CN105599294B - A kind of five-axle linkage 3D printer mechanism - Google Patents

A kind of five-axle linkage 3D printer mechanism Download PDF

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Publication number
CN105599294B
CN105599294B CN201510954086.6A CN201510954086A CN105599294B CN 105599294 B CN105599294 B CN 105599294B CN 201510954086 A CN201510954086 A CN 201510954086A CN 105599294 B CN105599294 B CN 105599294B
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China
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moving platform
printer
axis
motor
spherical pair
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CN105599294A (en
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王烨
柳铭
周振中
李政阳
吴伟唯
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Changzhou University
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Changzhou University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE 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
    • B33Y30/00Apparatus for additive manufacturing; Details thereof or accessories therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22FWORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER
    • B22F3/00Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces

Abstract

The present invention relates to a kind of five-axle linkage 3D printer mechanisms.It is characteristic of the invention that two screw drives are utilized, the two axis printing of lower moving platform is realized, using parallel institution, three axis of moving platform are printed in realization, are mainly made of airframe systems, control system, print system, display system.The 3D printer is based on digital model file, it is sliced, with adhesive materials such as special wax material, powdery metal or plastics, the mobile printing of x, y, z axis is realized by the extruder head that parallel institution controls, the lower moving platform of two screw drive controls realizes the rotating print of u, v axis, then three-dimensional object is manufactured with jointing material from level to level, reaches five-axle linkage printing 3D solid.

