CN106490663A - A kind of kinetic control system for slop 3D printing - Google Patents

Abstract

The invention discloses a motion control system for 3D printing of fluid food, which comprises a frame, an object stage fixedly installed at the bottom of the frame, a motion frame that can slide along the Z-axis direction of the frame, and can be slidably installed on a motion The crossbar on the frame and slides along the Y-axis direction of the frame, the extrusion device that can be slidably installed on the crossbar and slides along the X-axis direction of the frame, and is used to drive the moving frame, crossbar and extrusion device to slide drive unit. The invention controls the extruding device accurately and quickly in three-dimensional space through the driving device, and has the beneficial effects of simple structure, convenient use, high precision control, stability and reliability.

Description

A motion control system for 3D printing of fluid food

technical field

The invention relates to a motion control system for 3D printing, in particular to a motion control system for 3D printing of fluid food.

Background technique

In recent years, 3D printing technology has become increasingly mature, and its application fields have continuously expanded from traditional mold manufacturing to construction, process design, and medical plastic surgery. In the food industry, the technical equipment for 3D printing food can only be used for fluid food, such as chocolate sauce, jam, cream and so on. However, the existing 3D printing food equipment usually uses a linear guide rail to cooperate with the movement structure of the sliding table. There is a gap between the sliding table and the linear guide rail in this structure, which makes the sliding table swing during the sliding process, the movement is not smooth, and even the movement lags behind. In the case of delays, and the current 3D printing food equipment has a complex structure, large volume, and low control accuracy, resulting in large errors in the shape and pattern of the printed food.

Contents of the invention

The purpose of the present invention is to solve the problem that the existing 3D printing food equipment has swings, unsmooth movement, complex structure, large volume, and low control accuracy, resulting in large errors in the shape and pattern of the printed food, and provides a structure Simple, easy-to-use, high-precision control and stable and reliable motion control system for fluid food 3D printing.

The purpose of the present invention can adopt following technical scheme to reach:

A motion control system for 3D printing of fluid food, including a frame, a stage fixedly installed at the bottom of the frame, a motion frame that can slide along the Z-axis direction of the frame, and can be slidably installed on the motion frame and moved along the A horizontal bar that slides in the Y-axis direction of the frame, an extrusion device that can be slidably installed on the horizontal bar and slides along the X-axis direction of the frame, and a driving device for driving the moving frame, the cross bar, and the extrusion device to slide.

Further, the moving frame can slide along the Z-axis direction of the frame by pressing the inner surface and the outer surface of the frame through the pulley clamping device; the pulley clamping device includes a mounting plate and a rotatable pin shaft At least two pulleys are installed on the mounting plate, the mounting plate is fixedly mounted on the moving frame, and the two pulleys press against the inner surface and the outer surface of the frame respectively.

Further, the two ends of the cross bar slide along the Y-axis direction of the frame by pressing the upper and lower surfaces of the moving frame through the pulley clamping device; the pulley clamping device includes a mounting plate and can be moved through the pin shaft At least two pulleys mounted on the mounting plate are rotated, the mounting plate is fixedly mounted on the cross bar, and the two pulleys press the upper and lower surfaces of the moving frame respectively.

Further, the extrusion device slides along the X-axis direction of the frame by pressing the upper and lower surfaces of the cross bar through the pulley clamping device. The pulley clamping device includes a mounting plate and at least two pulleys that are rotatably mounted on the mounting plate through pin shafts, the mounting plate is fixedly mounted on the extrusion device, and the two pulleys respectively press the The upper and lower surfaces of the crossbar.

Further, a chute is provided on the moving frame and the cross bar, and the pulley is sleeved in the chute and moves along the direction of the chute.

As a preferred solution, a photoelectric sensor is installed below the moving frame, and the photoelectric sensor is located above the carrier platform.

Further, the drive device includes a Z-axis drive mechanism, a Y-axis drive mechanism and an X-axis drive mechanism, the Z-axis drive mechanism includes a first motor, a screw and a nut, and the first motor is fixedly installed on the frame Above, the nut is fixedly mounted on the moving frame, and the output shaft of the first motor is screwed to the nut through a screw; the central axis of the screw is parallel to the Z-axis direction of the frame.

