Automatic heat exchange plate robot and robot kit

Abstract

The utility model discloses an automatic heat exchange plate robot and a robot suite, the automatic heat exchange plate robot comprises a moving base, a taking and placing mechanism and a driving device, the moving base comprises a left moving seat, a right moving seat and a distance adjusting part, and the left moving seat and the right moving seat are connected through the distance adjusting part; the pick-and-place mechanism comprises a left pick-and-place arm assembly and a right pick-and-place arm assembly, the left pick-and-place arm assembly and the right pick-and-place arm assembly are each provided with a bearing face used for pick-and-place of the hot plate, the left pick-and-place arm assembly is rotationally connected to the left moving base around the transverse shaft, and the right pick-and-place arm assembly is rotationally connected to the right moving base around the transverse shaft; the driving device is used for driving the left moving seat and the right moving seat to synchronously move or relatively move in the left-right direction so as to adjust the distance between the left pick-and-place arm assembly and the right pick-and-place arm assembly; the driving device is further used for driving the left taking and placing arm assembly and the right taking and placing arm assembly to rotate so as to take and place the hot plate to the bearing face. The robot is high in universality and flexibility.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, and in particular to an automated heat exchanger robot and robot kit. Background Technology

[0002] A magnetic printing hot plate is an auxiliary device for printing equipment. It's a hot plate with magnetic properties that uses the heat from the heated bed to raise its temperature, providing the necessary adhesion and forming temperature for the printing material. Simultaneously, the magnetic attraction firmly holds the printing material onto the hot plate, ensuring stability during the printing process. Because the hot plate is magnetically fixed to the heated bed, no clamping mechanism is needed to ensure a tight fit between the hot plate and the heated bed, facilitating easy plate loading and unloading for the user and enabling automated hot plate replacement.

[0003] In existing technologies, a single hot plate changing device is only compatible with one type of printer. If it needs to be used on different printer models, different mechanical structures need to be customized. Moreover, hot plate changing devices are usually fixedly installed on the printer. If there are multiple printers, each printer needs to have a separate set installed, resulting in poor flexibility of the hot plate changing device.

[0004] The above content is only used to help understand the technical solution of the invention and does not represent an admission that the above content is prior art. Utility Model Content

[0005] In view of the above problems, the present invention proposes an automatic heat exchanger robot, which aims to solve the technical problem of poor flexibility of existing heat plate replacement equipment.

[0006] To achieve the above objectives, the automatic heat exchanger robot proposed in this utility model includes: a mobile base, a pick-and-place mechanism, and a drive device, wherein...

[0007] The movable base includes a left movable base, a right movable base, and a spacing adjustment component. The left movable base and the right movable base are connected by the spacing adjustment component so that the spacing between them in the left and right directions is adjustable.

[0008] The picking and placing mechanism includes a left picking and placing arm assembly and a right picking and placing arm assembly. Both the left picking and placing arm assembly and the right picking and placing arm assembly have a supporting surface for picking and placing the hot plate. The left picking and placing arm assembly is rotatably connected to the left movable seat about the horizontal axis, and the right picking and placing arm assembly is rotatably connected to the right movable seat about the horizontal axis.

[0009] The driving device is used to drive the left moving seat and the right moving seat to move synchronously or relative to each other in the left and right directions to adjust the distance between the left pick-and-place arm assembly and the right pick-and-place arm assembly; and the driving device is also used to drive the left pick-and-place arm assembly and the right pick-and-place arm assembly to rotate to pick up and place the hot plate onto the support surface.

[0010] In one embodiment, the left pick-and-place arm assembly and the right pick-and-place arm assembly extend in a front-to-back direction, and the rotation axes of the left pick-and-place arm assembly and the right pick-and-place arm assembly extend in a left-to-right direction;

[0011] The supporting surface extends along the front-back direction.

[0012] In one embodiment, the driving device includes a main control board, a left drive motor and a right drive motor electrically connected to the main control board, a left pick-and-place arm assembly connected to the left drive motor, and a right pick-and-place arm assembly connected to the right drive motor. The main control board controls the left drive motor and the right drive motor to drive respectively.

[0013] In one embodiment, both the left pick-and-place arm assembly and the right pick-and-place arm assembly include a pick-and-place member and a rolling conveyor extending in the front and rear directions, the rolling conveyor being disposed around the bottom of the pick-and-place member from the top of the pick-and-place member, and the supporting surface being disposed on the outer wall surface of the rolling conveyor.

[0014] The driving device includes a rolling motor, which drives the rolling conveyor to rotate around the pick-and-place member to pick up the heat dissipation plate.

[0015] In one embodiment, the supporting surface is provided with magnetic elements for picking up the heat dissipation plate along the front-to-back direction, or...

[0016] The supporting surface is provided with multiple magnetic elements at intervals along the front-to-back direction, and the magnetic elements are used to pick up the heat dissipation plate.

[0017] In one embodiment, the ends of both the left pick-and-place arm assembly and the right pick-and-place arm assembly are provided with adsorption surfaces for adsorbing the printer compartment door. The driving device drives the left moving seat and the right moving seat to move synchronously or relative to each other in the left-right direction to open or close the printer compartment door.

[0018] In one embodiment, the top of both the left moving seat and the right moving seat is provided with a first linear motion pair and a positioning part that are spaced apart from each other.

[0019] The first linear motion pair includes a first rotating part and a first moving part that are rotatably connected. The first rotating part rotates to drive the first moving part to move up and down.

[0020] Both the left pick-and-place arm assembly and the right pick-and-place arm assembly include a connector and a pick-and-place component extending in the front-to-back direction, and the supporting surface is provided on the pick-and-place component;

[0021] The connector has a first section, a second section, and a third section that are connected to each other. The two ends of the second section in the front-rear direction are rotatably connected to the first section and the third section, respectively, and the pick-and-place component is fixedly connected to the second section. The first section is fixedly connected to the first moving part, and the third section is connected to the positioning part.

[0022] The driving device includes a first motor, which controls the first rotating part to rotate so that the first segment moves in the up-down direction, thereby driving the pick-and-place component to rotate.

[0023] In one embodiment, the positioning part is a second linear motion pair, which includes a second rotating part and a second moving part that are rotatably connected. The third segment is fixedly connected to the second moving part, and the second rotating part rotates to drive the second moving part to move up and down.

[0024] The driving device further includes a second motor, which controls the second rotating part to rotate so that the third section moves in the up-down direction, thereby driving the pick-and-place component to rotate.

[0025] In one embodiment, the left pick-and-place arm assembly and the right pick-and-place arm assembly further include a telescopic mechanism;

[0026] The telescopic mechanism includes a telescopic motor, a third rotating part and a third moving part that are rotatably connected to each other. The third rotating part and the telescopic motor are fixedly connected to the second section. The third rotating part rotates to drive the third moving part to move back and forth, and the picking and placing component is fixedly connected to the third moving part.

[0027] The telescopic motor drives the third rotating part to rotate, so that the third moving part drives the picking and placing member to move in the front-back direction until the picking and placing member extends out of the first section.

[0028] In one embodiment, the top wall of the spacing adjustment member is provided with a protruding post, and the protruding post is located below the pick-and-place member;

[0029] When the drive device drives the pick-and-place arm to move the hot plate to the middle of the automatic heat exchanger robot in the front-to-back direction, the protrusion rises or the pick-and-place component descends to lift the middle of the hot plate so that the workpiece on the hot plate is removed from the hot plate.

