CN106827169B - A kind of 3D building print head and its mobile 3 D build printing equipment - Google Patents
A kind of 3D building print head and its mobile 3 D build printing equipment Download PDFInfo
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- CN106827169B CN106827169B CN201710033773.3A CN201710033773A CN106827169B CN 106827169 B CN106827169 B CN 106827169B CN 201710033773 A CN201710033773 A CN 201710033773A CN 106827169 B CN106827169 B CN 106827169B
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- print head
- bearing
- connection frame
- head body
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Classifications
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- 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
- 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
- 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
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- 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
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- 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 to build print head, including hollow print head body, feeding device, the nozzle for being mounted on print head body bottom and docking with the hollow cavity of print head body；The outer wall of print head body is set at least about the two sets bearing assemblies being staggeredly arranged, and the print head connection frame for connecting with printing device is correspondingly connected on every suit bearing assembly outer wall；Can be using print head body as axis relative rotation between print head connection frame another print head connection frame 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 remove directly to print 3D building to building-site, and mobile, assembling and debugging are convenient.The load forces and stability of combined machine arm are increased, feeding amount is bigger, and movement speed is fast, and repetitive positioning accuracy is high, improves 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 print head and its mobile 3 D building printing
Device.
Background technique
3D printing is that a kind of increases material manufacturing technology of final products is directly formed by stack material.
Currently, well known 3D building printer is by printer main body, print head, 3D motion mechanism, feed device, work
Platform, control system, auxiliary machinery, electrical installation etc. construct.It is broadly divided into following several structure types:
1. gantry frame structure: with 2-4 column arrangement, being horizontally mounted x, y-axis, print head is mounted in x-axis, and column is made
For z-axis, print head prints building element in 3d space movement.There are two types of production methods for it, and first way is that gantry 3D is beaten
Print machine is fixedly mounted in factory, prints building element first, is then transported to on-site assembly into building, defect is to beat
The links such as print, assembly, transport are more, increase production cost and period.The second way is that gantry 3D printer is existing in building site
Field installation, debugging, printing and disassembly, defect is equipment heaviness, transport trouble, installation and debugging technology complexity, high production cost, week
Phase is long.
2. parallel composite structure: being made of two mechanical arm 3D printers, divide on two parallel 3D printer mechanical arms
Horizontal x-axis both ends are not connected, and shared print head is mounted in x-axis, and 2 3D printers are relied on along landing ground y-axis synchronizing moving
The variation of mechanical arm oscillation adjustment z-axis, print head is in the mobile completion printing of 3d space.Defect is the 3D printer for requiring two combinations
The road of pedestal synchronizing moving is very smooth, or even needs mobile using crawler belt or be laid with track, increase road, equipment or
Orbit construction, installation, the time of debugging and cost.It is very high to the precise requirements of synchronizing moving, print quality control by
To influence.The mechanical arm of two printers of this structure is all hanging towards same direction, thus mechanical arm cannot bear it is larger
Load, print head feed device quality cannot be too big, and printing effect is impacted.And be made cannot be too long for mechanical arm, and printing is empty
Between be restricted.In addition, its mechanical of acceleration impact that two unidirectional mechanical arms cannot be overcome to generate when moving misses
Difference, print head repetitive positioning accuracy is low, and print quality is impacted.
3. single machinery arm configuration: transportable mechanical arm 3D printer is existed by the print head installed on mechanical arm
3d space is mobile to complete printing.Defect is cannot to overcome the machine error of the mobile acceleration impact generated of single mechanical arm, is beaten
Print is immovable too fast, and print speed is impacted, and print head repetitive positioning accuracy is low, and print quality is impacted, while hanging
Single mechanical arm, cannot bear too big load, print head feed device quality cannot be too big, and printing effect is impacted, and
Mechanical arm cannot be made too long, and print space is restricted.
4. triangle parallel connection arm configuration: connecting a print head with 3 groups of parallel arm triangles and beaten by the variation of parallel arm
Head is printed in the mobile completion printing of 3d space.Defect is that parallel arm 3D printer needs are assembled, debug, print and torn open in building-site
It unloads, equipment heaviness, transport trouble, installation and debugging technology are complicated and the production cycle is longer, and the building printed is in parallel connection three
The centre of angle arm, print space are restricted, and the construction area of printing is smaller, and vibration is big when Triangular Arm in parallel is run, printing precision
It is low.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of conveniently moving, being easily installed that debugging, stabilization of equipment performance is good, beats
The 3D building print head and its mobile 3 D that print-out rate is fast, print quality is high build printing equipment.
