A 3D printing stacking modeling robot arm and method

Abstract

The present invention relates to the field of automatic control technology, in particular to a 3D printing stacking modeling robot arm and method, comprising a multi-axis motion platform, a power assembly, which is arranged on the top of the multi-axis motion platform and located on the top of the molding platform, and is equipped with a sealing assembly, a 3D extruder and a nozzle to provide power for movement; a sealing assembly, which is arranged on both sides of the power assembly, and is equipped with a closed nozzle and will cooperate with the 3D extruder to heat the nozzle; the 3D extruder, which is arranged at the bottom of the power assembly, is equipped with a melted material and extruded, and at the same time, hot air is delivered to the sealing assembly through an air pump to heat the nozzle; the nozzle, which is arranged at the bottom of the 3D extruder, is equipped with a guide for the melted material, and at the same time, a fixed plate is driven by a telescopic rod to clean the inner side of the spiral plate. The present invention can ensure that the nozzle will not lose temperature when the material is replaced, is easy to clean, and can control the temperature of the nozzle in advance.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, in particular to a 3D printing stacking modeling robot arm and a method. Background Art

[0002] A robotic arm is an automated device that replaces manual labor to complete long-term stacking modeling operations in production. It performs monitoring, grabbing, handling or tool manipulation according to the set procedures, modeling trajectories and requirements. At present, robotic arms usually use control algorithms to adjust the position, speed and strength of the motion axis to achieve the operation of pushing or grabbing objects. 3D printing stacking modeling is to use drawing software to draw a 2D plane diagram, and then convert multiple 2D plane diagrams with different trajectories into 3D models, and then split the 3D model image into multiple 2D plane diagrams. Through programming software, send corresponding instructions to the robotic arm. The robotic arm makes corresponding instruction actions, which include: 2D plane lifting, stacking and other actions. The instruction action states include static state, uniform motion state, accelerated motion state of special parts and static state after molding. Thus, a 3D molded modeling product is formed.

[0003] However, research has found that when changing the material used in existing equipment, it is necessary to stop the current task first and wait for the hot bed to cool to a safe temperature. At the same time, the nozzle will cool down rapidly, causing the material remaining inside the nozzle to cool down and solidify rapidly, resulting in nozzle clogging. The staff then uses a needle tip or other tools to heat the nozzle again and gently wipe it to clean the nozzle. This operation is cumbersome and reduces the printing efficiency. In addition, due to the different materials before and after, the melting points of the materials are also different. If the nozzle temperature is too low, it will cause solidification, and if the temperature is too high, it will damage the material, which will have an adverse effect on the printed product.

[0004] Therefore, a 3D printing stacking modeling robot arm and method are needed to solve the problem that the nozzle is easy to lose temperature and difficult to clean when changing the material used, and the nozzle cannot cope with the extrusion of materials with different melting points before and after. Summary of the invention

[0005] In order to solve the problems that the nozzle is prone to temperature loss and is difficult to clean when changing materials, and the nozzle cannot cope with the extrusion of materials with different melting points before and after, thereby reducing printing efficiency, the present application provides a 3D printing stacking modeling robot arm and method.

[0006] The technical solution of the present invention is: a 3D printing stacking modeling robot arm, including a multi-axis motion platform, a molding platform is installed on the top of the multi-axis motion platform, and a sealing component is arranged on both sides of the power component. It is assembled into a closed nozzle and will cooperate with a 3D extruder to heat the nozzle.

[0007] Furthermore, the sealing assembly includes two brackets, which are respectively installed on the outside of the same group of lead screws, and the two brackets are located on both sides of the top plate. A sealed cabin is installed on the side close to the two brackets, and a card cover is installed on the inner side of the open ends of the two sealed cabins. Air holes are opened on the inner sides of the two brackets, and a rubber pad is installed on the inner side of each air hole. Conductive holes are opened inside the two brackets, and the two conduction holes connect the two air holes and the two sealed cabins respectively, and filters are installed inside the two sealed cabins.

[0008] Furthermore, a power assembly is arranged on the top of the multi-axis motion platform and located on the top of the molding platform, and is assembled to provide power for the movement of the sealing assembly, the 3D extruder and the nozzle; the power assembly includes a base plate, which is installed on the inner side of the multi-axis motion platform, and a top plate is installed on the other side of the base plate, a cylinder is installed through the top of the top plate, a link plate is installed on the bottom of the top plate through four springs, four limit rods are installed on the top of the link plate, and the other ends of the four limit rods are located on the top of the top plate.