[0030] In one embodiment, the pick-and-place mechanism includes two telescopic mechanisms corresponding to the left pick-and-place arm assembly and the right pick-and-place arm assembly, respectively, wherein both the left and right pick-and-place arm assemblies can extend and retract in the front-to-back direction via the telescopic mechanisms; or,

[0031] The pick-and-place mechanism includes two lifting mechanisms corresponding to the left pick-and-place arm assembly and the right pick-and-place arm assembly, respectively. Both the left pick-and-place arm assembly and the right pick-and-place arm assembly can be raised and lowered in the vertical direction via the lifting mechanisms.

[0032] In one embodiment, both the left movable seat and the right movable seat include a base and a Mecanum wheel connected to each other, and the left pick-and-place arm assembly and the right pick-and-place arm assembly are respectively connected to the base;

[0033] The spacing adjustment component is a telescopic bracket. The left movable seat and the right movable seat are respectively provided with sliding grooves on the base. The sliding grooves extend in the front-back direction, and the telescopic bracket is slidably accommodated in the sliding grooves at its opposite ends in the left-right direction.

[0034] In one embodiment, the top of the movable base is further provided with an air supply device, the air outlet of the air supply device facing upward and located below the pick-and-place mechanism, the air supply device is used to cool the hot plate so that the workpiece on the hot plate is removed from the hot plate.

[0035] In one embodiment, the picking and placing mechanism is further provided with a forward-facing camera at a position away from the supporting surface, the camera being used to acquire environmental information.

[0036] The present invention also proposes a robot kit, including a mobile lift and the above-mentioned automatic heat exchanger robot. The mobile lift includes a mobile platform and a lifting structure, and the mobile platform is slidably connected to the lifting structure in the vertical direction.

[0037] The drive device of the automatic heat exchanger robot drives the mobile base to move to the mobile platform, so that the automatic heat exchanger robot rises and falls with the lifting structure.

[0038] The automatic heat exchanger robot of this invention features a movable base, with its left and right movable seats driven synchronously by a drive device. This allows the robot to move to different printer models, making it adaptable to various common printer types, regardless of brand, size, or structure. Furthermore, the robot is independent of the printer, eliminating the need for complex mechanical structures on the printer, allowing one robot to be used with multiple printers. Moreover, the robot can transport the removed heat exchanger and workpiece to other locations without occupying a large continuous space, making it suitable for home use as well as for high-density layouts in 3D printing factories.

[0039] Secondly, the automatic heat exchanger robot of this invention drives the left and right moving seats to move relative to each other via a drive device, thereby adjusting the distance between the left and right pick-and-place arm assemblies. This allows the robot to adapt to heat exchangers of different sizes, improving its versatility and flexibility, and solving the problem in the prior art where different printer models and heat exchangers of different sizes require different heat exchanger devices. Furthermore, when the robot is not carrying a heat exchanger, the spacing adjustment mechanism can be retracted to its narrowest width, and the robot can return to the charging position for charging, saving space indoors and thus improving the user experience.

[0040] In addition, the automatic heat exchanger robot of this invention features two pick-and-place arm assemblies, one on the left and one on the right. These two arms support or hold the heat exchanger on either side of the heat exchanger, respectively. Compared to a structure with a single pick-and-place arm positioned in the middle of the heat exchanger, the two arms ensure greater stability during heat exchange and prevent the heat exchanger from tilting, even when the moving base is traveling at high speed. This prevents workpieces from falling off the heat exchanger. Furthermore, both arms have support surfaces for picking up and placing the heat exchanger. Compared to gripper-type pick-and-place structures, planar structures are simpler. For example, the arms can be plate-shaped, and the support surfaces can be adapted to the surface of the heat exchanger, ensuring that workpieces do not fall off the heat exchanger during the pick-and-place process.

[0041] Furthermore, the adjustable spacing between the left and right pick-and-place arm assemblies allows the robot to perform gripping operations on workpieces. For example, when the workpiece has a relatively regular shape, consistent height and volume, and is located in the center of the hot plate, the automated heat exchanger robot can be driven to grip the workpiece without replacing the entire hot plate, reducing the number of hot plates required. After gripping the workpiece, the next workpiece can be printed immediately, improving production efficiency. Moreover, the left and right pick-and-place arm assemblies can also be used to grip and remove obstacles in the travel path.

[0042] Furthermore, the drive unit drives the left and right pick-and-place arm assemblies to rotate around the horizontal axis to pick up and place the hot plate onto the supporting surface. For example, the pick-and-place mechanism can change its angle around the horizontal axis to perform a series of operations to adjust the angle of the hot plate, such as lifting one side of the hot plate to tilt it or flattening it, to pick up and place the hot plate onto the supporting surface. In this way, the maximum degree of contact between the supporting surface and the hot plate can be ensured. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic diagram of an embodiment of the automatic heat exchanger robot of the present invention is shown;

[0045] Figure 2 for Figure 1 A structural schematic diagram of the automated heat exchanger robot from another angle;

[0046] Figure 3 This is a schematic diagram of the automatic heat exchanger robot adjusting the height of the right pick-and-place arm assembly according to the present invention;

[0047] Figure 4 A schematic diagram of an automated heat exchanger robot picking up a heat plate;

[0048] Figure 5 This is a schematic diagram of an embodiment of an automated heat exchanger robot;

[0049] Figure 6 This is a schematic diagram of another embodiment of an automated heat exchanger robot;

[0050] Figure 7 A schematic diagram of yet another embodiment of an automated heat exchanger robot;

[0051] Figure 8 This is a schematic diagram of the right pick-and-place arm assembly of the automatic heat exchanger robot of the present invention;

[0052] Figure 9 This is an exploded view of the right pick-and-place arm assembly of the automatic heat exchanger robot of the present invention.

[0053] Explanation of icon numbers:

[0054]

[0055] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In addition, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those of ordinary skill in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0057] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0058] Furthermore, if the embodiments of the present invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text is to include three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B.

[0059] This utility model proposes an automatic heat exchanger robot 100 for use in 3D printers.

[0060] In this embodiment of the utility model, please refer to Figures 1 to 7 The automatic heat exchanger robot 100 includes a movable base 10, a picking and placing mechanism 20, and a driving device. The movable base 10 includes a left movable seat 11, a right movable seat 12, and a spacing adjustment member 13. The left movable seat 11 and the right movable seat 12 are connected by the spacing adjustment member 13 so that the spacing between them in the left and right directions is adjustable.

[0061] The pick-and-place mechanism 20 includes a left pick-and-place arm assembly 21 and a right pick-and-place arm assembly 22. Both the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 have a support surface 28 for picking and placing the heat plate 200. The left pick-and-place arm assembly 21 is rotatably connected to the left movable seat 11 about the horizontal axis, and the right pick-and-place arm assembly 22 is rotatably connected to the right movable seat 12 about the horizontal axis.

[0062] The drive device is used to drive the left moving seat 11 and the right moving seat 12 to move synchronously or relative to each other in the left and right directions to adjust the distance between the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22; and the drive device is also used to drive the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 to rotate so as to pick up and place the hot plate 200 onto the support surface 28.

[0063] In this embodiment, the automatic heat exchanger robot 100 is a device for automatically changing the heat plates 200 between multiple printer models. Through the design of its mechanical structure and the drive of its drive device, the pick-and-place mechanism 20 can efficiently and accurately pick up and place the heat plates 200, thereby automating the replacement of the heat plates 200.