Further, the Y-axis driving mechanism includes a second motor, a rotating shaft, a first pulley, a first synchronous belt, a second pulley and a second synchronous belt, and the rotating shaft is rotatably mounted on the moving frame, so The rotating shaft is arranged below the cross bar and is parallel to the cross bar; the second motor is connected to the rotating shaft through the first pulley and the first synchronous belt, and the rotating shaft is connected to the second pulley through the second pulley. Synchronous belt transmission connection; the bottom of the cross bar is fixedly connected with the second synchronous belt.

Further, the X-axis drive mechanism includes a third motor, a third pulley and a third synchronous belt, the third motor is connected to the third synchronous belt through the third pulley, and the extrusion device is connected to the The third synchronous belt is fixedly connected, and the third synchronous belt is parallel to the cross bar.

Further, the extruding device includes a mount, a barrel fixedly mounted on the mount, a piston sleeved in the barrel and used to extrude fluid food in the barrel, fixedly mounted on the mount, and the piston rod A telescopic motor fixedly connected to the piston.

Implement the present invention, have following beneficial effect:

1. The present invention controls the coordinate position of the extrusion device installed on the frame in the Z-axis direction by controlling the driving device to drive the moving frame to move up and down along the Z-axis direction of the frame, so that the extrusion device Move to the corresponding position above the stage; and by controlling the driving device to drive the crossbar to move forward and backward along the Y-axis direction of the frame, the coordinates of the extrusion device installed on the crossbar in the Y-axis direction can be controlled Position, so that the extrusion device moves to the corresponding position in the width direction on the stage; similarly, the coordinate position of the extrusion device in the X-axis direction of the frame can be controlled by controlling the driving device, so that the extrusion device moves to The corresponding position in the length direction on the stage realizes the purpose of accurately and quickly controlling the movement trajectory of the extrusion device in three-dimensional space, and has the characteristics of simple structure, convenient use, high precision control, and stability and reliability.

2. Under the positioning of the chute in the present invention, the pulley located in the chute can only roll along the length direction of the chute to perform linear motion, so that the chute and the pulley can be closely matched, and the movement of the moving frame and the cross bar is improved. The accuracy and stability of the trajectory, thereby improving the movement accuracy and fluency of the extrusion device in the X and Y axis directions.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural diagram of a motion control system for 3D printing of fluid food according to the present invention;

Fig. 2 is a schematic diagram of the structure of the motion control system for fluid food 3D printing according to the present invention after removing the frame;

Fig. 3 is the top view of Fig. 2;

Fig. 4 is a schematic structural view of the extrusion device of the motion control system for 3D printing of fluid food according to the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example

Referring to Figures 1 and 3, this embodiment relates to a motion control system for 3D printing, including a frame 1, a stage 2 fixedly mounted on the bottom of the frame 1, and a motion frame 3 that can slide along the Z-axis direction of the frame 1 , a crossbar 4 that can be slidably installed on the moving frame 3 and slides along the Y-axis direction of the frame 1, an extrusion device 5 that can be slidably installed on the crossbar 4 and slides along the X-axis direction of the frame 1, and The driving device used to drive the sliding of the moving frame 3, the cross bar 4 and the extruding device 5. During work, the coordinate position of the extrusion device 5 installed on the frame 1 in the Z-axis direction is controlled by controlling the driving device to drive the moving frame 3 to move up and down along the Z-axis direction of the frame 1, so that the extrusion device 5 moves to the corresponding position above the stage 2; and by controlling the driving device to drive the crossbar 4 to move forward and backward along the Y-axis direction of the frame 1, the extrusion device 5 installed on the crossbar 4 can be controlled to move The coordinate position on the Y-axis direction makes the extrusion device 5 move to the corresponding position on the width direction of the object table 2; similarly, the extrusion device 5 can be controlled on the X-axis direction of the frame 1 by controlling the driving device The coordinate position of the extrusion device 5 moves to the corresponding position on the length direction of the stage 2, and realizes the purpose of accurately and quickly controlling the movement trajectory of the extrusion device 5 in three-dimensional space. It has a simple structure and is easy to use. , high precision control and stable and reliable features.

