技术领域technical field
本实用新型涉及一种机械臂式三维打印机，属于机械工具技术领域。The utility model relates to a mechanical arm type three-dimensional printer, which belongs to the technical field of mechanical tools.
背景技术Background technique
三维打印技术是快速成型制造技术的一种，它是一种以数字模型文件为基础，运用粉末状金属或者塑料等可粘合材料，将一定厚度的材料逐层反复打印在平台上，循环往复，直到生成整个成型件。其工艺工程是先利用三维造型软件创建三维实体造型，再将设计出的实体造型通过快速成型设备的处理软件进行“分区”成逐层的截面切片，然后将处理过的数据输入设备进行制造，最后还需要进行一定的后处理以得到最终的成品。国内开发的三维立体打印快速成型设备一般设置可升降的工作台，喷嘴活动连接在工作台上，根据需要控制喷嘴的运动，喷嘴的位置调整比较复杂，一般通过步进电机牵引同步带，同步带拉动丝杠转动来带动喷嘴移动，这种开环控制加上机构间隙等因素，并不能使喷嘴位置具有较高精度，采用的送丝机构的结构也比较复杂，无法有效送丝，不能满足三维打印的要求。针对目前现有技术中存在的上述缺陷，实有必要进行研究，解决现有技术中存在的缺陷。3D printing technology is a kind of rapid prototyping manufacturing technology. It is based on digital model files, using powdered metal or plastic and other bondable materials, to repeatedly print a certain thickness of material on the platform layer by layer, and it goes back and forth. , until the entire form is generated. Its process engineering is to use 3D modeling software to create a 3D solid shape, and then "partition" the designed solid shape into layer-by-layer cross-sectional slices through the processing software of the rapid prototyping equipment, and then input the processed data into the equipment for manufacturing. Finally, some post-processing is required to obtain the final product. Domestically developed 3D printing rapid prototyping equipment is generally equipped with a workbench that can be lifted and lowered. The nozzle is movably connected to the workbench, and the movement of the nozzle is controlled according to the needs. Pull the screw to rotate to drive the nozzle to move. This kind of open-loop control plus mechanism clearance and other factors cannot make the nozzle position have a high accuracy. print request. In view of the above-mentioned defects existing in the current prior art, it is necessary to carry out research to solve the defects existing in the prior art.
实用新型内容Utility model content
为解决上述问题，本实用新型的目的在于提供一种结构简单、打印精度高机械臂式三维打印机，解决现有技术的机械臂式三维打印机送料装置机构复杂，不能准确有效送丝问题，无法满足高精度的三维打印要求。In order to solve the above problems, the purpose of this utility model is to provide a simple structure, high printing precision mechanical arm type three-dimensional printer, solve the problem that the mechanical arm type three-dimensional printer feeding device mechanism of the prior art is complex, cannot feed wire accurately and effectively, and cannot meet the requirements High-precision 3D printing requirements.
为实现上述目的，本实用新型的技术方案为：To achieve the above object, the technical solution of the utility model is:
一种机械臂式三维打印机，包括送料装置，所述送料装置包括绕线盘、送丝机构、固定轴，绕线盘活动连接在固定轴上，耗材丝一端缠绕在绕线盘上，另一端与送丝机构相连接，送丝机构包括压线盒、送料轮、压线机构、电机，压线盒设置有凹槽，用以放置送料轮和压线机构，压线盒一端与电机相连接，电机轴穿过压线盒与送料轮固定连接。压线盒设置有不规则凹槽，根据压线机构的形状设置凹槽的形状，这样凹槽能够有效固定压线机构和送料轮。A mechanical arm type three-dimensional printer, including a feeding device, the feeding device includes a winding reel, a wire feeding mechanism, and a fixed shaft, the winding reel is movably connected to the fixed shaft, one end of the consumable wire is wound on the winding reel, and the other end It is connected with the wire feeding mechanism. The wire feeding mechanism includes a crimping box, a feeding wheel, a crimping mechanism, and a motor. The crimping box is provided with a groove for placing the feeding wheel and the crimping mechanism. One end of the crimping box is connected to the motor. , the motor shaft passes through the crimping box and is fixedly connected with the feeding wheel. The crimping box is provided with irregular grooves, and the shape of the grooves is set according to the shape of the crimping mechanism, so that the grooves can effectively fix the crimping mechanism and the feeding wheel.