[0064] The automatic heat exchanger robot 100 includes a movable base 10, a pick-and-place mechanism 20, and a drive unit. The movable base 10 is the supporting part of the robot as a whole, responsible for supporting and moving the entire device, providing horizontal movement functionality. The movable base 10 includes a left movable seat 11, a right movable seat 12, and a spacing adjustment component 13. The spacing adjustment component 13 is connected to the left movable seat 11 and the right movable seat 12 on opposite sides in the left-right direction, respectively. By adjusting the distance between the two movable seats, the distance between the left and right pick-and-place arm assemblies can be adjusted to accommodate heat exchangers 200 of different sizes, improving the robot's versatility and flexibility for different printer equipment. The spacing adjustment component 13 can be a telescopic rod, a telescopic bracket, or other structures that enable spacing adjustment, and is not limited here. The movable base 10 can be made of a metal alloy, such as aluminum alloy or steel, or high-strength plastic, to ensure the rigidity and stability of the movable base 10.

[0065] The pick-and-place mechanism 20 is a component used to grasp and place the hot plate 200. The pick-and-place mechanism 20 includes a left pick-and-place arm assembly 21 and a right pick-and-place arm assembly 22. Both the left and right pick-and-place arm assemblies 21 and 22 are provided with a support surface 28. The support surface 28 is a flat surface used to contact and adhere to the surface of the hot plate 200. The support surface 28 can be located on top of the left and right pick-and-place arm assemblies 21 and 22, or it can wrap around the left and right pick-and-place arm assemblies 22 vertically, or it can completely wrap around the left and right pick-and-place arm assemblies 22; there are no limitations on this. The support surface 28 can be covered with a high-friction material, such as rubber or a soft material. This increases the friction between the support surface 28 and the surface of the hot plate 200, ensuring that the grasping of the hot plate 200 will not cause damage, while providing sufficient friction to more stably hold the hot plate 200. An adsorption device can also be installed on the support surface 28. This adsorption device can be an active adsorption device, such as an electromagnet or a suction cup driven by negative pressure air installed on the support surface 28. Alternatively, it can be a passive adsorption device, such as a permanent magnet or a reusable adhesive silicone sheet installed on the support surface 28. This allows the heating plate 200 to be more securely attached to the support surface 28, preventing accidental slippage during robot operation. No restrictions are placed on the material or structure of the support surface 28.

[0066] The left pick-and-place arm assembly 21 is rotatably connected to the left movable seat 11 about the horizontal axis, and the right pick-and-place arm assembly 22 is rotatably connected to the right movable seat 12 about the horizontal axis. This means that the pick-and-place mechanism 20 can change its angle about the horizontal axis to perform a series of operations to adjust the angle of the hot plate 200, such as lifting one side of the hot plate 200 to tilt it or flatten it. It should be noted that the horizontal axis refers to all transverse axes perpendicular to the longitudinal axis, that is, the pick-and-place mechanism 20 can rotate in the vertical direction, and there are no restrictions on the extension direction of the pick-and-place arm assembly or the specific direction of the rotation axis. For example, the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 can extend in the front-to-back direction, and the rotation axes of the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 can extend in the left-to-right direction; alternatively, the left pick-and-place arm assembly 21 can extend in the front-to-back direction, the rotation axis of the left pick-and-place arm assembly 21 can extend in the left-to-right direction, the right pick-and-place arm assembly 22 can extend in the left-to-right direction, and the rotation axis of the right pick-and-place arm assembly 22 can extend in the front-to-back direction; alternatively, the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 can extend in the left-to-right direction, and the rotation axes of both can extend in the front-to-back direction. As long as the two pick-and-place arm assemblies work together to lift or lower the hot plate 200, there are no restrictions here.

[0067] The drive unit is a collective term for all drive motors within the robot, including but not limited to the base motor and the pick-and-place arm lifting motor. The drive unit drives and controls the movement of the movable base 10 and the pick-and-place mechanism 20, enabling the robot to accurately perform the pick-and-place operation of the hot plate 200, while adapting to different printer specifications and hot plates 200 of different sizes. The drive assembly can achieve synchronous movement of the left and right movable seats via motors, sensors, etc., to move to the printer's position. When the robot reaches the printer's position, the motors drive the left movable seat 11 and right movable seat 12 to move relative to each other in the left and right directions, causing the spacing adjustment component 13 to extend and retract, thereby adjusting the distance between the left and right pick-and-place arm assemblies to accommodate hot plates 200 of different sizes. The drive unit also drives the rotation of the left and right pick-and-place arm assemblies, allowing them to change angles to perform a series of operations to adjust the angle of the hot plate 200, such as lifting one side of the hot plate 200 to tilt it, or leveling it.

[0068] Reference Figure 5 , Figure 6 and Figure 7It should be noted that the rotation of the left and right pick-and-place arm assemblies can be either active or passive. For example, active rotation can be achieved by driving the pick-and-place arm assembly with a motor to adjust the angle. Passive rotation can be achieved by rotatably connecting the opposite ends of the pick-and-place arm assembly to two spaced lead screws, and controlling the position of the opposite ends of the pick-and-place arm assembly to determine the angle of the pick-and-place arm assembly, thereby causing the pick-and-place arm assembly to rotate passively. In some embodiments, passive rotation can also be achieved by fixing the pick-and-place arm assembly to two spaced scissor lift mechanisms, with the two scissor lift mechanisms rotatably connected to the movable base 10, and controlling the relative height of the two scissor lift mechanisms to determine the angle of the pick-and-place arm assembly, thereby causing the pick-and-place arm assembly to rotate passively.

[0069] This utility model's automatic heat exchanger robot 100, by setting a movable base 10 and driving the left movable seat 11 and right movable seat 12 of the movable base 10 to move synchronously, allows the robot to move to the position of different types of printers. This enables the robot to adapt to various common types of printers, regardless of the printer's brand, size, or structure. Furthermore, the robot is independent of the printer, eliminating the need for complex mechanical structures on the printer, allowing one robot to be used with multiple printers. Moreover, the robot can transport the removed heat plate 200 and workpiece to other locations without occupying a large continuous space, making it suitable for home use as well as for high-density machine layouts in 3D printing factories.

[0070] Secondly, the automatic heat exchanger robot 100 of this invention drives the left moving seat 11 and the right moving seat 12 to move relative to each other via a drive device, thereby adjusting the distance between the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22. This allows the robot to adapt to heat plates 200 of different sizes, improving the robot's versatility and flexibility, and solving the problem in the prior art where different models of printers and heat plates 200 of different sizes require different heat exchanger devices. Furthermore, when the robot is not carrying a heat plate 200, the spacing adjustment component 13 can be retracted to its narrowest width and returned to the charging position for charging, saving the robot's indoor space and thus improving the user experience.

[0071] In addition, the automatic heat exchanger robot 100 of this invention features two pick-and-place arm assemblies, one on the left and one on the right. These two arms support or hold the heat plate 200 on either side. Compared to a single pick-and-place arm assembly positioned in the middle of the heat plate 200, the two arms ensure greater stability during pick-and-place operations, preventing the heat plate 200 from tilting even when the moving base 10 is traveling at high speed, thus preventing workpieces from falling off the heat plate 200. Furthermore, both arms have supporting surfaces 28 for picking up and placing the heat plate 200. Compared to gripper-type pick-and-place structures, planar structures are simpler. For example, the arms can be plate-shaped, and the supporting surfaces 28 can be adapted to the surface of the heat plate 200, preventing workpieces from falling off during the pick-and-place process.

[0072] Furthermore, since the distance between the left moving seat 11 and the right moving seat 12 can be changed by the spacing adjustment component 13, the distance between the left and right pick-and-place arm assemblies can be adjusted, allowing the robot to perform gripping operations on the workpiece. For example, when the workpiece has a relatively regular shape, consistent height and volume, and is located in the middle of the hot plate 200, the automatic heat exchanger robot 100 can be driven to grip the workpiece without replacing the entire hot plate 200, reducing the number of hot plates 200 that need to be prepared. After gripping the workpiece, the printing of the next workpiece can begin directly, improving production efficiency. Moreover, the left and right pick-and-place arm assemblies can also be used to grip and remove obstacles in the travel path.

