A clamping mechanism for a mechanical arm type 3D printer

Abstract

The utility model discloses a clamping mechanism of a mechanical arm type 3D printer, and relates to the field of mechanical technology. The utility model includes a pad, on which a clamping mechanism, a rotating mechanism and a mechanical arm mechanism are arranged; the clamping mechanism includes a clamping claw assembly and a lifting assembly, the clamp housing is fixedly connected with a fixed block, the clamp housing is fixedly connected with two sliding bars, the two sliding bars are fixedly connected with the fixed block, the two sliding bars are slidably connected with the lifting block, the lifting block is hinged with two first connecting bars, a number of first connecting bars are hinged with second connecting bars, a number of second connecting bars are hinged with clamping claws, a number of second connecting bars are rotatably connected with a first rotating shaft, two clamping claws are hinged with third connecting bars, and a number of third connecting bars are hinged with the fixed block. The utility model sets a clamping mechanism, and uses a first hydraulic cylinder to push the hydraulic telescopic rod through a series of linkage mechanisms so that the two clamping claws clamp the printing platform or printing material.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical technology, and particularly relates to a clamping mechanism of a mechanical arm type 3D printer. Background Art

[0002] 3D printing, also known as additive manufacturing technology, is a technology that manufactures physical parts by accumulating materials layer by layer based on three-dimensional CAD data. The historical development of 3D printing technology is a process of continuous progress and expansion. From the early rapid prototyping technology to today's widespread application, 3D printing technology is used in jewelry design, footwear design and manufacturing, industrial design, architectural design, engineering design and construction, automotive design and manufacturing and other design and manufacturing fields, as well as aerospace, dentistry and other medical fields. 3D printing technology is divided into seven categories, including binder jetting, directed energy deposition, material extrusion, material jetting, powder bed fusion, sheet lamination and vat photopolymerization.

[0003] However, some current 3D printing molding methods have difficulty in printing some parts or structures that need to be suspended. Such molding methods require a fixture to stably fix or clamp the printing platform or material in mid-air, so a clamping mechanism is needed to help clamp and support it so that the printing material can be deposited and continue to print. Utility Model Content

[0004] The purpose of the utility model is to provide a clamping mechanism for a mechanical arm type 3D printer. By providing a clamping mechanism, a first hydraulic cylinder is telescopically pushed to push a hydraulic telescopic rod through a series of linkage mechanisms so that two clamping claws clamp an object, thereby solving the problem of requiring a clamp to stably fix or clamp a printing platform or material in mid-air.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is a clamping mechanism of a mechanical arm type 3D printer, comprising a pad, on which a clamping mechanism, a rotating mechanism and a mechanical arm mechanism are arranged;

[0007] Furthermore, the clamping mechanism includes a clamping jaw assembly and a lifting assembly, the clamping jaw assembly includes a clamp housing arranged on a pad, the inner wall of the clamp housing is fixedly connected to a fixed block, the inner wall of the clamp housing is fixedly connected to two sliding rods, the bottom ends of the two sliding rods are fixedly connected to the top surface of the fixed block, the outer walls of the two sliding rods are slidably connected to a lifting block, the left and right sides of the lifting block are hinged with two first connecting strips, the bottom ends of several of the first connecting strips are hinged with second connecting strips, the ends of several of the second connecting strips away from each other are hinged with clamping jaws, the sides of several of the second connecting strips close to each other are rotatably connected with a first rotating shaft, the ends of the two first rotating shafts away from each other extend to the inner wall of the clamp housing and are fixedly connected thereto, the left and right sides of the two clamping jaws are hinged with third connecting strips, and the sides of several of the third connecting strips close to each other are hinged to the outer wall of the fixed block.

[0008] Furthermore, the lifting assembly includes a first hydraulic cylinder fixedly connected to the inner wall of the clamp housing, the output end of the first hydraulic cylinder is fixedly connected to a hydraulic telescopic rod, and the bottom end of the hydraulic telescopic rod extends to the top surface of the lifting block and is fixedly connected thereto.

[0009] Furthermore, the rotating mechanism includes a rotating component, a driving component and a connecting component, the rotating component includes a rotating drum fixedly connected to the outer wall of the clamp shell, the outer wall of the rotating drum is provided with a rotating groove, the inner wall of the rotating groove is slidably connected with a first rotating circle, and the outer wall of the first rotating circle is fixedly connected to the rotating shell.

