CN108284593B - Movable 3D printer of parallel connection rod sliding block type platform - Google Patents
Movable 3D printer of parallel connection rod sliding block type platform Download PDFInfo
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- CN108284593B CN108284593B CN201810263864.0A CN201810263864A CN108284593B CN 108284593 B CN108284593 B CN 108284593B CN 201810263864 A CN201810263864 A CN 201810263864A CN 108284593 B CN108284593 B CN 108284593B
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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
- 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
Abstract
The invention discloses a parallel connection rod sliding block type working platform movable 3D printer, and belongs to the technical field of digital processing. Aiming at the problems that the current 3D printer adopts a fixed platform and a printing nozzle is driven by a stepping motor to move, the mode is limited by the wire outlet speed of the extrusion head and the moving speed of the nozzle, and the wire drawing phenomenon often occurs, so that the surface roughness of a part of a printing piece is higher, and the printing quality is influenced. The three groups of parallel connecting rods drive the printing platform to move under the drive of the stepping motor, and meanwhile, the printing spray heads adopt a fixed mode, so that the problems are avoided, and the problem of printing quality caused by wire drawing is solved.
Description
Technical Field
The invention belongs to the technical field of digital processing.
Background
The 3D printing is a manufacturing and processing technology based on a digital model, firstly, slicing is carried out on the digital model through a computer, so that corresponding codes are generated, and the manufacturing and processing of the object are finished in a layer-by-layer printing mode by using a fused deposition technology, a selective laser sintering technology or a photo-curing technology.
At present, a 3D printer exists, the arrangement of a common printing mode is that a working platform is motionless, a printing spray head is controlled to move through a stepping motor, and meanwhile, the spray head extrudes printing consumables, and the consumables are overlapped to a static part which is printed to form an entity. However, the mode is limited by the wire outlet speed of the extrusion head and the moving speed of the spray head, and a wire drawing phenomenon often occurs, so that the surface roughness of a printing part is higher, and the printing quality is influenced. This limits the development of print quality in 3D printing technology.
Disclosure of Invention
In order to solve the above problems, the present invention provides a parallel link slider type platform movable 3D printer, which mainly comprises a double-layer cylindrical frame, a spray head 14, a platform movement mechanism and a printing platform 10;
the frame mainly comprises a bottom plate 2, a bracket 11, a spray head supporting plate 18 and a top plate 23; wherein the bottom plate 2 is positioned at the bottom of the frame, and three bases 1 are arranged at the bottom of the bottom plate 2 and used as supports; six brackets 11 are divided into three groups, every two groups are uniformly arranged on the bottom plate 2, the lower ends of the brackets 11 are inserted into preset slots on the bottom plate 2, the middle parts of the brackets 11 penetrate through the slots on the spray head support plates 18, the spray head support plates 18 are limited on the brackets 11 through spray head support plate fixing seats 17 fixedly arranged below the spray head support plates 18, and the upper parts of the brackets 11 are fixedly connected with the top plate 23;
the platform movement mechanism comprises a synchronous pulley 4, a sliding block 5, a fixed block 6, a long bolt 7, a printing platform supporting rod 8, a supporting rod connecting sleeve 9, a printing platform 10, a feed beam 12, a synchronous belt 13 and a stepping motor 19; the feed rods 12 are fixedly arranged at two sides of each group of two brackets 11, and the lower ends of the feed rods 12 are inserted into slots arranged on the bottom plate 2; the sliding block 5 is sleeved on the feed beam 12, and the fixed block 6 is fixedly arranged on the sliding block 5; six printing platform support rods 8 are provided, and support rod connecting sleeves 9 are sleeved at two ends of each printing platform support rod 8; one group of every two supporting rod connecting sleeves 9, one end of each group of supporting rod connecting sleeves 9 is fixed on two sides of the fixed block 6 through the same long bolt, the other end of each group of supporting rod connecting sleeves is hinged with the printing platform 10, one group of every two printing platform supporting rods 8 form a parallel connecting rod mechanism, six groups of rotating pairs are formed, and three groups of parallel connecting rod mechanisms are uniformly distributed at 120 angles. Two fixed shafts are arranged in the middle of the fixed block 6, a synchronous pulley 4 is arranged on the bottom plate 2 corresponding to the right lower part of the fixed block 6, a through hole is formed in the spray head supporting plate 18 corresponding to the right upper part of the fixed block 6, a stepping motor 19 is arranged above the through hole, and the stepping motor 19 is fixedly connected to the bracket 11 through a stepping motor seat 22; one end of the synchronous belt 13 is fixed on one fixed shaft in the middle of the fixed block 6, and after the motor shafts of the synchronous pulley 4 and the stepping motor 19 are sequentially wound, the other end of the synchronous belt 13 is fixedly arranged on the other fixed shaft in the middle of the fixed block 6; under the drive of the stepping motor 19, the sliding block 5 is driven by the synchronous belt 13 to linearly move on the feed beam 12, and three groups of parallel connecting rods are driven to complete the translation of the printing platform 10.
