A 3D printing robot

Abstract

The present invention discloses a 3D printing robot, which relates to the technical field of 3D printing, and comprises a support frame, two sliding plates, a support plate and a print head assembly; the support frame comprises a base and baffles arranged on both sides of the top thereof, a fixing plate is arranged on the top of the baffle, the two sliding plates are symmetrically slidably arranged between the two baffles along a vertical direction through a Z-axis motion assembly, the support plate is slidably arranged between the two sliding plates along a horizontal sliding direction through a Y-axis motion assembly, and the print head assembly is arranged above the support plate; the present invention arranges the print head assembly on the support plate, and through the Z-axis motion assembly and the Y-axis motion assembly, the stroke of the print head assembly is twice that of the sliding assembly and the connecting plate, so that the printing stroke of the print head assembly in the Z-axis and Y-axis is larger.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a 3D printing robot. Background Art

[0002] With the initial development of mobile 3D printing robot technology for oversized parts, the demand for using small robots to print large parts has gradually increased. Mobile 3D printing robot technology for oversized parts is an innovative application that combines additive manufacturing technology with robot system design technology. It requires the use of small robot equipment to achieve regional printing of oversized parts through chassis-assisted positioning. This technology is currently in its initial stage and has broad application prospects in many fields. For example, in the traditional house construction industry, customized houses can be quickly formed by mobile 3D printing robots for oversized parts to help construction workers quickly build the basic framework of the building. In addition, in the field of space 3D printing, small 3D printing robots are easy to transport and reduce the transportation cost of printing equipment. In terms of landscape restoration, portable printers can also quickly manufacture parts for filling or replacement based on the geometric parameters of damaged parts. In the field of mold manufacturing, mobile 3D printing robots can realize the rapid manufacture of large sand molds to simplify the molding problem of sand molds and solve the problem of sand mold handling. However, there are currently some challenges in the mobile 3D printing technology for oversized parts.

[0003] In order to adapt to different oversized parts, 3D printing robot equipment needs to have a higher printing coverage area, that is, when the chassis size is fixed, the printing area that the 3D printing robot equipment can cover should be as large as possible. The maximum linear movement stroke of the print head of the existing small 3D printing robot is basically consistent with the length of the guide rail. The print head stroke is limited by the length of the guide rail, which is not conducive to the printing of oversized parts. Summary of the invention

[0004] The present invention provides a 3D printing robot, which solves the problem that the travel of a print head of an existing 3D printing robot is limited by the length of a guide rail and cannot print super-large parts.

[0005] The present invention provides a 3D printing robot, comprising a support frame, two sliding plates, a support plate and a print head assembly;

[0006] The support frame includes a base and baffles arranged on both sides of the top thereof, a fixed plate is arranged on the top of the baffle, the two sliding plates are symmetrically slidably arranged between the two baffles along the vertical direction through a Z-axis motion assembly, the support plate is slidably arranged between the two sliding plates along the horizontal sliding direction through a Y-axis motion assembly, and the print head assembly is arranged above the support plate;

[0007] The Z-axis motion assembly includes two sliding assemblies symmetrically slidably arranged between two baffles in the vertical direction, two first rotating assemblies are slidably arranged on both sides of the sliding assembly in the vertical direction, the two sliding plates are respectively connected to the inner sides of the two first rotating assemblies on the same side, and the outer sides of the first rotating assemblies are connected to the fixed plate; when the sliding assembly slides, the first rotating assembly is driven to rotate, and the two sliding plates are driven to slide;

[0008] The Y-axis motion assembly includes a connecting plate slidably arranged between two sliding plates, a second rotating assembly is arranged on both sides of the connecting plate, the supporting plate is connected to the upper side of the second rotating assembly, and the lower side of the second rotating assembly is connected to the sliding plate; when the connecting plate slides, the second rotating assembly is driven to rotate, and the supporting plate is driven to slide.

