3D printing robot crawler chassis with material box

Abstract

The application discloses a 3D printing robot crawler chassis with a material box and belongs to the technical field of 3D printing robot equipment, which comprises a chassis seat installed on the top, a 3D printing robot body fixedly installed at one end of the chassis seat, a plurality of diversity storage parts installed at the other end of the chassis seat, a drag-proof material conveying part and a butt joint material conveying part installed at the middle of the chassis seat, wherein the diversity storage part comprises a material box body rotatably installed on the chassis seat, a feeding pipe and a discharging pipe fixed to the material box body, the drag-proof material conveying part comprises a supporting plate fixed to the chassis seat and a flexible material conveying pipe capable of being adjusted up and down along the supporting plate, and the butt joint material conveying part comprises a feeding pipe used for butt joint with the discharging pipe and one end of the flexible material conveying pipe. The application has the technical effects of multi-material partition storage, automatic material replacement butt joint, strong pipeline drag-proof and retraction protection and effective improvement of work efficiency.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing robot equipment technology, and particularly relates to a tracked chassis for a 3D printing robot with a material box. Background Technology

[0002] 3D printing, a type of rapid prototyping technology, is a technique that uses a digital model file as a basis and employs powdered metal or plastic and other bondable materials to construct objects layer by layer. 3D printing robots are connected to a material transport vehicle via a feeding tube to transport the printing material. This not only requires a long feeding tube but also has the disadvantage of occupying the material transport vehicle for extended periods.

[0003] To address this, Chinese Patent CN109822903B discloses a follow-type feeding device for a 3D printing robot. The device includes a walking mechanism that communicates with and follows the 3D printing robot in real time, a material storage mechanism, and a material conveying mechanism for transporting material to the 3D printing robot. The material storage mechanism and the material conveying mechanism are mounted on the walking mechanism. The material conveying mechanism is connected to both the material storage mechanism and the 3D printing robot, transporting material from the material storage mechanism to the 3D printing robot to achieve 3D printing. The walking mechanism moves with the 3D printing robot, preventing damage to the newly formed molded body from the long pipe connecting the material transport vehicle to the 3D printing robot. The material storage mechanism can store material, eliminating the need for a material transport vehicle on-site, and allowing one material transport vehicle to simultaneously connect to multiple 3D printing robots.

[0004] However, the above-mentioned devices often require a variety of consumables (printing filaments / powders of different colors and properties) during actual operation of 3D printing robots. The existing storage bins are only convenient for storing a single raw material. Changing materials requires stopping the machine and opening the lid to change the material, resulting in low operating efficiency, inability to switch between diverse materials, poor adaptability, and impact on work efficiency. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a tracked chassis for a 3D printing robot with a material box. It features multi-material partitioned storage, automatic material changing and docking, and strong protection against pipe dragging and retraction, effectively improving work efficiency. It solves the problems of existing material storage bins that are only suitable for storing a single raw material, require stopping the machine to open the lid to change materials, resulting in low work efficiency, inability to switch to diverse materials, poor adaptability, and impact on work efficiency.

[0006] This invention is implemented as follows: a tracked chassis for a 3D-printed robot with a material box, comprising a tracked vehicle body and a 3D-printed robot body. The tracked vehicle body also includes a chassis base mounted on its top. The 3D-printed robot body is fixedly mounted on one end of the chassis base. A multi-purpose material storage component is mounted on the other end of the chassis base. An anti-drag material conveying component and a docking material conveying component are mounted in the middle of the chassis base. The multi-purpose material storage component includes a material box rotatably mounted on the chassis base, an inlet pipe and an outlet pipe fixed to the material box. The anti-drag material conveying component includes a support plate fixed to the chassis base and a flexible material conveying pipe that can be adjusted up and down along the support plate. The docking material conveying component includes a feeding pipe for docking the outlet pipe and one end of the flexible material conveying pipe. The other end of the flexible material conveying pipe is fixedly connected to the printing nozzle of the 3D-printed robot body.

