CN107351377B - Series-parallel 3D printer - Google Patents
Series-parallel 3D printer Download PDFInfo
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- CN107351377B CN107351377B CN201710819008.4A CN201710819008A CN107351377B CN 107351377 B CN107351377 B CN 107351377B CN 201710819008 A CN201710819008 A CN 201710819008A CN 107351377 B CN107351377 B CN 107351377B
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- ball screw
- parallel
- moving chain
- printing
- branch moving
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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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- 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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
-
- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Abstract
A series-parallel 3D printer comprises a frame, a plane moving parallel mechanism, a printing lifting table, a feeding conveying device and a control panel. The plane movement parallel mechanism is fixed on the frame by utilizing a ball screw pair and a guide rail, is connected with a speed reducer and a servo motor through the ball screw pair, and realizes the two-dimensional movement of the printing spray head in the horizontal plane through three branch movement chains; the printing lifting platform is fixed on the frame by utilizing a ball screw pair and a guide rail, and is connected with the speed reducer and the servo motor through the ball screw pair, so that the printing lifting platform can move up and down in a vertical plane; the material conveying device is arranged on the movable platform and finishes the ejection of materials through the heating device and the printing nozzle; the position of the printing spray head is detected through the control and detection module, so that feedback is sent to the control panel, and the control panel regulates and controls the printing spray head to finish 3D printing. The invention can solve the problems of poor decoupling performance, small working space, low precision, weak bearing capacity and the like of the common 3D printer mechanism.
Description
Technical Field
The invention relates to the technical field of 3D printers, in particular to a series-parallel 3D printer.
Background
With the development of technology, the common production and manufacturing modes cannot meet the increasing demands of people, and more rapid prototyping technologies are applied to the life of people, and the 3D printing technology is one of the most widely applied technologies.
The 3D printing technique, also called 3D printing technique, is based on a digital model, which constructs objects by means of layer-by-layer printing using an adhesive material. 3D printing is the direct formation of three-dimensional entities from a three-dimensional model of a designed workpiece under the control of a computer system, so that any complex shaped article can be produced without regard to the process during production. This makes 3D printing technique have advantages such as high efficiency, low cost, trajectory planning are simple. It is these advantages that make this technology useful in many applications such as jewelry, aerospace, medicine, housing construction, naval vessels, etc.
In China, a plurality of scholars apply for related patents in this aspect, for example, the application number is as follows: 201610485259.9, 201610339410.8, etc. However, at present, the 3D printing industry in China still has a plurality of problems such as: the decoupling performance of the mechanism is poor, the working space is small, the precision is low, the bearing capacity is weak, and the like.
Disclosure of Invention
The invention aims to provide a series-parallel 3D printer which is used for solving the problems of poor decoupling performance, small working space, low precision, weak bearing capacity and the like of a mechanism.
The invention adopts the technical scheme for solving the problems that: the parallel-serial 3D printer comprises a frame, a plane moving parallel mechanism, a printing lifting table, a material conveying device and a control panel, wherein the plane moving parallel mechanism comprises a power mechanism, a parallel mechanism, a guide rail, a transmission mechanism and a movable platform, two perpendicular guide rails and two transmission mechanisms matched with the guide rails are arranged in the frame, and each transmission mechanism is driven by a set of power mechanism; the parallel mechanism comprises a first branch moving chain, a second branch moving chain and a third branch moving chain, wherein the first branch moving chain is just a constraint moving chain and comprises two connecting rods which are connected in a rotating way, two ends of the first branch moving chain are respectively connected with an upright post of the frame and one side surface of the movable platform in a rotating way, and a rotating axis between the connecting rods and a rotating axis at the joint of the first branch moving chain, the upright post and the movable platform are both in a vertical direction; the structure of the second branch moving chain and the structure of the third branch moving chain are the same, the second branch moving chain and the third branch moving chain respectively comprise a telescopic rod, a second revolute pair I and a second revolute pair II, one end of the telescopic rod is connected with a guide rail and a transmission mechanism through the second revolute pair I, the other end of the telescopic rod is rotationally connected with a movable platform through the second revolute pair II, in the same branch moving chain, the axes of the second revolute pair I and the second revolute pair II are parallel to the guide rail connected with the branch moving chain, and the power mechanism drives the second branch moving chain and the third branch moving chain to horizontally move along the guide rail connected with the second revolute pair II through the transmission mechanism; the material conveying device is arranged on the movable platform; the print lifting table comprises a table top and a vertical lifting mechanism arranged on the frame.
