CN107139462B - The rotary 3D printer of 3T2R five degree of freedom - Google Patents
The rotary 3D printer of 3T2R five degree of freedom Download PDFInfo
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- 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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- 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 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
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. a kind of rotary 3D printer of 3T2R five degree of freedom characterized by comprising print head, 3-PRS parallel institution and
The first rack, cylindrical surface rack and the print platform of coaxial arrangement, in which: it is in parallel that cylindrical surface frame surface is equipped with several 3-PRS
Mechanism, each print head are fixedly connected with corresponding 3-PRS parallel institution, and cylindrical surface rack and the first rack are setting up and down and two
Cylindrical pair, revolute pair, prismatic pair are used between person or is fixedly connected, and print platform is arranged in the rack of cylindrical surface, beats accordingly
Then use is fixedly connected between print platform and the first rack, prismatic pair, revolute pair or cylindrical pair connect；
Cylindrical pair between the cylindrical surface rack and the first rack and between print platform and the first rack connects and consolidates
Fixed connection corresponds to, and revolute pair connection is corresponding with prismatic pair connection；
The 3-PRS parallel institution includes: silent flatform, support plate, moving platform and is equipped with bulb, connecting rod, sliding rail and sliding block
Single branched structure, in which: be connected between moving platform and silent flatform by 3 single branch chain mechanisms, on the outside of moving platform and print head
It is fixedly connected, is set on the inside of moving platform there are three ball hinged support, each ball hinged support is connected with the bulb of single branched structure respectively, connecting rod
One end is fixedly connected with bulb, and the other end is hinged with sliding block, and sliding block is slidably connected with sliding rail, sliding rail end and the fixed company of support plate
It connects, support plate and silent flatform are identical as print platform axis direction by prismatic pair connection, the direction of motion.
2. the rotary 3D printer of 3T2R five degree of freedom according to claim 1, characterized in that the 3-PRS parallel machine
3 sliding rails of structure are each perpendicular to support plate, and two of them sliding rail is arranged in parallel, another sliding rail is vertical with other two.
3. the rotary 3D printer of 3T2R five degree of freedom according to claim 1, characterized in that the cylindrical surface rack
Several arc surface notches circumferentially are being offered, are being connect with the silent flatform of each 3-PRS parallel institution by prismatic pair.
4. a kind of rotary 3D printer of 3T2R five degree of freedom characterized by comprising print head, 3-PRS parallel institution 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；
Cylindrical pair between the cylindrical surface rack and the first rack and between print platform and the first rack connects and consolidates
Fixed connection corresponds to, and revolute pair connection is corresponding with prismatic pair connection；
The inside cartridge is the cylinder of upper and lower shaft shoulder equidistantly distributed, is provided with several 3-PRS between two shaft shoulders
Parallel institution.
5. the rotary 3D printer of 3T2R five degree of freedom according to claim 4, characterized in that the inside cartridge is
Prism, each faceted pebble is connect by prismatic pair with 3-PRS parallel institution in the prism, the direction of motion and print platform axis side
To vertical.
6. the rotary 3D printer of 3T2R five degree of freedom according to claim 4 or 5, which is characterized in that described first
Inside cartridge is corresponded in rack and is equipped with coaxial outside cylinder, and inside cartridge is corresponded on the outside cylinder and is offered circumferentially
Several arc surface notches, the arc surface notch is correspondingly provided with 3-PRS parallel institution, the two is connected by prismatic pair, described
3-PRS parallel institution on be fixed with print head.
7. the rotary 3D printer of 3T2R five degree of freedom according to claim 6, characterized in that the outside cylinder with
The connection type and inside cartridge of first rack are identical as the connection type of the first rack.
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| CN201710332484.3A CN107139462B (en) | 2017-05-12 | 2017-05-12 | The rotary 3D printer of 3T2R five degree of freedom |
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| CN107139462B true CN107139462B (en) | 2019-02-01 |
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| CN108638506B (en) * | 2018-05-07 | 2021-12-03 | 蔡仁爱 | Three-dimensional printing robot |
| CN109263046B (en) * | 2018-10-18 | 2021-02-12 | 西安理工大学 | 3D printing system based on spiral line |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204263548U (en) * | 2014-11-21 | 2015-04-15 | 潘祥生 | Parallel 3D printer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204263548U (en) * | 2014-11-21 | 2015-04-15 | 潘祥生 | Parallel 3D printer |
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