CN104527068A - Colour 3D printing robot - Google Patents
Colour 3D printing robot Download PDFInfo
- Publication number
- CN104527068A CN104527068A CN201410809982.9A CN201410809982A CN104527068A CN 104527068 A CN104527068 A CN 104527068A CN 201410809982 A CN201410809982 A CN 201410809982A CN 104527068 A CN104527068 A CN 104527068A
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- printhead
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- control circuit
- lifting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/236—Driving means for motion in a direction within the plane of a layer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/60—Computer aided manufacture of footwear, e.g. CAD or CAM
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
Abstract
The invention relates to the technical field of 3D printing, and specifically relates to a colour 3D printing robot. The colour 3D printing robot disclosed by the invention comprises an omni-directional mobile platform mechanism, a Z-axis lifting mechanism, an extensible 3D printing mechanism and a feedback/communication/control circuit. The colour 3D printing robot is characterized in that the Z-axis lifting mechanism is fixedly connected to the omni-directional mobile platform mechanism, the extensible 3D printing mechanism is fixedly connected to the Z-axis lifting mechanism, the feedback/communication/control circuit is installed on the omni-directional mobile platform mechanism simultaneously, and the omni-directional mobile platform mechanism is controlled to carry out a linear motion and rotate by virtue of the feedback/communication/control circuit, and the Z-axis lifting mechanism is controlled by virtue of the feedback/communication/control circuit to drive a plurality of printing heads filled with multi-colour printing materials in the extensible 3D printing mechanism to realize printing of a colour object in a three-dimensional space. The colour 3D printing robot has the characteristics of simple and compact structure, capacity of realizing the switching of the plurality of printing heads by virtue of a flexible omni-directional mobile platform and thus realizing colour 3D printing, high printing speed, natural material switching, and high reliability.
Description
Technical field
The present invention relates to 3D printing technique field, be specifically related to a kind of colored 3D printer device people.
Background technology
3D printer is also known as three-dimensional printer, it is a kind of accumulation manufacturing technology, i.e. a kind of machine of RP technique, it is based on a kind of mathematical model file, use special wax material, powdery metal or plastics etc. can jointing material, manufacture three-dimensional object by the jointing material printed in layer.Present stage, three-dimensional printer was used to manufacture a product, and the mode successively printed carrys out the technology of constructed object.
Because 3D printing technique can be used for jewelry, footwear, industrial design, building, engineering and construction (AEC), automobile, Aero-Space, dentistry and medical industries, education, GIS-Geographic Information System, civil engineering, and many other fields.Usually be used to modeling or the direct manufacture for some products in the field such as Making mold, industrial design, therefore this technology just at the beginning of 21 century the whole industry popularize rapidly.Little of printing food, human organ, greatly to printing whole building building, is the developing direction in 3D printer future.
At present, nearly all 3D printer is all monochromatic printings, cannot the real color appearance of implementation model, and then also cannot meet the demand of people further.Although the 3D having achieved model at present prints, and the multicolour 3D that will realize color model prints, and still there is the problem that many needs overcome.
In sum, if a kind of 3D printer that can carry out colour print can be had, certainly will can be 3D printer expanded application, new business opportunity can be brought for 3D printing market.
Involved by existing Patents has colored 3D printer at present, such as,
1) patent [201310719302.X] provides a kind of 3D printing easily extensible many materials nozzle system, comprise base, some wire feed unit and driver element, each wire feed unit and the corresponding a kind of color material of driver element, wire feed unit and the driver element of work at present is selected by electromagnet, reach and print multiple color material, realize colored 3D printing purpose.
2) patent [201410262338.4] provides a kind of 3D printer single spraying head multiple material switching device shifter, comprise fixed mount, mair motor and shower nozzle installing rack, the upper surface circular array of fixed mount shows multiple feeding mechanism, each feeding mechanism comprises charging motor respectively, active roller and return idler, corresponding a kind of color material respectively, drive connecting rod to rotate by the rotating shaft of mair motor and adjust the position of shower nozzle installing rack below fixed mount, namely rotate to and need immediately below any feeding mechanism, with the through-hole alignment charging on fixed mount, realize single spraying head multiple material handoff functionality.
