Manipulator system for replacing base plate in 3D printing

Abstract

The utility model belongs to the technical field of 3D printing, and discloses a manipulator system for replacing a substrate in 3D printing, which comprises a base, a mechanical arm and a clamping mechanism, a translation mechanism is arranged at the bottom of the base, the base is mounted on the translation mechanism, the clamping mechanism comprises a connecting block, the connecting block is connected with the free end of the mechanical arm, and the connecting block is connected with the free end of the mechanical arm. Hydraulic cylinders are fixedly mounted on the two sides of the connecting block correspondingly, and the cylinder rod ends of the two hydraulic cylinders are fixedly connected with clamping blocks correspondingly. According to the scheme, a clamping mechanism of a manipulator system is improved, two sets of hydraulic cylinders are connected with the rear ends of two clamping blocks correspondingly, enough space is reserved above a clamping area, and a protection cushion is matched to effectively prevent a three-dimensional object on the surface of a plate subjected to 3D printing from being damaged on the basis that stable clamping and replacement are achieved; and in addition, the adsorption fixing mechanism is additionally arranged for auxiliary adsorption fixing, the situation of falling in the carrying and replacing process is effectively prevented, and the clamping stability is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of 3D printing, and more specifically, to a manipulator system for replacing a substrate in 3D printing. Background Art

[0002] 3D printing, also known as Additive Manufacturing, is a process of creating three-dimensional objects by stacking materials layer by layer. Different from traditional subtractive manufacturing (such as milling, turning, etc.), 3D printing constructs objects from scratch instead of removing excess parts from a larger piece of material.

[0003] In the 3D printing process, the correct placement and replacement of the substrate are key links to ensure printing quality and production efficiency. Currently, in order to improve operation efficiency, the industry generally uses a robotic arm system to achieve automatic replacement of the substrate. However, there are some challenges in this process: when the robotic arm grabs and replaces the substrate, it may damage the printed three-dimensional object; at the same time, for substrates with a large weight, it is easy to drop during the clamping and grabbing process. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the disadvantages existing in the prior art, and to propose a manipulator system for replacing a substrate in 3D printing.

[0005] To solve the above problems, the utility model adopts the following technical solutions:

[0006] A manipulator system for replacing a substrate in 3D printing, including a machine base, a robotic arm, and a clamping mechanism. A translation mechanism is provided at the bottom of the machine base, the machine base is installed on the translation mechanism, the clamping mechanism includes a connecting block, the connecting block is connected to the free end of the robotic arm, hydraulic cylinders are fixedly installed on both sides of the connecting block, and clamping blocks are fixedly connected to the rod ends of the two hydraulic cylinders;

[0007] Both of the two clamping blocks extend from back to front, and the hydraulic cylinders are close to the rear ends of the clamping blocks;

[0008] Outward extending parts are provided at the tops of the two clamping blocks, and adsorption fixing mechanisms are arranged on the two extending parts.

[0009] As a further description of the above technical solution: The translation mechanism is a linear slide module, the translation mechanism includes an electric track beam and a slider, the slider moves linearly on the electric track beam, and the machine base is fixedly installed on the slider.

[0010] As a further description of the above technical solution: The adsorption and fixation mechanism includes a hollow adsorption block. A vacuum pump communicated with the hollow adsorption block is fixedly installed at the top of the hollow adsorption block. A plurality of adsorption tubes communicated with the hollow adsorption block are arranged at the bottom of the hollow adsorption block. The bottom end of each adsorption tube is connected with a vacuum sucker. An installation component is arranged on the outer side of the hollow adsorption block. The hollow adsorption block is fixedly installed on the extension part through the installation component.

[0011] As a further description of the above technical solution: The vacuum sucker is a bellows-type vacuum sucker.

[0012] As a further description of the above technical solution: The installation component includes an installation block. The installation block is fixedly connected to the outer side of the hollow adsorption block. An electric push rod is fixedly connected to the bottom of the installation block. The cylinder body of the electric push rod is fixedly installed on the extension part.

[0013] As a further description of the above technical solution: Support plates are fixedly connected to the inner sides of the bottoms of the two clamping blocks. Inclined surfaces are arranged on the top surfaces of the two support plates close to each other.

[0014] As a further description of the above technical solution: Protective soft pads are fixedly connected to the inner sides of the two clamping blocks.

