CN107718550B - Flexible cable driving 3D printer - Google Patents

Flexible cable driving 3D printer Download PDF

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Publication number
CN107718550B
CN107718550B CN201710883070.XA CN201710883070A CN107718550B CN 107718550 B CN107718550 B CN 107718550B CN 201710883070 A CN201710883070 A CN 201710883070A CN 107718550 B CN107718550 B CN 107718550B
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China
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vertical support
effector
printer
flexible cable
moving
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CN107718550A (en
Inventor
钱森
王恭硕
訾斌
王正雨
王道明
钟严麒
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Hefei University of Technology
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Hefei University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B33ADDITIVE MANUFACTURING TECHNOLOGY
    • B33YADDITIVE 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
    • B33Y30/00Apparatus for additive manufacturing; Details thereof or accessories therefor

Abstract

The invention discloses a flexible cable driven 3D printer which comprises a vertical support, wherein an end effector is arranged in the vertical support, lifting slide blocks are respectively and slidably arranged on vertical frame edges of the vertical support, pulley assemblies are respectively and rotatably arranged at four corner positions at the bottom of the vertical support, a stable flexible cable connected with the lifting slide blocks downwards bypasses the pulley assemblies and then is obliquely and upwards connected to the end effector, a moving piece capable of moving in two dimensions is arranged in a top frame of the vertical support, reel servo motors are respectively arranged on the front side frame edge and the rear side frame edge of the top frame of the vertical support, and hanging flexible cables on reels of the reel servo motors horizontally extend to the moving piece to penetrate through hanging holes and then are vertically and downwards connected to the end effector. The 3d printer which controls the movement of the printer nozzle by using the flexible cable parallel mechanism is compatible with the advantages of high efficiency and high precision of the traditional 3d printer which controls the movement of the nozzle rigidly, and overcomes the defects of the traditional 3d printer that the flexibility is lacked, the space is limited, and the disassembly, the assembly and the transportation are difficult.

Description

Flexible cable driving 3D printer
Technical Field
The invention relates to the field of 3D printers, in particular to a flexible cable-driven 3D printer.
Background
The flexible cable parallel mechanism is a parallel robot which adopts flexible cables to replace a traditional connecting rod as a traction element, and a joint driving mechanism of the flexible cable parallel robot is one of important parts of the robot. For a single drive mechanism, the output power level and job adaptability are of concern. The former is preferable as the mechanism output is larger, and the latter is preferable as the degree of work adaptability is higher. Generally, a robot system has two motors, namely a normal constant speed motor and a servo motor, which are driven independently. The ordinary constant-speed motor has high power, but the online adaptability of the operation is poor (namely, after the rotating speed of the ordinary constant-speed motor is set off line, the online adjustment cannot be carried out), while the servo motor has good online adaptability, but the output power per unit price is lower (namely, under the condition of the same power, the price of the servo motor is higher than that of the ordinary constant-speed motor). In recent years, as the application of the flexible cable parallel robot in the engineering field is expanded, higher requirements are put forward on the flexible cable parallel robot, and the flexible cable parallel robot is required to be operated with high precision, high efficiency and heavy load, have larger flexible output and can change the output motion rule rapidly and conveniently. However, due to the limitations of the power and the torque of the servo motor, a large-span and high-load flexible cable parallel robot is not driven by the servo motor directly.
Three-dimensional printing (3D printing), one of the rapid prototyping technologies, is a technology for constructing an object by layer-by-layer printing using an adhesive material such as powdered metal or plastic based on a digital model file. For a 3d printer, it is important to have a drive mechanism that controls the movement of the ejection head. It is desirable that the higher the stability, accuracy, efficiency, the better, and the lower the cost, complexity, the better. In recent years, as 3d printers have been developed, higher demands have been made on them, which are not only good in stability and high in precision but also low in cost, easy to disassemble and transport, and larger in working space. However, no one has thought of designing a 3D printer controlled by a flexible cable parallel mechanism by combining the flexible cable parallel mechanism and the 3D printer.