[0009] Furthermore, the power assembly also includes a conduction plate, which is installed on the side of the link plate close to the base plate. Two groups of lead screws are rotatably installed on the inner side of the base plate, and the two lead screws form a group. The two groups of lead screws respectively pass through the base plate and the two sides adjacent to the top plate. A gear is installed on the outer side of one end of each lead screw located on the inner side of the base plate. A tooth chain is installed on the outer sides of the two gears on the outer sides of the lead screws of the same group, and the tooth chain is connected to the conduction plate.

[0010] Furthermore, a 3D extruder is arranged at the bottom of the power component, and is equipped to melt and extrude the material, and at the same time, hot air is delivered to the sealing component through an air pump to heat the nozzle; the 3D extruder also includes a casing, which is installed at the bottom of the link plate, and a heating bin is installed on the top of the bottom wall of the casing, a temperature sensor is installed inside the heating bin, and a plurality of heating rods are installed on the inner side of the heating bin, an air pipe 1 is installed through one side of the heating bin, one of the electromagnetic airtight valves is installed at the other end of the air pipe 1, and one of the electromagnetic airtight valves is located on the outside of the casing, an air pipe 2 is installed through the other side of the heating bin, and an air pump is installed at the top of the bottom wall of the casing, the other end of the air pipe 2 is connected to the air inlet end of the air pump, and the air outlet end of the air pump passes through the other side of the casing and another airtight valve is installed.

[0011] Furthermore, a feed pipe is installed through the top of the top plate, and the other end of the feed pipe passes through the top of the 3D extruder.

[0012] Furthermore, a nozzle is arranged at the bottom of the 3D extruder, which is equipped to guide the melted material and at the same time drive the fixed plate to clean the inner side of the spiral plate through the telescopic rod; the nozzle also includes two support plates, the two support plates are fixed to the bottom of the casing, an outer shell is installed on the inner side of the two support plates, a temperature sensor is installed inside the outer shell, two threaded plates are installed on the inner side of the outer shell, telescopic rods are installed at the bottom of the two support plates, connecting plates are installed at the bottom of the two telescopic rods, a fixed plate is installed on the inner side of the connecting plate through a bearing, a spiral plate is installed on the top of the fixed plate, two spiral plates are opened inside, and the two threaded plates are located on the inner sides of the two through grooves, two small plates are installed on the inner sides of the two through grooves, and the two small plates are respectively located on the inner sides of the two threaded plates.

[0013] Furthermore, the telescopic rod, the electromagnetic airtight valve, the heating rod, the 3D extruder, the multi-axis motion platform and the two temperature sensors are electrically connected to the processor.

[0014] Further, a method for stacking a modeling robot arm using 3D printing is provided, the method comprising the following steps:

[0015] S1. The staff places the multi-axis motion platform on a horizontal table, then uses pipelines to connect the feed pipe and the automatic feeder, and then starts the automatic feeder and the 3D extruder at the same time;

[0016] S2. The automatic feeder transports the solid material to the inside of the 3D extruder through the pipeline and the feed pipe. The 3D extruder transports the solid material to the inside of the heating bin. The heating rod melts the solid material. The 3D extruder squeezes the subsequent solid into the heating bin and extrude the melted material to the top of the molding platform through the nozzle. The multi-axis motion platform controls the nozzle position through the bottom plate for printing.

[0017] S3. When the material needs to be replaced, the processor turns off the automatic feeder and the multi-axis motion platform, and then the staff replaces the material and controls the output end of the cylinder to contract, so that the two electromagnetic airtight valves connect the heating chamber, air pipe 1, air pipe 2, air hole, air pump, conduction hole and sealed cabin, and the nozzle is semi-enclosed inside the two sealed cabins;

[0018] S4. The processor turns on the air pump and two electromagnetic airtight valves. The air pump draws the hot air inside the heating chamber into the inside of the two sealed cabins for circulation to keep the nozzles warm. At the same time, the two telescopic rods are controlled to slowly extend to remove the materials inside the two threaded plates and the spiral plates. Finally, the materials are moved to the top of the bottom walls of the two sealed cabins under the guidance of the scraper.

[0019] S5. After cleaning, control the temperature of the heating rod to the same or higher melting point as the replaced material. The air pump controls the temperature of the nozzle inside the sealed cabin to be close to the temperature inside the heating chamber by delivering the gas inside the heating chamber. Then close the two electromagnetic airtight valves and the air pump. Then control the output end of the cylinder to extend. When the cylinder extends to four springs and returns to its original state, control the cylinder to stop extending, move the two brackets to their original positions, and start the automatic feeder to reload and print.

