CN108127916B - Multi-joint flexible arm 3D printer - Google Patents
Multi-joint flexible arm 3D printer Download PDFInfo
- Publication number
- CN108127916B CN108127916B CN201810029046.4A CN201810029046A CN108127916B CN 108127916 B CN108127916 B CN 108127916B CN 201810029046 A CN201810029046 A CN 201810029046A CN 108127916 B CN108127916 B CN 108127916B
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- printing
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- frame
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- arm
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- 238000007639 printing Methods 0.000 claims abstract description 76
- 239000000463 material Substances 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000012780 transparent material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 23
- 238000000034 method Methods 0.000 description 3
- 239000003381 stabilizer Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- 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 3D printer with a multi-joint flexible arm, which comprises a frame, a flexible printing arm arranged in the frame and a printing head assembly arranged on the flexible printing arm, wherein the flexible printing arm is fixed at the top end of the frame, and a printing platform is arranged at the bottom end of the frame; the flexible printing arm comprises a base, at least two joints and a finger part, wherein the base is rotationally connected with the joints, the adjacent joints and the finger part, and the connecting parts are respectively provided with a brushless motor and an angle sensor, and the printing head assembly moves under the driving of the flexible printing arm. The brushless motor adjusts the rotation angles between the base and the joint, between the adjacent joints and between the joints and the finger parts, so that the finger parts can move on a plurality of planes, the printing head assembly can be driven to move in the horizontal direction and the vertical direction, the printing head assembly can be driven to incline when the part needing to be added and supported is printed, and inclined printing is performed on the joint surface of the printed part and the part needing to be added and supported without adding support.
Description
Technical Field
The invention belongs to the technical field of 3D printers, and particularly relates to a multi-joint flexible arm 3D printer.
Background
With the continuous development of 3D printing technology, the desktop-level 3D printer is promoted and applied unprecedented. The main structure types of the desktop-level 3D printer are of an XYZ type and a Delta type, the printing speed of the XYZ type 3D printer is low, and the efficiency is required to be improved; delta-type 3D printers have a relatively small workspace and limited printable part sizes. Meanwhile, most of the existing fused deposition type 3D printers are formed by stacking and printing in a vertical direction layer by layer, are limited by the appearance of complex parts, have a somewhat outstanding and suspended structure, and are very troublesome in removing part supports after printing is finished if the parts cannot be printed without supports, and are very easy to influence part forming precision.
Disclosure of Invention
In order to solve the problems, the invention provides a multi-joint flexible arm 3D printer which does not need to add support when printing complex parts.
The specific technical scheme of the invention is as follows: the 3D printer comprises a frame, a flexible printing arm arranged in the frame and a printing head assembly arranged on the flexible printing arm, wherein the flexible printing arm is fixed at the top end of the frame, and a printing platform is arranged at the bottom end of the frame; the flexible printing arm comprises a base, at least two joints and a finger part which are connected in sequence, wherein the base is rotationally connected with the joints, the joints are rotationally connected with the joints and the finger part, brushless motors and angle sensors are arranged at the joints, the brushless motors are used for adjusting the rotation angles between the base and the joints, between adjacent joints and between the joints and the finger part, the angle sensors are used for measuring the rotation angles, the base is fixed with the top end of the frame, the printing head assembly is fixed with the finger part, and the printing head assembly is driven by the flexible printing arm to print; the control box and the extruder are installed on the top of frame, are equipped with the control panel in the control box, and the control panel passes through the wire and is connected with all brushless motor and angle sensor, and the extruder passes through the material conveyer pipe and is connected with the print head subassembly.
Further, the joint includes cylindrical festival body, and the both ends face of festival body is equipped with first installation foot and second installation foot respectively, and the second installation foot is connected through the pivot with the first installation foot of next joint, and brushless motor drive pivot rotates the rotation angle between the regulation two adjacent joints, first installation foot and second installation foot constitute by two same stabilizer blades, all are equipped with the installation through-hole that is used for wearing to establish the pivot on the stabilizer blade, and the straight line that two installation through-holes place on the first installation foot of same joint and the straight line that two installation through-holes place on the second installation foot all have the contained angle with the radial parallel and two straight lines of festival body.
Further, the included angle is 90 degrees.
Further, a channel penetrating through two end faces of the joint body is arranged in the joint body and used for arranging a material conveying pipe and a wire.
Further, the frame is a closed frame, one surface of the closed frame is provided with a printing door, and the printing door is closed to form a closed printing space.
Further, the printing door is made of transparent materials.
Further, still install the camera on the finger, be equipped with touch display screen on the control box, camera and touch display screen connect the control panel.
