CN114407358A - Multi-degree-of-freedom continuous composite fiber material 3D printer - Google Patents
Multi-degree-of-freedom continuous composite fiber material 3D printer Download PDFInfo
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- CN114407358A CN114407358A CN202111599855.7A CN202111599855A CN114407358A CN 114407358 A CN114407358 A CN 114407358A CN 202111599855 A CN202111599855 A CN 202111599855A CN 114407358 A CN114407358 A CN 114407358A
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Classifications
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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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- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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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
- B29C64/236—Driving means for motion in a direction within the plane of a layer
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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
- B29C64/241—Driving means for rotary motion
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/307—Handling of material to be used in additive manufacturing
- B29C64/314—Preparation
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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
- B29C64/30—Auxiliary operations or equipment
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- 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
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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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- 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
- B33Y40/10—Pre-treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a multi-degree-of-freedom 3D printer for continuous composite fiber materials, which comprises a triangular prism frame, wherein a nozzle mechanism and a printing platform are arranged inside the triangular prism frame, the nozzle mechanism is connected with the triangular prism frame through a first motion mechanism, a distance measuring module and a shearing mechanism are arranged on the nozzle mechanism, the printing platform is connected with a second motion mechanism, the distance measuring module is used for measuring distance information between the nozzle mechanism and the printing platform, the shearing mechanism is used for shearing continuous composite fiber wires ejected by the nozzle mechanism, the second motion mechanism is used for driving the printing platform to rotate around the direction of XYZ axes, the first motion mechanism is used for driving the nozzle mechanism to move in the direction of XYZ axes, a processor adjusts the poses of the nozzle mechanism and the printing platform through the first motion mechanism and the second motion mechanism, and receives the distance information to further adjust the pose of the nozzle mechanism, the nozzle of the nozzle mechanism is ensured to be parallel to the printing platform all the time, and the complex product is printed by combining the shearing mechanism.
Description
Technical Field
The invention belongs to the technical field of additive manufacturing, and particularly relates to a multi-degree-of-freedom continuous composite fiber material 3D printer.
Background
With the continuous development of the technical level and the gradual maturity of additive manufacturing, more and more high-performance materials are applied to the additive manufacturing. The carbon fiber as a high-performance composite material has a series of advantages of light weight, high strength, high modulus, small thermal expansion coefficient, corrosion resistance, good thermal conductivity, wear resistance, high temperature resistance and the like, is widely applied to the fields of aerospace, automobile manufacturing, sports equipment, measuring instruments, heat collection and conduction materials and the like, and the excellent performance of the carbon fiber can be certainly used for conducting research and application of additive manufacturing.
The continuous fiber reinforced composite material is a main material of the current domestic and foreign spacecraft structure, has low density and high strength, develops the research of a composite material space 3D printing technology, and has important significance for the long-term on-orbit operation of a future space station and the development of the on-orbit manufacture of a space ultra-large structure. The introduction of the carbon fiber not only improves the rigidity strength of the printed piece, but also has more uniform crystallinity, and simultaneously analyzes the microstructure composition of the printed piece and the stress fracture mode of the printed piece in the carbon fiber introduction and printing directions, which are beneficial to the manufacture of large parts. Meanwhile, the 3D printer can be observed to have excellent mechanical property and a smooth surface by changing the printing direction and the printing parameters, and the key points of birth and application and popularization of the carbon fiber/glass fiber composite material are realized. Carbon fiber composites have a number of advantages-engineering materials can be used to make smart products and offer unlimited flexibility in design.
FDM, also known as fused deposition modeling technology, is by far the easiest to adopt and employ the most widespread 3D printing technology. FDM 3D printing technique erupts the thermoplasticity wire according to the coordinate that software analysis obtained to from the bottom up successive layer founds the part, and this printing technique mainly relies on ABS, PC, and nylon thermoplasticity wire rod is the raw materials, convenient operation, and is small, and convenient to use is fit for office environment. The printed parts have good heat resistance and chemical strength, and can realize complex geometric shapes and cavities, which cannot be realized by the traditional technology. In addition, the FDM 3D printing technology reduces the tedious process in the part processing, is convenient to change the design at any time, reduces the cost required by production, and reduces the production period repeatedly. The professional FDM printer is mainly positioned in the fields of small and medium-sized enterprises and professional production, has the size of consumer-grade equipment, can print engineering plastics such as PC, PA and the like and even fiber reinforced materials, and is suitable for manufacturing functional prototypes and end-use parts with high strength, durability and rigidity.
