CN106945279A - High speed 3D printing parallel drive mechanism - Google Patents
High speed 3D printing parallel drive mechanism Download PDFInfo
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- CN106945279A CN106945279A CN201710337550.6A CN201710337550A CN106945279A CN 106945279 A CN106945279 A CN 106945279A CN 201710337550 A CN201710337550 A CN 201710337550A CN 106945279 A CN106945279 A CN 106945279A
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- supporting plate
- hole
- lead screw
- moving platform
- screw assembly
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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
Abstract
The invention discloses high speed 3D printing parallel drive mechanism, do not planned a successor or problem of misalignment during small size position on printing small size part or part to overcome, it includes fixed platform (1), support (2), the first moving platform (10), the second moving platform (16), 3 No. 1 side chain in parallel, 3 No. 2 side chains and printhead (17) in parallel；Support (2) is located at below fixed platform (1), and be fixedly connected by the upper fixing end of the first supporting plate (22) to the 3rd supporting plate (29) in support (2) with fixed platform (1), first moving platform (10) is located at the lower section of support (2), and 3 No. 1 side chain in parallel is connected between support (2) and the first moving platform (10)；Second moving platform (16) is located at the lower section of the first moving platform (10), and 3 No. 2 side chains in parallel are connected between the first moving platform (10) and the second moving platform (16)；Printhead (17) is arranged on the second moving platform (16).
Description
Technical field
The present invention relates to a kind of 3D printing and the drive mechanism in parallel institution field, it more particularly relates to one
Plant high speed 3D printing parallel drive mechanism.
Background technology
3D printing technique is a kind of emerging rapid shaping technique, with " every layer of superposition " for processing mode.From pushing away
Since going out, one worldwide scientific and technological whirlwind has been formd, is had in fields such as Aero-Space, medical science, auto industrys extensive
Using.The drive mechanism of 3D printer is divided into three kinds of Cartesian coordinate type, series and parallel.
The drive mechanism of 3D printer is in the majority with rectangular co-ordinate structure both at home and abroad at present, but the print space of the kind equipment is straight
The limitation of rail length is received so that printer busy space is larger and print space is smaller, while the printing speed of printer
Degree is limited by coordination and response speed on three directions, and print speed is slower.If accessory size is too small, printhead occurs
Jitter conditions, influence printing precision.
Chinese patent bulletin (cloth) number is CN203936378U, and bulletin (cloth) day is on November 12nd, 2014, denomination of invention
For " a kind of print structure of 3D printer ", the print structure of a class tandem 3D printer is provided in the case, can
Multi-angle, the printing of many height are realized in printer space, secondary printing can be carried out to the product being molded, together
When model workbench can also carry out fast clamp positioning to model.Fixed with solving existing 3D printer printhead angle, no
The problems such as secondary printing being realized to product.But series connection mechanical arm rigidity is poor, and the inverse kinematics of series connection mechanical arm
As a result it is many solutions, response speed is slower, causes printing precision and print speed is not ideal enough.
Cloudy He Sheng etc. has delivered the document of entitled " the desktop 3D printer based on three arm parallel-connection structures ", literature periodical source
《Machinery》A kind of desktop 3D printer based on three arm parallel-connection structures is provided in 2nd 36-40 pages of phase in 2015, the case, can be with
Lift 3D printer vertical direction print space.But the length of connecting rod regardless of side chain, the printer is in terms of level
Print space is impossible to the limitation beyond 3 root posts, and print space has much room for improvement.
Chinese patent bulletin (cloth) number is CN203485190U, and bulletin (cloth) day is on March 19th, 2014, entitled
There is provided a class parallel 2 D translation mechanism it is a kind of to be based on parallel machine in " a kind of 3D printer based on parallel institution ", the case
The 3D printer of structure, to solve the problem of existing 3D printer print space is small and print speed is slow；
Parallel institution is by repacking, it can also be used to 3D printing field, and the parallel machine of 3D printing system has been applied at present
Structure includes the remodeling of each DELTA mechanisms.Chang Dingyong of Beijing Jiaotong University etc. has delivered entitled " multi output 3D printing redundant parallel
The document of the design and analysis of robot ", literature reference《China Mechanical Engineering》1595-1602 pages of 12 phase of volume 26 in 2015,
A kind of new multi output 3D printing robot is devised in the case, the robot mechanism using Delta parallel mechanism as main types,
Using Stewart parallel institutions as auxiliary configuration.Auxiliary configuration is the rigidity and motion in order to ensure printer end actuator
Precision, support force is provided for moving platform, and the vibration produced when being moved by controlling moving platform improves printer end and performed
The robust motion of device.Multiple printheads are arranged on end effector, to realize multi output.
Xu Yihua etc. has delivered the document of entitled " Serial-Parallel Micro-manipulator kinematics analysis ", literature reference《Mechanical division
Learn and technology》The operation that two 3-PRS parallel institutions are in series is proposed in the 6th 862-866 pages of phase of volume 20 in 2001, the case
Refer to for inching operation.By the structural modification into 3D printing equipment, print space will very little.
Chinese patent bulletin (cloth) number is CN204367426U, and bulletin (cloth) day is on June 3rd, 2015, entitled
A kind of 3D printer being made up of Delta parallel mechanism is provided in " a kind of parallel institution 3D printer ", the case, to solve mesh
The problem of preceding three-shaft linkage 3D printer space-consuming is greatly and print speed is slow.But the 3D printer is straight using column design
Connecing causes the print space of the 3D printer limited.
Chinese patent bulletin (cloth) number is CN105818381U, bulletin (cloth) day is August in 2016 3, entitled
A kind of 3D printing being made up of plane parallel mechanism is provided in " a kind of 3D printer based on plane parallel mechanism ", the case
Machine, it is simple and compact for structure, but influenceed by plane print range, it is only suitable for printing the less part of part length width；Printing
Platform is moved up and down, and is limited by its bearing capacity, is not suitable for printing part overweight.
Cartesian coordinate type, series and parallel 3D printer, its maximum printing space with printhead to printer bottom
The maximum distance of seat is proportional.And 3D printing rate request is higher, typically using motor drive mode.If the maximum distance
Excessive, then on the less part of stamp with the size or part during the less position of size, motor needs frequent rotating, now by
The larger-size influence of drive mechanism, the speed appearance that the direction of printhead changes is delayed, causes printing not plan a successor or wrong
Position, has a strong impact on printing precision；If the maximum distance is too small, maximum printing space is just small.Current research equipment, there is no
Method solves the contradiction for not planning a successor or misplacing when print space is printed with small size.
The content of the invention
When the technical problems to be solved by the invention are print space and the small size printing for overcoming prior art presence
The problem of contradiction for not planning a successor or misplacing, there is provided a kind of high speed 3D printing parallel drive mechanism.
In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：Described high speed 3D printing is simultaneously
Joining drive mechanism includes fixed platform, support, the first moving platform, the second moving platform, 3 side chains in parallel of structure identical 1 and 3
The side chain in parallel of structure identical 2.
Described support is located at the lower section of fixed platform, and passes through the first supporting plate in support, the second supporting plate and the 3rd
The upper fixing end of supporting plate is fixedly connected with fixed platform bolt, and the first supporting plate, the second supporting plate are upper solid with the 3rd supporting plate
Fixed end is uniformly distributed on fixed platform；First moving platform is located at the lower section of support, the side chain connection in parallel of 3 structure identicals 1
Between support and the first moving platform；Second moving platform is located at the lower section of the first moving platform, 3 branch in parallel of structure identical 2
Chain is connected between the first moving platform and the second moving platform.
Fixed platform described in technical scheme is disc-shaped structure part, and 3 structure identical gap and 3 groups are distributed with thereon
Supporting plate mounting hole, 3 structure identical gap and 3 groups of supporting plate mounting holes are set to be supporting, and 3 gap are along the circumferential direction equal
Arrange evenly, the width of the first supporting plate, the second supporting plate or the 3rd supporting plate in the width and support of gap is equal, 3 groups
Supporting plate mounting hole is uniformly distributed on fixed platform and in the inboard of 3 structure identical gap, every group of supporting plate mounting hole
It is made up of 2 tapped through holes, every group of supporting plate mounting hole and the first supporting plate, the second supporting plate or the 3rd supporting plate in support
The supporting plate positioning hole of upper fixing end is aligned.
