CN106945279B

CN106945279B - High-speed 3D prints parallelly connected actuating mechanism

Info

Publication number: CN106945279B
Application number: CN201710337550.6A
Authority: CN
Inventors: 巩明德; 胡孔明; 曲中元; 李天旭
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2017-05-15
Filing date: 2017-05-15
Publication date: 2022-02-18
Anticipated expiration: 2037-05-15
Also published as: CN106945279A

Abstract

The invention discloses a high-speed 3D printing parallel driving mechanism, which aims to solve the problem of fault or dislocation when small-size parts or small-size parts on the parts are printed, and comprises a fixed platform (1), a bracket (2), a first movable platform (10), a second movable platform (16), 3 parallel branched chains No. 1, 3 parallel branched chains No. 2 and a printing head (17); the support (2) is positioned below the fixed platform (1) and is fixedly connected with the fixed platform (1) through upper fixed ends of a first supporting plate (22) to a third supporting plate (29) in the support (2), the first movable platform (10) is positioned below the support (2), and 3 No. 1 parallel branched chains are connected between the support (2) and the first movable platform (10); the second movable platform (16) is positioned below the first movable platform (10), and 3 No. 2 parallel branched chains are connected between the first movable platform (10) and the second movable platform (16); the print head (17) is mounted on a second movable platform (16).

Description

High-speed 3D prints parallelly connected actuating mechanism

Technical Field

The invention relates to a driving mechanism in the field of 3D printing and parallel mechanisms, in particular to a high-speed 3D printing parallel driving mechanism.

Background

The 3D printing technology is a new rapid prototyping technology, and takes 'superposition of each layer' as a processing and production mode. Since the introduction, a science and technology whirlwind which is popular all over the world is formed, and the method has wide application in the fields of aerospace, medicine, automobile industry and the like. The driving mechanism of the 3D printer is divided into a rectangular coordinate type, a serial type and a parallel type.

At present, the driving mechanism of 3D printers at home and abroad is in a large number of rectangular coordinate structures, but the printing space of the equipment is directly limited by the length of the guide rail, so that the printer occupies a large space and is small in printing space, and meanwhile, the printing speed of the printer is limited by the linkage response speed in three directions, and is low in printing speed. If the size of the part is too small, the situation of the jitter of the printing head occurs, and the printing precision is affected.

The Chinese patent publication (cloth) is CN203936378U, the publication (cloth) date is 11/12/2014, the name of the invention is 'a printing structure for a 3D printer', the printing structure for the tandem type 3D printer is provided in the scheme, multi-angle and multi-height printing can be realized in the internal space of the printer, secondary printing can be performed on a formed product, and meanwhile, the model workbench can also be used for rapidly clamping and positioning the model. Beat printer head angle fixed in order to solve current 3D printer, can not realize the secondary to the product and print the scheduling problem. However, the rigidity of the serial mechanical arm is poor, the inverse kinematics solution result of the serial mechanical arm is a multi-solution, the response speed is low, and the printing precision and the printing speed are not ideal enough.

The document entitled "desktop 3D printer based on three-arm parallel structure" is published by Happy Hensheng, and the document periodical is from machinery (No. 2, 36-40) in 2015, and the desktop 3D printer based on the three-arm parallel structure is provided in the scheme, so that the vertical printing space of the 3D printer can be improved. However, the printing space of the printer in the horizontal direction cannot exceed the limit of 3 columns regardless of the length of the connecting rod of the branched chain, and the printing space is to be improved.

The Chinese patent publication (cloth) number is CN203485190U, the publication (cloth) date is 3/19/2014, the invention is named as a 3D printer based on a parallel mechanism, a three-dimensional translation parallel mechanism, namely a 3D printer based on the parallel mechanism, is provided in the scheme, and the problems of small printing space and low printing speed of the conventional 3D printer are solved;

the parallel mechanism can be used in the field of 3D printing after being modified, and the parallel mechanism which is applied to a 3D printing system at present comprises the modification of each DELTA mechanism. A document entitled design and analysis of a multi-output 3D printing redundant parallel robot is published by the constant courage of Beijing university of transportation and the like, the document is sourced from page 1602 of China mechanical engineering 2015, volume 26, No. 12, No. 1595, and the scheme designs a novel multi-output 3D printing robot, and the robot mechanism takes a Delta parallel mechanism as a main configuration and a Stewart parallel mechanism as an auxiliary configuration. The auxiliary configuration is used for ensuring the rigidity and the movement precision of the printer end effector, providing supporting force for the movable platform and improving the movement stability of the printer end effector by controlling the vibration generated when the movable platform moves. A plurality of print heads are arranged on the end effector to achieve multiple outputs.

Schu Hua et al published a literature titled "series-parallel micro-motion operation means kinematic analysis", which was sourced from mechanical science and technology 2001, vol.20, vol.6, 862-866, and proposed that two 3-PRS parallel mechanisms are connected in series to form an operation means for micro-motion operation. With this structure modified to a 3D printing apparatus, the printing space will be small.

The invention discloses a three-axis linkage three-dimensional (3D) printer, which is named as a parallel mechanism 3D printer with Chinese patent publication (cloth) No. CN204367426U and publication (cloth) No. 2015, 6 and 3, and solves the problems that an existing three-axis linkage 3D printer occupies a large space and is low in printing speed. But the 3D printer adopts the column design directly resulting in the limited printing space of the 3D printer.

The Chinese patent publication (cloth) number is CN105818381U, the publication (cloth) date is 2016, 8 and 3, the invention is named as a 3D printer based on a plane parallel mechanism, and the scheme provides a 3D printer consisting of the plane parallel mechanisms, which has simple and compact structure, is influenced by the plane printing range and is only suitable for printing parts with smaller length and width; the printing platform moves up and down and is limited by the bearing capacity of the printing platform, so that the printing platform is not suitable for printing over-heavy parts.

Rectangular coordinate formula, serial-type and parallel 3D printer, its maximum printing space all is directly proportional with the farthest distance of beating printer head to printer base. And 3D printing speed requires comparatively high, generally adopts motor drive mode. If the maximum distance is too large, when a part with a small size or a part with a small size on the part is printed, the motor needs to frequently rotate forwards and backwards, at the moment, the speed of the direction change of the printing head is delayed under the influence of the large size of the driving mechanism, so that the printing is faulted or misplaced, and the printing precision is seriously influenced; if the farthest distance is too small, the maximum printing space is small. The current research equipment can not solve the contradiction between the printing space and the fault or dislocation when printing in small size.

Disclosure of Invention

The invention aims to solve the technical problem of the prior art that the problem of the contradiction between the printing space and the fault or dislocation during small-size printing is solved, and provides a high-speed 3D printing parallel driving mechanism.

In order to solve the technical problems, the invention is realized by adopting the following technical scheme: the high-speed 3D printing parallel driving mechanism comprises a fixed platform, a support, a first movable platform, a second movable platform, 3 parallel branched chains with the same structure No. 1 and 3 parallel branched chains with the same structure No. 2.