[0007] As a preferred embodiment of the present invention, a support ring frame is fixedly connected to the top of the chassis base, the bottom of the material box is connected to the top of the support ring frame through a bearing, and a first motor is fixedly installed on the chassis base, with the output end of the first motor fixed to the middle of the bottom end of the material box.

[0008] With this setup, the first motor drives the material box to rotate circumferentially on the support ring frame. The rotation of the box completes the switching of different material chambers and discharge pipes, eliminating the need for manual movement of the hopper and achieving automated material selection and positioning.

[0009] As a preferred embodiment of the present invention, the material box is fixedly connected with uniformly distributed partitions, which divide the interior of the material box into several material chambers. Each material chamber has an inlet pipe and an outlet pipe at its upper and lower ends. A solenoid valve is fixedly installed on the outlet pipe, and each outlet pipe can be adjusted to correspond with the feed pipe by rotation.

[0010] With this setup, the partition divides the box into independent storage chambers, each of which can be filled with different grades and colors of printing raw materials. Each discharge pipe is equipped with a solenoid valve for independent on / off control of the material. After rotating to the correct position, the corresponding solenoid valve can be opened to discharge the material, realizing the storage of multiple raw materials in one machine and the individual supply of materials as needed.

[0011] In a preferred embodiment of the present invention, a fixing plate is fixedly connected to the top of one side of the support plate. A lead screw is connected between the fixing plate and the chassis seat via a bearing. A guide rod is fixedly connected between the fixing plate and the chassis seat. A lifting slide plate is sleeved between the lead screw and the guide rod. A through hole is opened in the middle of the lifting slide plate. A clearance channel is opened in the middle of the support plate. The flexible conveying pipe passes through the through hole and the clearance channel. The lifting slide plate can drive the flexible conveying pipe to move up and down along the clearance channel.

[0012] With this setup, the lifting slide slides vertically along the lead screw and guide rod, carrying the flexible material conveying tube to rise and fall synchronously within the clearance channel, matching the lifting height of the printing nozzle. This helps avoid the risk of the pipeline being pulled due to excessively long suspension, preventing dragging and damage.

[0013] As a preferred embodiment of the present invention, a second motor is fixedly installed on the top of the first fixing plate, the output end of the second motor is fixedly connected to the upper end of the lead screw, one end of the lifting slide plate is threaded onto the lead screw and the other end is slidably sleeved onto the guide rod.

[0014] With this setup, the second motor drives the lead screw to rotate, which in turn drives the lifting slide plate to automatically rise and fall based on the threaded pair. The guide rod limits the deflection of the slide plate, ensuring smooth lifting of the pipeline and achieving automatic height adjustment.

[0015] As a preferred embodiment of the present invention, a second fixing plate is fixedly connected to the other side of the support plate, and a winding drum is connected between the two fixing plates via bearings. A third motor is fixedly installed on the front side of the second fixing plate, and the output end of the third motor is fixedly connected to the central shaft of the winding drum. The flexible material conveying tube is wound around the winding drum.

[0016] With this setup, the third motor drives the take-up drum to rotate in both directions, automatically collecting excess tubing and loosening the tubing, thus preventing the hose from dragging and tangling with the workpiece, further enhancing the anti-drag protection effect.

[0017] As a preferred embodiment of the present invention, a feeding pump is fixedly installed on the side wall of the support plate corresponding to the lower part of the winding drum. The discharge end of the feeding pump is fixedly connected to one end of the flexible conveying pipe, and the feed end of the feeding pump is fixedly connected to one end of the feeding pipe. A guide pipe is slidably sleeved on the other end of the feeding pipe, and the end of the guide pipe can be slidably inserted into the inner wall of the discharge pipe.

[0018] With this setup, the feed pump serves as the power source for material conveying, and the guide pipe is telescopically inserted into the inside of the discharge pipe to achieve a sealed connection. The raw material is fed into the flexible conveying pipe through the discharge pipe, guide pipe, feed pipe, and feed pump. The pipeline connection has good sealing performance, reducing material leakage.

