CN107139462B - The rotary 3D printer of 3T2R five degree of freedom - Google Patents

The rotary 3D printer of 3T2R five degree of freedom Download PDF

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Publication number
CN107139462B
CN107139462B CN201710332484.3A CN201710332484A CN107139462B CN 107139462 B CN107139462 B CN 107139462B CN 201710332484 A CN201710332484 A CN 201710332484A CN 107139462 B CN107139462 B CN 107139462B
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China
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frame
print head
platform
prs parallel
prs
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CN107139462A (en
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赵冬华
郭为忠
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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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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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Ink Jet (AREA)

Abstract

A kind of rotary 3D printer of 3T2R five degree of freedom of 3D printing technique field, it include: print head, 3-PRS parallel institution and the first rack of coaxial arrangement, cylindrical surface rack 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 rotary printer radial section, i.e. contour curve carries out printing up and down to print head along vertical direction, fill cylinder slice, it is every to have printed one layer, printer is along a thickness (from inside to outside or from outside to inside or both combine) is moved radially, to effectively eliminate alias existing for deep camber surface caused by original slicing mode along the Z direction.Needle of the present invention can structure, curved surface characteristic to different printouts, different structural arrangement methods is chosen, 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

The rotary 3D printer of 3T2R five degree of freedom
Technical field
The present invention relates to a kind of technology in 3D printing field, specifically a kind of rotary 3D printing of 3T2R five degree of freedom Machine.
Background technique
Currently, 3D printer is mostly based on rectangular coordinate system.Have curve special slewing parts and slicing profile The quick manufacture of part is levied, printer uses the linkage of X, Y-axis, and the Drawing of Curve in printing plane is realized in fitting, former in molding There are certain errors 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 is on forming principle, and there is errors caused by alias, and the error is in printing vertical direction It is particularly evident when curved surface.It is existing major part printer by improve printing precision, realized by the way of multi-shaft interlocked curved surface at Type, or to the influence that part takes certain post-processing to reduce alias to formed precision, but cannot be completely eliminated rank Terraced effect.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of rotary 3D printing of 3T2R five degree of freedom Machine, existing fitting misses when can be inherently eliminated existing rectangular coordinate system printing two-dimensional surface curve and space curve Difference improves printing effect and quality.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of rotary 3D printers of 3T2R five degree of freedom, comprising: print head, 3-PRS parallel institution with And the first rack, cylindrical surface rack and the print platform of coaxial arrangement, in which: cylindrical surface frame surface is equipped with several 3-PRS simultaneously Online structure, print head are fixedly connected with 3-PRS parallel institution, and cylindrical surface rack is setting up and down with the first rack and adopts between the two With cylindrical pair, revolute pair, prismatic pair or be fixedly connected, print platform be arranged in the rack of cylindrical surface, corresponding print platform with Between first rack then using be fixedly connected, the connection of prismatic pair, revolute pair or cylindrical pair, cylindrical pair connects and is fixedly connected pair It answers, revolute pair connection is corresponding with prismatic pair connection.
The 3-PRS parallel institution include: silent flatform, support plate, moving platform and be equipped with bulb, connecting rod, sliding rail and Single branched structure of sliding block, in which: be connected between moving platform and silent flatform by 3 single branch chain mechanisms, on the outside of moving platform and beaten Print head is fixedly connected, and is set on the inside of moving platform there are three ball hinged support, and each ball hinged support is connected with the bulb of single branched structure respectively, Connecting rod one end is fixedly connected with bulb, the other end and sliding block are hinged, and sliding block is slidably connected with sliding rail, and sliding rail end and support plate are solid Fixed connection, support plate and silent flatform are connected by prismatic pair, the direction of motion is identical as print platform axis direction.
Preferably, 3 sliding rails of the 3-PRS parallel institution are each perpendicular to support plate, and two of them sliding rail is arranged in parallel, Another sliding rail is vertical with other two.