The first movable platform is a hexagonal plate-shaped structural member, the hexagonal first movable platform is obtained by cutting 3 small regular triangles at three vertex angles of 1 big equilateral triangle, each short edge of the first movable platform is provided with 2 first U-shaped connecting block mounting holes with the same structure, the 2 first U-shaped connecting block mounting holes with the same structure are threaded through holes, the 2 first U-shaped connecting block mounting holes with the same structure are aligned with lower holes of the first U-shaped connecting blocks fixedly connected on the first movable platform, 2 movable platform lead screw component mounting holes with the same structure are arranged on a connecting line of the midpoint of each hexagonal short edge and a hexagon center, the movable platform lead screw component mounting holes are threaded through holes, and the 2 movable platform lead screw component mounting holes with the same structure are aligned with movable platform lead screw component positioning holes on the first movable platform lead screw component, the center of the first movable platform is provided with 1 through hole;

the second movable platform is a hexagonal plate-shaped structural member, the hexagonal second movable platform is obtained by cutting 3 small regular triangles at three vertex angles of 1 large equilateral triangle, each short edge of the second movable platform is provided with 2 second U-shaped connecting block mounting holes with the same structure, the 2 second U-shaped connecting block mounting holes with the same structure are threaded through holes, the 2 second U-shaped connecting block mounting holes with the same structure are aligned with lower holes of second U-shaped connecting blocks fixed on the second movable platform, the center of the second movable platform is provided with a printing head mounting hole, and the printing head mounting hole is an optical through hole; 3 printing head positioning holes with the same structure are uniformly arranged around the printing head mounting hole, and the printing head positioning holes are threaded through holes;

the No. 1 parallel branched chain comprises a fixed platform screw rod assembly, a first stage screw rod nut, a first stage hook hinge, a long connecting rod, a second stage hook hinge and a first U-shaped connecting block; the fixed platform lead screw component is fixedly connected to the bottom surface of a first supporting plate in the bracket by bolts, and a first-stage lead screw nut is arranged on the fixed platform lead screw component and is in sliding connection with the fixed platform lead screw component; the upper end of the long connecting rod is connected with a first-stage screw nut through a first-stage hook hinge, the lower end of the long connecting rod is connected with a first U-shaped connecting block through a second-stage hook hinge, and the first U-shaped connecting block is installed on the upper surface of the first movable platform through a bolt;

the fixed platform lead screw assembly comprises a fixed platform driving motor, a fixed platform driving motor reducer, a fixed platform lead screw assembly bracket, 2 fixed platform lead screw assembly polished rods with the same structure and a fixed platform lead screw assembly ball screw; the fixed platform driving motor is installed on the right end of the fixed platform driving motor reducer by adopting a bolt, the output end of the fixed platform driving motor is fixedly connected with the input end of the fixed platform driving motor reducer, the fixed platform driving motor reducer is installed on the right supporting arm of the fixed platform screw component bracket by adopting a bolt, the fixed platform screw component ball screw is installed in the fixed platform screw component ball screw installing holes on the left supporting arm and the right supporting arm of the fixed platform screw component bracket by adopting a bearing for rotary connection, the output end of the fixed platform driving motor reducer is fixedly connected with the right end of the fixed platform screw component ball screw, 2 fixed platform screw component feed bars with the same structure are installed in the fixed platform screw component feed bar installing holes of the left supporting arm and the right supporting arm of the fixed platform screw component bracket for threaded connection, and 2 fixed platform screw component feed bars with the same structure are positioned on two sides of the fixed platform screw component ball screw, 2 fixed platform screw assemblies with the same structure are parallel to a fixed platform screw assembly ball screw;

the upper part of the first-stage lead screw nut is provided with 2 first-stage lead screw nut ears with the same structure, the upper end of each first-stage lead screw nut ear is provided with 1 first-stage lead screw nut upper hole, each first-stage lead screw nut upper hole is a smooth through hole for mounting a first-stage hook hinge, the rotation axes of the first-stage lead screw nut upper holes on the 2 first-stage lead screw nut ears with the same structure are collinear, the lower part of the cuboid shape of the first-stage lead screw nut is provided with 2 first-stage lead screw nut smooth rod holes with the same structure and 1 first-stage lead screw nut threaded hole, the 2 first-stage lead screw nut smooth rod holes with the same structure are positioned at two sides of the first-stage lead screw nut threaded hole, and the rotation axes of the 2 first-stage lead screw nut smooth rod holes with the same structure are parallel to and are positioned in the same horizontal plane; the rotary axes of the holes in the first-stage lead screw nuts on the 2 first-stage lead screw nut ears and the rotary axes of the 2 first-stage lead screw nut light bar holes with the same structure are parallel to the plane of the rotary axes of the first-stage lead screw nut light bar holes and are vertically crossed with the rotary axes of the first-stage lead screw nut light bar holes;

the first U-shaped connecting block is a U-shaped fork type structural part, the first U-shaped connecting block consists of a left supporting arm, a right supporting arm and a base, the left supporting arm and the right supporting arm are the same in structure, the width and the thickness of the left supporting arm, the right supporting arm and the base are equal, the bottom ends of the left supporting arm and the right supporting arm and the two ends of the base are symmetrically and vertically connected into a whole, the left supporting arm and the right supporting arm are parallel to each other, the upper ends of the left supporting arm and the right supporting arm of the first U-shaped connecting block are respectively provided with 1 first U-shaped connecting block upper hole, the structures of the 2 first U-shaped connecting block upper holes are the same, the rotation axes of the 2 first U-shaped connecting block upper holes with the same structure are collinear and are parallel to the base, the base of the first U-shaped connecting block is provided with 2 first U-shaped connecting block lower holes with the same structure, and the 2 first U-shaped connecting block upper holes with the same structure are optical through holes for connecting a second-level Hooke hinge, the lower holes of the 2 first U-shaped connecting blocks with the same structure are optical through holes, and the lower holes of the 2 first U-shaped connecting blocks with the same structure are aligned to the mounting holes of the 2 first U-shaped connecting blocks with the same structure on the first movable platform;

the No. 2 parallel branched chain comprises a first movable platform screw rod assembly, a second stage screw rod nut, a third stage hook joint, a short connecting rod, a fourth stage hook joint and a second U-shaped connecting block. The first movable platform screw component is arranged on the bottom surface of the first movable platform through a movable platform screw component bracket, and the first movable platform screw component is connected with the first movable platform through a bolt; the second stage screw nut is sleeved on a movable platform screw assembly ball screw in the first movable platform screw assembly and 2 movable platform screw assembly feed bars with the same structure, and the second stage screw nut and the movable platform screw assembly ball screw are in sliding connection with the 2 movable platform screw assembly feed bars with the same structure; the upper end of the short connecting rod is connected with the second-stage screw nut through a third-stage hook hinge; the lower end of the short connecting rod is connected with a second U-shaped connecting block through a fourth-stage hook hinge; the second U-shaped connecting block is arranged on the upper surface of the second movable platform by adopting a bolt;

the bracket is positioned below the fixed platform and is fixedly connected with the fixed platform bolt through the upper fixed ends of the first support plate, the second support plate and the third support plate in the bracket, and the upper fixed ends of the first support plate, the second support plate and the third support plate are uniformly distributed on the fixed platform; the first movable platform is positioned below the bracket, and 3 No. 1 parallel branched chains with the same structure are connected between the bracket and the first movable platform; the second moves the platform and is located the below of first platform, and 3 parallel branch chains of No. 2 that the structure is the same are connected between first platform and second and move the platform.

In the technical scheme, the fixed platform is a disc-shaped structural member, 3 openings with the same structure and 3 groups of support plate mounting holes are distributed on the fixed platform, the 3 openings with the same structure and the 3 groups of support plate mounting holes are arranged in a matched manner, the 3 openings are uniformly distributed along the circumferential direction, the width of each opening is equal to that of the first support plate in the support, the second support plate or the third support plate, the 3 groups of support plate mounting holes are uniformly distributed on the fixed platform and on the inner side of the 3 openings with the same structure, each group of support plate mounting holes are formed by 2 threaded through holes, and each group of support plate mounting holes are aligned with the positioning holes of the first support plate in the support and the positioning holes of the fixed ends on the second support plate or the third support plate.

