Crawler-type 3D printing mobile robot

Abstract

The utility model relates to the technical field of 3D printing, and discloses a crawler-type 3D printing mobile robot which comprises a printing head, a crawler-type moving device and an installation platform connected with the crawler-type moving device, and further comprises a double-shaft displacement mechanism arranged on the installation platform. A mechanical arm is installed on the lifting rod, and one end of the mechanical arm is connected with the printing head. According to the crawler-type 3D printing mobile robot, the double-shaft displacement mechanism is additionally arranged on the basis of an existing adjustable range, so that the two driving shafts translate on the X axis and the Y axis on the fixing base correspondingly, and the adjusting range of the printing head is enlarged in a large range through cooperation with the lifting rod and the mechanical arm; therefore, the purpose of adjusting the direction of the printing head through movement of the crawler belt is achieved, time is saved, and printing efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of 3D printing technology, and in particular to a tracked 3D printed mobile robot. Background Technology

[0002] 3D printing, also known as additive manufacturing, is a technology that manufactures solid parts by adding materials layer by layer based on 3D CAD data. 3D printing technology has applications in jewelry design, footwear design and manufacturing, industrial design, architectural design, and medical fields such as aerospace and dentistry. Currently, most 3D printing equipment uses a fixed frame to move the print head along three axes. However, this type of 3D printing equipment is limited by space constraints and cannot print large or irregularly shaped components. Existing mobile 3D printing robots can achieve mobile printing. For example, patent document CN213675480U discloses a tracked 3D printing mobile robot. This device, through an open and free-moving printing method, can print large and unusual objects that are currently difficult to print with frame-based 3D printing, avoiding the hassle of scattered printing and reassembly, improving production efficiency, and expanding the application areas of 3D printing technology.

[0003] Although the print head of this device can achieve vertical lifting, horizontal extension and rotation, it needs to adjust the printing orientation by moving the track when dealing with special irregularly shaped printed parts. However, the track has poor flexibility in adjusting the orientation by moving left and right, and the tracked type is slower than the wheeled type. Therefore, it takes more time to adjust the printing orientation. Thus, there is an urgent need for a tracked 3D printing mobile robot to solve the above problems. Utility Model Content

[0004] In view of the fact that the existing tracked vehicles have poor flexibility in adjusting their orientation by moving left and right, and that the tracked vehicles are slower than wheeled vehicles, thus requiring more time to adjust the orientation of the printed vehicle, this utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide a tracked 3D printing mobile robot, which aims to solve the problems of poor flexibility in adjusting the orientation of the tracked robot when moving left and right, and the slower movement speed of the tracked robot compared to the wheeled robot, thus requiring more time to adjust the printing orientation.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a tracked 3D printing mobile robot, including a print head, a tracked moving device and an installation platform connected thereto, and a dual-axis displacement mechanism disposed on the installation platform. A lifting rod is mounted on the dual-axis displacement mechanism, and a robotic arm is mounted on the lifting rod. One end of the robotic arm is connected to the print head. The dual-axis displacement mechanism includes a fixed seat fixedly connected to the installation platform. A movable frame is provided inside the fixed seat. Two sets of meshing worm gears and worm wheels are rotatably connected to the movable frame. A drive shaft is driven through the worm wheels. The drive shaft is rolledly connected to the fixed seat. A lifting plate is connected to the movable frame, and a motor is mounted on the lifting plate. The motor is used to drive the worm gears to rotate.

[0007] As a preferred embodiment of the tracked 3D printed mobile robot of this utility model, the lifting rod is an electric multi-stage telescopic rod, and the robotic arm is a six-axis multi-joint robotic arm.

[0008] As a preferred embodiment of the tracked 3D printed mobile robot of this utility model, the mobile frame includes two connecting plates, and multiple fixed rods are fixedly connected between the two connecting plates in a rectangular structure. The lifting plate is slidably engaged with the fixed rods, and both ends of the lifting plate are connected to a connecting plate through electric push rods.

[0009] In a preferred embodiment of the tracked 3D printed mobile robot of this utility model, the drive shaft is slidably connected to the worm gear, and both ends of the drive shaft are fixedly connected to the moving wheels, which are tumbledly connected to the guide rails fixedly connected to the fixed base.

[0010] In a preferred embodiment of the tracked 3D printed mobile robot of this utility model, the two worm gears are arranged vertically coaxially, and the two worm wheels are arranged perpendicularly to each other.

[0011] In a preferred embodiment of the tracked 3D printed mobile robot of this utility model, a transmission sleeve is provided between the two worm gears, the transmission sleeve is rotatably connected to the lifting plate, and the transmission sleeve is connected to the motor via a chain drive.

[0012] As a preferred embodiment of the tracked 3D printed mobile robot of this utility model, the transmission sleeve is sleeved between two worm gears, and a face gear is fixedly connected to both ends of the transmission sleeve. A face gear two meshing with the face gear is fixedly connected to the worm gear.