Preferably, the cylindrical surface rack is circumferentially offering several arc surface notches, with each 3-PRS parallel institution Silent flatform is connected by prismatic pair.
The present invention relates to a kind of rotary 3D printers of 3T2R five degree of freedom, comprising: print head, 3-PRS parallel institution with And the first rack, inside cartridge and the print platform of coaxial arrangement, in which: print head is fixedly connected with 3-PRS parallel institution, 3- PRS parallel institution is evenly arranged on inside cartridge, and inside cartridge and the first rack use cylindrical pair, revolute pair, prismatic pair or fixation Connection, then use is fixedly connected between corresponding print platform and the first rack, prismatic pair, revolute pair or cylindrical pair connect, circle The connection of column pair is corresponding with being fixedly connected, and revolute pair connection is corresponding with prismatic pair connection.
Preferably, inside cartridge is corresponded in first rack equipped with coaxial outside cylinder, the outside cylinder Upper corresponding inside cartridge is circumferentially offering several arc surface notches, and the arc surface notch is correspondingly provided with 3-PRS parallel machine Structure, the two are connected by prismatic pair, are fixed with print head on the moving platform of the 3-PRS parallel institution.
The connection type and inside cartridge of the outside cylinder and the first rack are identical as the connection type of the first rack.
Preferably, the inside cartridge is the cylinder of upper and lower shaft shoulder equidistantly distributed, is arranged between two shaft shoulders There are several 3-PRS parallel institutions.
Preferably, the inside cartridge is triangular prism, and each faceted pebble passes through prismatic pair and 3-PRS simultaneously in the triangular prism Online structure connection, the direction of motion are vertical with print platform axis direction.
The print head is respectively as follows: relative to the 3T relative motion of print platform moves radially Tr, axial movement TaThe edge and The mobile T in tangent to periphery directiont, with [Tr Ta Tt] indicate；The print head is opposite relative to the cylinder for carrying print head Movement is respectively as follows: the rotation R around print head own axess, around the rotation R of the perpendicular horizontal axis of print head own axeshWith Rotation R around vertical axis directionv, with [Rs Rh Rv] indicate, in which: RsPrintout is shaped without effect, value 0 is not made Consider.Therefore rotational freedom of the print head relative to the cylinder for carrying print head is indicated with 2R.
Technical effect
Compared with prior art, the present invention is based on cylindrical coordinates, drive print head movement by 3-PRS parallel institution, can In the form of using the print heads space layout such as multilayer bull or single layer single head, it is suitable for slewing parts, slicing profile has song The quick manufacture of the part of line feature and the part with space curved surface can eliminate existing rectangular coordinate system stamping ink Plane Curved When line profile, the error of appearance during X-axis carries out curve fitting with Y-axis linkage；The present invention can be according to the molding need of printout It wants, takes different driving methods, improve applicability and printing effect: when layered manufacturing slewing parts, synchronous driving 3- 3 prismatic pairs and print platform on 3 branch of PRS parallel institution；When print space curve, Differential Control 3-PRS parallel institution 3 3 prismatic pairs on branch realize the rotation of print head, and link with print platform, realize curved surface printing.The present invention can be into The filling of row X/Y plane, layered manufacturing along the Z direction.It can be used for the lamination system along rotary printer radial section It makes, i.e., contour curve carries out printing up and down, filling cylinder slice, every to have printed one layer, printer to print head along vertical direction Along moving radially a thickness (from inside to outside or from outside to inside or both combine), thus effectively eliminate it is original along Alias existing for deep camber surface caused by Z-direction slicing mode.Needle of the present invention can structure to different printouts, Curved surface characteristic chooses different structural arrangement methods, to realize with outer space curved surface or have inner space curved surface Or the quick manufacture of the part with medial and lateral space curved surface.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the structural schematic diagram of embodiment 2；
Fig. 3 is the structural schematic diagram of embodiment 3；
Fig. 4 is the structural schematic diagram of embodiment 4；
Fig. 5 is the structural schematic diagram of embodiment 5；
Fig. 6 is the structural schematic diagram of embodiment 6；
Fig. 7 is the structural schematic diagram of embodiment 7；
Fig. 8 is the structural schematic diagram of embodiment 8；
Fig. 9 is the structural schematic diagram of embodiment 9；
Figure 10 is the structural schematic diagram of embodiment 10；
Figure 11 is the structural schematic diagram of embodiment 11；
Figure 12 is the structural schematic diagram of embodiment 12；
Figure 13 is the structural schematic diagram of 3-PRS parallel institution in the present invention；
Figure 14 is single branched structure schematic diagram of 3-PRS parallel institution in the present invention；
Figure 15 is the support plate schematic diagram of 3-PRS parallel institution in the present invention；
In figure: cylindrical surface rack 1,3-PRS parallel institution 3, print head 4, silent flatform 5, moving platform 6, is slided print platform 2 Rail 7, sliding block 8, connecting rod 9, bulb 10, support plate 11, inside cartridge 12, outside cylinder 13, the first rack 14.