[0010] Furthermore, the driving assembly includes a dual-axis motor fixedly connected to the inner wall of the rotating shell, the bottom output end of the dual-axis motor is fixedly connected to the top surface of the fixture shell, and the top output end of the dual-axis motor is fixedly connected to the first bevel gear.

[0011] Further, the connecting assembly includes a rotating block rotatably connected to the outer wall of the rotating shell, a second rotating shaft is fixedly connected to the left side of the rotating block, a left end of the second rotating shaft extends to the inner wall of the rotating shell and is rotatably connected thereto, a limiting block is fixedly connected to the outer wall of the second rotating shaft, a second bevel gear is fixedly connected to the left end of the second rotating shaft, and the second bevel gear is meshed with the first bevel gear.

[0012] Furthermore, the robotic arm mechanism includes a base assembly, a boom assembly and a telescopic assembly, the base assembly includes a rotating base fixedly connected to the top surface of the pad, and the top surface of the rotating base is rotatably connected to the boom joint.

[0013] Furthermore, the upper arm assembly includes a mechanical upper arm hinged on the top of the upper arm joint, a driving actuator is fixedly connected to the front of the mechanical upper arm, and a forearm joint is hinged on the top of the mechanical upper arm.

[0014] Furthermore, the telescopic assembly includes a slide groove opened on the outer wall of the forearm joint, the inner wall of the slide groove is slidably connected with a slider, the left side of the slider is fixedly connected to a mechanical forearm, the right side of the forearm joint is fixedly connected to a second hydraulic cylinder, the output end of the second hydraulic cylinder is fixedly connected to the mechanical forearm, the left end of the mechanical forearm is hinged with a wrist joint, and the left side of the wrist joint is fixedly connected to the right side of the rotating block.

[0015] The utility model has the following beneficial effects:

[0016] 1. By setting up a clamping mechanism, the first hydraulic cylinder is used to push the hydraulic telescopic rod through a series of linkage mechanisms to clamp and close the two clamps. The robotic arm aligns the clamps with the printing platform or the printing material to drive the first hydraulic cylinder to clamp it, and then the 3D printer can deposit the printing material on the clamped object to complete the shaping process.

[0017] 2. By setting up a robotic arm mechanism, a telescopic component is set on the robotic arm to facilitate the clamping mechanism to clamp objects that are far away or close to the device. The robotic arm can cope with a variety of situations, is more flexible and accurate, and can better handle 3D printed objects of different shapes.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of the front side of the utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the back of the utility model;

[0022] Figure 3 It is a schematic diagram of the side section structure of the utility model;

[0023] Figure 4 This is a schematic diagram of the front cross-section structure of the utility model;

[0024] Figure 5 For this utility model Figure 3 Schematic diagram of the enlarged structure at point A in the middle.

[0025] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0026] 1. Pad; 2. Clamping mechanism; 3. Rotating mechanism; 4. Mechanical arm mechanism; 21. Fixture housing; 22. Fixed block; 23. Slide bar; 24. Lifting block; 25. First connecting strip; 26. Second connecting strip; 27. Clamping claw; 28. First rotating shaft; 29. ​​Third connecting strip; 210. First hydraulic cylinder; 211. Hydraulic telescopic rod; 31. Rotating drum; 32. Rotating groove; 33. First rotating circle; 34. Rotating housing; 35. Dual-axis motor; 36. First bevel gear; 37. Rotating block; 38. Second rotating shaft; 39. Limiting block; 310. Second bevel gear; 41. Rotating base; 42. Upper arm joint; 43. Mechanical upper arm; 44. Driving actuator; 45. Mechanical forearm; 46. Slide groove; 47. Sliding block; 48. Forearm joint; 49. Second hydraulic cylinder; 410. Wrist joint. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1-5 As shown, the utility model is a clamping mechanism of a mechanical arm type 3D printer, comprising a backing plate 1, on which a clamping mechanism 2, a rotating mechanism 3 and a mechanical arm mechanism 4 are arranged;

