Robot arm collaborative 3D printing control device based on AI path planning

Abstract

The invention discloses a robot arm collaborative 3D printing control device based on AI path planning, the robot arm collaborative 3D printing control device comprises a mechanical arm body, one end of the mechanical arm body is provided with a printing nozzle mounting block used for mounting a printing nozzle, and the mechanical arm body is provided with a main feeding pipe used for conveying materials to the printing nozzle mounted on the printing nozzle mounting block; the connecting assembly is arranged to replace the position of a connecting frame to cut off materials between the rotating body and the connecting body, seamless connection of various materials is achieved, conveying of the various materials is achieved only through one material pipeline on the mechanical arm, the influence on the flexibility of the mechanical arm is reduced, the cost is further reduced, and the design space of 3D printing is further expanded. A special mechanical-gas circuit structure for'seamless switching 'in the same conveying hole is achieved, the specific problems of'pipeline redundancy, connection mixing and passenger pollution' in'multi-material robot arm 3D printing 'are integrally solved, and the technical effect is high in collaboration.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of 3D printing, and particularly relates to a robot arm cooperative 3D printing control device based on AI path planning. BACKGROUND

[0002] 3D printing, also known as additive manufacturing, is a kind of rapid prototyping technology, which is a technology for constructing objects through layer-by-layer printing based on digital model files, using powder-like metal or plastic and other bondable materials, and using the latest rapid prototyping devices such as light curing and paper layering. It has basically the same working principle as ordinary printing. The printer is equipped with liquid or powder "printing materials", which are connected with the computer. After the computer is connected, the "printing materials" are added layer by layer under the control of the computer, and finally the blueprint on the computer is turned into a real object. The commonly used materials for 3D printing are nylon fiberglass, durable nylon materials, gypsum materials, aluminum materials, titanium alloys, stainless steel, silver-plated, gold-plated, rubber materials, etc. However, in the existing 3D printing process based on AI technology and coordinated with the mechanical hand, with the continuous upgrading of 3D printing, there are various materials, which need to be equipped with multiple material pipelines for transportation, resulting in too complicated assembly of the mechanical hand, which is not conducive to the flexible operation of the mechanical hand, cannot adapt to the current diversified printing demand, and does not have great flexibility. SUMMARY

[0003] The purpose of the present application is to provide a robot arm cooperative 3D printing control device based on AI path planning to solve the above problems.

[0004] To achieve the above purpose, the present application provides the following technical scheme: a robot arm cooperative 3D printing control device based on AI path planning, comprising a mechanical arm body, one end of the mechanical arm body is provided with a printing nozzle mounting block for mounting a printing nozzle, and a main feeding pipe is arranged on the mechanical arm body for conveying materials to the printing nozzle mounted on the printing nozzle mounting block; further comprising: The mechanical arm body is provided with an AI path planning module, which is used for receiving a 3D printing model file and generating and optimizing a path. A material bucket is arranged at the bottom outlet of the material bucket, and a material conversion assembly is arranged between the auxiliary feeding pipe and the main feeding pipe for regulating and controlling the conversion of multiple materials. The material conversion assembly includes a rotating body fixedly connected to the auxiliary feeding pipe. A connecting body is movably connected to one side of the rotating body through a sealing assembly, and the rotating body and the connecting body are in high-precision seamless contact with each other through the sealing assembly. A feeding hole connecting the auxiliary feeding pipe and the main feeding pipe is provided in the rotating body and the connecting body. Several material pre-storage components are provided on the feeding hole on the rotating body for compensating material pre-storage at the end to be connected to the auxiliary feeding pipe. Several material space replenishment components are provided on the feeding hole in the connecting body for replenishing space during the material conversion interval to ensure normal material supply. The sum of the pre-storage volumes of the several material pre-storage components is equal to the sum of the volumes of the several space replenishment components.

[0005] Preferably, it also includes a connecting rod, which is fixed to one side of the rotating body on the material conversion assembly. One end of the connecting rod is connected to a servo motor, and the servo motor data is connected to the AI ​​path planning module. The servo motor is controlled by the parameters output by the AI ​​path planning module to drive the rotating body to rotate and convert materials.

