CN108824811A - 3D printing device boom system and adjustment method - Google Patents
3D printing device boom system and adjustment method Download PDFInfo
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- CN108824811A CN108824811A CN201811195591.7A CN201811195591A CN108824811A CN 108824811 A CN108824811 A CN 108824811A CN 201811195591 A CN201811195591 A CN 201811195591A CN 108824811 A CN108824811 A CN 108824811A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
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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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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Abstract
The present invention relates to a kind of 3D printing device boom system and adjustment methods, belong to construction 3D printing technique field.The boom system includes vertically arranged door frame, the boom frame for being set to the door frame two sides and balance cantilever crane, standard balance weight assembly and liquid circulation balanced component that balance cantilever crane is arranged in.The adjustment method includes：It is calculated by static load, determines the quality of standard balance weight assembly；It is calculated by dynamic load, when determining print head horizontal drive brake apparatus with speed v uniform motion, flows into flow or outflow flowQ 1With the relationship between speed v；In 3D printing construction, flow or outflow flow are flowed by controlQ 1, make the torque maintenance dynamic equilibrium of the boom frame and balance cantilever crane of door frame two sides.The present invention can be achieved in 3D printing head uniform motion or uniformly accelerated motion, the dynamic equilibrium of cantilever crane torque, to guarantee high accuracy positioning in print procedure, to realize that the printing construction of heavy construction provides guarantee.
Description
Technical field
The present invention relates to a kind of 3D printing device boom system and adjustment methods, belong to construction 3D printing technique neck
Domain.
Background technique
The mechanization of traditional architecture industry and the degree of automation are lower, and there is an urgent need to transition and upgrades for development.With 3D printing
The development of technology simultaneously graduallys mature, which will bring technological innovation to labor-intensive construction industry.Build 3D printing skill
Art has the characteristics that automatic and mechanical degree height, one-pass molding, building consumptive material and process loss are few, is to realize construction industry transition
A kind of important means of upgrading is to solve efficient building, safety, digitlization, automation, the intelligent effective way built,
Research has become the development trend of construction industry.
Tower 3D printing device is a kind of available apparatus for building 3D printing, is had the characteristics that from heavy and light, assembly and disassembly standardization.
But existing tower 3D printing device has the following disadvantages：The printing of not applicable printing heavy construction is built, when printer cantilever crane
After 5 meters, due to deflection of arm support is excessive and cantilever crane on active force cause the amount of deflection of pylon excessive, cause printing precision
It is greatly lowered, is unable to reach construction requirement.Tower 3D printing device is existing printer there are the main reason for these deficiencies
Cantilever crane rigidity is lower, and counterweight is unable to satisfy the cantilever crane gravitational equilibrium of pylon two sides.Therefore, a kind of novel tower-type 3D printing is researched and developed
Device cantilever crane is the technical problem of this field urgent need to resolve.
Summary of the invention
When using long cantilever crane for building for tower 3D printing device in the prior art, because amount of deflection causes printing precision to drop greatly
Low problem, the present invention provides a kind of 3D printing device boom system and adjustment methods, and the cantilever crane of door frame two sides can be made to reach
To dynamic equilibrium, print head positioning and printing precision are effectively improved.
In order to solve the above technical problems, the present invention includes following technical solution：
A kind of 3D printing device boom system, including：
Vertically arranged door frame；
Be respectively arranged at the boom frame and balance cantilever crane of the door frame two sides, the boom frame include boom beam, be set to it is described
Guide rail below boom beam, being provided on the guide rail can be along the print head horizontal drive braking dress that the guide rail moves horizontally
It sets；
The standard balance weight assembly being set on the balance cantilever crane；
Liquid circulation balanced component further includes being inputted by liquid including the standard equilibration case being set on the balance cantilever crane
Pipeline, liquid output pipe road recycle the liquid storage box being connected to the standard equilibration case, are located on the liquid input tube road
Inflow flow control valve and flow into high-pressure hydraulic pump, outflow flow control valve on the liquid output pipe road and outflow are high
Water pump, and with the inflow flow control valve, flow into high-pressure hydraulic pump, outflow flow control valve and outflow high-pressure hydraulic pump signal
The liquid circulation controller of connection.
Further, the liquid circulation balanced component further includes the compensation balance case being set on the balance cantilever crane, institute
It states between compensation balance case and the liquid storage box through liquid input tube road one, one circulation of liquid output pipe road, institute
It states to be provided on liquid input tube road one and flows into flow control valve one and inflow high-pressure hydraulic pump one, on the liquid output pipe road one
It is provided with outflow flow control valve one and outflow high-pressure hydraulic pump one, the inflow flow control valve one flows into high-pressure hydraulic pump one, stream
Outflow control valve one and outflow high-pressure hydraulic pump one are connect with the liquid circulation controller signals.
