CN107139462A - 3T2R five degree of freedom swinging 3D printers - Google Patents
3T2R five degree of freedom swinging 3D printers Download PDFInfo
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- CN107139462A CN107139462A CN201710332484.3A CN201710332484A CN107139462A CN 107139462 A CN107139462 A CN 107139462A CN 201710332484 A CN201710332484 A CN 201710332484A CN 107139462 A CN107139462 A CN 107139462A
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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
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Abstract
A kind of 3T2R five degree of freedom swinging 3D printers of 3D printing technique field, including：Printhead, 3 PRS parallel institutions and the first frame being coaxially disposed, face of cylinder frame and print platform, the present invention can carry out X/Y plane filling, layered manufacturing along the Z direction.It can be used for the layered manufacturing along swinging printer radial section, i.e. printhead is printed along above and below the progress of vertical direction contour curve, fill cylinder section, one layer is often printed, printer is along a thickness (from inside to outside or from outside to inside or both be combined) is moved radially, so as to effectively eliminate the alias that deep camber surface caused by original slicing mode along the Z direction is present.Pin of the present invention can be to different printouts structure, curved surface characteristic, different structure arrangements are chosen, so as to realize the quick manufacture of the part with outer space curved surface or with inner space curved surface or with medial and lateral space curved surface.
Description
Technical field
The present invention relates to a kind of technology in 3D printing field, specifically a kind of 3T2R five degree of freedom swinging 3D printing
Machine.
Background technology
At present, 3D printer is mostly based on rectangular coordinate system.Have curve special for slewing parts and slicing profile
The quick manufacture of part is levied, printer uses X, the linkage of Y-axis, and the Drawing of Curve in printing plane is realized in fitting, former in shaping
There is certain error in reason.Especially when print rotated class part and slicing profile have curvilinear characteristic part, print speed
Relatively slow, surface accuracy depends on the contour fitting precision of algorithm.
Layered manufacturing has error caused by alias on forming principle, and the error is in printing vertical direction
It is particularly evident during curved surface.Existing most of printer by improving printing precision, realized by the way of multi-shaft interlocked curved surface into
Type, or take part certain post processing to reduce influence of the alias to formed precision, but rank can not be completely eliminated
Terraced effect.
The content of the invention
The present invention is directed to deficiencies of the prior art, it is proposed that a kind of 3T2R five degree of freedom swinging 3D printing
Machine, can be inherently eliminated the fitting existed when existing rectangular coordinate system printing two dimensional surface curve and space curve and miss
Difference, improves printing effect and quality.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of 3T2R five degree of freedom swinging 3D printer, including：Printhead, 3-PRS parallel institutions with
And the first frame, face of cylinder frame and the print platform being coaxially disposed, wherein：Face of cylinder frame surface is provided with some 3-PRS simultaneously
Online structure, printhead is fixedly connected with 3-PRS parallel institutions, and face of cylinder frame and the first frame are setting up and down and adopt between the two
With cylindrical pair, revolute pair, prismatic pair or be fixedly connected, print platform is arranged in the frame of the face of cylinder, corresponding print platform with
Between first frame then using being fixedly connected, prismatic pair, revolute pair or cylindrical pair connection, cylindrical pair connects and is fixedly connected pair
Should, revolute pair connection is corresponding with prismatic pair connection.
Described 3-PRS parallel institutions include：Silent flatform, supporting plate, moving platform and provided with bulb, connecting rod, slide rail and
Single branched structure of sliding block, wherein：It is connected between moving platform and silent flatform by 3 single branch chain mechanisms, with beating on the outside of moving platform
Print head is fixedly connected, provided with three ball hinged supports on the inside of moving platform, and bulb of each ball hinged support respectively with single branched structure is connected,
Connecting rod one end is fixedly connected with bulb, the other end and sliding block are hinged, and sliding block is slidably connected with slide rail, and slide rail end is consolidated with supporting plate
Fixed connection, supporting plate is connected with silent flatform by prismatic pair, the direction of motion is identical with print platform axis direction.
Preferably, 3 slide rails of the 3-PRS parallel institutions are each perpendicular to supporting plate, and two of which slide rail be arranged in parallel,
Another slide rail is vertical with other two.
Preferably, described face of cylinder frame is circumferentially offering some arc surface breach, with each 3-PRS parallel institutions
Silent flatform is connected by prismatic pair.
