阅读说明：本技术 一种3d打印教育机器人结构装置 (3D prints education robot constructional device ) 是由 柳静 柳伟 于 2019-09-06 设计创作，主要内容包括：本发明涉及机器人领域,具体涉及一种3D打印教育机器人结构装置,一种3D打印教育机器人结构装置的机器人机身的侧边安装有四个麦克纳姆轮,所述机器人机身前部后部及上部位分别安装有控制面板,料线盘机械臂,所述料线盘与机械臂顶端用料管连接,所述机械臂顶端安装有打印头,采用麦克纳姆轮小车顶端安装可自动控制转动的机械臂组成的机器人,机械臂顶端安装有3D打印喷头装置,通过机器人控制系统将小车的自由移动,机械臂整体的自由转动,机械臂平台的上下前后运动以及打印机的材料挤出连接控制,从而不受传统打印机机械行程限制进行打印,节约成本,为普及应用机器人3D打印机做出了良好的技术创新。(The invention relates to the field of robots, in particular to a 3D printing education robot structural device, wherein four Mecanum wheels are arranged on the side edge of a robot body of the 3D printing education robot structural device, a control panel and a stockline disc mechanical arm are respectively arranged at the rear part and the upper part of the front part of the robot body, the stockline disc is connected with a material pipe at the top end of the mechanical arm, a printing head is arranged at the top end of the mechanical arm, a robot consisting of mechanical arms capable of automatically controlling rotation is arranged at the top end of a Mecanum wheel trolley, a 3D printing nozzle device is arranged at the top end of the mechanical arm, the trolley is freely moved through a robot control system, the mechanical arms are freely rotated integrally, the up-and-down back movement of a mechanical arm platform and the material extrusion connection control of a printer are realized, the printing is not limited by the mechanical, good technical innovation is made for popularizing and applying the robot 3D printer.)

1. The utility model provides a side of 3D printing education robot constructional device's robot fuselage (2) installs four mecanum wheels (1), control panel (3) are installed respectively to robot fuselage (2) anterior rear portion and upper portion position, and material drum (4) arm (5), material drum (4) are connected with arm (5) top with material pipe (6), printer head (7) are installed on arm (5) top.

2. The 3D printing educational robot configuration apparatus according to claim 1, wherein: the Mecanum wheel (1) is formed by connecting rollers (102) of a wheel disc (101), and the axes of the rollers (102) and the wheel disc (101) form a certain angle, so that the motion modes of advancing, transverse moving, oblique moving, rotating, combination of the advancing, transverse moving, oblique moving and rotating are realized.

3. The 3D printing educational robot configuration apparatus according to claim 1, wherein: the moving pair connected with the mechanical arm (5) in the robot body (2) comprises a gear (201) at the bottom of the mechanical arm (5), a transmission gear (202) at the fixed end of the trolley, a motor (203) in the trolley and the like, so that the rotation of the whole mechanical arm (5) is realized.

4. The 3D printing educational robot configuration apparatus according to claim 1, wherein: arm (5) lower part arm chassis (501) and arm bottom gear (201) bolted connection, install arm bottom mount (502) arm middle part gear tray (503) above arm chassis (501) in proper order arm middle part running gear (504) arm and rotate motor (505), arm extension motor (506), thereby arm extension motor (506) axle head rotates in proper order and transmits to extension arm gear (507) and extends one-level arm (508) driving arm (509) second grade driving arm (510) and drives arm front end platform 511 and do the up-and-down motion that is on a parallel with ground.

5. The 3D printing educational robot configuration apparatus according to claim 1, wherein: install 3D printer in the middle of robotic arm front end platform (511) and beat printer head (7), beat printer head from the top down and install in proper order and beat printer head connection locating piece (703) printer head fan hot connecting axle (702) and beat printer head shower nozzle (701), realize beating printer head (7) whole part quick assembly disassembly.

Technical Field

The invention relates to the field of robots, in particular to a 3D printing education robot structure device.

