Multi-axis linkage 3D printing device

Abstract

The utility model discloses a multi-axis linkage 3D printing device which comprises a rail assembly, a mechanical arm assembly, a printing platform and a driving assembly, the mechanical arm assembly is composed of a sliding platform and a six-degree-of-freedom series connection arm, all arm bodies are linked with a speed reducer through a driving unit, and multi-axis movement of a printing head is achieved; the track assembly comprises a guide rail, an organ type protective cover and an oil buffer, the anti-pollution capacity and the operation stability are improved, the track assembly is matched with multi-angle movement of the printing platform and matched with multi-angle printing, the driving assembly adopts gear and rack transmission and roller guiding, drag chain power supply and gap adjusting bolts are combined, high-precision movement is ensured, and the 3D printer is suitable for complex 3D printing scenes. The device has the advantages of compact structure, flexible movement and high precision.

Description

A multi-axis linkage 3D printing device Technical Field

[0001] This utility model relates to the field of 3D printing technology, specifically a multi-axis linkage 3D printing device. Background Technology

[0002] Traditional 3D printing devices often employ fixed robotic arms or structures with a limited number of axes, which suffer from limited range of motion and insufficient precision when printing complex models. Furthermore, existing robotic arm track structures are susceptible to dust contamination, leading to poor sliding stability and reduced printing accuracy; the printing platform also has low degrees of freedom of adjustment, making it inflexible and unable to meet the demands of multi-angle, high-precision printing. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-axis linkage 3D printing device that is suitable for complex 3D printing scenarios and has the advantages of high flexibility and high precision.

[0004] To achieve the above objectives, this utility model is implemented through the following technical solution: a multi-axis linkage 3D printing device, including a track assembly, a robotic arm assembly slidably mounted on the track assembly, a printing platform disposed on the front side of the robotic arm assembly, and a drive assembly for driving the robotic arm assembly to slide along the track assembly.

[0005] The robotic arm assembly includes a sliding platform, on which a first arm is fixed. A first drive unit with a vertically aligned rotation axis is located within the first arm. A second arm is rotatably connected to the first arm and is poweredly connected to the first drive unit. A second drive unit with a horizontally aligned rotation axis is located within the second arm. A third arm is rotatably connected to the second arm and is poweredly connected to the second drive unit. A third drive unit with a horizontally aligned rotation axis is located at one end of the third arm. A fourth arm is rotatably connected to the third arm and is poweredly connected to the third drive unit. A fourth drive unit with a rotation axis perpendicular to the third drive unit is located at one end of the fourth arm. A fifth arm is rotatably connected to the fourth arm. A fifth drive unit with a rotation axis perpendicular to the fourth drive unit is located at one end of the fifth arm. A sixth arm is rotatably connected to the fifth arm. A sixth drive unit with a rotation axis perpendicular to the fifth drive unit is located on the sixth arm. A seventh arm is poweredly connected to the sixth drive unit, and a printhead is fixed to the end of the seventh arm.

[0006] In a further technical solution, the track assembly includes two parallel guide rails, the two ends of which are connected by a fixing plate. The fixing plate is provided with a hydraulic damper, and the top of the guide rail is covered with a retractable accordion-style protective cover. A fixed toothed rail is fixed on one of the guide rails.

[0007] In a further technical solution, the drive assembly includes a drive motor fixed on the sliding platform, the output shaft of the drive motor being connected to a drive gear meshing with the fixed gear rail; the bottom of the sliding platform is provided with four roller frames, and rollers that contact the top surface of the guide rail are installed on the roller frames; one end of the bellows-style protective cover is fixed to the guide rail, and the other end is fixed to the roller frame.

[0008] In a further technical solution, a drag chain is provided on the rear side of the track assembly, and the drag chain is electrically connected to the drive motor and supplies power to the drive motor.

[0009] In a further technical solution, the printing platform includes a support body, on which two mounting plates are symmetrically arranged, and a swing plate is rotatably connected between the mounting plates. A seventh drive unit is provided on the mounting plate to drive the swing plate to rotate; an eighth drive unit is provided inside the swing plate, and a detachable support platform is connected to the top of the eighth drive unit.

[0010] In a further technical solution, a connecting plate is detachably connected to the eighth drive unit, and the connecting plate is detachably connected to the support platform.

[0011] In a further technical solution, the sliding platform is equipped with a controller, which is signal-connected to the control center and electrically connected to the first drive unit, the second drive unit, the third drive unit, the fourth drive unit, the fifth drive unit, the sixth drive unit, the seventh drive unit, the eighth drive unit, and the drive motor.