The present invention relates to a kind of 3T2R five degree of freedom swinging 3D printer, including：Printhead, 3-PRS parallel institutions with
And the first frame, inside cartridge and the print platform being coaxially disposed, wherein：Printhead is fixedly connected with 3-PRS parallel institutions, 3-
PRS parallel institutions are distributed on inside cartridge, and inside cartridge and the first frame use cylindrical pair, revolute pair, prismatic pair or fixation
Connection, then use is fixedly connected between corresponding print platform and the first frame, prismatic pair, revolute pair or cylindrical pair are connected, circle
Post pair connection is corresponding with being fixedly connected, and revolute pair connection is corresponding with prismatic pair connection.
Preferably, correspondence inside cartridge is provided with coaxial outside cylinder, described outside cylinder in the first described frame
Upper correspondence inside cartridge is circumferentially offering some arc surface breach, and described arc surface breach is correspondingly provided with 3-PRS parallel machines
Structure, both connected by prismatic pair, be fixed with printhead on the moving platform of described 3-PRS parallel institutions.
Described outside cylinder is identical with the connected mode of the first frame with inside cartridge with the connected mode of the first frame.
Preferably, set between the cylinder of described inside cartridge shaft shoulder equidistantly distributed for above and below, the two described shaft shoulders
There are some 3-PRS parallel institutions.
Preferably, described inside cartridge is triangular prism, in described triangular prism each faceted pebble by prismatic pair and 3-PRS simultaneously
Online structure connection, the direction of motion is vertical with print platform axis direction.
3T relative motion of the described printhead relative to print platform be respectively：Move radially Tr, axial movement TaAnd edge
The mobile T in tangent to periphery directiont, with [Tr Ta Tt] represent；Described printhead is relative relative to the cylinder for carrying printhead
Motion is respectively：Around the rotation R of printhead own axess, around the rotation R of the perpendicular horizontal axis of printhead own axeshWith
Rotation R around vertical axis directionv, with [Rs Rh Rv] represent, wherein：RsFor printout shaping without effect, value 0 is not made
Consider.Therefore rotational freedom of the printhead relative to the cylinder for carrying printhead is represented with 2R.
Technique effect
Compared with prior art, the present invention is based on cylindrical coordinates, drives printhead to move by 3-PRS parallel institutions, can
With using the printhead such as multilayer bull or individual layer single head space arrangement form, it is adaptable to which slewing parts, slicing profile have song
The quick manufacture of the part of line feature and part with space curved surface, can eliminate existing rectangular coordinate system stamping ink Plane Curved
During line profile, the error that X-axis occurs during being carried out curve fitting with Y-axis linkage；The present invention can be according to the shaping need of printout
Will, different type of drive are taken, applicability and printing effect is improved：During layered manufacturing slewing parts, synchronous driving 3-
3 prismatic pairs and print platform on the side chain of PRS parallel institutions 3；During print space curve, Differential Control 3-PRS parallel institutions 3
3 prismatic pairs on side chain, realize the rotation of printhead, and are linked with print platform, realize that curved surface is printed.The present invention can enter
The filling of row X/Y plane, layered manufacturing along the Z direction.It can be used for the lamination system along swinging printer radial section
Make, i.e., printhead is printed along above and below the progress of vertical direction contour curve, filling cylinder section has often printed one layer, printer
Along moving radially a thickness (from inside to outside or from outside to inside or both be combined), thus effectively eliminate it is original along
The alias that deep camber surface caused by Z-direction slicing mode is present.Pin of the present invention can to the structure of different printouts,
Curved surface characteristic, chooses different structure arrangements, so as to realize with outer space curved surface or with inner space curved surface
Or the quick manufacture of the part with medial and lateral space curved surface.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment 1；
Fig. 2 is the structural representation of embodiment 2；
Fig. 3 is the structural representation of embodiment 3；
Fig. 4 is the structural representation of embodiment 4；
Fig. 5 is the structural representation of embodiment 5；
Fig. 6 is the structural representation of embodiment 6；
Fig. 7 is the structural representation of embodiment 7；
Fig. 8 is the structural representation of embodiment 8；
Fig. 9 is the structural representation of embodiment 9；
Figure 10 is the structural representation of embodiment 10；
Figure 11 is the structural representation of embodiment 11；
Figure 12 is the structural representation of embodiment 12；
Figure 13 is the structural representation of 3-PRS parallel institutions in the present invention；
Figure 14 is single branched structure schematic diagram of 3-PRS parallel institutions in the present invention；
Figure 15 is the supporting plate schematic diagram of 3-PRS parallel institutions in the present invention；
In figure：Face of cylinder frame 1, print platform 2,3-PRS parallel institutions 3, printhead 4, silent flatform 5, moving platform 6, cunning
Rail 7, sliding block 8, connecting rod 9, bulb 10, supporting plate 11, inside cartridge 12, outside cylinder 13, the first frame 14.