Specific embodiment
Elaborate below to the embodiment of the present invention, following embodiments under the premise of the technical scheme of the present invention into Row is implemented, and the detailed implementation method and specific operation process are given, 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, in which: C indicate freedom degree be arranged in carrying printing On the cylinder of head, P indicates that freedom degree is arranged on print platform；The print head is opposite relative to the cylinder for carrying print head Movement is respectively as follows: the rotation R around print head own axess, around the rotation R of the perpendicular horizontal axis of print head own axeshWith Rotation R around vertical axis directionv, in which: RsPrintout is shaped without effect, value 0 is not considered, therefore distinguishes table with 2R Show rotational freedom R of the print head relative to the cylinder for carrying print headh, rotation R around vertical axis directionv。RhAnd RvTake Value is H, and H indicates that the freedom degree is arranged on print head.
I indicates printing type radially from inside to outside in following embodiments, and II indicates printing type radially by outer Inwards, III indicates that printing type is combined with from inside to outside from outside to inside radially.
To realize that print head has a space any position and 2R freedom degree relative to print platform, specific embodiment not office It is limited to 3-PRS parallel institution, the similar mechanism with 1T2R end free degree can be used.
Embodiment 1
As shown in Figure 1, the present embodiment uses the print head arrangement form of two layers of four-head, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, cylindrical surface rack 1 and the print platform 2 of coaxial arrangement, in which: 1 surface of cylindrical surface rack battle array Two layers of 3-PRS parallel institution 3 is shown, every layer number is 4, and print head 4 is fixedly connected with 3-PRS parallel institution 3, cylindrical surface Rack 1 is setting up and down with the first rack 14 and is connect between the two using cylindrical pair, and print platform 2 is arranged in cylindrical surface rack 1 Interior, corresponding print platform 2 is fixedly connected with the first rack 14.
As shown in Figure 13,14 and 15, the 3-PRS parallel institution include: silent flatform 5, support plate 11, moving platform 6 with And single branched structure equipped with bulb 10, connecting rod 9, sliding rail 7 and sliding block 8, in which: 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 print head 4, set on the inside of moving platform 6 there are three ball hinged support, each ball Hinged-support is connected with the bulb 10 of single branched structure respectively, and 9 one end of connecting rod is fixedly connected with bulb 10, the other end and sliding block 8 are cut with scissors It connects, sliding block 8 is slidably connected with sliding rail 7, and 7 end of sliding rail is fixedly connected with support plate 11, and support plate 11 and silent flatform 5 pass through movement Pair connection, the direction of motion are identical as print platform axis direction, realize 3-PRS parallel institution 3 along the office of 1 axis of cylindrical surface rack Portion's elevating movement.
