CN111452359A - Fourier transform 3D printing system based on Cartesian coordinate system - Google Patents
Fourier transform 3D printing system based on Cartesian coordinate system Download PDFInfo
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- CN111452359A CN111452359A CN202010271669.XA CN202010271669A CN111452359A CN 111452359 A CN111452359 A CN 111452359A CN 202010271669 A CN202010271669 A CN 202010271669A CN 111452359 A CN111452359 A CN 111452359A
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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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
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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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
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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
Abstract
The Fourier transform 3D printing system based on the Cartesian coordinate system comprises two upright posts on a base; each upright post is fixed with a longitudinal driving motor through a Z-axis frame; the longitudinal driving motor is connected with the X-axis frame through a lead screw nut, and the X-axis frame is connected with the longitudinal guide rod; the lower side of the X-axis frame is respectively connected with two transverse guide rod frames, a transverse driving motor on the transverse guide rod frame A is connected with a rotating motor frame A, and the rotating motor frame A is connected with a transverse guide rod; the rotary motor frame A is connected with the rotary motor frame B, and the lower side of the rotary motor frame B is connected with a primary connecting rod assembly, a secondary connecting rod assembly and a tertiary connecting rod assembly; the first-stage, second-stage and third-stage connecting rods can make rotary motion; the third-stage connecting rod is provided with a nozzle; a Y-axis frame on the base is connected with a Y-axis driving motor, and a Y-axis guide rod frame A on the base is connected with a Y-axis guide rod; the Y-axis driving motor is connected with the printing platform, and the printing platform is connected with the Y-axis guide rod frame B; the rotary parts and the high-dimensional curved surface can be printed; the device has the characteristics of simple structure and high flexibility.
Description
Technical Field
The invention belongs to the technical field of 3D printing, and particularly relates to a Cartesian coordinate system-based Fourier transform 3D printing system.
Background
The traditional 3D printer based on the cartesian coordinate system at present realizes the processing of the whole workpiece layer by layer in a manner of moving along 3 orthogonal axes in space. Therefore, no matter whether the machined surface has a high-dimensional curved surface or not, the traditional 3D printer adopts a linear interpolation form to print in the whole machining process, and the printing mode has the following disadvantages: 1) the problem of printing direction change when the cambered surface or curved surface material is formed is not considered, the distance between the lines formed by the ejected material in the layer-by-layer printing can be changed, and the mechanical property of a printed piece is poor; 2) when the material is printed layer by layer to form an arc surface or a curved surface, the geometric information of the high-dimensional curved surface cannot be accurately captured by adopting a linear interpolation mode, so that the surface roughness of the printed piece cannot meet the technical requirement, and the precision of the printed piece is directly reduced. 3) Particularly, when a high-dimensional curved surface with obvious curvature change is printed, the traditional 3D printer still adopts a straight line difference compensation mode to approach the curved surface, and the printing efficiency is reduced by adopting a small step length mode when the high-precision curved surface is obtained by adopting the printing mode; on the contrary, the printing precision can not be guaranteed, and the advantage of 3D printing rapid prototyping is seriously influenced.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a cartesian coordinate system-based fourier transform 3D printing system, which makes up the defects of the current 3D printing system in printing high-dimensional curved surfaces, and the main research content is as follows: based on the relation between the frequency and the waveform response in the Fourier function, the arbitrarily selected high-dimensional curved surface is equivalent to a series of continuously measured signals, and the geometric information of the high-dimensional curved surface is captured by superposing a limited number of sine wave signals with different frequencies, different amplitudes and different phases; when the curvature of the curve is not changed, the curve with single curvature can be obtained only by the fixed rod length, and when the curvature of the curve is changed, the geometric information of the high-dimensional curved surface can be described by the motion of different rod lengths and different frequencies; wherein the rod length in the system represents the amplitude of the high-dimensional curved surface, and different frequencies represent the speed of curvature change; therefore, the connecting rods with different lengths can be used for realizing the movement of the spray head in the radial direction, meanwhile, the circumferential movement of the spray head is realized by the circumferential swing of the connecting rods, the longitudinal displacement of the spray head is finally realized by the ball screw layer-by-layer printing, and the advantage that the Fourier transform can acquire high-frequency information is used for the novel 3D printing system capable of realizing high-dimensional curved surface printing.