Preferably, the transmission mechanism is a ball screw pair I, and a guide rail matched with the ball screw pair I is parallel to the ball screw I in the ball screw pair I.
Preferably, the material conveying device comprises a material tray, a heating device, a printing spray head and a cooling device arranged on the movable platform, and the cooling device cools the material sprayed out of the printing spray head.
Preferably, the vertical lifting mechanism in the printing lifting table comprises a ball screw pair II and power devices, the ball screw pair II is symmetrically arranged on two sides of the printing lifting table in pairs, each ball screw pair II is connected with one set of power devices, the two sets of power devices drive the ball screws II in the two ball screw pairs II to synchronously rotate, and the ball screw nuts in the ball screw pairs II are fixedly connected with the table top of the printing lifting table.
Preferably, guide rods are symmetrically arranged on two sides of the ball screw II, the guide rods are parallel to the ball screw II, and the table top of the printing lifting table is arranged on the guide rods in a sliding mode.
Preferably, the power mechanism and the power device are servo motors and speed reducers.
Preferably, a control module and a monitoring module are arranged in the control panel.
Preferably, the movable platform is rectangular, and the first branch moving chain, the second branch moving chain and the third branch moving chain are respectively connected with three side surfaces of the movable platform.
The beneficial effects of the invention are as follows: the utility model provides a series-parallel 3D printer utilizes plane parallel mechanism to realize the removal of printing the shower nozzle place moving platform in the horizontal plane, realizes the elevating movement of printing the platform through ball screw pair. The speed jacobian matrix is a diagonal matrix, one output motion of the mechanism is controlled by only one motor, and the problems of poor decoupling property, small working space, weak bearing capacity and the like of the mechanism existing in the conventional 3D printer are solved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a planar mobile parallel mechanism according to the present invention;
FIG. 3 is a schematic view of a print lift table according to the present invention;
FIG. 4 is a schematic view of a material conveying apparatus according to the present invention;
the marks in the figure: 1. the device comprises a frame, a plane moving parallel mechanism, a printing lifting table, a material conveying device, a control panel, a servo motor, a speed reducer and a printing lifting table, wherein the frame, the plane moving parallel mechanism, the printing lifting table, the material conveying device, the control panel, the servo motor and the speed reducer are arranged in sequence, and the frame, the plane moving parallel mechanism, the printing lifting table, the material conveying device, the control panel, the servo motor, the speed reducer and the speed reducer are;
201. a guide rail, 202, a ball screw, i, 203, a movable platform, 204, a first connecting rod, 205, a second connecting rod, 206, a third connecting rod, 207, and a fourth connecting rod;
301. a table top 302, ball screws II and 303, ball screw nuts 304 and guide rods;
401. a material tray, 402, a heating device, 403, a printing nozzle, 404 and a cooling device;
l1, a first branch moving chain, L2, a second branch moving chain, L3, a third branch moving chain, R1, a first revolute pair, R2-1, a second revolute pair I, R2-2 and a second revolute pair II.
Detailed Description
The technical scheme of the invention is further described through specific embodiments with reference to the accompanying drawings.
As shown in the figure, a series-parallel type 3D printer, as shown in the figure, a 3D printer based on a plane movement parallel mechanism comprises a frame 1, a plane movement parallel mechanism 2, a printing lifting table 3, a material conveying device 4 and a control panel 5.
