CN106493944B - A kind of 3D printer with more nozzle automated conversion systems - Google Patents
A kind of 3D printer with more nozzle automated conversion systems Download PDFInfo
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- CN106493944B CN106493944B CN201611113664.4A CN201611113664A CN106493944B CN 106493944 B CN106493944 B CN 106493944B CN 201611113664 A CN201611113664 A CN 201611113664A CN 106493944 B CN106493944 B CN 106493944B
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- Prior art keywords
- nozzle
- driving
- printing head
- manipulator
- conversion systems
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/115—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces by spraying molten metal, i.e. spray sintering, spray casting
-
- 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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
Abstract
The invention discloses a kind of 3D printers with more nozzle automated conversion systems, including rack, more nozzle automated conversion systems are arranged in rack, more nozzle automated conversion systems include nozzle library mechanism, manipulator mechanism and move ejecting device along what X, Z-direction moved, and manipulator mechanism setting is between nozzle library mechanism and mobile ejecting device；The nozzle library mechanism includes runing rest and along several circumferentially disposed for use nozzles of runing rest, mobile ejecting device includes mobile holder, printing head and the clamp system for being arranged on mobile holder and being clamped to printing head positioning, and manipulator mechanism includes the rotary driving part of manipulator and drive manipulator the progress position switching between nozzle library mechanism and mobile ejecting device for gripping and discharging printing head, for use nozzle.The configuration of the present invention is simple, small volume is, it can be achieved that more nozzles, more materials, multicoloured 3D printing.
Description
Technical field
The invention belongs to 3D printer technical field more particularly to a kind of 3D printings with more nozzle automated conversion systems
Machine.
Background technology
3D printing technique be one kind based on 3D digital model files, can bond material with powdery metal or plastic etc.
Material manufactures the technology of object by layer-by-layer printing.Common 3D printer is mainly beaten with single nozzle currently on the market
Based on print, or multiple nozzles are integrated together, printing operation is similar with single nozzle printing, so-called more nozzle printing machines
It actually refers to be integrated with multiple nozzles on single nozzle, the defect of such mode is, due to multiple nozzle existence positions
On limitation, wherein when a nozzle operation, another nozzle scratches model in order to prevent, needs mobile to avoid model.
In long-term use, frequent movement can lead to the fatigue loss of connector, to cause error.Simultaneously as nozzle is integrated
On nozzle, influenced by position and relative motion, when nozzle overall structure does not make big change, the number of nozzle
Amount has certain limitation, usually double nozzles.Meanwhile each nozzle includes independent wire feeder, heating mechanism and more
A transmission parts, when multiple nozzles are integrated on a nozzle, the drive shaft of nozzle needs sizable driving force, driving negative
It carries larger.This aspect needs more drive energies, on the other hand also improves the probability of generation problem.
Application No. is 201610407343.9 patent applications to disclose a kind of multi-nozzle 3D printer comprising liftable
Rotary-tray, the nozzle component printed in X, Y-direction movement and six are along support arm radial direction synchronization telescope printing head, respectively
Printing head forms relative rotation with pallet, and the multi-nozzle 3D printer passes through rolling particularly suitable for printing big part revolving body
Ballscrew driving rotary-tray moves up and down, and realizes that the accumulation in product height, the printing head component include：5th driving
Motor, drive train, at least six support arms divided equally in plane are hung with sliding block on each support arm, are connected under the sliding block
It includes the 5th driving motor output shaft driving gear and six driven gears, each driven tooth to have printing head, the drive train
Wheel is respectively by synchronous pulley and synchronous belt, and driving sliding block is along support arm radial motion, and each printing head is that synchronous reciprocating is straight
Line moves, i.e. the 5th driving motor drives a gear wheel rotation, six pinion gears to be engaged with gear wheel, and pinion gear passes through synchronization
Band, sliding block radially reciprocate, and each printing head is driven to work asynchronously.Although the printer of this kind of structure can be realized while be beaten
It prints six products or prints a product simultaneously using six printing heads, but it considerably increases the volume of nozzle, and
Each nozzle is connected to corresponding printed material, in print procedure three-dimensional motion and control bring inconvenience.