The sliding rail 7 of the single branch chain mechanism of described 3 is each perpendicular to support plate 11, and two of them sliding rail 7 is arranged in parallel, sliding rail Center be in it is same diametrically another sliding rail 7 is vertical with other two, and three sliding rails are to the distance phase at 11 center of support plate Deng.
Preferably, the cylindrical surface rack 1 is circumferentially being evenly equipped with upper layer and lower layer totally 8 arc surface notches, and described is each Arc surface notch is connect with the silent flatform 5 of 3-PRS parallel institution 3 by prismatic pair, realizes 3-PRS parallel institution around cylindrical surface machine The local rotary motion of 1 axis of frame.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3 and cylindrical surface rack 1, the movement of cylindrical surface rack 1 Yu print head 4 is ensured with this, thus The filling for realizing horizontal plane Internal periphery and space profiles, realizes the printing of entire part radially from inside to outside with this.
Embodiment 2
As shown in Fig. 2, the present embodiment uses the print head arrangement form of two layers of four-head, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, cylindrical surface rack 1 and the print platform 2 of coaxial arrangement, in which: 1 surface of cylindrical surface rack battle array Two layers of 3-PRS parallel institution 3 is shown, every layer number is 4, and print head 4 is fixedly connected with 3-PRS parallel institution 3, cylindrical surface Rack 1 is setting up and down with the first rack 14 and is connect between the two using revolute pair, and print platform 2 is arranged in cylindrical surface rack 1 Interior, corresponding print platform 2 is connect with the first rack 14 using prismatic pair.
Preferably, the cylindrical surface rack 1 is circumferentially being evenly equipped with upper layer and lower layer totally 8 arc surface notches, and described is each Arc surface notch is connect with the silent flatform 5 of 3-PRS parallel institution 3 by prismatic pair, realizes 3-PRS parallel institution around cylindrical surface machine The local rotary motion of 1 axis of frame.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, print platform 2 and cylindrical surface rack 1 ensure cylindrical surface rack 1, print platform 2 with this Entire part is realized radially with this to realize the filling of horizontal plane Internal periphery and space profiles with the movement of print head 4 Printing from inside to outside.
Embodiment 3
As shown in figure 3, the present embodiment uses the print head arrangement form of two layers of four-head, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, cylindrical surface rack 1 and the print platform 2 of coaxial arrangement, in which: 1 surface of cylindrical surface rack battle array Two layers of 3-PRS parallel institution 3 is shown, every layer number is 4, and print head 4 is fixedly connected with 3-PRS parallel institution 3, cylindrical surface Rack 1 is setting up and down with the first rack 14 and is fixedly connected between the two, and print platform 2 is arranged in cylindrical surface rack 1, accordingly Print platform 2 and the first rack 14 connect using cylindrical pair.
Preferably, the cylindrical surface rack 1 is circumferentially being evenly equipped with upper layer and lower layer totally 8 arc surface notches, and described is each Arc surface notch is connect with the silent flatform 5 of 3-PRS parallel institution 3 by prismatic pair, realizes 3-PRS parallel institution around cylindrical surface machine The local rotary motion of 1 axis of frame.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3 and print platform 2, the movement of print platform 2 Yu print head 4 is ensured with this, to realize The filling of horizontal plane Internal periphery and space profiles realizes the printing of entire part radially from inside to outside with this.
Embodiment 4
As shown in figure 4, the present embodiment uses the print head arrangement form of two layers of four-head, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, cylindrical surface rack 1 and the print platform 2 of coaxial arrangement, in which: 1 surface of cylindrical surface rack battle array Two layers of 3-PRS parallel institution 3 is shown, every layer number is 4, and print head 4 is fixedly connected with 3-PRS parallel institution 3, cylindrical surface Rack 1 is setting up and down with the first rack 14 and is connect between the two using prismatic pair, and print platform 2 is arranged in cylindrical surface rack 1 Interior, corresponding print platform 2 is connect with the first rack 14 using revolute pair.