The frame 1 is of a cube structure, the plane moving parallel mechanism 2 mainly comprises a power mechanism, a parallel mechanism, guide rails 201, a transmission mechanism and a movable platform 203, the power mechanism consists of two servo motors 6 and speed reducers 7, the guide rails 201 are arranged vertically, each guide rail 201 is horizontally arranged at the top of the frame 1, the transmission mechanism adopts a ball screw pair I, ball screws I202 in the ball screw pair I are in one-to-one correspondence with the guide rails 201 and are parallel to the corresponding guide rails 201, the power mechanism is provided with two sets, and the servo motors 6 in the two sets of power mechanisms are all arranged on different end surfaces of the frame 1 so as to respectively drive the two ball screws I202 to rotate through the speed reducers 7; the parallel mechanism comprises a first branch moving chain L1, a second branch moving chain L2 and a third branch moving chain L3, wherein the first branch moving chain L1 is just a constraint moving chain and comprises a first connecting rod 204, a second connecting rod 205 and three first rotating pairs R1, the first connecting rod 204 and the second connecting rod 205 are rotationally connected through one of the first rotating pairs R1, the first connecting rod 204 is rotationally connected with a stand column of the frame 1 through the other first rotating pair R1, the second connecting rod 205 is rotationally connected with the movable platform 203 through the third first rotating pair R1, and the rotating shafts of the three first rotating pairs R1 are all in the vertical direction; the second branch moving chain L2 and the third branch moving chain L3 have the same structure and both comprise a telescopic rod and a second revolute pair, the second revolute pair comprises a revolute pair ir 2-1 and a revolute pair ir 2-2, the telescopic rod is formed by connecting a third connecting rod 206 and a fourth connecting rod 207 through a shifting pair, the third connecting rod 206 and the fourth connecting rod 207 can relatively move through the shifting pair so as to change the length of the telescopic rod, the third connecting rod 206 is connected with the guide rail 201 and the ball screw pair i through the revolute pair ir 2-1, the fourth connecting rod 207 is rotationally connected with the moving platform 203 through the revolute pair ir 2-2, in the same branch moving chain, the axes of the revolute pair ir 2-1 and the revolute pair ir 2-2 are parallel to the guide rail 201 connected with the branch moving chain, the ball screws i respectively connected with the servo motor 6 and the speed reducer 7 are driven to rotate, and the second branch moving chain L2 and the third branch moving chain L3 are horizontally moved along the guide rail 201 respectively connected with the servo motor 6 so as to realize two-dimensional movement of the moving platform 203 in the horizontal plane.
The printing lifting table 3 comprises a table top 301 and a vertical lifting mechanism, the vertical lifting mechanism comprises a ball screw pair II and a power device, the power device consists of a servo motor 6 and a speed reducer 7, the ball screw pair II is arranged on two sides of the table top 301 of the printing lifting table 3 in pairs and symmetrically, each ball screw pair II is connected with one set of power device, two sets of power devices drive the ball screws II 302 in the two ball screw pairs II to synchronously rotate, and the ball screw nuts 303 in the ball screw pairs II are fixedly connected with the table top 301 of the printing lifting table 3. Further, guide rods 304 are symmetrically arranged on two sides of the ball screw II 302, the guide rods 304 are parallel to the ball screw II 302, and the table top 301 of the printing lifting table 3 is slidably arranged on the guide rods 304.
The material conveying device 4 is arranged on the movable platform 203 and comprises a material disc 401, a heating device 402, a printing spray head 403 and a cooling device 404, the material enters the heating device 402 through small holes in the material disc 401, the material is heated by the heating device 402 to be melted, then the material is sprayed out from the printing spray head 403 towards the table top 301 of the lower printing lifting table 3, and finally the cooling device 404 arranged on the movable platform 203 cools the material sprayed out from the printing spray head 403, wherein a fan can be adopted as the cooling device 404.
The control panel 5 comprises a control module and a monitoring module, the two modules are mutually matched to monitor the position of the printing nozzle 403 of the 3D printer, then the collected information is displayed on a display screen of the control panel 5, and the position of the printing nozzle 403 of the 3D printer can be controlled through a button on the control panel 5.
Further, the movable platform 203 is rectangular, and the first branch moving chain L1, the second branch moving chain L2 and the third branch moving chain L3 are respectively connected to three sides of the movable platform 203.
The 3D printer is powered by a servo motor 6, a moving platform 203 in the plane moving parallel mechanism 2 is driven to move in two dimensions in a horizontal plane by connecting a ball screw pair I through a speed reducer 7, and one-dimensional lifting movement in a vertical plane is provided for a printing lifting table 3 by connecting a ball screw pair II through the speed reducer 7; the 3D printer displays the acquired information on a display screen of the control panel 5 through the monitoring module and the control module, and the position of the plane movement parallel mechanism 2 and the printing lifting table 3 is adjusted by the control panel 5 so as to realize 3D printing.
The above-described embodiment is merely an example of the present invention, but the present invention is not limited to the above-described embodiment, and various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention and the scope of the claims, which are all within the scope of the present invention.