[0006] Preferably, when the sealing assembly is a sealed bearing, the material pre-storage assembly includes a pre-storage groove opened on the rotating body, and a moving block is slidably arranged in the pre-storage groove. The bottom of the moving block is provided with two rotating plates with electromagnets on top that rotate in opposite directions and the moving block is attracted and fixed to the rotating plates with electromagnets on top. Electromagnets are provided at both ends of the bottom of the rotating plates with electromagnets on top to attract the bottom of the rotating plates with electromagnets on top and control the sinking distance of the moving block. The rotating plate with an electromagnet at the top drives the moving block to move at a distance h from the inner wall of the pre-storage tank when the bottom of the moving block is flush with the inner wall of the feeding hole. By controlling the distance h, the moving block can be moved downward, which is to control the maximum cross rotation angle of the rotating plate with an electromagnet at the top.

[0007] Preferably, the material space filling component includes a compensation cavity formed on the feed hole in the connector, and an elastic compensation piece is hinged to the bottom of the compensation cavity and the feed hole to compensate for the material space by its elastic deformation.

[0008] Preferably, the plurality of compensation cavities are interconnected by connecting pipes, and one of the compensation cavities is provided with an inflatable airbag for external gas to expand the elastic compensation plate so that it can pop out from the compensation cavity for easy rinsing.

[0009] Preferably, when the sealing assembly includes a sealing bearing and a connecting assembly, the internal structure of the rotating body and the internal structure of the connecting body are the same as the structures described above. The connecting assembly includes a second sealing bearing with a diameter smaller than that of the sealing bearing. The second sealing bearing has a connecting frame inside. A blocking block is fixedly connected to the bottom of the connecting frame, and the size of the connecting frame and the blocking block is equal to that of the material conveying hole. An electric push rod is fixedly installed at the bottom of the blocking block, and the electric push rod pushes the blocking block to replace the position of the connecting frame and block the material conveying hole. This structure is used when there are more than two types of materials. The two sides of the connecting frame and the blocking block are in seamless contact with the rotating body and the connecting body, respectively.

[0010] Preferably, the connecting pipe is connected to an external telescopic pipe, and the telescopic pipe is equipped with a powerful spring inside to control the telescopic pipe's extension and retraction. This spring controls the air pressure inside the telescopic pipe and the deformation of the elastic compensation plate under constant negative pressure. The telescopic pipe is also equipped with a valve to facilitate the adjustment of the air pressure inside the telescopic pipe by the operator.

[0011] Preferably, the bottom of the robotic arm body is provided with a base, and a mounting frame is provided on one side of the base for placing several material buckets.

[0012] Preferably, the connecting rod is located on the transverse axis of the material conversion component, and the plurality of auxiliary feeding pipes are distributed in a circumferential array on one side of the material conversion component, and the rotation angle of the connecting rod in one direction is less than or equal to 180 degrees.

[0013] Preferably, it also includes a visual perception module, specifically including an industrial high-speed camera, a 3D scanner, and an image processing unit for monitoring, uploading, processing, and final judgment of the actual situation during the printing process.