进一步地，所述压线机构为月牙形中间位置安装有轴承，压线机构安装在压线盒凹槽内与送料轮保持一定的间隔空隙，使得耗材丝穿过并且对耗材丝形成一定的挤压摩擦力，当送料轮旋转时，送料轮在压线机构的配合下，带动耗材丝往一个方向运动。压线机构通过螺栓安装在压线盒凹槽内，压线机构并不完全固定，能够相对移动，用于调整压线机构与送料轮的间隙。Further, the crescent-shaped crescent-shaped middle position is equipped with a bearing, and the crimping mechanism is installed in the groove of the crimping box to maintain a certain gap with the feeding wheel, so that the consumable filament passes through and forms a certain squeeze on the consumable filament. Pressure friction, when the feeding wheel rotates, the feeding wheel drives the consumable filament to move in one direction under the cooperation of the thread pressing mechanism. The crimping mechanism is installed in the groove of the crimping box through bolts. The crimping mechanism is not completely fixed, but can move relatively to adjust the gap between the crimping mechanism and the feeding wheel.
进一步地，所述压线盒靠近所述压线机构的一端面开有螺栓孔，并安装有弹簧，弹簧一端在压线盒内与压线机构相接触，另一端在压线盒侧面的螺栓孔内并处于压缩状态，压线盒装配有调节螺母、圆垫片，调节螺母从压线盒的螺栓孔内旋进推动圆垫片，圆垫片压缩弹簧，进而弹簧被压缩产生弹性力推动压线机构移动，进行实现调节压线机构的目的。Further, a bolt hole is opened on the end surface of the crimping box close to the crimping mechanism, and a spring is installed, one end of the spring is in contact with the crimping mechanism in the crimping box, and the other end is on the bolt on the side of the crimping box. In the hole and in a compressed state, the crimping box is equipped with an adjusting nut and a round washer. The adjusting nut is screwed in from the bolt hole of the crimping box to push the circular washer. The circular washer compresses the spring, and the spring is compressed to generate elastic force. Push the crimping mechanism to move to realize the purpose of adjusting the crimping mechanism.
进一步地，所述送料轮设置有紧定螺钉，通过拧紧紧定螺钉能够使得电机轴与送料轮同步旋转。Further, the feed wheel is provided with a set screw, and the motor shaft and the feed wheel can rotate synchronously by tightening the set screw.
进一步地，所述送料轮设置有齿结构，且齿轮的中间有浅凹槽，使得耗材丝容易定位。由于送料轮是圆柱形，耗材丝一般也是圆柱形，二者之间的摩擦力比较小，因此送料轮设置带齿结构并且中间设置有浅凹槽，使得耗材丝能够在浅凹槽中穿过，防止耗材丝滑动。Further, the feeding wheel is provided with a tooth structure, and there is a shallow groove in the middle of the gear, so that the consumable filament can be easily positioned. Since the feed wheel is cylindrical, the consumable filament is generally cylindrical, and the friction between the two is relatively small, so the feed wheel is provided with a toothed structure and a shallow groove in the middle, so that the consumable filament can pass through the shallow groove , to prevent filament sliding.
进一步地，在压线盒靠近送料轮一端设置有辅助豁口，方便调节紧定螺钉。Further, an auxiliary notch is provided at the end of the wire crimping box close to the feeding wheel to facilitate the adjustment of the set screw.