As shown in Figures 2 and 3, the moving frame 3 can slide along the Z-axis direction of the frame 1 by pressing the inner and outer surfaces of the frame 1 through the pulley clamping device 6; The device 6 includes a mounting plate 61 and at least two pulleys 62 that are rotatably mounted on the mounting plate 61 through pin shafts. The mounting plate 61 is fixedly mounted on the moving frame 3, and the two pulleys 62 press the machine respectively. The inner and outer sides of frame 1. In this embodiment, the frame 1 and the moving frame 3 are square structures, and the pulley clamping device 6 is arranged on four right-angled sides of the moving frame 3 . Under the clamping effect of the two pulleys 62 , the moving frame 3 is constrained to move along the X and Y axis directions of the frame 1 , so that the moving frame 3 can only move along the Z axis direction of the frame 1 .

The two ends of the crossbar 4 slide along the Y-axis direction of the frame 1 by pressing the upper and lower surfaces of the moving frame 3 through the pulley clamping device 6; the pulley clamping device 6 includes a mounting plate 61 and a The pin shaft is rotatably mounted on at least two pulleys 62 on the mounting plate 61, and the mounting plate 61 is fixedly mounted on the cross bar 4, and the two pulleys 62 press against the upper and lower surfaces of the moving frame 3 respectively. Under the clamping action of the two pulleys 62 on the upper and lower surfaces of the moving frame 3, the crossbar 4 is constrained in the X and Z direction of movement on the moving frame 3, that is, the crossbar 4 can only move along the direction of the frame 1 Movement in the direction of the Z axis.

The extrusion device 5 slides along the X-axis direction of the frame 1 by pressing the upper and lower surfaces of the cross bar 4 through the pulley clamping device 6 . The pulley clamping device 6 includes a mounting plate 61 and at least two pulleys 62 rotatably mounted on the mounting plate 61 through pin shafts, the mounting plate 61 is fixedly mounted on the extrusion device 5, and the two The pulley 62 presses the upper and lower surfaces of the cross bar 4 respectively. Under the clamping effect of the two pulleys 62 on the upper and lower surfaces of the cross bar 4, the extrusion device 5 is constrained to move in the direction of Y and Z axes on the cross bar 4, that is, the extrusion device 5 can only move along the frame. 1 to move in the X-axis direction.

The moving frame 3 and the cross bar 4 are provided with a sliding slot 34 , and the pulley 62 is sheathed in the sliding slot 34 and moves along the direction of the sliding slot 34 . Under the positioning effect of the chute 34, the pulley 62 positioned in the chute 34 can only roll along the length direction of the chute 34 to perform linear motion, so that the chute 34 and the pulley 62 can closely cooperate, improving the movement frame 3 and The accuracy and stability of the movement trajectory of the crossbar 4 further improves the movement precision and fluency of the extrusion device 5 in the directions of the X and Y axes.

A photoelectric sensor 7 is installed below the moving frame 3, and the photoelectric sensor 7 is located above the carrier platform. When the cake is placed on the stage 2 and the fluid food material is extruded by the extruding device 5 to draw a desired pattern on the surface of the cake, the driving device drives the moving frame 3 to slide down. When the light of the photoelectric sensor 7 is captured, the driving device controls the moving frame 3 to stop moving, and the extruding device 5 is calibrated before work.

The driving device includes a Z-axis drive mechanism 81, a Y-axis drive mechanism 82 and an X-axis drive mechanism 83, and the Z-axis drive mechanism 81 includes a first motor 811, a screw 812 and a nut 813, and the first motor 811 is fixedly installed On the frame 1 , the nut 813 is fixedly installed on the moving frame 3 , and the output shaft of the first motor 811 is threadedly connected to the nut 813 through a screw 812 . There are two Z-axis driving mechanisms 81 , which are respectively arranged on two sides of the frame 1 . The central axis of the screw 812 is parallel to the Z-axis direction of the frame 1. When the first motor 811 is working, the motor drives the screw 812 to rotate so that the nut 813 connected to the screw 812 by screw transmission slides along the length direction of the screw 812. Thereby, the moving frame 3 fixedly connected with the nut 813 is driven to slide along the Z-axis direction of the frame 1 .