[0014] The technical effects and advantages of this invention are as follows: 1. By utilizing the seamless contact when misalignment occurs between the rotating body and the connecting body, a relative seal is achieved. This seal can be referenced from the sealing structure of a ball valve, ensuring maximum sealing effect while maintaining rotation. When a seal occurs on the side of the connecting body close to the rotating body, the elasticity of the elastic compensation plate is used to pop out during continuous feeding from the main feeding pipe, achieving a space compensation effect including no gas intervention. Furthermore, a large amount of material is pre-filled into the feeding hole in the connecting body to be connected, and continuous filling is achieved using the auxiliary feeding pipe on one side until the moving block is pressed into the pre-storage tank until the rotating plate with the electromagnet at the top abuts against the inner wall of the pre-storage tank. At this point, the volume of the pre-storage material is the same as the volume of the space compensated by the elastic compensation plate. Then, once connected... The elastic compensation plate rebounds and simultaneously sucks in the pre-stored material in the feed hole to replenish it, achieving seamless connection between materials. During the connection process, the servo motor speed is rapid, making it difficult for materials to mix. The two materials are clearly separated at the connection point. The whole is achieved by rotating body, connecting body, sealed bearing, and multiple auxiliary feed pipes to realize rotary material conversion. The angle limitation is used to control the instantaneous time of rotation switching, ensuring all-round conversion while reducing the maximum instantaneous conversion time. During this period, the design of the material pre-stored component is used to pre-store a quantitative amount of material, and the connection structure without gas volume compensation is achieved by spatial replenishment. The whole achieves pre-stored volume = compensation volume, coordination of passenger cut-off and rotation angle, and matching of air pressure in telescopic pipe and deformation of elastic plate. 2. By utilizing the connecting components, when other materials pass by before the target material reaches the designated position, an electric pusher moves the blocking block upwards to replace the connecting frame, cutting off the material between the rotating body and the connecting body. This prevents the mixing of transient materials, ultimately achieving seamless connection of multiple materials. Furthermore, the robotic arm only needs one material pipeline to transport multiple materials, reducing the number of equipment on the robotic arm, minimizing the impact on its flexibility, further reducing costs, and expanding the design space of 3D printing. The sealing bearing II is equipped with a connecting frame + blocking block + electric pusher, which can cut off other materials before the target material arrives. This comprehensively solves the specific problems of "pipeline redundancy, mixed connections, and transient contamination" in "multi-material robotic arm 3D printing," and the technical effects are synergistic. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the installation structure of the material conversion component of the present invention; Figure 3 This is a schematic diagram of the internal structure of the material conversion component in Embodiment 1 of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of a partial structure of section A in the middle; Figure 5 This is a schematic diagram of the material conversion component structure in Embodiment 2 of the present invention; Figure 6 For the present invention Figure 5 Schematic diagram of a partial structure of section B; Figure 7 This is an exploded view of the material conversion component structure in Embodiment 2 of the present invention; Figure 8 This is a schematic diagram of the telescopic pipe structure in Embodiment 3 of the present invention.

[0016] In the diagram: 1. Mounting frame; 2. Material bucket; 4. Main feed pipe; 5. Printer nozzle mounting block; 6. Robotic arm body; 7. Base; 8. Material conversion assembly; 801. Rotating body; 802. Feeding hole; 803. Inflatable airbag; 804. Connecting pipe; 805. Elastic compensation plate; 806. Compensation cavity; 807. Connecting body; 808. Electromagnet; 809. Rotating plate with electromagnet on top; 810. Moving block; 811. Connecting pipe; 9. Connecting rod; 10. Auxiliary feed pipe; 11. Servo motor; 12. Connecting assembly; 1201. Connecting frame; 1202. Blocking block; 1203. Electric push rod; 1204. Sealed bearing II; 13. Telescopic pipe; 14. Strong spring; 15. Valve. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] This invention provides, for example Figures 1-4 The AI-based path planning-based robotic arm collaborative 3D printing control device shown includes a robotic arm body 6, one end of which is provided with a printhead mounting block 5 for mounting a printhead, and a main feed pipe 4 is provided on the robotic arm body 6 for conveying material to the printhead mounted on the printhead mounting block 5 and serving as the sole material transport pipe for the printhead of this invention; it also includes: The robotic arm body 6 is equipped with an AI path planning module (this technology is existing and will not be described in detail; for details, please refer to the section on using an improved U-Net network combined with reinforcement learning algorithms, trained on historical printing data, to autonomously learn the optimal printing path strategy for different workpieces). This module receives 3D printing model files and generates and optimizes the path. It also includes: Material tank 2, the bottom outlet of material tank 2 is provided with several auxiliary feeding pipes 10 for various printing materials, and a material conversion component 8 is provided between the auxiliary feeding pipes 10 and the main feeding pipe 4 to control the conversion of various materials, which can realize the air path structure for seamless switching of various materials to a single feeding hole. The material switching assembly 8 includes a rotating body 801 fixedly connected to the auxiliary feeding pipe 10, used for seamless material switching during rotation. A connecting body 807 is movably connected to one side of the rotating body 801 via a sealing assembly, and the rotating body 801 and the connecting body 807 are in high-precision seamless contact with each other through the sealing assembly, ensuring a high degree of sealing during material switching. A conveying hole 802 connecting the auxiliary feeding pipe 10 and the main feeding pipe 4 is provided in the rotating body 801 and the connecting body 807. Several material pre-storage components are provided on the conveying hole 802 on the rotating body 801 for compensating material pre-storage at the end to be connected to the auxiliary feeding pipe 10, aiming to reduce the volume in the single conveying pipe during the pre-stored quantitative material compensation switching period. The feed hole 802 in the connector 807 is equipped with several material space replenishment components to replenish space during the material switching interval, so as to ensure normal material supply. The purpose is to provide space volume compensation when the feed is blocked due to rotation at one end during the switching process, thus ensuring normal material supply and printing of the only feed pipe during the switching process. It also complements the quantitative pre-stored material after the switching is completed, forming a synergistic effect of seamless material switching, quantitative material pre-stored material, and space volume compensation. This ensures the stability of switching between multiple materials and minimizes the impact of switching on the 3D printing process to the minimum, which is negligible. Furthermore, the sum of the pre-stored volumes of several material pre-stored components is equal to the sum of the volumes of several space replenishment components.