The bracket in the technical scheme comprises a supporting plate, a supporting rod and a supporting bottom plate; wherein: the supporting plates comprise a first supporting plate, a second supporting plate and a third supporting plate, and the first supporting plate, the second supporting plate and the third supporting plate are identical in structure; the support rods comprise a first support rod, a second support rod and a third support rod, and the first support rod, the second support rod and the third support rod have the same structure; the first supporting rod is a straight rod type structural member with a rectangular cross section, the lower end of the first supporting rod is welded in the middle of the inner side of the first supporting plate, the top end plane of the first supporting rod is parallel to the bottom plane of the fixed end of the first supporting plate, and the distance between the two parallel planes is the thickness of the fixed platform.

The first supporting plate is a plate type structural member with an equal rectangular cross section, two ends of the first supporting plate are bent towards the same side to form an upper fixed end and a lower fixed end, the upper fixed end is parallel to the lower fixed end, the upper fixed end of the first supporting plate is provided with 1 pair of supporting plate positioning holes which are threaded through holes, and the 1 pair of supporting plate positioning holes are aligned with the 1 pair of supporting plate mounting holes on the fixed platform; the middle part of the first supporting plate is provided with 2 fixed platform lead screw component mounting holes which have the same structure and are used for connecting fixed platform lead screw components, and the fixed platform lead screw component mounting holes are threaded through holes; the lower fixed end of the first supporting plate is provided with 1 pair of supporting plate fastening holes; the first supporting plate, the second supporting plate and the third supporting plate are arranged on the supporting bottom plate through the lower ends of the first supporting plate, the second supporting plate and the third supporting plate, and included angles between any two of the first supporting plate, the second supporting plate and the third supporting plate are equal.

Compared with the prior art, the invention has the beneficial effects that:

1. the high-speed 3D printing parallel driving mechanism not only can realize large-size printing, but also can reduce the occurrence of faults or dislocation during small-size printing.

2. The high-speed 3D printing parallel driving mechanism provided by the invention keeps three-dimensional translation and improves the printing space of the parallel driving mechanism.

3. The high-speed 3D printing parallel driving mechanism is only composed of low pairs, the total number of freedom degrees of the kinematic pairs is small, the structure is simple, the manufacturing, the processing and the assembly are convenient, and the production cost is low;

4. when the high-speed 3D printing parallel driving mechanism disclosed by the invention is used for printing a complex component, the mechanism only needs to be clamped once, and printing equipment or a printing head does not need to be replaced, so that the clamping error can be reduced, and the printing precision is improved. The mechanism is suitable for being used as an actuating mechanism in the printing occasions of complex components with high-speed motion.

In conclusion, the high-speed 3D printing parallel driving mechanism has high practical value and wide application prospect, and provides a new structure for the technical fields of parallel robots, numerical control machines, coordinate measuring machines, teleoperation and the like.

Drawings

The invention is further described with reference to the accompanying drawings in which:

FIG. 1 is an axonometric view of the high-speed 3D printing parallel driving mechanism structure according to the present invention;

FIG. 2 is a front view of a fixed platform structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 3 is an axonometric view of the support structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 4 is an axonometric view of the fixed platform screw assembly structure adopted in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 5 is an axonometric view of the first stage screw nut structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 6 is an axial projection view of a first U-shaped connecting block structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 7 is an axonometric view of the structure of the movable platform screw assembly used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 8 is an axonometric view of the first moving platform structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 9 is an axonometric view of the second stage screw nut structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

FIG. 10 is an isometric view of a second U-shaped connecting block structure used in the high-speed 3D printing parallel driving mechanism according to the present invention;

fig. 11 is an axonometric projection view of a second moving platform structure adopted in the high-speed 3D printing parallel driving mechanism according to the present invention;

in the figure: 1. the device comprises a fixed platform, 2, a bracket, 3, a fixed platform screw rod assembly, 4, a first stage screw nut, 5, a first stage Hooke hinge, 6, a long connecting rod, 7, a second stage Hooke hinge, 8, a first U-shaped connecting block, 9, a first movable platform screw rod assembly, 10, a first movable platform, 11, a second stage screw nut, 12, a third stage Hooke hinge, 13, a short connecting rod, 14, a fourth stage Hooke hinge, 15, a second U-shaped connecting block, 16, a second movable platform, 17, a notch, 18, a support plate mounting hole, 19, a support plate positioning hole, 20, a fixed platform screw rod assembly mounting hole, 21, a first support plate, 22, a first support rod, 23, a second support plate, 24, a second support rod, 25, a support plate fastening hole, 26, a support bottom plate, 27, a support bottom plate mounting hole, 28, a third support rod, 29, a third support plate and 30, a fixed platform driving motor, 31. a fixed platform driving motor reducer, 32 a fixed platform screw component bracket, 33 a fixed platform screw component polished rod, 34 a fixed platform screw component positioning hole, 35 a fixed platform screw component ball screw, 36 a fixed platform screw component polished rod mounting hole, 37 a fixed platform screw component ball screw mounting hole, 38 a first stage screw nut upper hole, 39 a first stage screw nut lug, 40 a first stage screw nut polished rod hole, 41 a first stage screw nut screw hole, 42 a first U-shaped connecting block upper hole, 43 a first U-shaped connecting block lower hole, 44 a movable platform driving motor, 45 a movable platform driving motor reducer, 46 a movable platform screw component bracket, 47 a movable platform screw component polished rod, 48 a movable platform screw component positioning hole, 49 a movable platform screw component ball screw, 50 a movable platform screw component polished rod mounting hole, 51. the structure comprises a ball screw mounting hole of a movable platform screw assembly, 52. a first U-shaped connecting block mounting hole, 53. a movable platform screw assembly mounting hole, 54. a through screw hole, 55. a second-stage screw nut upper hole, 56. a second-stage screw nut lug part, 57. a second-stage screw nut polished rod hole, 58. a second-stage screw nut threaded rod hole, 59. a second U-shaped connecting block upper hole, 60. a second U-shaped connecting block lower hole, 61. a second U-shaped connecting block mounting hole, 62. a printing head positioning hole and 63. a printing head mounting hole.

Detailed Description

The invention is described in detail below with reference to the attached drawing figures:

referring to fig. 1, the high-speed 3D printing parallel driving mechanism of the present invention includes a fixed platform 1, a support 2, a first movable platform 10, a second

movable platform

16, 3 parallel branched chains No. 1 connecting the support 2 and the first

movable platform

10, and 3 parallel branched chains No. 2 connecting the first movable platform 10 and the second movable platform 16.

Referring to fig. 2, the fixed platform 1 is a disc-shaped structural member, 3 gaps 17 and 3 groups of support plate mounting holes 18 with the same structure are distributed on the fixed platform, the 3 gaps 17 and 3 groups of support plate mounting holes 18 with the same structure are arranged in a matching manner, the 3 gaps 18 are uniformly arranged along the circumferential direction, the width of each gap 18 is equal to the width of a first support plate 22, a second support plate 23 or a third support plate 29 in the support 2, and 1 translational degree of freedom of the support plates is limited; 3 backup pad mounting holes 18 of group are evenly arranged on deciding platform 1 and in 3 inboard of the opening 18 that the structure is the same, every backup pad mounting hole 18 of group comprises 2 through-holes, every backup pad mounting hole 18 of group is adjusted well with the backup pad locating hole 19 of first backup pad 21, second backup pad 23 or the third backup pad 29 upper end in the support 2 to adopt the bolt will decide platform 1 and first backup pad 21, second backup pad 23 and third backup pad 29 upper end and be connected, restrict 6 degrees of freedom of first backup pad 21, second backup pad 23 or third backup pad 29. The connection between the fixed platform 1 and the bracket 2 is statically indeterminate, and the purpose is to enhance the rigidity of the structure.