Further, the boom beam is two groups and is parallel to each other, solid by multiple enhancing bars between boom beam described in two groups
Fixed connection；The boom frame further includes for will be fixedly connected with top cantilever crane, the top at the top of the boom beam and door frame
Cantilever crane includes the cross bar for being fixed on two boom girder cantilever ends, and both ends are separately fixed at upper at the top of the cross bar and door frame
Portion's cantilever crane beam, and the boom beam is set and upper arm set a roof beam in place between several upper arm hack levers.
Further, anti-rock component is equipped with inside the standard equilibration case.
Correspondingly, the present invention also provides the adjustment methods of the 3D printing device boom system described in one kind, including：
It is calculated by static load, determines the quality of standard balance weight assembly；
It is calculated by dynamic load, when determining print head horizontal drive brake apparatus with speed v uniform motion, flows into flow or flowing out stream
AmountQ 1With the relationship between speed v；
In print head horizontal drive brake apparatus with speed v along guide rail uniform motion when, pass through control and flow into flow or flowing out stream
AmountQ 1, make the torque maintenance dynamic equilibrium of the boom frame and balance cantilever crane of door frame two sides.
Further, the quality for determining standard balance weight assembly is calculated by static load, is specifically included：
It is assumed that the weight of standard balance weight assembly ism 1；The center of gravity for determining standard balance weight assembly is at a distance from door frameL 1, remove standard
The total quality of balance cantilever crane outside balance weight assembly ism 2, center of gravity be at a distance from door frameL 2, 3D printing head and print head level are driven
When dynamic brake apparatus is located at guide rail close to door frame one end, the gross mass on boom frame ism 3, center of gravity be at a distance from door frameL 3,
In determining that the gross mass on boom frame ism 3, center of gravity when, do not consider 3D printing head and print head horizontal drive brake apparatus
It influences；According to the equalising torque on boom frame and balance cantilever crane, can obtain：。
Further, it is tested by dynamic load calculating, print head horizontal drive brake apparatus is with speedvWhen uniform motion, stream is flowed into
Amount or outflow flowQ 1With speedvBetween relationship be：
, wherein；
Wherein,Q 1To flow in or out the fluid flow in standard equilibration case, unit m3/s；
m 4For the gross mass of the printed material of print head horizontal drive brake apparatus, 3D printing head and inside, unit kg；
k 1For flow adjustment factor, unit m2；
L 4 For the distance between the center of gravity of standard equilibration case and door frame, unit m；
For fluid density, unit kg/m3。
Further, in print head horizontal drive brake apparatus with speed v along guide rail uniform motion when, pass through control flow into stream
Amount or outflow flowQ 1, make the torque maintenance dynamic equilibrium of the boom frame and balance cantilever crane of door frame two sides, specifically include：
When print head horizontal drive brake apparatus drives 3D printing head with speedvWhen far from door frame direction uniform motion, stream is closed
High-pressure hydraulic pump and outflow flow control valve out are opened and flow into high-pressure hydraulic pump and flow into flow control valve, and control enters standard equilibration
Fluid flow in case isQ 1；
When print head horizontal drive brake apparatus drives 3D printing head with speedvWhen towards door frame direction uniform motion, stream is closed
Enter high-pressure hydraulic pump and flow into flow control valve, opens outflow high-pressure hydraulic pump and outflow flow control valve, control outflow standard equilibration
Fluid flow in case isQ 1。
Further, the adjustment method further includes：
It is calculated by dynamic load, determines that print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaAccelerate
When movement, flow or outflow flow are flowed intoQ 2With the relationship between time t；
Drive 3D printing head with initial velocity in print head horizontal drive brake apparatusv 0 , accelerationaWhen accelerated motion, pass through control
Flow into flow or outflow flowQ 2, make the torque maintenance dynamic equilibrium of the boom frame and balance cantilever crane of door frame two sides.