Although above-mentioned patent is accepted in colored 3D printer field, even some existing relevant product occurs, but improving constantly of 3D printer capability being required along with people, the deficiency of above-mentioned patent and Related product fully manifests, and is in particular in:
1) the wire feed unit of patent [201310719302.X] and the expansion of driver element only just arranged in a straight line, this means, if need expansion quantity more wire feed unit and driver element, the length of printhead will become very long, be unfavorable for the installation of printhead, limit the number of wire feed unit and driver element, also limit material category quantity.
2) patent [201410262338.4] needs increase mair motor to realize the switching of present material, add the complexity of print head structure, add printer cost, reduce the reliability of printer, simultaneously, each in material handoff procedure, tearing of inevitable generating material, is easy in the process of tearing, and produces chip slag, fall on the work top of bottom, affect normal print procedure.
Summary of the invention
The object of the invention is to solve traditional 3D printer and can only carry out the monochromatic defect printed, also improve existing minority colored 3D printer port of printer volume large, printed material quantity is few, and print head structure is complicated, cost is high, easily affects the various deficiencies such as normal 3D print procedure.There is provided a kind of colored 3D printer device people, realize printer and print head structure is compact, printed material quantity is many, and printer cost is low, fireballing advantage.
To achieve the above object of the invention, the present invention adopts following technical proposals:
A kind of colored 3D printer device people, comprise omni-directional moving platform mechanism, Z-axis lifting mechanism, easily extensible 3D printing mechanism and feedback/communicate/control circuit composition, it is characterized in that: described omni-directional moving platform mechanism is fixedly connected with Z-axis lifting mechanism, Z-axis lifting mechanism is fixedly connected with easily extensible 3D printing mechanism, described omni-directional moving platform mechanism is provided with feedback/communication/control circuit simultaneously;
1) described omni-directional moving platform mechanism comprises mobile platform pedestal, motion motor, moving wheel, and motion motor is arranged on mobile platform pedestal, and end is connected with moving wheel;
2) described Z-axis lifting mechanism comprises lifting motor, the secondary moved end of lifting moving, the secondary fixed end of lifting moving, printhead move support, the secondary fixed end of lifting moving is fixed on the mobile platform pedestal of omni-directional moving platform mechanism, the secondary moved end of lifting moving and the secondary fixed end of lifting moving produce Z-direction rectilinear motion by lifting motor, the secondary moved end of lifting moving is fixed with printhead and moves support;
3) described easily extensible 3D printing mechanism comprises printhead linking arm, printhead and printhead position, the printhead that printhead linking arm is fixed on Z-axis lifting mechanism moves on support, symmetrical some printhead positions, center on printhead linking arm, any printhead position is all fixedly connected with the printhead that a certain printed material is housed by snap close, separate opening lock catch, printhead just can get off from any printhead bit stripping, printhead comprises feeding motor, heating chamber, extruder head, printed material, feeding motor connects heating chamber and extruder head successively, printed material is sent into heating chamber and is extruded by extruder head after heating and melting and carry out 3D printing by feeding motor,
4) described feedback/communication/control circuit comprises power supply, alignment sensor circuit, telecommunication circuit, control circuit, feedback/communication/control circuit is installed on the mobile platform pedestal of omni-directional moving platform, power supply provides electric power for whole equipment, alignment sensor circuit provides position to feed back for control circuit, telecommunication circuit provides communication for 3D printer device people and host computer, and control circuit realizes the motion control arithmetic of whole equipment.
Further, described omni-directional moving platform mechanism has been arranged symmetrically with according to mobile platform base central 4 the omnidirectional driving wheel motions of 90 degree of being separated by, or in rectangular layout 4 can realize the wheel motions that drive and turn to simultaneously.
Further, described Z-axis lifting mechanism is linear electric motors straight-line motion mechanism or ball-screw straight-line motion mechanism.
Further, described easily extensible 3D printing mechanism is that piston syringe-type extrudes feed mechanism or motor gear occlusion feed mechanism.
Further, described alignment sensor circuit is light emitting diode alignment sensor or laser positioning sensor, or alignment sensor circuit is arranged on the ceiling of 3D printer device people work, is camera vision sensor.
Further, any printhead position in described easily extensible 3D printing mechanism is all fixedly connected with the printhead that a certain printed material is housed by snap close, separate opening lock catch, printhead just can get off from any printhead bit stripping, before carrying out 3D printing objects, need to be numbered the printhead installing different printed material and these printheads are correctly locked on printhead linking arm.