Preferably, the cylindrical surface rack 1 is circumferentially being evenly equipped with upper layer and lower layer totally 8 arc surface notches, and described is each Arc surface notch is connect with the silent flatform 5 of 3-PRS parallel institution 3 by prismatic pair, realizes 3-PRS parallel institution around cylindrical surface machine The local rotary motion of 1 axis of frame.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, print platform 2 and cylindrical surface rack 1 ensure cylindrical surface rack 1, print platform 2 with this Entire part is realized radially with this to realize the filling of horizontal plane Internal periphery and space profiles with the movement of print head 4 Printing from inside to outside.
Embodiment 5
As shown in Fig. 5 and Figure 13, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4, 3-PRS parallel institution 3 and the first rack 14, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: inside cartridge 12 Surface array has two layers of 3-PRS parallel institution 3, and every layer number is 3, and print head 4 is fixedly connected with 3-PRS parallel institution 3, It is connected between inside cartridge 12 and the first rack 14 using cylindrical pair, print platform 2 is fixedly connected with the first rack 14.
The inside cartridge 12 is the cylindrical body of upper and lower shaft shoulder equidistantly distributed.
The inside cartridge 12 is equipped with upper layer and lower layer arc surface notch, the arc surface notch and 3- in shoulder face The silent flatform 5 of PRS parallel institution 3 is connected by prismatic pair, realizes part rotation of the 3-PRS parallel institution around 12 axis of inside cartridge Transhipment is dynamic, and 3-PRS parallel institution 3 and print head 4 is driven to be rotated around central axis.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3 and inside cartridge 12, the movement of inside cartridge 12 Yu print head 4 is ensured with this, thus real The filling of existing horizontal plane Internal periphery and space profiles, realizes the printing of entire part radially from outside to inside with this.
Embodiment 6
As shown in fig. 6, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: 12 surface array of inside cartridge There is two layers of 3-PRS parallel institution 3, every layer number is 3, and print head 4 is fixedly connected with 3-PRS parallel institution 3, inside cartridge 12 and first are connected using prismatic pair between rack 14, and print platform 2 is connect with the first rack 14 use revolute pair.
The inside cartridge 12 is regular triangular prism.
In the 3-PRS parallel institution 3, silent flatform 5 is slab construction, and slab construction two sides are equipped with prismatic pair, point It is not connect with support plate 11, inside cartridge 12, realizes 3-PRS parallel institution 3 along the local elevating movement of 12 axis of inside cartridge With moving horizontally along 12 surface of inside cartridge.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, print platform 2 and inside cartridge 12, with this come ensure inside cartridge 12, print platform 2 with The movement of print head 4, to realize the filling of horizontal plane Internal periphery and space profiles, with this realize entire part radially by Printing inwards outside.
Embodiment 7
As shown in fig. 7, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: 12 surface array of inside cartridge There is two layers of 3-PRS parallel institution 3, every layer number is 3, and print head 4 is fixedly connected with 3-PRS parallel institution 3, inside cartridge 12 and first are connected using revolute pair between rack 14, and print platform 2 is connect with the first rack 14 use prismatic pair.
The inside cartridge 12 is the cylindrical body of upper and lower shaft shoulder equidistantly distributed.
The inside cartridge 12 is equipped with upper layer and lower layer arc surface notch, the arc surface notch and 3- in shoulder face The silent flatform 5 of PRS parallel institution 3 is connected by prismatic pair, realizes part rotation of the 3-PRS parallel institution around 12 axis of inside cartridge Transhipment is dynamic, and 3-PRS parallel institution 3 and print head 4 is driven to be rotated around central axis.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, print platform 2 and inside cartridge 12, with this come ensure inside cartridge 12, print platform 2 with The movement of print head 4, to realize the filling of horizontal plane Internal periphery and space profiles, with this realize entire part radially by Printing inwards outside.