进一步地，还包括机械臂装置，机械臂装置设置有控制机构，控制机构包括控制芯片和显示屏，控制芯片根据需要打印的位置信息，控制三个电机旋转，进而实现调整末端执行器位姿的目的。利用机械臂控制机械臂式三维打印机的喷嘴能够实现三维空间快速准确定位，并且其结构紧凑能够放置在狭窄的空间内。优选地，机械臂装置为三自由度机械臂。Further, it also includes a mechanical arm device. The mechanical arm device is provided with a control mechanism. The control mechanism includes a control chip and a display screen. The control chip controls the rotation of the three motors according to the position information to be printed, thereby realizing the adjustment of the pose of the end effector. Purpose. Using the robotic arm to control the nozzle of the robotic 3D printer can achieve fast and accurate positioning in the 3D space, and its compact structure can be placed in a narrow space. Preferably, the mechanical arm device is a three-degree-of-freedom mechanical arm.
与现有技术相比，本实用新型具有以下有益效果：Compared with the prior art, the utility model has the following beneficial effects:
本实用新型利用送料轮与压线机构的摩擦力实现耗材丝的输送，结构简单，可靠性高；本实用新型的压线盒设置有不规则凹槽，根据压线机构的形状设置凹槽的形状，这样凹槽能够有效固定压线机构和送料轮；利用机械臂控制机械臂式三维打印机的喷嘴能够实现三维空间快速准确定位，并且其结构紧凑能够放置在狭窄的空间内。The utility model utilizes the friction force between the feeding wheel and the crimping mechanism to realize the conveyance of consumable filaments, and has a simple structure and high reliability; the crimping box of the utility model is provided with irregular grooves, and the grooves are set according to the shape of the crimping mechanism. Shape, so that the groove can effectively fix the crimping mechanism and the feeding wheel; using the robot arm to control the nozzle of the robot arm type 3D printer can realize fast and accurate positioning in the 3D space, and its compact structure can be placed in a narrow space.
本实用新型结构较为简单，可靠性高，在已有的控制算法下，具有较高的位置精度。The utility model has relatively simple structure and high reliability, and has higher position accuracy under the existing control algorithm.
附图说明Description of drawings
图1为本实用新型具体实施例的机械臂式三维打印机装配图；Fig. 1 is the assembly drawing of the mechanical arm type three-dimensional printer of the specific embodiment of the present invention;
图2为本实用新型具体实施例的机械臂式三维打印机爆炸视图；Fig. 2 is an exploded view of the mechanical arm type 3D printer of the specific embodiment of the present invention;
图3为本实用新型具体实施例的机械臂式三维打印机局部爆炸视图；Fig. 3 is a partial exploded view of the manipulator-type three-dimensional printer according to the specific embodiment of the present invention;
图4为本实用新型具体实施例的送丝机构装配图；Fig. 4 is the assembly drawing of the wire feeding mechanism of the specific embodiment of the utility model;
图5为本实用新型具体实施例的送丝机构爆炸视图。Fig. 5 is an exploded view of the wire feeding mechanism of a specific embodiment of the present invention.
其中：100-送料装置，200-机械臂装置，300-打印执行装置，1-绕线盘，2-固定轴，3-支撑套筒，4-第一轴承，5-保护软管，6-送丝机构，7-支撑竖架，9-末端执行器，10-耗材丝，11-金属散热管，12-第一螺钉，13-连接螺柱，14-连接架，15-第二螺钉，16-加热机构，17-喷嘴，18-散热机构，19-机械臂底座，20-固定底板，601-电机，602-调节螺母，603-弹簧，604-圆垫片，605-辅助进丝件，606-第二轴承，607-压线机构，610-固定螺栓，611-紧定螺钉，612-送料轮，613-压线盒，614-辅助豁口。Among them: 100-feeding device, 200-mechanical arm device, 300-printing execution device, 1-winding reel, 2-fixed shaft, 3-supporting sleeve, 4-first bearing, 5-protective hose, 6- Wire feeding mechanism, 7-support vertical frame, 9-end effector, 10-consumable wire, 11-metal heat dissipation pipe, 12-first screw, 13-connecting stud, 14-connecting frame, 15-second screw, 16-heating mechanism, 17-nozzle, 18-heat dissipation mechanism, 19-arm base, 20-fixed bottom plate, 601-motor, 602-adjusting nut, 603-spring, 604-circular gasket, 605-auxiliary wire feeder , 606-second bearing, 607-crimping mechanism, 610-fixing bolt, 611-set screw, 612-feeding wheel, 613-crimping box, 614-auxiliary gap.