[0009] Preferably, the sliding assembly includes two symmetrically arranged sliding rods, and the tops of the two sliding rods are connected by a connecting rod; the two sliding rods on the same sliding assembly are both provided with the first rotating assembly on the side away from each other, and the first rotating assembly includes two first pulleys symmetrically arranged at both ends of the sliding rod, and the two first pulleys are connected by a first synchronous belt transmission;

[0010] The outer upper ends of the two first synchronous belts on the same side are respectively fixedly connected to the two ends of the fixed plate on the same side; the two ends of the sliding plate are respectively fixedly connected to the inner lower ends of the two first synchronous belts on the same side.

[0011] Preferably, a first guide rail is provided on the inner side of each sliding rod, and a first sliding groove slidably matched with the first guide rail is provided on the outer side of the sliding plate;

[0012] A first driving assembly for driving the sliding assembly to slide up and down is provided on the outer side of the baffle, and the first driving assembly drives a first motor fixedly arranged on the outer side of the baffle, and a first gear is provided on the output shaft of the first motor; a first rack meshing with the first gear is fixedly provided on the outer side of a sliding rod on the sliding assembly.

[0013] Preferably, a fixed block is fixed on the inner side of the sliding plate, and the second rotating assembly includes two second pulleys arranged at both ends of the outer side wall of the connecting plate, and the two second pulleys are connected by a second synchronous belt transmission; a first clamping block is fixed on the sliding plate, and the first clamping block is fixedly connected to an end of the lower side of the second synchronous belt on the same side away from the connecting plate, and second clamping blocks are fixedly connected at both ends of the support plate, and the second clamping block is fixedly connected to an end of the upper side of the second synchronous belt on the same side close to the connecting plate.

[0014] Preferably, a second guide rail is provided on the top of the fixing block, and a second slide groove slidably matched with the second guide rail is provided on the bottom of the connecting plate;

[0015] The connecting plate is slidably arranged between the two fixed blocks through a second driving assembly, and the second driving assembly includes two transmission wheels arranged at both ends of the inner side of the fixed block, and the two transmission wheels are connected through a transmission belt; a second motor is also provided at one end of the inner side of the fixed block, and the output shaft of the second motor is connected to the coaxial transmission wheel; a connecting block fixedly connected to the upper side of the transmission belt is provided on the connecting plate.

[0016] Preferably, the print head assembly includes a print frame arranged above the support plate and sliding horizontally in a direction perpendicular to the sliding direction of the connecting plate, the end of the print frame away from the connecting plate is provided with a rotating frame through a connecting assembly, and the end of the rotating frame away from the print frame is provided with a print head.

[0017] Preferably, a third guide rail is provided on the top of the support plate, and a third slide groove slidably matched with the third guide rail is fixedly provided on the bottom of the printing frame.

[0018] Preferably, the print head assembly is slidably arranged above the support plate in the horizontal direction through an X-axis motion assembly, and the X-axis motion assembly includes a third motor arranged inside one end of the print frame close to the connecting plate, a second gear is provided on the output shaft of the third motor, and a second rack meshing with the second gear is fixedly provided on the top of the support plate.

[0019] Preferably, the connecting assembly includes a fourth motor arranged inside the end of the printing frame away from the connecting plate, whose output end extends to the outside of the printing frame, and the end of the rotating frame close to the printing frame is provided with a rotating plate rotatably matched with the output end of the fourth motor.

[0020] Preferably, a plurality of Mecanum wheels are provided at the bottom of the base.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] In the Z-axis motion assembly of the present invention, a sliding assembly is arranged on a baffle, a first rotating assembly is arranged on both sides of the sliding assembly, and then a fixed plate and a sliding plate fixed on the baffle are respectively arranged on the left and right sides of the first rotating assembly, and the sliding assembly and the first rotating assembly are driven to move up and down by a first driving assembly, and the first rotating assembly is transmitted while moving, so that the left and right sides of the first rotating assembly have different transmission directions, so that the sliding plate has a longer motion stroke.