The invention aims to overcome the defects in the prior art, and provides a 3D printer based on a flexible cable parallel mechanism, which is simple in structure, can finish high-precision, high-stability and large-space printing, and can replace the traditional high-cost rigid 3D printer with low cost.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
flexible cable drive 3D printer, its characterized in that: the vertical support comprises a rectangular frame structure, a heating bed for supporting a 3D printing product is arranged in a bottom frame of the vertical support, an end effector is arranged above the heating bed in the vertical support, an extrusion head is mounted at the lower end of the end effector, the extrusion head is introduced into printing consumables, a lifting slider is respectively and slidably mounted on each vertical frame edge of the vertical support along the vertical direction, pulley assemblies are respectively and rotatably mounted at four corner positions of the bottom of the vertical support, each lifting slider is respectively connected with a stable flexible cable, each stable flexible cable downwards bypasses the corresponding pulley assembly at the position and then obliquely upwards extends into the vertical support and is connected with the edge of the lower end of the end effector, and the lifting slider drives the end effector and the extrusion head to integrally move through the stable flexible cables;
the vertical support top frame is internally provided with a moving element capable of moving in a two-dimensional manner in a horizontal plane, the moving element is suspended above the end effector, the front side and the rear side of the moving element are respectively provided with a plurality of lifting holes, the front side and the rear side of the vertical support top frame are respectively provided with a plurality of drum servo motors, the front side and the rear side of each drum servo motor are in pairwise symmetry, a hanging flexible cable is respectively wound on a drum of each drum servo motor, the hanging flexible cables horizontally extend to the moving element respectively and penetrate through the lifting holes of the moving element in a one-to-one correspondence manner, then are vertically and downwards connected to the upper end of the end effector respectively, and the end effector is hung by the hanging flexible cables through the moving element, so that the stable flexible cables.
The flexible cable drive 3D printer, its characterized in that: the lifting slide block driving mechanism for driving the corresponding lifting slide block to lift is further arranged on each vertical frame edge of the vertical support respectively, the lifting slide block driving mechanism is composed of a synchronous belt vertically installed on the vertical frame edge of the vertical support and a servo driving motor for driving the synchronous belt to move, the lifting slide block is fixedly connected with the belt surface of the synchronous belt, and the servo driving motor drives the lifting slide block to slide along the vertical frame edge through the synchronous belt.
The flexible cable drive 3D printer, its characterized in that: four turning positions in vertical support bottom are connected with down the corner fitting respectively, and every lower corner fitting includes the pulley base respectively, loose pulley assembly comprises two sets of pulleys, and two sets of pulleys rotate respectively and install in every pulley base, and every elevator block is connected with two strands respectively and stabilizes the flexible cable, and two strands of each elevator block stabilize the flexible cable and walk around behind two sets of pulleys in the lower corner fitting that the position corresponds downwards one-to-one respectively, and the slope is do not respectively again upwards stretched into in the vertical support and is connected at end effector lower extreme edge.
The flexible cable drive 3D printer, its characterized in that: tension sensors are respectively connected into hanging flexible cables extending from a winding drum of the winding drum servo motor to the moving part.
The flexible cable drive 3D printer, its characterized in that: the two-dimensional moving mechanism is arranged on a top frame of the vertical support and drives a moving part to move in two dimensions in a horizontal plane, wherein the two-dimensional moving mechanism moves in the left-right direction, namely the X direction, and in the front-back direction, namely the Y direction, and comprises Y-direction lead screws which are respectively rotatably arranged on the left frame side and the right frame side of the top frame of the vertical support, the central shafts of the left-side Y-direction lead screws and the right-side Y-direction lead screws are respectively arranged in the Y direction, one end of each Y-direction lead screw is supported by a Y-direction servo motor and is in transmission connection with the central shaft of the output shaft of the Y-direction servo motor, nut slide blocks are respectively and threadedly assembled on each Y-direction lead screw to form a lead screw nut pair, the two nut slide blocks are mutually symmetrical, the X-direction lead screw is rotatably connected between the tops of the two nut slide blocks, the central shaft of the X-direction lead screw is in the X direction, one end The moving piece is assembled on the X-direction lead screw through the thread through hole, and the moving piece and the X-direction lead screw form a lead screw nut pair.
The flexible cable drive 3D printer, its characterized in that: and a polished rod along the X direction is connected between the two nut sliding blocks, and the moving piece is assembled on the polished rod in a sliding manner through the unthreaded hole.
The flexible cable drive 3D printer, its characterized in that: the end effector is a barrel structure, and barrel upper end nozzle border is equipped with a plurality of lugs on, is connected by last lug one-to-one and hangs the flexible cable, and barrel lower extreme border is equipped with a plurality of lugs down, connects by lower lug one-to-one and stabilizes the flexible cable, extrude the head and install end effector lower extreme central point and put, the consumptive material that outside consumptive material took turns in succession lets in and extrudes the head in, and every consumptive material takes turns to and is supported by consumptive material wheel base respectively.
