CN105216322A - A kind of XY axle linkage device of 3D printer and interlock method - Google Patents

A kind of XY axle linkage device of 3D printer and interlock method Download PDF

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Publication number
CN105216322A
CN105216322A CN201510695241.7A CN201510695241A CN105216322A CN 105216322 A CN105216322 A CN 105216322A CN 201510695241 A CN201510695241 A CN 201510695241A CN 105216322 A CN105216322 A CN 105216322A
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motor
printer
axis
timing belt
wheel
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CN201510695241.7A
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CN105216322B (en
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王红
刘岩
滕安军
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QINGDAO UNIQUE PRODUCTS DEVELOP CO Ltd
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QINGDAO UNIQUE PRODUCTS DEVELOP CO Ltd
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Abstract

The invention discloses a kind of XY axle linkage device and interlock method of 3D printer, device comprises motor, support, synchronizing wheel, auxiliary wheel and Timing Belt; Described synchronizing wheel, auxiliary wheel are positioned on support, and described synchronizing wheel comprises two driving wheels and two driven pulleys, and described Timing Belt is coiled into " H " shape through four synchronizing wheels and four auxiliary wheels, and the fracture two ends of Timing Belt are fixed on the both sides of printing head base; Described motor comprises left motor and right motor, and described left motor is connected with driving wheel respectively with the output shaft of right motor, drives same Timing Belt.The present invention drives the same Timing Belt being coiled into " H " shape by two motors simultaneously, realizes the XY interlock of 3D printer, improves the overall print quality of 3D printer, make device structure compacter, reduce equipment cost.