In order to achieve the purpose, the invention adopts the technical scheme that: the Fourier transform 3D printing system based on the Cartesian coordinate system comprises a base (1) and is characterized in that two upright posts (7) are fixed on the base (1); each upright post (7) is fixed with a longitudinal driving motor (13) through a Z-axis frame (12); a longitudinal driving motor (13) is connected with an X-axis rack A (10) through a lead screw nut (11), the X-axis rack A is connected with a longitudinal guide rod, and the moving direction of the X-axis rack A is determined through the longitudinal guide rod; the lower sides of the X-axis machine frame A and the X-axis machine frame B are respectively connected with a transverse guide rod frame A and a transverse guide rod frame B, and a transverse driving motor is fixed on the transverse guide rod frame A; the transverse driving motor is connected with a rotary motor frame A through a transverse lead screw nut, the rotary motor frame A is connected with a transverse guide rod, and the moving direction of the rotary motor frame A is determined through the transverse guide rod; the lower side of the rotating motor frame A is connected with a rotating motor frame B, and the lower side of the rotating motor frame B is sequentially connected with a primary connecting rod assembly, a secondary connecting rod assembly and a tertiary connecting rod assembly; the primary connecting rod assembly, the secondary connecting rod assembly and the tertiary connecting rod assembly can respectively rotate under the driving of a primary motor, a secondary motor and a tertiary motor; the base is also provided with a Y-axis frame, and the Y-axis frame is connected with a Y-axis driving motor; a Y-axis guide rod frame A on the base is connected with a Y-axis guide rod; the Y-axis driving motor is connected with the printing platform through a Y-axis lead screw nut and a printing platform frame, the printing platform is connected with a Y-axis guide rod frame B, and the moving direction of the printing platform is determined through a Y-axis guide rod;
the power output end of the primary connecting rod driving motor is downwards and sequentially provided with a primary connecting rod thrust bearing, a primary connecting rod shaft sleeve, a primary connecting rod adjusting ring, a primary connecting rod adjusting ring b and a primary connecting rod hexagon nut;
the front end of the first-stage connecting rod is provided with a second-stage connecting rod driving motor; a second-stage connecting rod thrust bearing is arranged on the power output end of the second-stage connecting rod driving motor; a second-stage connecting rod shaft sleeve and a second-stage connecting rod adjusting ring a are arranged at the lower side of the second-stage connecting rod thrust bearing; a secondary connecting rod is arranged below the secondary connecting rod adjusting ring a; a second-stage connecting rod adjusting ring b is arranged on the second-stage connecting rod; a second-stage connecting rod hexagon nut is arranged at the lower side of the second-stage connecting rod adjusting ring b; the whole body is compressed through a second-stage connecting rod hexagon nut;
the front end of the second-stage connecting rod is provided with a third-stage connecting rod driving motor; a third-stage connecting rod thrust bearing is arranged on the power output end of the third-stage connecting rod driving motor; a third-stage connecting rod shaft sleeve and a third-stage connecting rod adjusting ring a are arranged at the lower side of the third-stage connecting rod thrust bearing; a third-stage connecting rod is arranged below the third-stage connecting rod adjusting ring a; a third-stage connecting rod adjusting ring b is arranged on the third-stage connecting rod; a second-stage connecting rod hexagon nut is arranged at the lower side of the third-stage connecting rod adjusting ring b; the whole body is compressed through a second-stage connecting rod hexagon nut; the front end of the third-stage connecting rod is provided with a nozzle.