Operation principle of the present invention is summarized as follows:
First by software, object digital model file to be printed is passed through a point layer scattering, utilize high flexibility, can XY motion and the omni-directional moving platform that rotates around Z axis, the Z axis motion on omni-directional moving platform and required printhead is driven to carry out 3D printing, all plane spaces of omnibearing movable Platform movement entire motion complete current layer model, drive printhead prints "current" model layer, then, after a model layer distance is moved in the motion of Z axis motion straight up, printer device people enters into the layer model printing that next model layer carries out a new round.Whenever need to switch printed material, only need control omni-directional moving platform rotates corresponding angle around Platform center, opens this feeding motor, closes the feeding motor of other printheads simultaneously.
The present invention has following apparent outstanding substantive distinguishing features and remarkable advantage compared with existing 3D printer:
The present invention colored 3D printer device people is simple and compact for structure, and volume is little, utilizes omnibearing movable platform flexibly can realize the switching of multiple print head, thus realizes colored 3D and prints, and kinematic dexterity is high, and print speed is fast, and material switching nature, reliability is high.
Accompanying drawing explanation
Fig. 1 is principle of the invention structural representation.
Fig. 2 is a kind of omni-directional moving platform structural representation of the present invention.
Fig. 3 is the another kind of omni-directional moving platform structural representation of the present invention.
Fig. 4 is a kind of Z-axis lifting mechanism structural representation of the present invention.
Fig. 5 is the another kind of Z-axis lifting mechanism structural representation of the present invention.
Fig. 6 is a kind of easily extensible 3D of the present invention printing mechanism structural representation.
Fig. 7 is the present invention another kind of easily extensible 3D printing mechanism structural representation.
Fig. 8 is multiple print head of the present invention expansion schematic diagram.
Fig. 9 is the present invention's colored 3D printer print procedure schematic diagram.
Figure 10 is that the present invention feeds back/communicate/control circuit schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention and embodiment are described further.
Embodiment one
See Fig. 1 and Figure 10, a kind of 3D printer device people that can move freely, comprise omni-directional moving platform mechanism 100, Z-axis lifting mechanism 200, easily extensible 3D printing mechanism 300, feedback/communication/control circuit 400, omni-directional moving platform mechanism 100 is fixedly connected with Z-axis lifting mechanism 200, Z-axis lifting mechanism 200 is fixedly connected with easily extensible 3D printing mechanism 300, omni-directional moving platform mechanism 100 is provided with feedback/communication/control circuit 400 simultaneously simultaneously;
Omni-directional moving platform mechanism 100 comprises mobile platform pedestal 111, motion motor 112, moving wheel 113, and motion motor 112 is arranged on mobile platform pedestal 111, and end is connected with moving wheel 113.
Z-axis lifting mechanism 200 comprises lifting motor 211, the secondary moved end 212 of lifting moving, the secondary fixed end 213 of lifting moving, printhead move support 214, the secondary fixed end 213 of lifting moving is fixed on the mobile platform pedestal 111 of omni-directional moving platform mechanism 100, the secondary moved end 212 of lifting moving produces Z-direction rectilinear motion with the secondary fixed end 213 of lifting moving by lifting motor 211, the secondary moved end 212 of lifting moving is fixed with printhead and moves support 214.
Easily extensible 3D printing mechanism 300 comprises printhead linking arm 311, printhead 316 and printhead position 317, the printhead that printhead linking arm 311 is fixed on Z-axis lifting mechanism 200 moves on support 214, symmetrical some printhead positions 317, center on printhead linking arm 311, any printhead position 317 is all fixedly connected with the printhead 316 that a certain printed material 315 is housed by snap close 318, separate opening lock catch 318, printhead 316 just can disassemble from any printhead position 317, printhead 316 comprises feeding motor 312, heating chamber 313, extruder head 314, printed material 315, feeding motor 312 connects heating chamber 313 and extruder head 314 successively, printed material 315 is sent into heating chamber 313 and is extruded by extruder head 314 after heating and melting and carry out 3D printing by feeding motor 312.