具体实施方式detailed description
为了使本实用新型的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.
相反，本实用新型涵盖任何由权利要求定义的在本实用新型的精髓和范围上做的替代、修改、等效方法以及方案。进一步，为了使公众对本实用新型有更好的了解，在下文对本实用新型的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本实用新型。On the contrary, the utility model covers any alternatives, modifications, equivalent methods and schemes made on the spirit and scope of the utility model defined by the claims. Further, in order to make the public have a better understanding of the utility model, some specific details are described in detail in the detailed description of the utility model below. Those skilled in the art can fully understand the present invention without the description of these detailed parts.
如图1、2所示的具体实施例中，一种机械臂式三维打印机，包括送料装置100、机械臂装置200、打印执行装置300，送料装置100和机械臂装置200都固定在固定底板20上，打印执行装置300与机械臂装置200的末端执行器9相连接，送料装置100通过保护软管5与打印执行装置300相连接。送料装置100包括绕线盘1、送丝机构6，耗材丝10一端缠绕在绕线盘1上，另一端通过送丝机构6送到打印执行装置300，送丝机构6与打印执行装置300之间连接有保护软管5一方面用以保护耗材丝10，另一方面限制耗材丝10的运动路径。打印执行装置300设置有加热机构16，使得耗材丝10熔化通过喷嘴17进行三维打印，同时在机械臂装置200带动下，打印执行装置300能够灵活的选择打印位置，进行立体成型。In the specific embodiment shown in Figures 1 and 2, a robotic arm type three-dimensional printer includes a feeding device 100, a robotic arm device 200, and a printing execution device 300, and the feeding device 100 and the robotic arm device 200 are fixed on a fixed base plate 20 Above, the printing execution device 300 is connected to the end effector 9 of the robotic arm device 200 , and the feeding device 100 is connected to the printing execution device 300 through the protective hose 5 . The feeding device 100 includes a winding reel 1 and a wire feeding mechanism 6. One end of the consumable filament 10 is wound on the winding reel 1, and the other end is sent to the printing execution device 300 through the wire feeding mechanism 6. The connection between the wire feeding mechanism 6 and the printing execution device 300 is A protective hose 5 is connected between them to protect the consumable filament 10 on the one hand, and limit the movement path of the consumable filament 10 on the other hand. The printing execution device 300 is provided with a heating mechanism 16, so that the consumable filament 10 melts and passes through the nozzle 17 for three-dimensional printing. At the same time, driven by the mechanical arm device 200, the printing execution device 300 can flexibly select the printing position for three-dimensional molding.
具体实施例中送料装置100包括绕线盘1、送丝机构6、支撑套筒3、第一轴承4、固定轴2，固定底板20一端面固定有支撑竖架7，支撑竖架7上端设置有固定轴2，固定轴2与支撑套筒3通过第一轴承4相连接，使得支撑套筒3一方面能够在固定轴2上旋转另一方面同绕线盘1固定连接，使得绕线盘1能够在固定轴2上旋转。In the specific embodiment, the feeding device 100 includes a winding reel 1, a wire feeding mechanism 6, a support sleeve 3, a first bearing 4, and a fixed shaft 2. One end of the fixed bottom plate 20 is fixed with a support vertical frame 7, and the upper end of the support vertical frame 7 is arranged There is a fixed shaft 2, and the fixed shaft 2 is connected with the support sleeve 3 through the first bearing 4, so that the support sleeve 3 can rotate on the fixed shaft 2 on the one hand and is fixedly connected with the winding reel 1 on the other hand, so that the winding reel 1 is able to rotate on a fixed axis 2.