[0029] The clamping mechanism 2 includes a clamping jaw assembly and a lifting assembly. The clamping jaw assembly includes a clamp housing 21 arranged on the pad 1. The inner wall of the clamp housing 21 is fixedly connected with a fixed block 22. The inner wall of the clamp housing 21 is fixedly connected with two sliding rods 23. The bottom ends of the two sliding rods 23 are fixedly connected to the top surface of the fixed block 22. The outer walls of the two sliding rods 23 are slidably connected with a lifting block 24. The left and right sides of the lifting block 24 are hinged with two first connecting strips 25. The bottom ends of several first connecting strips 25 are hinged with second connecting strips 26. The ends of several second connecting strips 26 that are away from each other are hinged with clamping jaws 27. The sides of several second connecting strips 26 that are close to each other are rotatably connected with a first rotating shaft 28. The ends of the two first rotating shafts 28 that are away from each other extend to the inner wall of the clamp housing 21 and are fixedly connected thereto. The left and right sides of the two clamping jaws 27 are hinged with third connecting strips 29. The sides of several third connecting strips 29 that are close to each other are hinged to the outer wall of the fixed block 22.

[0030] Among them Figure 3 and Figure 5As shown, the lifting assembly includes a first hydraulic cylinder 210 fixedly connected to the inner wall of the clamp housing 21, and the output end of the first hydraulic cylinder 210 is fixedly connected to a hydraulic telescopic rod 211, and the bottom end of the hydraulic telescopic rod 211 extends to the top surface of the lifting block 24 and is fixedly connected thereto.

[0031] By setting up a clamping mechanism, the first hydraulic cylinder is extended to push the hydraulic telescopic rod through a series of linkage mechanisms to clamp the two claws closed. The robotic arm aligns the claws with the printing platform or the printing material to drive the first hydraulic cylinder to clamp it, and then the 3D printer deposits the printing material on the clamped object to complete the shaping process.

[0032] Among them Figure 3 and Figure 4 As shown, the rotating mechanism 3 includes a rotating assembly, a driving assembly and a connecting assembly. The rotating assembly includes a rotating drum 31 fixedly connected to the outer wall of the clamp housing 21. The outer wall of the rotating drum 31 is provided with a rotating groove 32. The inner wall of the rotating groove 32 is slidably connected with a first rotating circle 33. The outer wall of the first rotating circle 33 is fixedly connected with a rotating housing 34. The driving assembly includes a dual-axis motor 35 fixedly connected to the inner wall of the rotating housing 34. The bottom output end of the dual-axis motor 35 is fixedly connected to the top surface of the clamp housing 21. The top output end of the dual-axis motor 35 is fixedly connected with a first bevel gear 36. The connecting assembly includes a rotating block 37 rotatably connected to the outer wall of the rotating housing 34. The left side of the rotating block 37 is fixedly connected with a second rotating shaft 38. The left end of the second rotating shaft 38 extends to the inner wall of the rotating housing 34 and is rotatably connected thereto. The outer wall of the second rotating shaft 38 is fixedly connected with a limiting block 39. The left end of the second rotating shaft 38 is fixedly connected with a second bevel gear 310. The second bevel gear 310 meshes with the first bevel gear 36.

[0033] By setting up the rotating mechanism, it is achieved that the rotating mechanism and the clamping mechanism are driven to rotate by the two output ends of the dual-axis motor, which makes it convenient for the device to flip the object when clamping the object so that it can be better processed and formed.

[0034] Among them Figure 2 and Figure 4As shown, the mechanical arm mechanism 4 includes a base assembly, a boom assembly and a telescopic assembly, the base assembly includes a rotating base 41 fixedly connected to the top surface of the pad 1, the top surface of the rotating base 41 is rotatably connected to the boom joint 42, the boom assembly includes a mechanical boom 43 hinged on the top of the boom joint 42, the front of the mechanical boom 43 is fixedly connected to a driving actuator 44, the top of the mechanical boom 43 is hinged to a forearm joint 45, the telescopic assembly includes a slide groove 46 opened on the outer wall of the forearm joint 45, the inner wall of the slide groove 46 is slidably connected to a slider 47, the left side of the slider 47 is fixedly connected to a mechanical forearm 48, the right side of the forearm joint 45 is fixedly connected to a second hydraulic cylinder 49, the output end of the second hydraulic cylinder 49 is fixedly connected to the mechanical forearm 48, the left end of the mechanical forearm 48 is hinged to a wrist joint 410, and the left side of the wrist joint 410 is fixedly connected to the right side of the rotating block 37.

