3D printing device based on robot

Abstract

A 3D printing device based on a robot comprises a 3D printing equipment body, a height adjusting mechanism, a detection mechanism, a detection circuit and a control circuit. Each set of height adjusting mechanism comprises an electric push rod and a supporting plate, the upper end of the supporting plate is mounted at the lower end of the electric push rod, and the upper ends of the multiple sets of height adjusting mechanisms are mounted around the lower end of a workbench of the 3D printing equipment body; the multiple detectors are installed on the periphery of the lower end of a front arm of the robot, and the multiple detection circuits and the control circuit are installed in the element box and electrically connected. The levelness of the workbench can be conveniently adjusted, convenience is brought to workers, the working efficiency is correspondingly improved, under the joint action of the signal output end of the photoelectric switch and the detection circuit, when the left side, the right side, the front side and the rear side of the front arm of the robot get close to other objects, the control circuit can timely disconnect a power source of the 3D printing equipment body, and the 3D printing equipment is powered off. And a sound is generated to prompt a worker to overhaul, so that the probability that the front arm, the 3D printing head and other objects are damaged by collision is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of 3D printing equipment application, in particular to a 3D printing device based on a robot. Background Art

[0002] 3D printing (3DP) is a type of rapid prototyping technology, also known as additive manufacturing. It is a technology that uses powdered metal or plastic and other bondable materials as the basis of a 3D model file to construct objects by printing layer by layer through a print head. It is often used to make models in the fields of mold manufacturing, industrial design, etc., and is gradually used for the direct manufacturing of some products. With the development of science and technology, the technology of 3D printing equipment based on intelligent robot control has also made progress. Specifically, when working, the industrial robot's rotating seat on the workbench is controlled to move in the horizontal clockwise and counterclockwise directions, the vertical arm in the longitudinal clockwise and counterclockwise directions, the first and second rear arms in the vertical forward and backward directions, and the forearm in the clockwise and counterclockwise directions through the application software of the industrial robot's supporting control system (the application software installed in the host computer), etc., to drive the 3D print head located at the front end of the forearm to move for printing.

[0003] Although the existing 3D printing equipment based on intelligent robot control has met the production needs to a certain extent, due to the limitation of the structure, there are still the following technical problems that need to be solved urgently. First, the control system of the industrial robot controls the industrial robot to drive the 3D printing head to move in angle and height changes, which is completely dependent on the software program programming of the control system. In this way, when bugs (program errors, the specific causes mainly include unstable program environment, wrong operation of testers, memory leaks or locks, test data errors, etc.) occur due to various reasons, it cannot effectively guarantee that the 3D printing head is driven to move in place. For example, there is a possibility that the forearm moves too much in the corresponding direction, and the forearm and 3D printing head are too close to other objects in the equipment, causing damage to the forearm and 3D printing head. Second: When moving to other areas for work, or installing new equipment before use, workers need to use a level to coordinately adjust the level of the workbench (the workers adjust the height of the adjustment seats around the lower end of the workbench to achieve the level adjustment of the workbench) to ensure the subsequent 3D printing quality of the print head. This method of adjustment requires rotating and adjusting the height of the four adjustment seats along the lower end of the workbench. The operation is relatively cumbersome and will cause inconvenience to the workers. In summary, it is particularly necessary to provide a 3D printing device that can monitor the distance between the 3D print head and other objects in real time, disconnect the main power supply in time and prompt the workers when the distance is too close, and can also easily adjust the level of the workbench. Utility Model Content