The invention has the beneficial effects that: adopt brushless motor to connect gradually base, two at least joints and finger to constitute flexible arm, the accessible brushless motor adjusts the rotation angle between base and the joint, between the adjacent joint and between joint and the finger, this flexible arm has a plurality of degrees of freedom and the finger can be in a plurality of planes, flexible arm not only can drive the printer head subassembly and remove in horizontal direction and vertical direction, can also drive the printer head subassembly slope for the printer head subassembly can carry out the direction that is on a parallel with this plane and the direction that is perpendicular to this plane on the inclined plane and remove, is not limited to horizontal plane. When printing the position that needs to add the support, can control the print head subassembly slope, regard the interface of printed position and the position that needs to add the support as the reference surface, carry out the slope printing on this reference surface, need not to add the support, print conveniently.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the joint of the present invention.
Detailed Description
The invention is further illustrated by the following description in conjunction with the accompanying drawings and specific embodiments.
As shown in fig. 1, an embodiment of the present invention proposes a multi-joint flexible arm 3D printer including a frame 1, a flexible printing arm 2 mounted in the frame 1, and a printhead assembly 3 mounted on the flexible printing arm 2. The flexible printing arm 2 is fixed at the top end of the frame 1, and the bottom end of the frame 1 is provided with a printing platform 12. The flexible printing arm 2 comprises a base 21, at least two joints 22 and a finger part 23, the base is rotationally connected with the joints, the joints are rotationally connected with the joints and the finger part, and the joints are respectively provided with a brushless motor 24 and an angle sensor (not shown in the figure), the brushless motors are used for adjusting the rotation angles between the base and the joints, between the adjacent joints and between the joints and the finger part, the angle sensors are used for measuring the rotation angles, the base 21 is fixed with the top end of the frame 1, the printing head assembly 3 is fixed with the finger part 23, and the printing head assembly is driven by the flexible printing arm to print. The top of the frame is provided with a control box 4, an extruder 5 and a wire spool 6 wound with printing material, a control board (not shown in the figure) is arranged in the control box 4, the control board is connected with all brushless motors and angle sensors through wires, and the extruder 5 is connected with the printing head assembly 3 through a material conveying pipe 51. The control board can be designed by adopting a positive atomic Apollo STM32F429IGT development board, the motor driving can adopt a universal electronic speed regulator, the brushless motor can adopt a PM2804 brushless motor with an encoder, and the control board generates PWM signals to control the start and stop and the rotating speed of the brushless motor through the electronic speed regulator.
The multi-joint flexible arm 3D printer provided by the embodiment adopts the brushless motor to sequentially connect the base, at least one joint and the finger part to form the flexible printing arm, and utilizes the brushless motor to adjust the rotation angle between the base and the joint, between adjacent joints and between the joint and the finger part, the flexible printing arm has a plurality of degrees of freedom, the finger part can move on a plurality of planes, the flexible printing arm not only can drive the printing head assembly to move in the horizontal direction and the vertical direction, but also can drive the printing head assembly to incline, so that the printing head assembly can move in the direction parallel to the plane and the direction perpendicular to the plane on an inclined plane, and the multi-joint flexible arm 3D printer is not limited to the horizontal plane. Simultaneously, the number of joints is increased, and the operable planes of the finger parts are increased. When complex parts are printed, the printing head assembly is controlled to be vertically downwards at the parts easy to print, the flexible printing arm drives the printing head assembly to move in the horizontal direction and the vertical direction for printing, the part needing to be added with the support is controlled to incline the printing head assembly, the contact surface of the printed part and the part needing to be added with the support is taken as a reference surface, and the inclined printing is carried out in the direction parallel to the reference surface and the direction perpendicular to the reference surface without adding the support.
Preferably, the joint 22 includes a cylindrical joint body 221, two end faces of the joint body are respectively provided with a first mounting foot 222 and a second mounting foot 223, the second mounting foot is connected with the first mounting foot of the next joint through a rotating shaft, the rotating shaft is driven by the brushless motor to rotate so as to adjust the rotating angle between two adjacent joints, the first mounting foot 222 and the second mounting foot 223 are respectively formed by two identical supporting feet, the supporting feet are respectively provided with a mounting through hole 224 for penetrating the rotating shaft, and straight lines where the two mounting through holes on the first mounting foot of the same joint are respectively provided with an included angle with the straight lines where the two mounting through holes on the second mounting foot are respectively parallel to the radial direction of the joint body.
The flexible arm 3D printer of many joints that this embodiment provided, the lower terminal surface of base is equipped with the second installation foot, the up end of finger portion is equipped with first installation foot, when being equipped with two joints, the first installation foot of first joint is connected through the pivot with the second installation foot of base, the second installation foot of second joint is connected through the pivot with the first installation foot of finger portion, when being equipped with more than two joints, the first installation foot of first joint is connected through the pivot with the second installation foot of base, the second installation foot of second joint is connected through the pivot with the first installation foot of third joint, analogize in proper order, the second installation foot of last joint is connected through the pivot with the first installation foot of finger portion. The straight lines where the two mounting through holes of the first mounting foot and the second mounting foot of the same joint are located have included angles, namely the rotating shafts at the two ends of the same joint are not located in the same plane, so that the first joint only has one rotating plane, the first joint is located at any position in the rotating plane, the corresponding second joint only has one rotating plane, all the rotating planes of the second joint and the rotating planes of the first joint have the included angles, and by analogy, the more the joints are, the more the rotating planes of the finger parts located at the tail end are, so that the moving range is larger, and the size of printable parts is larger.