Support described in technical scheme includes supporting plate, support bar and support baseboard；Wherein：Supporting plate includes first
Fagging, the second supporting plate and the 3rd supporting plate, the first supporting plate, the second supporting plate are identical with the 3rd supporting plate structure；Support bar
Including first support bar, second support bar and the 3rd support bar, first support bar, second support bar and the 3rd supporting bar structure phase
Together；Described first support bar is the straight-bar class formation part of rectangular cross section, and the lower end of first support bar is welded on the first support
Middle on the inside of plate, the top plan of first support bar is parallel with the baseplane of the first supporting plate upper fixing end, and two is parallel flat
The distance in face is the thickness of fixed platform.
The first described supporting plate is waits the plate structure part of rectangular cross section, and the first supporting plate two ends are to the same side bending
Into upper fixing end and lower fixing end, upper fixing end is parallel with lower fixing end, and the upper fixing end of the first supporting plate is provided with 1 pair of branch
Fagging positioning hole, is tapped through hole, and 1 pair of supporting plate positioning hole is aligned with 1 pair of supporting plate mounting hole on fixed platform；First support
The fixed platform lead screw assembly mounting hole that 2 structure identicals are used to connect fixed platform lead screw assembly is provided with the middle part of plate, is spiral shell
Line through hole；The lower fixing end of first supporting plate is provided with 1 pair of supporting plate fastener hole；First supporting plate, the second supporting plate and the 3rd
Supporting plate is arranged on support baseboard by its lower end, the first supporting plate, the second supporting plate and any two in the 3rd supporting plate
Angle between person is equal.
The first moving platform described in technical scheme is the plate-type structural piece of hexagon, and the first moving platform of the hexagon is
Cut what 3 small equilateral triangles were obtained at three drift angles of 1 big equilateral triangle, at every short side of the first moving platform
The U-shaped contiguous block mounting hole of 2 structure identicals first is provided with, the U-shaped contiguous block mounting hole of 2 structure identicals first is screw thread
Through hole, the U-shaped contiguous block mounting hole of 2 structure identicals first and the first U-shaped contiguous block being fixedly connected on the first moving platform
The first U-shaped contiguous block lower opening align, at every hexagon short side midpoint with being provided with 2 structure phases on hexagonal centre line
Same moving platform lead screw assembly mounting hole, moving platform lead screw assembly mounting hole is tapped through hole, 2 structure identical moving platforms silks
Thick stick component mounting hole is aligned with the moving platform lead screw assembly positioning hole on the first moving platform lead screw assembly, the center of the first moving platform
Place is provided with 1 harness cord hole.
The second moving platform described in technical scheme is the plate-type structural piece of hexagon, and the second moving platform of the hexagon is
Cut what 3 small equilateral triangles were obtained at three drift angles of 1 big equilateral triangle, at every short side of the second moving platform
The U-shaped contiguous block mounting hole of 2 structure identicals second is provided with, the U-shaped contiguous block mounting hole of 2 structure identicals second is screw thread
The of through hole, the U-shaped contiguous block mounting hole of 2 structure identicals second and the second U-shaped contiguous block for being fixed on the second moving platform
Two U-shaped contiguous block lower opening are aligned, and are provided centrally with printhead mounting hole in the second moving platform, printhead mounting hole is logical for light
Hole；3 structure identical printhead positioning holes are equably provided with around printhead mounting hole, printhead positioning hole is spiral shell
Line through hole.
No. 1 side chain in parallel described in technical scheme includes fixed platform lead screw assembly, first order feed screw nut, the first order
Hooke's hinge, long connecting rod, second level Hooke's hinge and the first U-shaped contiguous block；Described fixed platform lead screw assembly is fixed using bolt to be connected
On the bottom surface for connecing the first supporting plate in the bracket, first order feed screw nut is arranged on fixed platform lead screw assembly, between the two
To be slidably connected；The upper end of long connecting rod is connected by first order Hooke's hinge with first order feed screw nut, and the lower end of long connecting rod passes through
Second level Hooke's hinge is connected with the first U-shaped contiguous block, and the first U-shaped contiguous block is arranged on the upper surface of the first moving platform using bolt
On.
Fixed platform lead screw assembly described in technical scheme includes fixed platform motor, fixed platform motor and slowed down
Device, fixed platform lead screw assembly support, 2 root architecture identical fixed platform lead screw assembly feed rods and fixed platform lead screw assembly ball wire
Thick stick；Described fixed platform motor is arranged on using bolt on the right-hand member of fixed platform motor decelerator, fixed platform driving
The output end of motor is fixedly connected with the input of fixed platform motor decelerator, and fixed platform motor decelerator uses spiral shell
Bolt is arranged on the right support arm of fixed platform lead screw assembly support, and fixed platform lead screw assembly ball-screw is arranged on fixed using bearing
The left support arm of platform lead screw assembly support in the fixed platform lead screw assembly ball-screw mounting hole on right support arm with rotating
Connection, the output end of fixed platform motor decelerator is fixedly connected with the right-hand member of fixed platform lead screw assembly ball-screw, 2 knots
Structure identical fixed platform lead screw assembly feed rod is arranged on the left support arm of fixed platform lead screw assembly support and allocating for right support arm
It is threaded connection in platform lead screw assembly feed rod mounting hole, 2 structure identical fixed platform lead screw assembly feed rods are located at fixed platform silk
The both sides of thick stick component ball-screw, 2 structure identical fixed platform lead screw assembly feed rods and fixed platform lead screw assembly ball-screw
It is parallel.
The top of first order feed screw nut described in technical scheme is provided with 2 structure identical first order feed screw nuts
Ear, the upper end of each first order feed screw nut ear is provided with hole on 1 first order feed screw nut, first order feed screw nut
Hole is the first order silk in the light through hole for installing first order Hooke's hinge, 2 structure identical first order feed screw nut ears
The rotation conllinear in hole on thick stick nut, the bottom of the cuboid of first order feed screw nut is provided with 2 structure identicals
First order feed screw nut feed rod hole and 1 first order feed screw nut lead screw hole, 2 structure identical first order feed screw nut feed rods
Hole position is in the both sides of first order feed screw nut lead screw hole, the axis of rotation in 2 structure identical first order feed screw nut feed rod holes
In and coexistence same level parallel with the axis of rotation of first order feed screw nut lead screw hole；2 first order feed screw nut ears
On first order feed screw nut on hole axis of rotation and the axis of rotation in 2 structure identical first order feed screw nut feed rod holes
It is parallel with plane where the axis of rotation of first order feed screw nut lead screw hole and with the gyroaxis of first order feed screw nut lead screw hole
Line square crossing.
The first U-shaped contiguous block described in technical scheme pitches class formation part for "U" shaped, and the first U-shaped contiguous block is by left branch
Brace, right support arm and base are constituted, and left support arm is identical with right support arm configuration, left support arm, right support arm and base
Width is equal with thickness, and the two ends Symmetrical vertical of left support arm, the bottom of right support arm and base is simultaneously connected, left support
Arm, right support arm are parallel to each other, and the left support arm of the first U-shaped contiguous block, the upper end of right support arm are respectively arranged with 1 the first U
The structure in hole is identical on hole on type contiguous block, 2 the first U-shaped contiguous blocks, hole on 2 U-shaped contiguous blocks of structure identical first
Rotation conllinear is simultaneously parallel with base, and the U-shaped connection of 2 structure identicals first is provided with the base of the first U-shaped contiguous block
Hole is the light through hole for connecting second level Hooke's hinge, 2 structure phases on block lower opening, 2 U-shaped contiguous blocks of structure identical first
The first same U-shaped contiguous block lower opening is light through hole, the U-shaped contiguous block lower opening of 2 structure identicals first and 2 on the first moving platform
The individual U-shaped contiguous block mounting hole of structure identical first is aligned.