The invention has the beneficial effects that: 1) the 3D printing system based on Fourier series transformation not only can meet the working requirements of the existing printer, but also is better at printing rotary parts. 2) When the curved surface is printed, Fourier series transformation is used, and the curved surface with high quality and high precision can be obtained. 3) The structure transformation is more flexible, and for different printing sizes, the printing requirements for different sizes can be met only by replacing the pole diameter rods with different lengths on the basis, namely, the number of stages is increased to meet the requirement of printing a high-dimensional curved surface with obvious curvature change. 4) If a curved surface with higher precision and higher quality needs to be printed, the number of the pole diameter rods is increased (the number of stages is increased), which is beneficial to further development and utilization of the product. 5) The structure is simple and the volume is small by adopting the open structure design. 6) Under the same equipment overall dimension, the working range of the 3D printing system based on Fourier series transformation becomes very large, the moving amount on the workbench is small, the noise is greatly reduced, the service life is longer, and the production and popularization of products are facilitated.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a 3D printing system based on Fourier series transformation according to the invention.
FIG. 2 is a schematic diagram of the primary, secondary and tertiary structures of the Fourier series transform-based 3D printing system of the present invention.
FIG. 3 is a bottom view of the Fourier series transform based 3D printing system of the present invention.
Fig. 4(a) the present invention simulates an amplitude invariant waveform using a single stage fourier transform function.
FIG. 4(b) the present invention utilizes a two-stage Fourier transform function to simulate waveforms with insignificant curvature variation.
FIG. 4(c) the present invention utilizes a three-level Fourier transform function to simulate a waveform with a significant waveform vibration frequency.
In the figure: 1-a base; 2-Y axis drive motor; 3-Y axis frame; 4-Y axis guide rod frame A; 5-longitudinal guide rod; 6-guide bar connection; 7-upright post; 8-transverse driving motor; 9-transverse guide rod frame A; 10-X axis frame a; 11-a lead screw nut; a 12-Z axis gantry; 13-longitudinal drive motor; 14-X axis gantry B; 15-transverse guide rod frame B; 16-a transverse guide bar; 17-rotating electric machine frame a; 18-a transverse lead screw nut; 19-a printing platform; 20-rotating motor frame B; 21-a primary connecting rod thrust bearing; 22-a primary connecting rod shaft sleeve; 23-a primary link adjustment ring a; 24-a secondary link adjustment ring b; 25-one-stage connecting rod hexagon nut; 26-a primary connecting rod driving motor; 27-a primary connecting rod; 28-secondary connecting rod thrust bearing; 29-two-stage connecting rod shaft sleeve; 30 two-stage link adjusting ring a; 31-secondary link adjustment ring b; 32-two-stage connecting rod hexagon nuts; 33-a secondary link drive motor; 34-a secondary link; 35-a three-level connecting rod adjusting ring a; 36-three-level connecting rod hexagon nut; 37-three-level connecting rod adjusting ring b; 38-a nozzle; 39-a tertiary link; 40-three-level connecting rod shaft sleeve; 41-three-level connecting rod thrust bearing; 42-three-level connecting rod driving motor; 43-printing platform shelf; 44-Y axis feed screw nuts; a 45-Y axis guide; 46-Y-axis guide bar frame B.
Detailed Description
The structural and operational principles of the present invention will be described in further detail with reference to the accompanying drawings of fig. 1-4(a) - (c) and the detailed description.
In order to meet the requirements of higher precision and higher quality printing effect, a pole diameter rod can be added to meet the requirement of 3D printing of higher-order Fourier transform. In this description, 3D printing by three-level fourier transform is described as an example.
A longitudinal moving assembly of A3D printing system based on Fourier series transformation comprises a base 1, a longitudinal guide rod 5, a guide rod connecting piece 6, an upright post 7, a transverse guide rod frame A9, an X-axis frame A10, a lead screw nut 11, a Z-axis frame 12 and a longitudinal driving motor 13. Through the matching of the feed screw nut 11 and the longitudinal driving motor 13, the nozzle 38 can move longitudinally, so that the layer-by-layer printing of 3D printing is realized.
