Connecting device for aerosol printing nozzle and collaborative robot

Abstract

The utility model provides a connecting device for an aerosol printing nozzle and a collaborative robot, which comprises a first connecting seat and a second connecting seat, the first connecting seat is detachably connected with a connecting seat of a mechanical arm of the collaborative robot, and the second connecting seat is detachably connected with the first connecting seat. The aerosol printing nozzle is sleeved with the second connecting base, the mechanical arm, the second connecting base and the aerosol printing nozzle are coaxially distributed, a nozzle on the lower portion of the aerosol printing nozzle is located on the outer side of the lower portion of the second connecting base, and a positioning device used for fixing the aerosol printing nozzle is arranged on the second connecting base. By means of the device, the aerosol printing spray head can be conveniently and rapidly installed on and detached from the mechanical arm, and therefore follow-up cleaning and overhauling of the aerosol printing spray head are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of 3D automated printing, in particular to a connecting device for an aerosol printing nozzle and a collaborative robot. Background Art

[0002] Compared with traditional industrial robots, collaborative robots are cost-effective, flexible in deployment, safe, and easy to use. They can give full play to the efficiency of robots and the intelligence of humans, and are more adaptable to the personalized production needs of enterprises of different sizes, which greatly promotes the development of manufacturing enterprises.

[0003] Collaborative robots are being used in 3D printing to improve 3D printing precision and product quality. Currently, when collaborative robots are used to assist in 3D printing, the aerosol printhead is typically mounted on the end of the collaborative robot's robotic arm, which then drives the aerosol printhead for shift printing. Existing devices for connecting the aerosol printhead to the end of the robotic arm are complex and inconvenient to disassemble, making it difficult to clean and repair the aerosol printhead. Utility Model Content

[0004] The purpose of the utility model is to provide a connection device between an aerosol printing nozzle and a collaborative robot, which can be used to conveniently install and disassemble the aerosol printing nozzle on a robotic arm, thereby facilitating subsequent cleaning and maintenance of the aerosol printing nozzle.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a connecting device for an aerosol printing nozzle and a collaborative robot, comprising a first connecting seat and a second connecting seat, the first connecting seat being connected to the connecting seat of the collaborative robot's mechanical arm in a detachable connection manner, the second connecting seat being connected to the first connecting seat in a detachable connection manner, the aerosol printing nozzle being housed in the second connecting seat and the mechanical arm, the second connecting seat and the aerosol printing nozzle being coaxially distributed, the nozzle at the lower part of the aerosol printing nozzle being located on the outer side of the lower part of the second connecting seat, and a positioning device for fixing the aerosol printing nozzle being provided on the second connecting seat.

[0006] Furthermore, the first connecting seat is a blind flange, and the blind flange is connected to the connecting seat of the robotic arm by means of bolt connection.

[0007] Furthermore, the second connecting seat includes an upper conical sleeve and a lower cylindrical sleeve, the small-mouth end of the upper conical sleeve is connected to the upper part of the lower cylindrical sleeve, and an annular connecting plate is provided on the upper outer edge of the large-mouth end of the upper conical sleeve. The annular connecting plate is connected to the blind flange by bolt connection. A plurality of through grooves for the passage of the aerosol delivery tube are provided on the side wall of the upper conical sleeve, a first through hole for the lower cylinder at the bottom of the aerosol printing nozzle to pass through is provided at the bottom of the lower cylindrical sleeve, and a second through hole for the sheath gas delivery connector to pass through is provided on the lower vertical side wall of the lower cylindrical sleeve.

[0008] Furthermore, the outer side wall of the upper cylinder of the aerosol printing nozzle can fit with the inner side wall of the small mouth end of the upper conical sleeve.

[0009] Furthermore, the outer side wall of the middle cylinder of the aerosol printing nozzle can fit with the inner side wall of the lower cylindrical sleeve.

[0010] Furthermore, a plurality of observation ports distributed along the circumference of the lower cylindrical sleeve are provided on the side wall of the lower cylindrical sleeve, and the observation ports are located above the second through hole.

[0011] Furthermore, the positioning device includes two push screws, which are symmetrically arranged on the outer side wall of the lower cylindrical sleeve, and the push screws are used to press the outer side wall of the middle cylinder of the aerosol printing nozzle.