Description

A kind of XY axle linkage device of 3D printer and interlock method
Technical field
The invention belongs to 3D printer technology field, be specifically related to a kind of linkage and interlock method of XY axle of the 3D printer based on FDM principle.
Background technology
3D prints, i.e. the one of rapid shaping technique, and it is a kind of based on mathematical model file, uses powdery metal or plastics etc. can jointing material, is carried out the technology of constructed object by the mode successively printed.The material melt extruding shaping (FDM) technique is generally thermoplastic, as wax, ABS, PC, nylon etc., with thread feed.Material in shower nozzle by heat fused.Shower nozzle is along part section profile and fill orbiting motion, is extruded by the material of fusing, material rapid solidification simultaneously, and with the material binding of surrounding.Each synusia piles up to form on last layer, the effect that last layer plays location to current layer and supports.Along with the increase of height, the area of synusia profile and shape all can change, when shape has greatly changed, upper strata profile just can not provide location and supporting role fully to current layer, this just needs to design some supplementary structures-" support ", there is provided location to succeeding layer and support, to ensure the smooth realization of forming process.
The existing 3D printer based on cartesian coordinate adopts separate X-axis and Y-axis drive unit, is made up of X (Y) drive motors and X (Y) Timing Belt.X-axis drive motors is fixed on one end of X-axis, and when shower nozzle does Y direction motion, X-axis drive motors moves as Y-direction with printhead, becomes the load of Y-axis drive motors.This kind of drive, increases the moving loads of Y-axis drive motors, and the connecting line of X-axis motor moves with printhead simultaneously, reduces stability and the space availability ratio of equipment, adds the cost of equipment.
Summary of the invention
Technical problem to be solved by this invention is: the present invention proposes a kind of XY axle linkage device and interlock method of 3D printer, the X-axis drive motors existed in solution prior art moves with printhead and causes the problem that print quality is poor, space availability ratio is low, cost is high, improve the overall print quality of 3D printer, make device structure compacter, reduce equipment cost.
The object of the invention is to be achieved through the following technical solutions: a kind of XY axle linkage device of 3D printer, comprises motor, support, synchronizing wheel, auxiliary wheel and Timing Belt; Described synchronizing wheel, auxiliary wheel are positioned on support, and described synchronizing wheel comprises two driving wheels and two driven pulleys, and described Timing Belt is coiled into through four synchronizing wheels and four auxiliary wheels shape, the fracture two ends of Timing Belt are fixed on the both sides of printing head base; Described motor comprises left motor and right motor, and described left motor is connected with driving wheel respectively with the output shaft of right motor, drives same Timing Belt.
Further, described support comprises four screw mandrels and XY linkage unit, and described XY linkage unit comprises X guide rod and Y guide rod; Described four screw mandrels lay respectively at four drift angles of XY linkage unit, and four screw mandrels are divided into two groups, left and right, arrange Y guide rod respectively between left group of two screw mandrels and between right group of two screw mandrels, be arranged in parallel between two Y guide rods two X guide rods.
Further, described Y guide rod arranges Y-axis bearing, described X guide rod two ends are fixedly connected with two, left and right Y-axis bearing respectively.
Further, described printing head base is connected with X guide rod by linear bearing.
Further, described four screw mandrels connect synchronous wheel seat respectively, and described synchronizing wheel is fixedly connected on synchronous wheel seat.
Further, described left motor is connected each self-corresponding square bar with right motor respectively by shaft coupling, and the outer wall of described square bar is socketed a driving wheel.
Further, described motor also comprises Z axis motor, and described Z axis motor is connected with four rhizoid bars by same belt, drives four rhizoid bar synchronous axial system, thus drives four synchronous wheel seat synchronization liftings.
Further, described auxiliary wheel is not with gear, and be separately fixed in two Y-axis bearings between two, the surface of auxiliary wheel and the band of Timing Belt are carried on the back and fitted.
Further, the fracture by increasing Timing Belt adds multiple printhead.
The XY axle interlock method of a kind of 3D printer of the present invention, step is:
1) Mathematical Modeling of printhead movement locus and printhead movement velocity is set up;
2) rotation direction or the velocity of rotation of left motor or right motor is determined according to Mathematical Modeling;
3) start left motor or right motor, drive corresponding square bar to rotate, drive driving wheel to rotate, drive Timing Belt to rotate, complete the interlock of printing head base in X-axis and Y-axis; Start Z axis motor, drive four screw mandrel synchronous axial system, drive four synchronous wheel seat liftings, realize XY linkage unit in Z axis elevating movement.
The present invention compared with prior art has many advantages and good effect: simultaneously device of the present invention drives the same Timing Belt being coiled into " " shape by two motors, realizes the XY interlock of 3D printer.Method of the present invention sets up the Mathematical Modeling of printhead movement locus and printhead movement velocity, sets rotation direction or the velocity of rotation of left motor or right motor according to Mathematical Modeling, realizes the XY interlock track of 3D printer.Solve the X-axis drive motors existed in prior art to move with printhead and cause the problem that print quality is poor, space availability ratio is low, cost is high, improve the overall print quality of 3D printer, make device structure compacter, reduce equipment cost.
Accompanying drawing explanation
Fig. 1 is the XY axle linkage device top view of a kind of 3D printer of the present invention;
Fig. 2 is the overall structure schematic diagram of the XY axle linkage device of a kind of 3D printer of the present invention;
Fig. 3 is the printhead coordinates of motion figure of the XY axle interlock method of a kind of 3D printer of the present invention;
Fig. 4 is the printhead movement locus of embodiment 1;
Fig. 5 is the printhead movement locus of embodiment 2;
Fig. 6 is the printhead movement locus of embodiment 3.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
See Fig. 1 and Fig. 2, the XY axle linkage device of a kind of 3D printer of the present invention, comprises motor, support, synchronizing wheel, auxiliary wheel and Timing Belt.
Described support comprises four screw mandrels 10 and XY linkage unit, and described XY linkage unit comprises X guide rod 3 and Y guide rod 4; Described four screw mandrels lay respectively at four drift angles of XY linkage unit, and screw mandrel connects synchronous wheel seat respectively, described synchronizing wheel 9 totally four, are arranged on four synchronous wheel seats respectively; Four rhizoid bars 10 are in transmission connection by same belt and Z axis motor 6, make Z axis motor can drive four rhizoid bar 10 synchronous axial system by belt transmission, drive four synchronous wheel seat synchronization liftings, realize the lifting of XY linkage unit.
The motor realizing XY interlock comprises left motor 1 and right motor 8, the output shaft of two motors in left and right connects each self-corresponding square bar 12 respectively by shaft coupling, square bar 12 has two, the outer wall of every root square bar 12 is socketed a synchronizing wheel 9, two synchronizing wheels 9 be connected with square bar are as driving wheel, two other is driven pulley, and therefore left motor 1 and right motor 8 are by driving two driving wheels of synchronizing wheel 9 to rotate, thus drive same Timing Belt 5.