The head 14 is fixed to the head support plate 18; the fan opening 15 and the fan 16 are respectively fixed on the lower surface and the upper surface of the nozzle support plate 18, and the ventilation opening of the fan opening 15 is communicated with the air outlet of the fan 16, and the ventilation opening of the fan opening 15 faces the nozzle 14; the extruder stepper motor 21 is fixedly mounted on the nozzle support plate 18; the extruder extrusion head 20 is fixedly connected to the extruder stepper motor 21, and the feed inlet of the extruder is concentric with the feed inlet of the top plate 23; the wire guide 24 is fixedly connected to the top plate 23 through a set screw, and the consumable support seat 25 is axially fixed to the top plate 23 and can rotate along with consumption of consumable.
In the preferred mode of the invention, linear bearings are arranged in two round holes of the sliding block 5 for mounting the light bar 12; the outer surface of the fixed shaft is provided with a positioning structure for the synchronous belt 13, so that the synchronous belt 13 can be prevented from falling off from the front surface in the working process.
The invention also comprises a control device 26 in a preferred mode, wherein the control device 26 controls the position of the printing platform 10 by controlling the working state of the stepping motor 19; and the printing progress is controlled by controlling the extruder stepper motor 21.
The control device 26 mainly comprises a control board, an expansion board and a driving device. Wherein the control board serves as a central processor of the whole control device 26 and is responsible for sending out signals, feeding back and processing signals collected by the sensors; the expansion board provides an interface for a sensor arranged on the printer and is used for connecting the sensor; the driving plate mainly comprises a control plate drive and a stepping motor drive, wherein the control plate drive is used for providing a driving power supply for the control plate, and the stepping motor drive is used for providing a driving power supply for the start-stop operation of the stepping motor 19 and the extruder stepping motor 21; the expansion board is inserted on the control board, and the drive board is connected with the power supply, the control board and the stepping motor respectively.
The preferred embodiment of the invention further comprises a liquid crystal display 27, wherein the liquid crystal display 27 is connected with the control device 26 and is used for displaying the printing progress and the printing speed when the printer works.
The invention also comprises a limit switch 28 in a preferred mode, wherein the limit switch 28 is arranged below the fixed block 6 and above the bottom plate 2 and is used for limiting the movement range of the fixed block 6.
In the preferred mode of the invention, the printing platform support rod 8 is made of carbon fiber material.
In the preferred mode of the invention, the control board in the control device 26 is Arduino Mega2560, and the expansion board is Ramps1.4. The invention has the beneficial effects that:
1. according to the parallel-connection rod sliding block type platform movable 3D printer, the printing spray head is fixed, the translation of the working platform can be controlled, so that the printing precision of a printing piece can be improved, particularly when the spray head needs to suck back consumable materials or print a cantilever structure and a supporting structure, the wire drawing phenomenon can be reduced, and the phenomenon that the printing fails due to wire drawing is avoided.