Referring to fig. 3, the support frame 2 is a claw-shaped structure member, and includes a support plate, a support rod, and a support base plate 26. Wherein: the support plates comprise a first support plate 21, a second support plate 23 and a third support plate 29, and the first support plate 21, the second support plate 23 and the third support plate 29 are identical in structure; the support bars comprise a first support bar 22, a second support bar 24 and a third support bar 28, and the first support bar 22, the second support bar 24 and the third support bar 28 have the same structure. The bracket 2 of the type is arranged for avoiding singular poses of the driving mechanism in the motion process; the force borne by the ball screw can be decomposed, and the force for causing the ball screw to generate bending moment is reduced; the displacement of the first-stage screw nut in the vertical direction can be increased, and the working space of the whole mechanism is further increased.

The first support plate 21 and the first support rod 22 form a first connection unit, the second support plate 23 and the second support rod 24 form a second connection unit, the third support plate 29 and the third support rod 28 form a third connection unit, and the structure and connection mode of the 3 connection units are completely the same. The included angle between any two of the first support plate 21, the second support plate 23 and the third support plate 29 is equal. The included angle between any two of the first support bar 22, the second support bar 24 and the third support bar 28 is equal. The connection relationship will be described below by taking only the first connection unit as an example.

The first supporting rod 22 is a straight rod type structural member with a rectangular cross section, the lower end of the first supporting rod 22 is welded in the middle of the inner side of the first supporting plate 21, the top end plane of the first supporting rod 22 is parallel to the bottom plane of the fixed end on the first supporting plate 21, the distance between the two parallel planes is the thickness of the fixed platform 1, and when the fixed end on the first supporting plate 21 is fixed on the upper surface of the fixed platform 1 through a bolt, the top end plane of the first supporting rod 22 is just in full contact with the lower surface of the fixed platform 1; the support rods can bear the force applied to the support plates and can act in combination with the support base plate 26, so that the deformation of the support plates is reduced, the rigidity of the structure is enhanced, and the printing precision is further ensured.

The first supporting plate 21 is a plate type structural member with an equal rectangular cross section, two ends of the first supporting plate 21 are bent towards the same side to form an upper fixed end and a lower fixed end, the upper fixed end is parallel to the lower fixed end, the upper fixed end of the first supporting plate 21 is provided with 1 pair of supporting plate positioning holes 19 which are through holes, the supporting plate positioning holes are aligned with 1 pair of supporting plate mounting holes 18 on the fixed platform 1, and the fixed platform 1 is connected with the first supporting plate 21 by bolts; the middle part of the first supporting plate 21 is provided with 2 fixed platform lead screw component mounting holes 21 with the same structure, which are threaded through holes and are used for connecting the fixed platform lead screw component 3; the lower fixed end of the first support plate 22 is provided with 1 pair of support plate fastening holes 25, which are connected with the support base plate 26 by bolts.

The supporting bottom plate 26 is a hexagonal plate-like structural member, and the hexagon is obtained by removing 1 small regular triangle from each corner of the regular triangle; the supporting bottom plate 26 is provided with 3 groups of supporting bottom plate mounting holes 27; the 3 groups of supporting bottom plate mounting holes 27 are uniformly arranged on the supporting bottom plate 26 at the inner side close to the hexagonal short side, each group of supporting bottom plate mounting holes 27 consists of 2 threaded through holes, each group of supporting bottom plate mounting holes 27 is aligned with the supporting plate fastening holes 25 at the lower ends of the first supporting plate 21, the second supporting plate 23 or the third supporting plate 29 in the bracket 2, and the supporting bottom plate 27 and the lower ends of the first supporting plate 21, the second supporting plate 23 and the third supporting plate 29 are connected by bolts.

The supporting bottom plate 26 is installed at the lower ends of the 3 supporting plates through bolt connection; the coupling between the support base 26 and the 3 support plates, which coupling acts in conjunction with the 3 support rods, limits the degrees of freedom of the 3 support plates, while the fixing of the upper ends of the 3 support plates to the fixed platform 1 also limits their 6 degrees of freedom, so that this is a statically indeterminate structure. The arrangement can reduce the deformation quantity of the supporting plate generated when the supporting plate is stressed, enhance the rigidity of the structure and further ensure the printing precision.

The connecting bracket 2 and the 3 No. 1 parallel branched chains of the first movable platform 10 have the same structure, and the connecting mode of the connecting bracket 2 and the first movable platform 10 is the same as that of the bracket 2 and the first movable platform 10; the 3 parallel branched chains of No. 2 connecting the first movable platform 10 and the second movable platform 16 have the same structure, and the connecting mode of the first movable platform 10 and the second movable platform 16 is the same.

The support 2 is positioned below the fixed platform 1 and is connected with the fixed platform 1 through the upper fixed ends of the first support plate 21, the second support plate 23 and the third support plate 29, and the upper fixed ends of the first support plate 21, the second support plate 23 and the third support plate 29 are connected with the fixed platform 1 through bolts; the upper fixed ends of the first support plate 21, the second support plate 23 and the third support plate 29 are uniformly distributed on the fixed platform 1, and the projection of the longitudinal symmetry line of any two of the first support plate 21, the second support plate 23 and the third support plate 29 on the fixed platform 1 forms an included angle of 120 degrees.

The first movable platform 10 is positioned below the

bracket

2, and 3 parallel branched chains of the same structure No. 1 connecting the bracket 2 and the first movable platform 10 are positioned between the bracket 2 and the first movable platform 10; at the initial position, the projection of 3 parallel branched chains with the same structure No. 1 on the fixed platform 1 is Y-shaped, and the included angle between every two lines is 120 degrees. The structure and connection mode of the connecting

bracket

2 and 3 parallel branched chains with the same structure of the first movable platform 10 will be described by taking one branched chain with the number 1 as an example.

No. 1 parallel branch chain include fixed platform lead screw subassembly 3, first order lead screw nut 4, first order hooke joint 5, long connecting rod 6, second order hooke joint 7 and first U type connecting block 8.

The fixed platform lead screw component 3 is fixedly connected to the bottom surface of a first supporting plate 21 on the bracket 2 by bolts, and a first-stage lead screw nut 4 is arranged on the fixed platform lead screw component 3 and is in sliding connection; a first-stage hook hinge 5 is arranged between the upper end of the long connecting rod 6 and the first-stage screw nut 4 to connect the upper end of the long connecting rod 6 and the first-stage screw nut 4, namely the upper end of the long connecting rod 6 is connected with the first-stage screw nut 4 by adopting a bolt and the first-stage hook hinge 5; a second-stage hook hinge 7 is arranged between the lower end of the long connecting rod 6 and the first U-shaped connecting block 8 to connect the lower end of the long connecting rod 6 and the first U-shaped connecting block 8, namely the lower end of the long connecting rod 6 is connected with the first U-shaped connecting block 8 by a bolt and the second-stage hook hinge 7; the first U-shaped connecting block 8 is mounted on the upper surface of the first movable platform 10 using bolts.