Embodiment 8
As shown in figure 8, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: 12 surface array of inside cartridge There is two layers of 3-PRS parallel institution 3, every layer number is 3, and print head 4 is fixedly connected with 3-PRS parallel institution 3, inside cartridge It is fixedly connected between 12 and the first rack 14, print platform 2 is connect with the first rack 14 using cylindrical pair.
The inside cartridge 12 is the cylindrical body of upper and lower shaft shoulder equidistantly distributed.
The inside cartridge 12 is equipped with upper layer and lower layer arc surface notch, the arc surface notch and 3- in shoulder face The silent flatform 5 of PRS parallel institution 3 is connected by prismatic pair, realizes part rotation of the 3-PRS parallel institution around 12 axis of inside cartridge Transhipment is dynamic, and 3-PRS parallel institution 3 and print head 4 is driven to be rotated around central axis.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3 and print platform 2, the movement of print platform 2 Yu print head 4 is ensured with this, to realize The filling of horizontal plane Internal periphery and space profiles realizes the printing of entire part radially from outside to inside with this.
Embodiment 9
As shown in figure 9, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS are simultaneously Online structure 3 and the first rack 14, outside cylinder 13, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: outer side neck The equal array of body 13 and 12 surface of inside cartridge has two layers of 3-PRS parallel institution 3, and every layer number is 3, print head 4 and 3-PRS Parallel institution 3 is fixedly connected, and cylindrical pair connection, printing are all made of between outside cylinder 13, inside cartridge 12 and the first rack 14 Platform 2 is fixedly connected with the first rack 14.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, outside cylinder 13 and inside cartridge 12, with this come ensure outside cylinder 13, inside cartridge 12 Entire part is realized radially with this to realize the filling of horizontal plane Internal periphery and space profiles with the movement of print head 4 From outside to inside with the printing combined from inside to outside.
Embodiment 10
As shown in Figure 10, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS Parallel institution 3 and the first rack 14, outside cylinder 13, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: outside The equal array of cylinder 13 and 12 surface of inside cartridge has two layers of 3-PRS parallel institution 3, and every layer number is 3, print head 4 and 3- PRS parallel institution 3 is fixedly connected, and prismatic pair connection is all made of between outside cylinder 13, inside cartridge 12 and the first rack 14, is beaten It prints and is connected between platform 2 and the first rack 14 using revolute pair.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, outside cylinder 13, inside cartridge 12 and print platform 2, with this come ensure outside cylinder 13, The movement of inside cartridge 12, print platform 2 and print head 4, so that the filling of horizontal plane Internal periphery and space profiles is realized, with this Realize entire part radially from outside to inside with the printing combined from inside to outside.
Embodiment 11
As shown in figure 11, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS Parallel institution 3 and the first rack 14, outside cylinder 13, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: outside The equal array of cylinder 13 and 12 surface of inside cartridge has two layers of 3-PRS parallel institution 3, and every layer number is 3, print head 4 and 3- PRS parallel institution 3 is fixedly connected, and revolute pair connection is all made of between outside cylinder 13, inside cartridge 12 and the first rack 14, is beaten It prints and is connected between platform 2 and the first rack 14 using prismatic pair.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3, outside cylinder 13, inside cartridge 12 and print platform 2, with this come ensure outside cylinder 13, The movement of inside cartridge 12, print platform 2 and print head 4, so that the filling of horizontal plane Internal periphery and space profiles is realized, with this Realize entire part radially from outside to inside with the printing combined from inside to outside.
Embodiment 12
As shown in figure 12, the present embodiment uses two layers of three print head arrangement forms, comprising: print head 4,3-PRS Parallel institution 3 and the first rack 14, outside cylinder 13, inside cartridge 12 and the print platform 2 of coaxial arrangement, in which: outside The equal array of cylinder 13 and 12 surface of inside cartridge has two layers of 3-PRS parallel institution 3, and every layer number is 3, print head 4 and 3- PRS parallel institution 3 is fixedly connected, and is to be fixedly connected between outside cylinder 13, inside cartridge 12 and the first rack 14, and printing is flat It is connected between platform 2 and the first rack 14 using cylindrical pair.