The technical solution that the present invention solves the problems, such as is: a kind of 3D building print head, including hollow print head body, installation
At the top of print head body and can by material be sent into print head body hollow cavity in feeding device, be mounted on print head body
Bottom and the nozzle docked with the hollow cavity of print head body；
The outer wall of the print head body is set at least about the two sets bearing assemblies being staggeredly arranged, every suit bearing group
The print head connection frame for connecting with printing device is correspondingly connected on part outer wall；
It can be using print head body as the opposite rotation of axis between print head connection frame another print head connection frame adjacent thereto
Turn, the angle of cut of the two is variable.
In above scheme, more sets are installed in a print head body can connect the interface of printing device, can connect more
Platform printing device, i.e. more printing devices share a print head, and nozzle is in center always.
Specifically, the bearing assembly includes the bearing cap of bearing, lock ring on bearing, the bearing cap passes through bearing cap
Bracket is fixedly connected with print head connection frame；
The groove for bearing set is equipped at intervals on 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
Covering bearing assembly includes two bearings and two bearing caps；
Each complete bearing is made of the docking of two and half circular journal bearings；Each complete bearing cap is detachable by two
Semicircle bearing cap be spliced to form；
The bearing lid support is fixedly connected with two semicircle bearing caps for being located at the same side；
Four circle grooves are equipped at intervals on the outer wall of the print head body, from top to bottom respectively the first groove, second recessed
Slot, third groove, the 4th groove；Two bearings of the first set bearing assembly are respectively arranged in the second groove and the 4th groove
In, two bearings of second set of bearing assembly are respectively arranged in the first groove and third groove, so that first set bearing
Component and second set of bearing assembly interlaced arrangement.
Specifically, the print head connection frame includes printing head support part, the clamping plate for connecting with bearing lid support, clamping plate
It is detachably connected with printing head support part；Pull pressure sensor is equipped 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
For signal in overrate, controller stops the movement of mechanical arm, to protect the safety of printing equipment.
Preferably, positioning terminal is installed on the print head connection frame, the spatial position for aligning print heads.
Preferably, thermosistor is installed in the print head body.Thermosistor is to carry out in building trade to cement temperatures
The commonly used equipment of control.
Specifically, the feeding device includes delivery pump, the motor for driving conveying pump operation, is mounted at the top of delivery pump
Feed pipe.
Correspondingly, the present invention also provides a kind of mobile 3 Ds to build printing equipment, including movably builds print car, it is described
Print car includes mechanical arm, further includes the building print head of 3D described in above scheme, and the quantity and print head of the print car connect
The quantity for connecing frame is identical, and the mechanical arm is removably connect with print head connection frame, and print head is in a vertical state always.
In above scheme, opposed connect of mechanical arm on more print cars shares 3D printing head, shares a 3D printing work
Make coordinate points, in synchronizing moving, the angle of cut changes mechanical arm, and print head body can vertically rotate in bearing arrangement,
Remain that print-head nozzle is in center, mobile in 3d space by mechanical arm, output printing working medium completes 3D building
Printing.
3D printing head is individually supported from an original mechanical arm to be become at least two mechanical arms and supports jointly, and support is increased
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.
Moreover, mechanical arm can be made longer, keep the space of 3D printing bigger, bigger building can be printed.Share print head 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
Movement speed can be improved in tool error, and print head repetitive positioning accuracy is high, improves stabilization of equipment performance, print quality and printing
Efficiency.
Specifically, the print car further includes car body, control cabinet, the rotating base being fixed on car body, is set to car body
The telescopic legs of quadrangle, the mechanical arm are fixed on rotating base.
Preferably, positioning terminal is installed on the print head connection frame, the positioning terminal is GPS or dipper system,
Or laser or infrared or radio frequency or WiFi, positioning terminal are electrically connected with control cabinet.
Remarkable result of the invention is: easy to remove directly to print 3D building, mobile, assembling and debugging to building-site
It is convenient.Print head is shared by opposed connect of at least two mobile 3 D print cars, increases the load forces of combined machine arm and steady
Qualitative, feeding amount can be bigger, and movement 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.