Referring to fig. 4, the fixed platform screw assembly 3 includes a fixed platform driving motor 30, a fixed platform driving motor reducer 31, a fixed platform

screw assembly bracket

32, and 2 fixed platform screw assembly polished bars 33 and fixed platform screw assembly ball screws 35 having the same structure.

The fixed platform driving motor 30 is installed on the right end of the fixed platform driving motor reducer 31 by bolts, the output end of the fixed platform driving motor 30 is fixedly connected with the input end of the fixed platform driving motor reducer 31, the fixed platform driving motor reducer 31 is installed on the right supporting arm of the fixed platform screw component bracket 32 by bolts, the fixed platform screw component ball screw 35 is installed in the fixed platform screw component ball screw installing hole 37 on the left supporting arm and the right supporting arm of the fixed platform screw component bracket 32 by bearings for rotary connection, the output end of the fixed platform driving motor reducer 31 is fixedly connected with the right end of the fixed platform screw component ball screw 35, 2 fixed platform screw component polished rods 33 with the same structure are installed in the fixed platform screw component polished rod installing holes 36 of the left supporting arm and the right supporting arm of the fixed platform screw component bracket 32, decide platform screw assembly polished rod 33's both ends and be provided with the screw thread, will decide platform screw assembly polished rod 33 through threaded connection and fix on deciding the left and right sides support arm of platform screw assembly support 32, 2 the same both sides that decide platform screw assembly polished rod 33 is located and decides platform screw assembly ball 35 of structure, 2 the same platform screw assembly polished rod 33 of structure is parallel with deciding platform screw assembly ball 35.

The fixed platform screw component bracket 32 is a U-shaped structural member and is composed of a left side plate, a right side plate and a bottom plate. The left side plate is provided with 2 fixed platform screw component polished rod mounting holes 36 with the same structure and 1 fixed platform screw component ball screw mounting hole 37, and the fixed platform screw component polished rod mounting hole 36 is a through hole and is used for mounting the left end of the fixed platform screw component polished rod 33; the fixed platform screw assembly ball screw mounting hole 37 is a stepped hole for mounting the left end of the fixed platform screw assembly ball screw 35 and the bearing. The right side plate is provided with 2 fixed platform screw component polished rod mounting holes which are the same as the fixed platform screw component polished rod mounting holes 36, 1 fixed platform screw component ball screw mounting hole which is the same as the fixed platform screw component ball

screw mounting hole

37 and 4 speed reducer mounting holes which are uniformly distributed around the fixed platform screw component ball screw mounting hole 2; the No. 2 fixed platform screw component polished rod mounting hole is a through hole and is used for mounting the right end of a fixed platform screw component polished rod 33; the No. 2 fixed platform lead screw assembly ball screw mounting hole is a stepped hole and is used for mounting the right end of the fixed platform lead screw assembly ball screw 35 and a bearing; the reducer mounting hole is used for assembling a motor reducer. The bottom plate is provided with 2 fixed platform screw component positioning holes 34 which are through holes and aligned with the fixed platform screw component mounting holes 20 on the first support plate 21, the second support plate 23 or the third support plate 29, and the fixed platform screw component 3 is mounted on the first support plate 21, the second support plate 23 or the third support plate 29 in the support 2 by adopting bolt connection.

Referring to fig. 5, the first stage screw nut 4 is a block-shaped structural member with an ear portion. The upper portion of first order lead screw nut 4 is provided with 2 first order lead screw nut ears 39 that the structure is the same, and the upper end of every first order lead screw nut ear 39 is provided with 1 first order lead screw nut upper hole 38, and it is the through-hole for install first order hooke hinge 7, the axis of revolution collineation of the first order lead screw nut upper hole 38 on 2 first order lead screw nut ears 39. The lower part of the first-stage lead screw nut 4 is provided with 2 first-stage lead screw nut light bar holes 40 and 1 first-stage lead screw nut

light bar hole

41, 2 first-stage lead screw nut light bar holes 40 with the same structure are positioned at two sides of the first-stage lead screw nut light bar hole 41, and the rotation axes of the 2 first-stage lead screw nut light bar holes 40 with the same structure and the rotation axis of the first-stage lead screw nut light bar hole 41 are parallel and are positioned in the same horizontal plane; the rotary axis of the first-stage screw nut upper hole 38 on the 2 first-stage screw nut ears 39 and the rotary axis of the 2 first-stage screw nut light rod holes 40 with the same structure are parallel to the plane where the rotary axis of the first-stage screw nut light rod hole 41 is located and are perpendicular to the rotary axis of the first-stage screw nut light rod hole 41. The first-stage screw nut polished rod hole 40 is matched with the fixed platform screw assembly polished rod 33, is used for supporting and positioning the first-stage screw nut 4 and has a guiding function; the first stage screw nut screw hole 41 cooperates with the fixed platform screw assembly ball screw 35 for outputting displacement.

The 1 fixed platform screw component polished rod 33 and the 1 fixed platform screw component ball screw 35 can limit 5 degrees of freedom of the first stage screw nut 4, so that the first stage screw nut 4 can only move along the axial direction of the screw, and simultaneously shares the half force of the first stage screw nut 4 applied to the given platform screw component ball screw 35; the invention is provided with 2 fixed platform screw components of the optical lever 33, which can make the fixed platform screw components of the ball screw 35 bear one third of the force applied by the first stage screw nut 4; meanwhile, the system rigidity of the fixed platform lead screw component 3 can be enhanced, and the printing precision is improved.

Referring to fig. 6, first U-shaped connecting block 8 be "U" font fork class structure, first U-shaped connecting block 8 is by the left branch arm, right branch arm and base are constituteed, the left branch arm is the same with right branch arm structure, the left branch arm, the width and the thickness of right branch arm and base are equal, the left branch arm, the bottom of right branch arm and the both ends symmetry of base are perpendicular and are connected integratively, the left branch arm, the right branch arm is parallel to each other, the left branch arm of first U-shaped connecting block 8, the upper end of right branch arm is provided with 1 first U-shaped connecting block upper bore 42 respectively, 2 the structure of first U-shaped connecting block upper bore 42 is the same, 2 the axis of revolution collineation of first U-shaped connecting block upper bore 42 and parallel with the base, be provided with 2 first U-shaped connecting block lower bores 43 that the structure is the same on first U-shaped connecting block 8's the base. The upper holes 42 of the 2 first U-shaped connecting blocks are through holes and are used for connecting the second-stage hook joints 7; the lower hole 43 of each of the 2 first U-shaped connecting blocks is a through hole, and is aligned with the mounting hole 52 of each of the 2 first U-shaped connecting blocks on the first movable platform 10, and the first U-shaped connecting block 8 is mounted on the first movable platform 10 by using bolts.

The second movable platform 16 is positioned below the first

movable platform

10, and 3 parallel branched chains of the same structure, namely the No. 2 branched chains, which are connected with the first movable platform 10 and the second movable platform 16 are positioned between the first movable platform 10 and the second movable platform 16; at the initial position, the projections of 3 parallel branched chains No. 2 with the same structure on the second movable platform 16 are Y-shaped, and the included angle between every two lines is 120 degrees. The structure and connection mode of one of the parallel branched chains 2 will be described by taking an example.

The No. 2 parallel branched chain comprises a first movable platform screw rod assembly 9, a second stage screw nut 11, a third stage hook joint 12, a short connecting rod 13, a fourth stage hook joint 14 and a second U-shaped connecting block 15.