[0023] In the Y-axis motion assembly of the present invention, a connecting plate is slidably arranged between two fixed blocks, a second rotating assembly is arranged on both sides of the connecting plate, and then a first clamping block on the sliding plate and a second clamping block fixedly arranged on the support plate are respectively arranged on the upper and lower sides of the second rotating assembly, and the connecting plate and the second rotating assembly are driven to move left and right by the second driving assembly, and the second rotating assembly is transmitted while moving, so that the upper and lower sides of the second rotating assembly have different transmission directions, so that the support plate has a longer motion stroke.

[0024] The print head assembly is set on the support plate. Through the Z-axis motion assembly and the Y-axis motion assembly, the stroke of the print head assembly is twice that of the sliding assembly and the connecting plate, so that the printing stroke of the print head assembly in the Z-axis and Y-axis is larger. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is an overall structural diagram of a 3D printing robot of the present invention in an initial state;

[0027] Figure 2 It is a structural diagram of the Y-axis motion assembly and the X-axis motion assembly of the present invention;

[0028] Figure 3 This is an overall structural diagram of a 3D printing robot of the present invention in a rising state.

[0029] In the figure: 1-sliding plate, 2-support plate, 3-base, 4-baffle, 5-fixed plate, 6-sliding rod, 7-connecting rod, 8-first pulley, 9-first synchronous belt, 10-fixed block, 11-connecting plate, 12-second pulley, 13-second synchronous belt, 14-first clamping block, 15-second clamping block, 16-first guide rail, 17-first slide groove, 18-first motor, 19-first gear, 20-first rack, 21-second guide rail, 22-second slide groove, 23-transmission wheel, 24-transmission belt, 25-second motor, 26-connecting block, 27-print frame, 28-rotating frame, 29-print head, 30-third guide rail, 31-third slide groove, 32-third motor, 33-second gear, 34-second rack, 35-fourth motor, 36-rotating plate, 37-Mecanum wheel. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Reference Figure 1-Figure 3 The present invention provides a 3D printing robot, which adopts a gantry structure as a whole, including a support frame, two sliding plates 1, a support plate 2 and a print head assembly.

[0032] The support frame includes a base 3 and baffles 4 arranged on both sides of the top thereof, the two baffles 4 are fixedly connected to the top of the base 3 through a fixing rod, and a fixing plate 5 is arranged on the top of the baffle 4. The two sliding plates 1 are symmetrically slidably arranged between the two baffles 4 in the vertical direction through a Z-axis motion assembly, the support plate 2 is slidably arranged between the two sliding plates 1 in the horizontal sliding direction through a Y-axis motion assembly, and the print head assembly is slidably arranged above the support plate 2 in the horizontal direction through an X-axis motion assembly.

[0033] In this embodiment, a plurality of Mecanum wheels 37 are provided at the bottom of the base 3, which are driven by a dedicated motor of the Mecanum wheels and arranged in an "O" shape. By controlling the different rotation speeds of each wheel, the two-dimensional plane posture of the robot can be adjusted.

[0034] The Z-axis motion assembly includes two sliding assemblies that are symmetrically slidably arranged, each of which includes two sliding rods 6 and a connecting rod 7 fixedly connected to the top thereof. The two sliding rods 6 of each sliding assembly are provided with a sliding groove that is slidably matched with the two sides of the baffle 4 on the opposite side, so that the sliding assembly can slide smoothly in the Z-axis direction. A first driving assembly for driving the sliding assembly to slide up and down is provided on the outer side of each baffle 4. A rotatable first pulley 8 is fixedly provided at both ends of the side away from each other of the two sliding rods 6 on the same sliding assembly. The two first pulleys 8 are connected by a first synchronous belt 9, and the rotation of the two first pulleys 8 can drive the first synchronous belt 9 to rotate. The upper ends of the outer sides of the two first synchronous belts 9 on the same side are respectively fixedly connected to the two ends of the fixed plate 5 on the same side, and the two ends of the sliding plate 1 are respectively fixedly connected to the lower ends of the inner sides of the two first synchronous belts 9 on the same side. When the sliding assembly moves upward, since the first synchronous belt 9 is arranged on the sliding assembly, it will drive the first synchronous belt 9 to move upward. Since the two fixed plates 5 fixed to the upper end of the outer side of the first synchronous belt 9 are stationary, the first synchronous belt 9 will be transmitted around the two first pulleys 8, so that the inner side of the first synchronous belt 9 is transmitted upward, thereby driving the sliding plate 1 to move upward.