No. 2 side chains in parallel described in technical scheme include the first moving platform lead screw assembly, second level feed screw nut, the 3rd
Level Hooke's hinge, short connecting rod, fourth stage Hooke's hinge and the second U-shaped contiguous block.The first described moving platform lead screw assembly passes through wherein
Moving platform lead screw assembly support be arranged on the bottom surface of the first moving platform, the first moving platform lead screw assembly and the first moving platform it
Between be connected by screw bolts；Second level feed screw nut is sleeved on the moving platform lead screw assembly ball wire in the first moving platform lead screw assembly
On thick stick and 2 root architecture identical moving platform lead screw assembly feed rods, second level feed screw nut and moving platform lead screw assembly ball-screw
It is to be slidably connected between 2 root architecture identical moving platform lead screw assembly feed rods；The upper end of short connecting rod passes through third level Hooke's hinge
It is connected with second level feed screw nut；The lower end of short connecting rod is connected by fourth stage Hooke's hinge with the second U-shaped contiguous block；Second is U-shaped
Contiguous block is arranged on using bolt on the upper surface of the second moving platform.
Compared with prior art the beneficial effects of the invention are as follows：
1. high speed 3D printing parallel drive mechanism of the present invention can not only realize that large scale is printed, and in small size
During printing, the situation for not planning a successor or misplacing can be reduced.
2. high speed 3D printing parallel drive mechanism of the present invention improves drive in parallel while three-dimensional translating is kept
The print space of motivation structure.
3. high speed 3D printing parallel drive mechanism of the present invention is only made up of low pair, degree of freedom of kinematic pair sum compared with
It is few, it is simple in construction, it is easy to manufacture, process and assemble, production cost is low；
4. high speed 3D printing parallel drive mechanism of the present invention print complex component when, it is only necessary to clamping once,
Printing device or printhead need not be changed, clamping error can be reduced, printing precision is improved.It is adapted as high-speed motion and multiple
Miscellaneous component prints the executing agency of occasion.
To sum up, high speed 3D printing parallel drive mechanism of the present invention has higher practical value and wide application
Prospect, a kind of new structure is provided for technical fields such as parallel robot, Digit Control Machine Tool, coordinate measuring machine and remote operatings.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is the axonometric projection view that high speed 3D printing parallel drive mechanism structure of the present invention is constituted；
Fig. 2 is the main view of the fixed platform structure composition employed in high speed 3D printing parallel drive mechanism of the present invention
Figure；
Fig. 3 is that the axle of the supporting structure composition employed in high speed 3D printing parallel drive mechanism of the present invention surveys throwing
Video display figure；
Fig. 4 is the fixed platform lead screw assembly structure group employed in high speed 3D printing parallel drive mechanism of the present invention
Into axonometric projection view；
Fig. 5 is the first order screw-nut structure group employed in high speed 3D printing parallel drive mechanism of the present invention
Into axonometric projection view；
Fig. 6 is the first U-shaped connecting block structure group employed in high speed 3D printing parallel drive mechanism of the present invention
Into axonometric projection view；
Fig. 7 is the moving platform lead screw assembly structure group employed in high speed 3D printing parallel drive mechanism of the present invention
Into axonometric projection view；
Fig. 8 is the first moving platform structure composition employed in high speed 3D printing parallel drive mechanism of the present invention
Axonometric projection graph；
Fig. 9 is the second level screw-nut structure group employed in high speed 3D printing parallel drive mechanism of the present invention
Into axonometric projection view；
Figure 10 is the second U-shaped connecting block structure group employed in high speed 3D printing parallel drive mechanism of the present invention
Into axonometric projection view；
Figure 11 is the second moving platform structure composition employed in high speed 3D printing parallel drive mechanism of the present invention
Axonometric projection view；
In figure：1. fixed platform, 2. supports, 3. fixed platform lead screw assemblies, 4. first order feed screw nuts, 5. first order Hookes
Hinge, 6. long connecting rods, 7. second level Hooke's hinges, 8. first U-shaped contiguous blocks, 9. first moving platform lead screw assemblies, 10. first is dynamic flat
Platform, 11. second level feed screw nuts, 12. third level Hooke's hinges, 13. short connecting rods, 14. fourth stage Hooke's hinges, 15. second U-shaped connections
Block, 16. second moving platforms, 17. gap, 18. supporting plate mounting holes, 19. supporting plate positioning holes, 20. fixed platform lead screw assemblies peace
Dress hole, 21. first supporting plates, 22. first support bars, 23. second supporting plates, 24. second support bars, 25. supporting plate fastener holes,
26. support baseboard, 27. support baseboard mounting holes, 28. the 3rd support bars, 29. the 3rd supporting plates, 30. fixed platform motors,
31. fixed platform motor decelerator, 32. fixed platform lead screw assembly supports, 33. fixed platform lead screw assembly feed rods, 34. fixed platforms
Lead screw assembly positioning hole, 35. fixed platform lead screw assembly ball-screws, 36. fixed platform lead screw assembly feed rod mounting holes, 37. allocate
Hole on platform lead screw assembly ball-screw mounting hole, 38. first order feed screw nuts, 39. first order feed screw nut ears, 40. first
Hole, 43. first U-shaped connections on level feed screw nut feed rod hole, 41. first order feed screw nut lead screw hole, 42. first U-shaped contiguous blocks
Block lower opening, 44. moving platform motors, 45. moving platform motor decelerators, 46. moving platform lead screw assembly supports, 47. move
Platform lead screw assembly feed rod, 48. moving platform lead screw assembly positioning holes, 49. moving platform lead screw assembly ball-screws, 50. moving platforms
Lead screw assembly feed rod mounting hole, 51. moving platform lead screw assembly ball-screw mounting holes, 52. first U-shaped contiguous block mounting holes, 53.
Hole on moving platform lead screw assembly mounting hole, 54. harness cord holes, 55. second level feed screw nuts, 56. second level feed screw nut ears,
57. hole, 60. the 2nd U on second level feed screw nut feed rod hole, 58. second level feed screw nut lead screw hole, 59. second U-shaped contiguous blocks
Type contiguous block lower opening, 61. second U-shaped contiguous block mounting holes, 62. printhead positioning holes, 63. printhead mounting holes.
Embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
Refering to Fig. 1, a kind of high speed 3D printing parallel drive mechanism of the present invention includes fixed platform 1, support 2,
3 No. 1 side chains in parallel of one moving platform 10, the second moving platform 16, connecting bracket 2 and the first moving platform 10, be connected first and dynamic put down
3 No. 2 side chains in parallel of platform 10 and the second moving platform 16.
Refering to Fig. 2, described fixed platform 1 is disc-shaped structure part, and 3 structure identical gap 17 and 3 are distributed with thereon
Group 18,3 structure identical gap 17 of supporting plate mounting hole and 3 groups of supporting plate mounting holes 18 are set to be supporting, 3 edges of gap 18
Circumferencial direction equably arranges that the first supporting plate 22, the second supporting plate 23 or the 3rd in the width and support 2 of gap 18 are supported
The width of plate 29 is equal, limits 1 translation freedoms of supporting plate；3 groups of supporting plate mounting holes 18 are uniformly distributed in fixed platform 1
Above and in the inboard of 3 structure identical gap 18, every group of supporting plate mounting hole 18 is made up of 2 through holes, every group of supporting plate peace
Fill hole 18 and the first supporting plate 21, the second supporting plate 23 or the supporting plate positioning hole 19 of the upper end of the 3rd supporting plate 29 in support 2
Align, and be connected the supporting plate 21 of fixed platform 1 and first, the second supporting plate 23 with the upper end of the 3rd supporting plate 29 using bolt, limit
Make 6 frees degree of the first supporting plate 21, the second supporting plate 23 or the 3rd supporting plate 29.The connection of fixed platform 1 and support 2 is super
Static determinacy is connected, in order to the rigidity of enhancing structure.
Refering to Fig. 3, described support 2 is claw-type structure part, including supporting plate, support bar and support baseboard 26.Wherein：Branch
Fagging includes the first supporting plate 21, the second supporting plate 23 and the 3rd supporting plate 29, the first supporting plate 21, the second supporting plate 23 and the
The structure of three supporting plate 29 is identical；Support bar includes first support bar 22, the support bar 28 of second support bar 24 and the 3rd, the first support
Bar 22, second support bar 24 are identical with the structure of the 3rd support bar 28.The support 2 for setting the type is in order to which drive mechanism is in motion
During occur avoiding unusual pose；The power that ball-screw is subject to can be decomposed, reducing makes ball-screw produce moment of flexure
Power；The displacement on first order feed screw nut vertical direction can be increased, and then increase the working space of whole mechanism.
