CN107718550A - Wire driven robot 3D printer - Google Patents
Wire driven robot 3D printer Download PDFInfo
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- CN107718550A CN107718550A CN201710883070.XA CN201710883070A CN107718550A CN 107718550 A CN107718550 A CN 107718550A CN 201710883070 A CN201710883070 A CN 201710883070A CN 107718550 A CN107718550 A CN 107718550A
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- type support
- stand type
- flexible cable
- leading screw
- moving member
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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
Abstract
The invention discloses a kind of Wire driven robot 3D printer, including stand type support, end effector is provided with stand type support, stand type support is slidably fitted with lifting slider respectively on vertical frame side, the corner location of stand type support bottom four is rotatablely equipped with pulley assembly respectively, the stable flexible cable of lifting slider connection is connected to end effector down around being tilted upward again after pulley assembly, be provided with stand type support top frame can two-dimensional movement moving member, before stand type support top frame, reel servo motor is respectively equipped with side frame edge afterwards, hanging flexible cable in reel servo motor reel extends horizontally to after moving member passes through lifting hole(eyelet) and is connected to end effector straight down again respectively.The 3d printers that the present invention is moved using flexible cable parallel mechanism control printer head, compatible conventional rigid control shower nozzle motion 3d printers high efficiency, high-precision advantage, it compensate for flexibility that traditional 3d printers lack, space is limited, the defects of being difficult to dismount and transporting.
Description
Technical field
The present invention relates to 3D printer field, specifically a kind of Wire driven robot 3D printer.
Background technology
Flexible cable parallel mechanism refers to replace parallel robot of the conventional linkage as traction element using flexible cable, and flexible cable is simultaneously
The joint driving mechanism for joining robot is one of important component of robot.For a drive mechanism, output is concerned
Watt level and operation adaptability degree.For the former, it is desirable to mechanism power output is the bigger the better, and for the latter, it is desirable to make
The degree of industry adaptability is the higher the better.Generally, there is common two kinds of constant speed motor and servomotor in robot system respectively
Motor is operated alone.Common constant speed motor power (output) is high, but the online bad adaptability of operation (sets its rotating speed offline
Afterwards, can not on-line tuning), and servomotor has good online adaptability, but the power output of unit price is relatively low (i.e.
In the case of equal-wattage, much higher than common constant speed motor of the price of servomotor).In recent years, with flexible cable parallel machine
Device people constantly expands in the application of engineering field, and this also proposes higher requirement to Compliant Assembly, does not require nothing more than height
Operate to precision, high efficiency, heavy load, and require bigger flexible output, can rapidly, easily change output campaign
Rule.However, due to being limited by servo-electric acc power and moment of torsion, there is presently no directly utilize servomotor to drive
Large span, the Compliant Assembly of high capacity.
3 D-printing（3D printing）, i.e. one kind of RP technique, it is that a kind of mathematical model file is base
Plinth, with powdery metal or plastics etc. can jointing material, come the technology of constructed object by way of successively printing.For one
For platform 3d printers, it is important that be a little that cephalomotor drive mechanism is sprayed in control.Wish that stability, precision, efficiency are got over
High better, cost, complexity are more low better.In the last few years, as 3d printers constantly develop, also it is proposed higher
It is required that not requiring nothing more than, stability is good, precision is high, and requires that cost is low, just dismounts and transport and to possess bigger work
Space.But expect flexible cable parallel mechanism and 3d printers being combined together there is presently no people designing and a pass through flexible cable
The 3D printer of parallel institution control.
The content of the invention purpose of the present invention is to overcome deficiency of the prior art, there is provided it is a kind of simple in construction, it can complete
High accuracy, high stability, large space printing, realize that low cost replaces one kind of the high cost rigidity 3d printers of tradition to be based on flexible cable
The 3D printer of parallel institution.