The present embodiment is according to three-dimensional part model forming requirements, in conjunction with the CAD data of the part, obtains 3- by algorithm The control data of PRS parallel institution 3 and print platform 2, the movement of print platform 2 Yu print head 4 is ensured with this, to realize The filling of horizontal plane Internal periphery and space profiles realizes that entire part is combined with from inside to outside from outside to inside radially with this Printing.

Claims (7)

1.一种3T2R五自由度回转式3D打印机，其特征在于，包括：打印头、3-PRS并联机构以及同轴设置的第一机架、圆柱面机架和打印平台，其中：圆柱面机架表面设有若干3-PRS并联机构，每个打印头与对应的3-PRS并联机构固定连接，圆柱面机架与第一机架上下设置且两者之间采用圆柱副、转动副、移动副或固定连接，打印平台设置在圆柱面机架内，相应的打印平台与第一机架之间则采用固定连接、移动副、转动副或圆柱副连接；1. a 3T2R five-degree-of-freedom rotary 3D printer, is characterized in that, comprises: the first frame, the cylindrical surface frame and the printing platform that print head, 3-PRS parallel mechanism and coaxial setting, wherein: cylindrical surface machine There are several 3-PRS parallel mechanisms on the surface of the frame, and each print head is fixedly connected with the corresponding 3-PRS parallel mechanism. Vice or fixed connection, the printing platform is set in the cylindrical frame, and the corresponding printing platform and the first frame are connected by fixed connection, moving pair, rotating pair or cylindrical pair; 所述的圆柱面机架与第一机架之间以及打印平台与第一机架之间的圆柱副连接与固定连接对应，转动副连接与移动副连接对应；The cylindrical auxiliary connection between the cylindrical surface frame and the first frame and between the printing platform and the first frame corresponds to the fixed connection, and the rotational auxiliary connection corresponds to the movable auxiliary connection; 所述的3-PRS并联机构包括：静平台、支撑板、动平台以及设有球头、连杆、滑轨和滑块的单支链结构，其中：动平台和静平台之间通过3个单支链机构相连，动平台外侧与打印头固定连接，动平台内侧设有三个球铰支座，各球铰支座分别与单支链结构的球头相连，连杆一端与球头固定连接，另一端与滑块铰接，滑块与滑轨滑动连接，滑轨末端与支撑板固定连接，支撑板与静平台通过移动副连接、运动方向与打印平台轴线方向相同。The 3-PRS parallel mechanism includes: a static platform, a support plate, a moving platform, and a single-branched chain structure provided with a ball head, a connecting rod, a slide rail and a slider, wherein: there are three passages between the moving platform and the static platform. The single-chain mechanism is connected, the outer side of the moving platform is fixedly connected to the print head, and the inner side of the moving platform is provided with three spherical hinge supports, each of which is connected to the ball head of the single-chain structure, and one end of the connecting rod is fixedly connected to the ball head , the other end is hinged with the slider, the slider is slidably connected with the slide rail, the end of the slide rail is fixedly connected with the support plate, the support plate and the static platform are connected by a moving pair, and the movement direction is the same as the axis direction of the printing platform. 2.根据权利要求1所述的3T2R五自由度回转式3D打印机，其特征是，所述3-PRS并联机构的3个滑轨均垂直于支撑板，其中两个滑轨平行设置，另一个滑轨与其余两个垂直。2. The 3T2R five-degree-of-freedom rotary 3D printer according to claim 1, wherein the three slide rails of the 3-PRS parallel mechanism are all perpendicular to the support plate, wherein two slide rails are arranged in parallel, and the other The slide rail is perpendicular to the remaining two. 3.