[0012] In a further technical solution, the hydraulic buffer is symmetrically arranged on the fixed plate at the ends of the two guide rails and aligned with the sliding path of the sliding platform.

[0013] In a further technical solution, a gap adjustment bolt is provided between the roller frame and the guide rail to adjust the contact pressure between the roller and the top surface of the guide rail.

[0014] In summary, this utility model has the following beneficial effects: the coordinated drive of a six-degree-of-freedom robotic arm and a sliding track enables precise control of the spatial trajectory of the print head, expands the printing range, and adapts to the forming of complex structures.

[0015] The guide rail is covered with an accordion-style protective cover to prevent dust from entering. The hydraulic damper prevents the robotic arm from sliding overtravel. The track is equipped with an accordion-style dust cover to reduce the impact of pollutants on the movement of the robotic arm components on the track, reduce vibration, and improve stability. The adjustable gap design between the rollers and the guide rail further reduces vibration and ensures smooth operation.

[0016] The printing platform is adjustable with multiple degrees of freedom. The swing plate and the carrier stage are adjusted to multiple angles through two drive units to adapt to different printing angle requirements. The carrier stage is also detachable and replaceable, which improves flexibility.

[0017] The gear and rack drive combined with a self-locking motor, along with reducers at each joint, improves transmission accuracy and load capacity. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 is a three-dimensional structural diagram of this application;

[0020] Figure 2 is a top view of this application;

[0021] Figure 3 is a schematic diagram of the right side of the robotic arm assembly of this application mounted on the track assembly;

[0022] Figure 4 is a simplified schematic diagram of the printing platform of this application.

[0023] In the diagram: 100, Printing platform; 101, Support body; 102, Swinging plate; 103, Eighth drive unit; 104, Connecting plate; 105, Support platform; 106, Mounting plate; 107, Seventh drive unit; 200, Robotic arm assembly; 201, First arm; 202, Second arm; 203, Third arm; 204, Fourth arm; 205, Fifth arm; 206, Sixth arm; 207, Sliding platform; 208, Print head; 209. Seventh arm; 210, First drive unit; 220, Second drive unit; 230, Third drive unit; 240, Fourth drive unit; 250, Fifth drive unit; 260, Sixth drive unit; 300, Track assembly; 301, Guide rail; 302, Fixed gear rail; 303, Fixing plate; 304, Hydraulic damper; 305, Bellows-style protective cover; 400, Drive assembly; 401, Drive motor; 402, Cable chain; 403, Drive gear. Detailed Implementation

[0024] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0026] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0027] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0029] As shown in Figures 1-4, a multi-axis linkage 3D printing device includes a track assembly 300, on which a robotic arm assembly 200 is slidably mounted. A printing platform 100 is provided on the front side of the robotic arm assembly 200, and a drive assembly 400 is provided on one side of the robotic arm assembly 200 for driving the robotic arm assembly 200 to slide on the track assembly 300.

[0030] Specifically, the robotic arm assembly 200 includes a sliding platform 207, which is slidably mounted on the track assembly 300. A first arm body 201 is fixed on the sliding platform 207. A first drive unit 210 is disposed within the first arm body 201, and the rotation axis of the first drive unit 210 is vertically arranged. A second arm body 202 is rotatably mounted on the first arm body 201 and is poweredly connected to the first drive unit 210. A second drive unit 220 is disposed within the second arm body 202. The rotation axis of the second drive unit 220 is horizontally oriented. A third arm 203 is rotatably mounted on the side of the second arm 202. The second drive unit 220 is poweredly connected to the third arm 203 to drive its rotation. A third drive unit 230 is mounted at one end of the third arm 203, and its rotation axis is horizontally oriented. A fourth arm 204 is rotatably mounted at one end of the third arm 203. The fourth arm 204 is connected to the third drive unit 220. A fourth drive unit 240 is provided within one end of the fourth arm 204, and the axis of rotation of the fourth drive unit 240 is perpendicular to the axis of rotation of the third drive unit 230. A fifth arm 205 is rotatably connected to one end of the fourth arm 204, and the fifth arm 205 is poweredly connected to the fourth drive unit 240. A fifth drive unit 250 is provided within one end of the fifth arm 205, and the axis of rotation of the fifth drive unit is perpendicular to the axis of rotation of the fourth drive unit 230. The axis of rotation is perpendicular. A sixth arm 206 is rotatably mounted on one end of the fifth arm 205. The sixth arm 206 is poweredly connected to the fifth drive unit 250. A sixth drive unit 260 is mounted inside the sixth arm 206. The axis of rotation of the sixth drive unit 260 is perpendicular to the axis of rotation of the fifth drive unit 250. A seventh arm 209 is poweredly connected to the sixth drive unit 260. A print head 208 is fixed on the seventh arm 209. The print head 208 is used to eject printing material.