The first movable platform screw assembly 9 is arranged on the lower surface of the first movable platform 10 through a movable platform screw assembly bracket 46, and the first movable platform screw assembly 9 is connected with the first movable platform 10 through a bolt; the second-stage screw nut 11 is sleeved on a moving platform screw assembly ball screw 49 in the first moving platform screw assembly 9, and the second-stage screw nut 11 is in sliding connection with the moving platform screw assembly ball screw 49; the upper end of the short connecting rod 13 is connected with the third-stage hook joint 12 and the second-stage lead screw nut 11 by bolts; the lower end of the short connecting rod 13 is connected with a fourth-stage hook hinge 14 and a second U-shaped connecting block 15 by bolts; the second U-shaped connecting block 15 is installed on the upper surface of the second movable platform 16, and the second U-shaped connecting block 15 is connected with the second movable platform 16 through bolts.

Referring to fig. 7, the first movable platform screw assembly 9 includes a movable platform driving motor 44, a movable platform driving motor reducer 45, a movable platform

screw assembly support

46, and 2 movable platform screw assembly feed bars 47 and movable platform screw assembly ball screws 49 having the same structure.

The movable platform driving motor 44 is arranged on a movable platform driving motor reducer 45 and is connected through bolts; the movable platform driving motor reducer 45 is arranged on a movable platform lead screw component bracket 46 and is connected through bolts; the movable platform lead screw component polished rod 47 is arranged on the movable platform lead screw component bracket 46 and is in threaded connection; the moving platform screw assembly ball screw 49 is mounted on the moving platform screw assembly support 46 in threaded connection.

The movable platform lead screw component support 46 is a U-shaped structural member and is composed of a left wall, a right wall and a bottom wall. 2 movable platform screw component polished rod mounting holes 50 with the same structure and 1 movable platform screw component ball screw mounting hole 51 are arranged on the left wall, and the 2 movable platform screw component polished rod mounting holes 50 with the same structure are smooth through holes and are used for mounting the left end of a movable platform screw component polished rod 47; the left end of the movable platform screw assembly polished rod 47 is fixed on the left wall of the movable platform screw assembly bracket 46 through threaded connection. The moving platform screw assembly ball screw mounting hole 51 is a stepped through hole for mounting the left end of the moving platform screw assembly ball screw 49 and the bearing. The right wall is provided with 2 number 2 movable platform screw component polished rod mounting holes which are the same as the movable platform screw component polished rod mounting holes 50, 1 number 2 movable platform screw component ball screw mounting holes which are the same as the movable platform screw component ball

screw mounting holes

51 and 4 reducer mounting holes which are uniformly distributed around the number 2 movable platform screw component ball screw mounting holes; the movable platform screw assembly polished rod mounting hole 50 is a smooth through hole and is used for positioning the right end of the movable platform screw assembly polished rod 47; the right end of the movable platform screw assembly polished rod 47 is fixed on the right wall of the movable platform screw assembly bracket 46 through threaded connection. The moving platform screw assembly ball screw mounting hole 51 is a stepped through hole and is used for mounting the left end of the moving platform screw assembly ball screw 49 and a bearing; the reducer mounting hole is used for mounting a reducer 45 of a driving motor of the movable platform. Be provided with 2 on the diapire and move platform lead screw

assembly locating hole

48, 2 move platform lead screw assembly locating hole 48 and be smooth through-hole, 2 move platform lead screw assembly locating hole 48 and move platform lead screw assembly mounting hole 53 and adjust well, adopt bolted connection to install first platform lead screw assembly 9 that moves on the lower surface of first platform 10.

Referring to fig. 8, the first movable platform 10 is a hexagonal plate-shaped structural member, and the hexagonal first movable platform 10 is obtained by cutting out 3 small regular triangles at three vertex angles of an equilateral triangle. Be provided with 2 first U type connecting block mounting holes 52 that the structure is the same near every minor face department of hexagon, 2 first U type connecting block mounting holes 52 that the structure is the same are threaded through hole, and 2 first U type connecting block mounting holes 52 that the structure is the same are aimed at with first U type connecting block lower hole 43 on the first U type connecting block 8, with first U type connecting block 8 fixed connection on the top face of first movable platform 10. And 2 movable platform lead screw component mounting holes 53 with the same structure are arranged on the connecting line of the middle point of each hexagonal short side and the center of the hexagon, each movable platform lead screw component mounting hole 53 is a threaded through hole, and the 2 movable platform lead screw component mounting holes 53 with the same structure are aligned with the movable platform lead screw component positioning holes 48 on the first movable platform lead screw component 9, so that the first movable platform lead screw component 9 is mounted on the bottom surface of the first movable platform 10. The center of the hexagon is provided with 1 through-wire hole 54, printing wires pass through the through-wire hole, and winding is avoided.

Referring to fig. 9, the second stage screw nut 11 is a block-shaped structure with ears. The upper portion of second level lead screw nut 11 is provided with 2 second level lead screw nut ears 56, and the upper end of every second level lead screw nut ear 56 is provided with 1 first level lead screw nut upper bore 55, and it is smooth through-hole for install third level hooke joint 12. The lower part of the second-stage lead screw nut 11 is provided with 2 second-stage lead screw nut screw holes 57 with the same structure and 1 second-stage lead screw nut screw hole 58; the 2 second-stage lead screw nut light bar holes 57 with the same structure are positioned at two sides of the second-stage lead screw nut light bar hole 58, and the rotation axes of the 2 second-stage lead screw nut light bar holes 57 with the same structure are parallel to and coplanar with the rotation axis of the second-stage lead screw nut light bar hole 58; the rotary axes of the holes 55 on the second-stage lead screw nuts on the 2 second-stage lead screw nut ears 56 and the rotary axes of the 2 second-stage lead screw nut light rod holes 57 with the same structure are parallel to the plane of the rotary axis of the second-stage lead screw nut light rod hole 58 and are perpendicular to the rotary axis of the second-stage lead screw nut light rod hole 58. The second-stage screw nut polished rod hole 57 is matched with the movable platform screw assembly polished rod 47, is used for supporting and positioning the second-stage screw nut 11 and has a guiding function; the second stage screw nut screw hole 58 cooperates with the moving platform screw assembly ball screw 49 for outputting displacement.

The second-stage screw nut 11 and the first-stage screw nut 4 have the same structural form, but have different sizes; the working mode and principle of the two are completely the same.

Referring to fig. 10, the second U-shaped connecting block 15 is a U-shaped structural member, the second U-shaped connecting block 15 is composed of a left support arm, a right support arm and an installation base, the upper ends of the left support arm and the right support arm of the second U-shaped connecting block 15 are respectively provided with 1 second U-shaped connecting block upper hole 59, the structures of the 2 second U-shaped connecting block upper holes 59 are the same, the rotation axes of the 2 second U-shaped connecting block upper holes 59 are collinear and parallel to the installation base, and the base of the second U-shaped connecting block 15 is provided with 2 second U-shaped connecting block lower holes 60 with the same structure. The upper hole 59 of the second U-shaped connecting block is a through hole and is used for connecting the fourth-stage hook joint 14. The lower holes 60 of the 2 second U-shaped connecting blocks with the same structure are light through holes, are aligned with the mounting holes 61 of the 2 second U-shaped connecting blocks with the same structure on the second movable platform 16, and the second U-shaped connecting blocks 15 are mounted on the second movable platform 16 through bolts.