[0019] Specifically, it also includes a connecting rod 9, which is fixed to one side of the rotating body 801 on the material conversion assembly 8. One end of the connecting rod 9 is connected to a servo motor 11, and the data of the servo motor 11 is connected to the AI ​​path planning module. The servo motor 11 is controlled by the parameters output by the AI ​​path planning module to drive the rotating body 801 to rotate for material conversion. The purpose of embedding the servo motor 11 is to use the high precision characteristics of the servo motor to control the high precision adaptation of the angle during the material switching process.

[0020] Specifically, when the sealing assembly is a sealed bearing, the material pre-storage assembly includes a pre-storage slot opened on the rotating body 801, and a moving block 810 is slidably arranged in the pre-storage slot. The bottom of the moving block 810 is provided with two rotating plates 809 with electromagnets on top that rotate in opposite directions. The moving block 810 and the rotating plates 809 with electromagnets on top are attracted and fixed together. Electromagnets 808 are provided at both ends of the bottom of the rotating plates 809 with electromagnets on top to attract the bottom of the rotating plates 809 with electromagnets on top and control the sinking distance of the moving block 810. The purpose is to utilize the attraction characteristics of the electromagnets 808 without affecting the sliding effect on the surface, so that the rotating plates 809 with electromagnets on top do not detach from the whole during the cross sinking process and can also provide the sinking effect. The rotating plate 809 with an electromagnet at the top drives the moving block 810 to maintain a distance h between the bottom of the moving block 810 and the inner wall of the pre-storage tank when the bottom of the moving block 810 is flush with the inner wall of the material conveying hole 802. By controlling the distance h, the downward movement of the moving block 810 can be controlled, which specifically controls the maximum cross rotation angle of the rotating plate 809 with an electromagnet at the top. The design of h can utilize the rotation center of the rotating plate 809 with an electromagnet at the top and the length of the rotating plate 809 with an electromagnet at the top, along with the distance h, to mutually limit each other. By controlling the maximum downward distance of the moving block 810, the amount of quantitative pre-storage material can be controlled, thus providing adjustment space.

[0021] Specifically, the material space replenishment component includes a compensation cavity 806 opened on the feed hole 802 in the connector 807. An elastic compensation piece 805 is hinged to the bottom of the compensation cavity 806, which is connected to the feed hole 802. The elastic deformation of the piece compensates for the material space and is adapted to the pre-stored material volume. The purpose is to solve the feeding blockage that occurs during the switching process and to provide space volume replenishment in the blocked state to support and ensure the continuous and uninterrupted printing of the single feed tube.

[0022] Specifically, several compensation cavities 806 are interconnected via connecting pipes 804. One of the compensation cavities 806 is equipped with an inflatable airbag 803 for external gas expansion, allowing the elastic compensation plate 805 to pop out from the cavity for easy rinsing. This is intended to prevent incomplete cleaning caused by the concave elastic compensation plate when materials are mixed and require regular cleaning. Furthermore, no gas intervention during this process has no impact on 3D printing. The bottom of the robotic arm body 6 is equipped with a base 7, and a mounting bracket 1 is located on one side of the base 7 for placing several material containers 2. A connecting rod 9 is located on the transverse axis of the material conversion assembly 8, and multiple auxiliary feeding pipes... 10 are arranged in a circular array on one side of the material conversion component 8, and the rotation angle of the connecting rod 9 in one direction is less than or equal to 180 degrees. It also includes a vision perception module, specifically including an industrial high-speed camera, a 3D scanner and an image processing unit (this technology is existing technology and will not be described in detail. For details, please refer to the industrial camera (frame rate ≥ 60fps) to collect images of the printing process in real time, the laser range sensor to monitor the printing layer thickness deviation, and the 3D scanner (accuracy ≤ 0.01mm) to obtain workpiece contour and environmental data; the image processing unit uses machine vision algorithms (such as edge detection and threshold segmentation) to process the data, extract workpiece features and defect information, and feed them back to the AI ​​path planning module) for monitoring, uploading, processing and final judgment of the actual situation during the printing process.