Description

A kind of five-axle linkage 3D printer mechanism
Technical field
The present invention relates to a kind of five-axle linkage 3D printer mechanisms.Specifically one kind is using digital model file as base Plinth is sliced, with adhesive materials such as special wax material, powdery metal or plastics, the extrusion controlled by parallel institution Head realizes the mobile printing of x, y, z axis, and the lower moving platform of two screw drive controls is realized the rotating print of u, v axis, then used Jointing material from level to level manufactures the 3D printer of three-dimensional object, belongs to 3D printer field.
Background technique
3D printing brings world's manufacturing industry revolution, has overturned traditional production method, needs a kind of achievable multiaxis and beats The 3D printer of print.Traditional 3 D-printing device generally uses worm drive, controls three directions of x, y, z axis of extruder head Movement, working efficiency is low, and because of the limitation of three axis printing and material, object hanging structure occurs and easily collapse, and designs Shortcomings are not able to satisfy multi-field application demand.
The 3D printer of existing maturation only stops the printing of 3 axis, and the application of 3D printing will be greatly expanded in the printing of five axis.
Because constructing object by accumulation manufacture, successively printing, although the very thin section of each layer of printing, in the side X-Y Raising to resolution ratio is very restricted, and will form certain thickness level-one grade " step ", if you need to the object table of printing Face is curved arc, will lead to accuracy error, can just obtain smooth " high-resolution " article in surface by surface polishing;It adopts Suface processing quality can greatly be improved with five-axle linkage 3D printer.
Traditional 3D printer can also use supporter during printing, such as print some objects for having projecting shape, then The material (such as soluble material) for being easy to remove a bit need to be used as supporter.3 axis 3D printers then can not always along A to printing Improve, five-axle linkage 3D printer change A to 90 ° of sides turn direction print, the structural issue of transitional region can be solved.
Summary of the invention
For the above-mentioned problems that 3D printer is existing, the present invention provides a kind of five-axle linkage 3D printer mechanism.Tool Body is said, is the mobile printing that x, y, z axis is realized by the extruder head that parallel institution controls, and two the lower of screw drive control move Platform realizes the rotating print of u, v axis, completes the 3D printer that five-axle linkage prints three-dimension object on lower moving platform.
Present invention provide the technical scheme that
A kind of five-axle linkage 3D printer mechanism, described device include airframe systems, control system, print system, display System.Airframe systems are made of support rod, sliding block, synchronous belt, synchronous pulley, joint ball a, rack;Control system is by control mould Block composition;Print system is by hinge, spherical pair a, outer framework, extruder head, fan, threaded fastener a, v-shaped plate, parallel arm, spiral shell Line fastener b, upper moving platform, joint ball b, lower moving platform;Screw rod a, the shaft coupling a that is flexible coupling, motor a, spherical pair b, motor b, Be flexible coupling shaft coupling b, screw rod b composition;Display system is made of control system, display screen.
Rack supports all components, is hollow equilateral triangular prism, two one group of support rod, respectively arranges one at three seamed edges Group does the linear guide to pump for constituting sliding block;Meanwhile a synchronous pulley is respectively arranged up and down in three seamed edges, Power, toothed belt transmission are provided by lower section motor.Sliding block is matched by sliding bearing and support rod, is blocked by internal concaveconvex structure One side of synchronous belt.Upper moving platform, sliding block pass through one group of joint ball b respectively, joint ball a is connected in the both ends of a pair of of parallel arm, Parallelogram mechanism is constituted, mechanical stability and rigidity are improved.Fan is fixed on v-shaped plate, v-shaped by threaded fastener a Plate is fixed on upper moving platform by threaded fastener b, guarantees that fan is angled with extruder head, is easy to radiate to it. Extruder head is fixed on moving platform, and there is spring bearing in upper end, there is spiral shape engraved structure, is easy to disperse the heat of material hot melt Amount.
Spherical pair a main body is one rod-shaped, is connected by a sponson and hinge, end is a spherical surface, outside outer framework Boom matching ends constitute spherical pair;Bar portion couples a nut, matches with screw rod b.The shaft coupling b that is flexible coupling couples motor b Rotor, screw rod b.Similarly, spherical pair b couples overhanging bar portion under lower moving platform, constitutes spherical pair;Pass through the one of the fixation of bar portion Nut is matched with screw rod a;It is connected also through a sponson and hinge.The shaft coupling a screw connection that is flexible coupling a, motor a turn Son is allowed to rotate jointly.
The motor of control module with three driving synchronous pulley work is arranged under rack.By computer modeling, then will Digital model file slice, to instruct print system co-ordination, successively prints three-dimension object.Extruder head filament mouth is equipped with pressure Force snesor.When the 3D printer works, squeezed out after material hot melt by extruder head, while fan radiates for it.Extruder head is close Distance contact reaches setting value to pressure, and pressure sensor perceives at once, information is fed back to control module, then rotation speed of the fan It reduces, guarantees that the spinning of hot melt can be adhered to lower moving platform.When reaching setting value between when operating, pressure sensor stops work Make, rotation speed of the fan restores normal.Control module controls motor coordination work, synchronized band primary transmission, parallelogram mechanism Secondary transmission, by movement output to upper moving platform, extruder head is moved synchronously, and three directions of x, y, z axis of extruder head can be realized Movement.Control module also controls motor a, motor b co-ordination, and screw rod a, screw rod b are rotated, two screw rods worm drive, in turn Hinge folding, through flexural pivot realize outer framework, lower moving platform around u, v axis turn round, reach the printing of the 4th axis, the 5th axis, complete Five-axle linkage prints three-dimension object.Process (working time, print thickness, remaining working time etc.) is output to by control module Display screen.