First supporting plate 21 constitutes first connection unit, the second supporting plate 23 and second support bar with first support bar 22
24 second connection unit of composition, the 3rd supporting plate 29 and the 3rd support bar 28 constitute the 3rd connection unit, 3 connection units
Structure it is identical with connected mode.In first supporting plate 21, the second supporting plate 23 and the 3rd supporting plate 29 it is any both
Between angle it is equal.Any angle between the two in first support bar 22, the support bar 28 of second support bar 24 and the 3rd
It is equal.Only illustrate annexation by taking first connection unit as an example below.
Described first support bar 22 is the straight-bar class formation part of rectangular cross section, and the lower end of first support bar 22 is welded on
The baseplane of the middle of the inner side of first supporting plate 21, the top plan of first support bar 22 and the upper fixing end of the first supporting plate 21
Parallel, two plane-parallel distances are the thickness of fixed platform 1, are allocated when the upper fixing end of the first supporting plate 21 is bolted on
During 1 upper surface of platform, the top plan of first support bar 22 is just fully contacted with the lower surface of fixed platform 1；Support bar can be shared
The power that supporting plate is subject to, and the deformation quantity of supporting plate with the synergy of support baseboard 26, can be reduced, the rigidity of enhancing structure is entered
And ensure printing precision.
The first described supporting plate 21 is waits the plate structure part of rectangular cross section, and the two ends of the first supporting plate 21 are to the same side
Upper fixing end and lower fixing end are bent into, upper fixing end is parallel with lower fixing end, the upper fixing end of the first supporting plate 21 is set
There is 1 pair of supporting plate positioning hole 19, be through hole, align and will be allocated using bolt with 1 pair of supporting plate mounting hole 18 on fixed platform 1
Platform 1 is connected with the first supporting plate 21；The middle part of first supporting plate 21 is provided with 2 structure identical fixed platform lead screw assembly installations
Hole 21, is tapped through hole, for connecting fixed platform lead screw assembly 3；The lower fixing end of first supporting plate 22 is provided with 1 pair of supporting plate
Fastener hole 25, is attached by bolt with support baseboard 26.
Described support baseboard 26 is hexagonal plate class formation part, and the hexagon is to remove 1 by each angle of equilateral triangle
Obtained from individual small equilateral triangle；3 groups of support baseboard mounting holes 27 are provided with support baseboard 26；3 groups of support baseboards are installed
Hole 27 is uniformly distributed in close to the inboard of hexagon short side on support baseboard 26, and every group of support baseboard mounting hole 27 is by 2 spiral shells
Line through hole is constituted, every group of support baseboard mounting hole 27 and the first supporting plate 21 in support 2, the second supporting plate 23 or the 3rd support
The supporting plate fastener hole 25 of the lower end of plate 29 is aligned, and uses bolt by the supporting plate 21 of support baseboard 27 and first, the second supporting plate
23 are connected with the lower end of the 3rd supporting plate 29.
Support baseboard 26 is bolted installed in the lower end of 3 supporting plates；Between support baseboard 26 and 3 supporting plates
In the presence of coupling, the coupling and 3 support bar synergy limit the free degree of 3 supporting plates, and by the upper of 3 supporting plates
End, which is fixed on, equally limits their 6 frees degree on fixed platform 1, therefore is redundant structure herein.Setting herein to reduce
The deformation quantity that supporting plate is produced in stress, the rigidity of enhancing structure, and then ensure printing precision.
Described connecting bracket 2 is identical with the structure of 3 No. 1 side chain in parallel of the first moving platform 10, and they
Connected mode with support 2, the first moving platform 10 is identical；Connect 3 No. 2 of the first moving platform 10 and the second moving platform 16
The structure of side chain in parallel is identical, and they are identical with the connected mode of the first moving platform 10, the second moving platform 16.
Described support 2 is located at the lower section of fixed platform 1, passes through the first supporting plate 21, the second supporting plate 23 and the 3rd support
The upper fixing end of plate 29 is connected with fixed platform 1, the upper fixing end of the first supporting plate 21, the second supporting plate 23 and the 3rd supporting plate 29
It is connected by screw bolts with fixed platform 1；The upper fixing end of first supporting plate 21, the second supporting plate 23 and the 3rd supporting plate 29 is being allocated
It is uniformly distributed on platform 1, and the first supporting plate 21, the second supporting plate 23 and any two supporting plate in the 3rd supporting plate 29
Projection of the longitudinally asymmetric line on fixed platform 1 is in 120 degree of angles.
The first described moving platform 10 is located at the lower section of support 2, connecting bracket 2 and 3 structure phases of the first moving platform 10
The side chain in parallel of same No. 1 is located between the moving platform 10 of support 2 and first；3 side chains in parallel of structure identical 1 during initial position
Projection on fixed platform 1 is in that the angle between Y-shaped, and every two lines is 120 degree.Now with wherein one No. 1 side chain in parallel
Exemplified by illustrate the structure and connected mode of connecting bracket 2 and No. 1 side chain in parallel of 3 structure identicals of the first moving platform 10.
Described No. 1 side chain in parallel include fixed platform lead screw assembly 3, first order feed screw nut 4, first order Hooke's hinge 5,
Long connecting rod 6, the U-shaped contiguous block 8 of second level Hooke's hinge 7 and first.
Described fixed platform lead screw assembly 3 is fixedly connected on the bottom surface of the first supporting plate 21 on support 2 using bolt,
First order feed screw nut 4 is arranged on fixed platform lead screw assembly 3, to be slidably connected；The upper end of long connecting rod 6 and first order leading screw spiral shell
First order Hooke's hinge 5 is provided between mother 4 to connect both, i.e., the upper end of long connecting rod 6 uses bolt with first order feed screw nut 4
It is attached with first order Hooke's hinge 5；Second level Hooke's hinge 7 is provided between the lower end of long connecting rod 6 and the first U-shaped contiguous block 8
Both are connected, i.e., the lower end of long connecting rod 6 is attached with the first U-shaped contiguous block 8 using bolt and second level Hooke's hinge 7；The
One U-shaped contiguous block 8 is arranged on using bolt on the upper surface of the first moving platform 10.
Refering to Fig. 4, described fixed platform lead screw assembly 3 includes fixed platform motor 30, fixed platform motor and slowed down
Device 31, fixed platform lead screw assembly support 32,2 root architecture identical fixed platform lead screw assembly feed rods 33 and the rolling of fixed platform lead screw assembly
Ballscrew 35.
Described fixed platform motor 30 is arranged on using bolt on the right-hand member of fixed platform motor decelerator 31, fixed
The output end of platform motor 30 is fixedly connected with the input of fixed platform motor decelerator 31, fixed platform motor
Decelerator 31 is arranged on using bolt on the right support arm of fixed platform lead screw assembly support 32, fixed platform lead screw assembly ball-screw
The 35 fixed platform lead screw assembly ball using bearing on the left support arm, right support arm of fixed platform lead screw assembly support 32
Connected in leading screw mounting hole 37 to rotate, output end and the fixed platform lead screw assembly ball wire of fixed platform motor decelerator 31
The right-hand member of thick stick 35 is fixedly connected, and 2 structure identical fixed platform lead screw assembly feed rods 33 are arranged on fixed platform lead screw assembly support
In 32 left support arm, the fixed platform lead screw assembly feed rod mounting hole 36 of right support arm, the two of fixed platform lead screw assembly feed rod 33
End is provided with screw thread, is connected through a screw thread the left side that fixed platform lead screw assembly feed rod 33 is fixed on to fixed platform lead screw assembly support 32
On right support arm, 2 structure identical fixed platform lead screw assembly feed rods 33 are located at the two of fixed platform lead screw assembly ball-screw 35
Side, 2 structure identical fixed platform lead screw assembly feed rods 33 are parallel with fixed platform lead screw assembly ball-screw 35.