Further, print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaIt accelerates
When, flow into flow or outflow flowQ 2Relationship between time t is：
, wherein；
Wherein,Q 2To flow in or out the fluid flow in standard equilibration case, unit m3/s；
k 1For flow adjustment factor, unit m2；
tFor time, unit s；
m 4For the gross mass of the printed material of print head horizontal drive brake apparatus, 3D printing head and inside, unit kg；
v 0 For the initial velocity of print head horizontal drive brake apparatus, unit m/s；
For fluid density, unit kg/m3；
L 4 For the distance between the center of gravity of standard equilibration case and door frame, unit m；
aFor the mobile acceleration of print head horizontal drive brake apparatus, unit m/s2。
Further, drive 3D printing head with initial velocity in print head horizontal drive brake apparatusv 0 , accelerationaIt accelerates
When, flow or outflow flow are flowed by controlQ 2, keep the torque maintenance of the boom frame and balance cantilever crane of door frame two sides dynamically flat
Weighing apparatus, specifically includes：
When print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaAccelerate fortune far from door frame direction
When dynamic, close outflow high-pressure hydraulic pump and outflow flow control valve, open and flow into high-pressure hydraulic pump and flow into flow control valve, control into
The fluid flow entered in standard equilibration case isQ 2；
When print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaAccelerate to transport towards door frame direction
It when dynamic, close and flows into high-pressure hydraulic pump and flow into flow control valve, open outflow high-pressure hydraulic pump and outflow flow control valve, control stream
The fluid flow in standard equilibration case is outQ 2。
The present invention due to using the technology described above, is allowed to compared with prior art, have the following advantages that and actively imitate
Fruit：The 3D printing device boom system, by standard balance weight assembly make boom system kept under static load operating condition boom frame and
The equalising torque for balancing cantilever crane, the liquid flow by the way that liquid circulation balanced component is arranged, in control inflow, outflow standard equilibration case
Amount is still able to maintain the boom frame of door frame two sides and the equalising torque of balance cantilever crane, keeps away to make 3D printing head in moving process
Exempt from the problem of 3D printing device causes tower body to generate biggish amount of deflection because of cantilever crane two sides moment unbalance, influences printing precision；
Meanwhile the boom beam of boom frame is fixedly connected by multiple enhancing bars, and by being fixedly connected at the top of top cantilever crane and door frame, from
And the cantilever design of stable mechanical property is formed, have the advantages that load-bearing capacity is strong, amount of deflection is small, is suitble to 3D printing head to carry out accurate
Printing；Moreover, being equipped with anti-rock component inside standard equilibration case, the amplitude of liquid sloshing is reduced, to avoid shaking in construction
When liquid sloshing 3D printing precision is impacted.The adjustment method is, it can be achieved that during 3D printing, in print head
In uniform motion or uniformly accelerated motion, the dynamic equilibrium of cantilever crane torque, to guarantee high accuracy positioning in print procedure, to realize
The printing construction of heavy construction provides guarantee.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the 3D printing device boom system in one embodiment of the invention；
Fig. 2 is the top view of the 3D printing device boom system in one embodiment of the invention；
Fig. 3 is the structural schematic diagram for the liquid circulation balanced component that one embodiment of the invention provides；
Fig. 4 be another embodiment of the present invention provides liquid circulation balanced component structural schematic diagram；
Fig. 5 is a kind of structural schematic diagram for anti-rock component that one embodiment of the invention provides
Fig. 6 is the structural schematic diagram for another anti-rock component that one embodiment of the invention provides.
Figure label is as follows：
100- door frame；200- boom frame；210- boom beam；211- enhances bar；220- guide rail；The braking of 230- print head horizontal drive
Device；The top 240- cantilever crane；241- cross bar；242- upper arm is set a roof beam in place；243- upper arm hack lever；300- balances cantilever crane；310- is flat
Heng Beijialiang；320- counter-jib hack lever；321- balances cantilever crane cross bar；The top 322- equalizer bar；323- upper links；400- standard
Balance weight assembly；500- liquid circulation balanced component；510- standard equilibration case；511- cabinet；512- import；The outlet 513-；514-
Anti-rock component；514a- staving；514b- flange plate；520- liquid input tube road；521- flows into flow control valve；522- is flowed into
High-pressure hydraulic pump；530- liquid output pipe road；531- flows out flow control valve；532- flows out high-pressure hydraulic pump；540- liquid storage box；
550- liquid circulation controller；560- compensation balance case；570- liquid input tube road one；571- flows into flow control valve one；
572- flows into high-pressure hydraulic pump one；580- liquid output pipe road one；581- flows out flow control valve one；582- flows out high-pressure hydraulic pump
One.
Specific embodiment
3D printing device boom system provided by the invention and adjustment method are made below in conjunction with the drawings and specific embodiments
It is further described.In conjunction with following explanation, advantages and features of the invention will be become apparent from.It should be noted that attached drawing is all made of
Very simplified form and use non-accurate ratio, only to it is convenient, lucidly aid in illustrating the mesh of the embodiment of the present invention
's.
Embodiment one
Please refer to Fig.1 to Fig.3, the present invention provides a kind of 3D printing device boom system, including vertically arranged door frame 100,
The standard for being respectively arranged at the boom frame 200 of 100 two sides of door frame and balancing cantilever crane 300, be arranged on balance cantilever crane 300 is matched
Recombinate part 400 and liquid circulation balanced component 500.