[0073] Furthermore, the drive unit drives the left and right pick-and-place arm assemblies to rotate around the horizontal axis to pick up and place the hot plate 200 onto the support surface 28. For example, the pick-and-place mechanism 20 can change its angle around the horizontal axis to perform a series of operations to adjust the angle of the hot plate 200, such as lifting one side of the hot plate 200 to tilt it, or flattening it, to pick up and place the hot plate 200 onto the support surface 28. In this way, the maximum degree of contact between the support surface 28 and the hot plate 200 can be ensured.

[0074] In one embodiment, the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 extend in the front-to-back direction, and the rotation axes of the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 extend in the left-to-right direction; the support surface 28 extends in the front-to-back direction.

[0075] In this embodiment, the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 can be slender rod-like structures to reduce space occupation while providing sufficient support surface 28 to support the hot plate 200. The pick-and-place arm assemblies can be made of high-strength, lightweight materials, such as aluminum alloy or carbon fiber composite materials. The left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 extend in the front-to-back direction, meaning that the two pick-and-place arm assemblies are similar to two forward-extending robotic arms, capable of entering the printer from the front to perform pick-and-place operations. Compared to structures where the left and right pick-and-place arm assemblies extend in the left-to-right direction or in different directions, the left and right pick-and-place arm assemblies and the support surface 28 extend in the front-to-back direction, allowing the robot to work flexibly in a limited space to adapt to different printer models. Furthermore, the rotation axes of the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 extend in the left-to-right direction, meaning that the pick-and-place arm assemblies can swing up and down like levers to complete actions such as lifting, raising, and releasing.

[0076] In one embodiment, the drive device includes a main control board 31, a left drive motor (not shown) and a right drive motor (not shown) electrically connected to the main control board 31, a left pick-and-place arm assembly 21 connected to the left drive motor, and a right pick-and-place arm assembly 22 connected to the right drive motor. The main control board 31 controls the left drive motor and the right drive motor to drive respectively.

[0077] In this embodiment, the drive device includes a main control board 31, a left drive motor, and a right drive motor. The main control board 31 is the electronic control core, responsible for coordinating the movement of each drive motor. The main control board 31 can cooperate with position sensors, pressure sensors, etc., to precisely control the pick-and-place process. The main control board 31 may include an embedded microcontroller to ensure fast response, and its communication interface can support communication protocols such as CAN bus, I2C, and UART to connect sensors and drive motors.

[0078] The drive motor can be a stepper motor, servo motor, or DC motor. The left pick-and-place arm assembly 21 is connected to the left drive motor, and the right pick-and-place arm assembly 22 is connected to the right drive motor. This means that each pick-and-place arm assembly has an independent drive device, enabling it to operate independently. Specifically, the two pick-and-place arm assemblies can each adjust their angle, height, etc., thereby increasing the robot's flexibility and allowing it to adapt to hot plates 200 of different sizes and shapes. For example, when the moving base 10 cannot be parallel to the hot bed plane, such as when the ground is uneven or foreign objects are used to elevate one side of the wheels, the left and right pick-and-place arm assemblies can still be adjusted to the precise mating position with the hot plate 200.

[0079] In one embodiment, both the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 include a pick-and-place member 24 extending in the front and rear directions and a rolling conveyor member 26. The rolling conveyor member 26 is wound from the top of the pick-and-place member 24 to the bottom of the pick-and-place member 24. The supporting surface 28 is provided on the outer wall surface of the rolling conveyor member 26. The driving device drives the rolling conveyor member 26 to rotate around the pick-and-place member 24 to pick up the heat dissipation plate 200.

[0080] In this embodiment, the pick-and-place mechanism 20 further includes a rolling conveyor 26, which can be a conveyor belt, synchronous belt, belt, track, chain, shaft, etc. The rolling conveyor 26 is wound around the pick-and-place member 24 to form a closed loop. The outer wall surface of the rolling conveyor 26 serves as a support surface 28, and the hot plate 200 is placed on the outer wall of the rolling conveyor 26. Even when the pick-and-place member 24 and the movable base 10 are fixed, the hot plate 200 can still complete the pick-and-place operation as the rolling conveyor 26 moves, achieving smooth transmission of the hot plate 200 and reducing friction and wear. For example, when the rolling conveyor 26 rotates forward, the hot plate 200 is picked up from the printer by the pick-and-place mechanism 20. When the rolling conveyor 26 rotates in the reverse direction, the hot plate 200 is stably released to the designated position.

[0081] Specifically, when the rolling conveyor 26 picks up the hot plate 200, the synchronous movement of the forward rotation of the rolling conveyor 26 and the forward extension of the picking and placing member 24 when the latter extends into the bottom of the hot plate 200 ensures that there is no relative sliding between the contact surface of the supporting surface 28 and the hot plate 200, making the picking up of the hot plate 200 more stable and controllable. In some embodiments, when a magnetic suction member is provided on the supporting surface 28, the contact area between the supporting surface 28 and the hot plate 200 will gradually increase with the synchronous movement of the forward rotation of the rolling conveyor 26 and the forward extension of the picking and placing member 24 until complete adsorption. Secondly, when the supporting surface 28 is equipped with a magnetic component 27 or other adsorption device, the strong adsorption force of the adsorption device can be used to pick up the hot plate 200 with the bottom of the pick-up arm. The magnetic component 27 can follow the rotation of the rolling conveyor 26 and move to the bottom of the pick-up arm, so that the bottom of the pick-up arm can be adsorbed onto the top of the hot plate 200. In this way, spare hot plates 200 can be stacked together and placed on the ground or in the space under the printer's heated bed, without the need to set up a special external frame to raise the hot plate 200. This structure is simpler and saves space.

[0082] Because the rolling conveyor 26 moves slowly and continuously, it reduces impact compared to direct gripping, ensuring a smoother pick-and-place process and preventing damage to the hot plate 200. Furthermore, the rolling conveyor 26 mechanism is simpler in structure and easier to maintain than mechanical gripping devices, reducing maintenance costs associated with complex mechanical fixtures.

[0083] Furthermore, the supporting surface 28 is provided with magnetic elements 27 for taking heat dissipation plate 200 along the front-back direction, or multiple magnetic elements 27 are spaced apart along the front-back direction on the supporting surface 28, and the magnetic elements 27 are used to take heat dissipation plate 200.

[0084] In this embodiment, the magnetic component 27 can be a magnet or an electromagnet. There are two possible arrangements of the magnetic component 27. One is to continuously arrange elongated or planar magnetic materials along the front-to-back direction on the supporting surface 28 to form a uniform magnetic attraction area, suitable for high-frequency pick-and-place, ensuring uniform magnetic attraction and preventing the hot plate 200 from shifting. The other is to arrange the magnetic component 27 at intervals, which can be point magnets or strip magnets, thus reducing the amount of magnetic material used and lowering costs. When the rolling conveyor 26 is combined with the magnetic component 27, the strong attraction force of the magnetic component 27 can be used to pick up the hot plate 200 using the bottom of the pick-and-place arm. The magnetic component 27 can follow the rotation of the rolling conveyor 26, moving to the bottom of the pick-and-place arm, thereby attracting the bottom of the pick-and-place arm to the top of the hot plate 200. This allows spare hot plates 200 to be stacked together and placed on the ground or in the space under the printer's heated bed, eliminating the need for a dedicated external frame to elevate the hot plate 200. This design is simpler and saves space. Secondly, due to the strong adsorption force of the magnetic component 27, the contact area between the supporting surface 28 and the hot plate does not need to be large to pull the hot plate out. That is, the pick-and-place arm does not need to extend to the rear of the hot plate, thus simplifying the robot's structure and the plate-removing process. It can also be applied to scenarios where the robot opens and closes the printer door. For example, if the printer door handle is made of iron, the robot can move the magnetic component 27 to the end of the pick-and-place arm by rotating the rolling conveyor 26, and adjust the angle of the pick-and-place component 24 to adsorb the door handle, thus achieving adsorption. The movement of the movable base 10 then opens the door. After the door opens, the rotation of the rolling conveyor 26 moves the magnetic component 27 away from its end position, releasing the adsorption. In this way, opening the door can be completed by adsorption force, eliminating the need for a specially designed door-opening actuator.