Referring to fig. 11, the second movable platform 16 is a hexagonal plate-shaped structural member, and the hexagon is obtained by cutting out 3 small regular triangles at three corners of a large regular triangle. Be provided with 2 second U type connecting block mounting holes 61 near every minor face department of hexagon, for the screw thread through-hole, align with second U type connecting block lower hole 60, link firmly second U type connecting block 15 on the upper surface of second movable platform 16. A printing head mounting hole 63 which is an optical through hole is formed in the center of the hexagon; the print head protrudes from the print head mounting hole 63. Around the vicinity of the print

head mounting hole

63, 3 print head positioning holes 62, which are screw through holes for fixing the print head, are uniformly provided.

The working principle of the high-speed 3D printing parallel driving mechanism provided by the invention is as follows:

when printing a large-sized part or a large-sized portion of the part, both the fixed platen driving motor 30 and the movable platen driving motor 44 are in an operating state. The fixed platform driving motor 30 drives 3 No. 1 parallel branched chains consisting of a first-stage screw nut 4, a first-stage hook joint 5, a long connecting rod 6, a second-stage hook joint 7 and a first U-shaped connecting block 8 to move, and then drives the first movable platform 10 to move to realize three-dimensional translation. The movable platform driving motor 44 drives 3 parallel branched chains of No. 2 composed of a first movable platform lead screw component 9, a second stage lead screw nut 11, a third stage hook joint 12, a short connecting rod 13, a fourth stage hook joint 14 and a second U-shaped connecting block 15 to move, and further drives the printing head to realize three-dimensional translation.

When the printing head runs to a position to be reversed, the fixed platform driving motor 30 decelerates and reverses first, and the movable platform driving motor 44 continues to run; when the printing head just runs to the position needing reversing, the fixed platform driving motor 30 continues running, and the movable platform driving motor 44 rotates reversely; because the load born by the No. 2 parallel branch chain is light, the inertia is small, the reversing speed is high, and the condition of printing layering or dislocation caused by too low reversing speed of the driving mechanism can be avoided.

When a part with a small size or a part with a small size is printed, the fixed platform driving motor 30 is in a halt state, 3 long branched chains consisting of a first-stage screw nut 4, a first-stage hook hinge 5, a long connecting rod 6, a second-stage hook hinge 7 and a first U-shaped connecting block 8 are in a static state, and at the moment, the fixed platform 1, the first

movable platform

10 and 3 parallel branched chains 1 consisting of the first-stage screw nut 4, the first-stage hook hinge 5, the long connecting rod 6, the second-stage hook hinge 7 and the first U-shaped connecting block 8 can be regarded as a fixed platform. The movable platform driving motor 44 drives 3 parallel branched chains of No. 2 composed of a first movable platform lead screw component 9, a second stage lead screw nut 11, a third stage hook joint 12, a short connecting rod 13, a fourth stage hook joint 14 and a second U-shaped connecting block 15 to move, and then drives the printing head to realize translation with 3 degrees of freedom.

When printing a small-sized part or a small-sized portion on the part, a fault or a misalignment is most likely to occur. The parallel driving mechanism of the design can just overcome the problem.

The invention can only realize translation with 3 degrees of freedom, limits the rotational degree of freedom, can directly realize compound motion, can explicitly calculate positive kinematics, has unique inverse kinematics solution, improves the resolving speed and the real-time performance of the system, can realize high-speed printing, and can overcome the problem that the fault or dislocation is easy to occur when printing parts with smaller size or parts with smaller size in the prior art.

Claims

1. The high-speed 3D printing parallel driving mechanism is characterized by comprising a fixed platform (1), a support (2), a first movable platform (10), a second movable platform (16), 3 parallel branched chains with the same structure No. 1 and 3 parallel branched chains with the same structure No. 2;

the first movable platform (10) is a hexagonal plate-shaped structural member, the hexagonal first movable platform (10) is obtained by cutting off 3 small regular triangles at three vertex angles of 1 large equilateral triangle, each short side of the first movable platform (10) is provided with 2 first U-shaped connecting block mounting holes (52) with the same structure, 2 first U-shaped connecting block mounting holes (52) with the same structure are threaded through holes, 2 first U-shaped connecting block mounting holes (52) with the same structure are aligned with first U-shaped connecting block lower holes (43) of first U-shaped connecting blocks (8) fixedly connected to the first movable platform (10), each hexagon short side midpoint and a hexagon center line are provided with 2 movable platform lead screw assembly mounting holes (53) with the same structure, each movable platform lead screw assembly mounting hole (53) is a threaded through hole, and 2 movable platform lead screw assembly mounting holes (53) with the same structure are aligned with movable platform lead screw assemblies (9) The platform screw component positioning holes (48) are aligned, and 1 through hole (54) is formed in the center of the first movable platform (10);

the second movable platform (16) is a hexagonal plate-shaped structural member, the hexagonal second movable platform (16) is obtained by cutting 3 small regular triangles at three vertex angles of 1 large equilateral triangle, each short side of the second movable platform (16) is provided with 2 second U-shaped connecting block mounting holes (61) with the same structure, 2 second U-shaped connecting block mounting holes (61) with the same structure are threaded through holes, 2 second U-shaped connecting block mounting holes (61) with the same structure are aligned with second U-shaped connecting block lower holes (60) of a second U-shaped connecting block (15) fixed on the second movable platform (16), the center of the second movable platform (16) is provided with a printing head mounting hole (63), and the printing head mounting hole (63) is an optical through hole; 3 printing head positioning holes (62) with the same structure are uniformly arranged around the printing head mounting hole (63), and the printing head positioning holes (62) are threaded through holes;

the No. 1 parallel branched chain comprises a fixed platform lead screw component (3), a first-stage lead screw nut (4), a first-stage hook joint (5), a long connecting rod (6), a second-stage hook joint (7) and a first U-shaped connecting block (8);

the fixed platform lead screw component (3) is fixedly connected to the bottom surface of a first supporting plate (21) in the bracket (2) by bolts, and a first-stage lead screw nut (4) is arranged on the fixed platform lead screw component (3) and is in sliding connection with the fixed platform lead screw component; the upper end of a long connecting rod (6) is connected with a first-stage screw nut (4) through a first-stage hook hinge (5), the lower end of the long connecting rod (6) is connected with a first U-shaped connecting block (8) through a second-stage hook hinge (7), and the first U-shaped connecting block (8) is installed on the upper surface of a first movable platform (10) through bolts;

the fixed platform lead screw component (3) comprises a fixed platform driving motor (30), a fixed platform driving motor reducer (31), a fixed platform lead screw component bracket (32), 2 fixed platform lead screw component polished rods (33) with the same structure and a fixed platform lead screw component ball screw (35);

decide platform driving motor (30) adopt the bolt to install on the right-hand member of deciding platform driving motor reduction gear (31), decide the output of platform driving motor (30) and decide the input fixed connection of platform driving motor reduction gear (31), decide platform driving motor reduction gear (31) and adopt the bolt to install on the right branch brace of deciding platform lead screw assembly support (32), decide platform lead screw assembly ball (35) and adopt the bearing to install and decide in the left branch brace of deciding platform lead screw assembly support (32) and the right branch brace and be connected for rotating in deciding platform lead screw assembly ball mounting hole (37), decide the output of platform driving motor reduction gear (31) and decide the right-hand member fixed connection of platform lead screw assembly ball (35), 2 the same platform lead screw assembly polished rod (33) of structure are installed and are threaded connection in deciding platform lead screw assembly polished rod mounting hole (36) of deciding left branch brace and right branch brace of deciding platform lead screw assembly support (32) 2 fixed platform screw component polished rods (33) with the same structure are positioned at two sides of a fixed platform screw component ball screw (35), and the 2 fixed platform screw component polished rods (33) with the same structure are parallel to the fixed platform screw component ball screw (35);