An X-axis moving assembly of A3D printing system based on Fourier series transformation comprises a transverse driving motor 8, a transverse guide rod frame A9, an X-axis frame A10, an X-axis frame B14, a transverse guide rod frame B15, a transverse guide rod 16, a rotating motor frame A17 and a transverse lead screw nut 18. The transverse movement of the nozzle 38 is possible by the cooperation of the transverse spindle nut 18 with the transverse drive motor 8.
A Y-axis moving assembly of a 3D printing system based on Fourier series transformation comprises a Y-axis driving motor 2, a Y-axis frame 3, a Y-axis guide rod frame A4, a printing platform frame 43, a Y-axis lead screw nut 44, a Y-axis guide rod 45 and a Y-axis guide rod frame B46. The Y-axis movement of the nozzle 38 is made possible by the cooperation of the Y-axis feed screw nut 44 and the Y-axis drive motor 2.
Referring to fig. 1 and 2, the primary connecting rod assembly includes a primary connecting rod thrust bearing 21, a primary connecting rod bushing 22, a primary connecting rod adjusting ring a23, a secondary connecting rod adjusting ring b24, a primary connecting rod hexagon nut 25, a primary connecting rod driving motor 26, and a primary connecting rod 27. The primary connecting rod driving motor 26 is fixed on a rotating motor frame B20 through bolts; the above step (1); the rotating motor frame B20 is fixed in the middle of the rotating motor frame A17 through bolts; the primary connecting rod thrust bearing 21 is arranged (positioned) on the primary connecting rod driving motor 26; the primary link adjustment ring a23 is disposed (positioned) on the underside of the primary link bushing 22; the primary connecting rod shaft sleeve 22 is arranged (positioned) at the lower side of the primary connecting rod thrust bearing 21; the primary connecting rod 27 is arranged on the upper side of the primary connecting rod adjusting ring b 24; (ii) a And finally, positioning and compressing are carried out through a first-stage connecting rod hexagon nut 25. The primary link is driven by the rotational movement of the motor 26 so that the primary link can make a circular movement in a plane (first stage of fourier transform).
Referring to fig. 1 and 2, the secondary link assembly includes a secondary link thrust bearing 28, a secondary link bushing 29, a secondary link adjustment ring a30, a secondary link adjustment ring b31, a secondary link hex nut 32, a secondary link drive motor 33, and a secondary link 34. The secondary connecting rod driving motor 33 is fixed on the secondary connecting rod 34 through a bolt; the secondary connecting rod 34 is connected with the secondary connecting rod driving motor 33; the secondary link thrust bearing 28 is provided on (positioned on) the secondary link drive motor 33; the secondary link adjustment ring a30 is provided on (positioned at) the lower side of the secondary link bushing 29; the secondary link shaft sleeve 31 is provided on (positioned on) the lower side of the secondary link thrust bearing 28; the secondary link 34 is arranged on the upper side of the secondary link adjusting ring b 31; and finally, positioning and compressing are carried out through the second-stage connecting rod hexagon nut 32. The second-stage link is driven by the rotational movement of the motor 33 so that the second-stage link can make a circular movement in a plane (second stage of fourier transform).
Referring to fig. 1 and 2, the three-stage link assembly includes 35-a three-stage link adjustment ring a35, a three-stage link hexagon nut 36, a three-stage link adjustment ring b37, a three-stage link 39, a three-stage link bushing 40, a three-stage link thrust bearing 41, and a three-stage link drive motor 42. The third-level connecting rod driving motor 42 is fixed on the third-level connecting rod 39 through a bolt; the third-level connecting rod 39 is connected with a third-level connecting rod driving motor 42; the tertiary link thrust bearing 41 is provided on (positioned on) the tertiary link drive motor 42; the tertiary link adjustment ring a35 is disposed (positioned) on the underside of the tertiary link bushing 40; the tertiary link shaft sleeve 40 is provided on (positioned on) the lower side of the tertiary link thrust bearing 41; the tertiary link 39 is arranged on the upper side of the tertiary link adjusting ring b 37; and finally, positioning and compressing through a three-level connecting rod hexagon nut 36. The third link 39 can make a circular motion in a plane (third stage of fourier transform) by the rotational motion of the third link driving motor 42.