Detailed description of the invention
The present invention will be further explained below with reference to the attached 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- feeding device, 2- bearing assembly, 3- print head connection frame, 4- print head body, 5- nozzle, 6- tension and compression
Force snesor, 7- positioning terminal, 8- thermosistor, 9- print car, 11- delivery pump, 12- motor, 13- feed pipe, 21- bearing, 22-
Bearing cap, 23- bearing lid support, 24- first set bearing assembly, second set of bearing assembly of 25-, 31- printing head support part, 32- folder
Plate, the first groove of 41-, the second groove of 42-, 43- third groove, the 4th groove of 44-, 91- mechanical arm, 92- car body, 93- control
Case, 94- rotating base, 95- telescopic legs, 96- balancing pole mechanism.
Specific embodiment
As shown in Fig. 1~2, a kind of 3D building print head including hollow print head body 4, is mounted on print head body 4
Top and can by material be sent into print head body 4 hollow cavity in feeding device 1, be mounted on 4 bottom of print head body and with
The nozzle 5 of the hollow cavity docking of print head body 4.
The outer wall of the print head body 4 is set at least about the two sets bearing assemblies 2 being staggeredly arranged.Every suit bearing
The print head connection frame 3 for connecting with printing device is correspondingly connected on 2 outer wall of component.
The bearing assembly 2 includes the bearing cap 22 of bearing 21, lock ring on bearing 21, and the bearing cap 22 passes through bearing
Lid support 23 is fixedly connected with print head connection frame 3.It is equipped at intervals on 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 axis
Bearing assembly 25, every suit bearing assembly include 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 axis
It holds lid support 23 and is fixedly connected with two semicircle bearing caps for being located at the same side.It is spaced and 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, third groove 43, the 4th groove 44.Described first
Two bearings 21 of set 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 third groove 43, so that first set bearing assembly 24 and second set of axis
25 interlaced arrangement of bearing assembly.
It can be axis with print head body 4 between the print head connection frame 3 another print head connection frame adjacent thereto
The angle of cut of relative rotation, the two is variable.Print head connection frame 3 includes printing head support part 31, for connecting with bearing lid support 23
Clamping plate 32.Clamping plate 32 is detachably connected with printing head support part 31.Tension and compression are equipped between the printing head support part 31 and clamping plate 32
Force snesor 6.
Thermosistor 8 is installed in the print head body 4.Thermosistor 8 adjusts the operating temperature of printing working medium.
The feeding device 1 includes delivery pump 11, the motor 12 for driving delivery pump 11 to run, is mounted on 11 top of delivery pump
Feed pipe 13.
As shown in figure 3, the present invention also provides a kind of mobile 3 Ds to build printing equipment, including movably builds 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 set to car body 92 4
Telescopic legs 95, the balancing pole mechanism 96 at angle, the mechanical arm 91 are fixed on rotating base 94.It further include above scheme institute
The 3D building print head stated, the quantity of the print car 9 are identical as the quantity of print head connection frame 3.The mechanical arm 91 with beat
It prints head connection frame 3 removably to connect, and print head is in a vertical state always.Balancing pole mechanism 96 guarantees printing head support part 31
Perpendicular attitude is remained in 3d space is mobile.
Positioning terminal 7 is installed on the print head connection frame 3, the spatial position for aligning print heads.The positioning
Terminal 7 is that GPS or dipper system or laser or infrared or radio frequency or WiFi, positioning terminal 7 are 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
For the signal of output in overrate, controller stops the movement of mechanical arm 91, to protect the safety of printing equipment.
Opposed connect of mechanical arm 91 on more print cars 9 shares 3D printing head, shares a 3D printing operating coordinates point,
In synchronizing moving, the angle of cut changes mechanical arm 91, and print head body 4 can vertically rotate in bearing arrangement, protects always
It holds print-head nozzle 5 and is in center, mobile in 3d space by mechanical arm 91, output printing working medium is completed 3D building and beaten
Print.
3D printing head is individually supported from an original mechanical arm to be become at least two mechanical arms and supports jointly, and support is increased
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 13 diameter of feed pipe, increase feeding amount, improve printing
Efficiency.Moreover, mechanical arm 91 can be made longer, keep the space of 3D printing bigger, bigger building can be printed.It shares and beats
When print head moves horizontally, the combined machine arm 91 of opposed installation can eliminate the acceleration that a part of mechanical arm 91 moves horizontally generation
Movement speed can be improved in the machine error for spending impact, and print head repetitive positioning accuracy is high, improves stabilization of equipment performance, printing
Quality and printing effect.