The flexible cable drive 3D printer, its characterized in that: the automatic winding machine is characterized by further comprising an upper computer and a control panel, wherein the upper computer is connected with the control panel through a data line, and the control panel is respectively connected with the winding drum servo motor, the servo driving motor, the X-direction servo motor, the Y-direction servo motor and the tension sensor through wires.
The 3d printer which controls the movement of the printer nozzle by using the flexible cable parallel mechanism is compatible with the advantages of high efficiency and high precision of the traditional 3d printer which rigidly controls the movement of the nozzle, and overcomes the defects of the traditional 3d printer that the flexibility is lacked, the space is limited, the cost is high, and the disassembly, the assembly and the transportation are difficult. The flexible cable parallel mechanism has the advantages of high efficiency and high precision of the traditional 3d printer, low cost, large space, flexibility, adjustability and convenience in disassembly, assembly and transportation. The flexible cable parallel mechanism is introduced into the 3d printer, the printing requirement can be met, and the flexible cable parallel mechanism is simple in structure, large in working space, easy to assemble and disassemble, high in modularization degree, strong in loading capacity, high in movement speed, low in price and wide in practicability.
Drawings
FIG. 1 is an isometric view of a 3D printer controlled by a parallel cable mechanism of the present invention.
Fig. 2 is an overall front view of a 3D printer controlled by a parallel cable mechanism according to the present invention.
Fig. 3 is an isometric view of the pulley yoke and pulley of the 3D printer of the present invention.
FIG. 4 is a top view of a 3D printer controlled by a flex parallel mechanism of the present invention.
Fig. 5 is a front view of the 3D printer actuator of the present invention.
FIG. 6 is a flow chart of the control process of the present invention.
Detailed Description
As shown in fig. 1 to 5, the cable-driven 3D printer includes a vertical support 13 having a rectangular frame structure, a heat bed 15 for supporting a 3D printed product 14 is disposed in a bottom frame of the vertical support 13, an end effector 12 is disposed in the vertical support 13 above the heat bed 14, an extrusion head 29 is mounted at a lower end of the end effector 12, the extrusion head 29 is connected with a printing consumable 20, a lifting slide block 3 is respectively arranged on each vertical frame edge of the vertical bracket 13 in a sliding way along the vertical direction, pulley components are respectively arranged at four corner positions at the bottom of the vertical bracket 13 in a rotating way, each lifting slide block 3 is respectively connected with a stable flexible cable 2, after each stable flexible cable 2 respectively bypasses the pulley component corresponding to the position downwards, then obliquely and upwards extends into the vertical bracket 13 and is connected with the edge of the lower end of the end effector 12, and the lifting slide block 3 drives the end effector 12 and the extrusion head 29 to integrally move through the stable flexible cable 2;
the movable piece 30 capable of moving in two dimensions in the horizontal plane is arranged in the frame at the top of the vertical support 13, the movable piece 30 is suspended above the end effector 12, the front and the rear sides of the movable piece 30 are respectively provided with a plurality of lifting holes, the front and the rear sides of the frame at the top of the vertical support 13 are respectively provided with a plurality of drum servo motors 5, and the front and the rear side drum servo motors are symmetrical in pairs, a hanging flexible cable 31 is respectively wound on a drum of each drum servo motor 5, the hanging flexible cables 31 respectively horizontally extend to the movable piece and penetrate through the lifting holes of the movable piece 30 in a one-to-one correspondence manner, and then are respectively vertically connected to the upper end of the end effector 12 downwards, and the hanging flexible cable 31 is used for hanging the end effector 12 through the movable piece 30, so that the stable flexible.
The lifting slide block driving mechanism for driving the corresponding lifting slide block 3 to lift is further arranged on each vertical frame edge of the vertical support 13 respectively, the lifting slide block driving mechanism is composed of a synchronous belt 11 vertically installed on the vertical frame edge of the vertical support and a servo driving motor 7 driving the synchronous belt 11 to move, the servo driving motor 7 is fixed on the vertical frame edge of the vertical support through an angle joint 26, the lifting slide block 13 is fixedly connected with a belt surface of the synchronous belt 11, and the servo driving motor 7 drives the lifting slide block 13 to slide along the vertical frame edge through the synchronous belt 11.