[0019] In a preferred embodiment of the present invention, a push plate is fixedly connected to the outer wall of the other end of the guide tube, an electric push rod is fixedly installed on the outer wall of the feeding tube, the output end of the electric push rod is fixedly connected to the push plate, a limit slider is fixedly connected to the inner wall of the other end of the guide tube, a limit groove is formed on the outer wall of the feeding tube, and the limit slider moves along the limit groove.

[0020] With this setup, the electric push rod pushes and pulls the guide tube along the axial extension and retraction of the limiting slide groove via the push plate. The limiting slider cooperates with the limiting slide groove to prevent the guide tube from deflecting circumferentially. After the material chamber rotates to the correct position, it automatically pushes the guide tube to be inserted into the discharge port. After material replacement, it automatically retracts and disengages. The fully automated sealing docking is quick and improves the efficiency of automatic material switching.

[0021] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention adopts a rotary material box with multiple partitioned material chambers integrated on a tracked chassis. The material chambers are rotated and changed by a first motor. Multiple chambers can hold various printing materials, eliminating the need to stop the machine to open the cover for material changes. This eliminates the need for an external mobile feeding vehicle with long-distance material delivery pipelines, reducing pipeline loss and site occupation. Through a lifting slide plate combined with a rewind drum, the flexible material delivery pipe is simultaneously raised and lowered with the printing nozzle of the 3D printing robot, automatically storing redundant pipelines and effectively preventing the flexible hose from dragging and scratching the molded parts or the ground, causing material blockage and damage, thus significantly improving the stability of the printing operation. The telescopic guide pipe automatically connects to the sealed discharge pipe, and the discharge pipe solenoid valve independently controls the material, enabling the material chamber rotation for material selection and automatic pipe docking to be completed in one integrated process. This eliminates manual docking, leakage, and alignment deviations, effectively improving the efficiency of switching between multiple materials. The integrated layout of storage, material delivery, walking chassis, and printing host is compact and suitable for large-scale mobile 3D building printing on construction sites, offering strong versatility and effectively improving operational efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure provided in an embodiment of the present invention; Figure 2 This is a side view structural schematic diagram provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the top cross-sectional structure of the material box provided in an embodiment of the present invention; Figure 4 This is an enlarged structural diagram of the support plate provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the cross-sectional structure of the feeding pipe provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the feed tube structure provided in an embodiment of the present invention.

[0023] In the diagram: 1. Tracked vehicle body; 101. Chassis base; 2. 3D printed robot body; 3. Support ring frame; 4. Material box; 401. Feed pipe; 402. Discharge pipe; 403. First motor; 404. Solenoid valve; 405. Partition plate; 406. Material chamber; 5. Support plate; 501. Fixing plate one; 502. Fixing plate two; 503. Clearance channel; 6. Lifting slide plate; 601. Through hole; 602. Lead screw; 603. Second motor; 604. Guide rod; 7. Rewind drum; 701. Third motor; 8. Feed pipe; 801. Feed pump; 802. Limiting slide; 803. Electric push rod; 9. Guide pipe; 901. Push plate; 902. Limiting slider; 10. Flexible conveying pipe. Detailed Implementation

[0024] To further understand the invention's content, features, and effects, the following embodiments are provided, and detailed descriptions are given in conjunction with the accompanying drawings.

[0025] The structure of the present invention will now be described in detail with reference to the accompanying drawings.