[0023] Example 1: This invention maximizes the seamless transport of multiple materials through a single material pipeline, solving the problem that with the continuous upgrading of 3D printing, the variety of materials necessitates the use of multiple material pipelines for transportation, leading to overly complex assembly on the robotic arm and hindering its flexible operation. Two material containers 2 hold two different materials, and an auxiliary feeding pipe 10 connects to a material conversion component 8, which in turn connects to the main feeding pipe 4 for final connection to the printing nozzle. During this process, a servo motor 11 drives the rotation of the rotating body 801. The purpose of embedding the servo motor 11 is to utilize its high-precision characteristics to control the angle of the material switching process, ensuring high-precision adaptation to different auxiliary feeding pipes 1. The corresponding feed hole 802 on the 0 is repositioned and alternately cooperates with the feed hole 802 on the connector 807. During this period, the connecting pipe 811 is used to connect the round opening of the auxiliary feed pipe 10 and the square opening of the feed hole 802. In order not to affect the normal supply of the front printing when the rotating body 801 is repositioned, a relative seal is achieved by seamless contact when the rotating body 801 and the connector 807 are misaligned. The sealing structure here can be referred to as the sealing structure of a ball valve to achieve the maximum sealing effect while ensuring rotation. When the connector 807 is close to the rotating body 801 and a seal is formed, the elasticity of the elastic compensation piece 805 is used to continuously supply material to the front end of the main feed pipe 4. The pop-up mechanism achieves spatial compensation without gas intervention. A larger amount of material is pre-filled into the feed hole 802 in the connector 807, and continuously filled using the auxiliary feed pipe 10 on one side until the moving block 810 is forced to move into the pre-storage slot. This continues until the top electromagnet-equipped rotating plate 809 abuts against the inner wall of the pre-storage slot. At this point, the volume of the pre-stored material is the same as the volume of the space compensated by the elastic compensation plate 805. This is to provide spatial volume compensation when one end is blocked by rotation during the switching process, ensuring normal feeding and printing of the only feed pipe during the switching process. It also complements the quantitative pre-stored material after the switching is completed. Then, once the elastic compensation plate 805 is connected, the rebound... The material is simultaneously sucked into the pre-stored slot on the feeding port 802 to replenish it, achieving seamless connection between materials. The purpose is to solve the feeding blockage that occurs during the switching process, and to provide space volume replenishment in the blocked state to support and ensure continuous and uninterrupted printing of the single feeding tube. In addition, the servo motor speed is fast during the connection process, making it difficult for the materials to cross-mix. The boundary between the two materials is clear at the connection point. Overall, it improves the seamless conveying efficiency of multiple materials and reduces the complexity of the equipment. The invention includes a robotic arm body, a nozzle mounting block for installing the printing nozzle, and a main feeding tube. It also has an AI path planning module for receiving and optimizing the 3D printing model file generation path.The key material conversion component achieves efficient conversion of various materials through seamless contact between the rotating body and the connecting body. In addition, the use of a single material pipeline significantly reduces the number of robotic arms required and improves flexibility. The pre-stored volume and compensation volume work together, the passenger cut-off and rotation angle are coordinated, and the air pressure of the telescopic pipeline matches the deformation of the elastic sheet. The whole system utilizes a rotating body-connecting body-sealing component, with multiple auxiliary feeding pipes arranged in a circular array. The servo motor drives the rotation angle ≤180° to prevent the auxiliary feeding pipes from getting tangled due to large rotation angles, which would affect normal material feeding. The rotating body's feeding hole wall is equipped with a pre-stored slot + moving block + electromagnet - a rotating plate with an electromagnet on the top, which is used to pre-fill a quantitative amount of material before switching, realizing a dedicated mechanical-pneumatic circuit structure for "seamless switching" within the same feeding hole, which is more adaptable to modern diverse printing needs. The connecting body's feeding hole wall in the space filling component is equipped with a compensation cavity + elastic compensation sheet + connecting pipe + inflatable airbag to achieve gas-free volume compensation. Example 2: like Figures 5-7 As shown, when the sealing assembly includes a sealing bearing and a connecting assembly 12, the internal structure of the rotating body 801 and the internal structure of the connecting body 807 are the same as the above-described structures. The connecting assembly 12 includes a second sealing bearing 1204 with a diameter smaller than that of the sealing bearing. A connecting frame 1201 is provided inside the second sealing bearing 1204. A blocking block 1202 is fixedly connected to the bottom of the connecting frame 1201. The size of the connecting frame 1201 and the blocking block 1202 is equal to that of the material conveying hole 802. The purpose is to prevent the material from mixing with each other during the process of switching between multiple materials. The blocking block 1202 is used to cut off the material passing through in a positive direction. An electric push rod 1203 is fixedly provided at the bottom of the blocking block 1202. The electric push rod 1203 pushes the blocking block 1202 to replace the position of the connecting frame 1201 and block the material conveying hole 802. This structure is used when there are more than two types of materials. The two sides of the connecting frame 1201 and the blocking block 1202 are in seamless contact with the rotating body 801 and the connecting body 807, respectively. Based on Embodiment 1, a connecting component 12 is provided. When there are more than two types of materials, there will be transit materials in the path. In this case, the connecting component 12 is used to prevent the target material from reaching the designated position. When other materials pass by, the electric push rod 1203 pushes the blocking block 1202 to move upward and replace the position of the connecting frame 1201 to cut off the material between the rotating body 801 and the connecting body 807, thereby preventing the incorporation of transit materials. Finally, a seamless connection of multiple materials is achieved. Moreover, only one material pipe is needed on the robot arm to transport multiple materials, reducing the number of equipment on the robot arm, reducing the impact on the robot arm's flexibility, further reducing costs and expanding the design space of 3D printing. Overall, it solves the specific problems of "pipeline redundancy, connection mixing, and transit contamination" in "multi-material robot arm 3D printing". The technical effect has good synergy. Example 3; like Figure 1 and Figure 8 As shown, the connecting pipe 804 is connected to the external telescopic pipe 13. The telescopic pipe 13 is equipped with a powerful spring 14 to control the extension and contraction of the telescopic pipe 13. This spring 14 is used to control the air pressure inside the telescopic pipe 13 and simultaneously control the deformation of the elastic compensation plate 805 under the condition of equal negative pressure. The telescopic pipe 13 is also equipped with a valve 15 to facilitate the operation of the operator to regulate the air pressure inside the telescopic pipe 13. The purpose is that during the technical upgrade and transformation process, the original two material conveying structures can be directly equipped with the installation of the intermediate electric push rod 1203 and the blocking block 1202. The increased space is used by the operator to control the air pressure inside the telescopic pipe to adapt to the volume change after the transformation. This provides a large space for the technical upgrade and transformation of the equipment. The telescopic pipe + powerful spring + valve are used to regulate and compensate for the negative pressure of the cavity to adapt to two or more material situations. Based on Embodiment 2, the embedded connecting component 12 will affect the volume of the pre-stored material in the pre-storage slot and the elastic compensation volume of the elastic compensation piece 805. In order to adapt to the situation of two or more materials, a telescopic pipe 13 is designed. Originally, the gas inside the telescopic pipe 13 is used for air compensation in the compensation cavity 806 under the elastic deformation of the elastic compensation piece 805. Here, the gas inside the telescopic pipe 13 can be controlled to increase the elastic resistance of the elastic compensation piece 805, thereby reducing the negative pressure generated by the material supply at the same time on the elastic compensation piece 805, thus affecting the elastic deformation of the elastic compensation piece 805 to match the volume influence after the connecting component 12 is embedded.