[0012] The beneficial effects of the present invention are as follows: the present invention has a simple structure and is easy to manufacture; the blind flange is connected to the connecting seat and the annular connecting plate of the robot arm by a bolt connection method, and its disassembly and connection operations are convenient, which facilitates the installation and disassembly of the aerosol printing nozzle on the robot arm, and facilitates the maintenance and cleaning of the aerosol printing nozzle; and the bolt connection has high strength, which is convenient for ensuring the installation stability of the aerosol printing nozzle on the robot arm during the printing process; the small mouth end of the upper conical sleeve and the upper part of the upper cylindrical sleeve are used to fix the aerosol printing nozzle on the robot arm. The sleeve radial limit of the glue printing nozzle and the top screw press and fix the aerosol printing nozzle, thereby achieving accurate and stable installation of the aerosol printing nozzle, and then ensuring that the mechanical arm drives the aerosol printing nozzle to move accurately, thereby ensuring the printing quality; during the printing process, the observation port is used to facilitate the observation of the aerosol state in the delivery tube in the aerosol printing nozzle, realizing manual assisted monitoring of printing; the through groove and the second through hole are used to facilitate the rapid connection of the peripheral aerosol delivery tube and the sheath gas delivery tube with the aerosol printing nozzle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 This is a schematic diagram of the installation of an aerosol printing nozzle on a robotic arm for the utility model;

[0015] Figure 2 for Figure 1 Schematic diagram of the decomposition;

[0016] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0017] Figure 4 for Figure 2 Enlarged view of point B in the middle;

[0018] Figure 5 for Figure 2 Enlarged view of point C in the middle;

[0019] In the figure: 1 robotic arm, 11 connecting seat, 111 first threaded hole, 2 blind flange, 21 third through hole, 22 second threaded hole, 3 second connecting seat, 31 upper tapered sleeve, 311 annular connecting plate, 3111 fourth through hole, 312 through groove, 32 lower cylindrical sleeve, 321 first through hole, 322 second through hole, 323 observation port, 4 aerosol printing nozzle, 41 upper cylinder, 42 delivery pipe, 43 middle cylinder, 44 lower cylinder, 5 top screw. DETAILED DESCRIPTION

[0020] The following will be combined with specific embodiments and appendix Figure 1-5 The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the embodiments described are only some preferred embodiments of the present invention, not all embodiments. Those skilled in the art may make similar modifications without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] The assisting robot is a mature technology product on the existing market, and the detailed structural composition and working principle of the collaborative robot will not be described in detail; the aerosol printing nozzle 4 is also a known mature technology product in the field of aerosol printing, which mainly includes an upper cylinder 41, a polytetrafluoroethylene tube 42, a middle cylinder 43 and a lower cylinder 44. The detailed structure and working principle of the upper cylinder 41, the polytetrafluoroethylene tube 42, the middle cylinder 43 and the lower cylinder 44 will not be described in detail.

[0022] The utility model provides a connection device between an aerosol printing nozzle and a collaborative robot (such as Figure 1 As shown), it is characterized in that it includes a first connecting seat 2 and a second connecting seat 3. The first connecting seat 2 is connected to the connecting seat 11 of the mechanical arm 1 of the collaborative robot in a detachable connection manner. By using the above connection manner, it is convenient to quickly connect and disassemble the first connecting seat 2 and the connecting seat 11, thereby facilitating the subsequent disassembly and installation of the aerosol printing nozzle 4 on the connecting seat 11; the second connecting seat 3 is connected to the first connecting seat 2 in a detachable connection manner. By using the above connection manner, it is convenient to quickly connect and disassemble the second connecting seat 3 and the first connecting seat 2, thereby facilitating the subsequent installation of the aerosol printing nozzle on the connecting seat During disassembly and assembly of the connecting base 11, the aerosol printing nozzle 4 is nested within the second connecting base 3, and the robotic arm 1, second connecting base 3, and aerosol printing nozzle 4 are coaxially arranged. This coaxial arrangement of the robotic arm 1, second connecting base 3, and aerosol printing nozzle 4 facilitates the accuracy of printing when the robotic arm drives the aerosol printing nozzle 4. The nozzle at the bottom of the aerosol printing nozzle 4 is located on the outer side of the lower portion of the second connecting base 3. This facilitates 3D printing using the aerosol printing nozzle 4. A positioning device for securing the aerosol printing nozzle is provided on the second connecting base 3. The positioning device positions the aerosol printing nozzle 4, thereby improving the stability of the synchronous movement of the aerosol printing nozzle 4 and the robotic arm 1.