Feedback/communication/control circuit 400 comprises power supply 411, alignment sensor circuit 412, telecommunication circuit 413, control circuit 414, feedback/communication/control circuit 400 is installed on the mobile platform pedestal 111 of omni-directional moving platform 100, power supply 411 provides electric power for whole equipment, alignment sensor circuit 412 by telecommunication circuit 413 for control circuit provides position to feed back, telecommunication circuit 413 provides communication for 3D printer device people and host computer, and control circuit 414 realizes the motion control arithmetic of whole equipment.
Embodiment two
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 2, in the present embodiment, omni-directional moving platform mechanism 100 arranges according to mobile platform pedestal 111 Central Symmetry 4 the omnidirectional driving wheel motions being mutually 90 degree, and the rotating speed controlling 4 moving wheels 113 by motion motor 112 realizes the all-around mobile of omni-directional moving platform.
Embodiment three
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 3, in the present embodiment, omni-directional moving platform mechanism 100 also should comprise the steer motor 121 that can realize moving wheel 113 and turn to, omni-directional moving platform mechanism 100 can realize according in rectangular layout 4 of mobile platform pedestal 111 the wheel motions that drive and turn to simultaneously, and what control 4 moving wheels 113 by steer motor 121 and motion motor 112 turns to the all-around mobile realizing omni-directional moving platform with rotating speed.
Embodiment four
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 4, in the present embodiment, Z-axis lifting mechanism 200 is ball screw framework, and the secondary moved end 212 of lifting moving is movement nut 222, and the secondary fixed end of lifting moving is leading screw 223, and lifting motor 211 is electric rotating machine 221.
Embodiment five
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 5, in the present embodiment, Z-axis lifting mechanism 200 is linear electric motors mechanism, and the secondary moved end 212 of lifting moving is linear motor rotor 232, and the secondary fixed end of lifting moving is linear motor stator electric 233, and lifting motor 211 is linear electric motors 231.
Embodiment six
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 6, in the present embodiment, easily extensible 3D printing mechanism also should comprise rotating threaded shaft 321, extruding nut 322, extrusion piston 323, feeding motor 312 connects rotating threaded shaft 321 successively, extruding nut 322, extrusion piston 323, easily extensible 3D printing mechanism 300 extrudes feed mechanism for piston syringe-type, and printed material 315 joins in heating chamber 313 in advance, is rotated by feeding motor 312 driven rotary leading screw 321, promote extruding nut 322, the printed material 315 after heating is extruded through extruder head 314 and is carried out 3D printing by final promotion extrusion piston 323.
Embodiment seven
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 7, in the present embodiment, easily extensible 3D printing mechanism also should comprise pulverizes gear 331, feeding motor 312 connects pulverizes gear 331, easily extensible 3D printing mechanism 300 is motor gear occlusion feed mechanism, be thread during printed material 315 non-pulverizing heating, driven by feeding motor 312 and pulverize gear 331 and rotate, to shatter and printed material 315 after promoting heating is extruded through extruder head 314 and carried out 3D printing.
Embodiment eight
The present embodiment is substantially identical with the technical scheme of embodiment one, and special feature is:
See Fig. 8 and Fig. 9, any printhead 316 can be connected on some printhead positions 317 of opposed print heads linking arm 311 Central Symmetry distribution by snap close 318, as Fig. 8 (A), in officely what is the need for when wanting, also can expand printhead 316, as Fig. 8 (B), also can by the relative position distribution between the different printhead 316 of adjustment, optimize the structure of 3D printer device people, improve printing effect, as Fig. 8 (C), print procedure is summarized as follows: by control circuit 414 control omni-directional moving platform mechanism 100 drive printhead X move to precalculated position start print, after printing completes, rotate omni-directional moving platform mechanism 100, be switched to printhead Y, proceed 3D to print, switch printhead Z afterwards, if there are other printheads of expansion can also proceed to switch, realize the automatic switchover realizing printhead 316 without any need for additional control motor, simplify printer arrangement, reduce costs, increase reliability.Simultaneously
These are only specific embodiments of the invention, but technical characteristic of the present invention is not limited thereto.Any with the present invention basis, for realizing substantially identical technique effect, done ground simple change, equivalent replacement or modification etc., be all covered by among protection scope of the present invention.
bibliography
[1] Zhu Jianhua, Wang Xiaoxiao, Ye Qun. the academician of the Chinese Academy of Sciences and Chinese Academy of Engineering chooses China ten large Progress & New Products Wuhan and makes " 3D printer " the biggest in the world selected [N]. the Changjiang River Daily, 2012-01-18.