根据权利要求1所述的3T2R五自由度回转式3D打印机，其特征是，所述的圆柱面机架在周向开设有若干圆弧面缺口，与各3-PRS并联机构的静平台通过移动副连接。3. The 3T2R five-degree-of-freedom rotary 3D printer according to claim 1, wherein the cylindrical surface frame is provided with a number of arc surface gaps in the circumferential direction, and the static platform of each 3-PRS parallel mechanism Connect via mobile vice. 4.一种3T2R五自由度回转式3D打印机，其特征在于，包括：打印头、3-PRS并联机构以及同轴设置的第一机架、内侧筒体和打印平台，其中：打印头与3-PRS并联机构固定连接，3-PRS并联机构均布在内侧筒体上，内侧筒体与第一机架采用圆柱副、转动副、移动副或固定连接，相应的打印平台与第一机架之间则采用固定连接、移动副、转动副或圆柱副连接；4. A 3T2R five-degree-of-freedom rotary 3D printer, characterized in that it comprises: a print head, a 3-PRS parallel mechanism, and a coaxially arranged first frame, an inner cylinder and a printing platform, wherein: the print head and 3 - The PRS parallel mechanism is fixedly connected, and the 3-PRS parallel mechanism is evenly distributed on the inner cylinder. The inner cylinder and the first frame are connected by a cylindrical pair, a rotating pair, a moving pair or a fixed connection, and the corresponding printing platform is connected with the first frame. Fixed connection, moving pair, rotating pair or cylindrical pair are used between them; 所述的圆柱面机架与第一机架之间以及打印平台与第一机架之间的圆柱副连接与固定连接对应，转动副连接与移动副连接对应；The cylindrical auxiliary connection between the cylindrical surface frame and the first frame and between the printing platform and the first frame corresponds to the fixed connection, and the rotational auxiliary connection corresponds to the movable auxiliary connection; 所述的内侧筒体为上下轴肩等间距分布的柱体，所述的两轴肩之间设置有若干3-PRS并联机构。The inner cylinder is a cylinder with upper and lower shaft shoulders equally spaced, and a number of 3-PRS parallel mechanisms are arranged between the two shaft shoulders. 5.根据权利要求4所述的3T2R五自由度回转式3D打印机，其特征是，所述的内侧筒体为棱柱，所述的棱柱中各棱面通过移动副与3-PRS并联机构连接，运动方向与打印平台轴线方向垂直。5. The 3T2R five-degree-of-freedom rotary 3D printer according to claim 4, wherein the inner cylinder is a prism, and each facet in the prism is connected to a 3-PRS parallel mechanism through a moving pair, The movement direction is perpendicular to the axis direction of the printing platform. 6.根据权利要求4或5所述的3T2R五自由度回转式3D打印机，其特征在于，所述的第一机架上对应内侧筒体设有同轴的外侧筒体，所述的外侧筒体上对应内侧筒体在周向开设有若干圆弧面缺口，所述的圆弧面缺口对应设有3-PRS并联机构、两者通过移动副连接，所述的3-PRS并联机构上固定有打印头。6. The 3T2R five-degree-of-freedom rotary 3D printer according to claim 4 or 5, wherein the first frame is provided with a coaxial outer cylinder corresponding to the inner cylinder, and the outer cylinder is provided with a coaxial outer cylinder. There are several arc surface gaps in the circumferential direction corresponding to the inner cylinder body on the body, and the arc surface gaps are correspondingly provided with a 3-PRS parallel mechanism, the two are connected by a moving pair, and the 3-PRS parallel mechanism is fixed on the There are print heads. 7.根据权利要求6所述的3T2R五自由度回转式3D打印机，其特征是，所述的外侧筒体与第一机架的连接方式与内侧筒体与第一机架的连接方式相同。7 . The 3T2R five-degree-of-freedom rotary 3D printer according to claim 6 , wherein the connection between the outer cylinder and the first frame is the same as the connection between the inner cylinder and the first frame. 8 .
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