The beneficial effects of the present invention are:
The present invention be to provide a kind of five-axle linkage 3D printer mechanism, which has the following characteristics that
1. the present invention controls upper moving platform (15) and does three degree of freedom movement, lower moving platform (17) does two freedom degree fortune It is dynamic, then realize that five-axle linkage prints 3D solid, improves print quality;
2. five-axle linkage mechanism of the invention is, it can be achieved that moving and returning around u, v axis of x, y, z axis direction along x, y, z axis Turn, i.e., object to be printed can do rotary motion, dramatically improve printing technology;
3. motor a (20) of the invention, motor b (23) co-ordination, screw rod a (18), screw rod b (25) rotation, two screw rods Transmission, and then hinge (1) opens and closes, and realizes that outer framework (3), lower moving platform (17) rotate through flexural pivot;
4. the present invention change it is traditional along A to do X-Y plane layering processing, superposition molding printing objects mode, it is interchangeable in B It mutually prints, very good solution structural strength, precision problem.
Detailed description of the invention
A kind of main view of five-axle linkage 3D printer of Fig. 1 mechanism
A kind of axonometric drawing of five-axle linkage 3D printer of Fig. 2 mechanism
A kind of 3-freedom parallel mechanism partial enlargement diagram of five-axle linkage 3D printer of Fig. 3 mechanism
A kind of two screw rods of five-axle linkage 3D printer of Fig. 4 mechanism are driven partial enlargement diagram
In figure, 1, hinge;2, spherical pair a;3, outer framework;4, support rod;5. extruder head;6, fan;7, threaded fastener a;8, v-shaped plate;9, parallel arm;10, sliding block;11, synchronous belt;12, synchronous pulley;13, joint ball a;14, threaded fastener b; 15, upper moving platform;16, joint ball b;17, lower moving platform;18, screw rod a;19, be flexible coupling shaft coupling a;20, motor a;21 spherical surfaces Secondary b;22, rack;23, motor b;24, be flexible coupling shaft coupling b;25, screw rod b.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Invention is mainly made of airframe systems, control system, print system, display system.
It is hollow equilateral triangular prism as shown in Fig. 2, rack (22) supports all components, (4) two one group of support rod, One group is respectively arranged at three seamed edges, does the linear guide to pump for constituting sliding block (10);Meanwhile in three seamed edges It respectively arranges a synchronous pulley (12) up and down, provides power by lower section motor.Sliding block (10) is by sliding bearing and support rod (4) phase Match, one side of synchronous belt (11) is blocked by internal concaveconvex structure, realizes synchronous belt (11) transmission.
As shown in figure 3, upper moving platform (15), sliding block (10) are joined by one group of joint ball b (16), joint ball a (13) respectively The both ends of a pair of of parallel arm are connected to, parallelogram mechanism is constituted, improves mechanical stability and rigidity.Fan (6) passes through spiral shell Line fastener a (7) is fixed on v-shaped plate (8), and v-shaped plate (8) is fixed on moving platform (15) by threaded fastener b (14), is guaranteed Fan (6) and extruder head (5) are angled, are easy to radiate to it.Extruder head (5) is fixed on moving platform (15), on There is spring bearing in end, there is spiral shape engraved structure, is easy to disperse the heat of material hot melt.
As shown in figure 4, spherical pair a (2) main body is one rod-shaped, it is connected by a sponson and hinge (1), end one Spherical surface is matched with outer framework (3) overhanging boom end, constitutes spherical pair;Bar portion couples a nut, matches with screw rod b (25). Be flexible coupling shaft coupling b (24) connection motor b rotor (23), screw rod b (25).Similarly, spherical pair b (21) couples lower moving platform (17) Under overhanging bar portion, constitute spherical pair;By a nut of the fixation of bar portion, matched with screw rod a (18);It is overhanging also through one Part is connected with hinge (1).Be flexible coupling shaft coupling a (19) screw connection a (18), motor a (20) rotor.
As shown in Fig. 2, arranging the motor of control module with three driving synchronous pulley (12) work under rack (22).It is logical Computer modeling is crossed, then digital model file is sliced, to instruct print system co-ordination, successively prints three-dimension object. Extruder head (5) filament mouth is equipped with pressure sensor.When the 3D printer works, through being squeezed out by extruder head (5) after material hot melt, together When fan (6) radiate for it.Extruder head (5) close contact to pressure reaches setting value, and pressure sensor perceives at once, will believe Breath feeds back to control module, and then fan (6) revolving speed reduces, and guarantees that the spinning of hot melt can be adhered to lower moving platform (17).Work as work When reaching setting value as the time, pressure sensor stops working, and fan (6) revolving speed restores normal.Control module controls motor association Adjust work, synchronized band (11) primary transmission, parallelogram mechanism secondary transmission, by movement output to upper moving platform (15), Extruder head (5) moves synchronously, and the movement in three directions of x, y, z axis of extruder head (5) can be realized.Control module also controls motor A (20), motor b (23) co-ordination, screw rod a (18), screw rod b (25) rotation, two screw rods worm drive, and then hinge (1) is opened Close, through flexural pivot realize outer framework (3), lower moving platform (17) around u, v axis turn round, reach the printing of the 4th axis, the 5th axis, complete Five-axle linkage prints three-dimension object.Process (working time, print thickness, remaining working time etc.) is output to by control module Display screen.