[0020] The beneficial effects of the present invention are as follows:

[0021] (1) In the 3D printing stacking modeling robot arm and method described in the present invention, a cylinder drives a 3D extruder and two sealed cabins to move. The two sealed cabins can semi-seal the nozzle and provide conditions for subsequent gas circulation. While achieving the effect of sealing the nozzle and keeping the nozzle warm, the power structure is optimized, energy consumption is reduced, and printing costs are reduced.

[0022] (2) The 3D printing stacking modeling robot arm and method described in the present invention connect the heating chamber, air pipe one, air pipe two, air holes, air pump, conduction holes and sealed cabin through two electromagnetic airtight valves. The processor opens the air pump and the two electromagnetic airtight valves. The air pump pumps the hot air inside the heating chamber through air pipe two to the inside of one of the conduction holes. The hot air then enters the inside of the two sealed cabins to keep the nozzle warm. Finally, the hot air enters the inside of air pipe one through the conduction hole on the other side, and then circulates to ensure that the nozzle does not lose temperature quickly, which helps to discharge the residual old material smoothly and avoids the residual material solidifying and adhering to the inside of the nozzle. It can not only prevent blockage but also provide convenience for cleaning.

[0023] (3) In the 3D printing stacking modeling robot arm and method described in the present invention, two telescopic rods drive the fixed plate to move to the side away from the 3D extruder through the connecting plate, and the spiral plate scrapes the two threaded plates through the two small plates. The two threaded plates scrape the material on the inner side of the spiral plate through the scraper. Finally, the material moves to the top of the bottom wall of the two sealed cabins under the guidance of the scraper, thereby achieving the purpose of cleaning. No manual cleaning is required, which reduces manpower consumption.

[0024] (4) The 3D printing stacking modeling robot arm and method described in the present invention, after cleaning, controls the temperature of the heating rod to be the same as or higher than the melting point of the replaced material. The air pump controls the temperature of the nozzle inside the sealed cabin to be close to the temperature inside the heating chamber by delivering gas from the inside of the heating chamber, thereby reducing the possibility of blockage due to the difference in melting points of the materials before and after replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 A schematic diagram of the overall structure of a 3D printing stacking modeling robot arm provided by the present invention;

[0027] Figure 2 A schematic diagram of the structure of a power assembly of a 3D printing stacking modeling robot arm provided by the present invention;

[0028] Figure 3 A schematic diagram of a support structure of a 3D printing stacking modeling robot arm provided by the present invention;

[0029] Figure 4 A schematic cross-sectional diagram of a bottom plate of a 3D printing stacking modeling robot arm provided by the present invention;

[0030] Figure 5 for Figure 4 A is an enlarged view;

[0031] Figure 6 A schematic cross-sectional view of a top plate of a 3D printing stacking modeling robot arm provided by the present invention;

[0032] Figure 7 for Figure 6 B is an enlarged view;

[0033] Figure 8 for Figure 6 C is an enlarged view;

[0034] Fig. 9 A schematic diagram of the nozzle structure of a 3D printing stacking modeling robot arm provided by the present invention;

[0035] Fig.10 A schematic cross-sectional diagram of a nozzle of a 3D printing stacking modeling robot arm provided by the present invention;

[0036] Fig.11 A schematic diagram of the spiral plate structure of a 3D printing stacking modeling robot arm provided by the present invention.

[0037] In the figure: 1, multi-axis motion platform; 2, forming platform; 3, power assembly; 31, bottom plate; 32, top plate; 33, cylinder; 34, limit rod; 35, link plate; 36, conduction plate; 37, lead screw; 38, gear; 39, tooth chain; 4, sealing assembly; 41, bracket; 42, sealing cabin; 43, card cover; 44, conduction hole; 441, filter screen; 45, air hole; 451, rubber pad; 5. 3D extruder; 51. Casing; 52. Heating chamber; 521. Heating rod; 53. Air pipe 1; 54. Solenoid airtight valve; 55. Air pipe 2; 56. Air pump; 6. Nozzle; 61. Support plate; 62. Casing; 621. Threaded plate; 622. Scraper; 63. Telescopic rod; 64. Connecting plate; 65. Fixed plate; 66. Spiral plate; 661. Small plate; 662. Through slot; 7. Feed pipe. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0039] Example