[0035] In this embodiment, the first drive assembly includes a first motor 18 fixedly arranged on the outer side of the baffle 4, and a first gear 19 is arranged on the output shaft of the first motor 18. A first rack 20 meshing with the first gear 19 is fixedly arranged on the outer side of a sliding rod 6 on the sliding assembly. The first motor 18 is driven by a battery. In the initial state, the two first sliding plates 1 are located at the lowest level. When the two first motors 18 rotate forward, the two first gears 19 will be driven forward, and then the two first racks 20 on both sides will be driven to move upward. Since the two first racks 20 are fixed to the two sliding assemblies, the two sliding assemblies will be driven to move upward. In the process of the two sliding assemblies moving upward, the first synchronous belt 9 will be driven upward while being driven forward around the first pulley 8, so that the inner side of the first synchronous belt 9 is driven upward, and then the sliding plate 1 is driven upward, so that all the components between the two sliding plates 1 move upward. When the two first sliding plates 1 rise to the highest level, the two first motors 18 reverse, which will drive the two first gears 19 to reverse, and then drive the two first racks 20 on both sides to move downward, and drive the two sliding assemblies to move downward. When the two sliding components move downward, the first synchronous belt 9 is driven to move downward and reversely rotate around the first pulley 8, so that the inner side of the first synchronous belt 9 is driven downward, and then the sliding plate 1 is driven downward, so that all the components between the two sliding plates 1 move downward. The vertical movement of all the components between the two sliding plates 1 is achieved through the Z-axis motion component.

[0036] In the Z-axis motion assembly of the present invention, a sliding assembly is arranged on a baffle, a first synchronous belt is arranged on both sides of the sliding assembly, and then a fixed plate and a sliding plate fixed on the baffle are respectively arranged on the left and right sides of the first synchronous belt, and the sliding assembly and the first synchronous belt are driven to move up and down by a first driving assembly, and the first synchronous belt is transmitted while moving, so that the left and right sides of the first synchronous belt have different transmission directions, so that the sliding plate has a longer motion stroke.

[0037] A first guide rail 16 is disposed on the inner side of each sliding rod 6 , and a first sliding groove 17 slidably matched with the first guide rail 16 is disposed on the outer side of each sliding plate 1 , so that the sliding plate 1 and all components therebetween can move smoothly in the Z-axis direction.

[0038] The Y-axis motion assembly includes a fixed block 10 symmetrically arranged on the inner side of the two sliding plates 1, and the fixed block 10 is an aluminum plate. A connecting plate 11 is slidably provided on the fixed block 10 through the second driving assembly. Both ends of the two side walls of the connecting plate 11 are fixedly provided with a rotatable second pulley 12, and the two second pulleys 12 are connected by a second synchronous belt 13. The rotation of the two second pulleys 12 can drive the second synchronous belt 13 to rotate. A first clamping block 14 is fixedly provided on each sliding plate 1, and each first clamping block 14 is fixedly connected to an end of the lower side of the second synchronous belt 13 on the same side away from the connecting plate 11. Second clamping blocks 15 are fixedly provided at both ends of the support plate 2, and each second clamping block 15 is fixedly connected to an end of the upper side of the second synchronous belt 13 on the same side close to the connecting plate 11. When the connecting plate 11 moves to the left, since the second synchronous belt 13 is arranged on the connecting plate 11, it will drive the second synchronous belt 13 to move to the left. Since the two first clamping blocks 14 fixed to the end of the lower side of the second synchronous belt 13 away from the connecting plate 11 are stationary, the second synchronous belt 13 will be transmitted around the two second pulleys 12, so that the upper side of the second synchronous belt 13 is transmitted to the left, thereby driving the support plate 2 to move to the left.