Application No. is 201310640307.3 patent applications to disclose a kind of 3D printer comprising printing machine platform,
The printing machine platform workbench that includes holder and be fixed on holder is connected with nozzle grabbing device, the branch on holder
It is placed with nozzle library on the outside of frame, movable suspension hangs at least one independent sprayer in nozzle library, is fixedly connected with and captures on nozzle
The matched attachment device of apparatus structure.The attachment device can have a variety of structures form：(1) attachment device includes that nozzle both sides are opened
Mouthful downward bayonet, shower nozzle fixing device is the clamp part coordinated with bayonet in grabbing device and nozzle library；(2) attachment device
The cone tank of hanging sleeve and the nozzle other side including nozzle side is fixed with the hook coordinated with hanging sleeve on nozzle library, captures
Device be and the close-fitting conical head of cone tank；(3) attachment device includes hanging sleeve and the nozzle other side of nozzle side
Card slot is fixed with magnetic part in card slot, is fixed with the hook coordinated with hanging sleeve on nozzle library, and grabbing device is and card slot magnetic
Clamp；(4) attachment device includes the hanging sleeve of nozzle side and two be oppositely arranged the opening of the nozzle other side, nozzle library
On be fixed with the hook coordinated with hanging sleeve, grabbing device is two slide bars pushed by two push rods, and slide bar is pushed away by push rod
The dynamic opening that is caught in is to take out and put back to nozzle out of nozzle library；(5) attachment device includes the T-piece of nozzle side, grabbing device
For by motor-driven two clamp, clamp can block the inside of T-piece to take out and put back to nozzle out of nozzle library.On
Stating 3D printer although realizes nozzle replacement, but its attachment device and grabbing device structure are cumbersome, and effect is replaced in nozzle movement
Rate is low, and is not easy to realize the automation control for replacing nozzle.
It can be seen that the prior art is up for further improving.
Invention content
The present invention is to be provided a kind of with more nozzle automatic conversions system in place of avoiding above-mentioned the shortcomings of the prior art
The 3D printer of system, which solve the integrated caused problems of existing multi-nozzle 3D printer nozzle, not only may be implemented more
Nozzle, more materials, multicoloured 3D printing, and its movable part small volume are moved with one sample prescription of single nozzle 3D printer
Just.
The technical solution adopted in the present invention is：
A kind of 3D printer with more nozzle automated conversion systems, including rack, more nozzle automated conversion systems
It is arranged in rack, more nozzle automated conversion systems include nozzle library mechanism, manipulator mechanism and move spray along what X, Z-direction moved
Head device, manipulator mechanism setting is between nozzle library mechanism and mobile ejecting device；The nozzle library mechanism includes rotation branch
Frame and along several circumferentially disposed for use nozzles of runing rest, mobile ejecting device includes mobile holder, printing head and sets
The clamp system of positioning is set on mobile holder and is clamped to printing head, manipulator mechanism includes for gripping and discharging
Printing head, the manipulator of for use nozzle and drive manipulator carry out position between nozzle library mechanism and mobile ejecting device and cut
The rotary driving part changed.
The runing rest includes the upper cover plate and lower cover being connected with each other, and the outer profile edge of upper cover plate is opened along its circumferential direction
Equipped with several upper open slots, it is opposite with upper open slot position that the outer profile edge of lower cover along its circumferential direction offers several
Lower opening slot, for use nozzle are placed between the above, the lower lid, and the top of for use nozzle is stuck in upper open slot, for use nozzle
Bottom end is stuck in lower opening slot；The nozzle library mechanism further includes the first stepping electricity for driving runing rest integrally to be rotated
Machine, the first stepper motor are arranged in the lower section of runing rest, and the motor shaft of the first stepper motor is connected with runing rest.
The nozzle library mechanism further includes driving the first steering engine of the above, the lower lid synchronous rotary, is passed through between the above, the lower lid
Universal driving shaft is connected；The nozzle library mechanism further includes for use nozzle limit assembly, for use nozzle limit assembly include upper fixed disk,
Lower fixed disk, along the setting of upper fixed disk periphery border and the upper limit arm equal with upper open slot quantity, along lower fixed disk periphery
Border is arranged and the lower limit arm equal with lower opening slot quantity, and the position of the upper and lower limit arm is opposite, upper fixed disk setting
In the lower section of upper cover plate, lower fixed disk is arranged in the top of lower cover, during the first steering engine drives the above, the lower lid rotation,
Upper and lower fixed disk is not rotated with the above, the lower lid, when upper cover plate is rotated to the upper open slot position opposite with upper limit arm, the upper limit
Position arm blocks upper open slot, and lower limit arm blocks lower opening slot.
The manipulator mechanism further includes the mechanical arm being connected with each other and mechanical arm shaft, and the rotary driving part includes the
The motor shaft of two stepping motor, the second stepper motor is connected with mechanical arm shaft；The manipulator is arranged in the end of mechanical arm,
Manipulator includes movable part and stationary part, and movable part and stationary part cooperatively form the folder for capturing printing head, for use nozzle
Hold gap；The first straight line driving portion for driving movable part to make straight reciprocating motion is provided on the mechanical arm；Described first is straight
Line driving portion includes the second steering engine and crank being sequentially connected, rocking bar and connecting plate, and the output shaft of the second steering engine is connected with crank,
Connecting plate is connected with movable part.
The clamp system includes dynamic grip block, quiet grip block and dynamic grip block is driven to make the second of straight reciprocating motion
Linear drives portion, when printing, printing head is clamped between dynamic and static grip block, and when replacing nozzle, it is straight second to move grip block
It is moved to side to discharge printing head under the drive of line driving portion；The second straight line driving portion includes four-bar mechanism and third
Steering engine, one end of four-bar mechanism is connected with the output shaft of third steering engine, the other end is connected with dynamic grip block, and the setting of third steering engine exists
On mobile holder.
