CN109367002B

CN109367002B - 6D printing system based on spiral line

Info

Publication number: CN109367002B
Application number: CN201811217053.3A
Authority: CN
Inventors: 王庚祥; 韦凯鹤
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2020-12-18
Anticipated expiration: 2038-10-18
Also published as: CN109367002A

Abstract

The invention discloses a 6D printing system based on a spiral line, wherein a cylindrical barrel is movably connected with a base of a printer, a spiral line-shaped track is uniformly arranged on the inner thin wall of the cylindrical barrel, one end of a sliding seat is positioned in the spiral track, the other end of the sliding seat is connected with a ball screw seat, a ball screw is arranged on the ball screw seat, one end of a connecting plate is arranged on the ball screw, the ball screw is driven to rotate by a servo motor, so that the connecting plate is driven to move along a guide rail on the ball screw seat, the other end of the connecting plate is connected with a nozzle for printing, the connecting plate drives the nozzle to move in the radial direction of the cylindrical barrel, a 3RRR parallel mechanism is arranged in the middle of the base, and the top of the 3RRR parallel mechanism. The invention has the function of improving the printing quality and the printing precision. The printing motion with 6 degrees of freedom and independent space is realized by utilizing 5 driving motors, and the manufacturing cost is continuously saved.

Description

6D printing system based on spiral line

Technical Field

The invention belongs to the technical field of 3D printers, and relates to a 6D printing system based on a spiral line.

Background

The working structure of the existing 3D printer is mostly a space orthogonal mechanism, the forming form of the material is single, the processing of the whole workpiece is realized by adopting a plane layering mode, the horizontal direction of a base is not changed in the movement process of the mechanism, therefore, the included angle between a nozzle and the plane of the base is always in a fixed numerical value in the forming process, the principle is simple and practical, but the problem of the change of the printing direction when the cambered surface or curved surface material is formed is not considered, and when the material is printed layer by layer to form the cambered surface or the curved surface, the distance between formed lines of the sprayed material in the layer-by-layer printing can be changed because the angle between the nozzle and the plane of the base is not changed all the time; in addition, when forming parts having a suspended, cantilevered structure, it is often necessary to add a support structure; particularly, when the fiber-reinforced composite material is molded, the fiber-reinforced composite material cannot be molded completely according to the fiber orientation; this can certainly lead to local accuracy inconsistencies that affect the final accuracy of the entire workpiece.

In addition, the motion form of the traditional 3D printer is realized by driving the orthogonal axial motion of the space by three independent servo motors; the important mechanical structure is three mutually orthogonal axes, and the lack of rotary motion limits the printing precision and the application range of the traditional 3D printing. Therefore, from the perspective of saving cost and improving printing precision, the invention provides a 6D printing mechanical mechanism based on spiral line, and the 6D printing mechanism is not distinguished based on printing material types (4D printing: printing intelligent material, 5D printing: reconstructing biological material and active organ) but is a 6D printing system defined according to space mechanical freedom degrees, namely 3 independent moving freedom degrees and 3 independent rotating freedom degrees in space. The 3RRR parallel mechanism can realize spatial 3-dimensional rotation, and the motion mode of the spiral line realizes rotation around the Z axis and movement along the Z axis simultaneously through one driving motor (cost is saved); in addition, the guide rail along the radial direction on the cantilever beam realizes the linear printing motion of the XOY plane. Therefore, the novel 6D printing system only needs 5 driving motors under the condition of realizing the motion of 6 degrees of freedom in space, so that the manufacturing cost is saved, and the defects that the printing precision of the traditional 3D printing system is low and a supporting structure needs to be added are overcome.