The forming surface precision of the current carbon fiber 3D printing process based on fuse extrusion Forming (FDM) is low, and defects such as faults, deformation warping, fiber falling and fiber interruption easily occur to products in the process of printing models. When the FDM 3D printing process is used for forming parts with continuous fibers and having suspension characteristics such as spanning structures and extending structures, a series of problems of deformation, distortion, collapse and the like easily occur to the fiber parts, the final printing fails, the step effect is obvious when some small-angle characteristics are printed, and the surface precision is low to a great extent.
Disclosure of Invention
The invention provides a multi-degree-of-freedom continuous composite fiber material 3D printer, wherein a parallel motion mechanism and a shearing mechanism are added into an existing FDM 3D printing structure to construct a compact 6-degree-of-freedom continuous fiber 3D printer, for parts with irregular curved surface complex structures, fuse extrusion can be performed perpendicular to the surface of a curved surface along the normal direction, the effect precision of 3D printing curved surfaces is improved, the special requirements that isolated islands, interruption, multiple rings and the like can occur to the section outline are met, the surface precision of carbon fiber parts in the printing process is improved, the overall printing efficiency is improved, the interruption threading process is reduced, and the result shows that the designed structure meets the requirements of a carbon fiber 3D printing high-precision printing process, and the printer is compact in structure and low in manufacturing cost.
The invention can be realized by the following technical scheme:
a multi-degree-of-freedom continuous composite fiber material 3D printer comprises a triangular prism frame, a nozzle mechanism and a printing platform are arranged inside the triangular prism frame, the nozzle mechanism is connected with the triangular prism frame through a first motion mechanism, a distance measuring module and a shearing mechanism are arranged on the nozzle mechanism, the printing platform is connected with a second motion mechanism, the nozzle mechanism, the distance measuring module, the shearing mechanism, the first motion mechanism and the second motion mechanism are all connected with a processor,
the distance measuring module is used for measuring distance information between nozzle mechanism and the print platform, it is used for shearing the continuous composite fiber silk material of nozzle mechanism spun to cut the mechanism, the second motion is used for driving print platform around X, Y and Z axle direction rotation, first motion is used for driving nozzle mechanism at X, Y and Z axle direction's motion, the treater is through the position appearance of first motion, second motion adjustment nozzle mechanism, print platform, receives distance information simultaneously, with the help of the position appearance of first motion further adjustment nozzle mechanism, ensures that nozzle mechanism's nozzle is parallel with print platform all the time, carries out the print operation, ensures to print quality, combines again to cut the mechanism, accomplishes the printing to complicated product.
Further, the nozzle mechanism comprises a heating cavity, an opening matched with the composite fiber silk material is arranged at the top of the heating cavity, the bottom of the heating cavity is communicated with the nozzle through a heater, a grid type cooling tower and a radiator are arranged outside the cavity, a near-end silk feeding mechanism is arranged beside the opening, the heater heats the heating cavity so as to heat the composite fiber silk material in the heating cavity to a molten state, a distance measuring module is arranged on the side surface of the heater,
open-ended top, the top of triangular prism frame are provided with distal end wire feeding mechanism, distal end wire feeding mechanism is used for incessant transport to the opening part with the composite fiber silk material, near-end wire feeding mechanism is used for applying the effort to the composite fiber silk material of opening part to the composite fiber silk material of the inside melting form of extrusion heating chamber is extruded from the nozzle.
Furthermore, the far-end wire feeding mechanism comprises a driving gear and a driven gear which are matched with each other, notches matched with the composite fiber wires are arranged at the tooth tips of the far-end wire feeding mechanism, two notches from the driving gear and the driven gear respectively form a friction surface channel contacted with the composite fiber wires, the central shaft of the driving gear is connected with the output shaft of a wire feeding motor, and the driven gear collects an inert gear structure and is matched with the driving gear to feed the composite fiber wires together;
the near-end wire feeding mechanism adopts a pair of clamping wheels to convey composite fiber wires into the opening.