Wire feeder is additionally provided in the rack, wire feeder includes that the material silk guiding being arranged above printing head is determined
Position mechanism, material silk guide and locating mechanism include camshaft, cam shaft installing seat, drive camshaft rotation third stepper motor,
Electromagnet mounting plate and several electromagnet arranged successively along electromagnet mounting plate length direction, electromagnet mounting plate with it is convex
It is connected by resetting spring between wheel shaft mounting base, the gap that feed silk passes through, third step is offered on each electromagnet
Stepper motor drives cam axle, and the cam outer profile on camshaft pushes electromagnet mounting plate to realize Y-direction feeding, the cam
The size of axis overhead cam makes when electromagnet moves to limit position along Y direction, the center line of the material silk clamped by electromagnet,
The center line and X-axis of printing head are in same plane.
The material silk guide and locating mechanism further includes the upper deflector chute being arranged on mobile holder and lower deflector chute, upper guide
The center line of slot and the center line of lower deflector chute are located on the same line, and lower deflector chute is located at the surface of printing head.
The wire feeder further includes material silk conveying mechanism, and material silk conveying mechanism includes the 4th stepper motor, driving roller
And driven roller, the 4th stepper motor, driving roller and driven roller are arranged on mobile holder, driving roller is by the 4th step
Stepper motor drives, and feed gap is cooperatively formed between driving roller and driven roller.
The wire feeder further includes feeder, and feeder is located at the top of material silk guide and locating mechanism, batcher
Structure includes material silk mounting base and central shaft, and central shaft is fixed in material silk mounting base, several energy are axially provided with along central shaft
Enough sleeves relatively rotated around central shaft, are wound with material silk on each sleeve, and the material silk of different colours be wrapped in it is different
On sleeve, when each sleeve rotates around center axis, each sleeve is without axially displaced.
It is additionally provided with the Z-direction driving mechanism for driving mobile holder to make elevating movement in the rack and drives mobile holder
Make the X of transverse movement to driving mechanism, be additionally provided with pallet in the rack, pallet is located at the lower section of printing head, in rack
It is additionally provided with the Y-direction driving mechanism for driving pallet to travel longitudinally.
By adopting the above-described technical solution, obtained by the present invention have the beneficial effect that：
The present invention uses nozzle library technology, realizes the printing function of more nozzles；Relative to existing single nozzle 3D printing
For machine, the present invention realizes more nozzles, more raw materials, multicoloured 3D printing；Relative to existing multi-nozzle 3D printer
It says, the mobile ejecting device in the present invention is small, simple in structure, and three-dimensional motion is equally convenient with single nozzle 3D printer,
And it is easily controllable.In addition, the setting of runing rest, upper open slot, lower opening slot facilitates manipulator to spraying for use in the present invention
The crawl of head, improves replacement efficiency, and then improve printing effect.
Description of the drawings
Fig. 1 is the whole installation diagram of the present invention.
Fig. 2 assembly relation schematic diagrames of each component for mobile holder in the present invention and thereon.
Fig. 3 assembly relation schematic diagrames of each component for runing rest in the present invention and thereon.
Fig. 4 is the structural schematic diagram of manipulator mechanism in the present invention.
Fig. 5 is the structural schematic diagram of feeder in the present invention.
Fig. 6 is the part-structure schematic diagram that silk guide and locating mechanism is expected in the present invention.
Fig. 7 is the work flow diagram that nozzle replacement is carried out using the present invention.
Wherein,
1, mobile ejecting device 101, mobile holder 102, the 4th stepper motor 103, driving roller 104, driven rolling
The output shaft of wheel 105, printing head 106, dynamic grip block 107, quiet grip block 108, four-bar mechanism 109, third steering engine
2, nozzle library mechanism 201, the first steering engine 202, upper cover plate 203, upper open slot 204, upper limit arm 205, connecting pole
206, lower cover 207, lower limit arm 208, lower fixed disk 209, lower opening slot 210, universal driving shaft 211, the first stepper motor
212, nozzle bottom storehouse seat 3, manipulator mechanism 301, stationary part 302, movable part 303, clamping gap 304, connecting plate
305, rocking bar 306, crank 307, the second steering engine 308, mechanical arm 309, mechanical arm shaft 310, the second stepper motor
311, manipulator base 4, material silk guide and locating mechanism 401, cam shaft installing seat 402, camshaft 403, resetting spring
404, third stepper motor 405, electromagnet mounting plate 406, electromagnet 407, gap 408, upper deflector chute 409, lower guide
Slot 5, feeder 501, material silk 502, central shaft 503, material silk mounting base 504, sleeve 6, rack 7, pallet 8, cloud
Platform 9, ball screw assembly, 10, vertical guide rod 11, X to synchrome conveying belt 12, laterally steering bar 13, Y-direction timing belt 14,
V-type guide groove
Specific implementation mode
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but the present invention is not limited to
These embodiments.