[0040] like Figure 1-Figure 11 As shown, a 3D printing stacking modeling robot arm includes a multi-axis motion platform 1, a molding platform 2 is installed on the top of the multi-axis motion platform 1, and a power component 3 is arranged on the top of the multi-axis motion platform 1 and located on the top of the molding platform 2, which is assembled to provide power for the movement of a sealing component 4, a 3D extruder 5 and a nozzle 6;

[0041] Specifically, the power assembly 3 includes a base plate 31, which is installed on the inner side of the multi-axis motion platform 1. A top plate 32 is installed on the other side of the base plate 31. A cylinder 33 is installed through the top of the top plate 32. A link plate 35 is installed at the bottom of the top plate 32 through four springs. Four limiting rods 34 are installed on the top of the link plate 35, and the other ends of the four limiting rods 34 are located at the top of the top plate 32.

[0042] Specifically, the power assembly 3 also includes a conduction plate 36, which is installed on the side of the link plate 35 close to the bottom plate 31. Two groups of lead screws 37 are rotatably installed on the inner side of the bottom plate 31, and the two lead screws 37 form a group. The two groups of lead screws 37 respectively pass through the bottom plate 31 and the two sides adjacent to the top plate 32. A gear 38 is installed on the outer side of one end of each lead screw located on the inner side of the bottom plate 31. A toothed chain 39 is installed on the outer sides of the two gears 38 on the outer sides of the lead screws 37 of the same group, and the toothed chain 39 is connected to the conduction plate 36.

[0043] In this example, when it is necessary to replace the material, the processor turns off the automatic feeder and the multi-axis motion platform 1, and then the staff replaces the material, and at the same time controls the output end of the cylinder 33 to contract and drive the link plate 35 to move toward the side close to the top plate 32, and the link plate 35 drives the 3D extruder 5 and the nozzle 6 to move toward the side close to the top plate 32, and the connecting plate drives the two toothed chains 39 to rotate through the conduction plate 36, and the two toothed chains 39 drive the four lead screws 37 to rotate forward through the meshing action with the four gears 38, and the four lead screws 37 drive the two brackets 41 to move toward the side close to the bottom plate 31 through the meshing action, and the two brackets 41 drive the two sealed cabins 42 to move toward the side close to the 3D extruder 5;

[0044] The output end of the control cylinder 33 is extended to drive the link plate 35 to move to the side away from the top plate 32. The link plate 35 drives the 3D extruder 5 and the nozzle 6 to move to the side away from the top plate 32. The connecting plate drives the two tooth chains 39 to rotate through the conduction plate 36. The two tooth chains 39 drive the four lead screws 37 to reverse through the meshing action with the four gears 38. The four lead screws 37 drive the two brackets 41 to move to the side away from the bottom plate 31 through the meshing action. The two brackets 41 drive the two sealed cabins 42 to move to the side away from the 3D extruder 5. When the cylinder 33 is extended to the four springs to return to their original state, the control cylinder 33 stops extending, and the two brackets 41 move to their original positions, thereby optimizing the power structure, reducing energy consumption, and reducing printing costs.

[0045] Specifically, the 3D extruder 5 is arranged at the bottom of the power component 3, and is equipped to melt and extrude the material, and at the same time, hot air is transported to the sealing component 4 through the air pump 56 to heat the nozzle 6; the 3D extruder 5 also includes a casing 51, which is installed at the bottom of the link plate 35, and a heating chamber 52 is installed on the top of the bottom wall of the casing 51, and a temperature sensor is installed inside the heating chamber 52, and a plurality of heating rods 521 are installed on the inner side of the heating chamber 52, and an air pipe 1 53 is installed through one side of the heating chamber 52, and one of the electromagnetic airtight valves 54 is installed at the other end of the air pipe 1 53, and one of the electromagnetic airtight valves 54 is located on the outside of the casing 51, and an air pipe 2 55 is installed through the other side of the heating chamber 52, and the air pump 56 is installed on the top of the bottom wall of the casing 51, and the other end of the air pipe 2 55 is connected to the air inlet end of the air pump 56, and the air outlet end of the air pump 56 passes through the other side of the casing 51 and another airtight valve is installed.

[0046] Specifically, the temperature sensor inside the heating bin 52 can detect the temperature of the heating bin 52 and feed it back to the processor. A feed pipe 7 is installed through the top of the top plate 32 , and the other end of the feed pipe 7 passes through the top of the 3D extruder 5 .