[0035] By setting up a robotic arm mechanism, a telescopic component is set on the robotic arm to facilitate the clamping mechanism to clamp objects that are far away or close to the device. The robotic arm can cope with a variety of situations, is more flexible and accurate, and can better handle 3D printed objects of different shapes.

[0036] A specific application of this embodiment is as follows: by setting the clamping mechanism 2, the first hydraulic cylinder 210 drives the hydraulic telescopic rod 211 to retract upward and push the lifting block 24, the lifting block 24 slides upward on the two slide bars 23, and drives a plurality of first connecting bars 25 to move upward. Since the first connecting bar 25 is hinged with the second connecting bar 26, the second connecting bar 26 rotates around the first rotating shaft 28 driven by the first connecting bar 25, and the end of the second connecting bar 26 hinged to the first connecting bar 25 moves upward, driving the articulated clamping claw 27 to move downward and inward. At this time, the clamping claw 27 moves with The third connecting bar 29 hinged thereto and one end hinged with the fixed block 22 rotates inward, so that the two clamping claws 27 move inward synchronously to form a clamp. If the clamping is released, the first hydraulic cylinder 210 pushes the hydraulic telescopic rod 211 down according to the principle described above to complete the loosening of the clamping, and realizes the use of the first hydraulic cylinder to push the hydraulic telescopic rod through a series of linkage mechanisms to clamp the two clamping claws closed. The robotic arm aligns the clamping claws with the printing platform or the printing material to drive the first hydraulic cylinder to clamp it, and then the 3D printer is convenient for depositing the printing material on the clamped object to complete the shaping process.

[0037] By setting the rotating mechanism 3, the bottom output end of the double-axis motor 35 drives the clamp housing 21 to rotate. The clamp housing 21 rotates, driving the clamping mechanism 2 to rotate and also driving the rotating drum 31 to rotate. The rotating drum 31 rotates so that the first rotating circle 33 of the rotating housing 34 slides in the first rotating groove 32 of the rotating drum 31 and rotates around the double-axis motor 35. The top output end of the double-axis motor 35 rotates. Since the first bevel gear 36 is meshed with the second bevel gear 310, the output end of the double-axis motor 35 rotates and drives the entire rotating mechanism 3 to rotate around the second rotating shaft 38 fixed on the second bevel gear 310. The second rotating shaft 38 is fixed on the rotating block 37. A limit block 39 is set to limit the rotation of the rotating housing 34, so that the rotating mechanism and the clamping mechanism are driven to rotate by the two output ends of the double-axis motor, which facilitates the device to flip the object when clamping the object so that it can be better processed and formed.

[0038] By setting up a robotic arm mechanism 4, the rotating base 41 on the pad 1 drives the upper arm joint 42 to rotate, the upper arm joint 42 is hinged with the mechanical upper arm 43, and the driving actuator 44 drives the entire robotic arm mechanism to run and execute instructions. The mechanical upper arm 43 is hinged with the mechanical lower arm 45, and the output end of the second hydraulic cylinder 49 pushes the slider 47 on the lower arm joint 48 to slide on the slide groove 46 of the mechanical lower arm 45. The lower arm joint 48 pushes the wrist joint 410 to extend and retract, driving the clamping mechanism 2 and the rotating mechanism 3 on the left side of the wrist joint 410 to extend and retract, thereby realizing the setting of a telescopic component on the robotic arm to facilitate the clamping mechanism to clamp objects that are far or close to the device. The setting of the robotic arm can cope with a variety of situations, is more flexible and accurate, and can better handle 3D printed objects of different shapes.