In order to achieve the above object, the technical solution adopted in the present invention is：
Wire driven robot 3D printer, it is characterised in that：Stand type support including rectangular frame structure, in the bottom frame of stand type support
Provided with the hott bed for supporting 3D printing product, end effector, end effector are provided with above hott bed in stand type support
Extruder head is installed in lower end, and the extruder head is passed through printing consumables, and stand type support is each vertically slided respectively on vertical frame side
Lifting slider is installed, the corner location of stand type support bottom four is rotatablely equipped with pulley assembly, each lifting slider point respectively
Stable flexible cable is not connected with, after each stable flexible cable bypasses the pulley assembly of position correspondence separately down, then is tilted upward and is stretched into
In stand type support and end effector lower edge is connected to, by lifting slider by stablizing flexible cable drive end effector and squeezing
Lift one's head and move integrally；
Be provided with the stand type support top frame can two-dimensional movement in the horizontal plane moving member, the moving member is suspended from end execution
Above device, the forward and backward side of moving member is respectively equipped with multiple lifting hole(eyelet)s, is respectively equipped with the forward and backward side frame edge of stand type support top frame
Multiple reel servo motors, and forward and backward side reel servo motor is symmetrical two-by-two, is twined respectively on the reel of each reel servo motor
Hanging flexible cable is wound with, hanging flexible cable extends horizontally to moving member and corresponded through after the lifting hole(eyelet) of moving member respectively, then distinguishes
End effector upper end is connected to straight down, end effector is hung by moving member by hanging flexible cable, so that multiple stabilizations
Flexible cable is respectively at tensioning state.
Described Wire driven robot 3D printer, it is characterised in that：Stand type support each further respectively has drive on vertical frame side
The lifting slider drive mechanism of dynamic corresponding lifting slider lifting, the lifting slider drive mechanism are erected by being vertically installed at stand type support
Timing belt on straight frame side, and the servo drive motor of driving timing belt motion are formed, the zone face of lifting slider and timing belt
It is fixedly connected, drives lifting slider to be slided along vertical frame side by timing belt by servo drive motor.
Described Wire driven robot 3D printer, it is characterised in that：The corner location of stand type support bottom four is connected to
Lower corner fittings, each lower corner fittings include pulley pedestal respectively, and the pulley assembly is made up of two groups of pulleys, and two groups of pulleys rotate respectively
In each pulley pedestal, each lifting slider is connected to two bursts of stable flexible cables, and two strands of each lifting slider are steady
Determine flexible cable to correspond separately down in the lower corner fittings around position correspondence after two groups of pulleys, then tilt upward respectively stretch into it is vertical
Support is interior and is connected to end effector lower edge.
Described Wire driven robot 3D printer, it is characterised in that：The reel of reel servo motor is hung to what moving member extended
Hang in flexible cable and be respectively connected to pulling force sensor.
Described Wire driven robot 3D printer, it is characterised in that：Stand type support top frame, which is provided with, drives moving member in water
The two-dimensional movement mechanism of two-dimensional movement in plane is X in left-right direction wherein in two-dimensional movement to i.e. Y-direction along the longitudinal direction should
Two-dimensional movement mechanism includes the Y-direction leading screw being rotatably installed in respectively in the left and right side frame edge of stand type support top frame, left and right side Y-direction
The central shaft of leading screw is supported along Y-direction, each Y-direction leading screw one end by Y-direction leading screw support frame respectively, and each Y-direction leading screw other end is by Y
Supported to servomotor and concentrically axle is connected with the output shaft of Y-direction servomotor, screw thread dress respectively on each Y-direction leading screw
Form screw pair equipped with nut slider, two nut sliders are symmetrical, at the top of two nut sliders between be rotatably connected to X to
Leading screw, X support to the central shaft of leading screw along X to, X to leading screw one end from X to leading screw support frame, and X is to the leading screw other end from X to watching
Take motor support and concentrically axle is connected to the output shaft of servomotor with X, the moving member passes through tapped through hole screw thread
X is assemblied in on leading screw, screw pair is formed to leading screw from moving member and X.
Described Wire driven robot 3D printer, it is characterised in that：Be also associated between two nut sliders along X to polished rod,
The moving member is slidedly assemblied on polished rod by unthreaded hole.
Described Wire driven robot 3D printer, it is characterised in that：The end effector is a tube structure, on cylinder
End nozzle edge is provided with multiple upper hangers, is connected one to one hanging flexible cable by upper hanger, and cylinder lower end edge is provided with multiple
Hanger, connected one to one by lower hanger and stablize flexible cable, the extruder head is arranged on end effector lower end center, outside
Consumptive material on consumptive material wheel is continuously passed through in extruder head, and each consumptive material wheel is respectively by consumptive material wheel base supports.
Described Wire driven robot 3D printer, it is characterised in that：Also include host computer, control panel, host computer passes through data
Line is connected with control panel, and control panel is by wire respectively with reel servo motor, servo drive motor, X to servomotor, Y-direction
Servomotor, pulling force sensor connection.
