CN108527848B - 5-axis 3D printing device and method for curved surface layered fused deposition molding - Google Patents

5-axis 3D printing device and method for curved surface layered fused deposition molding Download PDF

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CN108527848B
CN108527848B CN201810495540.XA CN201810495540A CN108527848B CN 108527848 B CN108527848 B CN 108527848B CN 201810495540 A CN201810495540 A CN 201810495540A CN 108527848 B CN108527848 B CN 108527848B
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push rod
motor
movable platform
curved surface
printing
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CN108527848A (en
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刘亚雄
冯晓静
崔滨
任辉
贺健康
王玲
连芩
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Xian Jiaotong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205—Means for applying layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/227—Driving means
    • B29C64/236—Driving means for motion in a direction within the plane of a layer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/245—Platforms or substrates
    • 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
    • B33Y10/00—Processes of additive manufacturing
    • 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

A curved surface stratifies 5 shaft 3D printing apparatus and method that the fused deposition takes shape, the apparatus includes moving the terrace, 3D prints the head and thread extruder, the plastic filament is sent into 3D and printed in the head via the thread extruder, the lower side of 3D prints the head has moving the terrace, moving the terrace stretches out the axle, the universal joint is connected with bracing piece, the bracing piece is connected with lifting gear, the edge of the moving terrace is connected with upper end of three push rods through the ball bearing, the lower end of the push rod is connected with slide block through belt clamping piece and spherical pair centre of sphere, the slide block cooperates with vertical guide rail fixed on fixed stander, make the slide block move up and down along the linear guide rail, the slide block is controlled by the; cutting layers of the three-dimensional model curved surface according to the characteristics of the three-dimensional model of the part, obtaining path planning data of each cut layer curved surface, obtaining kinematic parameters of the movable platform, the 3D printing head and the motor through mathematical derivation, and processing the part through computer program control; the invention has the advantages of high precision and wide printing range.

Description

5-axis 3D printing device and method for curved surface layered fused deposition molding
Technical Field
The invention belongs to the technical field of three-dimensional additive manufacturing, and particularly relates to a curved surface layered fused deposition molding 5-axis 3D printing device and method.
Background
The 3D printing technology utilizes the principle of discrete superposition to realize the rapid processing of products, and the fused deposition modeling technology becomes one of the most widely applied technologies in rapid modeling due to the advantages of convenient installation, simple use and maintenance, low cost, no pollution, and the like. At present, the surface smoothness and mechanical properties of a planar layer fused deposition molded product are poor, so that the application of the product is only limited to model making or design verification and is difficult to use in more professional engineering application fields. The various FDM rapid prototyping machine structures developed in recent years mainly include: XYZ, parallel arm and CoreXY 3D printers, which have fatal disadvantages when processing curved parts, have a step-like contour line in the Z direction because planar layer FDM is discretely stacked in the part stacking direction, and have a significant "step" effect due to layer thickness and poor surface finish in places with small curvature; secondly, the adhesion between layers is too small, so that the mechanical property of the curved surface thin-wall part is poor; and the plane layer filling mode is line segment filling, and the filling speed is low and the time is long. The curved surface layered fused deposition molding process is a 3D printing technology for discretizing and superposing curved surface layers with variable z-coordinate values in the cut surfaces, wherein the cut layers are three-dimensional curved surface cut layer methods, and the filling method is a three-dimensional curve filling strategy. The 3D printing technology based on curved surface layering fused deposition modeling can solve many problems based on plane layering FDM technology, the filling lines are continuous curves, the surface profile of the part is continuous, the surface smoothness of the part can be improved, meanwhile, the trend of wires in the material is designed in a user-defined mode, the mechanical property is enhanced, the number of layers can be reduced through a curved surface layering mode, and the printing time is saved.
The workbench of the existing curved surface layered FDM3D printer generally imitates a 5-axis numerical control machine tool, a serial rotating structure is arranged on a printing head or the workbench of an XYZ type 3D printer, the rotating structure is changed into a rotating printing head and a moving platform, or the 2-freedom serial moving platform is adopted, and therefore a 5-axis 3D printing device is built, but the rigidity of the rotating printing head or the workbench of the common serial type is poor, the precision is low, and the printing range is small.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a curved surface layered fused deposition modeling 5-axis 3D printing device and method, which have the advantages of high precision and wide printing range.