Preferably, the included angle is 90 degrees, and the rotating planes of the adjacent joints are perpendicular, so that the printing path planning and the brushless motor control are facilitated.
Preferably, a channel penetrating through two end faces of the joint body is arranged in the joint body and used for arranging a material conveying pipe and a wire.
Preferably, the frame 1 is a closed frame, one side of the closed frame is provided with a printing door 13, and the printing door is closed to form a closed printing space, so that a temperature control and adjustment system is convenient to install, and the influence of temperature on printing precision is reduced.
Preferably, a camera (not shown in the figure) is further mounted on the finger part, a touch display screen 42 is arranged on the control box 4, the camera and the touch display screen are connected with a control board, and the camera can shoot and display through the touch display screen in the printing process, so that the whole process of the printing process can be monitored conveniently.
Preferably, the printing door 13 is made of transparent material, and the printing status can be checked through the printing door.
Claims (3)
1. The multi-joint flexible arm 3D printer is characterized by comprising a frame (1), a flexible printing arm (2) arranged in the frame (1) and a printing head assembly (3) arranged on the flexible printing arm (2), wherein the flexible printing arm (2) is fixed at the top end of the frame (1), and a printing platform (12) is arranged at the bottom end of the frame (1); the flexible printing arm (2) comprises a base (21), at least two joints (22) and a finger part (23) which are sequentially connected, wherein the base is rotationally connected with the joints, the joints are adjacent to each other, and the joints are respectively provided with a brushless motor (24) and an angle sensor, the brushless motors are used for adjusting the rotation angles between the base and the joints, between the joints and the finger part, the angle sensors are used for measuring the rotation angles, the base (21) is fixed with the top end of the frame (1), the printing head assembly (3) is fixed with the finger part (23), and the printing head assembly is driven by the flexible printing arm to print; a control box (4) and an extruder (5) are arranged at the top end of the frame (1), a control board is arranged in the control box, the control board is connected with all brushless motors and angle sensors through wires, and the extruder (5) is connected with the printing head assembly (3) through a material conveying pipe (51);
the joint (22) comprises a cylindrical joint body (221), a first mounting foot (222) and a second mounting foot (223) are respectively arranged at two end faces of the joint body, the second mounting foot is connected with the first mounting foot of the next joint through a rotating shaft, the brushless motor drives the rotating shaft to rotate so as to adjust the rotation angle between the two adjacent joints, the first mounting foot (222) and the second mounting foot (223) are both composed of two identical supporting feet, mounting through holes (224) for penetrating the rotating shaft are respectively arranged on the supporting feet, and the straight lines of the two mounting through holes on the first mounting foot and the straight lines of the two mounting through holes on the second mounting foot of the same joint are all parallel to the radial direction of the joint body and have included angles; the included angle is 90 degrees; a channel (225) penetrating through two end surfaces of the joint body (221) is arranged in the joint body and is used for arranging a material conveying pipe and a wire;
still install the camera on finger (23), be equipped with touch display screen (42) on control box (4), camera and touch display screen all connect the control panel.
2. The multi-joint flexible arm 3D printer of claim 1, wherein the frame (1) is a closed frame, one side of the frame is provided with a printing door (13), and the printing door is closed to form a closed printing space.
3. The multi-joint flexible arm 3D printer according to claim 2, characterized in that the printing door (13) is made of transparent material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029046.4A CN108127916B (en) | 2018-01-12 | 2018-01-12 | Multi-joint flexible arm 3D printer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029046.4A CN108127916B (en) | 2018-01-12 | 2018-01-12 | Multi-joint flexible arm 3D printer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127916A CN108127916A (en) | 2018-06-08 |
| CN108127916B true CN108127916B (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810029046.4A Active CN108127916B (en) | 2018-01-12 | 2018-01-12 | Multi-joint flexible arm 3D printer |
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| CN (1) | CN108127916B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190091929A1 (en) * | 2017-09-27 | 2019-03-28 | The Boeing Company | Reconfigurable Nozzle for Material Deposition |
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| US9931784B2 (en) * | 2014-05-02 | 2018-04-03 | Virginia Tech Intellectual Properties, Inc. | 3D printing part removal and interface for a 3D printing vending machine |
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| Publication number | Publication date |
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| CN108127916A (en) | 2018-06-08 |
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