[0047] In this example, the 3D extruder 5 is driven by a motor to drive the screw, and the material is heated to a molten state by using a heating rod 521, and then pushed from the feed pipe 7 to the nozzle 6. When the cylinder 33 is contracted until the four springs are fully contracted, the cylinder 33 is controlled to stop contracting. At this time, the two electromagnetic airtight valves 54 are respectively located on the inner sides of the two air holes 45, and the two electromagnetic airtight valves 54 are respectively tightly fitted with the two rubber pads 451.

[0048] Specifically, the sealing component 4 is arranged on both sides of the power component 3, which is assembled to close the nozzle 6 and cooperate with the 3D extruder 5 to heat the nozzle 6; the sealing component 4 includes two brackets 41, and the two brackets 41 are respectively installed on the outside of the same group of lead screws 37, and the two brackets 41 are located on both sides of the top plate 32, and a sealing cabin 42 is installed on the side close to the two brackets 41, and a card cover 43 is installed on the inner side of the open end of the two sealing cabins 42, and the inner side of the two brackets 41 is provided with an air hole 45, and the inner side of each air hole 45 is installed with a rubber pad 451, and the interior of the two brackets 41 is provided with a conduction hole 44, and the two conduction holes 44 respectively connect the two air holes 45 and the two sealing cabins 42, and the interior of the two sealing cabins 42 is installed with a filter screen 441.

[0049] In this example, the filter screen 441 is used to prevent the material from clogging the conducting hole 44, and the two sealed chambers 42 drive the two card covers 43 to fit tightly with the two support plates 61 and the housing 62, while sealing the nozzle 6 inside the two sealed chambers 42;

[0050] In summary, the heating chamber 52, the air pipe 1 53, the air pipe 2 55, the air hole 45, the air pump 56, the conduction hole 44 and the sealed chamber 42 are connected through the two electromagnetic airtight valves 54. The processor opens the air pump 56 and the two electromagnetic airtight valves 54 to release the sealing of the air pipe 1 53 and the air pipe 2 55. The air pump 56 pumps the hot air inside the heating chamber 52 to the inside of one of the conduction holes 44 through the air pipe 2 55. Then the hot air enters the inside of the two sealed chambers 42 to keep the nozzle 6 warm. Finally, the hot air enters the inside of the air pipe 1 53 through the conduction hole 44 on the other side, and then circulates to ensure that the nozzle 6 will not lose temperature quickly, and avoid causing the residual material to solidify and adhere to the inside of the nozzle 6. It can not only prevent blockage but also provide convenience for cleaning.

[0051] After cleaning, the temperature of the heating rod 521 is controlled to be the same as or higher than the melting point of the replaced material. The air pump 56 controls the temperature of the nozzle 6 inside the sealed cabin 42 to be close to the temperature inside the heating chamber 52 by delivering the gas inside the heating chamber 52, which helps to discharge the remaining old material smoothly and reduce the possibility of blockage.

[0052] Specifically, the nozzle 6 is arranged at the bottom of the 3D extruder, and is equipped to guide the melted material, and at the same time drive the fixed plate 65 to clean the inner side of the spiral plate 66 through the telescopic rod 63; the nozzle 6 also includes two support plates 61, the two support plates 61 are fixed to the bottom of the casing 51, the inner sides of the two support plates 61 are installed with a shell 62, a temperature sensor is installed inside the shell 62, and two threaded plates 621 are installed on the inner side of the shell 62, the bottom of the two support plates 61 are installed with a telescopic rod 63, the bottom of the two telescopic rods 63 are installed with a connecting plate 64, the inner side of the connecting plate 64 is installed with a fixed plate 65 through a bearing, and the top of the fixed plate 65 is installed with a spiral plate 66, and two spiral plates 66 are opened inside, and the two threaded plates 621 are located on the inner sides of the two through grooves 662, and two small plates 661 are installed on the inner sides of the two through grooves 662, and the two small plates 661 are respectively located on the inner sides of the two threaded plates 621.

[0053] Specifically, the telescopic rod 63, the electromagnetic airtight valve 54, the heating rod 521, the 3D extruder 5, the multi-axis motion platform 1 and the two temperature sensors are electrically connected to the processor.