[0004] In order to overcome the drawbacks of existing robot-based 3D printing equipment due to structural limitations as described in the background, the utility model provides a robot-based 3D printing equipment body. During application, the distance between the robot forearm and the 3D printing head and other equipment objects can be monitored in real time. When the distance is too close and there is a chance of damage to the forearm, the 3D printing head and other objects, the total power supply of the 3D printing equipment body can be disconnected in time, and the staff can be prompted to carry out maintenance. The staff can also conveniently control the horizontality of the workbench by means of the power switch, thereby bringing convenience to the staff and correspondingly improving the work efficiency. A robot-based 3D printing device.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A robot-based 3D printing device comprises a 3D printing device body and a height adjustment mechanism, characterized in that it also comprises a detection mechanism, a detection circuit and a control circuit; the height adjustment mechanism has multiple sets of the same, each set of the height adjustment mechanism comprises an electric push rod and a support plate, the upper end of the support plate is mounted on the lower end of the electric push rod, and the upper ends of the multiple sets of height adjustment mechanisms are respectively mounted around the lower end of the workbench of the 3D printing device body; the detection mechanism has multiple sets, the detection mechanism is a photoelectric switch, and the multiple sets of photoelectric switches are distributed and installed around the lower end of the forearm of the robot of the 3D printing device body at a circular interval, and the detection head of the photoelectric switch faces the outer end; the detection circuit has multiple channels, the number of detection circuits and photoelectric switches is the same, and the multiple detection circuits and control circuits are installed in a component box; the control end of the multiple detection circuit is electrically connected to the power input end of the control circuit, the control power output end of the control circuit is electrically connected to the power input end of the 3D printing device body, and the signal output ends of the multiple sets of photoelectric switches are electrically connected to the signal input ends of the multiple detection circuits.

[0007] Furthermore, the detection circuit includes an electrically connected resistor, a transistor and a relay, the positive power input terminal of the relay and the control power input terminal are connected, one end of the first resistor is connected to one end of the second resistor and one end of the third resistor, the other end of the third resistor is connected to the base of the transistor, the collector of the transistor is connected to the negative power input terminal of the relay, and the other end of the second resistor is connected to the emitter of the transistor.

[0008] Furthermore, the control circuit includes an electrically connected buzzer and a relay, and two ends of the relay power input are connected to two ends of the buzzer power input respectively.

[0009] Furthermore, the height of the lower end of the support plate of the height adjustment mechanism is lower than the height of the lower end of the workbench.

[0010] The beneficial effects of the utility model are as follows: (1) In the application of the 3D printing device body based on the robot, the staff can conveniently control the height of the four sets of electric push rods respectively through the power switch in combination with a level meter, thereby conveniently adjusting the level of the workbench, thereby bringing convenience to the staff and correspondingly improving the work efficiency. (2) Under the joint action of the signal output ends of the four sets of photoelectric switches and the four-way detection circuit, when the left and right sides and the front and back sides of the robot forearm approach other objects, the control circuit will promptly disconnect the total power supply of the 3D printing device body and sound to remind the staff to carry out maintenance, thereby reducing the probability of the forearm, 3D printing head and other objects being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0013] Figure 2 It is a circuit diagram of the utility model. DETAILED DESCRIPTION

[0014] Figure 1 , 2 As shown in the figure, a robot-based 3D printing device includes a robot-based 3D printing device body 1, a power module A1, a height adjustment mechanism 2, a power switch SN, and also has a detection mechanism AN and a detection circuit 3, and a control circuit 4; the height adjustment mechanism has four identical sets, each set of height adjustment mechanism includes an electric push rod MN and a support plate 21, the upper end of the support plate 21 is welded to the lower end of the push column of the electric push rod MN, and the electric push rod MN cylinders of the four height adjustment mechanisms are vertically distributed and respectively installed around the lower end of the workbench 101 of the 3D printing device body by bolts; the There are four sets of detection mechanisms, which are photoelectric switches AN. The four sets of photoelectric switches AN are horizontally installed on the left and right sides and front and back sides of the lower end of the robot's forearm 102 at a circular interval, and the detection heads of the photoelectric switches AN are facing the outer ends; the power switch SN and the detection circuit 3 have four channels respectively, the number of power switches SN and the height adjustment mechanism are the same, the number of detection circuits 3 and the photoelectric switches AN are the same, the power module A1 and the four-channel power switch SN, the four-channel detection circuit 3, and the control circuit 4 are installed on the circuit board in the component box 5, and the component box 5 is installed on the circuit board in the workbench 101.