2. The parallel-connection rod sliding block type platform movable 3D printer adopts a three-rod parallel mechanism linked platform structure, thereby skillfully utilizing and avoiding the defects of the parallel mechanism in terms of precision and rigidity.
3. The limit switch of the 3D printer with the movable parallel-connection sliding block type platform can determine the movement stroke of the guide wheel mechanism, so that the translation limit of the working platform is determined. In the printing preparation stage, the limit position of the printing platform in the printing process can be determined according to the structure of the printing piece, so that the limit switch position is fixed to adjust the movement stroke of the guide wheel of the working platform.
4. The parallel-connection rod sliding block type platform movable 3D printer adopts a three-rod parallel mechanism to link a platform structure, and three parallelogram closed loops formed by three groups of parallel connection rods eliminate 3 rotational degrees of freedom of the platform, so that the parallel platform mechanism has only 3 precise translational degrees of freedom.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of a belt drive structure of the work platform of the present invention.
Fig. 3 is a schematic diagram of a belt transmission structure of the working platform of the present invention.
Fig. 4 is a schematic diagram of the motion platform structure of the present invention.
Fig. 5 is a schematic diagram of a motion platform according to the second embodiment of the present invention.
Fig. 6 is a top partial enlarged view of the showerhead support plate of the present invention.
The labels used in the above figures are as follows: 1-base, 2-bottom plate, 3-holding screw, 4-synchronous pulley, 5-slider, 6-fixed block, 7-long bolt, 8-printing platform bracing piece, 9-bracing piece adapter sleeve, 10-printing platform, 11-support, 12-feed lever, 13-hold-in range, 14-shower nozzle, 15-fan mouth, 16-fan, 17-shower nozzle backup pad fixing base, 18-shower nozzle backup pad, 19-step motor, 20-extruder extrusion head, 21-extruder step motor, 22-step motor seat, 23-roof, 24-wire guide, 25-consumptive material supporting seat, 26-controlling means, 27-liquid crystal display, 28-limit switch.
Detailed Description
The technical scheme of the invention is further explained and illustrated by the following specific examples.
Example 1
As shown in fig. 1 and 2, a 3D printer with a movable platform with a parallel link and a slider in this embodiment mainly comprises a double-layer cylindrical frame, a spray head 14, a platform movement mechanism and a printing platform 10;
the frame mainly comprises a bottom plate 2, a bracket 11, a spray head supporting plate 18 and a top plate 23; wherein the bottom plate 2 is positioned at the bottom of the frame, and three bases 1 are arranged at the bottom of the bottom plate 2 and used as supports; six brackets 11 are divided into three groups, every two groups are uniformly arranged on the bottom plate 2, the lower ends of the brackets 11 are inserted into preset slots on the bottom plate 2, the middle parts of the brackets 11 penetrate through the slots on the spray head support plates 18, the spray head support plates 18 are limited on the brackets 11 through spray head support plate fixing seats 17 fixedly arranged below the spray head support plates 18, and the upper parts of the brackets 11 are fixedly connected with the top plate 23;
the platform movement mechanism comprises a synchronous pulley 4, a sliding block 5, a fixed block 6, a long bolt 7, a printing platform supporting rod 8, a supporting rod connecting sleeve 9, a printing platform 10, a feed beam 12, a synchronous belt 13 and a stepping motor 19; the feed rods 12 are fixedly arranged at two sides of each group of two brackets 11, and the lower ends of the feed rods 12 are inserted into slots arranged on the bottom plate 2; the sliding block 5 is sleeved on the feed beam 12, and the fixed block 6 is fixedly arranged on the sliding block 5; six printing platform support rods 8 are provided, and support rod connecting sleeves 9 are sleeved at two ends of each printing platform support rod 8; one group of every two supporting rod connecting sleeves 9, one end of each group of supporting rod connecting sleeves 9 is fixed on two sides of the fixed block 6 through the same long bolt, the other end of each group of supporting rod connecting sleeves is hinged with the printing platform 10, one group of every two printing platform supporting rods 8 form a parallel connecting rod