In order to achieve the purpose, the invention adopts the following technical scheme:
a5-axis 3D printing device for curved surface layered fusion deposition molding comprises a 3D printing head 4, plastic wires are fed into the 3D printing head 4 through a wire extruding machine 5, the 3D printing head 4 is installed on a two-dimensional moving platform 21, the two-dimensional moving platform 21 is fixed on a fixed rack 6, a moving platform 1 is arranged below the 3D printing head 4, the moving platform 1 is connected with one end of a universal joint 2 through a platform extension shaft 12, the other end of the universal joint 2 is installed on a supporting rod 3, the supporting rod 3 is connected with a lifting device 7, and the lifting device 7 is installed on the fixed rack 6;
the edge of the movable platform 1 is connected with the upper ends of a first push rod 18, a second push rod 11 and a third push rod 15 through ball bearings, the lower ends of the first push rod 18, the second push rod 11 and the third push rod 15 are connected with a first slide block 20, a second slide block 14 and a third slide block 17 through a first belt clamping piece 19, a second belt clamping piece 13, a third belt clamping piece 16 and a spherical pair spherical center, the first slide block 20, the second slide block 14 and the third slide block 17 are matched with 3 vertical guide rails fixed on the fixed rack 6 to enable the slide blocks to linearly move up and down along the guide rails, the first slide block 20, the second slide block 14 and the third slide block 17 are controlled by a first motor 8, a second motor 9 and a third motor 10 through belts, and the first motor 8, the second motor 9 and the third motor 10 are installed on the fixed rack 6.
The printing method of the curved surface layered fused deposition modeling 5-axis 3D printing device comprises the following steps:
1) acquiring curved surface layering and path planning data of a three-dimensional model of a part, slicing the curved surface of the three-dimensional model according to the characteristics of the part, and acquiring path planning data of each sliced curved surface, wherein the path planning data comprises position parameters (x, y, z) of the part in a world coordinate system, tool vector parameters (i, j, k), speed data and acceleration data;
2) according to the angle motion data and the structural parameters of the movable platform 1, the kinematic data of the first motor 8, the second motor 9 and the third motor 10 which perform vertical linear motion are calculated, and the kinematic data of the two-dimensional motion platform 21 and the lifting device 7 are calculated, wherein the calculation method comprises the following steps:
first, the attitude angle (α) of the movable platform 1 is found from the tool vector (i, j, k), and α is the angle of rotation of the movable platform 1 about the x and y axes, respectively, and the following solution is found
α＝actan(j/k)
β＝－actan(i/sqrt(k2+j2))
According to the inverse solution of the attitude angle (α) of the movable platform 1, the position z of the spherical pair center of the push rod controlled by the first motor 8, the second motor 9 and the third motor 10 to do vertical linear motion is calculatedM1,zM2,zM3To obtain
Figure BDA0001669070050000031
Figure BDA0001669070050000032
Figure BDA0001669070050000033
In the formula, point PiIs a spherical pair center of the push rod connected with the movable platform 1 in a local coordinate system O1x1y1z1Middle, point PiIs p as a position vectori', in the world coordinate system Oxyz, the point PiHas a position vector of (x)i,yi,zi) Point BiIs the spherical center M of the spherical pair at the other end of the push rodiPoint of intersection of the vertical straight line and the Oxy plane, point MiThe ordinate is respectively zM1,zM2,zM3，R01From a local coordinate system O1x1y1z1Coordinate transformation matrix to world coordinate system Oxyz, o1Is point O1OB is set as a position vector of the world coordinate system OxyziR, the distance between the spherical centers of the spherical pairs at the two ends of the push rod is l, the intermediate variable can be obtained,
Figure BDA0001669070050000041
Figure BDA0001669070050000042
according to the rotation angle of the movable platform 1, the motion parameters (x, y) of the two-dimensional moving platform 21 and the position parameter z of the lifting device 7 are calculated again
Figure BDA0001669070050000043
Wherein m is a line segment MO1The length of (a) of (b),
performing mathematical calculations such as derivation and the like according to the kinematic parameters to obtain speed and acceleration parameters of the movable platform 1, the 3D printing head 4 and the motors, and controlling the motors to perform motion control according to the solved kinematic parameters through a computer program;
3) when 3D printing work of parts is carried out, the computer program controls the two-dimensional motion platform 21, the lifting device 7, the filament extruding machine 5 and the 3D printing head 4 to drive the 3D printing head 4 to move on the movable platform 1 in a translation mode according to layer cutting data of a current layer model, the filament extruding machine 5 sends plastic filaments into the 3D printing head 4 to extrude and lay the filaments and adheres the filaments to the movable platform 1, meanwhile, the computer program controls the first motor 8, the second motor 9 and the third motor 10 to move up and down in a linear mode to drive one ends of the first push rod 18, the second push rod 11 and the third push rod 15 to rotate around the spherical centers of the spherical pairs respectively, so that the other ends of the first push rod 18, the second push rod 11 and the third push rod 15 drive the movable platform 1 to rotate on the universal joint 2 and the support rod 3 according to current layer angle motion data;
4) and repeating the steps 2) to 3) until the part is manufactured.