[0013] The beneficial effects of this utility model are:

[0014] 1. This utility model adds a dual-axis displacement mechanism to the existing adjustable range, so that the two drive shafts can translate on the X and Y axes respectively on the fixed base. This, in conjunction with the lifting rod and the robotic arm, greatly increases the adjustment range of the print head, thereby avoiding the need to adjust the position of the print head by moving the track, saving time and improving printing efficiency.

[0015] 2. When the electric push rod drives the lifting plate to rise or fall, the transmission sleeve can engage with only one worm gear at a time, so that one motor can drive two worm gears to rotate in turn, thereby reducing the number of drive equipment, reducing structural costs, and facilitating maintenance and widespread use. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0017] Figure 1 This is a schematic diagram of the overall structure of the tracked 3D printed mobile robot of this utility model.

[0018] Figure 2 This is a schematic diagram of the dual-axis displacement mechanism of the tracked 3D printed mobile robot of this utility model.

[0019] Figure 3 This is a front view schematic diagram of the moving frame and lifting plate structure of the tracked 3D printed mobile robot of this utility model.

[0020] Figure 4 This is a schematic diagram of the transmission sleeve and worm gear structure of the tracked 3D printed mobile robot of this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Print head; 2. Tracked moving device; 201. Mounting platform; 3. Dual-axis displacement mechanism; 301. Fixed base; 302. Moving frame; 303. Worm gear; 304. Worm wheel; 305. Drive shaft; 306. Moving wheel; 307. Lifting plate; 308. Electric push rod; 309. Motor; 310. Transmission sleeve; 311. Face gear one; 312. Face gear two; 4. Lifting rod; 5. Robotic arm. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] Example 1

[0025] Reference Figure 1-3 This is the first embodiment of the present utility model, which provides a tracked 3D printing mobile robot. The tracked 3D printing mobile robot includes a print head 1, a tracked mobile device 2 and an installation platform 201 connected thereto. It also includes a dual-axis displacement mechanism 3 provided on the installation platform 201. A lifting rod 4 is mounted on the dual-axis displacement mechanism 3, and a robotic arm 5 is mounted on the lifting rod 4. One end of the robotic arm 5 is connected to the print head 1.

[0026] The dual-axis displacement mechanism 3 includes a fixed base 301 fixedly connected to the mounting platform 201. A movable frame 302 is provided inside the fixed base 301. Two sets of meshing worm gears 303 and worm wheels 304 are rotatably connected to the movable frame 302. A drive shaft 305 is driven to the worm wheel 304. The drive shaft 305 is rolledly connected to the fixed base 301. A lifting plate 307 is connected to the movable frame 302. A motor 309 is installed on the lifting plate 307. The motor 309 is used to drive the worm gear 303 to rotate. When the motor 309 drives one worm gear 303 to rotate, the worm wheel 303 drives the meshing worm wheel 304 to rotate, so that the drive rod 305 can roll within the fixed base 301, thereby driving the lifting rod 4 on the movable frame 302 to move. The two drive shafts 305 are displaced in different directions to cooperate with the lifting rod 4 and the robotic arm 5 to increase the adjustment position of the print head 1.

[0027] It is understandable that by utilizing the unidirectional transmission of the worm gear 303 and the worm wheel 304, the drive shaft 305 can be stably suspended on the fixed seat 301 after it stops rotating, avoiding displacement when subjected to external forces, thereby helping to improve the printing accuracy of the print head 1.

[0028] In actual operation, the lifting rod 4 is an electric multi-stage telescopic rod, and the robotic arm 5 is a six-axis multi-joint robotic arm. The lifting rod 4 can be adjusted within a certain range in the vertical direction, and the robotic arm 5 can move within a range of multiple angles, thereby driving the print head 1 to make flexible orientation adjustments.

[0029] The movable frame 302 includes two connecting plates, and multiple fixed rods are fixedly connected between the two connecting plates in a rectangular structure. The lifting plate 307 is slidably engaged with the fixed rods, and both ends of the lifting plate 307 are connected to a connecting plate through electric push rods 308. The extension and retraction of the electric push rods 308 can drive the lifting rods 307 to move synchronously up and down on the movable frame 302, which can be used to control the motor 309 to drive the worm gear 303 to rotate.

[0030] The drive shaft 305 is slidably connected to the worm gear 304, and both ends of the drive shaft 305 are fixedly connected to the movable wheel 306. The movable wheel 306 is slidably connected to the guide rail fixedly connected to the fixed base 301. When one worm gear 304 rotates, it drives the drive shaft 305 to rotate, causing the movable wheel 306 to roll on the guide rail. At the same time, the other worm gear 304 is not driven and remains stationary, so that the worm gear 303 slides on the drive shaft 305 connected to it.