Wherein, the boom frame 200 includes boom beam 210, the guide rail 220 being set to below the boom beam 210, described
Being provided on guide rail 220 can be along the print head horizontal drive brake apparatus 230 that the guide rail 220 moves horizontally.In conjunction with Fig. 1 and figure
Shown in 2, the boom beam 210 is two groups and is parallel to each other, solid by multiple enhancing bars 211 between boom beam 210 described in two groups
Fixed connection, boom beam 210 are made up of stable whole multiple enhancing bars 211.Boom frame 200 further includes top cantilever crane 240, top
For cantilever crane 240 for will be fixedly connected at the top of boom beam 210 and door frame 100, the top cantilever crane 240 includes being fixed on two booms
The cross bar 241 of 210 cantilever end of beam, the upper arm that both ends are separately fixed at cross bar 241 and the top of door frame 100 set a roof beam in place 242, Yi Jishe
Set several upper arm hack levers 243 set a roof beam in place between 242 in boom beam 210 and upper arm.Two groups of boom beams 210 and top cantilever crane
Beam 242, cross bar 241, upper arm hack lever 243, door frame 100 form the cantilever design of stable mechanical property, strong with load-bearing capacity,
The small advantage of amount of deflection is suitble to 3D printing head precisely to be printed.Referring to figs. 1 and 2, balance cantilever crane 300 includes two groups flat
Weighing apparatus cantilever crane beam 310, the balance cantilever crane cross bar 321 for 310 cantilever ends of setting a roof beam in place positioned at counter-jib, respectively with balance cantilever crane cross bar 321 and
Top equalizer bar 322 that door frame 100 is fixedly connected, upper links 323.
Wherein, in conjunction with shown in Fig. 1 and Fig. 3, liquid circulation balanced component 500 includes being set on the balance cantilever crane 300
Standard equilibration case 510, further include liquid storage box 540, and be connected to respectively with standard equilibration case 510, liquid storage box 540
Liquid input tube road 520, liquid output pipe road 530, standard equilibration case 510, liquid storage box 540 pass through liquid input tube road
520, the circulation of liquid output pipe road 530 connection.Wherein, inflow flow control valve is provided on the liquid input tube road 520
521 and flow into high-pressure hydraulic pump 522, be provided on the liquid output pipe road 530 outflow flow control valve 531 and outflow high pressure
Water pump 532, the inflow flow control valve 521 flow into high-pressure hydraulic pump 522, outflow flow control valve 531 and outflow high-pressure hydraulic pump
532 connect with 550 signal of liquid circulation controller.Liquid storage box 540 can be set on the pylon of 3D printing device, can also
To be arranged on the ground or shelve on platform or in the floor plates of building, specific location is without limitation.Pass through liquid circulation control
Device 550 processed, the opening and closing that can control and flow into high-pressure hydraulic pump 522, flow out high-pressure hydraulic pump 532, and inflow flow control valve 521,
The open amount for flowing out flow control valve 531, to control fluid flow.It opens and flows into high-pressure hydraulic pump 522, by flowing into flow control
Valve 521 processed can control the fluid flow flowed into standard equilibration case 510, and liquid is flowed into from the import 512 of standard equilibration case 510
In cabinet 511, increase the liquid weight in standard equilibration case 510；Outflow high-pressure hydraulic pump 532 is opened, by flowing out flow control
Valve 531 processed can control the fluid flow in outflow standard equilibration case 510, and the liquid in cabinet 511 is flowed by outlet 513, made
Liquid weight in standard equilibration case 510 is reduced.
It is remained to by the fluid flow that control flows into standard equilibration case 510 to make 3D printing head in moving process
Keep the boom frame 200 of 100 two sides of door frame and the equalising torque of balance cantilever crane 300.Liquid in liquid storage box 540 can be
Water or oil or the flowable liquid of other homogeneous.
The quality of standard balance weight assembly 400, according to the equalising torque and standard on boom frame 200 and balance cantilever crane 300
The center of gravity of balance weight assembly 400 determines at a distance from door frame 100.It is assumed that the weight of standard balance weight assembly 400 ism 1；The standard of determination is matched
Recombination part 400 center of gravity be at a distance from door frame 100L 1, the total quality of the balance cantilever crane 300 in addition to standard balance weight assembly 400
Form 2（The quality of case containing standard equilibration 510）, center of gravity be at a distance from door frame 100L 2, 3D printing head and print head horizontal drive system
When dynamic device 230 is located at guide rail 220 close to 100 one end of door frame, the gross mass on boom frame 200 ism 3, center of gravity and door frame 100
Distance isL 3, wherein determining that the gross mass on boom frame 200 ism 3, center of gravity when, do not consider that 3D printing head and print head level are driven
The influence of dynamic brake apparatus 230；According to the equalising torque on boom frame 200 and balance cantilever crane 300, it is known that：
；
So as to obtain：
。
Preferred embodiment is that anti-rock component 514 is equipped with inside the standard equilibration case 510.Fig. 5 provides one kind
The structural schematic diagram of anti-rock component 514, illustrates the cross-sectional view of standard equilibration case 510, and the anti-rock component 514 is to set
Several flase floors being placed on 510 inner wall of standard equilibration case, when liquid sloshing, flase floor will generate resistance to liquid, to subtract
The amplitude that light liquid is shaken.Flase floor can it is vertically arranged be multistage, can also vertically add several annular plates.Fig. 6 is mentioned
The structural schematic diagram for having supplied another anti-rock component 514 illustrates the cross-sectional view of standard equilibration case 510, the anti-rock
Component 514 is including being provided with several flange plate 514b, the flange plate on the staving 514a, the staving 514a of upper and lower opening
The standard equilibration case 510 is divided into several chambers by 514b, and short transverse is provided with several on the staving 514a
With the intercommunicating pore of the chamber, and staving 514a top and bottom with chamber, liquid flow into staving 514a in
Afterwards, it can rapidly enter in chamber, keep staving 514a identical as the liquid level in chamber, when liquid sloshing, staving 514a's
Side wall and flange plate 514b form resistance to liquid, reduce the amplitude of liquid sloshing, to avoid situations such as shaking in construction
Lower liquid sloshing impacts 3D printing precision.