具体实施例中机械臂装置200设置有控制机构，控制机构包括控制芯片和显示屏，控制芯片根据需要打印的位置信息，控制三个直流伺服电机601旋转，进而实现调整末端执行器9位姿的目的。In the specific embodiment, the mechanical arm device 200 is provided with a control mechanism, the control mechanism includes a control chip and a display screen, and the control chip controls the rotation of the three DC servo motors 601 according to the position information printed as required, thereby realizing the adjustment of the position and posture of the end effector 9 Purpose.
如图3所示具体实施例中打印执行装置300包括连接架14、加热机构16、散热机构18、金属散热管11。连接架14通过第一螺钉12固定在末端执行器9上，同时与加热机构16固定连接，机械臂装置200带动连接架14进行运动。末端执行器9中间位置设置有通孔，金属散热管11一端连接有保护软管5并穿过末端执行器9的通孔，另一端通过连接螺柱13固定在加热机构16上。连接螺柱13为中空外螺纹结构，一端通过螺纹配合连接金属散热管11另一端通过螺纹配合连接喷嘴17。耗材丝10通过保护软管5进入金属散热管11，加热机构16对其加热，使得耗材丝10熔化，通过喷嘴17流出到规划位置，逐步层叠形成三维实体。连接架14为L型结构，外侧有三个螺纹孔，散热机构18通过第二螺钉15固定连接架14上，用于整个机构散热。As shown in FIG. 3 , the printing execution device 300 in the specific embodiment includes a connecting frame 14 , a heating mechanism 16 , a heat dissipation mechanism 18 , and a metal heat dissipation pipe 11 . The connecting frame 14 is fixed on the end effector 9 through the first screw 12, and is fixedly connected with the heating mechanism 16 at the same time, and the mechanical arm device 200 drives the connecting frame 14 to move. A through hole is provided in the middle of the end effector 9 , and one end of the metal heat dissipation pipe 11 is connected with the protection hose 5 and passed through the through hole of the end effector 9 , and the other end is fixed on the heating mechanism 16 through a connecting stud 13 . The connecting stud 13 is a hollow external thread structure, and one end is connected to the metal heat dissipation pipe 11 through thread fitting, and the other end is connected to the nozzle 17 through thread fitting. The consumable filament 10 enters the metal heat dissipation pipe 11 through the protective hose 5, and is heated by the heating mechanism 16, so that the consumable filament 10 melts, flows out to the planned position through the nozzle 17, and gradually stacks to form a three-dimensional entity. The connecting frame 14 is an L-shaped structure with three threaded holes on the outside, and the cooling mechanism 18 is fixed on the connecting frame 14 by the second screw 15 for heat dissipation of the whole mechanism.
如图4、5所示具体实施例中，送丝机构6包括压线盒613、送料轮612、压线机构607、辅助进丝件605、电机601。压线盒613设置有凹槽，用以放置送料轮612和压线机构607，压线盒613一端与电机601相连接，电机601轴穿过压线盒613与送料轮612固定连接，为保证电机601轴与送料轮612的有效连接，送料轮612设置有紧定螺钉611，通过拧紧紧定螺钉611能够使得电机601轴与送料轮612同步旋转，电机601带动送料轮612旋转。送料轮612设置有齿结构，且齿轮的中间有浅凹槽，使得耗材丝10容易定位。In the specific embodiment shown in FIGS. 4 and 5 , the wire feeding mechanism 6 includes a crimping box 613 , a feeding wheel 612 , a crimping mechanism 607 , an auxiliary wire feeder 605 , and a motor 601 . The crimping box 613 is provided with a groove for placing the feed wheel 612 and the crimping mechanism 607. One end of the crimping box 613 is connected with the motor 601, and the motor 601 shaft passes through the crimping box 613 and is fixedly connected with the feeding wheel 612. The motor 601 shaft is effectively connected with the feed wheel 612. The feed wheel 612 is provided with a set screw 611. By tightening the set screw 611, the motor 601 shaft and the feed wheel 612 can rotate synchronously, and the motor 601 drives the feed wheel 612 to rotate. The feeding wheel 612 is provided with a tooth structure, and there is a shallow groove in the middle of the gear, so that the consumable filament 10 can be positioned easily.