Further, the first movement mechanism comprises three groups of parallel branched chains, one end of each group of parallel branched chains is connected with one pillar of the triangular prism frame through a sliding block, the sliding block is connected with one end of the parallel branched chains through a spherical revolute pair and can move along a sliding rail on the pillar, and the other end of each group of parallel branched chains is connected with the vertex angle of the hexagonal bracket through the spherical revolute pair;
each group of parallel branched chains comprises two connecting rods which are arranged in parallel, one ends of the two connecting rods are connected with one side of the sliding block through rotating pairs, and the other ends of the two connecting rods are connected with the top angle of the hexagonal bracket through the rotating pairs;
the hexagonal support is connected with the top of the heating cavity, and the top of the hexagonal support is also provided with a through hole correspondingly communicated with the opening.
Further, the distance measuring module is set as a laser distance measuring sensor.
Further, the shearing mechanism comprises a mounting plate connected with the nozzle mechanism, the bottom of the mounting plate is connected with one end of two guide posts arranged in parallel, the other ends of the two guide posts are connected with a longitudinal sliding block, one side of the longitudinal sliding block is provided with a sliding rail, the sliding rail is provided with two transverse sliding blocks, each transverse sliding block is connected with one end of a telescopic rod, the other ends of the two telescopic rods are respectively connected with a left cutting edge and a right cutting edge which are symmetrical, the longitudinal sliding block is connected with a first pneumatic driving mechanism, the first pneumatic driving mechanism is used for driving the longitudinal sliding block to move along the extrusion direction of the composite fiber silk material in the nozzle, namely the Z-axis direction, each transverse sliding block is connected with a second pneumatic driving mechanism, the second pneumatic driving mechanism is used for driving the two transverse sliding blocks to move oppositely along the X-axis direction, which is perpendicular to the extrusion direction of the composite fiber silk material, thereby drive left cutting edge and the right-hand member sword of being connected with it and carry out the shearing operation to the composite fiber silk material, the telescopic link is used for driving left cutting edge or right-hand member sword and moves along X axle direction to drive left cutting edge or right-hand member sword and remove to the play silk position of nozzle below or follow the play silk position withdrawal of nozzle below.
Furthermore, the second motion mechanism comprises six electric push rods arranged between the printing platform and the bottom surface of the triangular prism frame, the six electric push rods are arranged at intervals of 60 degrees and jointly form a cylinder, every two electric push rods form a group, the three groups are formed, one end of each electric push rod group is connected with the bottom surface of the printing platform through a spherical revolute pair, and the other end of each electric push rod group is connected with the bottom surface of the triangular prism frame through a hook hinge.
The beneficial technical effects of the invention are as follows:
the Kossel parallel mechanism is combined with a printing platform of a three-degree-of-freedom electric push rod parallel structure to form a six-degree-of-freedom parallel platform, so that a printing nozzle can move in three directions of XYZ, the printing platform can also rotate around an XYZ axis, meanwhile, the nozzle mechanism and the printing platform are ensured to be always parallel by means of a measuring module, and when any part is continuously and limitedly printed by 6-degree-of-freedom movement, surface curved surface printing and continuous printing in a three-dimensional space are realized, so that island printing is avoided, the surface precision of the part is improved, the printing efficiency and quality are improved, the printing interruption times are reduced, and the like;
and when some complex models or a plurality of models are printed, slicing is carried out according to the models, the generated slicing profiles have the characteristics of islands, interruptions, a plurality of rings and the like, and the continuous fiber melting wire is sheared by the shearing mechanism, so that the problems that fibers are connected at the boundaries of the islands, the middle of parts is not separated, the parts are deformed and warped and the like are avoided.