As shown in fig. 1 and 3, four corner positions at the bottom of the vertical support 13 are respectively connected with lower corner pieces 1, each lower corner piece 1 respectively comprises a pulley base 24, a pulley assembly is composed of two groups of pulleys 23, the two groups of pulleys 23 are respectively rotatably installed in each pulley base 24, each lifting slider 3 is respectively connected with two stable flexible cables 2, and the two stable flexible cables 2 of each lifting slider 3 respectively downwards and correspondingly bypass the two groups of pulleys 23 in the corresponding lower corner piece 1, and then respectively extend into the vertical support 13 in an inclined and upward manner and are connected to the lower end edge of the end effector 12.
Tension sensors 6 are respectively connected to hanging wires 31 extending from a spool of the spool servo motor 5 to the moving member 30.
As shown in fig. 1 and 4, a two-dimensional moving mechanism for driving a moving member 30 to move in two dimensions in a horizontal plane is disposed on a top frame of a vertical support 13, wherein the two-dimensional moving mechanism moves in a left-right direction, i.e., an X direction, and in a front-back direction, i.e., a Y direction, and includes Y-direction lead screws 8 rotatably mounted on left and right side frames of the top frame of the vertical support 13, respectively, central axes of the left and right Y-direction lead screws 8 are in the Y direction, respectively, one end of each Y-direction lead screw 8 is supported by a Y-direction lead screw support frame 10, the other end of each Y-direction lead screw 8 is supported by a Y-direction servo motor 4 and is in transmission connection with a common central axis of an output shaft of the Y-direction servo motor 4, each Y-direction lead screw 8 is respectively threadedly mounted with a nut slider 32 to form a lead screw nut pair, the two, one end of the X-direction lead screw 33 is supported by the X-direction lead screw support frame, the other end of the X-direction lead screw 33 is supported by the X-direction servo motor 9 and is in transmission connection with an output shaft of the X-direction servo motor 9 through a common central shaft, the moving member 30 is assembled on the X-direction lead screw 33 through a threaded through hole, and the moving member 30 and the X-direction lead screw 33 form a lead screw nut pair.
A polish rod 25 along the X direction is connected between the two nut sliders 32, and the moving member 30 is slidably assembled on the polish rod 25 through a polish hole.
As shown in fig. 1, 2 and 5, the end effector 12 is a cylinder structure, a plurality of upper lifting lugs 27 are arranged on the edge of the upper end cylinder mouth of the cylinder, the upper lifting lugs 27 are connected with the hanging flexible cables 31 in a one-to-one correspondence manner, a plurality of lower lifting lugs 28 are arranged on the edge of the lower end of the cylinder, the lower lifting lugs 28 are connected with the stable flexible cables 2 in a one-to-one correspondence manner, the extrusion head 29 is installed at the central position of the lower end of the end effector 12, consumables 20 on the external consumables wheel 21 are continuously introduced into the extrusion head 29, and each consumables wheel 21 is supported by.
The winding drum servo motor comprises a winding drum servo motor 5, a servo driving motor 7, an X-direction servo motor 9, a Y-direction servo motor 4 and a tension sensor 6, and is characterized by further comprising an upper computer 19 and a control board 17, wherein the upper computer 19 is connected with the control board 17 through a data line 18, and the control board 17 is connected with the winding drum servo motor 5, the servo driving motor 7, the X-direction servo motor 9, the Y-.
In the invention, four groups of lifting slide blocks 3 are arranged on the vertical frame edge of the vertical frame 13, the four groups of lifting slide blocks 3 are in cross symmetry, the pulley 23 is arranged on the pulley base 24, and the pulley base is fixed at the bottom corner of the vertical support 13 through a screw and plays a supporting role at the same time. The lifting slide block 3 is sleeved on the vertical frame edge of the vertical support 13, is connected with the synchronous belt 11 and the stable flexible cable 2, drives the lifting slide block 3 to move up and down through the synchronous belt 11, and the synchronous belt 11 is simultaneously connected with the servo drive motor 7. The four groups of vertical frame edges of the vertical support 13 are fixed into a cubic structure through eight groups of horizontal rods. The left rod and the right rod are respectively provided with a Y-direction screw nut pair, a screw 8 in the Y-direction screw nut pair is driven by a servo motor 4 to rotate, one nut slide block 32 is fixedly connected with a servo motor 9 and is connected with an X-direction screw 33, and the two Y-direction screw nut pairs and the X-direction screw nut pairs are arranged in an I shape. The winding drum servo motor 5 and the moving part 30 are connected with the end effector 12 of the 3D printer through six hanging flexible cables 31 provided with the tension sensors 6, and upward tension is provided.