The Y-axis driving mechanism 82 includes a second motor 821, a rotating shaft 822, a first pulley 823, a first synchronous belt 824, a second pulley 825 and a second synchronous belt 826, and the rotating shaft 822 is rotatably mounted on the On the moving frame 3, the rotating shaft 822 is arranged below the cross bar 4 and is parallel to the cross bar 4; the second motor 821 is driven by the first pulley 823 and the first synchronous belt 824 with the rotating shaft 822 The rotating shaft 822 is connected to the second synchronous belt 826 through the second pulley 825; the bottom of the cross bar 4 is fixedly connected to the second synchronous belt 826. A driving pulley is installed on the output shaft of the second motor 821, and one end of the rotating shaft 822 is provided with two driven pulleys, and the driving pulley is connected with one of the driven pulleys by the first synchronous belt 824; A pulley corresponding to the other driven pulley is installed on the top, and the other driven pulley is connected with the pulley through the second synchronous belt 826, so that the cross bar 4 fixedly connected with the second synchronous belt 826 moves along It moves linearly with the length direction of the second synchronous belt 826 to realize the movement control of the extrusion device 5 installed on the horizontal direction in the Y-axis direction.

The X-axis driving mechanism 83 includes a third motor 831, a third pulley 832 and a third synchronous belt 833, the third motor 831 is connected to the third synchronous belt 833 through the third pulley 832, and the extrusion The device 5 is fixedly connected with the third synchronous belt 833 , and the third synchronous belt 833 is parallel to the cross bar 4 . A driving pulley is installed on the output shaft of the second motor 821, and a driven pulley corresponding to the driving pulley is installed on the moving frame 3 simultaneously, and the driving drive is connected with the driven pulley through the third synchronous belt 833 transmission, Therefore, the extruding device 5 fixedly connected with the third synchronous belt 833 moves linearly along the length direction of the third synchronous belt 833 , so as to realize the movement control of the extruding device 5 in the X-axis direction.

As shown in Figure 4, the extrusion device 5 includes a mount 51, a barrel 52 fixedly mounted on the mount 51, a piston 53 sleeved in the barrel 52 and used to extrude the fluid food material in the barrel 52 , and a telescopic motor 54 that is fixedly installed on the mounting base 51 and the piston rod is fixedly connected with the piston 53 . When working, the telescopic motor 54 drives the piston rod to stretch out and drives the piston 53 to move towards the outlet direction of the material, thereby extruding the food material in the barrel 52 onto the cake surface on the stage 2, and extruding The movement trajectory of the device 5 in the directions of X, Y and Z axes can draw the desired pattern, so as to achieve the purpose of high-precision, fast and convenient finishing.

Working principle of the present invention:

As shown in Figure 1 and Figure 2, when the stage 2 is not placed in the cake, the moving frame 3 is driven by the first motor 811 and moves upward, and when it touches the Z-axis origin limit switch, the moving frame 3 stops moving . At the same time, the second motor 821 drives the crossbar 4 to move, and when it touches the Y-axis origin limit switch, the crossbar 4 stops moving. And the third motor 831 drives the extruding device 5 to move, and when it touches the X-axis origin limit switch, the extruding device 5 stops moving. During this process, the telescopic motor does not work with electricity.

After putting in the cake, the first motor 811 drives the nut 813 and the moving frame 3 to move downward along the Z-axis direction through the screw rod 812, and the photoelectric sensor 7 is energized to work at the same time; when the optical path of the photoelectric sensor 7 is blocked by the upper surface of the cake, When the first motor 811 stops working, the moving frame 3 also stops moving, and the calibration is now completed.

As shown in Figure 3 and Figure 4, the relevant pattern information is converted into motion path and coordinate information, by controlling the working state of the second motor 821 and the third motor 831, the extrusion device 5 is moved on the plane, so that the barrel The coordinate information of the outlet of 52 corresponds to the coordinate information of the pattern, reaches the predetermined movement path, and simultaneously controls the stretching speed of the piston 53 rod of the telescopic motor 54, thereby controlling the extruded amount and flow stability of the food material of the barrel 52, Thereby automatically, accurately and stably print out the desired pattern.