the upper portion of first order lead screw nut (4) be provided with 2 first order lead screw nut ears (39) that the structure is the same, the upper end of every first order lead screw nut ear (39) is provided with 1 first order lead screw nut hole (38), first order lead screw nut hole (38) are for being used for installing the smooth through-hole of first order hooke's hinge (7), the gyration axis collineation of first order lead screw nut hole (38) on 2 first order lead screw nut ears (39) that the structure is the same, the cuboid form lower part of first order lead screw nut (4) is provided with 2 first order lead screw nut light holes (40) that the structure is the same and 1 first order lead screw nut screw hole (41), 2 first order lead screw nut light holes (40) that the structure is the same are located the both sides of first order lead screw nut screw hole (41), the gyration axis of 2 first order lead screw nut light holes (40) that the structure is the same and the flat axis of gyration of first order lead screw nut screw hole (41) are flat The rows are positioned in the same horizontal plane; the rotary axis of the first-stage screw nut upper hole (38) on each of the 2 first-stage screw nut lugs (39) and the rotary axis of the 2 first-stage screw nut light rod holes (40) with the same structure are parallel to the plane of the rotary axis of the first-stage screw nut light rod hole (41) and are vertically crossed with the rotary axis of the first-stage screw nut light rod hole (41);

the first U-shaped connecting block (8) is a U-shaped fork type structural part, the first U-shaped connecting block (8) consists of a left supporting arm, a right supporting arm and a base, the left supporting arm and the right supporting arm are identical in structure, the width and the thickness of the left supporting arm, the right supporting arm and the base are equal, the bottom ends of the left supporting arm and the right supporting arm and the two ends of the base are symmetrically, vertically and integrally connected, the left supporting arm and the right supporting arm are parallel to each other, the upper ends of the left supporting arm and the right supporting arm of the first U-shaped connecting block (8) are respectively provided with 1 first U-shaped connecting block upper hole (42), the structures of the 2 first U-shaped connecting block upper holes (42) are identical, the rotation axes of the 2 first U-shaped connecting block upper holes (42) which are identical in structure are collinear and parallel to the base, the base of the first U-shaped connecting block (8) is provided with 2 first U-shaped connecting block lower holes (43) which are identical in structure, the 2 first U-shaped connecting block upper holes (42) with the same structure are optical through holes used for connecting a second-stage Hooke hinge (7), the 2 first U-shaped connecting block lower holes (43) with the same structure are optical through holes, and the 2 first U-shaped connecting block lower holes (43) with the same structure are aligned with the 2 first U-shaped connecting block mounting holes (52) with the same structure on the first movable platform (10);

the No. 2 parallel branched chain comprises a first movable platform screw rod assembly (9), a second stage screw rod nut (11), a third stage hook joint (12), a short connecting rod (13), a fourth stage hook joint (14) and a second U-shaped connecting block (15);

the first movable platform lead screw component (9) is arranged on the bottom surface of the first movable platform (10) through a movable platform lead screw component bracket (46) in the first movable platform lead screw component, and the first movable platform lead screw component (9) is connected with the first movable platform (10) through a bolt; a second-stage screw nut (11) is sleeved on a moving platform screw assembly ball screw (49) in a first moving platform screw assembly (9) and 2 moving platform screw assembly polished rods (47) with the same structure, and the second-stage screw nut (11), the moving platform screw assembly ball screw (49) and the 2 moving platform screw assembly polished rods (47) with the same structure are in sliding connection; the upper end of the short connecting rod (13) is connected with the second-stage screw nut (11) through a third-stage hook joint (12); the lower end of the short connecting rod (13) is connected with a second U-shaped connecting block (15) through a fourth-stage hook joint (14); the second U-shaped connecting block (15) is arranged on the upper surface of the second movable platform (16) by adopting a bolt;

the support (2) is positioned below the fixed platform (1) and is fixedly connected with the fixed platform (1) through the upper fixed ends of a first support plate (21), a second support plate (23) and a third support plate (29) in the support (2) by bolts, and the upper fixed ends of the first support plate (21), the second support plate (23) and the third support plate (29) are uniformly distributed on the fixed platform (1); the first movable platform (10) is positioned below the bracket (2), and 3 parallel branched chains with the same structure No. 1 are connected between the bracket (2) and the first movable platform (10); the second movable platform (16) is positioned below the first movable platform (10), and 3 parallel branched chains with the same structure, namely the No. 2 branched chains, are connected between the first movable platform (10) and the second movable platform (16).

2. The high-speed 3D printing parallel driving mechanism according to claim 1, wherein the fixed platform (1) is a disc-shaped structural member, 3 notches (17) with the same structure and 3 groups of supporting plate mounting holes (18) are distributed on the fixed platform, the 3 notches (17) with the same structure and the 3 groups of supporting plate mounting holes (18) are arranged in a matched manner, the 3 notches (17) are uniformly arranged along the circumferential direction, the width of each notch (17) is equal to that of a first supporting plate (21), a second supporting plate (23) or a third supporting plate (29) in the support (2), the 3 groups of supporting plate mounting holes (18) are uniformly arranged on the fixed platform (1) and are arranged at the inner side of the 3 notches (17) with the same structure, each group of supporting plate mounting holes (18) is composed of 2 threaded through holes, and each group of supporting plate mounting holes (18) and the first supporting plate (21) in the support (2), The supporting plate positioning holes (19) of the fixed end of the second supporting plate (23) or the third supporting plate (29) are aligned.

3. The high-speed 3D printing parallel driving mechanism according to claim 1, wherein the support frame (2) comprises a support plate, a support rod and a support bottom plate (26); wherein: the supporting plates comprise a first supporting plate (21), a second supporting plate (23) and a third supporting plate (29), and the first supporting plate (21), the second supporting plate (23) and the third supporting plate (29) have the same structure; the supporting rods comprise a first supporting rod (22), a second supporting rod (24) and a third supporting rod (28), and the first supporting rod (22), the second supporting rod (24) and the third supporting rod (28) have the same structure;

the first supporting rod (22) is a straight rod type structural part with a rectangular cross section, the lower end of the first supporting rod (22) is welded in the middle of the inner side of the first supporting plate (21), the top end plane of the first supporting rod (22) is parallel to the bottom plane of the fixed end on the first supporting plate (21), and the distance between the two parallel planes is the thickness of the fixed platform (1);

the first supporting plate (21) is a plate type structural member with an equal rectangular cross section, two ends of the first supporting plate (21) are bent towards the same side to form an upper fixed end and a lower fixed end, the upper fixed end is parallel to the lower fixed end, the upper fixed end of the first supporting plate (21) is provided with 1 pair of supporting plate positioning holes (19) which are threaded through holes, and the 1 pair of supporting plate positioning holes (19) are aligned with the 1 pair of supporting plate mounting holes (18) on the fixed platform (1); the middle part of the first supporting plate (21) is provided with 2 fixed platform lead screw component mounting holes (20) which have the same structure and are used for connecting the fixed platform lead screw component (3), and the fixed platform lead screw component mounting holes are threaded through holes; the lower fixed end of the first supporting plate (21) is provided with 1 pair of supporting plate fastening holes (25);

the first supporting plate (21), the second supporting plate (23) and the third supporting plate (29) are arranged on the supporting bottom plate (26) through the lower ends of the first supporting plate, the second supporting plate (23) and the third supporting plate (29), and included angles between any two of the first supporting plate (21), the second supporting plate (23) and the third supporting plate (29) are equal.