Drawings
FIG. 1 is a first general structural diagram of the present invention;
FIG. 2 is a second schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic structural diagram of a first motion mechanism of the present invention;
FIG. 4 is a schematic structural view of a nozzle mechanism of the present invention;
FIG. 5 is a schematic view of the general construction of the proximal wire feeder of the present invention;
FIG. 6 is a schematic diagram of the general configuration of the distal wire feeder of the present invention;
FIG. 7 is a schematic view of the internal configuration of the distal wire feeder of the present invention;
FIG. 8 is a schematic structural view of a shearing mechanism of the present invention;
the printing machine comprises a 1-triangular prism frame, a 2-nozzle mechanism, a 21-hexagonal support, a 22-opening, a 23-heater, a 24-nozzle, a 25-grid type cooling tower, a 26-radiator, a 3-printing platform, a 4-first movement mechanism, a 5-distance measurement module, a 6-shearing mechanism, a 61-mounting plate, a 62-guide column, a 63-longitudinal sliding block, a 64-transverse sliding block, a 65-telescopic rod, a 66-left blade, a 67-right blade, a 7-second movement mechanism, an 8-near-end wire feeding mechanism, a 9-far-end wire feeding mechanism, a 91-wire conveying motor, a 92-driving gear and a 93-driven gear.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
Continuous fiber 3D printer forming equipment typically consists of a wire feeder, a nozzle, a table, a motion mechanism, and a control system. During forming, the filament material is conveyed to the nozzle continuously by the wire feeder, the continuous fiber filament material is heated to molten state in the nozzle, the computer controls the nozzle to move along a certain path and speed according to the layered section information, the molten fiber material is extruded from the nozzle and bonded with the fiber material of the previous layer, the molten fiber material is cooled and solidified in the air, and each layer is formed, the workbench or the nozzle moves up and down by the distance of one layer to continuously fill the next layer, and the steps are repeated until the forming of the whole workpiece is completed. However, when the profile of the workpiece changes greatly, the strength of the previous layer is not enough to support the current layer, and proper support needs to be designed to ensure smooth forming of the model.
For this purpose, the invention provides a multi-degree-of-freedom 3D printer for continuous composite fiber materials, as shown in fig. 1-8, comprising a triangular prism frame 1, a nozzle mechanism 2 and a printing platform 3 are arranged inside the triangular prism frame 1, the nozzle mechanism 2 is connected with the triangular prism frame 1 through a first motion mechanism 4, a distance measuring module 5 and a shearing mechanism 6 are arranged on the nozzle mechanism 2, the printing platform 3 is connected with a second motion mechanism 7, the nozzle mechanism 2, the distance measuring module 5, the shearing mechanism 6, the first motion mechanism 4 and the second motion mechanism 7 are all connected with a processor, the distance measuring module 5 is used for measuring distance information between the nozzle mechanism 2 and the printing platform 3, the shearing mechanism 6 is used for shearing continuous composite fiber wires ejected from the nozzle mechanism 2, the second motion mechanism 7 is used for driving the printing platform 3 to rotate around X, Y and Z-axis direction, the first movement mechanism 4 is used for driving the nozzle mechanism 2 to move in X, Y and Z-axis directions, the processor adjusts the poses of the nozzle mechanism 2 and the printing platform 3 through the first movement mechanism 4 and the second movement mechanism 7, receives distance information at the same time, further adjusts the pose of the nozzle mechanism 2 by means of the first movement mechanism 4, ensures that the nozzle of the nozzle mechanism 2 is always parallel to the printing platform 3, executes printing operation, ensures printing quality, and completes printing of complex products by combining with the shearing mechanism 6. The method comprises the following specific steps:
firstly, the invention designs a continuous composite fiber melting nozzle extrusion structure based on a Kossel parallel structure, as shown in figures 3 and 4, the structure comprises a first motion mechanism 4 and a nozzle mechanism 2, the first motion mechanism 4 comprises three pairs of sliding mechanisms and three groups of parallel branched chains, the three pairs of sliding mechanisms are respectively connected with one end of the three groups of parallel branched chains through spherical revolute pairs, the other end of the three groups of parallel branched chains are respectively connected with the nozzle mechanism 2 through spherical revolute pairs, the three pairs of sliding mechanisms are respectively arranged on three support columns of a triangular prism frame 1, a guide rail can be arranged on the support columns, the guide rail is matched with a slide block to form the sliding mechanism, in order to ensure the moving synchronism, a synchronous conveyor belt structure, namely a motor is adopted to drive a synchronous belt to move, the synchronous belt is fixedly connected on the slide block, the synchronous