Embodiment
Embodiments of the invention are elaborated below, following embodiments are entered under premised on technical solution of the present invention
Row is implemented, and gives detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following realities
Apply example.
In following embodiments, Tr、TaAnd TtValue can be C or P, wherein：C represents that the free degree is arranged in carrying printing
On the cylinder of head, P represents that the free degree is arranged on print platform；Described printhead is relative relative to the cylinder for carrying printhead
Motion is respectively：Around the rotation R of printhead own axess, around the rotation R of the perpendicular horizontal axis of printhead own axeshWith
Rotation R around vertical axis directionv, wherein：RsFor printout shaping without effect, value 0 is not considered, therefore distinguishes table with 2R
Show rotational freedom R of the printhead relative to the cylinder for carrying printheadh, the rotation R around vertical axis directionv。RhAnd RvTake
It is worth and represents that the free degree is arranged on printhead for H, H.
I represents printing type diametrically from inside to outside in following embodiments, and II represents printing type diametrically by outer
Inwards, III represents that printing type is diametrically combined with from inside to outside from outside to inside.
To realize that printhead possesses space optional position and the 2R frees degree relative to print platform, embodiment not office
It is limited to 3-PRS parallel institutions, the similar mechanism with 1T2R end free degree can be used.
Embodiment 1
As shown in figure 1, the present embodiment employs the printhead arrangement form of two layers of four-head, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, face of cylinder frame 1 and the print platform 2 being coaxially disposed, wherein：The surface of face of cylinder frame 1 battle array
Two layers of 3-PRS parallel institution 3 is shown, is 4 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, the face of cylinder
Frame 1 and the first frame 14 are setting up and down and are connected between the two using cylindrical pair, and print platform 2 is arranged on face of cylinder frame 1
Interior, corresponding print platform 2 is fixedly connected with the first frame 14.
As shown in Figure 13,14 and 15, described 3-PRS parallel institutions include：Silent flatform 5, supporting plate 11, moving platform 6 with
And single branched structure provided with bulb 10, connecting rod 9, slide rail 7 and sliding block 8, wherein：Pass through 3 between moving platform 6 and silent flatform 5
Single branch chain mechanism is connected, and the outside of moving platform 6 is fixedly connected with printhead 4, and the inner side of moving platform 6 is provided with three ball hinged supports, each ball
Hinged-support is connected with the bulb 10 of single branched structure respectively, and the one end of connecting rod 9 is fixedly connected with bulb 10, the other end and sliding block 8 are cut with scissors
Connect, sliding block 8 is slidably connected with slide rail 7, the end of slide rail 7 is fixedly connected with supporting plate 11, supporting plate 11 passes through movement with silent flatform 5
Pair connection, the direction of motion are identical with print platform axis direction, realize office of the 3-PRS parallel institutions 3 along the axis of face of cylinder frame 1
Portion's elevating movement.
The slide rail 7 of the single branch chain mechanism of described 3 is each perpendicular to supporting plate 11, and two of which slide rail 7 be arranged in parallel, slide rail
Center be in it is same diametrically another slide rail 7 is vertical with other two, and three slide rails are to the distance phase at the center of supporting plate 11
Deng.
Preferably, described face of cylinder frame 1 two layers of totally 8 arc surface breach above and below being circumferentially evenly equipped with, described is each
Arc surface breach is connected with the silent flatform 5 of 3-PRS parallel institutions 3 by prismatic pair, realizes 3-PRS parallel institutions around face of cylinder machine
The local rotary motion of the axis of frame 1.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3 and face of cylinder frame 1, the motion of face of cylinder frame 1 and printhead 4 is ensured with this, so that
The filling of horizontal plane Internal periphery and space profiles is realized, the printing of whole part diametrically from inside to outside is realized with this.