The first-stage connecting rod driving motor 26 is rotated to directly drive the first-stage connecting rod 27 to make the first-stage connecting rod perform circular motion in a horizontal plane (corresponding to the first stage of Fourier series transformation);
the second-stage link driving motor 33 is rotated to directly drive the second-stage link 34 to make circular motion in the horizontal plane (corresponding to the second stage of fourier series transformation).
The three-level connecting rod driving motor 42 is rotated to directly drive the three-level connecting rod 39 to make circular motion (corresponding to the third level of Fourier series transformation) in the horizontal plane, and the three motions form Fourier series transformation in the plane;
the rotary motion of a longitudinal driving motor 13 is converted into the linear motion of a screw nut 11, so that an X-axis frame 10 connected to the screw nut 11 makes the linear motion, and finally a primary connecting rod assembly, a secondary connecting rod assembly and a tertiary connecting rod assembly make the longitudinal motion together; the rotary motion of the transverse driving motor 8 is converted into the linear motion of the transverse lead screw nut 18, so that the rotary motor frame A17 connected to the lead screw nut 18 makes the linear motion together, and finally the primary, secondary and tertiary connecting rod assemblies make the transverse motion together; the rotary motion of the Y-axis driving motor 2 is converted into the linear motion of the lead screw nut 44, so that the printing platform frame 43 connected with the lead screw nut 44 makes the linear motion together, and finally the printing platform 19 moves along the Y axis; the above six motions together constitute a fourier series transform in space so that the print nozzle 38 can reach an arbitrary position in space.
In the fourier series transform, any curve can be regarded as being superimposed by a finite number of sine wave signals of different frequencies, different amplitudes and different phases, and the invention obtains any curve by using different rod lengths and different frequencies.
See fig. 4(a), 1 bar and
the frequency of (1) rotates around the point O, and the track of the other end point of the rod 1 can obtain a curve 1 through Fourier transform;
see fig. 4(b), 1 bar and
rotates around the O point by 2 rods
The frequency of (2) is rotated around the tail end of the rod (1), and the locus of the tail end point of the rod (2) can obtain a curve (2) through Fourier transform;
see fig. 4(c), 1 bar and
rotates around the O point by 2 rods
At a frequency of 1 bar end, 3 bars
Is rotated around the 2-bar end, and the 3-bar end thereofThe locus of points is fourier transformed to yield curve 3.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention. Any 3D printer based on fourier transform printing is within the scope of this patent.