belt can move up and down along a Z axis under the rotation of a Z-direction driving motor, then the connecting block is driven to move in the Z direction along the Z-direction guide rail, and the up-and-down movement of the parallel connecting rods is finally realized; each group of parallel branched chains comprises two connecting rods which are arranged in parallel, the end part of each connecting rod is of a spherical structure, the spherical structure at one end of each connecting rod is matched with spherical bearings at two sides of a sliding block, the spherical structure at the other end of each connecting rod is matched with the spherical bearings at the vertex angles of the hexagonal supports in the nozzle mechanism 2 to form spherical revolute pairs respectively, and as shown in figure 2, each sliding block can independently move at the same time, so that the nozzle mechanism 2 can be driven to move any position in a given space range. Recording three sliding blocks I, II and III on three supporting columns respectively, taking the nozzle mechanism as the sliding block I to move upwards when the nozzle mechanism moves towards the X-axis direction, and simultaneously moving the sliding blocks II and III downwards to drive the nozzle mechanism to move towards the direction close to the sliding block I; the motion in the Y-axis direction can be realized by adopting the similar control mode; if the three sliding blocks move simultaneously and work together, the nozzle mechanism can move on a vertical plane, namely, the movement in the Z-axis direction is realized, so that the movement control of the nozzle mechanism in three directions along the XYZ axis is realized. Continuous melt extrusion of a filament of fibrous material is achieved by melt extrusion through a nozzle mechanism during printing.
In the invention, continuous fiber wires are adopted for melt heating extrusion, and the continuous fiber wires are mainly based on polymer-coated fiber wires to form a composite heatable wire. At present, the invention uses two main types of melting materials, one is polylactic acid (PLA) coated continuous fiber wire, the other is ABS resin coated continuous fiber wire, the ABS resin can be grinding, colored, sewing, impacting and heat-resisting, and the melting temperature is about 210 ℃; polylactic acid PLA is a biomaterial that can degrade under certain conditions. PLA is below the ABS solubility point and can be extruded at 180 degrees Celsius and is very hard after cooling. In order to improve the product quality, it is necessary to use cooling fans and nozzles after pressing, with wire diameters of 1.65mm and 2 mm. In the present invention, 2mm pla-coated continuous fiber filaments are preferably used.
As shown in fig. 4, the nozzle mechanism 2 includes a heating chamber, the top of which is connected with a hexagonal bracket 21, openings 22 matched with the composite fiber silk materials are arranged on the heating cavity, the heating cavity and the composite fiber silk materials are communicated, the bottom of the heating cavity is communicated with a nozzle 24 through a heater 23, a grid cooling tower 25 and a radiator 26 are arranged outside the cavity, a near-end wire feeder 8 is arranged beside the opening 22, the heater 23 heats the heating cavity so as to heat the composite fiber filament inside the heating cavity to a molten state, the side surface of the frame is provided with a distance measuring module 5, the top of the triangular prism frame 1 above the opening 22 is provided with a far-end wire feeding mechanism 9, the distal wire feeder 9 is used for continuously feeding the composite fiber wire to the opening 22, and the proximal wire feeder 8 is used for applying a force to the composite fiber wire at the opening 22 to extrude the composite fiber wire in a molten state in the heating cavity out of the nozzle 24.
As shown in FIG. 5, the proximal wire feeder 8 uses a pair of clamping wheels to feed the composite fiber filament into the opening, and before the temperature reaches the softening point of the filament, there is a region with constant gap between the material and the heating chamber, called the feeding section, in which the filament just inserted and the melted material coexist, and the physical properties of the filament when solid can be maintained even though the filament is heated, and the melted material is fluid; because the clearance is small, the melted material only has a thin layer and is wrapped outside the material wire, the melting material at the position is continuously heated by the heating cavity, the heat can be transferred to the material wire in time, the temperature of the melted material can be regarded as not changing along with the time, because the thickness of the melting layer is thin, the temperature of each point in the melting body is regarded as approximately equal, along with the surface temperature rise of the monofilament, the material is melted, and a section of area with the diameter gradually reduced till the material is completely melted is formed, and the area is called as a melting section; before the material is extruded through the die, there is a zone of complete filling of the barrel with molten material, called the melt zone, during which the wire itself is both the feedstock and acts as a piston to extrude the molten material through the nozzle.