[0015] Compared with the prior art, the advantages of the present utility model are as follows:

[0016] First, this solution improves the clamping mechanism of the manipulator system. By connecting two groups of hydraulic cylinders to the rear ends of the two clamping blocks respectively, enough space is reserved above the clamping area. Cooperating with the protective soft pads, it can effectively prevent the damage of the three-dimensional object above the successfully 3D-printed substrate while realizing stable clamping and replacement. In addition, by adding an adsorption and fixation mechanism for auxiliary adsorption and fixation, it can effectively prevent the situation of dropping during the handling and replacement process, further improving the clamping stability. The clamping mechanism can be adjusted to adapt to substrates of different size specifications, with higher practicability.

[0017] Second, in this solution, the manipulator mechanism is installed on the translation mechanism, and the manipulator can move on the translation mechanism, thereby expanding the working range of the manipulator. In addition, the adsorption and fixation mechanism is fixed through the installation component with a telescopic function, and can adapt to the adsorption and fixation of substrates with different thicknesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present utility model;

[0019] Figure 2 is a schematic structural diagram of the clamping mechanism of the present utility model;

[0020] Figure 3This is a schematic structural diagram of the adsorption and fixation mechanism of the present utility model;

[0021] Figure 4 This is a schematic structural diagram of the translation mechanism of the present utility model.

[0022] Explanation of reference numerals in the figure:

[0023] 1. Machine base; 2. Robot arm; 3. Clamping mechanism; 31. Connecting block; 32. Hydraulic cylinder; 33. Clamping block; 331. Extension part; 4. Translation mechanism; 41. Electric track beam; 42. Slide block; 5. Adsorption and fixation mechanism; 51. Hollow adsorption block; 52. Vacuum pump; 53. Adsorption pipe; 54. Vacuum chuck; 55. Installation component; 551. Installation block; 552. Electric push rod; 6. Support plate; 7. Protective soft pad. Specific implementation manner

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model; obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] Please refer to Figure 1 , a manipulator system for replacing a substrate in 3D printing, including a machine base 1, a robot arm 2, and a clamping mechanism 3. A translation mechanism 4 is provided at the bottom of the machine base 1, and the machine base 1 is installed on the translation mechanism 4. The machine base 1 can move on the translation mechanism 4, thereby expanding the working range of the manipulator.

[0026] As Figure 2 shown, the clamping mechanism 3 includes a connecting block 31. The connecting block 31 is connected to the free end of the robot arm 2. Hydraulic cylinders 32 are fixedly installed on both sides of the connecting block 31, and the rod ends of the two hydraulic cylinders 32 are fixedly connected to the clamping blocks 33. By controlling the expansion and contraction of the hydraulic cylinders 32, the opening and closing of the two clamping blocks 33 are controlled to realize the clamping of the substrate, and by controlling the opening and closing size, it can adapt to substrate products of different sizes, improving the practicability. In addition, protective soft pads 7 are fixedly connected to the inner sides of the two clamping blocks 33, playing a role in anti-slip and substrate protection.

[0027] Both of the two clamping blocks 33 extend from the back to the front, and the hydraulic cylinders 32 are close to the rear ends of the clamping blocks 33. This design enables sufficient space to be reserved at the clamping part to adapt to substrates of different thicknesses, and at the same time avoids damage to the three-dimensional objects on the surface of the substrate successfully printed in 3D during the handling and replacement process.

[0028] An outward extension 331 is provided at the top of each of the two clamping blocks 33. An adsorption and fixing mechanism 5 is provided on each of the two extensions 331. Through the adsorption and fixing mechanism 5, on the basis of clamping and fixing, the top side of the substrate with different shapes and materials can be assisted in adsorption and fixing, effectively preventing the situation of falling during the handling and replacement process, and further improving the clamping stability.

[0029] As Figure 3 shown, the adsorption and fixing mechanism 5 includes a hollow adsorption block 51. A vacuum pump 52 communicating with it is fixedly installed at the top of the hollow adsorption block 51. A plurality of adsorption tubes 53 communicating with it are provided at the bottom of the hollow adsorption block 51. The bottom end of each adsorption tube 53 is connected with a vacuum chuck 54. An installation component 55 is arranged on the outer side of the hollow adsorption block 51. The hollow adsorption block 51 is fixedly installed on the extension 331 through the installation component 55. The vacuum chuck 54 is a bellows-type vacuum chuck.