Four screw mandrels are divided into two groups, left and right, arrange Y guide rod 4 respectively between left group of two screw mandrels and between right group of two screw mandrels, Y-axis bearing 7 is connected with Y guide rod 4 by linear bearing, and the two ends of two X guide rods 3 are fixed with two, left and right Y-axis bearing 7 respectively; Printing head base 11 is connected with two X guide rods 3 by linear bearing.Described auxiliary wheel 2 four is altogether be not with gear entirely, is separately fixed in two Y-axis bearings 7 between two, and the surface of auxiliary wheel 2 and the band of Timing Belt 5 are carried on the back and fitted, for the movement locus of limits synchronization band 5; Timing Belt 5 is coiled into through four synchronizing wheels, 9, four auxiliary wheels 2 shape, the fracture two ends of Timing Belt 5 are fixed on the both sides of printing head base 11, can add printhead by the fracture increasing Timing Belt.
Utilize above-mentioned XY axle linkage device to realize the XY axle interlock method of 3D printer, step is:
1) Mathematical Modeling of printhead movement locus and printhead movement velocity is set up;
2) rotation direction or the velocity of rotation of left motor or right motor is determined according to Mathematical Modeling;
3) start left motor or right motor, drive corresponding square bar to rotate, drive driving wheel to rotate, drive Timing Belt to rotate, complete the interlock of printing head base in X-axis and Y-axis; By changing rotation direction or the velocity of rotation of left motor or right motor, the movement locus of printing head base in X-axis and Y-axis can be changed; Start Z axis motor, drive four screw mandrel synchronous axial system, drive four synchronous wheel seat liftings, realize XY linkage unit in Z axis elevating movement.
Set up the process of the Mathematical Modeling of printhead movement locus and printhead movement velocity, be specially: as shown in Figure 3, suppose that motion starting point coordinate is P 1(x 1, y 1), terminal is P 2(x 2, y 2), the Mathematical Modeling of printhead movement locus is thus: P 2(x 2, y 2)=P 2(x 1+ S 1-S 2, y 1+ S 1+ S 2), shower nozzle move distance is: wherein suppose, right motor drives the move distance of Timing Belt to be S 1; Left motor drives the move distance of Timing Belt to be S 2, it is positive direction that power taking machine rotates counterclockwise direction, and namely when positive direction is moved, move distance S is positive number, and when moving in the other direction, move distance S is negative.In order to simplified model, can square bar corresponding to left motor be motion starting point, coordinate be (0,0), with X guide rod direction for x-axis, with Y guide rod direction for y-axis, terminal is P (x, y), is respectively x-axis forward and y-axis forward with the direction of arrow in Fig. 1.The Mathematical Modeling of printhead movement locus is thus: P (x, y)=P (S 1-S 2, S 1+ S 2), shower nozzle move distance is:
The Mathematical Modeling of printhead movement velocity is: vr can be calculated by the motor operating parameter of any one running in left and right motor.Wherein right motor drives the movement velocity of Timing Belt to be V 1, the move distance driving Timing Belt is S 1, the movement velocity of the driving Timing Belt of left motor is V 2, the move distance driving Timing Belt is S 2, the movement velocity of shower nozzle is Vr, and the move distance of shower nozzle is r.
The movement locus of printhead can be drawn, as following examples according to the Mathematical Modeling of above-mentioned printhead movement velocity.
Embodiment 1
Such as, as shown in Figure 4, left and right motor moves at the uniform velocity in the same way, 1) when left and right motor rotates clockwise simultaneously, and when speed is identical, printhead is along X-axis negative movement; 2) when left and right motor rotates counterclockwise simultaneously, and when speed is identical, printhead is along X-axis positive movement.
When left and right motor moves at the uniform velocity in the same way, Timing Belt 5 does circulatory motion, then Y-axis homonymy two auxiliary wheels 2 do constant speed and rotate backward under Timing Belt drives, so X guide rod keeps static in Y-direction; And X-axis homonymy two auxiliary wheels 2 do constant speed rotating in same direction, therefore printhead moves in X-direction.Because printhead associated synchronisation band is at motor far-end, therefore printhead moves along the direction contrary with motor steering in X-direction.
Embodiment 2
As shown in Figure 5, left and right motor oppositely moves at the uniform velocity, such as 3) when left motor in rotating counterclockwise, right motor in rotating clockwise, and when speed is identical, printhead is along Y-axis negative movement; 4) when left motor in rotating clockwise, right motor in rotating counterclockwise, and when speed is identical, printhead is along Y-axis positive movement.
When left and right motor oppositely moves at the uniform velocity, two motors and driven pulley form constant speed inverse toroidal respectively and move, and now auxiliary wheel does not rotate, and printhead keeps static in X-direction, and X guide rod moves along Y-direction, and the direction of motion is identical with inside and outside motor steering.
Embodiment 3
As shown in Figure 6, left and right motor variable speed rotates, such as 5) when left motor in rotating clockwise, right motor stalls time, printhead is 45 ° moves along X-axis negative sense, Y-axis forward; 6) when left motor in rotating counterclockwise, right motor stalls time, printhead is 45 ° moves along X-axis forward, Y-axis negative sense; 7) when right motor in rotating clockwise, left motor stalls time, printhead is 45 ° moves along X-axis negative sense, Y-axis negative sense; 8) when right motor in rotating counterclockwise, left motor stalls time, printhead is 45 ° moves along X-axis forward, Y-axis forward; When left motor and right motor rotate with different directions, different speed respectively, printhead can along any direction, arbitrarily angledly to move.
When left motor rotates clockwise, power away from motor is produced to left side Timing Belt, now right motor stops, power is not produced to right side Timing Belt, the frictional force of moving along Y-axis because of X-axis drives stationary motor to rotate the frictional force forming endless belt mass motion much smaller than because of Timing Belt, therefore Timing Belt can continue to do transmission motion, but be not enough to the rotary resistance overcoming stationary motor, so the right synchronizing wheel, the right square bar, right motor and driven pulley thereof all keep static, Y-axis homonymy two auxiliary wheels 2 do constant speed and rotate backward, left motor and driven pulley thereof and X-axis form similar circulatory motion.The power of left side Timing Belt need be decomposed into along X to power and power along Y-direction, under Timing Belt drives, X-axis homonymy two auxiliary wheels 2 do constant speed and move in the same way, printhead is moved in X-direction, because printhead associated synchronisation band is at motor far-end, therefore printhead moves along the direction of identical with motor steering (close) in the X direction; Y-axis homonymy two auxiliary wheels 2 do constant speed and rotate backward, and X guide rod moves in the Y direction, move in the direction along contrary with motor steering (leaving away).The speed that X guide rod moves along Y-direction and printhead along X to movement velocity equal, the compound motion track of printhead moves in 45 ° of directions in the same way along motor steering.
The above is only preferred embodiment of the present invention, and be not restriction the present invention being made to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solution of the present invention content, any simple modification, equivalent variations and the remodeling done above embodiment according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.