3D printing device boom system provided by the invention makes boom system in static load work by standard balance weight assembly 400
Boom frame 200 is kept under condition and balances the equalising torque of cantilever crane 300, by the way that liquid circulation balanced component 500, control stream is arranged
The fluid flow enter, flowed out in standard equilibration case 510 is still able to maintain 100 liang of door frame to make 3D printing head in moving process
The equalising torque of the boom frame 200 of side and balance cantilever crane 300, avoid 3D printing device because door frame 100 two sides moment unbalance due to
The problem of causing tower body to generate biggish amount of deflection, influencing printing precision.
Embodiment two
In the printing of 3D constructure body structure, such as the support column of 1m × 1m, the diameter of 3D printing head be likely to be breached 30cm or
Bigger, 3D printing is nose heave, and amount is larger, and for 3D printing head when running along guide rail 220, the moment variations on boom frame 200 are larger, stream
The control valve 521/ that becomes a mandarin outflow flow control valve 531 needs biggish adjustable range.And in the printing of metope supplementary structure, it can
It can be changed to the print head that diameter is 3cm, the weight of 3D printing head is smaller, the power when running along guide rail 220 on boom frame 200
Square variation is smaller, flows into the outflow flow control valve 531 of flow control valve 521/ and needs lesser adjustable range and higher adjusting
Precision.
For this purpose, as shown in figure 4,3D printing device boom system provided in this embodiment, liquid circulation balanced component 500
It further include the compensation balance case 560 being set on the balance cantilever crane 300, the compensation balance case 560 is stored with the liquid
Circulation, the liquid input tube road are formed by liquid input tube road 1, liquid output pipe road 1 between case 540
It is provided on one 570 and flows into flow control valve 1 and flow into high-pressure hydraulic pump 1, set on the liquid output pipe road 1
It is equipped with outflow flow control valve 1 and outflow high-pressure hydraulic pump 1.Relative in embodiment one liquid input tube road 520,
Liquid output pipe road 530, liquid input tube road 1, the pipeline in liquid output pipe road 1 are thinner, and flow into flow control
The flow accuracy that valve 1, outflow control valve one control is higher, when 3D printing head needs higher printing precision, using compensation
Tandem-driving bogie 560 carries out dynamic leveling.
Embodiment three
The present invention also provides a kind of adjustment methods such as the 3D printing device boom system in embodiment one, with reference to the accompanying drawing
1 to 4 pair of adjustment method is described further.The adjustment method includes：
Step 1：It is calculated by static load, determines the quality of standard balance weight assembly 400m 1.In print head horizontal drive brake apparatus
230 are located at guide rail 220 close to 100 one end of door frame and in the case of being equipped with 3D printing head, according to boom frame 200 and balance cantilever crane
The distance of equalising torque and standard balance weight assembly 400 apart from door frame 100 on 300 determines the quality of standard balance weight assembly 400m 1.By in embodiment one, it is known that.Standard balance weight assembly 400 may include multiple clump weights, total
Quality ism 1, position of centre of gravity meets the requirements.It should be noted that when being provided with compensation balance case 560 on balance cantilever crane 300
When, in the formulam 2Quality including standard equilibration case 510, compensation balance case 560,L 2It is to consider standard equilibration case 510, compensation
The distance between whole center of gravity and the door frame 100 of cantilever crane 300 are balanced after the weight of tandem-driving bogie 560.
Step 2：It is calculated by dynamic load, determines print head horizontal drive brake apparatus 230 with speedvWhen uniform motion, stream
Inbound traffics or outflow flowQ 1With speedvBetween relationship.