As shown in Figures 1 to 7, a kind of 3D printer with more nozzle automated conversion systems, including rack 6 are described more
Nozzle automated conversion system is arranged in rack 6, for convenience of description, will laterally be defined as X-axis, will longitudinally be defined as Y-axis, will erect
To being defined as Z axis.More nozzle automated conversion systems include nozzle library mechanism 2, manipulator mechanism 3 and are moved along X, Z-direction
Mobile ejecting device 1, the setting of manipulator mechanism 3 is between nozzle library mechanism 2 and mobile ejecting device 1.
As shown in figures 1 and 3, the nozzle library mechanism 2 includes runing rest and along circumferentially disposed several of runing rest
A for use nozzle.The runing rest includes the upper cover plate 202 being connected with each other and lower cover 206, the outer profile side of upper cover plate 202
Edge offers several upper open slots 203 along its circumferential direction, the outer profile edge of lower cover 206 along its circumferential direction offer several with
The opposite lower opening slot 209 in 203 position of upper open slot, for use nozzle are placed between the above, the lower lid, the top card of for use nozzle
In upper open slot 203, the bottom end of for use nozzle is stuck in lower opening slot 209.Preferably, the section of the upper and lower opening slot
It is U-shaped.It is connected with each other by more vertically arranged connecting poles 205 between the above, the lower lid.The nozzle library mechanism is also
Including the first stepper motor 211 for driving runing rest integrally to be rotated, the first stepper motor 211 is arranged in runing rest
The motor shaft of lower section, the first stepper motor 211 is connected with runing rest.The nozzle library mechanism further includes nozzle bottom storehouse seat 212,
First stepper motor 211 is arranged on nozzle bottom storehouse seat 212.
As shown in figures 1 and 3, the nozzle library mechanism further includes driving the first steering engine of the above, the lower lid synchronous rotary
201, it is connected by universal driving shaft 210 between the above, the lower lid；The nozzle library mechanism further includes for use nozzle limit assembly, for use
Nozzle limit assembly includes upper fixed disk, lower fixed disk 208, is arranged along upper fixed disk periphery border and counted with upper open slot 203
Measure equal upper limit arm 204, along the peripheral border setting of lower fixed disk 208 and the lower limit equal with 209 quantity of lower opening slot
The position of arm 207, the upper and lower limit arm is opposite.Preferably, the section of the upper and lower limit arm is L-shaped.Upper fixed disk
It is arranged in the lower section of upper cover plate 202, lower fixed disk 208 is arranged in the top of lower cover 206.First steering engine 201 drives upper and lower cover
During plate rotates, upper and lower fixed disk is not rotated with the above, the lower lid；Upper cover plate 202 is rotated to upper open slot 203 and the upper limit
When the opposite position of arm 204 of position, upper limit arm 204 blocks upper open slot 203, and lower limit arm 207 blocks lower opening slot 209, real
Now to the positioning of for use nozzle；When the rotation of upper cover plate 202 to upper open slot 203 and 204 position of upper limit arm is not correspond to, on
Position limit arm 204 no longer blocks open slot 203, and lower limit arm 207 no longer blocks lower opening slot 209, facilitates following manipulator sides
Just for use nozzle is gripped.
As depicted in figs. 1 and 2, the mobile ejecting device 1 includes that mobile holder 101, printing head 105 and setting are moving
It is clamped on dynamic holder 101 and to printing head 105 clamp system of positioning.The clamp system include dynamic grip block 106,
It quiet grip block 107 and drives and moves the second straight line driving portion that grip block 106 makees straight reciprocating motion, when printing, printing head
105 are clamped between dynamic and static grip block, when needing replacing nozzle, move grip block 106 under the drive of second straight line driving portion
It is moved to side to discharge printing head 105.The second straight line driving portion includes four-bar mechanism 108 and third steering engine, four bars
One end of mechanism 108 is connected with the output shaft 109 of third steering engine, the other end is connected with dynamic grip block 106, and the setting of third steering engine exists
On mobile holder 101.It should be noted that the second straight line driving portion is not limited only to the four-bar mechanism 108
With the combination drive form of third steering engine, other drive forms are can also be, for example, the structure shape of motor and ball screw assembly,
(ball screw assembly, is connected formula with dynamic grip block 106, motor driven ball screws pair, and the reciprocating motion of grip block 106 is moved to drive
To realize clamping or release to printing head 105), can also be Driven by Hydraulic Cylinder form (piston rod of hydraulic cylinder with it is dynamic
Grip block 106 is connected, and moving grip block 106 with the flexible drive of piston rod moves back and forth to realize the clamping to printing head 105
Or release), therefore, any drive form that dynamic grip block 106 can be driven to make straight reciprocating motion can be met the requirements, and
It is not limited only to the driving structure form described in Fig. 2 and above-described embodiment.
As shown in Figure 1 and Figure 4, the manipulator mechanism 3 includes for gripping and discharging printing head 105, for use nozzle
Manipulator and drive manipulator to carry out the rotary driving part of position switching between nozzle library mechanism 2 and mobile ejecting device 1.
The manipulator mechanism further includes manipulator base 311, and following second stepper motors 310 are arranged in manipulator base 311.