Claims (10)

1. an XY axle linkage device for 3D printer, is characterized in that, comprises motor, support, synchronizing wheel, auxiliary wheel and Timing Belt; Described synchronizing wheel, auxiliary wheel are positioned on support, and described synchronizing wheel comprises two driving wheels and two driven pulleys, described Timing Belt through four synchronizing wheels and four auxiliary wheels be coiled into " " shape, the fracture two ends of Timing Belt are fixed on the both sides of printing head base; Described motor comprises left motor and right motor, and described left motor is connected with driving wheel respectively with the output shaft of right motor, drives same Timing Belt.
2. the XY axle linkage device of a kind of 3D printer according to claim 1, is characterized in that, described support comprises four screw mandrels and XY linkage unit, and described XY linkage unit comprises X guide rod and Y guide rod; Described four screw mandrels lay respectively at four drift angles of XY linkage unit, and four screw mandrels are divided into two groups, left and right, arrange Y guide rod respectively between left group of two screw mandrels and between right group of two screw mandrels, be arranged in parallel between two Y guide rods two X guide rods.
3. the XY axle linkage device of a kind of 3D printer according to claim 2, is characterized in that, described Y guide rod arranges Y-axis bearing, and described X guide rod two ends are fixedly connected with two, left and right Y-axis bearing respectively.
4. the XY axle linkage device of a kind of 3D printer according to claim 2, it is characterized in that, described printing head base is connected with X guide rod by linear bearing.
5. the XY axle linkage device of a kind of 3D printer according to claim 2, is characterized in that, described four screw mandrels connect synchronous wheel seat respectively, and described synchronizing wheel is fixedly connected on synchronous wheel seat.
6. the XY axle linkage device of a kind of 3D printer according to claim 1, is characterized in that, described left motor is connected each self-corresponding square bar with right motor respectively by shaft coupling, and the outer wall of described square bar is socketed a driving wheel.
7. the XY axle linkage device of a kind of 3D printer according to claim 2, it is characterized in that, described motor also comprises Z axis motor, and described Z axis motor is connected with four rhizoid bars by same belt, drive four rhizoid bar synchronous axial system, thus drive four synchronous wheel seat synchronization liftings.
8. the XY axle linkage device of a kind of 3D printer according to claim 3, is characterized in that, described auxiliary wheel is not with gear, and be separately fixed in two Y-axis bearings between two, the surface of auxiliary wheel and the band of Timing Belt are carried on the back and fitted.
9. the XY axle linkage device of a kind of 3D printer according to claim 1, is characterized in that, adds multiple printhead by the fracture increasing Timing Belt.
10. an XY axle interlock method for 3D printer, it is characterized in that, step is:
1) Mathematical Modeling of printhead movement locus and printhead movement velocity is set up;
2) rotation direction or the velocity of rotation of left motor or right motor is determined according to Mathematical Modeling;
3) start left motor or right motor, drive corresponding square bar to rotate, drive driving wheel to rotate, drive Timing Belt to rotate, complete the interlock of printing head base in X-axis and Y-axis; Start Z axis motor, drive four screw mandrel synchronous axial system, drive four synchronous wheel seat liftings, realize XY linkage unit in Z axis elevating movement.
CN201510695241.7A 2015-10-21 2015-10-21 The XY axle linkage devices and interlock method of a kind of 3D printer Active CN105216322B (en)