[0031] In one embodiment, the printing platform 100 includes a support body 101, on which two symmetrical mounting plates 106 are fixed. A swing plate 102 is rotatably disposed between the two mounting plates 106. A seventh drive unit 107 is disposed on the mounting plate 106 and is poweredly connected to the swing plate 102. An eighth drive unit 103 is disposed inside the swing plate 102. A connecting plate 104 is poweredly connected to the top of the eighth drive unit 103. A carrier platform 105 is detachably disposed on the connecting plate 104. The print head 208 performs 3D printing on the carrier platform 105.

[0032] In one embodiment, the track assembly 300 includes two guide rails 301, with the two ends of the two guide rails 301 fixedly connected by a fixing plate 303. A hydraulic buffer 304 is fixedly installed on the fixing plate 303 to buffer the robotic arm assembly 200 and prevent the robotic arm assembly 200 from detaching from the guide rails 301. An accordion-style protective cover 305 is provided on each of the guide rails 301. The accordion-style protective cover 305 is retractable and is used to cover the top of the guide rail 301 to prevent dust from falling in, ensure the cleanliness of the guide rail 301, ensure the stability of the robotic arm assembly 200 running on the guide rail 301, reduce vibration, and improve accuracy. A fixed toothed rail 302 is fixed on one of the guide rails 301.

[0033] In one embodiment, the drive assembly 400 includes a drive motor 401 fixed on the sliding platform 207. The drive motor 401 has a self-locking function. The bottom end of the drive motor 401 is poweredly connected to a drive gear 403. The drive gear 403 meshes with the fixed gear rail 302, driving the sliding platform 207 to slide on the guide rail 301. A drag chain 402 is provided on the rear side of the track assembly 300 to supply power to the drive motor 401. Four roller frames are evenly arranged on the bottom surface of the sliding platform 207. Rollers are rotatably mounted on the roller frames. The rollers can roll on the top surface of the guide rail 301. One end of the accordion-style protective cover 305 is fixed on the guide rail 301, and the other end is fixed on the roller frame. An accordion-style protective cover 305 is also installed between two roller frames located on the same guide rail 301.

[0034] In one embodiment, a speed reducer is provided at the rotatable connection between the first arm body 201 and the second arm body 202, the rotatable connection between the second arm body 202 and the third arm body 203, the rotatable connection between the third arm body 203 and the fourth arm body 204, the rotatable connection between the fourth arm body 204 and the fifth arm body 205, the rotatable connection between the fifth arm body 205 and the sixth arm body 206, and the rotatable connection between the sixth arm body 206 and the seventh arm body 209. The first to sixth drive units are connected to the speed reducers at their respective arm body connections, and the power is reduced before being transmitted to the corresponding arm body.

[0035] For example, a first reducer is provided at the rotatable connection between the first arm body 201 and the second arm body 202, the first drive unit is poweredly connected to the power input shaft of the first reducer, and the power output shaft of the first reducer is fixedly connected to the second arm body 202; a second reducer is provided at the rotatable connection between the second arm body 202 and the third arm body 203, the second drive unit is poweredly connected to the power input shaft of the second reducer, and the power output shaft of the second reducer is fixedly connected to the third arm body 203; the connection method of the remaining drive units, the remaining reducers, and the remaining arms is the same.

[0036] In one embodiment, a controller is installed on the sliding platform. The controller is connected to the control center via a cable chain 402 to control the actions of each drive unit and the drive motor, thereby enabling 8-axis linkage 3D printing of the robotic arm assembly 200 and the printing platform 100.

[0037] In one embodiment, a gap adjustment bolt is provided between the roller frame and the guide rail 301 to adjust the contact pressure between the roller and the top surface of the guide rail 301.