Described fixed platform lead screw assembly support 32 is "U" shaped structural member, is made up of left plate, right plate and base plate.
2 structure identical fixed platform lead screw assembly feed rod mounting holes 36 and 1 fixed platform lead screw assembly ball are provided with left plate
Leading screw mounting hole 37, fixed platform lead screw assembly feed rod mounting hole 36 is through hole, for installing fixed platform lead screw assembly feed rod 33
Left end；Fixed platform lead screw assembly ball-screw mounting hole 37 is shoulder hole, for installing fixed platform lead screw assembly ball-screw 35
Left end and bearing.2 and fixed platform lead screw assembly feed rod mounting hole No. 2 fixed platform leading screws of 36 identical are provided with right plate
Component feed rod mounting hole, 1 and fixed platform lead screw assembly ball-screw mounting hole No. 2 fixed platform lead screw assembly balls of 37 identical
Leading screw mounting hole and 4 decelerator mounting holes equably arranged around No. 2 fixed platform lead screw assembly ball-screw mounting holes；
No. 2 fixed platform lead screw assembly feed rod mounting holes are through hole, the right-hand member for installing fixed platform lead screw assembly feed rod 33；No. 2 allocate
Platform lead screw assembly ball-screw mounting hole is shoulder hole, right-hand member and axle for installing fixed platform lead screw assembly ball-screw 35
Hold；Decelerator mounting hole is used to assemble motor reducer.2 fixed platform lead screw assembly positioning holes 34 are provided with base plate, are logical
Fixed platform lead screw assembly mounting hole 20 on hole, and the first supporting plate 21, the second supporting plate 23 or the 3rd supporting plate 29 is aligned, and is adopted
Be connected with the first supporting plate 21, the second supporting plate 23 or the 3rd support fixed platform lead screw assembly 3 being arranged in support 2
On plate 29.
Refering to Fig. 5, described first order feed screw nut 4 is the block structure part with ear.First order feed screw nut 4 it is upper
Portion is provided with 2 structure identical first order feed screw nut ears 39, and the upper end of each first order feed screw nut ear 39 is set
There is hole 38 on 1 first order feed screw nut, it is through hole, for installing 7,2 first order feed screw nut ears of first order Hooke's hinge
The rotation conllinear in hole 38 on first order feed screw nut in portion 39.The bottom of first order feed screw nut 4 is provided with 2 first
Level feed screw nut feed rod hole 40 and 1 first order feed screw nut lead screw hole, 41,2 structure identical first order feed screw nut feed rods
Hole 40 is located at the both sides of first order feed screw nut lead screw hole 41, go back in 2 structure identical first order feed screw nut feed rod holes 40
Shaft axis are parallel with the axis of rotation of first order feed screw nut lead screw hole 41 and coexist in same level；2 first order leading screws
The axis of rotation in hole 38 and 2 structure identical first order feed screw nut feed rods on first order feed screw nut in nut ear 39
Plane where the axis of rotation of the axis of rotation in hole 40 and first order feed screw nut lead screw hole 41 it is parallel and with first order leading screw spiral shell
The axis of rotation square crossing in master screw hole 41.First order feed screw nut feed rod hole 40 is carried out with fixed platform lead screw assembly feed rod 33
Coordinate, for supporting and positioning first order feed screw nut 4, and with guide effect；First order feed screw nut lead screw hole 41 is with determining
Platform lead screw assembly ball-screw 35 is coordinated, for output displacement.
First can be limited using 1 fixed platform lead screw assembly feed rod 33 and 1 fixed platform lead screw assembly ball-screw 35
5 frees degree of level feed screw nut 4, are allowed to be moved along the axial direction of leading screw, while sharing first order feed screw nut 4
It is applied to the power of the half of fixed platform lead screw assembly ball-screw 35；, can and the present invention sets 2 fixed platform lead screw assembly feed rods 33
Make 1/3rd power that first order feed screw nut 4 is applied to of bearing of fixed platform lead screw assembly ball-screw 35；It can increase simultaneously
The system stiffness of strong fixed platform lead screw assembly 3, improves printing precision.
Refering to Fig. 6, the first described U-shaped contiguous block 8 pitches class formation part for "U" shaped, and the first U-shaped contiguous block 8 is by left branch
Brace, right support arm and base are constituted, and left support arm is identical with right support arm configuration, left support arm, right support arm and base
Width is equal with thickness, and the two ends Symmetrical vertical of left support arm, the bottom of right support arm and base is simultaneously connected, left support
Arm, right support arm are parallel to each other, and the left support arm of the first U-shaped contiguous block 8, the upper end of right support arm are respectively arranged with 1 the first U
The structure in hole 42 is identical on hole 42 on type contiguous block, 2 the first U-shaped contiguous blocks, the revolution in hole 42 on 2 the first U-shaped contiguous blocks
Axis collinear is simultaneously parallel with base, is provided with the base of the first U-shaped contiguous block 8 under 2 U-shaped contiguous blocks of structure identical first
Hole 43.Hole 42 is through hole on 2 the first U-shaped contiguous blocks, for connecting second level Hooke's hinge 7；2 the first U-shaped contiguous block lower opening
43 be through hole, is aligned with 2 the first U-shaped contiguous block mounting holes 52 on the first moving platform 10, using bolt by the first U-shaped connection
Block 8 is arranged on the first moving platform 10.
The second described moving platform 16 is located at the lower section of the first moving platform 10, the first moving platform 10 of connection and the second moving platform
16 side chain in parallel of 3 structure identicals 2 is located between the first moving platform 10 and the second moving platform 16；3 during initial position
Projection of the side chain in parallel of structure identical 2 on the second moving platform 16 is in that the angle between Y-shaped, and every two lines is 120
Degree.Now illustrate its structure and connected mode by taking wherein one No. 2 side chains in parallel as an example.
The side chain in parallel of described No. 2 includes the first moving platform lead screw assembly 9, second level feed screw nut 11, third level Hooke
Hinge 12, short connecting rod 13, the U-shaped contiguous block 15 of fourth stage Hooke's hinge 14 and second.
First moving platform lead screw assembly 9 is arranged on the first moving platform 10 by moving platform lead screw assembly support 46 therein
On lower surface, it is connected by screw bolts between the first moving platform lead screw assembly 9 and the first moving platform 10；11 sets of second level feed screw nut
On the moving platform lead screw assembly ball-screw 49 in the first moving platform lead screw assembly 9, second level feed screw nut 11 is put down with dynamic
It is to be slidably connected between platform lead screw assembly ball-screw 49；The upper end of short connecting rod 13 is using bolt and third level Hooke's hinge 12 and the
Two grades of feed screw nuts 11 are connected；The lower end of short connecting rod 13 is connected using bolt with fourth stage Hooke's hinge 14 with the second U-shaped contiguous block 15
Connect；Second U-shaped contiguous block 15 is arranged on the upper surface of the second moving platform 16, the second U-shaped moving platform 16 of contiguous block 15 and second
Between be connected by screw bolts.
Refering to Fig. 7, the first described moving platform lead screw assembly 9 includes moving platform motor 44, moving platform motor
Decelerator 45, moving platform lead screw assembly support 46,2 root architecture identical moving platform lead screw assembly feed rods 47 and moving platform leading screw group
Part ball-screw 49.
Described moving platform motor 44 is arranged on moving platform motor decelerator 45, is connected by bolt
Connect；Moving platform motor decelerator 45 is arranged on moving platform lead screw assembly support 46, is attached by bolt；Moving platform
Lead screw assembly feed rod 47 is arranged on moving platform lead screw assembly support 46, for threaded connection；Moving platform lead screw assembly ball-screw
49 are arranged on moving platform lead screw assembly support 46, for threaded connection.