The invention has the beneficial effects that:
reduce the step effect and improve the surface finish of the part. Since the planar layers FDM are discretely stacked in the part stacking direction and the profile in the Z direction is stepped, although many scholars propose an adaptive layer cutting method in which the thickness of a cut layer is reduced at a place where the gradient is small or the curvature is large, the surface profile cannot be continuous, and the number of cut layers is increased, which increases the printing time. The curved surface layer cutting of the invention can ensure that the surface profile of the part is continuous, improve the surface precision of the part and reduce the number of layers. The parallel linkage platform has high structural rigidity and small accumulated error, thereby ensuring the printing precision.
And (3) planning a multi-directional path, and directionally enhancing the mechanical property of the part. The curved surface layering FDM realizes a three-dimensional space filament laying mode, a printing path is not limited in one plane, and the bonding strength between FDM process layers (or among filaments) is obviously smaller than the strength (longitudinal strength) of continuous filaments, so that the printing path is planned in multiple directions along the stress line direction, and the mechanical property of a part can be directionally enhanced.
The extrusion axis is perpendicular to the printing surface, and the section deformation of the filament is reduced. The mechanical property of the part is greatly influenced by the microscopic structure, particularly in an anisotropic structure such as FDM (fused deposition modeling), the 5-axis 3D printer can keep the filament laying direction of the printing head to be the same as the tangent direction of a curve in the printing process of the part, so that the distance from the printing head to a molded curved surface is constant; the laying direction is horizontal, so that the cross section of the wire is ensured not to deform, and the wire does not flow randomly under the action of gravity, thereby enhancing the mechanical property.
Drawings
Fig. 1 is a schematic structural diagram of a 5-axis 3D printing device according to the present invention.
Fig. 2 is a schematic structural diagram of a parallel rotary platform for realizing rotary motion according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 and 2, a curved surface layered fused deposition modeling 5-axis 3D printing device comprises a 3D printing head 4, plastic wires are fed into the 3D printing head 4 through a wire extruding machine 5, the 3D printing head 4 is installed on a two-dimensional motion platform 21, the two-dimensional motion platform 21 is fixed on a fixed frame 6, a movable platform 1 is arranged below the 3D printing head 4, the movable platform 1 is connected with one end of a universal joint 2 through a platform extension shaft 12, the other end of the universal joint 2 is installed on a supporting rod 3, the supporting rod 3 is connected with a lifting device 7, and the lifting device 7 is installed on the fixed frame 6;
referring to fig. 2, the edge of the movable platform 1 is connected with the upper ends of a first push rod 18, a second push rod 11 and a third push rod 15 through ball bearings, the lower ends of the first push rod 18, the second push rod 11 and the third push rod 15 are connected with a first slide block 20, a second slide block 14 and a third slide block 17 through a first belt clamping piece 19, a second belt clamping piece 13, a third belt clamping piece 16 and a spherical pair spherical center, the first slide block 20, the second slide block 14 and the third slide block 17 are matched with 3 vertical guide rails fixed on a fixed frame 6 to enable the slide blocks to move up and down along the guide rails in a linear mode, the first slide block 20, the second slide block 14 and the third slide block 17 are controlled by a first motor 8, a second motor 9 and a third motor 10 through belts, and the first motor 8, the second motor 9 and the third motor 10 are installed on the fixed frame 6.