[0026] refer to Figures 1 to 6 As shown in the figure, an embodiment of the present invention provides a tracked chassis for a 3D printed robot with a material box, including a tracked vehicle body 1 and a 3D printed robot body 2. The tracked vehicle body 1 also includes a chassis base 101 mounted on its top. The 3D printed robot body 2 is fixedly mounted on one end of the chassis base 101. A multi-purpose material storage component is mounted on the other end of the chassis base 101. An anti-drag material conveying component and a docking material conveying component are mounted in the middle of the chassis base 101. The multi-purpose material storage component includes a material box 4 rotatably mounted on the chassis base 101, an inlet pipe 401 fixed to the material box 4, and an outlet pipe 402. The anti-drag material conveying component includes a support plate 5 fixed to the chassis base 101 and a flexible material conveying pipe 10 that can be adjusted up and down along the support plate 5. The docking material conveying component includes a feeding pipe 8 for docking the outlet pipe 402 and one end of the flexible material conveying pipe 10. The other end of the flexible material conveying pipe 10 is fixedly connected to the printing nozzle of the 3D printed robot body 2.

[0027] Specifically, a support ring frame 3 is fixedly connected to the top of the chassis base 101, and the bottom of the material box 4 is connected to the top of the support ring frame 3 through a bearing. A first motor 403 is fixedly installed on the chassis base 101, and the output end of the first motor 403 is fixed to the middle of the bottom end of the material box 4.

[0028] Using the above scheme, the first motor 403 drives the material box 4 to rotate circumferentially on the support ring frame 3. The rotation of the box completes the switching of different material chambers 406 and discharge pipes 402, eliminating the need for manual movement of the hopper and achieving automated material selection and positioning.

[0029] Specifically, the material box 4 is fixedly connected with evenly distributed partitions 405, which divide the interior of the material box 4 into several material chambers 406. Each material chamber 406 has an inlet pipe 401 and an outlet pipe 402 at its upper and lower ends. A solenoid valve 404 is fixedly installed on the outlet pipe 402. Each outlet pipe 402 can be adjusted to correspond with the feeding pipe 8 by rotation.

[0030] Using the above scheme, the partition 405 divides the box into independent storage chambers. Each chamber can be filled with different grades and colors of printing raw materials. Each discharge pipe 402 is equipped with a solenoid valve 404 to control the material flow independently. After rotating to the correct position, the corresponding solenoid valve 404 can be opened to discharge the material, realizing the storage of multiple raw materials in one machine and the individual supply of materials as needed.

[0031] Specifically, a fixing plate 501 is fixedly connected to the top of one side of the support plate 5. A lead screw 602 is connected between the fixing plate 501 and the chassis 101 via a bearing. A guide rod 604 is fixedly connected between the fixing plate 501 and the chassis 101. A lifting slide plate 6 is sleeved between the lead screw 602 and the guide rod 604. A through hole 601 is opened in the middle of the lifting slide plate 6. A clearance channel 503 is opened in the middle of the support plate 5. The flexible conveying pipe 10 passes through the through hole 601 and the clearance channel 503. The lifting slide plate 6 can drive the flexible conveying pipe 10 to move up and down along the clearance channel 503.

[0032] Using the above scheme, the lifting slide plate 6 slides vertically along the lead screw 602 and guide rod 604, and carries the flexible material conveying tube 10 to rise and fall synchronously in the clearance channel 503, matching the lifting height of the printing nozzle, which helps to avoid the hidden danger of the pipe being pulled due to excessive suspension, and prevents dragging and damage.

[0033] Specifically, a second motor 603 is fixedly installed on the top of the fixed plate 501. The output end of the second motor 603 is fixedly connected to the upper end of the lead screw 602. One end of the lifting slide plate 6 is threaded onto the lead screw 602 and the other end is slidably sleeved onto the guide rod 604.

[0034] Using the above scheme, the second motor 603 drives the lead screw 602 to rotate, and the lifting slide plate 6 is automatically raised and lowered by relying on the threaded pair. The guide rod 604 restricts the deflection of the slide plate to ensure smooth lifting of the pipeline and realize automatic height adjustment.

[0035] Specifically, a second fixing plate 502 is fixedly connected to the other side of the support plate 5, and a take-up drum 7 is connected between the second fixing plates 502 via bearings. A third motor 701 is fixedly installed on the front side of the second fixing plate 502, and the output end of the third motor 701 is fixedly connected to the central shaft of the take-up drum 7. The flexible material conveying pipe 10 is wound around the take-up drum 7.