mechanism, six groups of rotating pairs are formed, and three groups of parallel connecting rod mechanisms are uniformly distributed at 120 angles. Two fixed shafts are arranged in the middle of the fixed block 6, a synchronous pulley 4 is arranged on the bottom plate 2 corresponding to the right lower part of the fixed block 6, a through hole is formed in the spray head supporting plate 18 corresponding to the right upper part of the fixed block 6, a stepping motor 19 is arranged above the through hole, and the stepping motor 19 is fixedly connected to the bracket 11 through a stepping motor seat 22; one end of the synchronous belt 13 is fixed on one fixed shaft in the middle of the fixed block 6, and after the motor shafts of the synchronous pulley 4 and the stepping motor 19 are sequentially wound, the other end of the synchronous belt 13 is fixedly arranged on the other fixed shaft in the middle of the fixed block 6; under the drive of a stepping motor 19, the sliding block 5 is driven to linearly move on the feed beam 12 through the transmission of the synchronous belt 13, and three groups of parallel connecting rods are driven to complete the translation of the printing platform 10; two round holes of the sliding block 5 for mounting the feed beam 12 are provided with linear bearings.
As shown in fig. 3, the working platform movement mechanism adopts a parallel mechanism to realize the translation of the working platform 10 in the X, Y and Z-axis directions, and the working principle is as follows: the working platform 10 is used as a parallel mechanism moving platform and is linked with three groups of printing platform supporting rods 8 which are uniformly distributed through long bolt revolute pairs; the printing platform support rod 8 and the fixed block 6 are linked by a long bolt revolute pair to form a 3-SPS parallel mechanism, so that the parallel mechanism has X, Y and Z-direction linear movement of 3 degrees of freedom. The function principle of the component is as follows: the 3D printer frame is used as a static platform of the parallel mechanism, three pairs of upper sliding blocks and a feed beam 11 which are symmetrically distributed, and a supporting rod 15 is used as a branched chain of the parallel mechanism and is connected with a spray head platform 20 through a ball hinge. The movable pair formed by the guide rail 12 and the fixed block 6 is used as an active driving joint of the parallel mechanism, and the synchronous belt is driven by the stepping motor 19 to control the position of the fixed block 6, so that the space attitude of the printing platform is obtained by means of positive solution of the 3-SPS parallel mechanism, and the position information of the guide wheel plate required under the space attitude of the planning printing platform is obtained by means of inverse solution of the 3-SPS parallel mechanism, so that corresponding control parameters are obtained. After corresponding control parameters are obtained, a control system sends a command to control a stepping motor 19 with three branched chains to drive a synchronous belt 13, the synchronous belt 13 drives a moving pair consisting of a fixed block 6 and a feed beam 12 to move through two fixed shafts on the front surface of the fixed block 6, the moving pair is used as an active driving joint in the parallel mechanism, and when the active driving joint has a designated position, the specific pose of a printing platform can be determined so as to meet the movement requirement. The fixed block 6 is fixed on the feed beam 12 through each group of 4 guide wheels, and the limit switch 28 is arranged below the fixed block 6 and above the bottom plate 2 for limiting the movement range of the fixed block 6. Limit switch 28 is used to limit and adjust the travel of the work platform.
The head 14 is fixed to the head support plate 18; the fan opening 15 and the fan 16 are respectively fixed on the lower surface and the upper surface of the nozzle support plate 18, and the ventilation opening of the fan opening 15 is communicated with the air outlet of the fan 16, and the ventilation opening of the fan opening 15 faces the nozzle 14; the extruder stepper motor 21 is fixedly mounted on the nozzle support plate 18; the extruder extrusion head 20 is fixedly connected to the extruder stepper motor 21, and the feed inlet of the extruder is concentric with the feed inlet of the top plate 23; the wire guide 24 is fixedly connected to the top plate 23 through a set screw, and the consumable support seat 25 is axially fixed to the top plate 23 and can rotate along with consumption of consumable.