[0085] In one embodiment, the ends of the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 are provided with adsorption surfaces for adsorbing the printer compartment door. The driving device drives the left moving seat 11 and the right moving seat 12 to move synchronously or relative to each other in the left and right direction, so as to drive the left pick-and-place arm assembly 21 or the right pick-and-place arm assembly 22 to move, thereby opening or closing the printer compartment door.

[0086] In this embodiment, the adsorption surface can be a magnetic surface or a vacuum adsorption surface, which can be set according to the material of the printer door and is not limited here. For example, if the door handle is made of metal, the adsorption surface can be a magnetic surface; if the door handle is made of glass or plastic, the adsorption surface can be a vacuum adsorption surface. The driving device drives the adsorption surface of the left pick-and-place arm assembly 21 or the right pick-and-place arm assembly 22 to adhere to the door handle. The driving device drives the left moving seat 11 and the right moving seat 12 to move synchronously or relative to each other in the left and right direction, so that the left pick-and-place arm assembly 21 or the right pick-and-place arm assembly 22 moves, thereby opening or closing the printer door. For example, the pick-and-place arm assembly extends to adhere the adsorption surface to the door handle, and the left moving seat 11 and the right moving seat 12 move synchronously in the direction of opening the door to drive the door open; conversely, they move in the direction of closing the door to drive the door close. In addition, when the indoor space is insufficient, one side of the moving seat can be driven alone to achieve single-side opening and closing, flexibly dealing with narrow spaces and ensuring convenient and efficient operation. If the hatch opened insufficiently on one side, the other side's moving seat can be driven to assist in opening and closing until the hatch is fully open or closed. This limits the robot's movement space when opening the door to a smaller area, reducing the required free space for robot movement and allowing the robot to operate in smaller spaces or on mobile lifting platforms.

[0087] After the hatch is fully opened or closed, the magnetic attraction can be released by driving the movable base to move backward or by driving the pick-and-place arm assembly to retract. In some embodiments, the magnetic element 27 can also be released by rotating the rolling conveyor 26 to move it away from its end position. In this way, the door can be opened by relying on the attraction force, without the need for a specially designed door opening actuator.

[0088] In one embodiment, the tops of both the left movable seat 11 and the right movable seat 12 are provided with a first linear motion pair 14 and a positioning part 15 spaced apart front to back; the first linear motion pair 14 includes a first rotating part 141 and a first moving part 142 rotatably connected, the first rotating part 141 rotating to drive the first moving part 142 to move up and down; the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 both include a connecting member 23 and a pick-and-place member 24 extending in the front-to-back direction, and a supporting surface 28 is provided on the pick-and-place member 24; the connecting member 23 has interconnected... The device consists of a first segment 231, a second segment 232, and a third segment 233. The two ends of the second segment 232 are rotatably connected to the first segment 231 and the third segment 233 in the front-back direction, and the pick-and-place component 24 is fixedly connected to the second segment 232. The first segment 231 is fixedly connected to the first moving part 142, and the third segment 233 is connected to the positioning part 15. The driving device includes a first motor 34, which controls the first rotating part 141 to rotate so that the first segment 231 moves in the up-down direction, thereby driving the pick-and-place component 24 to rotate.

[0089] In this embodiment, the first linear motion pair 14 can be a combination of a lead screw and a nut seat, that is, the first rotating part 141 is a lead screw and the first moving part 142 is a nut seat; in some embodiments, the first linear motion pair 14 can also be a combination of a pulley and a timing belt, that is, the first rotating part 141 is a pulley and the first moving part 142 is a timing belt. The first linear motion pair 14 can also have other embodiments, which are not limited here.

[0090] The positioning part 15 can be a fixed structure, with the third segment 233 fixedly connected to it. The first rotating part 141, driven by the first motor 34, moves the first segment 231 up and down, thus adjusting the angle of the pick-and-place component 24. In some embodiments, the positioning part 15 can be designed as an adjustable structure, such as a second linear motion pair 151. In this case, the driving device may further include a second motor 35. The second motor 35 drives the relative position change between the positioning part 15 and the third segment 233, and the first rotating part 141, driven by the first motor 34, drives the relative position change between the first rotating part 141 and the first segment 231, thereby adjusting the angle of the second segment 232 and ultimately adjusting the angle of the pick-and-place component 24. Thus, using a linear motion pair for lifting and lowering allows for precise height control of the pick-and-place arm, reducing pick-and-place failures caused by mechanical vibration. Simultaneously, the robot can adjust the height of the pick-and-place arm without requiring a heated bed to adjust the relative height of the arm.

[0091] It should be noted that the pick-and-place component 24 can be a U-shaped clamping structure or a slender flat plate structure. The supporting surface 28 of the pick-and-place component 24 can be covered with high-temperature resistant silicone, rubber pads, or an anti-slip coating to prevent the hot plate 200 from slipping. The pick-and-place component 24 is fixedly connected to the second section 232. Its fixing method can be bolt fixing or quick-release mechanism, which facilitates the replacement of pick-and-place components 24 of different specifications to adapt to different models of hot plates 200. No restrictions are imposed here.

[0092] In one embodiment, the positioning part 15 is a second linear motion pair 151, which includes a second rotating part 152 and a second moving part 153 rotatably connected. The third segment 233 is fixedly connected to the second moving part 153. The second rotating part 152 rotates to drive the second moving part 153 to move up and down. The driving device also includes a second motor 35, which controls the second rotating part 152 to rotate so that the third segment 233 moves in the up and down direction to drive the pick-and-place member 24 to rotate.

[0093] In this embodiment, the second linear motion pair 151 can be a combination of a lead screw and a nut seat, with the nut seat sleeved and threadedly connected to the lead screw. That is, the second rotating part 152 is the lead screw, and the second moving part 153 is the nut seat. In some embodiments, the second linear motion pair 151 can also be a combination of a pulley and a timing belt, with the timing belt wound around the pulley in the up-down direction. That is, the second rotating part 152 is the pulley, and the second moving part 153 is the timing belt. The second linear motion pair 151 can also have other embodiments, which are not limited here.