The present invention utilizes the 3d printers of flexible cable parallel mechanism control printer head motion, compatible conventional rigid control
Shower nozzle moves high efficiency, the high-precision advantage of 3d printers, compensate for flexibility, space that traditional 3d printers lack it is limited,
Cost is high, the defects of being difficult to dismount and transporting.High efficiency, high accuracy and flexible cable parallel mechanism with traditional 3d printers it is low
Cost, large space, flexible adjustable, the advantages of being easy to dismount and transporting.Flexible cable parallel mechanism is introduced into 3d printers, disclosure satisfy that
The requirement of printing, its is simple in construction, working space is big, it is easy to assemble, can recombinate, the degree of modularity is high, load capacity is strong, motion speed
Spend fast, cheap, there is wide applicability.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the 3D printer of the flexible cable parallel mechanism control of the present invention.
Fig. 2 is the overall front view of the 3D printer of the flexible cable parallel mechanism control of the present invention.
Fig. 3 is the pulley yoke of 3D printer and the axonometric drawing of pulley of the present invention.
Fig. 4 is the top view of the 3D printer of the flexible cable parallel mechanism control of the present invention.
Fig. 5 is the front view of the 3D printer actuator of the present invention.
Fig. 6 is control process FB(flow block) of the present invention.
Embodiment
As Figure 1-Figure 5, Wire driven robot 3D printer, the stand type support 13 of rectangular frame structure, stand type support are included
The hott bed 15 for being used for supporting 3D printing product 14 is provided with 13 bottom frame, the top of hott bed 14 is located in stand type support 13 and is provided with end
Actuator 12, the lower end of end effector 12 installation extruder head 29 are held, the extruder head 29 is passed through printing consumables 20, and stand type support 13 is every
Lifting slider 3, the corner location difference of 13 bottom of stand type support four are vertically slidably fitted with individual vertical frame side respectively
Pulley assembly is rotatablely equipped with, each lifting slider 3 is connected to stable flexible cable 2, and each stable flexible cable 2 bypasses separately down
After the pulley assembly of position correspondence, then tilt upward and stretch into stand type support 13 and be connected to the lower edge of end effector 12,
End effector 12 and extruder head 29 is driven to move integrally by stablizing flexible cable 2 by lifting slider 3；
Be provided with the top frame of stand type support 13 can two-dimensional movement in the horizontal plane moving member 30, the moving member 30 is suspended from end and holds
The top of row device 12, the forward and backward side of moving member 30 are respectively equipped with multiple lifting hole(eyelet)s, in the forward and backward side frame edge of the top frame of stand type support 13
Multiple reel servo motors 5 are respectively equipped with, and forward and backward side reel servo motor is symmetrical two-by-two, the volume of electric 5 machines of each reel servo
Hanging flexible cable 31 is wound with cylinder respectively, hanging flexible cable 31 extends horizontally to moving member and corresponded through moving member 30 respectively
Lifting hole(eyelet) after, then be connected to the upper end of end effector 12 straight down respectively, end hung by moving member 30 by hanging flexible cable 31
Actuator 12 is held, so that multiple stable flexible cables 2 are respectively at tensioning state.
Stand type support 13 each further respectively has the lifting slider driving that the corresponding lifting slider 3 of driving lifts on vertical frame side
Mechanism, the lifting slider drive mechanism are synchronous by the timing belt 11 that is vertically installed on the vertical frame side of stand type support, and driving
Servo drive motor 7 with 11 motions is formed, and servo drive motor 7 is fixed on the vertical frame side of stand type support by angle joint 26,
Lifting slider 13 is fixedly connected with the zone face of timing belt 11, and lifting slider 13 is driven by timing belt 11 by servo drive motor 7
Slided along vertical frame side.
As shown in Figure 1, Figure 3, stand type support 13 bottom four corner location is connected to lower corner fittings 1, each lower corner fittings 1
Include pulley pedestal 24 respectively, pulley assembly is made up of two groups of pulleys 23, and two groups of pulleys 23 are rotatably installed in each pulley respectively
In pedestal 24, each lifting slider 3 is connected to two bursts of stable flexible cables 2, and two bursts of stable flexible cables 2 of each lifting slider 3 are divided
Do not correspond in the lower corner fittings 1 around position correspondence after two groups of pulleys 23 not downwards, then tilt upward stretch into stand type support respectively
In 13 and it is connected to the lower edge of end effector 12.