Described moving platform lead screw assembly support 46 is "U" shaped structural member, is made up of left wall, right wall and bottom wall.Left wall
On be provided with 2 structure identical moving platform lead screw assembly feed rod mounting holes 50 and 1 moving platform lead screw assembly ball-screw is pacified
Dress 51,2, hole structure identical moving platform lead screw assembly feed rod mounting hole 50 is light through hole, for installing moving platform lead screw assembly
The left end of feed rod 47；The left end of moving platform lead screw assembly feed rod 47, which is connected through a screw thread, is fixed on moving platform lead screw assembly support 46
Left wall on.Moving platform lead screw assembly ball-screw mounting hole 51 is ladder hole, for installing moving platform lead screw assembly ball
The left end and bearing of leading screw 49.2 and moving platform lead screw assembly feed rod mounting hole No. 2 moving platforms of 50 identical are provided with right wall
Lead screw assembly feed rod mounting hole, 1 and moving platform lead screw assembly ball-screw mounting hole No. 2 moving platform lead screw assemblies of 51 identical
The decelerator peace that ball-screw mounting hole and 4 equably arrange around No. 2 moving platform lead screw assembly ball-screw mounting holes
Fill hole；Moving platform lead screw assembly feed rod mounting hole 50 is light through hole, the right-hand member for positioning moving platform lead screw assembly feed rod 47；It is dynamic
The right-hand member of platform lead screw assembly feed rod 47, which is connected through a screw thread, to be fixed in the right wall of moving platform lead screw assembly support 46.Moving platform
Lead screw assembly ball-screw mounting hole 51 is ladder hole, left end and axle for installing moving platform lead screw assembly ball-screw 49
Hold；Decelerator mounting hole is used to install moving platform motor decelerator 45.2 moving platform lead screw assemblies are provided with bottom wall to determine
48,2, the hole in position moving platform lead screw assembly positioning hole 48 is light through hole, 2 moving platform lead screw assembly positioning holes 48 and moving platform silk
Thick stick component mounting hole 53 is aligned, and is connected by screw bolts the following table that the first moving platform lead screw assembly 9 is arranged on to the first moving platform 10
On face.
Refering to Fig. 8, the first described moving platform 10 is the plate-type structural piece of hexagon, the first moving platform 10 of the hexagon
It is to cut 3 small equilateral triangles at three drift angles of equilateral triangle to get.Set at every short side of hexagon
It is screw thread to have 52,2 U-shaped contiguous block mounting holes 52 of structure identical first of the U-shaped contiguous block mounting hole of 2 structure identicals first
The first U-shaped contiguous block lower opening on through hole, the U-shaped contiguous block 8 of the U-shaped contiguous block mounting hole 52 and first of 2 structure identicals first
43 are aligned, and the first U-shaped contiguous block 8 is fixedly connected on the top end face of the first moving platform 10.At every hexagon short side midpoint
With being provided with 2 structure identical moving platform lead screw assembly mounting holes 53, moving platform lead screw assembly peace on hexagonal centre line
Dress hole 53 is on tapped through hole, 2 structure identical moving platform lead screw assembly mounting holes 53 and the first moving platform lead screw assembly 9
Moving platform lead screw assembly positioning hole 48 is aligned, on the bottom surface that the first moving platform lead screw assembly 9 is arranged on to the first moving platform 10.Six
Side shape center is provided with 1 harness cord hole 54, and printing silk is passed therethrough, it is to avoid situation about winding occur.
Refering to Fig. 9, described second level feed screw nut 11 is the square structural member with ear.Second level feed screw nut 11
Top be provided with 2 second level feed screw nut ears 56, the upper end of each second level feed screw nut ear 56 is provided with 1
Hole 55 on one-level feed screw nut, it is light through hole, for installing third level Hooke's hinge 12.The bottom of second level feed screw nut 11 is set
It is equipped with 2 structure identical second level feed screw nut feed rod hole 57 and 1 second level feed screw nut lead screw hole 58；2 structure phases
Same second level feed screw nut feed rod hole 57 is located at the both sides of second level feed screw nut lead screw hole 58,2 structure identicals second
The axis of rotation in level feed screw nut feed rod hole 57 is parallel and coplanar with the axis of rotation of second level feed screw nut lead screw hole 58；2
The axis of rotation in hole 55 and 2 structure identical second level silks on second level feed screw nut in second level feed screw nut ear 56
Plane where the axis of rotation of the axis of rotation in thick stick nut feed rod hole 57 and second level feed screw nut lead screw hole 58 is parallel and with the
The axis of rotation square crossing of two grades of feed screw nut lead screw hole 58.Second level feed screw nut feed rod hole 57 and moving platform lead screw assembly
Feed rod 47 is coordinated, for support and positioning second stage feed screw nut 11, and with guide effect；Second level feed screw nut silk
Thick stick hole 58 is coordinated with moving platform lead screw assembly ball-screw 49, for output displacement.
Described second level feed screw nut 11 duplicates with the structure type of first order feed screw nut 4, simply poor in size
It is different；The working method of the two is identical with principle.
Refering to Figure 10, the second described U-shaped contiguous block 15 is "U" shaped structural member, and the second U-shaped contiguous block 15 is by left branch
Arm, right support arm and mounting seat are constituted, and the left support arm of the second U-shaped contiguous block 15, the upper end of right support arm are respectively arranged with 1 second
The structure in hole 59 is identical on hole 59 on U-shaped contiguous block, 2 the second U-shaped contiguous blocks, the revolution in hole 59 on 2 the second U-shaped contiguous blocks
Axis collinear is simultaneously parallel with mounting seat, and 2 U-shaped companies of structure identical second are provided with the base of the second U-shaped contiguous block 15
Connect block lower opening 60.Hole 59 is through hole on second U-shaped contiguous block, for connecting fourth stage Hooke's hinge 14.2 structure identicals second
U-shaped contiguous block lower opening 60 is the U-shaped contiguous block mounting hole 61 of 2 structure identicals second on light through hole, with the second moving platform 16
Align, the second U-shaped contiguous block 15 is arranged on the second moving platform 16 by bolt.
Refering to Figure 11, the second described moving platform 16 is the plate-type structural piece of hexagon, and the hexagon is in big positive triangle
Cut what 3 small equilateral triangles were obtained at three angles of shape.2 the second U-shaped companies are being provided with every short side of hexagon
Block mounting hole 61 is connect, is tapped through hole, is aligned with the second U-shaped contiguous block lower opening 60, the second U-shaped contiguous block 15 is connected in second
On the upper surface of moving platform 16.Printhead mounting hole 63 is provided centrally with hexagon, is light through hole；Printhead is from printhead
Mounting hole 63 stretches out.3 printhead positioning holes 62 are equably being provided with around printhead mounting hole 63, it is screw thread
Through hole, for fixing printing head.
A kind of operation principle of high speed 3D printing parallel drive mechanism of the present invention：
On the larger part of stamp with the size or part during larger-size position, fixed platform motor 30 is put down with dynamic
Platform motor 44 is in working condition.Fixed platform motor 30 is driven by first order feed screw nut 4, first order Hooke's hinge
5th, 3 No. 1 branch chain movement in parallel of long connecting rod 6, the U-shaped contiguous block 8 of second level Hooke's hinge 7 and first composition, and then drive first
Three-dimensional translating is realized in the motion of moving platform 10.Moving platform motor 44 is driven by the first moving platform lead screw assembly 9, second level leading screw
3 No. 2 parallel connections that nut 11, third level Hooke's hinge 12, short connecting rod 13, fourth stage Hooke's hinge 14, the second U-shaped contiguous block 15 are constituted
Branch chain movement, and then drive printhead to realize three-dimensional translating.
When printhead runs to the position that will need commutation, fixed platform motor 30 first slows down and inverted, and moves flat
Platform motor 44 is continued to run with；When printhead just runs to the position for needing to commutate, fixed platform motor 30 continues
Operation, moving platform motor 44 is inverted；Because the load that No. 2 side chains in parallel are born is lighter, inertia is small, and commutating speed is fast, can
Avoid the situation due to the excessively slow caused printing layering of drive mechanism commutating speed or dislocation.