[0039] In this embodiment, a second guide rail 21 is provided on the top of each fixing block 10, and a second slide groove 22 slidably matched with the second guide rail 21 is provided at the bottom of the connecting plate 11, so that the connecting plate 11 can move smoothly in the Y-axis direction.

[0040] In this embodiment, the second drive assembly includes two transmission wheels 23 arranged at both ends of the inner side of the fixed block 10, and the two transmission wheels 23 are connected by a transmission belt 24. A second motor 25 is also provided at one end of the inner side of the fixed block 10, and the output shaft of the second motor 25 is connected to the coaxial transmission wheel 23. The rotation of the second motor 25 drives the coaxial transmission wheel 23 to rotate, thereby driving the transmission belt 24 to transmit. A connection block 26 fixedly connected to the upper side of the transmission belt 24 is provided on the connecting plate 11. In the initial state, the connecting plate 11 is located at the rightmost end. When the two second motors 25 rotate forward, the two transmission belts 24 will be driven to transmit to the left, thereby driving the two connection blocks 26 to slide to the left, and driving the two connecting plates 11 to move to the left. In the process of the two connecting plates 11 moving to the left, the second synchronous belt 13 will be driven to move to the left while being positively transmitted around the second pulley 12, so that the upper side of the second synchronous belt 13 is transmitted to the left, thereby driving the support plate 2 to move to the left, so that the two support plates 2 and all components on the support plate 2 move to the left. When the connecting plate 11 moves to the leftmost end, the two second motors 25 reverse, which will drive the two conveyor belts 24 to transmit to the right, and then drive the two connecting blocks 26 to slide to the right, and drive the two connecting plates 11 to move to the right. In the process of the two connecting plates 11 moving to the right, the second synchronous belt 13 will be driven to move to the right while rotating in the reverse direction around the second pulley 12, so that the upper side of the second synchronous belt 13 is transmitted to the right, and then the support plate 2 is driven to move to the right, so that the two support plates 2 and all the components on the support plate 2 move to the right. The horizontal movement of all the components on the two support plates 2 is achieved by the Y-axis motion assembly.

[0041] In the Y-axis motion assembly of the present invention, a connecting plate is slidably arranged between two fixed blocks, a second synchronous belt is arranged on both sides of the connecting plate, and then a first clamping block on the sliding plate and a second clamping block fixedly arranged on the support plate are respectively arranged on the upper and lower sides of the second synchronous belt, and the connecting plate and the second synchronous belt are driven to move left and right by the second driving assembly, and the second synchronous belt is transmitted while moving, so that the upper and lower sides of the second synchronous belt have different transmission directions, so that the support plate has a longer motion stroke.

[0042] The print head assembly includes a print frame 27 disposed above the support plate 2 and sliding horizontally in a direction perpendicular to the sliding direction of the connecting plate 11. The end of the print frame 27 away from the connecting plate 11 is provided with a rotating frame 28 through a connecting assembly, and the end of the rotating frame 28 away from the print frame 27 is provided with a print head 29. The nozzle of the print head 29 can be in various shapes, including but not limited to: a circular outlet nozzle, a duckbill flat nozzle, and a rectangular nozzle. The nozzle diameter is not less than 8 mm and not more than 50 mm.

[0043] A third guide rail 30 is disposed on the top of the support plate 2, and a third slide groove 31 slidably matched with the third guide rail 30 is fixedly disposed on the bottom of the printing frame 27, so that the print head assembly can slide smoothly in the X-axis direction.