[0036] Using the above solution, the third motor 701 drives the winding drum 7 to rotate in both directions, automatically collecting excess tubing and loosening the tubing, thus preventing the hose from dragging and tangling with the workpiece, and further enhancing the anti-drag protection effect.

[0037] Specifically, a feeding pump 801 is fixedly installed on the side wall of the support plate 5 below the winding drum 7. The discharge end of the feeding pump 801 is fixedly connected to one end of the flexible conveying pipe 10, and the feed end of the feeding pump 801 is fixedly connected to one end of the feeding pipe 8. The other end of the feeding pipe 8 is externally slidably sleeved with a guide pipe 9, and the end of the guide pipe 9 can be slidably inserted into the inner wall of the discharge pipe 402.

[0038] Using the above scheme, the feed pump 801 serves as the power source for material conveying. The guide pipe 9 is telescopically inserted into the inside of the discharge pipe 402 to achieve a sealed connection. The raw material is fed into the flexible conveying pipe 10 through the discharge pipe 402, the guide pipe 9, the feed pipe 8, and the feed pump 801. The pipeline connection has good sealing performance, reducing material leakage.

[0039] Specifically, a push plate 901 is fixedly connected to the outer wall of the other end of the guide tube 9, an electric push rod 803 is fixedly installed on the outer wall of the feeding tube 8, the output end of the electric push rod 803 is fixedly connected to the push plate 901, a limit slider 902 is fixedly connected to the inner wall of the other end of the guide tube 9, a limit groove 802 is opened on the outer wall of the feeding tube 8, and the limit slider 902 moves along the limit groove 802.

[0040] Using the above scheme, the electric push rod 803 pushes and pulls the guide tube 9 along the axial extension and retraction of the limiting slide groove 802 via the push plate 901. The limiting slider 902 cooperates with the limiting slide groove 802 to prevent the guide tube 9 from deflecting circumferentially. After the material chamber 406 rotates to the position, it automatically pushes the guide tube 9 to be inserted into the outlet pipe 402. After material change, it automatically retracts and disengages. The fully automated sealing docking is quick and improves the efficiency of automatic material switching.

[0041] Working principle of the invention: In use, the tracked vehicle body 1 relies on tracks to achieve full-area movement. The 3D printed robot body 2 and the multi-compartment material box 4 are integrated on the chassis base 101. During operation, the first motor 403 drives the material box 4 to rotate and switch the material chamber 406 position. After the selected material's corresponding discharge pipe 402 rotates to the docking position, the electric push rod 803 pushes out the guide pipe 9 and seals it with the discharge pipe 402. The corresponding solenoid valve 404 of the discharge pipe 402 opens, and the material passes through the discharge pipe sequentially under the suction action of the feeding pump 801. 402, the guide pipe 9, and the feeding pump 801 feed the flexible material conveying pipe 10, which ultimately supplies the printing nozzle of the 3D printing robot body 2. During the printing nozzle lifting operation, the second motor 603 drives the lifting slide plate 6 via the lead screw 602 to adjust the vertical position of the pipeline. At the same time, the third motor 701 controls the winding drum 7 to synchronously wind up and unwind the flexible material conveying pipe 10, automatically collecting excess pipeline and avoiding pipeline dragging and bending. This completes automatic material selection, sealing and docking of multiple consumables, and continuous feeding with follow-up anti-drag, effectively improving the continuity of operation and work efficiency.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A 3D-printed robot tracked chassis with a material box, comprising a tracked vehicle body (1) and a 3D-printed robot body (2), characterized in that: The tracked vehicle body (1) also includes a chassis base (101) installed on its top. The 3D printing robot body (2) is fixedly installed on one end of the chassis base (101). A variety of storage components are installed on the other end of the chassis base (101). An anti-drag conveying component and a docking conveying component are installed in the middle of the chassis base (101). The variety of storage components include a material box (4) rotatably installed on the chassis base (101), an inlet pipe (401) and an outlet pipe (402) fixed to the material box (4). The anti-drag conveying component includes a support plate (5) fixed on the chassis base (101) and a flexible conveying pipe (10) that can be adjusted up and down along the support plate (5). The docking conveying component includes a feeding pipe (8) for docking the outlet pipe (402) and one end of the flexible conveying pipe (10). The other end of the flexible conveying pipe (10) is fixedly connected to the printing nozzle of the 3D printing robot body (2).