The printer also comprises a control device 26, wherein the control device 26 controls the position of the printing platform 10 by controlling the working state of the stepping motor 19; and the printing progress is controlled by controlling the extruder stepper motor 21. The control device 26 mainly comprises a control board, an expansion board and a driving device. Wherein the control board serves as a central processor of the whole control device 26 and is responsible for sending out signals, feeding back and processing signals collected by the sensors; the expansion board provides an interface for a sensor arranged on the printer and is used for connecting the sensor; the driving plate mainly comprises a control plate drive and a stepping motor drive, wherein the control plate drive is used for providing a driving power supply for the control plate, and the stepping motor drive is used for providing a driving power supply for the start-stop operation of the stepping motor 19 and the extruder stepping motor 21; the expansion board is inserted on the control board, and the drive board is connected with the power supply, the control board and the stepping motor respectively. The control board in the control device 26 is Arduino Mega2560, and the expansion board is Ramps1.4.
The printer further comprises a liquid crystal display 27, wherein the liquid crystal display 27 is connected with the control device 26 and is used for displaying the printing progress and the printing speed when the printer works.
Claims (7)
1. The utility model provides a movable 3D printer of parallel connection rod slider formula platform which characterized in that, this printer mainly comprises double-deck cylindrical frame, shower nozzle (14), platform motion and print platform (10);
the frame mainly comprises a bottom plate (2), a bracket (11), a spray head supporting plate (18) and a top plate (23); wherein the bottom plate (2) is positioned at the bottom of the frame, and three bases (1) are arranged at the bottom of the bottom plate (2) and used as supports; six brackets (11) are divided into three groups, every two groups are uniformly arranged on the bottom plate (2), the lower ends of the brackets (11) are inserted into preset slots on the bottom plate (2), the middle parts of the brackets (11) penetrate through the slots on the spray head support plates (18), the spray head support plates (18) limit the spray head support plates on the brackets (11) through spray head support plate fixing seats (17) fixedly arranged below the spray head support plates, and the upper parts of the brackets (11) are fixedly connected with the top plate (23);
the platform movement mechanism comprises a synchronous pulley (4), a sliding block (5), a fixed block (6), a long bolt (7), a printing platform supporting rod (8), a supporting rod connecting sleeve (9), a printing platform (10), a feed beam (12), a synchronous belt (13) and a stepping motor (19); the feed rods (12) are fixedly arranged on two sides of each group of two brackets (11), and the lower ends of the feed rods (12) are inserted into slots arranged on the bottom plate (2); the sliding block (5) is sleeved on the feed beam (12), and the fixed block (6) is fixedly arranged on the sliding block (5); six printing platform support rods (8) are provided, and support rod connecting sleeves (9) are sleeved at two ends of each printing platform support rod (8); one group of every two supporting rod connecting sleeves (9), one end of each group of supporting rod connecting sleeves (9) is fixed on two sides of a fixed block (6) through the same long bolt, the other end of each group of supporting rod connecting sleeves is hinged with a printing platform (10), one group of every two printing platform supporting rods (8) form a parallel connecting rod mechanism, and six groups of rotating pairs and three groups of parallel connecting rod mechanisms which are uniformly distributed at the angle (120) are formed; two fixed shafts are arranged in the middle of the fixed block (6), a synchronous pulley (4) is arranged on the bottom plate (2) corresponding to the right lower part of the fixed block (6), a through hole is formed in the spray head supporting plate (18) corresponding to the right upper part of the fixed block (6), a stepping motor (19) is arranged above the through hole, and the stepping motor (19) is fixedly connected to the bracket (11) through a stepping motor seat (22); one end of the synchronous belt (13) is fixed on one fixed shaft in the middle of the fixed block (6), and after a motor shaft of the synchronous belt wheel (4) and the stepping motor (19) is wound in sequence, the other end of the synchronous belt (13) is fixedly arranged on the other fixed shaft in the middle of the fixed block (6); under the drive of a stepping motor (19), the sliding block (5) is driven by a synchronous belt (13) to linearly move on a feed beam (12) to drive three groups of parallel connecting rods so as to finish the translation of the printing platform (10);