Pulling force sensor 6 has been respectively connected in the hanging flexible cable 31 that the reel of reel servo motor 5 extends to moving member 30.
As Figure 1 and Figure 4, stand type support 13 top frame, which is provided with, drives the two-dimensional movement in the horizontal plane of moving member 30
In two-dimensional movement mechanism, wherein two-dimensional movement in left-right direction be X to i.e. Y-direction, the two-dimensional movement mechanism include along the longitudinal direction
The Y-direction leading screw 8 being rotatably installed in respectively in the left and right side frame edge of the top frame of stand type support 13, the central shaft of left and right side Y-direction leading screw 8
Supported respectively along Y-direction, each one end of Y-direction leading screw 8 by Y-direction leading screw support frame 10, each other end of Y-direction leading screw 8 is by Y-direction servo electricity
Machine 4 supports and concentrically axle is connected with the output shaft of Y-direction servomotor 4, and Screw assembly has respectively on each Y-direction leading screw 8
Nut slider 32 forms screw pair, and symmetrically, two nut slider 32 is rotatably connected to X to two nut sliders 32 between top
To leading screw 33, X is to the central shaft of leading screw 33 along X to X supports to the one end of leading screw 33 from X to leading screw support frame, and X is another to leading screw 33
One end supports from X to servomotor 9 and to the output shaft of servomotor 9, concentrically axle is connected with X, and moving member 30 passes through spiral shell
Line through hole whorl is assemblied in X on leading screw 33, and screw pair is formed to leading screw 33 from moving member 30 and X.
Be also associated between two nut sliders 32 along X to polished rod 25, moving member 30 is slidedly assemblied in polished rod by unthreaded hole
On 25.
As shown in Figure 1, Figure 2, Figure 5, end effector 12 is a tube structure, and cylinder upper end nozzle edge is provided with multiple
Upper hanger 27, connected one to one by upper hanger 27 and hang flexible cable 31, cylinder lower end edge is provided with multiple lower hangers 28, hung by down
Ear 28, which connects one to one, stablizes flexible cable 2, and extruder head 29 is arranged on the lower end center of end effector 12, outside consumptive material wheel 21
On consumptive material 20 be continuously passed through in extruder head 29, each consumptive material wheel 21 is supported by consumptive material wheel pedestal 22 respectively.
Also include host computer 19, control panel 17, host computer 19 is connected by data wire 18 with control panel 17, and control panel 17 is logical
Wire 16 is crossed respectively with reel servo motor 5, servo drive motor 7, X to servomotor 9, Y-direction servomotor 4, pull sensing
Device 6 connects.
In the present invention, four groups of lifting sliders 3 are arranged on the vertical frame side of vertical frame 13, and four groups of lifting sliders 3 are in
Cross-shaped symmetrical, pulley 23 are placed on pulley pedestal 24, and pulley pedestal is fixed by screws at the bottom corners of stand type support 13,
Play a supportive role simultaneously.Lifting slider 3 is enclosed on the vertical frame side of stand type support 13, with timing belt 11 and stablizing flexible cable 2 and being connected,
Lifting slider 3 is driven to move up and down by timing belt 11, timing belt 11 is connected with servo drive motor 7 simultaneously.Stand type support 13
Four groups of vertical frame sides be fixed into cube structure by eight groups of horizon bars.Two bars of left and right respectively install Y-direction screw pair above,
Leading screw 8 rotates in Y-direction screw pair is driven by servomotor 4, wherein a nut slider 32 consolidates a servomotor 9, connection
One X is to leading screw 33, and two Y-directions, an X are to screw pair into I-shaped arrangement.Reel servo motor 5, moving member 30 pass through
Hanging flexible cable 31 of the six roots of sensation equipped with pulling force sensor 6 is connected with the end effector 12 of 3D printer, there is provided upward tensile force.