2. The tracked chassis for a 3D-printed robot with a material box as described in claim 1, characterized in that: The top of the chassis base (101) is fixedly connected to a support ring frame (3), and the bottom of the material box (4) is connected to the top of the support ring frame (3) through a bearing. A first motor (403) is fixedly installed on the chassis base (101), and the output end of the first motor (403) is fixed to the middle of the bottom end of the material box (4).

3. The tracked chassis for a 3D-printed robot with a material box as described in claim 1, characterized in that: The material box (4) is fixedly connected with evenly distributed partitions (405). The partitions (405) divide the inside of the material box (4) into several material chambers (406). Each material chamber (406) has a feed pipe (401) and a discharge pipe (402) at its upper and lower ends. A solenoid valve (404) is fixedly installed on the discharge pipe (402). Each discharge pipe (402) can be adjusted to correspond with the feed pipe (8) by rotation.

4. The tracked chassis for a 3D-printed robot with a material box as described in claim 1, characterized in that: A fixing plate (501) is fixedly connected to the top of one side of the support plate (5). A screw (602) is connected between the fixing plate (501) and the chassis base (101) through a bearing. A guide rod (604) is fixedly connected between the fixing plate (501) and the chassis base (101). A lifting slide plate (6) is sleeved between the screw (602) and the guide rod (604). A through hole (601) is opened in the middle of the lifting slide plate (6). A clearance channel (503) is opened in the middle of the support plate (5). The flexible conveying pipe (10) passes through the through hole (601) and the clearance channel (503). The lifting slide plate (6) can drive the flexible conveying pipe (10) to move up and down along the clearance channel (503).

5. The tracked chassis for a 3D-printed robot with a material box as described in claim 4, characterized in that: The top of the fixed plate (501) is fixedly installed with a second motor (603). The output end of the second motor (603) is fixedly connected to the upper end of the lead screw (602). One end of the lifting slide plate (6) is threaded onto the lead screw (602) and the other end is slidably sleeved onto the guide rod (604).

6. The tracked chassis for a 3D-printed robot with a material box as described in claim 4, characterized in that: A second fixing plate (502) is fixedly connected to the other side of the support plate (5). A take-up drum (7) is connected between the two fixing plates (502) via bearings. A third motor (701) is fixedly installed on the front of the second fixing plate (502). The output end of the third motor (701) is fixedly connected to the central shaft of the take-up drum (7). The flexible material conveying pipe (10) is wound around the take-up drum (7).

7. The tracked chassis for a 3D-printed robot with a material box as described in claim 6, characterized in that: A feeding pump (801) is fixedly installed on the side wall of the support plate (5) below the winding drum (7). The discharge end of the feeding pump (801) is fixedly connected to one end of the flexible conveying pipe (10). The feed end of the feeding pump (801) is fixedly connected to one end of the feeding pipe (8). The other end of the feeding pipe (8) is externally slidably sleeved with a guide pipe (9). The end of the guide pipe (9) can be slidably inserted into the inner wall of the discharge pipe (402).

8. The tracked chassis for a 3D-printed robot with a material box as described in claim 7, characterized in that: A push plate (901) is fixedly connected to the outer wall of the other end of the guide tube (9), and an electric push rod (803) is fixedly installed on the outer wall of the feeding tube (8). The output end of the electric push rod (803) is fixedly connected to the push plate (901). A limit slider (902) is fixedly connected to the inner wall of the other end of the guide tube (9). A limit groove (802) is opened on the outer wall of the feeding tube (8), and the limit slider (902) moves along the limit groove (802).

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