As shown in figure 4, the manipulator mechanism further includes the mechanical arm 308 being connected with each other and mechanical arm shaft 309, it is described
Rotary driving part includes the second stepper motor 310, and the motor shaft of the second stepper motor 310 is connected with mechanical arm shaft 309；It is described
Manipulator is arranged in the end of mechanical arm 308, and manipulator includes movable part 302 and stationary part 301, movable part 302 and stationary part
301 cooperatively form the clamping gap 303 for capturing printing head 105, for use nozzle；It is provided with band on the mechanical arm 308
Dynamic movable part 302 makees the first straight line driving portion of straight reciprocating motion.The first straight line driving portion include the second steering engine 307 and
Crank 306, rocking bar 305 and the connecting plate 304 being sequentially connected, the output shaft of the second steering engine 307 are connected with crank 306, connecting plate
304 are connected with movable part 302.The guiding moved in a straight line for ensureing connecting plate 304 is additionally provided on the mechanical arm 308
Slot, the guide groove are covered in the form of case 312 on mechanical arm 308.It should be noted that the first straight line driving portion is simultaneously
It is not limited solely to the combination drive form of the crank rocker and the second steering engine 307, can also be other drive forms,
For example, motor and ball screw assembly, structure type (ball screw assembly, is connected with movable part 302, motor driven ball screws pair,
To drive movable part 302 to move back and forth to realize the clamping or release to printing head 105 and for use nozzle), it can also be
(piston rod of hydraulic cylinder is connected the form of Driven by Hydraulic Cylinder with movable part 302, past with the flexible drive movable part 302 of piston rod
Multiple movement is to realize the clamping or release to printing head 105 and for use nozzle), it is therefore, any that movable part can be driven to make directly
The drive form that line moves back and forth can be met the requirements, and be not limited only to the driving described in Fig. 4 and above-described embodiment
Structure type.
As shown in figures 1 to 6, wire feeder is additionally provided in the rack, wire feeder includes being arranged in printing head
The material silk guide and locating mechanism 4 of top, material silk guide and locating mechanism 4 are convex including camshaft 402, cam shaft installing seat 401, drive
Wheel shaft 402 rotate third stepper motor 404, electromagnet mounting plate 405 and along 405 length direction of electromagnet mounting plate successively
Several electromagnet 406 of arrangement, pass through 403 phase of resetting spring between electromagnet mounting plate 405 and cam shaft installing seat 401
Even, the gap 407 that feed silk 501 passes through is offered on each electromagnet 406, third stepper motor 404 drives camshaft
402 rotate, and the cam outer profile on camshaft 402 pushes electromagnet mounting plate 405 to realize that Y-direction is fed, on the camshaft 402
The size of cam makes when electromagnet 406 moves to limit position along Y direction, in the material silk 501 clamped by electromagnet 406
Heart line, the center line of printing head 105 and X-axis are in same plane.The material silk guide and locating mechanism 4 further includes setting
Upper deflector chute 408 on mobile holder 101 and lower deflector chute 409, the center line of upper deflector chute 408 and lower deflector chute 409
Center line is located on the same line, and lower deflector chute 409 is located at the surface of printing head 105.
When the electromagnet 406 moves to highest distance position, since the cam on camshaft 402 far stops with certain
Angle, therefore remains stationary is motionless within a certain period of time for the meeting of electromagnet 406, at this point, the mobile ejecting device of movement in place is under
It states and rises along Z-direction under the drive of Z-direction driving mechanism so that material silk 501 enters following feed gaps through upper deflector chute 408, then passes through
The friction for crossing following driving and driven idler wheels drives, and the accurate right of material silk 501 and printing head 105 can be realized through lower deflector chute 409
It connects, shuts down within this period of time it is also possible to control third stepper motor 404, in order to expect that silk 501 is sprayed with printing
First 105 docking campaign can be carried out more smoothly.With being rotated further for third stepper motor 404, when on camshaft 402
Cam turn over far angle of repose after, electromagnet mounting plate 405 is together with electromagnet 406 mounted thereon in resetting spring 403
Drive under return to origin, waiting instruction, in order to carry out action of reloading next time.
As shown in Fig. 2, the wire feeder further includes material silk conveying mechanism, material silk conveying mechanism includes the 4th stepper motor
102, driving roller 103 and driven roller 104, the 4th stepper motor 102, driving roller 103 and driven roller 104 are arranged at
On mobile holder 101, driving roller 103 is driven by the 4th stepper motor 102, is matched between driving roller 103 and driven roller 104
It closes and forms feed gap.The driving and driven idler wheel is arranged between upper and lower deflector chute.It is additionally provided on the mobile holder 101
Heating mechanism, heating is for heating and melting material silk 501.