[0094] This embodiment employs a dual linear motion pair structure. The first rotating part 141 drives the first segment 231 to move up and down, while the second rotating part 152 drives the third segment 233 to move up and down, thereby further controlling the angle or height of the pick-and-place component 24. The driving device also includes a second motor 35, which controls the rotation of the second rotating part 152 to move the third segment 233 vertically, thus rotating the pick-and-place component 24. In other words, by using two independent motors to drive the first rotating part 141 and the second rotating part 152 respectively, dual control of the pick-and-place component 24 is achieved. For example, the first linear motion pair 14 controls the first segment 231, affecting the overall lifting and lowering of the pick-and-place component 24, while the second linear motion pair 152 controls the third segment 233, affecting the angle of the pick-and-place component 24 or further fine-tuning its height. This allows for more precise adjustment of the pick-and-place angle and enables lifting and lowering of the pick-and-place component 24, improving the flexibility and stability of the pick-and-place operation. It is suitable for various application scenarios, such as pick-and-place of hot plates 200 at different heights, demonstrating strong versatility. Typically, a heated bed needs to move up and down to coordinate with the robot's pick-and-place motion. In this embodiment, the robot has its own lifting freedom, allowing the heated bed to remain stationary. The pick-and-place component 24 and the movable base 10 can then work together to complete the up-and-down movement. Compared to the relative up-and-down movement of the heated bed, the built-in up-and-down movement of the movable base 10 is easier to synchronize and control, resulting in a more precise, stable, and rapid motion trajectory. Furthermore, because the printer and robot's drive mechanisms are separate, highly precise synchronization of the heated bed, pick-and-place component 24, and movable base 10 is not possible. Therefore, the robot in this embodiment only needs imprecise synchronized movement to complete the pick-and-place operation of the heated plate 200.

[0095] Furthermore, the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 also include a telescopic mechanism 25; the telescopic mechanism 25 includes a telescopic motor 251 and a third linear motion pair 254, the third linear motion pair 254 includes a third rotating part 252 and a third moving part 253 rotatably connected to each other, the third rotating part 252 and the telescopic motor 251 are fixedly connected to the second segment 232, the third rotating part 252 rotates to drive the third moving part 253 to move back and forth, and the pick-and-place member 24 is fixedly connected to the third moving part 253; the telescopic motor 251 drives the third rotating part 252 to rotate, so that the third moving part 253 drives the pick-and-place member 24 to move in the back and forth direction until the pick-and-place member 24 extends out of the first segment 231.

[0096] In this embodiment, the third linear motion pair 254 can be a combination of a lead screw and a nut seat, with the nut seat sleeved and threadedly connected to the lead screw. That is, the third rotating part 252 is the lead screw, and the third moving part 253 is the nut seat. In some embodiments, the third linear motion pair 254 can also be a combination of a pulley and a timing belt, with the timing belt wrapped around the pulley in the up-down direction. That is, the third rotating part 252 is the pulley, and the third moving part 253 is the timing belt. The third linear motion pair 254 can also have other embodiments, which are not limited here.

[0097] The left and right pick-and-place arm assemblies 21 and 22 also include a telescopic mechanism 25, which increases the adjustability of the pick-and-place component 24 in the front-to-back direction. This means the pick-and-place component 24 can not only move up and down but also extend and retract forward and backward, providing more flexible pick-and-place capabilities. For example, the movement of the mobile base may be affected by factors such as ground flatness and wheel grip, making its extension and retraction freedom less precise than that of the pick-and-place component 24 itself. The inherent extension and retraction freedom of the pick-and-place arm 24 allows for higher-quality completion of the pick-and-place action of the hot plate 200. The telescopic motor 251 drives the third rotating part 252 to rotate, causing the third moving part 253 and the pick-and-place component 24 to move linearly in the front-to-back direction. The third rotating part 252, as a transmission component, rotates in conjunction with the third moving part 253. When the third rotating part 252 rotates, it causes the third moving part 253 to move forward and backward, thereby causing the pick-and-place component 24 to slide back and forth relative to the second segment 232. In some embodiments, the second segment 232 may be provided with a sliding groove, and the pick-and-place member 24 is provided with a slide rail that cooperates with the sliding groove, so that the pick-and-place member 24 slides back and forth relative to the second segment 232 via the third moving part 253.

[0098] By extending and retracting the pick-and-place component 24, it can extend the first section 231 of the connector 23 in the front-to-back direction to reach deep into the printer's internal space and pick up the hot plate 200. Alternatively, it can retract into the connector 23, allowing the hot plate 200 to be mounted within the vehicle's outline, reducing the projected area to the ground and facilitating turning and passage through narrow spaces during transport, while also saving floor space. Furthermore, with the cooperation of the telescopic mechanism 25, the pick-and-place component 24 has a wider range of adjustment in the front-to-back direction, enabling some process actions to be completed without driving the movable base 10. The degree of freedom of extension and retraction of the pick-and-place component 24 is equivalent to the degree of freedom of movement of the movable base 10 in the front-to-back direction, improving operational flexibility and efficiency.

[0099] In one embodiment, the top wall of the spacing adjustment member 13 is provided with a protruding post (not shown), and the protruding post is located below the pick-and-place member 24; when the drive device drives the pick-and-place member 24 to move the hot plate 200 to the middle of the automatic heat exchanger robot 100 in the front-back direction, the protruding post rises or the pick-and-place member 24 descends to lift the middle of the hot plate 200 so that the workpiece on the hot plate 200 is removed from the hot plate 200.

[0100] In this embodiment, the spacing adjustment member 13 is located in the middle of the movable base 10. The top wall of the spacing adjustment member 13 is provided with a protruding post, which is located below the pick-and-place member 24. The protruding post can be a fixed protruding post, an elastic protruding post, or an electrically lifting protruding post. The protruding post is used to lift the middle of the hot plate 200, causing the hot plate 200 to deform, thereby separating the workpiece from the hot plate 200. The specific working process is as follows: First, the telescopic motor 251 is started, driving the third rotating part 252 to rotate, causing the third moving part 253 to drive the pick-and-place member 24 to extend to the designated position; then the pick-and-place member 24 picks up the hot plate 200 and drives the hot plate 200 to move in the front-back direction to the middle position of the machine. Then, there are two ways to separate the hot plate 200 from the workpiece: one is by driving the protruding post to rise and lift the middle of the hot plate 200. For example, when the hot plate 200 reaches the middle position, the driving device drives the protrusion to rise and press against the middle area of ​​the hot plate 200, causing the hot plate 200 to bend or tilt, reducing the contact force between the workpiece and the hot plate 200, and allowing the workpiece to detach from the hot plate 200. Alternatively, the hot plate 200 can be lowered as a whole by controlling the pick-and-place component 24, while the protrusion remains stationary, creating relative movement that lifts the hot plate 200 and allows the workpiece to detach from the hot plate 200.

[0101] In one embodiment, the pick-and-place mechanism 20 includes two telescopic mechanisms 25 corresponding to the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22, respectively, and both the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 can be extended and retracted in the front-to-back direction through the telescopic mechanisms 25; or, the pick-and-place mechanism 20 includes two lifting mechanisms corresponding to the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22, respectively, and both the left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 can be lifted and retracted in the up-and-down direction through the lifting mechanisms.

[0102] In this embodiment, the telescopic mechanism can be a linear motion pair, or it can be driven by a cylinder or electric motor; no limitation is made here. Through the telescopic design of the pick-and-place component 24, it can extend outwards in the front-to-back direction from the first section 231 of the connecting component 23 to reach deep into the printer's internal space and lift the hot plate 200. Alternatively, it can retract into the connecting component 23, allowing the hot plate 200 to be mounted within the vehicle's outline, reducing the projected area to the ground, facilitating turning and passage through narrow spaces during transport, and saving floor space. Furthermore, with the cooperation of the telescopic mechanism 25, the pick-and-place component 24 has a wider adjustment range in the front-to-back direction, enabling some process actions to be completed without driving the moving base 10. The telescopic freedom of the pick-and-place component 24 is equivalent to the degree of freedom of the moving base 10 in the front-to-back direction, improving operational flexibility and efficiency.

