car | |
| CN206749066U (en) | A kind of 3D printer servicing unit used under microgravity environment | |
| JP7078475B2 (en) | Flying object | |
| CN107081910A (en) | The 3D printer of the double upsets of workbench | |
| KR100798353B1 (en) | Motion Tables for Controlled Object Pose Simulation | |
| CN206511555U (en) | A kind of lifting body and AGV dolly | |
| JP3175501U (en) | Vibration transfer or vibration filling device capable of changing direction | |
| CN114414186A (en) | A 3-DOF Electrodynamic Vibration Test System with Isotropic Layout | |
| CN109253839A (en) | A kind of autobalance workbench | |
| CN113184163A (en) | Flight rescue device and using method thereof | |
| CN112027549A (en) | Transport mechanical dog and use method thereof | |
| CN206306637U (en) | Screw nut driving structure and printer in printer | |
| CN203665663U (en) | Pneumatic vibration platform system of block forming machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230224 Address after: First floor, 57 Hubin North Road, Shiqi District, Zhongshan City, Guangdong Province, 528400 Patentee after: Zhongshan New Galaxy Drive Industry Co.,Ltd. Address before: 410007 Room 202, Gate 3, Building 14, Wuyi East Village, Furong District, Changsha City, Hunan Province Patentee before: Zhang Hongbin |
|
| TR01 | Transfer of patent right |