When print head horizontal drive brake apparatus 230 drives 3D printing head with speedvFar from 100 direction uniform motion of door frame
When, the torque on boom frame 200 increases because of the change in location of print head, needs to control into the liquid in standard equilibration case 510
Body flow isQ 1（Unit m3/s）, increase the gravity of liquid in standard equilibration case 510.Assuming that print head horizontal drive brake apparatus
230, the gross mass of 3D printing head and the printed material of inside ism 2, it is in the timetMoment, between center of gravity and door frame 100 away from
From forvt, the distance between the center of gravity of standard equilibration case 510 and door frame 100 areL 4 , according to boom frame 200 and balance cantilever crane 300
On equalising torque, can obtain：
；
To obtain,, wherein。
Similarly, when print head horizontal drive brake apparatus 230 drives 3D printing head with speedvIt is even towards 100 direction of door frame
When speed movement, the torque on boom frame 200 reduces because of the change in location of print head, closes and flows into high-pressure hydraulic pump 522 and flow into
Flow control valve 521 opens outflow high-pressure hydraulic pump 532 and outflow flow control valve 531, controls in outflow standard equilibration case 510
Fluid flow beQ 1?.
Step 3：When print head horizontal drive brake apparatus 230 is run with speed v along guide rail 220, flowed by control
Flow or outflow flowQ 1, make the torque maintenance dynamic equilibrium of the boom frame 200 and balance cantilever crane 300 of 100 two sides of door frame.Specifically
For：
When print head horizontal drive brake apparatus 230 drives 3D printing head with speedvWhen far from 100 direction uniform motion of door frame,
Outflow high-pressure hydraulic pump 532 and outflow flow control valve 531 are closed, unlatching flows into high-pressure hydraulic pump 522 and flows into flow control valve
521, controlling the fluid flow entered in standard equilibration case 510 isQ 1；
When print head horizontal drive brake apparatus 230 drives 3D printing head with speedvWhen towards 100 direction uniform motion of door frame,
It closes and flows into high-pressure hydraulic pump 522 and flow into flow control valve 521, open outflow high-pressure hydraulic pump 532 and outflow flow control valve
531, controlling the fluid flow flowed out in standard equilibration case 510 isQ 1。
Preferred embodiment is that the adjustment method further includes：It is calculated by dynamic load, determines that print head level is driven
Dynamic brake apparatus 230 drives 3D printing head with initial velocityv 0 , accelerationaWhen accelerated motion, flow or outflow flow are flowed intoQ 2With when
Between relationship between t；Drive 3D printing head with initial velocity in print head horizontal drive brake apparatus 230v 0 , accelerationaAccelerate fortune
When dynamic, flow or outflow flow are flowed by controlQ 2, make the boom frame 200 of 100 two sides of door frame and the torque of balance cantilever crane 300
Maintain dynamic equilibrium.
When print head horizontal drive brake apparatus 230 drives 3D printing head with initial velocityv 0 , accelerationaTowards door frame 100
When direction accelerates, the torque on boom frame 200 increases because of the change in location of print head, closes outflow high-pressure hydraulic pump 532
With outflow flow control valve 531, opens and flow into high-pressure hydraulic pump 522 and flow into flow control valve 521, control enters standard equilibration case
Fluid flow in 510 isQ 2（Unit m3/s）.Assuming that print head horizontal drive brake apparatus 230,3D printing head and inside beat
Print material gross mass bem 2, it is in the timetMoment, the distance between center of gravity and door frame 100 are, standard equilibration case
The distance between 510 center of gravity and door frame 100 areL 4 , according to the equalising torque on boom frame 200 and balance cantilever crane 300, can obtain
Out：
, wherein。
Similarly, when print head horizontal drive brake apparatus 230 drives 3D printing head with initial velocityv 0 , accelerationaFar from door
When 100 direction of frame accelerates, the torque on boom frame 200 reduces because of the change in location of print head, closes and flows into high pressure water
Pump 522 and inflow flow control valve 521 open outflow high-pressure hydraulic pump 532 and outflow flow control valve 531, control outflow standard
Fluid flow in tandem-driving bogie 510 isQ 2（Unit m3/s）.
Wherein, drive 3D printing head with initial velocity in print head horizontal drive brake apparatus 230v 0 , accelerationaAccelerate fortune
When dynamic, flow or outflow flow are flowed by controlQ 2, make the boom frame 200 of 100 two sides of door frame and the torque of balance cantilever crane 300
Dynamic equilibrium is maintained, is specifically included：
When print head horizontal drive brake apparatus 230 drives 3D printing head with initial velocityv 0 , accelerationaFar from 100 direction of door frame
When accelerated motion, outflow high-pressure hydraulic pump 532 and outflow flow control valve 531 are closed, unlatching flows into high-pressure hydraulic pump 522 and flows into stream
Control valve 521, the fluid flow that control enters in standard equilibration case 510 areQ 2；
When print head horizontal drive brake apparatus 230 drives 3D printing head with initial velocityv 0 , accelerationaTowards 100 direction of door frame
When accelerated motion, closes and flow into high-pressure hydraulic pump 522 and flow into flow control valve 521, open outflow high-pressure hydraulic pump 532 and flowing out stream
Control valve 531, the fluid flow that control is flowed out in standard equilibration case 510 areQ 2。
In conclusion the adjustment method of 3D printing device boom system provided by the invention is, it can be achieved that during 3D printing,
In print head uniform motion or uniformly accelerated motion, the dynamic equilibrium of cantilever crane torque, to guarantee high-precision fixed in print procedure
Position, to realize that the printing construction of heavy construction provides guarantee.