[0103] Secondly, the lifting mechanism can be a screw-type lifting structure, or it can use a hydraulic or electric push rod, allowing the pick-and-place arm to be adjusted up and down as needed; there are no restrictions on this. Through the lifting configuration, it can be adapted to printers with different heated bed heights, improving the robot's versatility.

[0104] In one embodiment, both the left movable seat 11 and the right movable seat 12 include a base 16 and a Mecanum wheel 17 connected to each other. The left pick-and-place arm assembly 21 and the right pick-and-place arm assembly 22 are respectively connected to the base 16. The spacing adjustment member 13 is a telescopic bracket. The left movable seat 11 and the right movable seat 12 are respectively provided with a sliding groove 18 on the base 16. The sliding groove 18 extends in the front-to-back direction. The two ends of the telescopic bracket in the left-to-right direction are respectively slidably accommodated in the sliding groove 18.

[0105] In this embodiment, both the left movable seat 11 and the right movable seat 12 include a base 16 and a Mecanum wheel 17 connected to each other. The base 16 is the basic support structure of the left movable seat 11 and the right movable seat 12, and is used to install the drive device and the pick-and-place arm assembly. The first rotating part 141 and the second rotating part 152 are both protruding from the top of the base 16.

[0106] The Mecanum Wheel 17 is a special omnidirectional wheel composed of multiple small rollers mounted at an angle. It can achieve forward, backward, left and right translation and rotation movements. Driven by servo motors or stepper motors, it allows the robot to move freely in different directions, improving operational flexibility. It is suitable for space-constrained environments, enabling the robot to turn in place or move laterally, avoiding cumbersome path adjustments.

[0107] The telescopic bracket is a mesh-like linkage structure used to laterally connect the left movable seat 11 and the right movable seat 12. A drive mechanism moves the Mecanum wheels to adjust the distance between the left and right movable seats 11 and 12, allowing the telescopic bracket to extend and retract. This allows for flexible adaptation to printers of different widths, improving equipment compatibility. When no adjustment is needed, the distance can be reduced to minimize space usage.

[0108] The slide groove 18 is a long strip-shaped groove that extends along the front and back. The telescopic bracket may be equipped with a slider that slides along the slide groove 18 so that the telescopic bracket can extend and retract to accommodate hot plates 200 and printers of different sizes.

[0109] In one embodiment, the top of the movable base 10 is also provided with an air supply device (not shown). The air outlet of the air supply device faces upward and is located below the pick-and-place mechanism 20. The air supply device is used to cool the hot plate 200 so that the workpiece on the hot plate 200 is removed from the hot plate 200.

[0110] In this embodiment, the air supply device is installed on top of the movable base 10 and below the pick-and-place mechanism 20, with its air outlet facing upwards. This ensures that the airflow directly acts on the bottom of the hot plate 200, rapidly reducing the temperature of the hot plate 200 so that the workpiece on the hot plate 200 can detach from it. The specific workflow is as follows: First, the telescopic motor 251 is started, driving the third rotating part 252 to rotate, causing the third moving part 253 to extend the pick-and-place component 24 to a designated position. Then, the pick-and-place mechanism 20 lifts the hot plate 200 and moves it along the front-to-back direction to the middle of the machine or a specific cooling position. Subsequently, the air supply device is activated, with its air outlet facing upwards, and the airflow directly acts on the bottom of the hot plate 200, accelerating cooling. The cooling effect can be optimized by adjusting the wind speed or changing the airflow direction. As the temperature decreases, the workpiece is more easily detached from the hot plate 200 due to thermal expansion and contraction or weakened adhesion. In some embodiments, the lifting of the convex column or the lifting of the pick-and-place mechanism 20 can also be combined to ensure smooth separation of the workpiece. In other embodiments, after the adhesion between the workpiece and the hot plate 200 decreases, the workpiece can be further detached by shaking the pick-and-place mechanism 20 or slightly vibrating the hot plate 200. Finally, the air supply device stops supplying air, and the pick-and-place mechanism 20 can place the empty hot plate 200 with the workpiece detached onto the hot bed. In this way, continuous operation can be achieved without changing the hot plate 200, improving production efficiency.

[0111] In one embodiment, the pick-and-place mechanism 20 is also provided with a forward-facing camera 40 at a position away from the support surface 28. The camera 40 is used to acquire environmental information.

[0112] In this embodiment, one or more cameras 40 may be provided, and there is no limitation. The cameras 40 are installed away from the supporting surface 28 to avoid obstructing the functional area of ​​the heat exchange plate 200. The lenses face forward to ensure clear capture of environmental information in front, thereby enhancing the intelligence and adaptability of the automatic heat exchange plate robot 100.

[0113] Specifically, when a camera 40 is installed on each of the left and right pick-and-place arm assemblies, the position of the cooperating target can be measured using machine vision algorithms to achieve relative positioning between the pick-and-place arm assembly and the target. For example, the target on the pick-and-place arm assembly can work in conjunction with a target located on the printer, heated bed, or heated plate 200 to accurately locate the target position. This allows the moving base 10 to be adjusted to the precise working position of the printer during operation, and the pick-and-place component 24 to be moved to the precise relative position of the heated bed and heated plate 200. If the cooperating target is located on the heated bed, the relative precise positioning of the pick-and-place component 24 and the heated bed can be achieved, making the pick-and-place operation more accurate and stable. Secondly, the width distance can be measured by the position of the two cameras 40 relative to the known target. In other words, the cameras 40 on the left and right pick-and-place components 24 measure their relative positions with the same target, enabling the calculation of the relative positions of the two pick-and-place components 24. This allows for the measurement of the relative distance between the left moving seat 11 and the right moving seat 12, eliminating the need for separate spacing sensors on the left and right moving seats 12 and saving costs. In addition, the cooperative target is attached to a fixed object in the room, and the camera 40 measures the relative position with the target to realize the robot's spatial positioning in the room, thereby enabling the robot's indoor positioning and navigation.

[0114] Meanwhile, the image data captured by camera 40 is transmitted to the drive device in real time. The system analyzes the environmental conditions through image recognition algorithms and adjusts the movement path and speed of the pick-and-place mechanism 20 to ensure precise obstacle avoidance and efficient operation. Furthermore, camera 40 can also be used to monitor the workpiece status, promptly detect abnormalities, and improve the overall safety and reliability of the operation. If camera 40 is a color camera, it can be used for remote confirmation or for artificial intelligence to automatically identify the color of consumables in the feeder, avoiding feeding errors.

[0115] This utility model also proposes a robot kit, which includes a mobile lifting platform (not shown) and an automatic heat exchanger robot 100. The specific structure of the automatic heat exchanger robot 100 is as described in the above embodiments. Since this robot kit adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The mobile lifting platform includes a mobile platform and a lifting structure. The mobile platform is slidably connected to the lifting structure in the vertical direction. The driving device of the automatic heat exchanger robot 100 drives the mobile base 10 to move to the mobile platform, so that the automatic heat exchanger robot 100 rises and falls with the lifting structure.

[0116] In this embodiment, the mobile platform is a structure used to support the automatic heat exchanger robot 100. The mobile platform can be a flat plate structure, and its material can be a high-rigidity, wear-resistant material, such as aluminum alloy or stainless steel. The mobile platform can be equipped with a limit structure to ensure that the automatic heat exchanger robot 100 is stably parked. The lifting structure can be a screw-driven lifting mechanism, that is, a motor drives the screw to rotate, thereby realizing the lifting of the mobile platform. Hydraulic lifting can also be used, that is, the height can be adjusted by extending and retracting a hydraulic cylinder. Alternatively, it can be driven by electromagnetic force to control the lifting of the mobile platform. No restrictions are imposed here.