Embodiment 2
As shown in Fig. 2 the present embodiment employs the printhead arrangement form of two layers of four-head, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, face of cylinder frame 1 and the print platform 2 being coaxially disposed, wherein：The surface of face of cylinder frame 1 battle array
Two layers of 3-PRS parallel institution 3 is shown, is 4 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, the face of cylinder
Frame 1 and the first frame 14 are setting up and down and are connected between the two using revolute pair, and print platform 2 is arranged on face of cylinder frame 1
Interior, corresponding print platform 2 is connected with the first frame 14 using prismatic pair.
Preferably, described face of cylinder frame 1 two layers of totally 8 arc surface breach above and below being circumferentially evenly equipped with, described is each
Arc surface breach is connected with the silent flatform 5 of 3-PRS parallel institutions 3 by prismatic pair, realizes 3-PRS parallel institutions around face of cylinder machine
The local rotary motion of the axis of frame 1.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3, print platform 2 and face of cylinder frame 1, face of cylinder frame 1, print platform 2 are ensured with this
With the motion of printhead 4, so as to realize the filling of horizontal plane Internal periphery and space profiles, whole part is realized diametrically with this
Printing from inside to outside.
Embodiment 3
As shown in figure 3, the present embodiment employs the printhead arrangement form of two layers of four-head, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, face of cylinder frame 1 and the print platform 2 being coaxially disposed, wherein：The surface of face of cylinder frame 1 battle array
Two layers of 3-PRS parallel institution 3 is shown, is 4 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, the face of cylinder
Frame 1 and the first frame 14 are setting up and down and are fixedly connected between the two, and print platform 2 is arranged in face of cylinder frame 1, accordingly
Print platform 2 and the first frame 14 be connected using cylindrical pair.
Preferably, described face of cylinder frame 1 two layers of totally 8 arc surface breach above and below being circumferentially evenly equipped with, described is each
Arc surface breach is connected with the silent flatform 5 of 3-PRS parallel institutions 3 by prismatic pair, realizes 3-PRS parallel institutions around face of cylinder machine
The local rotary motion of the axis of frame 1.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3 and print platform 2, the motion of print platform 2 and printhead 4 is ensured with this, so as to realize
The filling of horizontal plane Internal periphery and space profiles, the printing of whole part diametrically from inside to outside is realized with this.
Embodiment 4
As shown in figure 4, the present embodiment employs the printhead arrangement form of two layers of four-head, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, face of cylinder frame 1 and the print platform 2 being coaxially disposed, wherein：The surface of face of cylinder frame 1 battle array
Two layers of 3-PRS parallel institution 3 is shown, is 4 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, the face of cylinder
Frame 1 and the first frame 14 are setting up and down and are connected between the two using prismatic pair, and print platform 2 is arranged on face of cylinder frame 1
Interior, corresponding print platform 2 is connected with the first frame 14 using revolute pair.
Preferably, described face of cylinder frame 1 two layers of totally 8 arc surface breach above and below being circumferentially evenly equipped with, described is each
Arc surface breach is connected with the silent flatform 5 of 3-PRS parallel institutions 3 by prismatic pair, realizes 3-PRS parallel institutions around face of cylinder machine
The local rotary motion of the axis of frame 1.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3, print platform 2 and face of cylinder frame 1, face of cylinder frame 1, print platform 2 are ensured with this
With the motion of printhead 4, so as to realize the filling of horizontal plane Internal periphery and space profiles, whole part is realized diametrically with this
Printing from inside to outside.
Embodiment 5
As shown in Fig. 5 and Figure 13, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,
3-PRS parallel institutions 3 and the first frame 14, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：Inside cartridge 12
Surface array has two layers of 3-PRS parallel institution 3, is 3 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3,
Connected between the frame 14 of inside cartridge 12 and first using cylindrical pair, print platform 2 is fixedly connected with the first frame 14.
The cylinder of described inside cartridge 12 shaft shoulder equidistantly distributed for above and below.