As shown in Figure 1 and Figure 5, the wire feeder further includes feeder 5, and feeder 5 is located at material silk guide-localization
The top of mechanism 4, feeder 5 include material silk mounting base 503 and central shaft 502, and central shaft 502 is fixed on material silk mounting base
On 503, axially several sleeves 504 that can be relatively rotated around central shaft 502, each sleeve 504 are provided with along central shaft 502
On be wound with material silk 501, and the material silk 501 of different colours is wrapped on different sleeves 504, and each sleeve 504 is around central shaft
When 502 rotation, each sleeve 504 is without axially displaced.When material silk 501 is by the friction band of driving roller 103 and driven roller 104
When dynamic, it will be rotated together around central shaft 502 with sleeve 504, realize the supply of material silk.Expect that silk 501 is extracted out through sleeve 504, according to
Enter printing head 105 after secondary gap 407 through on electromagnet 406, upper deflector chute 408, feed gap, lower deflector chute 409, so
It is sprayed by printing head 105 and is used for printed matter Products.
As shown in Figure 1, be additionally provided in the rack 6 the mobile holder of drive 101 make the Z-direction driving mechanism of elevating movement with
And mobile holder 101 is driven to make the X of transverse movement to driving mechanism.It, can be in mobile holder for convenience of the mobile holder 101 of driving
Coupled holder 8 is arranged in 101 lower section.
The Z-direction driving mechanism for making elevating movement for realizing driving movement holder 101 can have a variety of structures form, example
Such as, it can be the combining form of the vertical guide rod of motor+ball screw assembly, 9+ as shown in Figure 1 10, can also be hydraulic cylinder+perpendicular
To the combining form of guide rod, certainly, Z-direction driving mechanism is not limited to above-described embodiment, as long as drive movement can be realized
Holder 101 makees the elevating movement of vertical direction.
Make the X of transverse movement to driving mechanism can also there are many structure type, examples for realizing driving movement holder 101
Such as, can be the combining form of motor+X as shown in Figure 1 to synchrome conveying belt 11+ laterally steerings bar 12, can also be motor+
The combining form of ball screw assembly,+laterally steering bar 12.Certainly, X is not limited to above-described embodiment to driving mechanism, as long as energy
It is enough to realize that the driving structure for driving mobile holder 101 to make transverse movement be met the requirements.
As shown in Figure 1, be additionally provided with pallet 7 in the rack 6, pallet 7 is located at the lower section of printing head 105, in rack 6
It is additionally provided with the Y-direction driving mechanism for driving pallet 7 to travel longitudinally.The Y-direction driving to travel longitudinally for realizing driving pallet 7
Mechanism can also there are many structure types, for example, it may be motor as shown in Figure 1+Y-direction synchrome conveying belt 11+ longitudinally guidings
The combining form of bar can also be the combining form of motor+ball screw assembly,+longitudinally guiding bar, it might even be possible to be hydraulic cylinder+vertical
To the combining form of guide rod.Certainly, Y-direction driving mechanism is not limited to above-described embodiment, and pallet 7 is driven as long as can realize
The driving structure to travel longitudinally can be met the requirements.It should be noted that the nozzle library mechanism 2 in the present invention and pallet 7
It is connected, the longitudinal movement of pallet 7 can lead to the longitudinal movement of nozzle library mechanism 2, can be for convenience of the movement of nozzle library mechanism 2
V-type guide groove 14 is set in rack 6, and the guide pad being connected with nozzle bottom storehouse seat 212 is set in the lower section of nozzle bottom storehouse seat 212
15, the structure of guide pad 15 is adapted with the structure of V-type guide groove 14.
3D printer of the present invention further includes the control system for controlling each motor and steering engine.As shown in fig. 7, beating
After print machine receives the instruction of the replacement nozzle from control system in print procedure, time-out printing operation first, and control
The mobile ejecting device 1 of system and manipulator mechanism 3 move to corresponding position, and the 4th stepper motor 102 drives driving roller 103 anti-
Turn, material silk 501 is made to be detached with printing head 105, third servo driving four-bar mechanism 108 rotates, and makes dynamic and static grip block relieving pair
Printing head 105 is removed and is placed at this point, control system control machinery hand mechanism 3 moves by the clamping of printing head 105
At clear position in nozzle library mechanism 2；Later, the first stepper motor 211 drives runing rest unitary rotation so that another one
The for use nozzle set goes to manipulator mechanism and is easy at the position of crawl, and the first steering engine 201 drives the above, the lower lid rotation, makes
Upper and lower limit arm no longer blocks upper and lower opening slot, and for use nozzle in manipulator mechanism crawl nozzle library mechanism 2 is simultaneously transported
It is sent between dynamic and static grip block, third steering engine action drives screw body 108 acts, and dynamic and static grip block clamping is made just to fetch
For use nozzle make printing head；Then, control third stepper motor 404 rotates, and the cam on camshaft 402 is made to turn
To far angle of repose, control Z-direction driving mechanism drives mobile ejecting device to be moved along Z-direction, make material silk 501 through upper deflector chute 408 into
Enter and be fed gap, the 4th stepper motor 102 drives driving roller 103 to rotate forward, and so that material silk 501 is entered through lower deflector chute 409 and prints
Nozzle 105 completes more changing jobs for nozzle.