[0117] By working in coordination with the mobile elevator and the automatic heat exchanger robot 100, it can adapt to printers or work areas of different heights and is suitable for operation of heat exchangers 200 in multi-layer printers, so that the robot is not limited to ground operation but can also be used for high-level operations.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An automated heat exchanger robot for use in a 3D printer, characterized in that, It includes a movable base, a picking and placing mechanism, and a driving device, wherein, The movable base includes a left movable base, a right movable base, and a spacing adjustment component. The left movable base and the right movable base are connected by the spacing adjustment component so that the spacing between them in the left and right directions is adjustable. The picking and placing mechanism includes a left picking and placing arm assembly and a right picking and placing arm assembly. Both the left picking and placing arm assembly and the right picking and placing arm assembly have a supporting surface for picking and placing the hot plate. The left picking and placing arm assembly is rotatably connected to the left movable seat about the horizontal axis, and the right picking and placing arm assembly is rotatably connected to the right movable seat about the horizontal axis. The driving device is used to drive the left moving seat and the right moving seat to move synchronously or relative to each other in the left and right directions to adjust the distance between the left pick-and-place arm assembly and the right pick-and-place arm assembly; and the driving device is also used to drive the left pick-and-place arm assembly and the right pick-and-place arm assembly to rotate to pick up and place the hot plate onto the support surface.

2. The automatic heat exchanger robot as described in claim 1, characterized in that, The left pick-and-place arm assembly and the right pick-and-place arm assembly extend in the front-to-back direction, and the rotation axis of the left pick-and-place arm assembly and the right pick-and-place arm assembly extends in the left-to-right direction; The supporting surface extends along the front-back direction.

3. The automatic heat exchanger robot as described in claim 1, characterized in that, The drive device includes a main control board, a left drive motor and a right drive motor electrically connected to the main control board, a left pick-and-place arm assembly connected to the left drive motor, and a right pick-and-place arm assembly connected to the right drive motor. The main control board controls the left drive motor and the right drive motor to drive respectively.

4. The automatic heat exchanger robot as described in claim 1, characterized in that, Both the left pick-and-place arm assembly and the right pick-and-place arm assembly include a pick-and-place member and a rolling conveyor extending in the front and rear directions. The rolling conveyor is arranged around the bottom of the pick-and-place member from the top, and the supporting surface is provided on the outer wall surface of the rolling conveyor. The driving device includes a rolling motor, which drives the rolling conveyor to rotate around the pick-and-place member to pick up the heat dissipation plate.

5. The automatic heat exchanger robot as described in claim 4, characterized in that, The supporting surface is provided with magnetic components for collecting the heat dissipation plate along the front-to-back direction, or... The supporting surface is provided with multiple magnetic elements at intervals along the front-to-back direction, and the magnetic elements are used to pick up the heat dissipation plate.

6. The automated heat exchanger robot as described in any one of claims 1 to 5, characterized in that, The left pick-and-place arm assembly and the right pick-and-place arm assembly are both provided with adsorption surfaces for adsorbing the printer compartment door. The driving device drives the left moving seat and the right moving seat to move synchronously or relative to each other in the left and right directions to open or close the printer compartment door.

7. The automated heat exchanger robot as described in any one of claims 1 to 5, characterized in that, The top of both the left and right movable seats is provided with a first linear motion pair and a positioning part that are spaced apart from each other. The first linear motion pair includes a first rotating part and a first moving part that are rotatably connected. The first rotating part rotates to drive the first moving part to move up and down. Both the left pick-and-place arm assembly and the right pick-and-place arm assembly include a connector and a pick-and-place component extending in the front-to-back direction, and the supporting surface is provided on the pick-and-place component; The connector has a first section, a second section, and a third section that are connected to each other. The two ends of the second section in the front-back direction are rotatably connected to the first section and the third section, respectively, and the pick-and-place component is fixedly connected to the second section. The first segment is fixedly connected to the first moving part, and the third segment is connected to the positioning part; The driving device includes a first motor, which controls the first rotating part to rotate so that the first segment moves in the up-down direction, thereby driving the pick-and-place component to rotate.

8. The automatic heat exchanger robot as described in claim 7, characterized in that, The positioning part is a second linear motion pair, which includes a second rotating part and a second moving part that are rotatably connected. The third segment is fixedly connected to the second moving part. The second rotating part rotates to drive the second moving part to move up and down. The driving device further includes a second motor, which controls the second rotating part to rotate so that the third section moves in the up-down direction, thereby driving the pick-and-place component to rotate.

9. The automatic heat exchanger robot as described in claim 8, characterized in that, The left pick-and-place arm assembly and the right pick-and-place arm assembly also include a telescopic mechanism; The telescopic mechanism includes a telescopic motor, a third rotating part and a third moving part that are rotatably connected to each other. The third rotating part and the telescopic motor are fixedly connected to the second section. The third rotating part rotates to drive the third moving part to move back and forth, and the picking and placing component is fixedly connected to the third moving part. The telescopic motor drives the third rotating part to rotate, so that the third moving part drives the picking and placing member to move in the front-back direction until the picking and placing member extends out of the first section.

10. The automatic heat exchanger robot as described in claim 9, characterized in that, The top wall of the spacing adjustment component has a protruding post, and the protruding post is located below the pick-and-place component; When the drive device drives the pick-and-place arm to move the hot plate to the middle of the automatic heat exchanger robot in the front-to-back direction, the protrusion rises or the pick-and-place component descends to lift the middle of the hot plate so that the workpiece on the hot plate is removed from the hot plate.

11. The automated heat exchanger robot as described in any one of claims 1 to 5, characterized in that, The pick-and-place mechanism includes two telescopic mechanisms corresponding to the left pick-and-place arm assembly and the right pick-and-place arm assembly, respectively. Both the left and right pick-and-place arm assemblies can extend and retract in the front-to-back direction via the telescopic mechanisms; or... The pick-and-place mechanism includes two lifting mechanisms corresponding to the left pick-and-place arm assembly and the right pick-and-place arm assembly, respectively. Both the left pick-and-place arm assembly and the right pick-and-place arm assembly can be raised and lowered in the vertical direction via the lifting mechanisms.

12. The automated heat exchanger robot as described in any one of claims 1 to 5, characterized in that, Both the left movable seat and the right movable seat include a base and a Mecanum wheel that are connected to each other, and the left pick-and-place arm assembly and the right pick-and-place arm assembly are respectively connected to the base; The spacing adjustment component is a telescopic bracket. The left movable seat and the right movable seat are respectively provided with sliding grooves on the base. The sliding grooves extend in the front-back direction, and the telescopic bracket is slidably accommodated in the sliding grooves at its opposite ends in the left-right direction.

13. The automated heat exchanger robot as described in any one of claims 1 to 5, characterized in that, The top of the movable base is also provided with an air supply device. The air outlet of the air supply device faces upward and is located below the pick-and-place mechanism. The air supply device is used to cool the hot plate so that the workpiece on the hot plate can be removed from the hot plate.

14. The automated heat exchanger robot as described in any one of claims 1 to 5, characterized in that, The pick-and-place mechanism is also equipped with a forward-facing camera at a position away from the support surface, and the camera is used to acquire environmental information.

15. A robot kit, characterized in that, The invention includes a mobile elevator and an automatic heat exchanger robot as described in any one of claims 1 to 14, wherein the mobile elevator includes a mobile platform and a lifting structure, and the mobile platform is slidably connected to the lifting structure in the vertical direction; The drive device of the automatic heat exchanger robot drives the mobile base to move to the mobile platform, so that the automatic heat exchanger robot rises and falls with the lifting structure.

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