A grid cooling tower 25 is disposed outside the heating cavity for cooling the heat transferred from the lower heater 23 to prevent the PLA fiber filament from being heated and affecting the extrusion of the molten filament, and a cooling fan is disposed laterally to form a forced convection air to accelerate the cooling.
As shown in fig. 6-7, before the composite fiber filament is conveyed to the nozzle mechanism 2, the length to be controlled and conveyed by the filament conveying motor is the far-end filament feeding mechanism 9, specifically, a driving gear 92 is installed on the output shaft of the filament conveying motor 91, a fixed driven gear 93 is installed opposite to the driving gear 92 and is a rotary idler, a small gap is formed between the driving gear 92 and the rotary idler to form a conveying channel, namely, notches matched with the composite fiber filament are formed at the tooth tips of the driving gear and the rotary idler, and two notches from the driving gear 92 and the driven gear 93 respectively form a friction surface channel contacted with the composite fiber filament. When the wire conveying motor 91 rotates at a certain angle under the control of a computer, the driving gear 92 is driven to rotate, the gear rotates to drive the wire to be conveyed downwards along the friction channel, the conveying distance corresponds to the rotation degree of the motor one by one, and the distance is long when the rotation degree is large, so that the conveying distance of the fiber wire can be accurately controlled according to the length of a preprinted material path.
This second motion 7 also adopts parallel mechanism structure, including setting up six electric putter between printing platform 3 and triangular prism frame 1 bottom surface, their interval 60 degrees sets up and encloses into a cylinder jointly, and two liang become a set of, three groups altogether, and the one end of every electric putter of group is connected with printing platform 3's bottom surface through spherical revolute pair, and the other end is connected with triangular prism frame 1's bottom surface through hooke's hinge. The electric push rod can freely stretch and retract under the control of the micro motor, so as to drive the printing platform 3 to swing in three directions, particularly taking the printing platform 3 to rotate around an X axis as an example, when the 1# group of micro-motors move reversely, the 1# group of two electric push rods contract, at the moment, the 2# group and the 3# group of two micro-motors need corresponding positive movement, however, the motion angles of the two micro motors in the 2# group have a certain difference, and the motion angles of the two micro motors in the 3# group also have a certain difference, and specifically, the forward and reverse motion angles of the six micro motors can be calculated according to the inverse operation of the rotation angle of the printing platform 3, in a word, the second motion mechanism 7 of the present invention controls the differential motion of the six micro motors to realize the arbitrary angular swing of the printing platform 3, that is, the arbitrary rotational motion along the three axes of XYZ, so that the parallel swing motion of the printing platform 3 with three degrees of freedom can be realized in space.
Because the continuous fiber is a continuous molten wire in the printing process, and then is subjected to melt extrusion according to a continuous track and then is bonded on the layer surface of the previous layer, when some complex models or a plurality of models are printed, slicing is carried out according to the models, the generated slicing profile has the characteristics of islands, interruptions, a plurality of rings and the like, because the continuous fiber is continuously extruded, if the slicing profile with the characteristics of islands, interruptions, a plurality of rings and the like is encountered during printing, the printing path is calculated to be interrupted, and if the continuous fiber molten wire is not cut, the fiber is connected at the boundary of the islands, so that the problems of deformation and warping and the like are caused because the fiber is not separated in the middle of parts. Therefore, the invention designs a set of symmetrical blade shearing mechanism which can stretch and move along three directions under the nozzle.