the spray head (14) is fixed on the spray head supporting plate (18); the fan opening (15) and the fan (16) are respectively fixed on the lower surface and the upper surface of the spray head supporting plate (18), a ventilation opening of the fan opening (15) is communicated with an air outlet of the fan (16), and the ventilation opening of the fan opening (15) faces the spray head (14); the extruder stepper motor (21) is fixedly arranged on the nozzle supporting plate (18); the extruding head (20) of the extruder is fixedly connected to the stepping motor (21) of the extruder, and the feeding hole of the extruder is concentric with the feeding hole of the top plate (23); the wire guide (24) is fixedly connected to the top plate (23) through a set screw, and the consumable support seat (25) is axially fixed on the top plate (23) and can rotate along with consumption of consumable;
in the printer, two round holes of a sliding block (5) for mounting a feed beam (12) are provided with linear bearings; the outer surface of the fixed shaft on the fixed block (6) is provided with a positioning structure for the synchronous belt (13).
2. The 3D printer with movable platform of the slide type of the connecting rod according to claim 1, characterized by that, the printer also comprises a control device (26), the control device (26) realizes the control of the position of the printing platform (10) by controlling the working state of the stepping motor (19); and the printing progress is controlled by controlling the extruder stepping motor (21).
3. The movable 3D printer of the parallel link slider type platform according to claim 2, wherein the control device (26) mainly comprises a control board, an expansion board and a driving device; the control board is used as a central processor of the whole control device (26) and is responsible for sending out signals, feeding back and processing signals collected by the sensors; the expansion board provides an interface for a sensor arranged on the printer and is used for connecting the sensor; the driving plate mainly comprises a control plate drive and a stepping motor drive, wherein the control plate drive is used for providing a driving power supply for the control plate, and the stepping motor drive provides a driving power supply for the start-stop operation of the stepping motor (19) and the extruder stepping motor (21); the expansion board is inserted on the control board, and the drive board is connected with the power supply, the control board and the stepping motor respectively.
4. The 3D printer with movable platform of the connecting rod slide type according to claim 1, further comprising a liquid crystal display (27), wherein the liquid crystal display (27) is connected with the control device (26) for displaying the printing progress and the printing speed when the printer works.
5. The 3D printer with movable platform of the connecting rod slide block type according to claim 1, further comprising a limit switch (28), wherein the limit switch (28) is installed below the fixed block (6) and above the bottom plate (2) for limiting the movement range of the fixed block (6).
6. The movable 3D printer with the connecting rod and the sliding block type platform according to claim 1, wherein the printing platform supporting rod (8) is made of carbon fiber materials.
7. The parallel-link slider type platform movable 3D printer according to claim 2, wherein the control board in the control device (26) is an Arduino Mega2560 model drive board, and the expansion board is a ramps1.4 model expansion board.
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| CN201810263864.0A CN108284593B (en) | 2018-03-28 | 2018-03-28 | Movable 3D printer of parallel connection rod sliding block type platform |
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| CN201810263864.0A CN108284593B (en) | 2018-03-28 | 2018-03-28 | Movable 3D printer of parallel connection rod sliding block type platform |
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| CN109049702B (en) * | 2018-08-02 | 2021-09-10 | 西安理工大学 | 3D printing system based on 6-PSS parallel mechanism |
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