After the printing is completed, the first motor 811 drives the moving frame 3 to move upward, and when the Z-axis origin limit switch is touched, the moving frame 3 stops moving. At the same time, the second motor 821 drives the crossbar 4 to move, and when it touches the Y-axis origin limit switch, the crossbar 4 stops moving. And the third motor 831 drives the extruding device 5 to move, and when it touches the X-axis origin limit switch, the extruding device 5 stops moving. During this process, the telescopic motor does not work with electricity.

The above disclosure is only a preferred embodiment of the present invention, which certainly cannot limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (10)

1. A motion control system for fluid food 3D printing, characterized in that it includes a frame, a stage fixedly mounted on the bottom of the frame, a motion frame that can slide along the Z-axis direction of the frame, and can be slidably installed A crossbar on the moving frame and sliding along the Y-axis direction of the frame, an extrusion device slidably mounted on the crossbar and sliding along the X-axis direction of the frame, and used to drive the moving frame, the crossbar and the extrusion Drive unit for device slide. 2. A motion control system for 3D printing of fluid food according to claim 1, wherein the motion frame can move along the The Z-axis direction of the frame slides; the pulley clamping device includes a mounting plate and at least two pulleys that are rotatably mounted on the mounting plate through a pin shaft, and the mounting plate is fixedly mounted on the moving frame, and the two pulleys Press the inner and outer sides of the rack respectively. 3. A motion control system for 3D printing of fluid food according to claim 1, characterized in that, the two ends of the cross bar are pressed against the upper and lower surfaces of the motion frame by a pulley clamping device. Sliding along the Y-axis direction of the frame; the pulley clamping device includes a mounting plate and at least two pulleys rotatably mounted on the mounting plate through pin shafts, the mounting plate is fixedly mounted on the cross bar, and the two The pulleys push against the upper and lower surfaces of the moving frame respectively. 4. A motion control system for 3D printing of fluid food according to claim 1, wherein the extruding device presses the upper and lower surfaces of the cross bar through a pulley clamping device to move along the machine. The rack slides in the X-axis direction. The pulley clamping device includes a mounting plate and at least two pulleys that are rotatably mounted on the mounting plate through pin shafts, the mounting plate is fixedly mounted on the extrusion device, and the two pulleys respectively press the The upper and lower surfaces of the crossbar. 5. A motion control system for 3D printing of fluid food according to claim 2 or 3, wherein a chute is provided on the motion frame and the cross bar, and the pulley is sleeved in the chute , and move along the direction of the chute. 6. A motion control system for 3D printing of fluid food according to claim 1 or 2, characterized in that a photoelectric sensor is installed under the moving frame, and the photoelectric sensor is located on the carrier above the platform. 7. A motion control system for 3D printing of fluid food according to claim 1, wherein the drive device comprises a Z-axis drive mechanism, a Y-axis drive mechanism and an X-axis drive mechanism, and the Z-axis The driving mechanism includes a first motor, a screw rod and a nut, the first motor is fixedly mounted on the frame, the nut is fixedly mounted on the moving frame, and the output shaft of the first motor is threaded with the nut through the screw rod Transmission connection; the central axis of the screw rod is parallel to the Z-axis direction of the frame. 8. A motion control system for 3D printing of fluid food according to claim 7, wherein the Y-axis driving mechanism comprises a second motor, a rotating shaft, a first pulley, a first synchronous belt, a second Two pulleys and a second synchronous belt, the rotating shaft is rotatably mounted on the moving frame, the rotating shaft is arranged below the cross bar and is parallel to the cross bar; the second motor passes through the first The pulley and the first synchronous belt are in transmission connection with the rotating shaft, and the rotating shaft is in transmission connection with the second synchronous belt through the second pulley; the bottom of the cross bar is fixedly connected with the second synchronous belt. 9. A motion control system for 3D printing of fluid food according to claim 7, wherein the X-axis driving mechanism comprises a third motor, a third pulley and a third timing belt, and the first The three motors are connected to the third synchronous belt through the third pulley, the extrusion device is fixedly connected to the third synchronous belt, and the third synchronous belt is parallel to the cross bar. 10. A motion control system for 3D printing of fluid food according to claim 1 or 4, characterized in that the extrusion device comprises a mounting base, a barrel fixedly mounted on the mounting base, sleeved on The piston in the barrel and used to extrude the fluid food in the barrel is fixedly installed on the mounting base and the telescopic motor with the piston rod fixedly connected to the piston.