Disclosure of Invention

The invention aims to provide a 6D printing system based on a spiral line, which can complete the printing work which can be completed by 3 independent servo motors of a traditional 3D printer by the mutual matching of two independent servo motors, and simultaneously uses a 3RRR parallel mechanism for bearing a printed object, and considers that the 3RRR parallel mechanism has the advantages of large rigidity, high self-weight load ratio, high speed, high precision, no accumulated error and isotropy, so that the 6D printing structure not only integrates the advantages of the parallel mechanism, but also has relatively low manufacturing cost; the spiral-based 6D printing system can be adapted to more printing environments.

In order to achieve the purpose, the invention adopts the following technical scheme:

A6D printing system based on a spiral line comprises a base, a 3RRR parallel mechanism, a spiral line-shaped track, a cylindrical barrel, a spray head, a connecting plate, a ball screw, a sliding seat, a ball screw seat and a parallel mechanism upper platform, wherein the cylindrical barrel is movably connected with the base of a printer, the spiral line-shaped track is uniformly arranged on the inner thin wall of the cylindrical barrel, one end of the sliding seat is positioned in the spiral track and can slide in the spiral track, the other end of the sliding seat is connected with the ball screw seat, the ball screw is arranged on the ball screw seat, one end of the connecting plate is arranged on the ball screw, the rotation of the ball screw is driven by a servo motor, so that the connecting plate is driven to move along a guide rail on the ball screw seat, the other end of the connecting plate is connected with a nozzle for printing, the connecting plate drives the nozzle to move in the radial direction of the cylindrical, the top of the 3RRR parallel mechanism is connected with an upper platform of the parallel mechanism for placing the printed parts.

As a further scheme of the invention, the slide carriage is driven to move on the spiral track through a servo motor, so that the movement of the nozzle in the Z-axis direction and the rotation around the Z axis are completed.

As a further scheme of the invention, the 3RRR parallel mechanism respectively utilizes three independent servo motors to drive the upper platform of the parallel mechanism for placing the printed object, thereby realizing the three-dimensional rotation of the printed object in space, avoiding the defect that the spray head and the printed object always keep an angle, and ensuring that the printing motion is more flexible.

The invention has the beneficial effects that: the cylindrical 6D printing system realizes rotation around a Z axis and moving printing movement along the Z axis based on a spiral line, and simultaneously realizes printing movement of a plane XOY by utilizing the guide rail movement of a cantilever beam, and the 3-dimensional rotational freedom degree of a 3RRR parallel mechanism is added; the function of the 6D printing system based on the spiral line on improving the printing quality and the printing precision is realized. More importantly, the printing system realizes the printing motion with independent space and 6 degrees of freedom by utilizing 5 driving motors, thereby constantly saving the manufacturing cost, having simple structure and being beneficial to the development and utilization of the product.

Drawings

FIG. 1 is a schematic cross-sectional view of a spiral-based 6D printing system of the present invention;

FIG. 2 is a schematic diagram of a spiral-based 6D printing system according to the present invention;

FIG. 3 is a schematic structural diagram of a 3RRR parallel mechanism of the spiral line-based 6D printing system of the present invention; in the figure: 1. the printing device comprises a base, a 2.3RRR parallel mechanism, a 3 spiral track, a 4 cylindrical barrel, a 5 spray head, a 6 connecting plate, a 7 ball screw, a 8 sliding seat, a 9 ball screw seat, a 10 printed piece, a 11 parallel mechanism upper platform and a 12 guide rail.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention.

As shown in fig. 1-3, the 6D printing system based on spiral line includes a base 1, a 3RRR parallel mechanism 2, a spiral track 3, a cylindrical barrel 4, a nozzle 5, a connecting plate 6, a ball screw 7, a slide carriage 8, a ball screw seat 9, a parallel mechanism upper platform 11, the cylindrical barrel 4 is movably connected with the base 1 of the printer, the spiral track 3 is uniformly arranged on the inner thin wall of the cylindrical barrel 4, one end of the slide carriage 8 is located in the spiral track 3 and can slide in the spiral track 3, the other end of the slide carriage 8 is connected with the ball screw seat 9, the ball screw 7 is mounted on the ball screw seat 9, one end of the connecting plate 6 is mounted on the ball screw 7, the ball screw 7 is driven to rotate by a servo motor, so as to drive the connecting plate 6 to move along a guide rail 12 on the ball screw seat 9, the other end of the connecting plate 6 is connected with the, the connecting plate 6 drives the nozzle 5 to move in the radial direction of the cylinder, so that the printing work is carried out, the 3RRR parallel mechanism 2 is installed at the middle position of the base 1, and the top of the 3RRR parallel mechanism 2 is connected with an upper platform 11 for placing a printed part 10 parallel mechanism.