It should be noted that compensation balance case 560 is when in use, need to be vented the liquid in standard equilibration case 510.Compensation
560 volume of tandem-driving bogie is relatively small, flow into flow control valve 1, outflow flow control valve 1 in flow control more
Accurately, fluid flow control principle is identical as flow control valve 521, outflow 531 control principle of flow control valve is flowed into, this
Place repeats no more.
It should be noted that 230 speed of print head horizontal drive brake apparatus can be used above it setting tachymeter into
Row real-time monitoring.In existing 3D printing device, print head horizontal drive brake apparatus 230 generallys use driving device drive
The form that idler wheel is rolled along guide rail, braked, the present invention do not repeat its specific structure.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of 3D printing device boom system, which is characterized in that including：
Vertically arranged door frame；
Be respectively arranged at the boom frame and balance cantilever crane of the door frame two sides, the boom frame include boom beam, be set to it is described
Guide rail below boom beam, being provided on the guide rail can be along the print head horizontal drive braking dress that the guide rail moves horizontally
It sets；
The standard balance weight assembly being set on the balance cantilever crane；
Liquid circulation balanced component further includes being inputted by liquid including the standard equilibration case being set on the balance cantilever crane
Pipeline, liquid output pipe road recycle the liquid storage box being connected to the standard equilibration case, are located on the liquid input tube road
Inflow flow control valve and flow into high-pressure hydraulic pump, outflow flow control valve on the liquid output pipe road and outflow are high
Water pump, and with the inflow flow control valve, flow into high-pressure hydraulic pump, outflow flow control valve and outflow high-pressure hydraulic pump signal
The liquid circulation controller of connection.
2. 3D printing device boom system as described in claim 1, which is characterized in that
The liquid circulation balanced component further includes the compensation balance case being set on the balance cantilever crane, the compensation balance case
Pass through liquid input tube road one, one circulation of liquid output pipe road, the liquid input tube between the liquid storage box
It is provided on road one and flows into flow control valve one and flow into high-pressure hydraulic pump one, be provided with flowing out stream on the liquid output pipe road one
Control valve one and outflow high-pressure hydraulic pump one, the inflow flow control valve one flow into high-pressure hydraulic pump one, outflow flow control valve
One and outflow high-pressure hydraulic pump one connect with the liquid circulation controller signals.
3. 3D printing device boom system as claimed in claim 1 or 2, which is characterized in that
The boom beam is two groups and is parallel to each other, and is fixedly connected between boom beam described in two groups by multiple enhancing bars；
The boom frame further includes for will be fixedly connected with top cantilever crane, the top cantilever crane at the top of the boom beam and door frame
Cross bar including being fixed on two boom girder cantilever ends, both ends are separately fixed at the upper arm at the top of the cross bar and door frame
Set a roof beam in place, and the boom beam is set and upper arm set a roof beam in place between several upper arm hack levers.
4. 3D printing device boom system as claimed in claim 1 or 2, which is characterized in that set inside the standard equilibration case
There is anti-rock component.
5. such as the adjustment method of the described in any item 3D printing device boom systems of Claims 1-4, which is characterized in that including：
It is calculated by static load, determines the quality of standard balance weight assembly；
It is calculated by dynamic load, when determining print head horizontal drive brake apparatus with speed v uniform motion, flows into flow or flowing out stream
AmountQ 1With the relationship between speed v；
In print head horizontal drive brake apparatus with speed v along guide rail uniform motion when, pass through control and flow into flow or flowing out stream
AmountQ 1, make the torque maintenance dynamic equilibrium of the boom frame and balance cantilever crane of door frame two sides.