[0015] Figure 1 , 2As shown, each detection circuit includes resistors R1, R2, R3, transistor Q1 and relay K1 connected via circuit board wiring, the positive power input terminal of relay K1 and the control power input terminal are connected, one end of the first resistor R1 is connected to one end of the second resistor R2 and one end of the third resistor R3, the other end of the third resistor R3 is connected to the base of transistor Q1, the collector of transistor Q1 is connected to the negative power input terminal of relay K1, and the other end of the second resistor R2 is connected to the emitter of transistor Q1. The control circuit includes an alarm B1 and relay K2 connected via circuit board wiring, and the two ends of the power input of relay K2 are connected to the two ends of the power input of alarm B1 respectively. The lower end height of the support plate 21 of the height adjustment mechanism is lower than the lower end height of the workbench 101. The power input terminals 1 and 2 of the power module A1, the two control power input terminals of the relay K2 of the control circuit and the two poles of the AC 220V power supply are connected through wires respectively, the power output terminals 3 and 4 of the power module A1 and the power input terminals 1 and 2 of the four-way power switch SN, the positive power input terminal of the relay K1 of the power input terminal of the four-way detection circuit and the emitter of the transistor Q1 are connected through wires respectively; the power output terminals 3, 4 and 5, 6 of the four-way power switch SN are connected to the positive and negative and negative and positive power input terminals of the four sets of electric push rods MN respectively through wires; the normally open contact terminal and the negative power input terminal of the control terminal relay K1 of the four-way detection circuit and the power input terminals of the relay K2 of the power input terminal of the control circuit are connected through wires respectively, the two normally closed contact terminals of the control power output terminal relay K2 of the control circuit and the power input terminals of the 3D printing device body D(1 are connected through wires respectively, and the signal output terminal 3 of the four sets of photoelectric switches AN (the handle is located outside the front opening of the component box) and the other end of the resistor R1 of the signal input terminal of the four-way detection circuit are connected through wires respectively.

[0016] Figure 1 , 2As shown, the function of the main body 1 of the new 3D printing device is completely consistent with that of the existing 3D printing device. Specifically, when working, the application software of the industrial robot supporting control system (the application software installed in the host computer) etc. is used to control the rotating seat 103 of the industrial robot on the workbench to move in the horizontal clockwise and counterclockwise direction, the vertical arm 104 to move in the longitudinal clockwise and counterclockwise direction, the first and rear arms 105 and the second rear arm 105 to move in the vertical direction in the front and rear direction, and the forearm 102 to move in the clockwise and counterclockwise direction, so as to drive the 3D printing head 107 located at the front end of the forearm to move and perform printing operations. The above is an existing mature technology and this application will not repeat it, nor will it provide any protection for the above technical solution. After the AC 220V power supply enters the power input terminal of the power module A1, the 3 and 4 pins of the power module A1 output a stable DC 12V power supply to enter the power input terminal of the four-way power switch SN and the four sets of photoelectric switches AN and the four-way detection circuit, and the above equipment is powered on. When it is necessary to adjust the level of the workbench, the staff will adjust it with the help of a spirit level temporarily placed on the workbench. When the spirit level shows that the lower part of the corresponding side of the workbench is too high or too low, the staff will turn the handle of one of the power switches SN to the left or right, and the 1, 2 feet and 3, 4 feet or 5, 6 feet of the corresponding power switch SN will be connected respectively. In this way, the positive and negative or negative and positive power input ends of the corresponding set of electric push rods MN will be energized, and the push columns of the corresponding set of electric push rods MN will drive the support plate 21 to rise or fall in height, and the height of the corresponding side of the workbench will become lower or higher. In this way, the staff can adjust the heights of the four sides of the lower end of the workbench to the appropriate heights, thereby achieving the purpose of adjusting the upper end of the workbench to a horizontal level. When the robot's arm drives the 3D printing head to move to the corresponding position, the distance between the transmitter heads of the four photoelectric switches AN at the lower end of the robot's forearm and the outside of the 3D printing head (the 3D printing head prints objects from top to bottom) and the corresponding parts on the workbench is relatively far (for example, greater than 2 cm, and the actual spacing is adjusted as needed), the 3rd pin of the four photoelectric switches AN does not output a high level, so the corresponding relay K1 will not be energized and attracted. When the robot's arm drives the 3D printing head to move to the corresponding position, the distance between the transmitter head of any of the four photoelectric switches AN at the lower end of the robot's forearm and the outer side of the 3D printing head and the corresponding parts on the workbench is relatively close (for example, less than 2 cm, and the actual spacing is adjusted as needed), the 3rd pin of the corresponding photoelectric switch AN outputs a high level, and the high level is divided by the corresponding resistors R1 and R2, and the resistor R3 steps down and limits the current to enter the base of the corresponding transistor Q1 (higher than 0.7V). The transistor Q1 is turned on and the collector outputs a low level to enter the negative power input terminal of the corresponding relay K1. Relay K1 is energized to close its control power input terminal and the normally open contact terminal.