压线机构607为月牙形中间位置安装有轴承，压线机构607安装在压线盒613凹槽内与送料轮612保持一定的间隔空隙，压线机构并不完全固定，能够相对移动，用于调整压线机构与送料轮的间隙，使得耗材丝10穿过并且对耗材丝10形成一定的挤压摩擦力，当送料轮612旋转时，送料轮612在压线机构607的配合下，带动耗材丝10往一个方向运动。压线机构607中间位置安装有第二轴承606，并通过螺栓固定在压线盒613凹槽内，第二轴承606用以同送料轮612相配合。为调节送料轮612与压线机构607的间隙，在压线盒613靠近压线机构607的一端面开有螺栓孔，并安装有弹簧603，弹簧603一端在压线盒613内与压线机构607相接触，另一端在压线盒613侧面的螺栓孔内并处于压缩状态，压线盒613装配有调节螺母602、圆垫片604，调节螺母602从压线盒613的螺栓孔内旋进推动圆垫片604，圆垫片604压缩弹簧603，进而弹簧603被压缩产生弹性力推动压线机构607移动，进行实现调节压线机构607的目的。通过调节螺母602改变送料轮612与压线机构607之间的间隙，来适用不同线径的耗材丝10。同时在压线盒613用以耗材丝10通过的端口处安装有辅助进丝件605，方便耗材丝10通过。由于紧定螺钉611安装在凹槽内，为方便调节紧定螺钉611，在压线盒613靠近送料轮612一端设置有辅助豁口614。The thread crimping mechanism 607 is equipped with a bearing in the crescent-shaped middle position, and the thread crimping mechanism 607 is installed in the groove of the crimping box 613 to keep a certain interval with the feeding wheel 612. The thread crimping mechanism is not completely fixed, but can move relatively for Adjust the gap between the crimping mechanism and the feeding wheel so that the consumable wire 10 passes through and forms a certain extrusion friction force on the consumable wire 10. When the feeding wheel 612 rotates, the feeding wheel 612 drives the consumables under the cooperation of the crimping mechanism 607. The wire 10 moves in one direction. A second bearing 606 is installed in the middle of the crimping mechanism 607 and is fixed in the groove of the crimping box 613 by bolts. The second bearing 606 is used to cooperate with the feeding wheel 612 . In order to adjust the gap between the feeding wheel 612 and the crimping mechanism 607, a bolt hole is provided on the end face of the crimping box 613 close to the crimping mechanism 607, and a spring 603 is installed, and one end of the spring 603 is connected with the crimping mechanism in the crimping box 613. 607 are in contact with each other, and the other end is in the bolt hole on the side of the crimping box 613 and is in a compressed state. The crimping box 613 is equipped with an adjusting nut 602 and a round washer 604, and the adjusting nut 602 is screwed in from the bolt hole of the crimping box 613. The circular washer 604 is pushed, and the circular washer 604 compresses the spring 603 , and the spring 603 is compressed to generate an elastic force to push the crimping mechanism 607 to move, so as to achieve the purpose of adjusting the crimping mechanism 607 . By adjusting the nut 602 to change the gap between the feeding wheel 612 and the wire pressing mechanism 607 , it is suitable for consumable filaments 10 with different wire diameters. At the same time, an auxiliary wire feeder 605 is installed at the port of the crimping box 613 for the passage of the consumable filament 10 to facilitate the passage of the consumable filament 10 . Since the set screw 611 is installed in the groove, an auxiliary notch 614 is provided at the end of the crimping box 613 close to the feed wheel 612 for the convenience of adjusting the set screw 611 .