The printing method of the curved surface layered fused deposition modeling 5-axis 3D printing device comprises the following steps:
1) acquiring curved surface layering and path planning data of a three-dimensional model of a part, slicing the curved surface of the three-dimensional model according to the characteristics of the part, and acquiring path planning data of each sliced curved surface, wherein the path planning data comprises position parameters (x, y, z) of the part in a world coordinate system, tool vector parameters (i, j, k), speed data and acceleration data;
2) according to the angle motion data and the structural parameters of the movable platform 1, the kinematic data of the first motor 8, the second motor 9 and the third motor 10 which perform vertical linear motion are calculated, and the kinematic data of the two-dimensional motion platform 21 and the lifting device 7 are calculated, wherein the calculation method comprises the following steps:
first, the attitude angle (α) of the movable platform 1 is found from the tool vector (i, j, k), and α is the angle of rotation of the movable platform 1 about the x and y axes, respectively, and the following solution is found
α＝actan(j/k)
β＝－actan(i/sqrt(k2+j2))
Calculating the spherical center of the spherical pair of the control push rod of the first motor 8, the second motor 9 and the third motor 10 according to the inverse solution of the attitude angle (α) of the movable platform 1Position z for performing vertical linear motionM1,zM2,zM3To obtain
Figure BDA0001669070050000071
Figure BDA0001669070050000072
Figure BDA0001669070050000073
In the formula, point PiIs a spherical pair center of the push rod connected with the movable platform 1 in a local coordinate system O1x1y1z1Middle, point PiIs p as a position vectori', in the world coordinate system Oxyz, the point PiHas a position vector of (x)i,yi,zi) Point BiIs the spherical center M of the spherical pair at the other end of the push rodiPoint of intersection of the vertical straight line and the Oxy plane, point MiThe ordinate is respectively zM1,zM2,zM3，R01From a local coordinate system O1x1y1z1Coordinate transformation matrix to world coordinate system Oxyz, o1Is point O1OB is set as a position vector of the world coordinate system OxyziR, the distance between the spherical centers of the spherical pairs at the two ends of the push rod is l, the intermediate variable can be obtained,
Figure BDA0001669070050000074
Figure BDA0001669070050000075
according to the rotation angle of the movable platform 1, the motion parameters (x, y) of the two-dimensional moving platform 21 and the position parameter z of the lifting device 7 are calculated again
Figure BDA0001669070050000076
In the formula, m is a lineSegment MO1The length of (a) of (b),
carrying out derivation mathematical calculation according to the kinematic parameters to obtain the speed and acceleration parameters of each movable platform 1, the 3D printing head 4 and the motor, and controlling each motor to carry out motion control according to the solved kinematic parameters through a computer program;
3) when 3D printing work of parts is carried out, the computer program controls the two-dimensional motion platform 21, the lifting device 7, the filament extruding machine 5 and the 3D printing head 4 to drive the 3D printing head 4 to move on the movable platform 1 in a translation mode according to layer cutting data of a current layer model, the filament extruding machine 5 sends plastic filaments into the 3D printing head 4 to extrude and lay the filaments and adheres the filaments to the movable platform 1, meanwhile, the computer program controls the first motor 8, the second motor 9 and the third motor 10 to move up and down in a linear mode to drive one ends of the first push rod 18, the second push rod 11 and the third push rod 15 to rotate around the spherical centers of the spherical pairs respectively, so that the other ends of the first push rod 18, the second push rod 11 and the third push rod 15 drive the movable platform 1 to rotate on the universal joint 2 and the support rod 3 according to current layer angle motion data;
4) and repeating the steps 2) to 3) until the part is manufactured.