[0054] In this example, the temperature sensor inside the shell 62 can detect the temperature of the nozzle 6 and feed it back to the processor, controlling the extension of the two telescopic rods 63. The two telescopic rods 63 drive the fixed plate 65 to move toward the side away from the 3D extruder 5 through the connecting plate 64, and the fixed spiral plate 66 rotates along the outer sides of the two threaded plates 621 while moving toward the side away from the 3D extruder 5. The spiral plate 66 scrapes the two threaded plates 621 through two small plates 661, and the two threaded plates 621 scrape the material on the inside of the spiral plate 66 through the scraper 622. Finally, the material moves to the top of the bottom wall of the two sealed cabins 42 under the guidance of the scraper 622, thereby achieving the purpose of cleaning. No manual cleaning is required, reducing manpower consumption.

[0055] Specifically, the method of using a 3D printing stacking modeling robot arm comprises the following steps:

[0056] In the first step, the staff places the multi-axis motion platform 1 on a horizontal table, and then uses a pipeline to connect the feed pipe 7 and the automatic feeder, and then starts the automatic feeder and the 3D extruder 5 at the same time;

[0057] Step 2: The automatic feeder transports the solid material to the inside of the 3D extruder 5 through the pipeline and the feed pipe 7; the 3D extruder 5 transports the solid material to the inside of the heating bin 52; the heating rod 521 melts the solid material; the 3D extruder 5 extrude the subsequent solid into the heating bin 52 and extrude the molten material to the top of the forming platform 2 through the nozzle 6; the multi-axis motion platform 1 controls the position of the nozzle 6 through the bottom plate 31 for printing;

[0058] Step 3: When the material needs to be replaced, the processor turns off the automatic feeder and the multi-axis motion platform 1, and then the staff replaces the material and controls the output end of the cylinder 33 to contract, so that the two electromagnetic airtight valves 54 connect the heating chamber 52, the air pipe 1 53, the air pipe 2 55, the air hole 45, the air pump 56, the conduction hole 44 and the sealed cabin 42, and at the same time, the nozzle 6 is semi-enclosed inside the two sealed cabins 42;

[0059] Step 4: The processor turns on the air pump 56 and the two electromagnetic airtight valves 54. The air pump 56 draws the hot air inside the heating chamber 52 into the inside of the two sealed cabins 42 for circulation to keep the nozzle 6 warm. At the same time, the two telescopic rods 63 are controlled to slowly extend to remove the material inside the two threaded plates 621 and the spiral plate 66. Finally, the material moves to the top of the bottom wall of the two sealed cabins 42 under the guidance of the scraper 622.

[0060] Step 5. After cleaning, control the temperature of the heating rod 521 to be the same as or higher than the melting point of the replaced material. The air pump 56 controls the temperature of the nozzle 6 inside the sealed cabin 42 to be close to the temperature inside the heating chamber 52 by delivering the gas inside the heating chamber 52. Then close the two electromagnetic airtight valves 54 and the air pump 56. Then control the output end of the cylinder 33 to extend. When the cylinder 33 extends to four springs and returns to its original state, control the cylinder 33 to stop extending, and the two brackets 41 move to their original positions. At the same time, start the automatic loader to reload and print.

[0061] Working principle: The staff places the multi-axis motion platform 1 on a horizontal table, and then uses a pipeline to connect the feed pipe 7 and the automatic feeder, and then starts the automatic feeder and the 3D extruder 5 at the same time. The automatic feeder transports the solid material to the inside of the 3D extruder 5 through the pipeline and the feed pipe 7. The 3D extruder 5 transports the solid material to the inside of the heating bin 52. The heating rod 521 melts the solid material. The 3D extruder 5 squeezes the subsequent solid into the heating bin 52 and extrude the molten material to the top of the molding platform 2 through the nozzle 6. The multi-axis motion platform 1 controls the position of the nozzle 6 through the bottom plate 31 for printing;