如图1、2、3、4、5所示具体实施例中，电机601带动送料轮612旋转，送料轮612靠摩擦力带动耗材丝10从辅助进丝孔进入，穿过送料轮612与压线机构607的间隙，从另一个辅助进丝孔穿出，进入保护软管5，保护软管5一端连接在送丝机构6的辅助进丝孔另一端与金属散热管11相连接，耗材丝10在送料轮612的推动下，从保护软管5穿过，进入金属散热管11，加热机构16对其加热，耗材丝10在高温条件熔化从喷嘴17喷出。同时机械臂装置200在控制芯片的控制下按照规划方案控制末端执行器9运动，末端执行器9同连接架14连接，喷嘴17固定在连接架14上，进而喷嘴17随着末端执行器9运动而运动，喷嘴17在运动的同时喷出耗材丝10液体，最终实现立体打印、快速成型的目的。In the specific embodiment shown in Figures 1, 2, 3, 4, and 5, the motor 601 drives the feed wheel 612 to rotate, and the feed wheel 612 drives the consumable filament 10 to enter from the auxiliary wire feeding hole by friction, and passes through the feed wheel 612 and the press. The wire mechanism 607 passes through another auxiliary wire inlet hole and enters the protection hose 5. One end of the protection hose 5 is connected to the auxiliary wire inlet hole of the wire feeding mechanism 6 and the other end is connected to the metal heat dissipation pipe 11. Consumable wire Driven by the feeding wheel 612, the filament 10 passes through the protective hose 5 and enters the metal heat dissipation pipe 11, where it is heated by the heating mechanism 16, and the consumable filament 10 is melted at high temperature and sprayed out from the nozzle 17. At the same time, the mechanical arm device 200 controls the movement of the end effector 9 according to the planning scheme under the control of the control chip, the end effector 9 is connected with the connecting frame 14, the nozzle 17 is fixed on the connecting frame 14, and then the nozzle 17 moves with the end effector 9 While moving, the nozzle 17 ejects the consumable filament 10 liquid while moving, and finally realizes the purpose of three-dimensional printing and rapid prototyping.
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620013806.9UCN205326297U (en) | 2016-01-08 | 2016-01-08 | Arm -type three -dimensional inkjet printer of machinery |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620013806.9UCN205326297U (en) | 2016-01-08 | 2016-01-08 | Arm -type three -dimensional inkjet printer of machinery |
| Publication Number | Publication Date |
|---|---|
| CN205326297Utrue CN205326297U (en) | 2016-06-22 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620013806.9UExpired - Fee RelatedCN205326297U (en) | 2016-01-08 | 2016-01-08 | Arm -type three -dimensional inkjet printer of machinery |
| Country | Link |
|---|---|
| CN (1) | CN205326297U (en) |
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|---|---|---|---|---|
| CN105500712A (en)* | 2016-01-08 | 2016-04-20 | 浙江理工大学 | Three-degree-of-freedom three-dimensional printer and control method |
| CN105965897A (en)* | 2016-06-29 | 2016-09-28 | 桂林电子科技大学 | Mechanical-arm-type 3D printer |
| WO2021032602A1 (en) | 2019-08-16 | 2021-02-25 | Dsm Ip Assets B.V. | Spool for supporting a filament and filament spool |
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| CN105500712A (en)* | 2016-01-08 | 2016-04-20 | 浙江理工大学 | Three-degree-of-freedom three-dimensional printer and control method |
| CN105500712B (en)* | 2016-01-08 | 2018-01-30 | 浙江理工大学 | A kind of control method of Three Degree Of Freedom three-dimensional printer |
| CN105965897A (en)* | 2016-06-29 | 2016-09-28 | 桂林电子科技大学 | Mechanical-arm-type 3D printer |
| CN105965897B (en)* | 2016-06-29 | 2018-08-14 | 桂林电子科技大学 | A kind of mechanical arm type 3D printer |
| WO2021032602A1 (en) | 2019-08-16 | 2021-02-25 | Dsm Ip Assets B.V. | Spool for supporting a filament and filament spool |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160622 Termination date:20170108 | |
| CF01 | Termination of patent right due to non-payment of annual fee |