As shown in fig. 6, Wire driven robot 3D printer system control method, comprises the following steps：
（1）The initialization of carry out system, whether network communication state is good between detecting modules, is manually entered end execution
The initial position co-ordinates of device；
（2）Three-dimensional modeling is carried out using computer, computer software is cut into slices to model layers, is obtained control instruction and is changed into G code；
（3）Each sensor unit is opened, detection is arranged on the pulling force sensor in six roots of sensation hanging flexible cable, inputs and feed back all kinds of
The real-time status of signal, the live path of generation energy actual motion；
（4）When Wire driven robot 3D printer moves, the pulling force sensor in installation six roots of sensation hanging flexible cable, the corresponding data that will be measured
The feedback input end of control panel is sent to, control panel handles measurement data and measurement data is sent to by communication module in real time
Computer；
（5）The signal that computer docking receives is analyzed and processed, and completes the Mechanics Calculation of Wire driven robot 3D printer, control system
Resolve, obtain control instruction, control instruction sends control panel to by communication interface；
（6）Control panel carries out comprehensive analysis to all kinds of control instructions of receiving, calculates control signal, sends a signal to respectively
Flexible cable haulage gear control circuit, flexible cable stabilizing mechanism control circuit and shower nozzle in the control circuit of Wire driven robot 3D printer
Extrusion device control circuit, complete control Wire driven robot 3D printer in real time and carry out the receipts rope of flexible cable and put rope coordination, enter
And realize the high-precision motion of the 3D printer actuator spatial three-dimensional translational free degree；
（7）Pulling force sensor in six roots of sensation hanging flexible cable, will further detect flexible cable stress state and transmit in time
To the feedback input end of control panel, control panel handles measurement data and measurement data is sent to electricity by communicator in real time
Brain.
（8）System will be operated according to above step, until print job is completed.
Operation principle：Power source of the servo drive motor 7 as lifting slider 3, servomotor 4 are used as Y-direction feed screw nut
Secondary power source.Servo drive motor 7 is connected by belt pulley with timing belt 11, and it rotates the rotation for driving belt pulley, is made same
Step band 11 drives lifting slider 3 to slide up and down.Lifting slider 3 drives end effector 12 and extruder head 29 by stablizing flexible cable 2
Move integrally.Servomotor 4 drives Y-direction leading screw 8 to rotate by connector, makes nut slider 32, servomotor 9 along Y-direction leading screw 8
Mobile, two servomotors 4 are synchronized with the movement all the time.Servomotor 9 drives X to be rotated to leading screw 33 by connector, makes moving member 30
Moved along X to leading screw 33, moving member 30 is connected by the hanging flexible cable 31 equipped with pulling force sensor 6 with end effector 12, is carried
The tensile force fed to so that the flexible cable of lower end eight is tensioned all the time.Simultaneously by controlling the rotation of servomotor 4 and 9 and then control
The shift position of nut slider processed makes it be always positioned at directly over end effector 12.The end of whole flexible cable parallel mechanism control
Actuator has the spatial three-dimensional translational free degree, is driven by four groups of lifting sliders 3, flexible cable and screw pair and is passed equipped with pulling force
The flexible cable traction end effector motion of sensor.
Claims (8)
1. Wire driven robot 3D printer, it is characterised in that：Stand type support including rectangular frame structure, the bottom frame of stand type support
It is interior to be provided with the hott bed for being used for supporting 3D printing product, end effector is provided with stand type support above hott bed, end performs
Extruder head is installed in device lower end, and the extruder head is passed through printing consumables, and stand type support is each vertically slided respectively on vertical frame side
Dynamic to be provided with lifting slider, the corner location of stand type support bottom four is rotatablely equipped with pulley assembly, each lifting slider respectively
Stable flexible cable is connected to, after each stable flexible cable bypasses the pulley assembly of position correspondence separately down, then tilts upward and stretches
Enter in stand type support and be connected to end effector lower edge, by lifting slider by stablize flexible cable drive end effector and
Extruder head moves integrally；
Be provided with the stand type support top frame can two-dimensional movement in the horizontal plane moving member, the moving member is suspended from end execution
Above device, the forward and backward side of moving member is respectively equipped with multiple lifting hole(eyelet)s, is respectively equipped with the forward and backward side frame edge of stand type support top frame
Multiple reel servo motors, and forward and backward side reel servo motor is symmetrical two-by-two, is twined respectively on the reel of each reel servo motor
Hanging flexible cable is wound with, hanging flexible cable extends horizontally to moving member and corresponded through after the lifting hole(eyelet) of moving member respectively, then distinguishes
End effector upper end is connected to straight down, end effector is hung by moving member by hanging flexible cable, so that multiple stabilizations
Flexible cable is respectively at tensioning state.
2. Wire driven robot 3D printer according to claim 1, it is characterised in that：Stand type support is each gone back on vertical frame side
The lifting slider drive mechanism of the corresponding lifting slider lifting of driving is respectively equipped with, the lifting slider drive mechanism is by being vertically installed at
Timing belt on the vertical frame side of stand type support, and the servo drive motor of driving timing belt motion are formed, lifting slider with it is same
The zone face of step band is fixedly connected, and drives lifting slider to be slided along vertical frame side by timing belt by servo drive motor.