The inside cartridge 12 is in shoulder face provided with two layers of arc surface breach, described arc surface breach and 3- up and down
The silent flatform 5 of PRS parallel institutions 3 is connected by prismatic pair, realizes part rotation of the 3-PRS parallel institutions around the axis of inside cartridge 12
Transhipment is dynamic, drives 3-PRS parallel institutions 3 and printhead 4 to be rotated around central axis.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3 and inside cartridge 12, the motion of inside cartridge 12 and printhead 4 is ensured with this, so that real
The filling of existing horizontal plane Internal periphery and space profiles, the printing of whole part diametrically from outside to inside is realized with this.
Embodiment 6
As shown in fig. 6, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：The surface array of inside cartridge 12
There is two layers of 3-PRS parallel institution 3, be 3 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, inside cartridge
12 and first between frame 14 using prismatic pair connection, print platform 2 is connected with the first frame 14 use revolute pair.
Described inside cartridge 12 is regular triangular prism.
In described 3-PRS parallel institutions 3, silent flatform 5 is slab construction, and slab construction both sides are equipped with prismatic pair, point
It is not connected with supporting plate 11, inside cartridge 12, realizes local elevating movement of the 3-PRS parallel institutions 3 along the axis of inside cartridge 12
With moving horizontally along the surface of inside cartridge 12.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3, print platform 2 and inside cartridge 12, ensured with this inside cartridge 12, print platform 2 with
The motion of printhead 4, so as to realize the filling of horizontal plane Internal periphery and space profiles, with this realize whole part diametrically by
Printing inwards outside.
Embodiment 7
As shown in fig. 7, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：The surface array of inside cartridge 12
There is two layers of 3-PRS parallel institution 3, be 3 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, inside cartridge
12 and first between frame 14 using revolute pair connection, print platform 2 is connected with the first frame 14 use prismatic pair.
The cylinder of described inside cartridge 12 shaft shoulder equidistantly distributed for above and below.
The inside cartridge 12 is in shoulder face provided with two layers of arc surface breach, described arc surface breach and 3- up and down
The silent flatform 5 of PRS parallel institutions 3 is connected by prismatic pair, realizes part rotation of the 3-PRS parallel institutions around the axis of inside cartridge 12
Transhipment is dynamic, drives 3-PRS parallel institutions 3 and printhead 4 to be rotated around central axis.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3, print platform 2 and inside cartridge 12, ensured with this inside cartridge 12, print platform 2 with
The motion of printhead 4, so as to realize the filling of horizontal plane Internal periphery and space profiles, with this realize whole part diametrically by
Printing inwards outside.
Embodiment 8
As shown in figure 8, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：The surface array of inside cartridge 12
There is two layers of 3-PRS parallel institution 3, be 3 per layer number, printhead 4 is fixedly connected with 3-PRS parallel institutions 3, inside cartridge
It is fixedly connected between 12 and the first frame 14, print platform 2 is connected with the first frame 14 using cylindrical pair.
The cylinder of described inside cartridge 12 shaft shoulder equidistantly distributed for above and below.
The inside cartridge 12 is in shoulder face provided with two layers of arc surface breach, described arc surface breach and 3- up and down
The silent flatform 5 of PRS parallel institutions 3 is connected by prismatic pair, realizes part rotation of the 3-PRS parallel institutions around the axis of inside cartridge 12
Transhipment is dynamic, drives 3-PRS parallel institutions 3 and printhead 4 to be rotated around central axis.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3 and print platform 2, the motion of print platform 2 and printhead 4 is ensured with this, so as to realize
The filling of horizontal plane Internal periphery and space profiles, the printing of whole part diametrically from outside to inside is realized with this.
Embodiment 9
As shown in figure 9, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS are simultaneously
Online structure 3 and the first frame 14, outside cylinder 13, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：Outer side neck
The equal array of body 13 and the surface of inside cartridge 12 has two layers of 3-PRS parallel institution 3, is 3 per layer number, printhead 4 and 3-PRS
Parallel institution 3 is fixedly connected, and is connected between outside cylinder 13, the frame 14 of inside cartridge 12 and first using cylindrical pair, printing
Platform 2 is fixedly connected with the first frame 14.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3, outside cylinder 13 and inside cartridge 12, outside cylinder 13, inside cartridge 12 are ensured with this
With the motion of printhead 4, so as to realize the filling of horizontal plane Internal periphery and space profiles, whole part is realized diametrically with this
Printing with being combined from inside to outside from outside to inside.