[0031] The two worm gears 303 are arranged vertically and coaxially, and the two worm wheels 304 are arranged perpendicularly to each other. When the two worm wheels 304 rotate, they drive the drive shaft 305 connected to them to rotate, so that the movable frame 302 can be displaced on the X-axis and Y-axis within the fixed seat 301.

[0032] During use, the motor 309 drives the worm gear 303 to rotate, and the worm gear 303 cooperates with the worm wheel 304 to drive the drive shaft 305 to rotate, so that the moving frame 302 can move horizontally on the fixed seat 301, thereby enabling the print head 1 to be adjusted in the X and Y axes. When the lifting rod 4 is raised and lowered, it drives the print head 1 to be adjusted in the Z axis, and cooperates with the robotic arm 5 to enable the print head 1 to be adjusted quickly and flexibly in multiple directions.

[0033] Example 2

[0034] Reference Figure 3 and Figure 4 This is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that a transmission sleeve 310 is connected between the two worm gears 303. The transmission sleeve 310 is rotatably connected to the lifting plate 307, and the transmission sleeve 310 is connected to the motor 309 through a chain drive. The motor 309 directly drives the transmission sleeve 310. When the lifting plate 307 rises to the highest point, the transmission sleeve 310 drives the upper worm gear 303 to rotate. When the lifting plate 307 falls to the lowest point, the transmission sleeve 310 drives the lower worm gear 303 to rotate, so that a single drive device can drive the two worm gears 303 to rotate in turn.

[0035] The transmission sleeve 310 is sleeved between the two worms 303. Both ends of the transmission sleeve 310 are fixedly connected to face gear 311. Face gear 312 meshing with face gear 311 is fixedly connected to the worm 303. The transmission sleeve 310 is always connected to the two worms 303 during the up and down displacement. When face gear 311 meshes with the upper face gear 312, it drives the upper worm 303 to rotate. Similarly, when face gear 311 meshes with the lower face gear 312, it drives the lower worm 303 to rotate.

[0036] During use, the electric push rod 308 drives the lifting plate 307 to rise until the face gear 311 meshes with the upper side gear 312, which can drive the upper worm gear 303 to rotate. The electric push rod 308 drives the lifting plate 307 to fall until the face gear 311 meshes with the lower side gear 312, which can drive the lower worm gear 303 to rotate.

[0037] The remaining structure is the same as that in Example 1.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A tracked 3D printing mobile robot, comprising a print head (1), a tracked mobile device (2), and a mounting platform (201) connected thereto, characterized in that: It also includes a dual-axis displacement mechanism (3) mounted on the mounting platform (201), a lifting rod (4) mounted on the dual-axis displacement mechanism (3), a robotic arm (5) mounted on the lifting rod (4), and one end of the robotic arm (5) being connected to the print head (1). The dual-axis displacement mechanism (3) includes a fixed base (301) fixedly connected to the mounting platform (201). A movable frame (302) is provided inside the fixed base (301). Two sets of meshing worm gears (303) and worm wheels (304) are rotatably connected to the movable frame (302). A drive shaft (305) is driven to the worm wheel (304). The drive shaft (305) is rolled to the fixed base (301). A lifting plate (307) is connected to the movable frame (302). A motor (309) is installed on the lifting plate (307). The motor (309) is used to drive the worm gears (303) to rotate.

2. The tracked 3D printed mobile robot according to claim 1, characterized in that: The lifting rod (4) is an electric multi-stage telescopic rod, and the robotic arm (5) is a six-axis multi-joint robotic arm.

3. The tracked 3D printed mobile robot according to claim 1, characterized in that: The movable frame (302) includes two connecting plates, and multiple fixed rods are fixedly connected between the two connecting plates in a rectangular structure. The lifting plate (307) is slidably engaged with the fixed rods, and both ends of the lifting plate (307) are connected to a connecting plate through an electric push rod (308).

4. The tracked 3D printed mobile robot according to claim 1, characterized in that: The drive shaft (305) is slidably connected to the worm gear (304), and both ends of the drive shaft (305) are fixedly connected to movable wheels (306), which are tumbledly connected to the guide rail fixedly connected to the fixed seat (301).

5. The tracked 3D printed mobile robot according to claim 1, characterized in that: The two worm gears (303) are arranged vertically and coaxially, and the two worm wheels (304) are arranged perpendicularly to each other.

6. The tracked 3D printed mobile robot according to claim 1, characterized in that: A transmission sleeve (310) is connected between the two worm gears (303). The transmission sleeve (310) is rotatably connected to the lifting plate (307), and the transmission sleeve (310) is connected to the motor (309) via a chain drive.

7. The tracked 3D printed mobile robot according to claim 6, characterized in that: The transmission sleeve (310) is sleeved between two worms (303). Both ends of the transmission sleeve (310) are fixedly connected to a face gear (311), and a face gear (312) meshing with the face gear (311) is fixedly connected to the worm (303).

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