[0023] On the basis of the above embodiment, a specific implementation of an embodiment of the first connecting seat is as follows: the first connecting seat is a blind flange 2, and the blind flange 2 is connected to the connecting seat 11 of the robot arm 1 by a bolt connection method. Specifically, four third through holes 21 are provided in the middle of the blind flange 2, and each third through hole 21 corresponds to the first threaded hole 111 on the connecting seat 11. Bolts are passed through the third through holes 21 and tightened in the corresponding first threaded holes 111, thereby achieving a fixed connection between the blind flange 2 and the connecting seat 11. The disassembly and connection operations of the bolts are convenient, thereby facilitating the connection and disassembly of the blind flange 2 and the connecting seat 11.

[0024] The second connecting seat 3 is used to support the aerosol printing nozzle 4. On the basis of the above embodiment, the specific implementation of the second connecting seat 3 is as follows: the second connecting seat 3 includes an upper conical sleeve 31 and a lower cylindrical sleeve 32. The small end of the upper conical sleeve 31 is connected to the upper part of the lower cylindrical sleeve 32. An annular connecting plate 311 is provided on the outer edge of the upper part of the large end of the upper conical sleeve 31. The annular connecting plate 311 is connected to the blind flange 2 by a bolt connection method. Specifically, four fourth through holes 3111 are provided on the annular connecting plate 311, and the blind flange 2 is provided with a fourth through hole 311. 1 corresponding to the second threaded hole 22, the bolt is passed through the fourth through hole 3111 and tightened in the corresponding second threaded hole 22, thereby realizing the fixed connection between the second connecting seat 3 and the blind flange 2. The upper conical sleeve 31 is large at the top and small at the bottom, which makes it easy to insert the handheld aerosol printing nozzle 4 into the second connecting seat 3 from top to bottom. At the same time, when cleaning or repairing the aerosol printing nozzle, it is also easy to remove the aerosol printing nozzle 4 from the second connecting seat 3. A plurality of through grooves 312 for the aerosol delivery tube to pass through are provided on the side wall of the upper conical sleeve 31. In actual application, the aerosol delivery tube can be smoothly used after passing through the through grooves 312. It is connected to the material input end of the aerosol printing nozzle 4. A first through hole 321 is provided at the bottom of the lower cylindrical sleeve 32 for the lower cylindrical body 44 at the bottom of the aerosol printing nozzle 4 to pass through. A second through hole 322 is provided on the lower vertical side wall of the lower cylindrical sleeve 32 for the sheath gas delivery connector to pass through. In actual application, after the aerosol printing nozzle 4 is placed in the second connecting seat 3, the aerosol printing nozzle 4 is rotated so that the sheath gas inlet on the printing nozzle corresponds to the second through hole 322. Then, the pipeline connector is passed through the second through hole 322 and then tightened in the sheath gas inlet to connect the end of the sheath gas delivery pipe to the pipe. The channel joint is sealed and connected, thereby realizing the transportation within the sheath gas phase printing nozzle. In order to improve the positioning accuracy of the aerosol printing nozzle 4 in the second connecting seat 3, the outer wall of the upper cylinder 41 of the aerosol printing nozzle 4 is made to fit with the inner wall of the small mouth end of the upper conical sleeve 31. In the actual processing process, the outer diameter of the upper cylinder 41 is made equal to the inner diameter of the small mouth end of the upper conical sleeve 31. Further, the outer wall of the middle cylinder 43 of the aerosol printing nozzle 4 is made to fit with the inner wall of the lower cylindrical sleeve 32. In the actual processing process, the outer diameter of the middle cylinder 43 is made equal to the inner diameter of the lower cylindrical sleeve 32.

[0025] In actual application, the PTFE tube 42 is a transparent pipe. In order to facilitate the use of the PTFE tube 42 to smoothly observe the state of the aerosol therein, a plurality of observation ports 323 distributed along the circumference thereof are provided on the side wall of the lower cylindrical sleeve 32 , and the observation ports 323 are located above the second through hole 322 .