[0024] 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 present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm collaborative 3D printing control device based on AI path planning, comprising a robotic arm body, one end of which is provided with a printhead mounting block for mounting a printhead, and a main feed pipe on the robotic arm body for conveying material to the printhead mounted on the printhead mounting block; further comprising: The robotic arm body, equipped with an AI path planning module, is used to receive 3D printed model files and generate and optimize paths; its characteristic is that it also includes: A material bin is provided with an auxiliary feeding pipe at the bottom outlet of the material bin. A material conversion component is provided between the auxiliary feeding pipe and the main feeding pipe to control the seamless conversion between multiple materials. The material conversion assembly includes a rotating body fixedly connected to the auxiliary feeding pipe. A connecting body is movably connected to one side of the rotating body through a sealing assembly, and the rotating body and the connecting body are in high-precision seamless contact with each other through the sealing assembly. A feeding hole connecting the auxiliary feeding pipe and the main feeding pipe is provided in the rotating body and the connecting body. Several material pre-storage components are provided on the feeding hole on the rotating body for compensating material pre-storage at the end to be connected to the auxiliary feeding pipe. Several material space replenishment components are provided on the feeding hole in the connecting body for replenishing space during the material conversion interval to ensure normal material supply and achieve the purpose of gas-free volume compensation. The sum of the pre-storage volumes of the several material pre-storage components is equal to the sum of the volumes of the several space replenishment components.

2. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 1, characterized in that: It also includes a connecting rod, which is fixed to one side of the rotating body on the material conversion assembly. One end of the connecting rod is connected to a servo motor, and the servo motor data is connected to the AI ​​path planning module. The servo motor is controlled by the parameters output by the AI ​​path planning module to drive the rotating body to rotate and convert materials.

3. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 2, characterized in that: When the sealing assembly is a sealed bearing, the material pre-storage assembly includes a pre-storage slot opened on the rotating body, and a moving block is slidably arranged in the pre-storage slot. The bottom of the moving block is provided with two rotating plates with electromagnets on top that rotate in opposite directions and the moving block is attracted and fixed to the rotating plates with electromagnets on top. Electromagnets are provided at both ends of the bottom of the rotating plates with electromagnets on top to attract the bottom of the rotating plates with electromagnets on top and control the sinking distance of the moving block. The rotating plate with an electromagnet at the top drives the moving block to maintain a distance h between the bottom of the moving block and the inner wall of the feeding hole and the inner wall of the pre-storage tank. By controlling the distance h, the moving block is controlled to move downward, which specifically means controlling the maximum cross rotation angle of the rotating plate with an electromagnet at the top. This allows for the pre-filling of a certain amount of material before switching to achieve wireless material connection without gas intervention.

4. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 3, characterized in that: The material space filling component includes a compensation cavity opened on the feed hole in the connector. The bottom of the compensation cavity is connected to the feed hole with an elastic compensation plate, which uses its elastic deformation to compensate for the material space, thus achieving a space compensation effect without gas intervention.

5. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 4, characterized in that: Several of the compensation cavities are interconnected by connecting pipes, and one of the compensation cavities is provided with an inflatable airbag for external gas to expand the elastic compensation plate so that it can pop out from the compensation cavity for easy rinsing.

6. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 5, characterized in that: When the sealing assembly includes a sealing bearing and a connecting assembly, the internal structure of the rotating body and the internal structure of the connecting body are the same as the above-described structures. The connecting assembly includes a second sealing bearing with a diameter smaller than that of the sealing bearing. The second sealing bearing has a connecting frame inside. A blocking block is fixedly connected to the bottom of the connecting frame, and the size of the connecting frame and the blocking block is equal to that of the material conveying hole. An electric push rod is fixedly installed at the bottom of the blocking block, and the electric push rod pushes the blocking block to replace the position of the connecting frame and block the material conveying hole. This structure is used when there are more than two types of materials. The two sides of the connecting frame and the blocking block are in seamless contact with the rotating body and the connecting body, respectively.

7. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 6, characterized in that: The connecting pipe is connected to an external telescopic pipe. The telescopic pipe is equipped with a powerful spring inside to control the extension and contraction of the telescopic pipe. This spring controls the air pressure inside the telescopic pipe and the deformation of the elastic compensation plate under constant negative pressure. The telescopic pipe is also equipped with a valve to facilitate the adjustment of the air pressure inside the telescopic pipe by the operator.

8. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 1, characterized in that: The robotic arm body has a base at its bottom, and a mounting frame is provided on one side of the base for placing several material bins.

9. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 1, characterized in that: The connecting rod is located on the transverse axis of the material conversion component, and multiple auxiliary feeding pipes are arranged in a circumferential array on one side of the material conversion component. The rotation angle of the connecting rod in one direction is less than or equal to 180 degrees.

10. The AI-based path planning-based robotic arm collaborative 3D printing control device according to claim 1, characterized in that: It also includes a visual perception module, specifically an industrial high-speed camera, a 3D scanner, and an image processing unit for monitoring, uploading, processing, and final judgment of the actual situation during the printing process.

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