Embodiment 10
As shown in Figure 10, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS
Parallel institution 3 and the first frame 14, outside cylinder 13, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：Outside
The equal array of cylinder 13 and the surface of inside cartridge 12 has two layers of 3-PRS parallel institution 3, is 3 per layer number, printhead 4 and 3-
PRS parallel institutions 3 are fixedly connected, and are connected, beaten using prismatic pair between outside cylinder 13, the frame 14 of inside cartridge 12 and first
Using revolute pair connection between the print frame 14 of platform 2 and first.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
PRS parallel institutions 3, outside cylinder 13, the control data of inside cartridge 12 and print platform 2, ensured with this outside cylinder 13,
The motion of inside cartridge 12, print platform 2 and printhead 4, so that the filling of horizontal plane Internal periphery and space profiles is realized, with this
Realize the printing of whole part diametrically from outside to inside with being combined from inside to outside.
Embodiment 11
As shown in figure 11, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS
Parallel institution 3 and the first frame 14, outside cylinder 13, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：Outside
The equal array of cylinder 13 and the surface of inside cartridge 12 has two layers of 3-PRS parallel institution 3, is 3 per layer number, printhead 4 and 3-
PRS parallel institutions 3 are fixedly connected, and are connected, beaten using revolute pair between outside cylinder 13, the frame 14 of inside cartridge 12 and first
Using prismatic pair connection between the print frame 14 of platform 2 and first.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
PRS parallel institutions 3, outside cylinder 13, the control data of inside cartridge 12 and print platform 2, ensured with this outside cylinder 13,
The motion of inside cartridge 12, print platform 2 and printhead 4, so that the filling of horizontal plane Internal periphery and space profiles is realized, with this
Realize the printing of whole part diametrically from outside to inside with being combined from inside to outside.
Embodiment 12
As shown in figure 12, the present embodiment employs two layers of printhead arrangement forms of three, including：Printhead 4,3-PRS
Parallel institution 3 and the first frame 14, outside cylinder 13, inside cartridge 12 and the print platform 2 being coaxially disposed, wherein：Outside
The equal array of cylinder 13 and the surface of inside cartridge 12 has two layers of 3-PRS parallel institution 3, is 3 per layer number, printhead 4 and 3-
PRS parallel institutions 3 are fixedly connected, and are to be fixedly connected between outside cylinder 13, inside cartridge 12 and the first frame 14, and printing is flat
Connected between the frame 14 of platform 2 and first using cylindrical pair.
The present embodiment, with reference to the CAD data of the part, 3- is obtained by algorithm according to three-dimensional part model forming requirements
The control data of PRS parallel institutions 3 and print platform 2, the motion of print platform 2 and printhead 4 is ensured with this, so as to realize
The filling of horizontal plane Internal periphery and space profiles, realizes that whole part is diametrically combined with from inside to outside from outside to inside with this
Printing.
Claims (9)
1. a kind of 3T2R five degree of freedom swinging 3D printer, it is characterised in that including：Printhead, 3-PRS parallel institutions and
The first frame, face of cylinder frame and the print platform being coaxially disposed, wherein：Face of cylinder frame surface is in parallel provided with some 3-PRS
Mechanism, printhead is fixedly connected with 3-PRS parallel institutions, and face of cylinder frame and the first frame are setting up and down and use between the two
Cylindrical pair, revolute pair, prismatic pair are fixedly connected, and print platform is arranged in the frame of the face of cylinder, corresponding print platform and
Then use is fixedly connected between one frame, prismatic pair, revolute pair or cylindrical pair are connected, and cylindrical pair connection is corresponding with being fixedly connected,
Revolute pair connection is corresponding with prismatic pair connection.
2. 3T2R five degree of freedom swinging 3D printer according to claim 1, it is characterized in that, described 3-PRS is in parallel
Mechanism includes：Silent flatform, supporting plate, moving platform and single branched structure provided with bulb, connecting rod, slide rail and sliding block, wherein：It is dynamic
It is connected between platform and silent flatform by 3 single branch chain mechanisms, is fixedly connected, is set on the inside of moving platform with printhead on the outside of moving platform
There are three ball hinged supports, bulb of each ball hinged support respectively with single branched structure is connected, and connecting rod one end is fixedly connected with bulb, separately
One end is hinged with sliding block, and sliding block is slidably connected with slide rail, and slide rail end is fixedly connected with supporting plate, and supporting plate passes through with silent flatform
Prismatic pair connection, the direction of motion are identical with print platform axis direction.