[0062] When it is necessary to replace the material, the processor turns off the automatic feeder and the multi-axis motion platform 1, and then the staff replaces the material and controls the output end of the cylinder 33 to contract. When the cylinder 33 contracts until the four springs are fully contracted, the two electromagnetic airtight valves 54 are respectively located on the inner sides of the two air holes 45, and then the heating bin 52, air pipe 1 53, air pipe 2 55, air hole 45, air pump 56, conduction hole 44 and sealed cabin 42 are connected through the two electromagnetic airtight valves 54, and the nozzle 6 is sealed inside the two sealed cabins 42. The processor opens the air pump 56 and the two electromagnetic airtight valves 54, and the air pump 56 pumps the hot air inside the heating bin 52 through the air pipe 2 55 to the inner side of one of the conduction holes 44, and then the hot air enters the inner sides of the two sealed cabins 42 to keep the nozzle 6 warm, and finally passes through the conduction hole 44 on the other side to the inner side of the air pipe 1 53, and then circulates, while controlling the two extensions. The retractable rod 63 is extended, and the two telescopic rods 63 drive the fixed plate 65 to move slowly through the connecting plate 64, and the spiral plate 66 scrapes the two threaded plates 621 through the two small plates 661, and the two threaded plates 621 scrape the material inside the spiral plate 66 through the scraper 622. Finally, the material moves to the top of the bottom wall of the two sealed cabins 42 under the guidance of the scraper 622. After cleaning, the temperature of the heating rod 521 is controlled to be the same as or higher than the melting point of the replaced material. The air pump 56 controls the temperature of the nozzle 6 inside the sealed cabin 42 to be close to the temperature inside the heating cabin 52 by conveying the gas inside the heating cabin 52, and then closes the two electromagnetic airtight valves 54 and the air pump 56, and then controls the output end of the cylinder 33 to extend. When the cylinder 33 extends to four springs to return to its original state, the cylinder 33 is controlled to stop extending, and the two brackets 41 move to their original positions, and then start the automatic feeder to reload and print.

[0063] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A 3D printing stacking modeling robot arm, comprising a multi-axis motion platform (1), a molding platform (2) being installed on the top of the multi-axis motion platform (1), characterized in that: It also includes a power assembly (3), which is arranged on the top of the multi-axis motion platform (1) and located on the top of the molding platform (2), and is assembled to provide power for the sealing assembly (4), the 3D extruder (5) and the nozzle (6) to move; the power assembly (3) includes a bottom plate (31), the bottom plate (31) is installed on the inner side of the multi-axis motion platform (1), a top plate (32) is installed on the other side of the bottom plate (31), a cylinder (33) is installed through the top of the top plate (32), a link plate (35) is installed on the bottom of the top plate (32) through four springs, four limiting rods (34) are installed on the top of the link plate (35), and the other ends of the four limiting rods (34) are located on the top of the top plate (32); The 3D extruder (5) is arranged at the bottom of the power assembly (3), and is configured to melt and extrude the material, and at the same time, to deliver hot air to the sealing assembly (4) through an air pump (56) to heat the nozzle (6); the 3D extruder (5) comprises a housing (51), the housing (51) is mounted on the bottom of the link plate (35), a heating chamber (52) is mounted on the top of the bottom wall of the housing (51), a temperature sensor is mounted inside the heating chamber (52), and a plurality of heating rods (521) are mounted on the inner side of the heating chamber (52), and the heating chamber (52) is heated. A first air pipe (53) is installed through one side of the chamber (52), one electromagnetic airtight valve (54) is installed at the other end of the first air pipe (53), and one electromagnetic airtight valve (54) is located outside the casing (51); a second air pipe (55) is installed through the other side of the heating chamber (52); an air pump (56) is installed on the top of the bottom wall of the casing (51), the other end of the second air pipe (55) is connected to the air inlet end of the air pump (56), and the air outlet end of the air pump (56) passes through the other side of the casing (51) and is installed with another airtight valve; A nozzle (6) is disposed at the bottom of the 3D extruder (5) and is configured to guide the melted material and drive the fixed plate (65) to clean the inner side of the spiral plate (66) through the telescopic rod (63); The sealing assembly (4) is arranged on both sides of the power assembly (3), and is assembled to seal the nozzle (6) and cooperate with the 3D extruder (5) to heat the nozzle (6); the sealing assembly (4) comprises two brackets (41), the two brackets (41) are respectively installed on the outside of the same group of lead screws (37), and the two brackets (41) are located on both sides of the top plate (32), and a sealing cabin (42) is installed on the side close to the two brackets (41), and a card cover (43) is installed on the inner side of the opening end of the two sealing cabins (42), and the inner side of the two brackets (41) is provided with an air hole (45), and the inner side of each air hole (45) is installed with a rubber pad (451), and the inside of the two brackets (41) is provided with a conduction hole (44), and the two conduction holes (44) are connected with the two air holes (45) and the two sealing cabins (42), respectively, and the inside of the two sealing cabins (42) is installed with a filter screen (441).