The part that do not addressed in the present invention uses or uses for reference prior art and can be realized.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
Specific embodiment described herein is only the spiritual example explanation to the present invention.Belonging to the present invention
Those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitutes, and however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (8)
1. a kind of 3D printer with more nozzle automated conversion systems, which is characterized in that
Including rack, more nozzle automated conversion systems are arranged in rack；
More nozzle automated conversion systems include nozzle library mechanism, manipulator mechanism and move ejecting device, machine along what X, Z-direction moved
The setting of tool mobile phone structure is between nozzle library mechanism and mobile ejecting device；
The nozzle library mechanism includes runing rest and along several circumferentially disposed for use nozzles of runing rest；
It is fixed that mobile ejecting device is clamped including mobile holder, printing head and setting on mobile holder and to printing head
The clamp system of position；
Manipulator mechanism includes manipulator for gripping and discharging printing head, for use nozzle and drives manipulator in nozzle library
The rotary driving part of position switching is carried out between mechanism and mobile ejecting device；
The manipulator mechanism further includes the mechanical arm being connected with each other and mechanical arm shaft, and the rotary driving part includes second step
The motor shaft of stepper motor, the second stepper motor is connected with mechanical arm shaft；
The manipulator is arranged in the end of mechanical arm, and manipulator includes movable part and stationary part, and movable part and stationary part coordinate
Form the clamping gap for capturing printing head, for use nozzle；It is provided on the mechanical arm and drives movable part to make straight line past
The first straight line driving portion moved again；
The first straight line driving portion includes the second steering engine and crank being sequentially connected, rocking bar and connecting plate, the second steering engine it is defeated
Shaft is connected with crank, and connecting plate is connected with movable part；
The clamp system includes that the second straight line that grip block makees straight reciprocating motion is moved in dynamic grip block, quiet grip block and drive
Driving portion, when printing, printing head is clamped between dynamic and static grip block, when replacing nozzle, is moved grip block and is driven in second straight line
It is moved to side to discharge printing head under the drive in dynamic portion；The second straight line driving portion includes four-bar mechanism and third rudder
Machine, one end of four-bar mechanism is connected with the output shaft of third steering engine, the other end is connected with dynamic grip block, and the setting of third steering engine is moving
On dynamic holder.
2. a kind of 3D printer with more nozzle automated conversion systems according to claim 1, which is characterized in that
The runing rest includes the upper cover plate and lower cover being connected with each other, and the outer profile edge of upper cover plate is offered along its circumferential direction
Several upper open slots, the outer profile edge of lower cover along its circumferential direction offer several it is opposite with upper open slot position under open
Mouth slot, for use nozzle are placed between the above, the lower lid, and the top of for use nozzle is stuck in upper open slot, the bottom end of for use nozzle
It is stuck in lower opening slot；
The nozzle library mechanism further includes the first stepper motor for driving runing rest integrally to be rotated, and the first stepper motor is set
It sets in the lower section of runing rest, the motor shaft of the first stepper motor is connected with runing rest.
3. a kind of 3D printer with more nozzle automated conversion systems according to claim 2, which is characterized in that
The nozzle library mechanism further includes driving the first steering engine of the above, the lower lid synchronous rotary, passes through linkage between the above, the lower lid
Axis is connected；
The nozzle library mechanism further includes for use nozzle limit assembly, and for use nozzle limit assembly includes upper fixed disk, lower fixation
Disk is set along the setting of upper fixed disk periphery border and the upper limit arm equal with upper open slot quantity, along lower fixed disk periphery border
It sets and the lower limit arm equal with lower opening slot quantity, the position of the upper and lower limit arm is opposite, and upper fixed disk is arranged in upper cover
The lower section of plate, lower fixed disk is arranged in the top of lower cover, upper and lower solid during the first steering engine drives the above, the lower lid rotation
Price fixing is not rotated with the above, the lower lid, and when upper cover plate is rotated to the upper open slot position opposite with upper limit arm, upper limit arm is blocked
Upper open slot, lower limit arm block lower opening slot.
4. a kind of 3D printer with more nozzle automated conversion systems according to claim 1, which is characterized in that
It is additionally provided with wire feeder in the rack；
The wire feeder includes the material silk guide and locating mechanism being arranged above printing head, and material silk guide and locating mechanism includes
Camshaft, cam shaft installing seat, drive camshaft rotation third stepper motor, electromagnet mounting plate and along electromagnet install
Several electromagnet that plate length direction is arranged successively, pass through resetting spring phase between electromagnet mounting plate and cam shaft installing seat
Even, the gap that feed silk passes through is offered on each electromagnet；
The third stepper motor drives cam axle, and the cam outer profile on camshaft pushes electromagnet mounting plate to realize Y
To feeding, the size of the camshaft overhead cam makes when electromagnet moves to limit position along Y direction, clamped by electromagnet
The center line of material silk, the center line of printing head and X-axis be in same plane.
5. a kind of 3D printer with more nozzle automated conversion systems according to claim 4, which is characterized in that
The material silk guide and locating mechanism further includes the upper deflector chute being arranged on mobile holder and lower deflector chute, upper deflector chute
The center line of center line and lower deflector chute is located on the same line, and lower deflector chute is located at the surface of printing head.