3. 3T2R five degree of freedom swinging 3D printer according to claim 2, it is characterized in that, the 3-PRS parallel machines
3 slide rails of structure are each perpendicular to supporting plate, and two of which slide rail be arranged in parallel, and another slide rail is vertical with other two.
4. 3T2R five degree of freedom swinging 3D printer according to claim 2, it is characterized in that, described face of cylinder frame
Some arc surface breach circumferentially are being offered, are being connected with the silent flatform of each 3-PRS parallel institutions by prismatic pair.
5. a kind of 3T2R five degree of freedom swinging 3D printer, it is characterised in that including：Printhead, 3-PRS parallel institutions and
The first frame, inside cartridge and the print platform being coaxially disposed, wherein：Printhead is fixedly connected with 3-PRS parallel institutions, 3-
PRS parallel institutions are distributed on inside cartridge, and inside cartridge and the first frame use cylindrical pair, revolute pair, prismatic pair or fixation
Connection, then use is fixedly connected between corresponding print platform and the first frame, prismatic pair, revolute pair or cylindrical pair are connected, circle
Post pair connection is corresponding with being fixedly connected, and revolute pair connection is corresponding with prismatic pair connection.
6. 3T2R five degree of freedom swinging 3D printer according to claim 5, it is characterized in that, described inside cartridge is
Some 3-PRS parallel institutions are provided between the cylinder of shaft shoulder equidistantly distributed up and down, the two described shaft shoulders.
7. 3T2R five degree of freedom swinging 3D printer according to claim 5, it is characterized in that, described inside cartridge is
Each faceted pebble is connected by prismatic pair with 3-PRS parallel institutions in prism, described prism, the direction of motion and print platform axis side
To vertical.
8. the 3T2R five degree of freedom swinging 3D printers according to claim 6 or 7, it is characterised in that described first
Correspondence inside cartridge is provided with correspondence inside cartridge on coaxial outside cylinder, described outside cylinder and offered circumferentially in frame
Some arc surface breach, described arc surface breach be correspondingly provided with 3-PRS parallel institutions, both connected by prismatic pair, it is described
3-PRS parallel institutions on be fixed with printhead.
9. 3T2R five degree of freedom swinging 3D printer according to claim 8, it is characterized in that, described outside cylinder with
The connected mode of first frame is identical with the connected mode of the first frame with inside cartridge.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638506A (en) * | 2018-05-07 | 2018-10-12 | 新沂博瑞工业设计有限公司 | A kind of 3 D-printing machine people |
| CN109263046A (en) * | 2018-10-18 | 2019-01-25 | 西安理工大学 | A kind of 3D printing system based on helix |
| CN110370633A (en) * | 2019-08-14 | 2019-10-25 | 周小鹏 | A kind of annular 3D printing equipment |
| CN110450406A (en) * | 2019-09-09 | 2019-11-15 | 安徽卓锐三维科技有限公司 | A method of 3D printing is realized in revolving body arc-shaped surface based on RPM technology |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204263548U (en) * | 2014-11-21 | 2015-04-15 | 潘祥生 | Parallel 3D printer |
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2017
- 2017-05-12 CN CN201710332484.3A patent/CN107139462B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204263548U (en) * | 2014-11-21 | 2015-04-15 | 潘祥生 | Parallel 3D printer |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638506A (en) * | 2018-05-07 | 2018-10-12 | 新沂博瑞工业设计有限公司 | A kind of 3 D-printing machine people |
| CN108638506B (en) * | 2018-05-07 | 2021-12-03 | 蔡仁爱 | Three-dimensional printing robot |
| CN109263046A (en) * | 2018-10-18 | 2019-01-25 | 西安理工大学 | A kind of 3D printing system based on helix |
| CN110370633A (en) * | 2019-08-14 | 2019-10-25 | 周小鹏 | A kind of annular 3D printing equipment |
| CN110450406A (en) * | 2019-09-09 | 2019-11-15 | 安徽卓锐三维科技有限公司 | A method of 3D printing is realized in revolving body arc-shaped surface based on RPM technology |
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| CN107139462B (en) | 2019-02-01 |
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