2. The 3D printing stacking modeling robot arm according to claim 1, characterized in that: The power assembly (3) further comprises a conduction plate (36), which is mounted on a side of the link plate (35) close to the bottom plate (31). Two groups of lead screws (37) are rotatably mounted on the inner side of the bottom plate (31), and the two lead screws (37) form a group. The two groups of lead screws (37) respectively penetrate through two sides of the bottom plate (31) adjacent to the top plate (32) mounted thereon. A gear (38) is mounted on the outer side of one end of each lead screw located on the inner side of the bottom plate (31). A toothed chain (39) is mounted on the outer sides of two gears (38) on the outer sides of the lead screws (37) of the same group, and the toothed chain (39) is connected to the conduction plate (36).

3. The 3D printing stacking modeling robot arm according to claim 2, characterized in that: A feed pipe (7) is installed through the top of the top plate (32), and the other end of the feed pipe (7) passes through the top of the 3D extruder (5).

4. The 3D printing stacking modeling robot arm according to claim 3, characterized in that: The spray head (6) further comprises two support plates (61), the two support plates (61) being fixed to the bottom of the housing (51), a housing (62) being mounted on the inner sides of the two support plates (61), a temperature sensor being mounted inside the housing (62), two threaded plates (621) being mounted on the inner side of the housing (62), telescopic rods (63) being mounted on the bottoms of the two support plates (61), connecting plates (64) being mounted on the bottoms of the two telescopic rods (63), a fixing plate (65) being mounted on the inner sides of the connecting plates (64) via bearings, a spiral plate (66) being mounted on the top of the fixing plate (65), two spiral plates (66) being opened inside, and the two threaded plates (621) being located on the inner sides of two through grooves (662), two small plates (661) being mounted on the inner sides of the two through grooves (662), and the two small plates (661) being located on the inner sides of the two threaded plates (621), respectively.

5. The 3D printing stacking modeling robot arm according to claim 4, characterized in that: The telescopic rod (63), the electromagnetic airtight valve (54), the heating rod (521), the 3D extruder (5), the multi-axis motion platform (1) and the two temperature sensors are electrically connected to the processor.

6. The method of using the 3D printing stacking modeling robot arm as claimed in claim 5, characterized in that: The method comprises the following steps: Step 1: The staff places the multi-axis motion platform (1) on a horizontal table, then uses a pipeline to connect the feed pipe (7) and the automatic feeder, and then starts the automatic feeder and the 3D extruder (5) at the same time; Step 2: The automatic feeder transports the solid material to the inside of the 3D extruder (5) through the pipeline and the feed pipe (7); the 3D extruder (5) transports the solid material to the inside of the heating bin (52); the heating rod (521) melts the solid material; the 3D extruder (5) extrude the subsequent solid into the heating bin (52) and extrude the molten material to the top of the molding platform (2) through the nozzle (6); the multi-axis motion platform (1) controls the position of the nozzle (6) through the bottom plate (31) for printing; Step 3: When it is necessary to replace the material, the processor turns off the automatic feeder and the multi-axis motion platform (1), and then the staff replaces the material and controls the output end of the cylinder (33) to contract, so that the two electromagnetic airtight valves (54) connect the heating chamber (52), the air pipe 1 (53), the air pipe 2 (55), the air hole (45), the air pump (56), the conduction hole (44) and the sealed cabin (42), and at the same time, the nozzle (6) is semi-enclosed inside the two sealed cabins (42); Step 4: The processor turns on the air pump (56) and the two electromagnetic airtight valves (54), and the air pump (56) draws the hot air inside the heating chamber (52) into the inside of the two sealed chambers (42) for circulation to keep the nozzle (6) warm. At the same time, the two telescopic rods (63) are controlled to slowly extend to remove the material inside the two threaded plates (621) and the spiral plate (66). Finally, the material moves to the top of the bottom wall of the two sealed chambers (42) under the guidance of the scraper (622); Step 5. After cleaning, the temperature of the heating rod (521) is controlled to be equal to or higher than the melting point of the replaced material. The air pump (56) controls the temperature of the nozzle (6) inside the sealed cabin (42) to be close to the temperature inside the heating chamber (52) by delivering the gas inside the heating chamber (52). Then, the two electromagnetic airtight valves (54) and the air pump (56) are closed. Then, the output end of the cylinder (33) is controlled to extend. When the cylinder (33) extends to four springs to return to their original state, the cylinder (33) is controlled to stop extending, and the two brackets (41) are moved to their original positions. At the same time, the automatic feeder is started to reload and print.

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