[0038] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0039] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0040] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A multi-axis linkage 3D printing device, characterized in that, The system includes a track assembly (300), a robotic arm assembly (200) slidably mounted on the track assembly (300), a printing platform (100) disposed on the front side of the robotic arm assembly (200), and a drive assembly (400) for driving the robotic arm assembly (200) to slide along the track assembly (300); the robotic arm assembly (200) includes a sliding platform (207), a first arm body (201) fixed on the sliding platform (207), a first drive unit (210) with a vertical rotation axis is provided inside the first arm body (201), a second arm body (202) is rotatably connected to the first arm body (201), and the second arm body (202) is poweredly connected to the first drive unit (210); a second drive unit (220) with a horizontal rotation axis is provided inside the second arm body (202), a third arm body (203) is rotatably connected to the second arm body (202), and the third arm body (203) is poweredly connected to the second drive unit (220); the third arm body (203) is poweredly connected to the second drive unit (220); the first arm body (201) is slidably mounted on the track assembly (300), a printing platform (100) disposed on the front side of the robotic arm assembly (200), and a drive assembly (400) for driving the robotic arm assembly (200) to slide along the track assembly (300); the first arm body (200) includes a sliding platform (207), a first arm body (201) fixed on the sliding platform (207), a first drive unit (201) with a vertical rotation axis is provided inside the first arm body (201), and the second arm body (202) is poweredly connected to the first drive unit (210); the second arm body (201) includes a sliding platform (207), a first drive unit (201) with a vertical rotation axis is provided inside the first arm body (201), and the One end of the three-arm body (203) is provided with a third drive unit (230) with a horizontal rotation axis. A fourth arm body (204) is rotatably connected to the third arm body (203), and the fourth arm body (204) is poweredly connected to the third drive unit (230). One end of the fourth arm body (204) is provided with a fourth drive unit (240) with a rotation axis perpendicular to the third drive unit (230). A fifth arm body (205) is rotatably connected to the fourth arm body (204). 205) One end is provided with a fifth drive unit (250) whose rotation axis is perpendicular to the fourth drive unit (240), and a sixth arm (206) is rotatably connected to the fifth arm (205); the sixth arm (206) is provided with a sixth drive unit (260) whose rotation axis is perpendicular to the fifth drive unit (250), and the sixth drive unit (260) is poweredly connected to a seventh arm (209), and a print head (208) is fixed at the end of the seventh arm (209).

2. The multi-axis linkage 3D printing device according to claim 1, characterized in that, The track assembly (300) includes two parallel guide rails (301), the two ends of which are connected by a fixing plate (303). The fixing plate (303) is provided with a hydraulic buffer (304). The top of the guide rail (301) is covered with a retractable bellows-style protective cover (305). One of the guide rails (301) is fixed with a fixed toothed rail (302).

3. The multi-axis linkage 3D printing device according to claim 2, characterized in that, The drive assembly (400) includes a drive motor (401) fixed on the sliding platform (207), the output shaft of the drive motor (401) is connected to a drive gear (403) meshing with the fixed gear rail (302); the bottom of the sliding platform (207) is provided with four roller frames, and rollers that contact the top surface of the guide rail (301) are installed on the roller frames; one end of the bellows-style protective cover (305) is fixed to the guide rail (301), and the other end is fixed to the roller frame.

4. The multi-axis linkage 3D printing device according to claim 1, characterized in that, The track assembly (300) is provided with a drag chain (402) on the rear side. The drag chain (402) is electrically connected to the drive motor (401) and supplies power to the drive motor (401).

5. The multi-axis linkage 3D printing device according to claim 1, characterized in that, The printing platform (100) includes a support body (101), on which two mounting plates (106) are symmetrically arranged. A swing plate (102) is rotatably connected between the mounting plates (106). A seventh drive unit (107) for driving the swing plate (102) to rotate is provided on the mounting plate (106). An eighth drive unit (103) is provided inside the swing plate (102), and a detachable support platform (105) is connected to the top of the eighth drive unit (103).

6. The multi-axis linkage 3D printing device according to claim 5, characterized in that, The eighth drive unit (103) is detachably connected to a connecting plate (104), which is detachably connected to the support platform (105).

7. The multi-axis linkage 3D printing device according to claim 1, characterized in that, The sliding platform (207) is equipped with a controller, which is signal-connected to the control center. The controller is electrically connected to the first drive unit (210), the second drive unit (220), the third drive unit (230), the fourth drive unit (240), the fifth drive unit (250), the sixth drive unit (260), the seventh drive unit (107), the eighth drive unit (103), and the drive motor (401).

8. The multi-axis linkage 3D printing device according to claim 2, characterized in that, The hydraulic buffer (304) is symmetrically arranged on the fixed plate (303) at the ends of the two guide rails (301) and aligned with the sliding path of the sliding platform (207).

9. A multi-axis linkage 3D printing device according to claim 3, characterized in that, The roller frame and the guide rail (301) are provided with a gap adjustment bolt, which is used to adjust the contact pressure between the roller and the top surface of the guide rail (301).

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