As shown in fig. 8, the shearing mechanism 6 includes a mounting plate 61 connected to the nozzle mechanism 2, the bottom of the mounting plate 61 is connected to one end of two parallel guide posts 62, the other end of the two guide posts 62 is connected to a longitudinal slide block 63, a slide rail is arranged on one side of the longitudinal slide block 63, two transverse slide blocks 64 are arranged on the slide rail, each transverse slide block 64 is connected to one end of a telescopic rod 65, the other ends of the two telescopic rods 65 are respectively connected to a symmetrical left blade 66 and a symmetrical right blade 67, the longitudinal slide block 63 is connected to a first pneumatic driving mechanism, the first pneumatic driving mechanism is used for driving the longitudinal slide block 63 to move along the extrusion direction of the composite fiber filament inside the nozzle, i.e. the Z-axis direction, each transverse slide block 64 is connected to a second pneumatic driving mechanism, the second pneumatic driving mechanism is used for driving the two transverse slide blocks 64 to move toward each other along the direction perpendicular to the extrusion direction of the composite fiber filament, i.e. the X-axis direction, thereby driving the left blade 66 and the right blade 67 connected with the telescopic rod 65 to cut the composite fiber filament, and the telescopic rod 65 is used for driving the left blade 66 or the right blade 67 to move along the X-axis direction, thereby driving the left blade 66 or the right blade 67 to move to the filament outlet position below the nozzle 24 or retract from the filament outlet position below the nozzle 24. The working process is as follows:
1. calculating a wire filling path;
2. when the calculated wire path is discontinuous and needs to be interrupted, suspending the nozzle mechanism and lifting the nozzle by 10 mm;
3. at the moment, the bottom sliding block moves downwards for 5mm along the bottom vertical moving guide post by using external air pressure so that the shearing blade can be positioned below the nozzle of the sprayer;
4. the left and right blades move to the lower part of the nozzle of the spray head along a telescopic rod under the pressure of external air pressure respectively, and simultaneously open a blade transverse moving sliding block under the action of the external air pressure so that the blades can just move to a wire outlet position below the nozzle;
5. after the distance is adjusted, external air pressure is adjusted to tighten the sliding block for the transverse movement of the cutting edge, the cutting edge is instantly attached together under the driving of the transverse sliding block, and then the continuous fiber wire is cut off through shearing force.
After the shearing process is finished, the shearing mechanism is recovered by reverse action, and then continuous melt extrusion movement is carried out according to the next extrusion path.
In order to measure the parallelism between the nozzle mechanism 2 and the printing platform 3, measure the height of the continuous fiber after being melted and extruded and bonded on the previous layer in real time and further compensate the printing height of the nozzle in the printing motion process, the invention designs the distance measuring module 4, and the distance measuring module 4 collects a laser distance measuring sensor according to the side surface of the heater 23 of the nozzle mechanism 2, and the laser focusing plane is arranged to be coincident with the spinning plane of the nozzle 24 so as to ensure that the spinning height is the zero height, so that the invention has the functions of measuring the melting height in real time and performing feedback control. The specific control method comprises the following steps:
firstly, acquiring signal output of a laser ranging sensor in real time through a data acquisition card, if the signal is positive, calculating the ranging height through a data conversion formula, namely if the ranging height is positive, indicating that a certain lifting gap exists between the height of a nozzle and the absolute zero height, the nozzle cannot be firmly adhered to the current layer or delaminated after being extruded, and causing subsequent printing failure, so that a control system immediately sends an instruction to move the nozzle in the Z direction to compensate the lifting gap, and ensuring that the spinning height of a nozzle returns to the normal zero height in the next second; if the signal is negative, the distance measurement height is calculated through a data conversion formula, and at the moment, the calculated distance measurement height is a negative value, the fact that a certain extrusion gap or compression gap exists between the nozzle height and the absolute zero height can mean that the continuous fiber layer being printed is extruded and rubbed, and the printed layer is damaged, so that the control system immediately sends an instruction to move the nozzle in the Z positive direction to eliminate the extrusion gap, and the fact that the nozzle spinning height returns to the normal zero height in the next second is guaranteed, and normal continuous filament melting extrusion forming is guaranteed.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.