[0044] The X-axis motion assembly includes a third motor 32 disposed inside the end of the printing frame 27 close to the connecting plate 11, a second gear 33 is disposed on the output shaft of the third motor 32, and a second rack 34 meshing with the second gear 33 is fixedly disposed on the top of the support plate 2. When the third motor 32 is in operation, the third gear 33 is driven to rotate, thereby driving the printing frame 27 to slide horizontally along the X-axis direction, and driving the print head assembly to slide horizontally along the X-axis direction.

[0045] The connection assembly includes a fourth motor 35 disposed inside the end of the printing frame 27 away from the connection plate 11, and the output end of the fourth motor 35 extends to the outside of the printing frame 27. The end of the rotating frame 28 close to the printing frame 27 is provided with a rotating plate 36 that rotates with the output end of the fourth motor 35. The rotating frame 28 is directly driven to rotate by the fourth motor 35, so that the print head 29 can print in different directions.

[0046] The print head assembly is set on the support plate. Through the Z-axis motion assembly and the Y-axis motion assembly, the stroke of the print head assembly is twice that of the sliding assembly and the connecting plate, so that the printing stroke of the print head assembly in the Z-axis and Y-axis is larger.

[0047] In this embodiment, a first controller is also provided on the base 3, and all motors communicate through the CAN bus. The dedicated motor of the Mecanum wheel and the first motor 18 are connected to the first controller through the CAN1 bus. A second controller is provided above the connecting plate 11, and the second motor 25 and the third motor 32 are connected to the second controller through CAN2. The buses of the first controller and the second controller are connected in parallel to share data. The fourth motor 35 and the print head are connected to the second controller through the CAN1 bus. The lithium battery supplies power to all motors, the first controller and the second controller.

[0048] Example 1

[0049] In this embodiment, the base 3 is also provided with an onboard computing module, a multi-degree-of-freedom robotic arm module, a print head sensor module, a positioning sensor module and a material storage module. The structure of the multi-degree-of-freedom robotic arm module includes but is not limited to an i3 structure, a CoreXY structure and a six-axis robotic arm structure. The positioning sensor module includes but is not limited to an IMU sensor, a radar sensor, a camera sensor and a distance sensor. The print head sensor module includes but is not limited to a camera sensor, a distance sensor and a flow sensor.

[0050] An extrusion adapter is provided on the rotating frame 28 , and the extrusion adapter is connected to the material storage module through a feed pipe, so as to supply the material to the print head 29 , and extrude the material onto the molding plane through the print head 29 .

[0051] The multi-DOF robot module is a mechanical structure with multiple degrees of freedom. By controlling the movement of different degrees of freedom in the multi-DOF robot module, the print head assembly and the print head sensor module can be driven to achieve multiple degrees of freedom relative to the base 3. The print head 29 is responsible for extruding the printing consumables. By controlling the movement trajectory of the multi-DOF robot module and the extrusion amount of the print head 29, the printing function of the basic shape can be completed. The positioning sensor module is responsible for receiving external information and inputting the sensor information into the airborne computing module, thereby assisting the positioning and navigation control tasks of the base 3.

[0052] The multi-degree-of-freedom robotic arm module is equipped with a print head sensor module and a print head assembly. The print head sensor module is a data collection module installed on a certain degree of freedom of the multi-degree-of-freedom robotic arm module. It is responsible for monitoring the current real-time printing quality of the omnidirectional mobile 3D printing robot and transmitting the printing quality data to the onboard computing module to assist in completing the feedback closed-loop control of the multi-degree-of-freedom robotic arm module and the print head extrusion amount.

[0053] In this embodiment, the printing material is a material that can be solidified under certain conditions, including but not limited to: concrete, polylactic acid and ceramic slurry.