As shown in fig. 6, the method for controlling a system of a flexible cable-driven 3D printer includes the following steps:
(1) initializing a system, detecting whether the network communication state among all modules is good, and manually inputting the initial position coordinates of the end effector;
(2) carrying out three-dimensional modeling by using a computer, and slicing the model in a layering manner by using computer software to obtain a control instruction and converting the control instruction into a G code;
(3) starting each sensor unit, detecting tension sensors arranged on the six hanging flexible cables, inputting and feeding back real-time states of various signals, and generating a field track route capable of running actually;
(4) when the flexible cable drives the 3D printer to move, the six tension sensors hung on the flexible cable are installed, the measured corresponding data are transmitted to the feedback input end of the control panel, and the control panel processes the measured data in real time and sends the measured data to the computer through the communication module;
(5) the computer analyzes and processes the received signals, mechanical calculation of the flexible cable driving 3D printer is completed, the control system calculates to obtain a control instruction, and the control instruction is transmitted to the control panel through the communication interface;
(6) the control board comprehensively analyzes the received various control instructions, calculates control signals, and respectively sends the control signals to a flexible cable traction mechanism control circuit, a flexible cable stabilizing mechanism control circuit and a nozzle extrusion device control circuit in a control circuit of the flexible cable driving 3D printer to complete real-time control of the flexible cable driving 3D printer to perform coordinated actions of cable retracting and cable releasing of the flexible cable, so that high-precision motion of the three-dimensional translational freedom degree of the actuator of the 3D printer is realized;
(7) the tension sensors are arranged on the six hanging flexible cables, the stress state of the flexible cables is further detected and timely transmitted to the feedback input end of the control panel, and the control panel processes the measurement data in real time and sends the measurement data to the computer through the communication device.
(8) The system will work according to the above steps until the printing work is completed.
The working principle is as follows: the servo drive motor 7 is used as a power source of the lifting slide block 3, and the servo motor 4 is used as a power source of the Y-direction lead screw nut pair. The servo driving motor 7 is connected with the synchronous belt 11 through a belt pulley, and the rotation of the servo driving motor drives the belt pulley to rotate, so that the synchronous belt 11 drives the lifting slide block 3 to slide up and down. The lifting slide block 3 drives the end effector 12 and the extrusion head 29 to integrally move through the stable flexible cable 2. The servo motor 4 drives the Y-direction lead screw 8 to rotate through the connector, so that the nut sliding block 32 and the servo motor 9 move along the Y-direction lead screw 8, and the two servo motors 4 always move synchronously. The servo motor 9 drives the X-direction lead screw 33 to rotate through the connector, so that the moving piece 30 moves along the X-direction lead screw 33, the moving piece 30 is connected with the end effector 12 through the hanging flexible cable 31 provided with the tension sensor 6, upward tension is provided, and the eight flexible cables at the lower end are always tensioned. Meanwhile, the moving position of the nut slider is controlled by controlling the rotation of the servo motors 4 and 9 so as to be always positioned right above the end effector 12. The end effector controlled by the whole flexible cable parallel mechanism has spatial three-dimensional translational freedom, and the flexible cable provided with the tension sensor is driven by the four groups of lifting slide blocks 3, the flexible cable and the lead screw nut pair to pull the end effector to move.