[0039] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0040] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A clamping mechanism for a robotic arm 3D printer, comprising a pad (1), characterized in that: The pad (1) is provided with a clamping mechanism (2), a rotating mechanism (3) and a mechanical arm mechanism (4); The clamping mechanism (2) comprises a clamping claw assembly and a lifting assembly, wherein the clamping claw assembly comprises a clamp housing (21) arranged on a backing plate (1), the inner wall of the clamp housing (21) being fixedly connected to a fixing block (22), the inner wall of the clamp housing (21) being fixedly connected to two sliding bars (23), the bottom ends of the two sliding bars (23) being fixedly connected to the top surface of the fixing block (22), the outer walls of the two sliding bars (23) being slidably connected to a lifting block (24), the left and right sides of the lifting block (24) being hinged to two first connecting bars (25), and a plurality of the first connecting bars (25) being connected to the fixing block (22). The bottom ends of the connecting strips (25) are hingedly connected to second connecting strips (26), and the ends of the plurality of second connecting strips (26) that are away from each other are hingedly connected to clamping claws (27). The sides of the plurality of second connecting strips (26) that are close to each other are rotatably connected to a first rotating shaft (28), and the ends of the two first rotating shafts (28) that are away from each other extend to the inner wall of the clamp housing (21) and are fixedly connected thereto. The left and right sides of the two clamping claws (27) are hingedly connected to third connecting strips (29), and the sides of the plurality of third connecting strips (29) that are close to each other are hingedly connected to the outer wall of the fixing block (22).

2. The clamping mechanism of a mechanical arm type 3D printer according to claim 1, characterized in that: The lifting assembly comprises a first hydraulic cylinder (210) fixedly connected to the inner wall of the clamp housing (21), the output end of the first hydraulic cylinder (210) being fixedly connected to a hydraulic telescopic rod (211), the bottom end of the hydraulic telescopic rod (211) extending to the top surface of the lifting block (24) and fixedly connected thereto.

3. The clamping mechanism of a mechanical arm type 3D printer according to claim 1, characterized in that: The rotating mechanism (3) comprises a rotating assembly, a driving assembly and a connecting assembly, wherein the rotating assembly comprises a rotating drum (31) fixedly connected to the outer wall of the clamp housing (21), the outer wall of the rotating drum (31) being provided with a rotating groove (32), the inner wall of the rotating groove (32) being slidably connected to a first rotating circle (33), and the outer wall of the first rotating circle (33) being fixedly connected to a rotating housing (34).

4. The clamping mechanism of a mechanical arm type 3D printer according to claim 3, characterized in that: The drive assembly comprises a dual-axis motor (35) fixedly connected to the inner wall of a rotating housing (34), a bottom output end of the dual-axis motor (35) fixedly connected to the top surface of the fixture housing (21), and a top output end of the dual-axis motor (35) fixedly connected to a first bevel gear (36).

5. The clamping mechanism of a mechanical arm type 3D printer according to claim 3, characterized in that: The connecting assembly comprises a rotating block (37) rotatably connected to the outer wall of the rotating shell (34); a second rotating shaft (38) is fixedly connected to the left side of the rotating block (37); a left end of the second rotating shaft (38) extends to the inner wall of the rotating shell (34) and is rotatably connected thereto; a limiting block (39) is fixedly connected to the outer wall of the second rotating shaft (38); a second bevel gear (310) is fixedly connected to the left end of the second rotating shaft (38); and the second bevel gear (310) is meshed with the first bevel gear (36).

6. The clamping mechanism of a mechanical arm type 3D printer according to claim 1, characterized in that: The mechanical arm mechanism (4) comprises a base assembly, a boom assembly and a telescopic assembly, wherein the base assembly comprises a rotating base (41) fixedly connected to the top surface of the backing plate (1), and the top surface of the rotating base (41) is rotatably connected to a boom joint (42).

7. The clamping mechanism of a mechanical arm type 3D printer according to claim 6, characterized in that: The upper arm assembly comprises a mechanical upper arm (43) hinged on the top of an upper arm joint (42), a driving actuator (44) is fixedly connected to the front of the mechanical upper arm (43), and a lower arm joint (45) is hinged on the top of the mechanical upper arm (43).

8. The clamping mechanism of a mechanical arm type 3D printer according to claim 7, characterized in that: The telescopic assembly comprises a slide groove (46) formed on the outer wall of a forearm joint (45); a slider (47) is slidably connected to the inner wall of the slide groove (46); a mechanical forearm (48) is fixedly connected to the left side of the slider (47); a second hydraulic cylinder (49) is fixedly connected to the right side of the forearm joint (45); an output end of the second hydraulic cylinder (49) is fixedly connected to the mechanical forearm (48); a wrist joint (410) is hingedly connected to the left end of the mechanical forearm (48); and a left side of the wrist joint (410) is fixedly connected to the right side of a rotating block (37).

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