[0054] Example 2

[0055] The present invention provides an information interaction and control system for an omnidirectional mobile 3D printing robot, comprising:

[0056] Operation layer, decision layer and execution layer.

[0057] The computing layer is the core link of the information interaction and control system, which includes the print head sensor module, macro camera (optional), positioning sensor and airborne computing module. Inside the computing layer, the print head sensor module, macro camera and positioning sensor transmit the print head information, macro camera information and position information to the airborne computing module respectively. The airborne computing module mainly controls the multi-degree-of-freedom robot arm module and the base based on the above information.

[0058] The computing layer assists the onboard computing module in making decisions by receiving navigation instructions. At the same time, the decision-making layer completes multi-machine scheduling and printing work allocation tasks by receiving information from the computing layer.

[0059] The computing layer completes the information synchronization and recording of the underlying status of the omnidirectional mobile 3D printing robot by receiving feedback information from the execution layer. The computing layer can control the execution layer to complete the control of the underlying execution motor of the omnidirectional mobile 3D printing robot by sending the specified multi-degree-of-freedom robotic arm module and print head status to the execution layer.

[0060] The execution layer includes the main underlying hardware systems of the omnidirectional mobile 3D printing robot 1, including the power system, MCU control board, and motor control system. The MCU module of the execution layer receives the expected state information of the multi-degree-of-freedom robot module, base, print head module, and material storage module transmitted from the operation layer, and solves it into the control quantity for each underlying motor, and inputs it into the specified motor control system, thereby completing the closed-loop control of the multi-degree-of-freedom robot module, base, print head, and material storage module. The external material replenishment work is completed in the execution layer, and the material replenishment is completed directly by controlling the material storage module and print head in the execution layer.

[0061] This embodiment uses MiniPC as the airborne computing platform of the computing layer. The two-dimensional camera is fixed on the print head to provide print head information for the MiniPC. The positioning sensor uses a laser radar installed on the base to provide map point cloud information for the MiniPC.

[0062] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0063] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A 3D printing robot, characterized in that: It comprises a support frame, two sliding plates (1), a support plate (2) and a print head assembly; The support frame comprises a base (3) and baffles (4) arranged on both sides of the top thereof, a fixing plate (5) is arranged on the top of the baffle (4), the two sliding plates (1) are symmetrically slidably arranged between the two baffles (4) in a vertical direction through a Z-axis motion assembly, the support plate (2) is slidably arranged between the two sliding plates (1) in a horizontal sliding direction through a Y-axis motion assembly, and the print head assembly is arranged above the support plate (2); The Z-axis motion assembly comprises two sliding assemblies symmetrically slidably arranged between two baffles (4) in the vertical direction, two first rotating assemblies are slidably arranged on both sides of the sliding assembly in the vertical direction, the two sliding plates (1) are respectively connected to the inner sides of the two first rotating assemblies on the same side, and the outer sides of the first rotating assemblies are connected to the fixed plate (5); when the sliding assembly slides, the first rotating assembly is driven to rotate, thereby driving the two sliding plates (1) to slide; The Y-axis motion assembly comprises a connecting plate (11) slidably arranged between two sliding plates (1), a second rotating assembly is arranged on both sides of the connecting plate (11), the supporting plate (2) is connected to the upper side of the second rotating assembly, and the lower side of the second rotating assembly is connected to the sliding plate (1); when the connecting plate (11) slides, the second rotating assembly is driven to rotate, thereby driving the supporting plate (2) to slide; The print head assembly comprises a print frame (27) arranged above the support plate (2) and sliding horizontally in a direction perpendicular to the sliding direction of the connecting plate (11); an end of the print frame (27) away from the connecting plate (11) is provided with a rotating frame (28) through a connecting assembly; and an end of the rotating frame (28) away from the print frame (27) is provided with a print head (29).