Claims (4)

1. a kind of five-axle linkage 3D printer mechanism, the 3D printer includes base mechanism, printing mechanism, control module, Be characterized in that: printing mechanism is by hinge (1), spherical pair a (2), outer framework (3), extruder head (5), fan (6), threaded fastener a (7), v-shaped plate (8), parallel arm (9), threaded fastener b (14), upper moving platform (15), joint ball b (16), lower moving platform (17); Screw rod a (18), the shaft coupling a (19) that is flexible coupling, motor a (20), spherical pair b (21), motor b (23), be flexible coupling shaft coupling b (24), screw rod b forms (25), and control system controls upper moving platform (15) and does three degree of freedom movement, and lower moving platform (17) is logical It crosses double-spiral structure and completes 2DOF movement, spherical pair a (2) is connected by outer boom and hinge (1), spherical pair a (2) and outer Frame (3) overhanging boom end matches, and constitutes spherical pair, spherical pair a (2) bar portion is fixedly connected with a nut, with screw rod b (25) phase Cooperation, be flexible coupling shaft coupling b (24) connection motor b (23) rotor, screw rod b (25), and spherical pair b (21) couples lower moving platform (17) Under overhanging bar portion, constitute spherical pair;The fixed nut of overhanging bar portion, matches, spherical pair b with screw rod a (18) under (21) it is connected by outer boom and hinge (1), shaft coupling a (19) the screw connection a (18) that is flexible coupling, motor a (20) rotor are allowed to It rotates jointly, by double-spiral structure, and then realizes 2DOF movement, then realize that five-axle linkage prints 3D solid.
2. a kind of five-axle linkage 3D printer mechanism according to claim 1, which is characterized in that base mechanism is by support rod (4), sliding block (10), synchronous belt (11), synchronous pulley (12), joint ball a (13), rack (22) composition, rack (22) support institute There is component, is hollow equilateral triangular prism, (4) two one group of support rod, one group is respectively arranged at three seamed edges, for constituting sliding block (10) linear guide to pump is done;Meanwhile a synchronous pulley (12) are respectively arranged up and down in three seamed edges, by lower section electricity Machine provides power, and sliding block (10) is matched by sliding bearing and support rod (4), blocks synchronous belt (11) by internal concaveconvex structure On one side, synchronous belt (11) transmission is realized.
3. a kind of five-axle linkage 3D printer mechanism according to claim 1, which is characterized in that extruder head (5) top bullet There is pressure sensor in spring bearing, extruder head (5) close contact to pressure reaches setting value, and pressure sensor is felt at once Know, information is fed back into control module, then control fan (6) revolving speed, it is lower dynamic flat to guarantee that the spinning of hot melt can be effectively adhered to Platform (17).
4. a kind of five-axle linkage 3D printer mechanism according to claim 1, which is characterized in that control module controls motor Co-ordination, synchronized band (11) primary transmission, parallelogram mechanism secondary transmission, by movement output to upper moving platform (15), extruder head (5) moves synchronously, and the movement in three directions of x, y, z axis of extruder head (5) can be realized, control module is simultaneously Control motor a (20), motor b (23) co-ordination, screw rod a (18), screw rod b (25) rotation, two screw rods worm drive, Jin Erhe Page (1) folding realizes that outer framework (3), lower moving platform (17) are turned round around u, v axis through flexural pivot, reaches the 4th axis, the 5th axis is beaten Print completes five-axle linkage and prints three-dimension object.
CN201510954086.6A 2015-12-17 2015-12-17 A kind of five-axle linkage 3D printer mechanism Active CN105599294B (en)

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CN108527848B (en) * 2018-05-22 2020-04-10 西安交通大学 5-axis 3D printing device and method for curved surface layered fused deposition molding
CN109016507A (en) * 2018-09-25 2018-12-18 杭州电子科技大学 A kind of arm-type 3D printer of parallel connection based on the control of five axis

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