面向协作机器人的3D打印系统设计

3D printing system design for collaborative robots

针对机器人在3D打印应用时稳定性欠佳、打印效果差的问题,设计面向协作机器人的3D打印控制系统。在目前比较典型、成熟的FDM熔融沉积成型技术的3D打印工艺基础上,选择JAKA Zu 7协作机器人作为执行结构,SIMATIC S7-1200控制器控制扩展设备,通过对机器人接口二次开发、设计G代码处理模块、通信模块对各种数据进行结构化处理。测试结果表明,该系统能有效提取和加工打印关键数据,完成PLC、机器人和G代码处理模块之间的通讯和数据交互,机器人位姿误差控制在在±0.15 mm,同时回抽挤出头在停顿点的挤出长度,解决在该点凸起呈斑点状的问题,冷却模块能根据喷头温度和打印情况进行实时冷却,减少打印件边缘卷曲的情况,保证了打印质量。

In view of the problem of poor stability and poor printing effect of robots in 3D printing applications,a 3D printing control system for collaborative robots is designed.Based on the current typical and mature 3D printing process of FDM fused deposition modeling technology,JAKA Zu 7 collaborative robot is selected as the execution structure,and the SIMATIC S7-1200 controller controls the expansion equipment.Through the secondary development of the robot interface,the G code is designed The processing module and the communication module perform structured processing on various data.The test results show that the system can effectively extract,process and print key data,complete the communication and data interaction between the PLC,the robot and the G code processing module.the robot position error is controlled at±0.15 mm,and the extrusion length of the pause point is withdrawn at the same time,solving the problem of bulging and spot-like at this point.The cooling system can perform real-time cooling according to the nozzle temperature and printing conditions,reducing the curling of the edge of the printed part,and ensure the printing effect and quality.