Claims (6)
1. a colored 3D printer device people, comprise omni-directional moving platform mechanism (100), Z-axis lifting mechanism (200), easily extensible 3D printing mechanism (300) and/control circuit (400) that feed back/communicates, it is characterized in that: described omni-directional moving platform mechanism (100) is fixedly connected with Z-axis lifting mechanism (200), Z-axis lifting mechanism (200) is fixedly connected with easily extensible 3D printing mechanism (300), described omni-directional moving platform mechanism (100) is provided with feedback/communication/control circuit (400) simultaneously;
1) described omni-directional moving platform mechanism (100) comprises mobile platform pedestal (111), motion motor (112), moving wheel (113), and motion motor (112) is arranged on mobile platform pedestal (111), and output is connected with moving wheel (113);
2) described Z-axis lifting mechanism (200) comprises lifting motor (211), the secondary moved end (212) of lifting moving, the secondary fixed end (213) of lifting moving, printhead move support (214), the secondary fixed end (213) of lifting moving is fixed on the mobile platform pedestal (111) of omni-directional moving platform mechanism (100), the secondary moved end (212) of lifting moving is mated with the secondary fixed end (213) of lifting moving and produces Z-direction rectilinear motion by the driving of lifting motor (211), and the secondary moved end (212) of lifting moving is fixed with printhead moves support (214);
3) described easily extensible 3D printing mechanism (300) comprises printhead linking arm (311), printhead (316), printhead position (317), the printhead that printhead linking arm (311) is fixed on Z-axis lifting mechanism (200) moves on support (214), the symmetrical some printhead positions (317) in the upper center of printhead linking arm (311), the upper fixed installation printhead (316) of each printhead position (317); Printhead (316) comprises feeding motor (312), heating chamber (313), extruder head (314), printed material (315); Feeding motor (312) connects heating chamber (313) and extruder head (314) successively, and printed material (315) feeding heating chamber (313) is extruded by extruder head (314) and carried out 3D printing by feeding motor (312) after heating and melting;
4) described feedback/communication/control circuit (400) comprises power supply (411), alignment sensor circuit (412), telecommunication circuit (413) and control circuit (414), feedback/communication/control circuit (400) is installed on the mobile platform pedestal (111) of omni-directional moving platform (100), power supply (411) provides electric power for whole equipment, alignment sensor circuit (412) provides position to feed back for control circuit (414), telecommunication circuit (413) provides communication for 3D printer device people and host computer, control circuit (414) realizes the motion control arithmetic of whole equipment.
2. colored 3D printer device people according to claim 1, it is characterized in that: described omni-directional moving platform mechanism (100) is arrange according to mobile platform pedestal (111) Central Symmetry 4 the omnidirectional driving wheel motions of 90 degree of being separated by, or in rectangular layout 4 can realize the wheel motions that drive and turn to simultaneously.
3. colored 3D printer device people according to claim 1, is characterized in that: described Z-axis lifting mechanism (200) is linear electric motors straight-line motion mechanism or ball-screw straight-line motion mechanism.
4. colored 3D printer device people according to claim 1, is characterized in that: described easily extensible 3D printing mechanism (300) extrudes feed mechanism for piston syringe-type or motor gear is engaged feed mechanism.
5. colored 3D printer device people according to claim 1, it is characterized in that: described alignment sensor circuit (412) is light emitting diode alignment sensor or laser positioning sensor (422), or alignment sensor circuit (412) is arranged on the ceiling of 3D printer device people work, is camera vision sensor (432).
6. colored 3D printer device people according to claim 1, it is characterized in that: any printhead position (317) in described easily extensible 3D printing mechanism (300) is all fixedly connected with the printhead (316) that a certain printed material (315) are housed by snap close (318), separate opening lock catch (318), printhead (316) just can disassemble from printhead position (317), before carrying out 3D printing objects, need to be numbered the printhead (316) installing different printed material (315) and these printheads (316) are correctly locked on the printhead position (317) of printhead linking arm (311).
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| CN201410809982.9A CN104527068B (en) | 2014-12-24 | 2014-12-24 | Colour 3D printing robot |
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| CN201410809982.9A CN104527068B (en) | 2014-12-24 | 2014-12-24 | Colour 3D printing robot |
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