Claims (8)
1. The utility model provides a series-parallel connection 3D printer, includes frame (1), plane removal parallel mechanism (2), prints elevating platform (3), material conveyor (4) and control panel (5), its characterized in that: the plane moving parallel mechanism (2) comprises a power mechanism, a parallel mechanism, guide rails (201), a transmission mechanism and a movable platform (203), wherein two perpendicular guide rails (201) and two transmission mechanisms matched with the guide rails (201) are arranged in the frame (1), and each transmission mechanism is driven by one set of power mechanism; the parallel mechanism comprises a first branch moving chain (L1), a second branch moving chain (L2) and a third branch moving chain (L3), wherein the first branch moving chain (L1) is just a constraint moving chain and comprises two connecting rods which are rotationally connected, two ends of the first branch moving chain (L1) are respectively rotationally connected with a stand column of the frame (1) and one side surface of the movable platform (203), and a rotating axis between the connecting rods and a rotating axis at the joint of the first branch moving chain (L1) and the stand column and the movable platform (203) are both in a vertical direction; the second branch moving chain (L2) and the third branch moving chain (L3) have the same structure and comprise a telescopic rod, a second revolute pair I (R2-1) and a second revolute pair II (R2-2), wherein one end of the telescopic rod is connected with a guide rail (201) and a transmission mechanism through the second revolute pair I (R2-1), the other end of the telescopic rod is rotationally connected with a movable platform (203) through the second revolute pair II (R2-2), in the same branch moving chain, the axes of the second revolute pair I (R2-1) and the second revolute pair II (R2-2) are parallel to the guide rail (201) connected with the branch moving chain, and the power mechanism drives the second branch moving chain (L2) and the third branch moving chain (L3) to horizontally move along the guide rail (201) connected with the power mechanism; the material conveying device (4) is arranged on the movable platform (203); the printing lifting table (3) comprises a table top (301) and a vertical lifting mechanism arranged on the frame (1).
2. The parallel-serial 3D printer of claim 1, wherein: the transmission mechanism is a ball screw pair I, and a guide rail (201) matched with the ball screw pair I is parallel to a ball screw I (202) in the ball screw pair I.
3. The parallel-serial 3D printer of claim 1, wherein: the material conveying device (4) comprises a material disc (401), a heating device (402), a printing nozzle (403) and a cooling device (404) arranged on the movable platform (203), and the cooling device (404) cools the material sprayed by the printing nozzle (403).
4. The parallel-serial 3D printer of claim 1, wherein: the vertical lifting mechanism in the printing lifting table (3) comprises a ball screw pair II and power devices, wherein the ball screw pair II is symmetrically arranged on two sides of the printing lifting table (3), each ball screw pair II is connected with one set of power devices, the two sets of power devices drive the ball screws II (302) in the two ball screw pairs II to synchronously rotate, and the ball screw nuts (303) in the ball screw pairs II are fixedly connected with the table top (301) of the printing lifting table (3).
5. The serial 3D printer of claim 4, wherein: guide rods (304) are symmetrically arranged on two sides of the ball screw II (302), the guide rods (304) are parallel to the ball screw II (302), and the table top (301) of the printing lifting table (3) is slidably arranged on the guide rods (304).
6. The series-parallel 3D printer of claim 5, wherein: the power mechanism and the power device are a servo motor (6) and a speed reducer (7).
7. The parallel-serial 3D printer of claim 1, wherein: and a control module and a monitoring module are arranged in the control panel (5).
8. The parallel-serial 3D printer of claim 1, wherein: the movable platform (203) is rectangular, and the first branch moving chain (L1), the second branch moving chain (L2) and the third branch moving chain (L3) are respectively connected with three side surfaces of the movable platform (203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819008.4A CN107351377B (en) | 2017-09-12 | 2017-09-12 | Series-parallel 3D printer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819008.4A CN107351377B (en) | 2017-09-12 | 2017-09-12 | Series-parallel 3D printer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351377A CN107351377A (en) | 2017-11-17 |
| CN107351377B true CN107351377B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710819008.4A Active CN107351377B (en) | 2017-09-12 | 2017-09-12 | Series-parallel 3D printer |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142568A (en) * | 2016-08-10 | 2016-11-23 | 江南大学 | Multidirectional 3D print apparatus |
| CN207345082U (en) * | 2017-09-12 | 2018-05-11 | 河南科技大学 | A kind of series parallel type 3D printer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786499B (en) * | 2015-04-16 | 2017-12-19 | 英华达（上海）科技有限公司 | The three-dimensional printer of printing height can be increased |
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2017
- 2017-09-12 CN CN201710819008.4A patent/CN107351377B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142568A (en) * | 2016-08-10 | 2016-11-23 | 江南大学 | Multidirectional 3D print apparatus |
| CN207345082U (en) * | 2017-09-12 | 2018-05-11 | 河南科技大学 | A kind of series parallel type 3D printer |
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| Publication number | Publication date |
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| CN107351377A (en) | 2017-11-17 |
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