3. Wire driven robot 3D printer according to claim 1, it is characterised in that：The corner location of stand type support bottom four
Lower corner fittings is connected to, each lower corner fittings includes pulley pedestal respectively, and the pulley assembly is made up of two groups of pulleys, two groups of cunnings
Wheel is rotatably installed in each pulley pedestal respectively, and each lifting slider is connected to two bursts of stable flexible cables, and each lifting is slided
The stable flexible cable of two bursts of block corresponds in the lower corner fittings around position correspondence after two groups of pulleys separately down, then is tilted towards respectively
On stretch into stand type support and be connected to end effector lower edge.
4. Wire driven robot 3D printer according to claim 1, it is characterised in that：The reel of reel servo motor is to movement
Pulling force sensor has been respectively connected in the hanging flexible cable of part extension.
5. Wire driven robot 3D printer according to claim 1, it is characterised in that：Stand type support top frame, which is provided with, to be driven
The two-dimensional movement mechanism of moving member two-dimensional movement in the horizontal plane is X in left-right direction wherein in two-dimensional movement to along front and back
To i.e. Y-direction, the two-dimensional movement mechanism includes the Y-direction leading screw being rotatably installed in respectively in the left and right side frame edge of stand type support top frame,
The central shaft of left and right side Y-direction leading screw is supported along Y-direction, each Y-direction leading screw one end by Y-direction leading screw support frame respectively, each Y-direction silk
The thick stick other end is supported by Y-direction servomotor and concentrically axle is connected with the output shaft of Y-direction servomotor, each Y-direction leading screw
Upper Screw assembly respectively has nut slider to form screw pair, and two nut sliders are symmetrical, between two nut sliders top
X is rotatably connected to leading screw, X is to the central shaft of leading screw along X to X supports to leading screw one end from X to leading screw support frame, and X is to leading screw
The other end supports from X to servomotor and to the output shaft of servomotor, concentrically axle is connected with X, and the moving member passes through
Tapped through hole Screw assembly, on leading screw, screw pair is formed from moving member and X in X to leading screw.
6. Wire driven robot 3D printer according to claim 5, it is characterised in that：Edge is also associated between two nut sliders
X to polished rod, the moving member is slidedly assemblied on polished rod by unthreaded hole.
7. Wire driven robot 3D printer according to claim 1, it is characterised in that：The end effector is a cylinder
Structure, cylinder upper end nozzle edge are provided with multiple upper hangers, are connected one to one by upper hanger and hang flexible cable, cylinder lower end edge
Provided with multiple lower hangers, connected one to one by lower hanger and stablize flexible cable, the extruder head is arranged in end effector lower end
Heart position, the consumptive material on outside consumptive material wheel are continuously passed through in extruder head, and each consumptive material wheel is respectively by consumptive material wheel base supports.
8. according to the Wire driven robot 3D printer described in claim 1 or 2 or 5, it is characterised in that：Also include host computer, control
Plate, host computer are connected by data wire with control panel, and control panel is electric with reel servo motor, servo-drive respectively by wire
Machine, X connect to servomotor, Y-direction servomotor, pulling force sensor.
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| CN201710883070.XA CN107718550B (en) | 2017-09-26 | 2017-09-26 | Flexible cable driving 3D printer |
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| CN201710883070.XA CN107718550B (en) | 2017-09-26 | 2017-09-26 | Flexible cable driving 3D printer |
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| CN112176869A (en) * | 2020-09-08 | 2021-01-05 | 上海建工集团股份有限公司 | Horizontal structure 3D printing system |
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| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN109571933A (en) * | 2018-11-29 | 2019-04-05 | 夏领兵 | A kind of 3D printer |
| CN112176869A (en) * | 2020-09-08 | 2021-01-05 | 上海建工集团股份有限公司 | Horizontal structure 3D printing system |
| CN112459487A (en) * | 2020-09-08 | 2021-03-09 | 上海建工集团股份有限公司 | Portable building 3D printing system and method |
| CN112459487B (en) * | 2020-09-08 | 2022-04-15 | 上海建工集团股份有限公司 | Portable building 3D printing system and method |
| CN112176869B (en) * | 2020-09-08 | 2022-04-19 | 上海建工集团股份有限公司 | Horizontal structure 3D printing system |
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