6. adjustment method as claimed in claim 5, which is characterized in that calculate the matter for determining standard balance weight assembly by static load
Amount, specifically includes：
It is assumed that the weight of standard balance weight assembly ism 1；The center of gravity for determining standard balance weight assembly is at a distance from door frameL 1, except standard is matched
The total quality of balance cantilever crane outside recombination part ism 2, center of gravity be at a distance from door frameL 2, 3D printing head and print head horizontal drive
When brake apparatus is located at guide rail close to door frame one end, the gross mass on boom frame ism 3, center of gravity be at a distance from door frameL 3, wherein
Determining that the gross mass on boom frame ism 3, center of gravity when, do not consider the shadow of 3D printing head and print head horizontal drive brake apparatus
It rings；According to the equalising torque on boom frame and balance cantilever crane, can obtain：。
7. adjustment method as claimed in claim 5, which is characterized in that tested by dynamic load calculating, the braking of print head horizontal drive
Device is with speedvWhen uniform motion, flow or outflow flow are flowed intoQ 1With speedvBetween relationship be：
, wherein；
Wherein,Q 1To flow in or out the fluid flow in standard equilibration case, unit m3/s；
m 4For the gross mass of the printed material of print head horizontal drive brake apparatus, 3D printing head and inside, unit kg；
k 1For flow adjustment factor, unit m2；
L 4 For the distance between the center of gravity of standard equilibration case and door frame, unit m；
For fluid density, unit kg/m3 。
8. adjustment method as claimed in claim 7, which is characterized in that in print head horizontal drive brake apparatus with the edge speed v
When guide rail uniform motion, flow or outflow flow are flowed by controlQ 1, make the boom frame of door frame two sides and the power of balance cantilever crane
Square maintains dynamic equilibrium, specifically includes：
When print head horizontal drive brake apparatus drives 3D printing head with speedvWhen far from door frame direction uniform motion, stream is closed
High-pressure hydraulic pump and outflow flow control valve out are opened and flow into high-pressure hydraulic pump and flow into flow control valve, and control enters standard equilibration
Fluid flow in case isQ 1；
When print head horizontal drive brake apparatus drives 3D printing head with speedvWhen towards door frame direction uniform motion, stream is closed
Enter high-pressure hydraulic pump and flow into flow control valve, opens outflow high-pressure hydraulic pump and outflow flow control valve, control outflow standard equilibration
Fluid flow in case isQ 1。
9. adjustment method as claimed in claim 5, which is characterized in that further include：
It is calculated by dynamic load, determines that print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaAccelerate
When movement, flow or outflow flow are flowed intoQ 2With the relationship between time t；
Drive 3D printing head with initial velocity in print head horizontal drive brake apparatusv 0 , accelerationaWhen accelerated motion, pass through control
Flow into flow or outflow flowQ 2, make the torque maintenance dynamic equilibrium of the boom frame and balance cantilever crane of door frame two sides.
10. adjustment method as claimed in claim 9, which is characterized in that print head horizontal drive brake apparatus drives 3D printing
Head is with initial velocityv 0 , accelerationaWhen accelerated motion, flow or outflow flow are flowed intoQ 2Relationship between time t is：
, wherein；
Wherein,Q 2To flow in or out the fluid flow in standard equilibration case, unit m3/s；
k 1For flow adjustment factor, unit m2；
tFor time, unit s；
m 4For the gross mass of the printed material of print head horizontal drive brake apparatus, 3D printing head and inside, unit kg；
v 0 For the initial velocity of print head horizontal drive brake apparatus, unit m/s；
For fluid density, unit kg/m3；
L 4 For the distance between the center of gravity of standard equilibration case and door frame, unit m；
aFor the mobile acceleration of print head horizontal drive brake apparatus, unit m/s2。
11. adjustment method as claimed in claim 10, which is characterized in that drive 3D to beat in print head horizontal drive brake apparatus
Head is printed with initial velocityv 0 , accelerationaWhen accelerated motion, flow or outflow flow are flowed by controlQ 2, make the boom of door frame two sides
The torque of frame and balance cantilever crane maintains dynamic equilibrium, specifically includes：
When print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaIt is accelerated far from door frame direction
When, outflow high-pressure hydraulic pump and outflow flow control valve are closed, opens and flows into high-pressure hydraulic pump and flow into flow control valve, control enters
Fluid flow in standard equilibration case isQ 2；
When print head horizontal drive brake apparatus drives 3D printing head with initial velocityv 0 , accelerationaIt is accelerated towards door frame direction
When, it closes and flows into high-pressure hydraulic pump and flow into flow control valve, open outflow high-pressure hydraulic pump and outflow flow control valve, control outflow
Fluid flow in standard equilibration case isQ 2。
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| CN201811195591.7A CN108824811B (en) | 2018-10-15 | 2018-10-15 | 3D printing device boom system and adjustment method |
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| CN201811195591.7A CN108824811B (en) | 2018-10-15 | 2018-10-15 | 3D printing device boom system and adjustment method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112240103A (en) * | 2020-09-08 | 2021-01-19 | 上海建工集团股份有限公司 | 3D printing method for horizontal structure |
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| US5609260A (en) * | 1996-02-05 | 1997-03-11 | Liao; Fu-Chang | Derrick structure |
| ES2247947A1 (en) * | 2005-05-11 | 2006-03-01 | Jose Maria Martinez - Val Peñalosa | Counterbalance movable crane, has fixed right tower provided with double arm, and parts arranged to transfer loads from end to another end |
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