6. a kind of 3D printer with more nozzle automated conversion systems according to claim 4, which is characterized in that
The wire feeder further include material silk conveying mechanism, material silk conveying mechanism include the 4th stepper motor, driving roller and from
Dynamic idler wheel, the 4th stepper motor, driving roller and driven roller are arranged on mobile holder, and driving roller is by the 4th stepping electricity
Machine drives, and feed gap is cooperatively formed between driving roller and driven roller.
7. a kind of 3D printer with more nozzle automated conversion systems according to claim 4, which is characterized in that
The wire feeder further includes feeder, and feeder is located at the top of material silk guide and locating mechanism；
The feeder includes material silk mounting base and central shaft, and central shaft is fixed in material silk mounting base, along central shaft axial direction
Several sleeves that can be relatively rotated around central shaft are provided with, material silk, and the material of different colours are wound on each sleeve
Silk is wrapped on different sleeves, and when each sleeve rotates around center axis, each sleeve is without axially displaced.
8. a kind of 3D printer with more nozzle automated conversion systems according to claim 1, which is characterized in that
It is additionally provided with the Z-direction driving mechanism for driving mobile holder to make elevating movement in the rack and drives mobile holder work horizontal
To the X of movement to driving mechanism, it is additionally provided with pallet in the rack, pallet is located at the lower section of printing head, is also set in rack
It is equipped with the Y-direction driving mechanism for driving pallet to travel longitudinally.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611113664.4A CN106493944B (en) | 2016-12-07 | 2016-12-07 | A kind of 3D printer with more nozzle automated conversion systems |
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| CN201611113664.4A CN106493944B (en) | 2016-12-07 | 2016-12-07 | A kind of 3D printer with more nozzle automated conversion systems |
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| CN106493944B true CN106493944B (en) | 2018-10-02 |
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| CN106827534A (en) * | 2017-03-17 | 2017-06-13 | 黄泽 | A kind of 3D printer of many shower nozzles |
| CN107214948A (en) * | 2017-07-21 | 2017-09-29 | 佛山市正略信息科技有限公司 | It is a kind of that the 3D printer that two kinds of materials are printed simultaneously can be achieved |
| DE102017215838A1 (en) * | 2017-09-07 | 2019-03-07 | Sauer Gmbh | Replaceable optics module for a laser processing machine |
| CN108511146B (en) * | 2018-02-11 | 2023-05-26 | 山东科技大学 | Novel bidirectional control proportional electromagnet device and control method thereof |
| CN108189399A (en) * | 2018-02-13 | 2018-06-22 | 大连派思益科技有限公司 | 3D printer can be switched in a kind of more nozzles of composite gradient material |
| EP3560687A1 (en) * | 2018-04-23 | 2019-10-30 | Bond high performance 3D technology B.V. | System for additive manufacturing |
| CN109203470B (en) * | 2018-10-17 | 2024-03-26 | 苏州市职业大学 | Colorful melting type 3D printer |
| JP7386872B2 (en) * | 2019-01-09 | 2023-11-27 | アーエム デザイン エー．ウー． | tool unit |
| CN110253887A (en) * | 2019-06-21 | 2019-09-20 | 金陵科技学院 | A kind of full-color 3D printer and Method of printing |
| US11826960B2 (en) * | 2020-07-09 | 2023-11-28 | Ememo Solutions Ab | Three-dimensional imaging apparatus having multiple passive nozzles for modeling a multi material three-dimensional object |
| CN113844030A (en) * | 2021-11-01 | 2021-12-28 | 深圳拓竹科技有限公司 | Method for 3D printer and 3D printer device |
| CN114701167B (en) * | 2022-03-30 | 2023-07-21 | 无锡市检验检测认证研究院 | Automatic reloading 3D printing device |
| CN115091750B (en) * | 2022-07-13 | 2024-01-05 | 深圳市创想三维科技股份有限公司 | Double-spray-head device and 3D printing equipment |
| CN115625888A (en) * | 2022-09-22 | 2023-01-20 | 河北智取科技有限公司 | Three-dimensional feeding 3D printing equipment without powder laying and printing method thereof |
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| US20140363532A1 (en) * | 2013-06-10 | 2014-12-11 | Kirk W. Wolfgram | Multiple color extrusion type three dimensional printer |
| CN103640217B (en) * | 2013-12-04 | 2017-05-03 | 北京太尔时代科技有限公司 | Platform for 3D (three dimensional) printer and 3D printer formed by platform |
| CN104129079B (en) * | 2014-08-07 | 2016-11-09 | 北京汇天威科技有限公司 | A kind of novel 3D printer |
| CN204997998U (en) * | 2015-08-31 | 2016-01-27 | 东莞市瑞迪三维电子科技有限公司 | Can change bull 3D printer of beating printer head automatically |
| CN206273588U (en) * | 2016-12-07 | 2017-06-23 | 山东科技大学 | A kind of 3D printer with many shower nozzle automated conversion systems |
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