[0017] Figure 1 , 2As shown, the control circuit is powered on and working. When the detection head of any photoelectric switch AN and the corresponding side of the 3D printing head are too close to other objects, the corresponding relay K1 is powered on and its control power input terminal and normally open contact terminal are closed, and then the relay K2 is powered on and its control power input terminal and normally closed contact terminal are open (at the same time, the buzzer B1 is powered on and sounds to remind the staff to perform maintenance). Then, the power input terminals of the 3D printing device body D will lose power and no longer work, and the robot forearm will no longer drive the detection head of the photoelectric switch AN and the 3D printing head to move, reducing the chance of the forearm, the 3D printing head and other objects being damaged. Figure 2 As shown, the power module A1 is a finished product of an AC 220V to DC 12V switching power module; the resistance values ​​of resistors R1, R2, and R3 are 10K, 4.7K, and 10K respectively; the transistor Q1 is a NPN transistor of model 9013; the buzzer B1 is a finished buzzer of model SFM-27 (working voltage 12V); the relays K1 and K2 are DC12V; the electric push rod MN is a finished reciprocating electric telescopic rod with a working voltage of DC 12V; the photoelectric switch AN is a finished product of an NPNPNP photoelectric sensor of model BJ03-30NZ, which has two power input terminals 1 and 2 and a signal output terminal 3. When the detection head of the photoelectric switch AN detects an object, the signal output terminal 3 outputs a high level, otherwise it does not output a high level (the outer end of its shell has a distance adjustment knob, and the detection distance becomes closer when adjusted to the left, and becomes farther when adjusted to the left. In this embodiment, it is adjusted to about 2 cm)

[0018] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is limited to the details of the above exemplary embodiments, and the utility model can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the utility model.

[0019] In addition, it should be understood that although the present specification is described according to the implementation mode, the implementation mode does not only include an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot-based 3D printing device, comprising a 3D printing device body and a height adjustment mechanism, characterized in that: It also has a detection mechanism, a detection circuit and a control circuit; the height adjustment mechanism has multiple sets of the same, each set of height adjustment mechanism includes an electric push rod and a support plate, the upper end of the support plate is installed on the lower end of the electric push rod, and the upper ends of the multiple sets of height adjustment mechanisms are respectively installed around the lower end of the workbench of the 3D printing device body; the detection mechanism has multiple sets, the detection mechanism is a photoelectric switch, and the multiple sets of photoelectric switches are distributed and installed around the lower end of the forearm of the robot of the 3D printing device body at a circular interval, and the detection head of the photoelectric switch faces the outer end; the detection circuit has multiple channels, the number of detection circuits and photoelectric switches is the same, and the multiple detection circuits and control circuits are installed in the component box; the control end of the multiple detection circuit is electrically connected to the power input end of the control circuit, the control power output end of the control circuit is electrically connected to the power input end of the 3D printing device body, and the signal output ends of the multiple sets of photoelectric switches are electrically connected to the signal input ends of the multiple detection circuits.

2. A robot-based 3D printing device according to claim 1, characterized in that: The detection circuit includes an electrically connected resistor, a transistor and a relay, the positive power input terminal of the relay is connected to the control power input terminal, one end of the first resistor is connected to one end of the second resistor and one end of the third resistor, the other end of the third resistor is connected to the base of the transistor, the collector of the transistor is connected to the negative power input terminal of the relay, and the other end of the second resistor is connected to the emitter of the transistor.

3. A robot-based 3D printing device according to claim 1, characterized in that: The control circuit includes an electrically connected buzzer and a relay, and two ends of the relay power input are connected to two ends of the buzzer power input respectively.

4. A robot-based 3D printing device according to claim 1, characterized in that: The height of the lower end of the support plate of the height adjustment mechanism is lower than the height of the lower end of the workbench.

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