The slide 8 is driven by a servo motor to move on the spiral track 3, thereby completing the movement of the nozzle 5 in the Z-axis direction and the rotation around the Z-axis. The 3RRR parallel mechanism 2 respectively utilizes three independent servo motors to drive the parallel mechanism upper platform 11 for placing the printed object 10, thereby realizing the three-dimensional rotation of the printed object 10 in the space, avoiding the defect that the spray head 5 and the printed object 10 always keep an angle, and ensuring the printing motion to be more flexible.

The cylindrical 6D printing system is different from the traditional 3D printer and is mainly characterized in that: the nozzle of the traditional 3D printer can only realize plane movement, and the workbench for placing the printed object can only realize Z-axis movement, which is also the reason that the 3D printing system is called 3D printing from the mechanical structure viewpoint; the cylindrical 6D printing system realizes rotation around the Z axis and moving printing movement along the Z axis based on a spiral line, and simultaneously realizes printing movement of a plane XOY by utilizing the guide rail movement of a cantilever beam, and the 3-dimensional rotational freedom degree of a 3RRR parallel mechanism is added; the function of the 6D printing system based on the spiral line on improving the printing quality and the printing precision is realized. More importantly, the printing system realizes the printing motion with independent space and 6 degrees of freedom by utilizing 5 driving motors, thereby constantly saving the manufacturing cost, having simple structure and being beneficial to the development and utilization of the product.

The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.

Claims

1. A6D printing system based on a spiral line is characterized by comprising a base (1), a 3RRR parallel mechanism (2), a spiral line-shaped track (3), a cylindrical drum (4), a spray head (5), a connecting plate (6), a ball screw (7), a sliding seat (8), a ball screw seat (9) and a parallel mechanism upper platform (11), wherein the cylindrical drum (4) is movably connected with the base (1) of a printer, the spiral line-shaped track (3) is uniformly arranged on the inner thin wall of the cylindrical drum (4), one end of the sliding seat (8) is positioned in the spiral track (3) and can slide in the spiral track (3), the other end of the sliding seat (8) is connected with the ball screw seat (9), the ball screw (7) is installed on the ball screw seat (9), one end of the connecting plate (6) is installed on the ball screw (7), and the rotation of the ball screw (7) is driven by a servo motor, thereby drive guide rail (12) removal on connecting plate (6) along ball seat (9), the other end and the nozzle (5) that are used for printing of connecting plate (6) are connected, connecting plate (6) drive nozzle (5) radially move at the cylinder, thereby print the work, install 3RRR parallel mechanism (2) on the intermediate position of base (1), the top of 3RRR parallel mechanism (2) is connected with and is used for placing by printing (10) parallel mechanism upper platform (11).

2. The spiral-based 6D printing system according to claim 1, wherein the movement of the nozzle (5) in the Z-axis direction and the rotation around the Z-axis are accomplished by a servomotor driving the carriage (8) to move on the spiral track (3).

3. The spiral-wire-based 6D printing system according to claim 1, wherein the 3RRR parallel mechanism (2) drives the parallel mechanism upper platform (11) for placing the object to be printed (10) by using three independent servo motors respectively, so that three-dimensional rotation of the object to be printed (10) in space is realized, the defect that the spray head (5) and the object to be printed (10) always keep an angle is avoided, and the printing motion is more flexible.