On the less part of stamp with the size or part during the less position of size, fixed platform motor 30, which is in, shuts down
State, by first order feed screw nut 4, first order Hooke's hinge 5, long connecting rod 6,8 groups of the U-shaped contiguous block of second level Hooke's hinge 7 and first
Into 3 long-chain branch remain static, now fixed platform 1, the first moving platform 10 and by first order feed screw nut 4, first
Level Hooke's hinge 5, long connecting rod 6,3 No. 1 side chain in parallel of the U-shaped contiguous block 8 of second level Hooke's hinge 7 and first composition can be considered fixed
Platform.Moving platform motor 44 is driven by the first moving platform lead screw assembly 9, second level feed screw nut 11, third level Hooke's hinge
12nd, the 3 No. 2 branch chain movements in parallel that short connecting rod 13, fourth stage Hooke's hinge 14, the second U-shaped contiguous block 15 are constituted, and then drive and beat
Print head realizes the translation of 3 frees degree.
On the less part of stamp with the size or part during the less position of size, it is easiest to cause tomography and dislocation.And
The parallel drive mechanism of the design can just overcome the solution problem.
The present invention can only realize the translation of 3 frees degree, limit rotational freedom, can be directly realized by compound motion, just
Kinematics can be with explicit algorithm, and inverse kinetics solution is unique, improves the computing speed and real time problems of system, can be achieved at a high speed
Printing, and easily occur when can overcome the less position of size on the part or part of the printing reduced size that prior art is present
The problem of tomography or dislocation.
Claims (10)
1. a kind of high speed 3D printing parallel drive mechanism, it is characterised in that described high speed 3D printing parallel drive mechanism includes
Fixed platform (1), support (2), the first moving platform (10), the second moving platform (16), 3 side chains in parallel of structure identical 1 and 3
The side chain in parallel of structure identical 2；
Described support (2) is located at the lower section of fixed platform (1), and passes through the first supporting plate (21) in support (2), the second support
Plate (23) is fixedly connected with the upper fixing end and fixed platform (1) bolt of the 3rd supporting plate (29), the first supporting plate (21), second
Fagging (23) and the upper fixing end of the 3rd supporting plate (29) are uniformly distributed on fixed platform (1)；First moving platform (10) is located at branch
The lower section of frame (2), 3 side chains in parallel of structure identical 1 are connected between support (2) and the first moving platform (10)；Second moves
Platform (16) is located at the lower section of the first moving platform (10), and 3 side chains in parallel of structure identical 2 are connected to the first moving platform (10)
Between the second moving platform (16).
2. according to the high speed 3D printing parallel drive mechanism described in claim 1, it is characterised in that described fixed platform (1) is
Disc-shaped structure part, is distributed with 3 structure identical gap (17) and 3 groups of supporting plate mounting holes (18) thereon, and 3 structures are identical
Gap (17) set with 3 groups of supporting plate mounting holes (18) to be supporting, 3 gap (17) are along the circumferential direction equably arranged, are slitted
The width of the first supporting plate (21), the second supporting plate (23) or the 3rd supporting plate (29) in the width and support (2) of mouth (17)
Equal, 3 groups of supporting plate mounting holes (18) are uniformly distributed on fixed platform (1) and inner in 3 structure identical gap (17)
Side, every group of supporting plate mounting hole (18) is made up of 2 tapped through holes, every group of supporting plate mounting hole (18) and the in support (2)
The supporting plate positioning hole (19) of one supporting plate (21), the second supporting plate (23) or the 3rd supporting plate (29) upper fixing end is aligned.
3. according to the high speed 3D printing parallel drive mechanism described in claim 1, it is characterised in that described support (2) includes
Supporting plate, support bar and support baseboard (26)；Wherein：Supporting plate includes the first supporting plate (21), the second supporting plate (23) and the
Three supporting plates (29), the first supporting plate (21), the second supporting plate (23) are identical with the 3rd supporting plate (29) structure；Support bar includes
First support bar (22), second support bar (24) and the 3rd support bar (28), first support bar (22), second support bar (24) with
3rd support bar (28) structure is identical；
Described first support bar (22) is the straight-bar class formation part of rectangular cross section, and the lower end of first support bar (22) is welded on
Middle on the inside of first supporting plate (21), the top plan of first support bar (22) and the first supporting plate (21) upper fixing end
Baseplane is parallel, and two plane-parallel distances are the thickness of fixed platform (1)；
Described the first supporting plate (21) is waits the plate structure part of rectangular cross section, and the first supporting plate (21) two ends are to the same side
Upper fixing end and lower fixing end are bent into, upper fixing end is parallel with lower fixing end, and the upper fixing end of the first supporting plate (21) is set
1 pair of supporting plate positioning hole (19) is equipped with, is tapped through hole, 1 pair of supporting plate positioning hole (19) supports with 1 Dui on fixed platform (1)
Plate mounting hole (18) is aligned；2 structure identicals are provided with the middle part of first supporting plate (21) to be used to connect fixed platform leading screw group
The fixed platform lead screw assembly mounting hole (20) of part (3), is tapped through hole；The lower fixing end of first supporting plate (21) is provided with 1 pair
Supporting plate fastener hole (25)；
First supporting plate (21), the second supporting plate (23) are arranged on support baseboard (26) with the 3rd supporting plate (29) by its lower end
On, the first supporting plate (21), the second supporting plate (23) are equal with any angle between the two in the 3rd supporting plate (29).
4. according to the high speed 3D printing parallel drive mechanism described in claim 1, it is characterised in that the first described moving platform
(10) it is the plate-type structural piece of hexagon, the first moving platform (10) of the hexagon is on three tops of 1 big equilateral triangle
Cut what 3 small equilateral triangles were obtained at angle, 2 structure identicals are provided with every short side of the first moving platform (10)
One U-shaped contiguous block mounting hole (52), the U-shaped contiguous block mounting hole (52) of 2 structure identicals first is tapped through hole, 2 structures
The U-shaped contiguous block mounting hole (52) of identical first and the first U-shaped contiguous block (8) for being fixedly connected on the first moving platform (10)
First U-shaped contiguous block lower opening (43) is aligned, and 2 structures are provided with every hexagon short side midpoint and hexagonal centre line
Identical moving platform lead screw assembly mounting hole (53), moving platform lead screw assembly mounting hole (53) is tapped through hole, and 2 structures are identical
Moving platform lead screw assembly mounting hole (53) and the first moving platform lead screw assembly (9) on moving platform lead screw assembly positioning hole (48)
Align, the center of the first moving platform (10) is provided with 1 harness cord hole (54).
5. according to the high speed 3D printing parallel drive mechanism described in claim 1, it is characterised in that the second described moving platform
(16) it is the plate-type structural piece of hexagon, the second moving platform (16) of the hexagon is on three tops of 1 big equilateral triangle
Cut what 3 small equilateral triangles were obtained at angle, 2 structure identicals are provided with every short side of the second moving platform (16)
Two U-shaped contiguous block mounting holes (61), the U-shaped contiguous block mounting hole (61) of 2 structure identicals second is tapped through hole, 2 structures
The of the U-shaped contiguous block mounting hole (61) of identical second and the second U-shaped contiguous block (15) for being fixed on the second moving platform (16)
Two U-shaped contiguous block lower opening (60) are aligned, and printhead mounting hole (63), printhead peace are provided centrally with the second moving platform (16)
It is light through hole to fill hole (63)；3 structure identical printhead positioning are equably provided with around printhead mounting hole (63)
Hole (62), printhead positioning hole (62) is tapped through hole.
6. according to the high speed 3D printing parallel drive mechanism described in claim 1, it is characterised in that the side chain in parallel of described No. 1
Include fixed platform lead screw assembly (3), first order feed screw nut (4), first order Hooke's hinge (5), long connecting rod (6), second level tiger
Gram hinge (7) and the first U-shaped contiguous block (8)；
Described fixed platform lead screw assembly (3) is fixedly connected on the bottom surface of the first supporting plate (21) in support (2) using bolt
On, first order feed screw nut (4) is arranged on fixed platform lead screw assembly (3), between the two to be slidably connected；Long connecting rod (6)
Upper end is connected by first order Hooke's hinge (5) with first order feed screw nut (4), and the lower end of long connecting rod (6) passes through second level Hooke
Hinge (7) is connected with the first U-shaped contiguous block (8), and the first U-shaped contiguous block (8) is arranged on the upper of the first moving platform (10) using bolt
On surface.