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Cited By (8)

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CN105538731A (en) * 2016-03-09 2016-05-04 浙江韩益机电有限公司 3D printer
CN105922599A (en) * 2016-07-12 2016-09-07 河北大艾智能科技股份有限公司 3D printer, special horizontal movement mechanism and horizontal movement method of 3D printer
CN107187049A (en) * 2017-06-08 2017-09-22 中国石油大学(华东) A kind of high-effect high-quality 3D printer
CN108202472A (en) * 2016-04-14 2018-06-26 罗天珍 The FDM methods of forming and its 3D printer with momentum balance component
CN108765728A (en) * 2018-06-27 2018-11-06 北京云橱科技有限公司 Robot device for multi-functional Vending Machine
CN109353003A (en) * 2018-11-13 2019-02-19 苏州无限三维科技产业有限公司 A kind of movement mechanism of the novel XYZ axis of 3D printer
CN110217403A (en) * 2019-06-13 2019-09-10 浙江吉利控股集团有限公司 A kind of unmanned plane recyclable device and recovery system
CN110799290A (en) * 2017-05-03 2020-02-14 赞克特金属公司 Additive manufacturing apparatus comprising a gantry device using a reflective element to direct a laser beam to a moveable scanner

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CN203391480U (en) * 2013-07-31 2014-01-15 上海百晟精密机械有限公司 Novel pneumatic marking machine
CN103878977A (en) * 2014-03-07 2014-06-25 济南大学 FDM (frequency-division multiplexing) 3D (three dimensional) printer
CN104441660A (en) * 2014-11-27 2015-03-25 惠州大亚湾吉豫武术培训中心 3d printer

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WO2011060751A1 (en) * 2009-11-18 2011-05-26 Elektrotechnik Bernhard Peter Drive apparatus, drive device, and drive method for a low-mass robotic system
CN203391480U (en) * 2013-07-31 2014-01-15 上海百晟精密机械有限公司 Novel pneumatic marking machine
CN103878977A (en) * 2014-03-07 2014-06-25 济南大学 FDM (frequency-division multiplexing) 3D (three dimensional) printer
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538731A (en) * 2016-03-09 2016-05-04 浙江韩益机电有限公司 3D printer
CN108202472A (en) * 2016-04-14 2018-06-26 罗天珍 The FDM methods of forming and its 3D printer with momentum balance component
CN108202472B (en) * 2016-04-14 2021-05-25 罗天珍 FDM forming method of balance component with distribution amount and 3D printer thereof
CN105922599A (en) * 2016-07-12 2016-09-07 河北大艾智能科技股份有限公司 3D printer, special horizontal movement mechanism and horizontal movement method of 3D printer
CN110799290A (en) * 2017-05-03 2020-02-14 赞克特金属公司 Additive manufacturing apparatus comprising a gantry device using a reflective element to direct a laser beam to a moveable scanner
CN107187049A (en) * 2017-06-08 2017-09-22 中国石油大学(华东) A kind of high-effect high-quality 3D printer
CN108765728A (en) * 2018-06-27 2018-11-06 北京云橱科技有限公司 Robot device for multi-functional Vending Machine
CN109353003A (en) * 2018-11-13 2019-02-19 苏州无限三维科技产业有限公司 A kind of movement mechanism of the novel XYZ axis of 3D printer
CN110217403A (en) * 2019-06-13 2019-09-10 浙江吉利控股集团有限公司 A kind of unmanned plane recyclable device and recovery system
CN110217403B (en) * 2019-06-13 2020-11-13 浙江吉利控股集团有限公司 Unmanned aerial vehicle recovery unit and recovery system

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