2. A 3D printing robot as claimed in claim 1, characterized in that: The sliding assembly comprises two symmetrically arranged sliding rods (6), and the tops of the two sliding rods (6) are connected by a connecting rod (7); the two sliding rods (6) on the same sliding assembly are both provided with the first rotating assembly on the side away from each other, and the first rotating assembly comprises two first pulleys (8) symmetrically arranged at both ends of the sliding rod (6), and the two first pulleys (8) are connected by a first synchronous belt (9); The outer upper ends of the two first synchronous belts (9) on the same side are respectively fixedly connected to the two ends of the fixed plate (5) on the same side; and the two ends of the sliding plate (1) are respectively fixedly connected to the inner lower ends of the two first synchronous belts (9) on the same side.

3. A 3D printing robot as claimed in claim 2, characterized in that: A first guide rail (16) is provided on the inner side of each sliding rod (6), and a first sliding groove (17) is provided on the outer side of the sliding plate (1) for sliding cooperation with the first guide rail (16); A first driving assembly for driving the sliding assembly to slide up and down is provided on the outer side of the baffle (4), and the first driving assembly drives a first motor (18) fixedly arranged on the outer side of the baffle (4), and a first gear (19) is provided on the output shaft of the first motor (18); a first rack (20) meshing with the first gear (19) is fixedly provided on the outer side of a sliding rod (6) on the sliding assembly.

4. A 3D printing robot as claimed in claim 1, characterized in that: A fixed block (10) is fixedly provided on the inner side of the sliding plate (1); the second rotating assembly comprises two second pulleys (12) arranged at two ends of the outer side wall of the connecting plate (11); the two second pulleys (12) are connected in transmission via a second synchronous belt (13); a first clamping block (14) is fixedly provided on the sliding plate (1); the first clamping block (14) is fixedly connected to an end of the lower side of the second synchronous belt (13) on the same side away from the connecting plate (11); second clamping blocks (15) are fixedly provided at both ends of the supporting plate (2); the second clamping block (15) is fixedly connected to an end of the upper side of the second synchronous belt (13) on the same side close to the connecting plate (11).

5. A 3D printing robot as claimed in claim 4, characterized in that: The top of the fixed block (10) is provided with a second guide rail (21), and the bottom of the connecting plate (11) is provided with a second sliding groove (22) which is slidably matched with the second guide rail (21); The connecting plate (11) is slidably arranged between the two fixed blocks (10) through a second driving assembly, the second driving assembly comprising two transmission wheels (23) arranged at two ends of the inner side of the fixed block (10), the two transmission wheels (23) being connected by a transmission belt (24); a second motor (25) is also arranged at one end of the inner side of the fixed block (10), the output shaft of the second motor (25) being connected to the coaxial transmission wheel (23); and a connecting block (26) fixedly connected to the upper side of the transmission belt (24) is provided on the connecting plate (11).

6. A 3D printing robot as claimed in claim 1, characterized in that: The top of the support plate (2) is provided with a third guide rail (30), and the bottom of the printing frame (27) is fixedly provided with a third slide groove (31) which is slidably matched with the third guide rail (30).

7. A 3D printing robot as claimed in claim 1, characterized in that: The print head assembly is slidably arranged above the support plate (2) in the horizontal direction through an X-axis motion assembly, the X-axis motion assembly comprises a third motor (32) arranged inside one end of the print frame (27) close to the connecting plate (11), a second gear (33) is arranged on the output shaft of the third motor (32), and a second rack (34) meshing with the second gear (33) is fixedly arranged on the top of the support plate (2).

8. A 3D printing robot as claimed in claim 1, characterized in that: The connecting assembly comprises a fourth motor (35) arranged inside an end of the printing frame (27) away from the connecting plate (11), the output end of which extends to the outside of the printing frame (27); and a rotating plate (36) rotatably matched with the output end of the fourth motor (35) is provided at an end of the rotating frame (28) close to the printing frame (27).

9. A 3D printing robot as claimed in claim 1, characterized in that: A plurality of Mecanum wheels (37) are provided at the bottom of the base (3).

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