Claims (1)

1. A printing method of a curved surface layered fused deposition modeling 5-axis 3D printing device is characterized by comprising the following steps:
1) acquiring curved surface layering and path planning data of a three-dimensional model of a part, slicing the curved surface of the three-dimensional model according to the characteristics of the part, and acquiring path planning data of each sliced curved surface, wherein the path planning data comprises position parameters (x, y, z) of the part in a world coordinate system, tool vector parameters (i, j, k), speed data and acceleration data;
2) according to the angle motion data and the structural parameters of the movable platform (1), calculating the kinematic data of the first motor (8), the second motor (9) and the third motor (10) for up-and-down linear motion, and calculating the kinematic data of the two-dimensional motion platform (21) and the lifting device (7), wherein the calculating method comprises the following steps:
the position of a point P to be printed in a world coordinate system is (x, y, z), a tool vector is (i, j, k), and the position in a local coordinate system is (x ', y ', z '), first, an attitude angle (α) of a movable platform (1) is solved based on the tool vector (i, j, k), α is an angle of rotation of the movable platform (1) about the x and y axes, respectively, and the following solution is solved
α＝actan(j/k)
β＝－actan(i/sqrt(k2+j2))
According to the inverse solution of the attitude angle (α) of the movable platform (1), the position z of the spherical pair centre of the push rod controlled by the first motor (8), the second motor (9) and the third motor (10) to do vertical linear motion is calculatedM1,zM2,zM3To obtain
Figure FDA0002269832850000011
Figure FDA0002269832850000012
Figure FDA0002269832850000021
In the formula, point PiIs a spherical pair center of a push rod connected with the movable platform (1) in a local coordinate system O1x1y1z1Middle, point PiIs p as a position vectori', in the world coordinate system Oxyz, the point PiHas a position vector of (x)i,yi,zi) Point BiIs the spherical center M of the spherical pair at the other end of the push rodiPoint of intersection of the vertical straight line and the Oxy plane, point MiThe ordinate is respectively zM1,zM2,zM3，R01From a local coordinate system O1x1y1z1Coordinate transformation matrix to world coordinate system Oxyz, o1Is point O1OB is set as a position vector of the world coordinate system OxyziR, the distance between the spherical centers of the spherical pairs at the two ends of the push rod is l, the intermediate variable can be obtained,
Figure FDA0002269832850000022
Figure FDA0002269832850000023
according to the rotation angle of the movable platform (1), motion parameters (x, y) of the two-dimensional motion platform (21) and a position parameter z of the lifting device (7) are calculated again to be
Figure FDA0002269832850000024
Wherein m is a line segment MO1The length of (a) of (b),
performing mathematical calculations such as derivation and the like according to the kinematic parameters to obtain speed and acceleration parameters of the movable platform (1), the 3D printing head (4) and the motors, and controlling the motors to perform motion control according to the solved kinematic parameters through a computer program;
3) when 3D printing work of parts is carried out, a computer program controls a two-dimensional motion platform (21), a lifting device (7), a filament extruding machine (5) and a 3D printing head (4) to drive the 3D printing head (4) to move on the movable platform (1) in a translation mode according to the layer cutting data of the current layer model, the filament extruding machine (5) sends plastic filaments into the 3D printing head (4) to extrude, lay and adhere to the movable platform (1), meanwhile, the computer program controls the first motor (8), the second motor (9) and the third motor (10) to do vertical linear motion to drive one ends of the first push rod (18), the second push rod (11) and the third push rod (15) to rotate around the spherical centers of the spherical pairs respectively, so that the other ends of the first push rod (18), the second push rod (11) and the third push rod (15) drive the movable platform (1) to do rotary motion on the universal joint (2) and the support rod (3) according to the current layer angle motion data;
4) repeating the step 2) to the step 3) until the part is manufactured;
the 5-axis 3D printing device for curved surface layered fused deposition molding comprises a 3D printing head (4), plastic wires are fed into the 3D printing head (4) through a wire extruding machine (5), the 3D printing head (4) is installed on a two-dimensional motion platform (21), the two-dimensional motion platform (21) is fixed on a fixed rack (6), a movable platform (1) is arranged below the 3D printing head (4), the movable platform (1) is connected with one end of a universal joint (2) through a platform extending shaft (12), the other end of the universal joint (2) is installed on a supporting rod (3), the supporting rod (3) is connected with a lifting device (7), and the lifting device (7) is installed on the fixed rack (6);
the edge of the movable platform (1) is connected with the upper ends of a first push rod (18), a second push rod (11) and a third push rod (15) through ball bearings, the lower ends of the first push rod (18), the second push rod (11) and the third push rod (15) are connected with a first sliding block (20), a second sliding block (14) and a third sliding block (17) through a first belt clamping piece (19), a second belt clamping piece (13), a third belt clamping piece (16) and a spherical pair spherical center, the first sliding block (20), the second sliding block (14) and the third sliding block (17) are matched with 3 vertical guide rails fixed on a fixed rack (6) to enable the sliding blocks to move up and down along guide rails in a linear mode, the first sliding block (20), the second sliding block (14) and the third sliding block (17) are controlled by a first motor (8), a second motor (9) and a third motor (10, The second motor (9) and the third motor (10) are arranged on the fixed frame (6).
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