7. according to the high speed 3D printing parallel drive mechanism described in claim 6, it is characterised in that described fixed platform leading screw group
Part (3) includes fixed platform motor (30), fixed platform motor decelerator (31), fixed platform lead screw assembly support (32), 2
Root architecture identical fixed platform lead screw assembly feed rod (33) and fixed platform lead screw assembly ball-screw (35)；
Described fixed platform motor (30) is arranged on using bolt on the right-hand member of fixed platform motor decelerator (31), fixed
The output end of platform motor (30) is fixedly connected with the input of fixed platform motor decelerator (31), fixed platform driving
Motor reducer (31) is arranged on using bolt on the right support arm of fixed platform lead screw assembly support (32), fixed platform lead screw assembly
Ball-screw (35) is arranged on the left support arm of fixed platform lead screw assembly support (32) and allocating on right support arm using bearing
To rotate connection in platform lead screw assembly ball-screw mounting hole (37), the output end of fixed platform motor decelerator (31) is with determining
The right-hand member of platform lead screw assembly ball-screw (35) is fixedly connected, 2 structure identical fixed platform lead screw assembly feed rod (33) peaces
Mounted in the fixed platform lead screw assembly feed rod mounting hole (36) of the left support arm and right support arm of fixed platform lead screw assembly support (32)
In be located at fixed platform lead screw assembly ball-screw for threaded connection, 2 structure identical fixed platform lead screw assembly feed rods (33)
(35) both sides, 2 structure identical fixed platform lead screw assembly feed rods (33) and fixed platform lead screw assembly ball-screw (35) are put down
OK.
8. according to the high speed 3D printing parallel drive mechanism described in claim 6, it is characterised in that described first order leading screw spiral shell
The top of female (4) is provided with 2 structure identical first order feed screw nut ears (39), each first order feed screw nut ear
(39) it is for installing that upper end, which is provided with 1 first order feed screw nut on hole (38), the first order feed screw nut hole (38),
On first order feed screw nut on the light through hole of one-level Hooke's hinge (7), 2 structure identical first order feed screw nut ears (39)
The rotation conllinear in hole (38), the bottom of the cuboid of first order feed screw nut (4) is provided with 2 structure identicals
One-level feed screw nut feed rod hole (40) and 1 first order feed screw nut lead screw hole (41), 2 structure identical first order leading screw spiral shells
Female feed rod hole (40) is located at the both sides of first order feed screw nut lead screw hole (41), 2 structure identical first order feed screw nut light
The axis of rotation in thick stick hole (40) is parallel with the axis of rotation of first order feed screw nut lead screw hole (41) and coexists in same level；
The axis of rotation and 2 structure identicals in hole (38) on first order feed screw nut on 2 first order feed screw nut ears (39)
The axis of rotation in first order feed screw nut feed rod hole (40) where the axis of rotation of first order feed screw nut lead screw hole (41) with putting down
Face it is parallel and with the axis of rotation square crossing of first order feed screw nut lead screw hole (41).
9. according to the high speed 3D printing parallel drive mechanism described in claim 6, it is characterised in that the U-shaped connection of described first
Block (8) is that "U" shaped pitches class formation part, and the first U-shaped contiguous block (8) is made up of left support arm, right support arm and base, left support
Arm is identical with right support arm configuration, and left support arm, right support arm are equal with thickness with the width of base, left support arm, right support
The bottom of arm and the two ends Symmetrical vertical of base are simultaneously connected, and left support arm, right support arm are parallel to each other, the first U-shaped connection
The left support arm of block (8), the upper end of right support arm are respectively arranged with hole (42) on 1 the first U-shaped contiguous block, 2 the first U-shaped companies
The structure for connecing hole on block (42) is identical, the rotation conllinear in hole (42) and and bottom on 2 U-shaped contiguous blocks of structure identical first
Seat is parallel, and the U-shaped contiguous block lower opening (43) of 2 structure identicals first, 2 knots are provided with the base of the first U-shaped contiguous block (8)
Hole (42) is the light through hole for connecting second level Hooke's hinge (7), 2 structure identicals on the U-shaped contiguous block of structure identical first
First U-shaped contiguous block lower opening (43) is light through hole, the U-shaped contiguous block lower opening (43) of 2 structure identicals first and the first moving platform
(10) the U-shaped contiguous block mounting hole (52) of 2 structure identicals first on aligns.
10. according to the high speed 3D printing parallel drive mechanism described in claim 1, it is characterised in that the side chain in parallel of described No. 2
Including the first moving platform lead screw assembly (9), second level feed screw nut (11), third level Hooke's hinge (12), short connecting rod (13), the 4th
Level Hooke's hinge (14) and the second U-shaped contiguous block (15)；
It is dynamic flat that the first described moving platform lead screw assembly (9) is arranged on first by moving platform lead screw assembly support (46) therein
On the bottom surface of platform (10), it is connected by screw bolts between the first moving platform lead screw assembly (9) and the first moving platform (10)；Second level silk
Thick stick nut (11) is sleeved on moving platform lead screw assembly ball-screw (49) and 2 root architectures in the first moving platform lead screw assembly (9)
On identical moving platform lead screw assembly feed rod (47), second level feed screw nut (11) and moving platform lead screw assembly ball-screw (49)
It is to be slidably connected between 2 root architecture identical moving platform lead screw assembly feed rods (47)；The upper end of short connecting rod (13) passes through the 3rd
Level Hooke's hinge (12) is connected with second level feed screw nut (11)；The lower end of short connecting rod (13) passes through fourth stage Hooke's hinge (14) and the
Two U-shaped contiguous block (15) connections；Second U-shaped contiguous block (15) is arranged on using bolt on the upper surface of the second moving platform (16).
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| CN201710337550.6A CN106945279B (en) | 2017-05-15 | 2017-05-15 | High-speed 3D prints parallelly connected actuating mechanism |
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| CN106945279A true CN106945279A (en) | 2017-07-14 |
| CN106945279B CN106945279B (en) | 2022-02-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108262967A (en) * | 2018-03-28 | 2018-07-10 | 吉林大学 | The trans- and movable 3D printer of connecting rod workbench |
| CN108284593A (en) * | 2018-03-28 | 2018-07-17 | 吉林大学 | And the movable 3D printer of connecting rod slider-type platform |
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| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN104369379A (en) * | 2014-11-06 | 2015-02-25 | 于雷 | Three-dimensional printer |
| CN204773597U (en) * | 2015-04-28 | 2015-11-18 | 广州艺林信息科技有限公司 | Nested 3D printer |
| CN204914597U (en) * | 2015-09-07 | 2015-12-30 | 黄河科技学院 | Parallel arm three -dimensional inkjet printer's frame mounting structure |
| CN105500715A (en) * | 2016-01-12 | 2016-04-20 | 无锡职业技术学院 | Novel precise 3D printer |
| CN206718485U (en) * | 2017-05-15 | 2017-12-08 | 吉林大学 | High speed 3D printing parallel drive mechanism |
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| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN104369379A (en) * | 2014-11-06 | 2015-02-25 | 于雷 | Three-dimensional printer |
| CN204773597U (en) * | 2015-04-28 | 2015-11-18 | 广州艺林信息科技有限公司 | Nested 3D printer |
| CN204914597U (en) * | 2015-09-07 | 2015-12-30 | 黄河科技学院 | Parallel arm three -dimensional inkjet printer's frame mounting structure |
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| CN206718485U (en) * | 2017-05-15 | 2017-12-08 | 吉林大学 | High speed 3D printing parallel drive mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108262967A (en) * | 2018-03-28 | 2018-07-10 | 吉林大学 | The trans- and movable 3D printer of connecting rod workbench |
| CN108284593A (en) * | 2018-03-28 | 2018-07-17 | 吉林大学 | And the movable 3D printer of connecting rod slider-type platform |
| CN108284593B (en) * | 2018-03-28 | 2023-09-12 | 吉林大学 | Movable 3D printer of parallel connection rod sliding block type platform |
| CN108262967B (en) * | 2018-03-28 | 2023-09-12 | 吉林大学 | Movable 3D printer of trans-parallel connecting rod working platform |
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| Publication number | Publication date |
|---|---|
| CN106945279B (en) | 2022-02-18 |
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