Claims (10)
1. a kind of 3D builds print head, it is characterised in that: including hollow print head body (4), be mounted on print head body (4)
Top and can by material be sent into print head body (4) hollow cavity in feeding device (1), be mounted on print head body (4) bottom
Portion and the nozzle (5) docked with the hollow cavity of print head body (4)；
The outer wall of the print head body (4) is set at least about the two sets bearing assemblies (2) being staggeredly arranged, every suit bearing
The print head connection frame (3) for connecting with print car mechanical arm is correspondingly connected on component (2) outer wall；
It can be that axis is opposite with print head body (4) between print head connection frame (3) another print head connection frame adjacent thereto
The angle of cut of rotation, the two is variable.
2. 3D according to claim 1 builds print head, it is characterised in that: the bearing assembly (2) include bearing (21),
Bearing cap (22) of the lock ring on bearing (21), the bearing cap (22) pass through bearing lid support (23) and print head connection frame
(3) it is fixedly connected；
The groove for bearing set (21) is equipped at intervals on the outer wall of print head body (4).
3. 3D according to claim 2 builds print head, it is characterised in that: the bearing assembly (2) has two sets, respectively
First set bearing assembly (24) and second set of bearing assembly (25), every suit bearing assembly include two bearings (21) and two axis
Hold lid (22)；
Each complete bearing (21) is made of the docking of two and half circular journal bearings；Each complete bearing cap (22) can by two
The semicircle bearing cap of disassembly is spliced to form；
The bearing lid support (23) is fixedly connected with two semicircle bearing caps for being located at the same side；
Four circle grooves are equipped at intervals on the outer wall of the print head body (4), from top to bottom respectively the first groove (41), second
Groove (42), third groove (43), the 4th groove (44)；Two bearings (21) of the first set bearing assembly (24) are pacified respectively
Loaded in the second groove (42) and the 4th groove (44), it is recessed that two bearings of second set of bearing assembly (25) are respectively arranged in first
In slot (41) and third groove (43), the cloth so that first set bearing assembly (24) and second set of bearing assembly (25) are interlocked
It sets.
4. 3D according to claim 2 builds print head, it is characterised in that: the print head connection frame (3) includes printing
Head bracket (31), the clamping plate (32) for connecting with bearing lid support (23), clamping plate (32) and printing head support part (31) are detachable
Connection；Pull pressure sensor (6) are equipped between the printing head support part (31) and clamping plate (32).
5. 3D according to claim 1 builds print head, it is characterised in that: be equipped on the print head connection frame (3)
Positioning terminal (7).
6. 3D according to claim 1 builds print head, it is characterised in that: be equipped with tune on the print head body (4)
Warm device (8).
7. 3D according to claim 1 builds print head, it is characterised in that: the feeding device (1) includes delivery pump
(11), the motor (12) of driving delivery pump (11) operation, the feed pipe (13) being mounted at the top of delivery pump (11).
8. a kind of mobile 3 D builds printing equipment, including movably builds print car (9), the print car includes mechanical arm
(91), it is characterised in that: further include the described in any item 3D of the claims 1~7 building print head, the print car (9)
Quantity it is identical as the quantity of print head connection frame (3), the mechanical arm (91) removably connects with print head connection frame (3)
It connects, and print head is in a vertical state always.
9. mobile 3 D according to claim 8 builds printing equipment, it is characterised in that: the print car (9) further includes vehicle
Body (92), control cabinet (93), the rotating base (94) being fixed on car body (92), the scalable branch for being set to car body (92) quadrangle
Leg (95), the mechanical arm (91) are fixed on rotating base (94).
10. mobile 3 D according to claim 9 builds printing equipment, it is characterised in that: on the print head connection frame (3)
It being equipped with positioning terminal (7), the positioning terminal (7) is GPS or dipper system or laser or infrared or radio frequency, or
WiFi, positioning terminal (7) are electrically connected with control cabinet (93).
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 CN106827169A (en) | 2017-06-13 |
| CN106827169B true CN106827169B (en) | 2019-01-22 |
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| 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 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443735B (en) * | 2017-07-25 | 2023-05-12 | 中国建筑股份有限公司 | Vehicle-mounted building 3D printing equipment |
| 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 |
| CN110733096B (en) * | 2019-10-14 | 2025-02-28 | 李享 | A printer head for a 3D architectural printer |
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| CN106827169A (en) | 2017-06-13 |
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