[0030] After the clamping mechanism 3 clamps and fixes the substrate, the vacuum pump 52 is started to extract the air inside the hollow adsorption block 51 to form a negative pressure environment. At the same time, a negative pressure will also be formed inside the adsorption tubes 53 and the vacuum chucks 54, so that the vacuum chucks 54 can adsorb on the substrate surface. The vacuum chuck 54 adopts a bellows-type design. This kind of chuck has good flexibility and adaptability, and can adapt to substrates with different size specifications and surface roughness, ensuring a stable adsorption effect.

[0031] The installation component 55 includes an installation block 551. The installation block 551 is fixedly connected to the outer side of the hollow adsorption block 51. An electric push rod 552 is fixedly connected to the bottom of the installation block 551. The cylinder body of the electric push rod 552 is fixedly installed on the extension 331. Through the telescopic movement of the electric push rod 552, the height of the vacuum chuck 54 can be adjusted, so as to adapt to the adsorption and fixing of substrates with different thicknesses.

[0032] As Figure 4 shown, the translation mechanism 4 is a linear slide table module. The translation mechanism 4 includes an electric track beam 41 and a slider 42. The slider 42 moves linearly on the electric track beam 41. The machine base 1 is fixedly installed on the slider 42. The electric track beam 41 is the basis of the translation mechanism 4. An electric drive device is integrated inside it, which can provide the power for linear motion. The slider 42 is installed on the electric track beam 41. Through the control of the electric drive device, the slider 42 can perform precise linear motion on the electric track beam 41. Thus, the machine base 1 and the robotic arm 2 and the clamping mechanism 3 installed thereon can realize horizontal translation, expanding the working range of the manipulator.

[0033] The above are only the preferred specific embodiments of the present utility model; however, the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its improved conceptions, makes equivalent substitutions or changes, and should be covered within the protection scope of the present utility model.

Claims

1. A manipulator system for replacing a substrate in 3D printing, comprising a machine base (1), a robotic arm (2) and a clamping mechanism (3), characterized in that: A translation mechanism (4) is provided at the bottom of the machine base (1), and the machine base (1) is installed on the translation mechanism (4). The clamping mechanism (3) includes a connecting block (31), and the connecting block (31) is connected to the free end of the robotic arm (2). Hydraulic cylinders (32) are fixedly installed on both sides of the connecting block (31), and the rod ends of the two hydraulic cylinders (32) are fixedly connected to clamping blocks (33). Both of the two clamping blocks (33) extend from the rear to the front, and the hydraulic cylinders (32) are close to the rear ends of the clamping blocks (33). Outward extending portions (331) are provided at the tops of the two clamping blocks (33), and adsorption and fixation mechanisms (5) are arranged on the two outward extending portions (331).

2. The manipulator system for replacing the substrate in 3D printing according to claim 1, wherein: The translation mechanism (4) is a linear slide module. The translation mechanism (4) includes an electric track beam (41) and a slider (42). The slider (42) moves linearly on the electric track beam (41), and the machine base (1) is fixedly installed on the slider (42).

3. The manipulator system for replacing the substrate in 3D printing according to claim 1, wherein: The adsorption and fixation mechanism (5) includes a hollow adsorption block (51). A vacuum pump (52) communicated with the hollow adsorption block (51) is fixedly installed at the top of the hollow adsorption block (51). A plurality of adsorption tubes (53) communicated with the hollow adsorption block (51) are arranged at the bottom of the hollow adsorption block (51). The bottom end of each adsorption tube (53) is connected to a vacuum chuck (54). An installation assembly (55) is arranged on the outer side of the hollow adsorption block (51), and the hollow adsorption block (51) is fixedly installed on the outward extending portion (331) through the installation assembly (55).

4. The manipulator system for replacing the substrate in 3D printing according to claim 3, characterized in that: The vacuum chuck (54) is a bellows-type vacuum chuck.

5. The manipulator system for replacing the substrate in 3D printing according to claim 3, characterized in that: The installation assembly (55) includes an installation block (551). The installation block (551) is fixedly connected to the outer side of the hollow adsorption block (51). The bottom of the installation block (551) is fixedly connected to an electric push rod (552), and the cylinder body of the electric push rod (552) is fixedly installed on the outward extending portion (331).

6. The manipulator system for replacing the substrate in 3D printing according to claim 1, wherein: Protective soft pads (6) are fixedly connected to the inner sides of the two clamping blocks (33).

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