Background

3D prints also known as three-dimensional inkjet printer, a machine of rapid prototyping technique promptly, is a digital model file basis, but the use of powder metal, wax material, plastics etc. bonding material, prints the object of making out through the layer by layer. The 3D printing technology can make up for many deficiencies of the prior art, can print three-dimensional objects in space without the limitation of processing technology and process, arouses the imagination of people, and the application of the 3D printing technology in the future will be more extensive. Most of the current 3D printers are fixed, and usually, a three-directional moving guide rail is made to move in a specific track in a track manner, and finally, an article is printed and molded. The gantry structure is used for printing, a conveyor belt is adopted at the bottom of the gantry structure, the printed objects can be extended infinitely theoretically, but the printed objects are broken in the actual process, so that the printed objects are limited, if large-size objects are printed, a 3D printer with a larger size needs to be built, the 3D printer is influenced by the material, the mechanical property and the motion factor at present, the very large 3D printer is very difficult to build, and the quality of large 3D printing cannot be guaranteed. This restricts the application of 3D printing techniques to large model parts.

Disclosure of Invention

The invention provides a 3D printing education robot structure device which can effectively solve the technical problem that a large 3D printer needs to be built when a large model part is printed in the background technology.

But the robot that adopts mecanum wheel dolly top installation automatic control pivoted arm to constitute, the 3D prints the shower nozzle device is installed on the arm top, through the free removal of robot control system with the dolly, the holistic free rotation of arm, the connection control is extruded to the material of the up-and-down seesaw of arm platform and printer to do not receive traditional printer mechanical stroke restriction to print, practice thrift the cost, made good technological innovation for popularizing and applying robot 3D printer.

In order to solve the above-mentioned purpose, the invention provides the following technical scheme: the utility model provides a four mecanum wheels 1 are installed to the side of 3D printing education robot constructional device's robot fuselage 2, control panel 3, 4 arms 5 of material line dish are installed respectively to 2 anterior rear portions of robot fuselage and upper portion position, material line dish 4 is connected with 5 for the top material pipe 6 of arm, 5 tops of arm are installed and are beaten printer head 7.

Furthermore, mecanum wheel 1 is formed by connecting rollers 102 of wheel disc 101, and the axes of rollers 102 and the axis of wheel disc 101 form a certain angle, so that the movement modes of advancing, traversing, diagonal movement, rotation, combination of the advancing, the traversing, the diagonal movement, the rotation and the like are realized.

Furthermore, the kinematic pair connected with the mechanical arm 5 inside the robot body 2 comprises a gear 201 at the bottom of the mechanical arm 5, a transmission gear 202 at the fixed end of the mechanical arm, a motor 203 inside the mechanical arm, and the like, so that the rotation of the whole mechanical arm 5 is realized.

Further, a robot arm underframe 501 at the lower part of the robot arm 5 is in bolt connection with a robot arm bottom gear 201, a robot arm bottom fixing frame 502, a robot arm middle gear tray 503, a robot arm middle rotating gear 504, a robot arm rotating motor 505 and a robot arm extending motor 506 are sequentially mounted on the robot arm underframe 501, and the shaft ends of the robot arm extending motor 506 are sequentially rotated and transmitted to an extending arm gear 507 to extend a primary arm 508 driving arm 509 secondary driving arm 510, so that the robot arm front end platform 511 is driven to move up and down parallel to the ground.

Furthermore, 3D printer head 7 is installed in the middle of robotic arm front end platform 511, it connects locating piece 703 printer head fan hot connecting axle 702 to print head shower nozzle 701 to print head from the top down to install in proper order to print head 7 whole part quick assembly disassembly.

Drawings

Fig. 1 is a three-dimensional configuration diagram of a construction set of a 3D printing education robot.

Fig. 2 is a mecanum wheel in a 3D printing educational robot architecture.

Fig. 3 is a cart portion in a 3D printing educational robot configuration apparatus.

Fig. 4 is a mechanical arm part in a 3D printing educational robot configuration device.

Fig. 5 is a printing head part in a 3D printing educational robot construction apparatus.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1-Mecanum wheel, 2-robot body, 3-control panel, 4-material wire coil, 5-mechanical arm, 6-material pipe, 7-printing head, 101-wheel disc, 102-roller, 201-mechanical arm bottom gear, 202-trolley fixed end transmission gear, 203-trolley internal motor, 501-mechanical arm bottom frame, 502-mechanical arm bottom fixing frame, 503-extruder gear, 504-mechanical arm middle rotating gear, 505-mechanical arm rotating motor, 506-mechanical arm extending motor, 507-extending arm gear, 508-extending primary arm, 509-transmission arm, 510-secondary transmission arm, 511-mechanical arm front end platform, 701-printing head spray head 702-printing head fan heat connecting shaft and 703-printing head connecting positioning block.

Detailed Description