Claims (6)

1. Flexible cable drive 3D printer, its characterized in that: the vertical support comprises a rectangular frame structure, a heating bed for supporting a 3D printing product is arranged in a bottom frame of the vertical support, an end effector is arranged above the heating bed in the vertical support, an extrusion head is mounted at the lower end of the end effector, the extrusion head is introduced into printing consumables, a lifting slider is respectively and slidably mounted on each vertical frame edge of the vertical support along the vertical direction, pulley assemblies are respectively and rotatably mounted at four corner positions of the bottom of the vertical support, each lifting slider is respectively connected with a stable flexible cable, each stable flexible cable downwards bypasses the corresponding pulley assembly at the position and then obliquely upwards extends into the vertical support and is connected with the edge of the lower end of the end effector, and the lifting slider drives the end effector and the extrusion head to integrally move through the stable flexible cables;
the vertical support is characterized in that a moving part capable of moving in a two-dimensional manner in a horizontal plane is arranged in a top frame of the vertical support, the moving part is suspended above an end effector, a plurality of lifting holes are respectively formed in the front side and the rear side of the moving part, a plurality of drum servo motors are respectively arranged on the front side and the rear side of the top frame of the vertical support, the front side and the rear side of the drum servo motors are pairwise symmetrical, a hanging flexible cable is respectively wound on a drum of each drum servo motor, the hanging flexible cables respectively horizontally extend to the moving part and penetrate through the lifting holes of the moving part in a one-to-one correspondence manner, then are respectively vertically and downwards connected to the upper end of the end effector, and the hanging flexible cables are used for hanging the end effector through;
each vertical frame edge of the vertical support is also provided with a lifting slide block driving mechanism for driving the corresponding lifting slide block to lift, the lifting slide block driving mechanism is composed of a synchronous belt vertically arranged on the vertical frame edge of the vertical support and a servo driving motor for driving the synchronous belt to move, the lifting slide block is fixedly connected with the belt surface of the synchronous belt, and the servo driving motor drives the lifting slide block to slide along the vertical frame edge through the synchronous belt;
four turning positions in vertical support bottom are connected with down the corner fitting respectively, and every lower corner fitting includes the pulley base respectively, loose pulley assembly comprises two sets of pulleys, and two sets of pulleys rotate respectively and install in every pulley base, and every elevator block is connected with two strands respectively and stabilizes the flexible cable, and two strands of each elevator block stabilize the flexible cable and walk around behind two sets of pulleys in the lower corner fitting that the position corresponds downwards one-to-one respectively, and the slope is do not respectively again upwards stretched into in the vertical support and is connected at end effector lower extreme edge.
2. The cable driven 3D printer of claim 1, wherein: tension sensors are respectively connected into hanging flexible cables extending from a winding drum of the winding drum servo motor to the moving part.
3. The cable driven 3D printer of claim 1, wherein: the two-dimensional moving mechanism is arranged on a top frame of the vertical support and drives a moving part to move in two dimensions in a horizontal plane, wherein the two-dimensional moving mechanism moves in the left-right direction, namely the X direction, and in the front-back direction, namely the Y direction, and comprises Y-direction lead screws which are respectively rotatably arranged on the left frame side and the right frame side of the top frame of the vertical support, the central shafts of the left-side Y-direction lead screws and the right-side Y-direction lead screws are respectively arranged in the Y direction, one end of each Y-direction lead screw is supported by a Y-direction servo motor and is in transmission connection with the central shaft of the output shaft of the Y-direction servo motor, nut slide blocks are respectively and threadedly assembled on each Y-direction lead screw to form a lead screw nut pair, the two nut slide blocks are mutually symmetrical, the X-direction lead screw is rotatably connected between the tops of the two nut slide blocks, the central shaft of the X-direction lead screw is in the X direction, one end The moving piece is assembled on the X-direction lead screw through the thread through hole, and the moving piece and the X-direction lead screw form a lead screw nut pair.
4. The wire driven 3D printer of claim 3, wherein: and a polished rod along the X direction is connected between the two nut sliding blocks, and the moving piece is assembled on the polished rod in a sliding manner through the unthreaded hole.
5. The cable driven 3D printer of claim 1, wherein: the end effector is a barrel structure, and barrel upper end nozzle border is equipped with a plurality of lugs on, is connected by last lug one-to-one and hangs the flexible cable, and barrel lower extreme border is equipped with a plurality of lugs down, connects by lower lug one-to-one and stabilizes the flexible cable, extrude the head and install end effector lower extreme central point and put, the consumptive material that outside consumptive material took turns in succession lets in and extrudes the head in, and every consumptive material takes turns to and is supported by consumptive material wheel base respectively.
6. The wire driven 3D printer of claim 1 or 3, wherein: the automatic winding machine is characterized by further comprising an upper computer and a control panel, wherein the upper computer is connected with the control panel through a data line, and the control panel is respectively connected with the winding drum servo motor, the servo driving motor, the X-direction servo motor, the Y-direction servo motor and the tension sensor through wires.
CN201710883070.XA 2017-09-26 2017-09-26 Flexible cable driving 3D printer Active CN107718550B (en)

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CN109395938B (en) * 2018-11-01 2020-07-28 合肥工业大学 Spraying robot mechanism driven by parallel flexible cables
CN109571933A (en) * 2018-11-29 2019-04-05 夏领兵 A kind of 3D printer

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