Claims (3)
1. The Fourier transform 3D printing system based on the Cartesian coordinate system comprises a base (1) and is characterized in that two upright posts (7) are fixed on the base (1); each upright post (7) is fixed with a longitudinal driving motor (13) through a Z-axis frame (12); a longitudinal driving motor (13) is connected with an X-axis rack A (10) through a lead screw nut (11), the X-axis rack A (10) is connected with a longitudinal guide rod (5), and the moving direction of the X-axis rack A (10) is determined through the longitudinal guide rod (5); the lower sides of an X-axis frame A (10) and an X-axis frame B (14) are respectively connected with a transverse guide rod frame A (9) and a transverse guide rod frame B (15), and a transverse driving motor (8) is fixed on the transverse guide rod frame A (9); the transverse driving motor (8) is connected with a rotating motor frame A (17) through a transverse lead screw nut (18), the rotating motor frame A (17) is connected with a transverse guide rod (16), and the moving direction of the rotating motor frame A (17) is determined through the transverse guide rod (16); the lower side of the rotating motor frame A (17) is connected with a rotating motor frame B (20), and the lower side of the rotating motor frame B (20) is sequentially connected with a primary connecting rod assembly (27), a secondary connecting rod assembly (34) and a tertiary connecting rod assembly (39); the primary connecting rod assembly (27), the secondary connecting rod assembly (34) and the tertiary connecting rod assembly (39) can respectively rotate under the driving of the primary motor (26), the secondary motor (33) and the tertiary motor (42); the base (1) is also provided with a Y-axis frame (3), and the Y-axis frame (3) is connected with a Y-axis driving motor (2); a Y-axis guide rod frame A (4) on the base is connected with a Y-axis guide rod (45); the Y-axis driving motor (2) is connected with the printing platform (19) through a Y-axis lead screw nut (44) and a printing platform frame (43), the printing platform (19) is connected with a Y-axis guide rod frame B (46), and the moving direction of the printing platform (19) is determined through a Y-axis guide rod (45);
the power output end of the primary connecting rod driving motor (26) is downwards provided with a primary connecting rod thrust bearing (21), a primary connecting rod shaft sleeve (22), a primary connecting rod adjusting ring a (23), a primary connecting rod (27), a primary connecting rod adjusting ring b (24) and a primary connecting rod hexagon nut (25) in sequence; the whole body is compressed through a first-stage connecting rod hexagon nut (25);
a secondary connecting rod driving motor (33) is arranged at the front end of the primary connecting rod (27); a second-stage connecting rod thrust bearing (28) is arranged on the power output end of the second-stage connecting rod driving motor (33); a secondary connecting rod shaft sleeve (29) and a secondary connecting rod adjusting ring a (30) are arranged at the lower side of the secondary connecting rod thrust bearing (28); a secondary connecting rod (34) is arranged below the secondary connecting rod adjusting ring a (30); a secondary connecting rod adjusting ring b (31) is arranged at the lower side of the secondary connecting rod (34); a second-stage connecting rod hexagon nut (32) is arranged on the lower side of the second-stage connecting rod adjusting ring b (31); the whole body is compressed through a second-stage connecting rod hexagon nut (32);
a third-level connecting rod driving motor (42) is arranged at the front end of the second-level connecting rod (34); a third-stage connecting rod thrust bearing (41) is arranged on the power output end of the third-stage connecting rod driving motor (42); a third-stage connecting rod shaft sleeve (40) and a third-stage connecting rod adjusting ring a (35) are arranged on the lower side of the third-stage connecting rod thrust bearing (41); a third-stage connecting rod (39) is arranged below the third-stage connecting rod adjusting ring a (35); a third-level connecting rod adjusting ring b (37) is arranged at the lower side of the third-level connecting rod (39); a second-stage connecting rod hexagonal nut (36) is arranged at the lower side of the third-stage connecting rod adjusting ring b (37); the whole body is compressed through a second-stage connecting rod hexagon nut (36); the front end of the three-stage connecting rod is provided with a nozzle (38).
2. The Cartesian coordinate system-based Fourier transform 3D printing system according to claim 1, wherein the base (1) is of a square structure, and a left rod body and a right rod body of the square structure are respectively provided with an upright post (7); two upright posts (7) are symmetrically arranged on the base (1).
3. The Cartesian coordinate system-based Fourier transform 3D printing system according to claim 1, wherein the upper Z-axis frame (12) of the longitudinal guide (5) is connected, and the lower end of the longitudinal guide (5) is connected to the guide connection (6) at the lower end of the upright (7).
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| CN202010271669.XA CN111452359A (en) | 2020-04-09 | 2020-04-09 | Fourier transform 3D printing system based on Cartesian coordinate system |
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| CN112721174A (en) * | 2020-12-16 | 2021-04-30 | 同济大学 | External shaft optimization method under three-dimensional printing |
| CN114700638A (en) * | 2022-05-06 | 2022-07-05 | 江南大学 | Cooperative processing equipment and method for plane parallel mechanism and mobile device |
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