[0026] On the basis of the above embodiment, the specific implementation of the positioning device is as follows: the positioning device includes two top screws 5, and the two top screws 5 are symmetrically arranged on the outer wall of the lower cylindrical sleeve 32. The top screws 5 are used to press the outer wall of the middle cylinder 43 of the aerosol printing nozzle 4. In actual application, the positions of the top screws 5 on the side wall of the lower cylindrical sleeve 32 are the same. When the aerosol printing nozzle 4 is placed in the second connecting seat 3, the two top screws 5 are rotated synchronously and the number of rotations of the two top screws 5 is the same, so that the two top screws 5 can achieve equal pressure on the centering cylinder 43, thereby ensuring the installation accuracy of the aerosol printing nozzle 4 in the second connecting seat 3.

[0027] When using this device to install the aerosol printing nozzle 4 on the robotic arm 1, first place the aerosol printing nozzle 4 in the second connecting seat 3, then rotate the aerosol printing nozzle 4 so that its sheath gas inlet is aligned with the second through hole 322, then rotate the top screw 5 so that the top screw 5 presses the aerosol printing nozzle 4 against the column, then connect the pipe joint to the sheath gas inlet on the aerosol printing nozzle 4, then connect the sheath gas delivery pipe to the pipe joint, after completing the connection of the sheath gas delivery pipe, pass the end of the aerosol delivery pipe through the through groove 312, then connect the aerosol delivery pipe to the feed end of the aerosol printing nozzle 4, then install the blind flange 2 on the connecting seat 11, and after completion, connect the annular connecting plate 311 to the blind flange 2, and then realize the installation of the aerosol printing nozzle 4 on the robotic arm 1.

[0028] In the present invention, "up", "down", "front", "back", "left" and "right" are relative positions used to conveniently describe positional relationships, and therefore cannot be understood as absolute positions to limit the scope of protection.

[0029] Except for the technical features described in the specification, all other technical features are known technologies to those skilled in the art.

[0030] The above description, in conjunction with the accompanying drawings, details the preferred embodiments and examples of the present invention. However, the present invention is not limited to the above embodiments and examples. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the concept of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A connecting device for an aerosol printing nozzle and a collaborative robot, characterized in that: It includes a first connecting seat and a second connecting seat. The first connecting seat is connected to the connecting seat of the collaborative robot's robotic arm in a detachable connection manner. The second connecting seat is connected to the first connecting seat in a detachable connection manner. The aerosol printing nozzle is placed in the second connecting seat and the robotic arm, the second connecting seat and the aerosol printing nozzle are coaxially distributed. The nozzle at the bottom of the aerosol printing nozzle is located on the outer side of the lower part of the second connecting seat. A positioning device for fixing the aerosol printing nozzle is provided on the second connecting seat.

2. The device for connecting an aerosol printing nozzle to a collaborative robot according to claim 1, wherein: The first connecting seat is a blind flange, and the blind flange is connected to the connecting seat of the robotic arm by means of bolt connection.

3. The device for connecting an aerosol printing nozzle to a collaborative robot according to claim 2, wherein: The second connecting seat includes an upper conical sleeve and a lower cylindrical sleeve. The small-mouth end of the upper conical sleeve is connected to the upper part of the lower cylindrical sleeve. An annular connecting plate is provided on the upper outer edge of the large-mouth end of the upper conical sleeve. The annular connecting plate is connected to the blind flange by bolt connection. A plurality of through grooves for the passage of the aerosol delivery tube are provided on the side wall of the upper conical sleeve. A first through hole for the lower cylinder at the bottom of the aerosol printing nozzle to pass through is provided at the bottom of the lower cylindrical sleeve. A second through hole for the sheath gas delivery connector to pass through is provided on the lower vertical side wall of the lower cylindrical sleeve.

4. The device for connecting an aerosol printing nozzle to a collaborative robot according to claim 3, wherein: The outer side wall of the upper cylinder of the aerosol printing nozzle can fit with the inner side wall of the small mouth end of the upper conical sleeve.

5. The device for connecting an aerosol printing nozzle to a collaborative robot according to claim 3, wherein: The outer side wall of the middle cylinder of the aerosol printing nozzle can fit with the inner side wall of the lower cylindrical sleeve.

6. The device for connecting an aerosol printing nozzle to a collaborative robot according to claim 3, wherein The side wall of the lower cylindrical sleeve is provided with a plurality of observation ports distributed along its circumference, and the observation ports are located above the second through hole.

7. The device for connecting an aerosol printing nozzle to a collaborative robot according to claim 3, wherein: The positioning device includes two top screws, which are symmetrically arranged on the outer side wall of the lower cylindrical sleeve. The top screws are used to press the outer side wall of the middle cylinder of the aerosol printing nozzle.

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