Claims (7)
1. The utility model provides a continuous composite fiber material 3D printer of multi freedom which characterized in that: comprises a triangular prism frame, a nozzle mechanism and a printing platform are arranged inside the triangular prism frame, the nozzle mechanism is connected with the triangular prism frame through a first motion mechanism, a distance measuring module and a shearing mechanism are arranged on the nozzle mechanism, the printing platform is connected with a second motion mechanism, the nozzle mechanism, the distance measuring module, the shearing mechanism, the first motion mechanism and the second motion mechanism are all connected with a processor,
the distance measuring module is used for measuring distance information between nozzle mechanism and the print platform, it is used for shearing the continuous composite fiber silk material of nozzle mechanism spun to cut the mechanism, the second motion is used for driving print platform around X, Y and Z axle direction rotation, first motion is used for driving nozzle mechanism at X, Y and Z axle direction's motion, the treater is through the position appearance of first motion, second motion adjustment nozzle mechanism, print platform, receives distance information simultaneously, with the help of the position appearance of first motion further adjustment nozzle mechanism, ensures that nozzle mechanism's nozzle is parallel with print platform all the time, carries out the print operation, ensures to print quality, combines again to cut the mechanism, accomplishes the printing to complicated product.
2. The multiple degree of freedom continuous composite fiber material 3D printer of claim 1, characterized in that: the nozzle mechanism comprises a heating cavity, an opening matched with the composite fiber silk is arranged at the top of the heating cavity, the bottom of the heating cavity is communicated with the nozzle through a heater, a grid type cooling tower and a radiator are arranged outside the cavity, a near-end silk feeding mechanism is arranged beside the opening, the heater heats the heating cavity so as to heat the composite fiber silk in the heating cavity to a molten state, a distance measuring module is arranged on the side surface of the heater,
open-ended top, the top of triangular prism frame are provided with distal end wire feeding mechanism, distal end wire feeding mechanism is used for incessant transport to the opening part with the composite fiber silk material, near-end wire feeding mechanism is used for applying the effort to the composite fiber silk material of opening part to the composite fiber silk material of the inside melting form of extrusion heating chamber is extruded from the nozzle.
3. The multiple degree of freedom continuous composite fiber material 3D printer of claim 2, characterized in that: the far-end wire feeding mechanism comprises a driving gear and a driven gear which are matched with each other, notches matched with the composite fiber wires are formed in tooth tips of the far-end wire feeding mechanism, two notches from the driving gear and the driven gear respectively form a friction surface channel contacted with the composite fiber wires together, a central shaft of the driving gear is connected with an output shaft of a wire feeding motor, and the driven gear acquires an inert gear structure and is matched with the driving gear to feed the composite fiber wires together;
the near-end wire feeding mechanism adopts a pair of clamping wheels to convey composite fiber wires into the opening.
4. The multiple degree of freedom continuous composite fiber material 3D printer of claim 2, characterized in that: the first movement mechanism comprises three groups of parallel branched chains, one end of each group of parallel branched chains is connected with one pillar of the triangular prism frame through a sliding block, the sliding block is connected with one end of the parallel branched chain through a spherical revolute pair and can move along a sliding rail on the pillar, and the other end of each group of parallel branched chains is connected with the vertex angle of the hexagonal support through the spherical revolute pair;
each group of parallel branched chains comprises two connecting rods which are arranged in parallel, one ends of the two connecting rods are connected with one side of the sliding block through rotating pairs, and the other ends of the two connecting rods are connected with the top angle of the hexagonal bracket through the rotating pairs;
the hexagonal support is connected with the top of the heating cavity, and the top of the hexagonal support is also provided with a through hole correspondingly communicated with the opening.
5. The multiple degree of freedom continuous composite fiber material 3D printer of claim 2, characterized in that: the distance measuring module is set as a laser distance measuring sensor.
6. The multiple degree of freedom continuous composite fiber material 3D printer of claim 1, characterized in that: the shearing mechanism comprises a mounting plate connected with a nozzle mechanism, the bottom of the mounting plate is connected with one end of two guide posts arranged in parallel, the other ends of the two guide posts are connected with a longitudinal sliding block, one side of the longitudinal sliding block is provided with a sliding rail, the sliding rail is provided with two transverse sliding blocks, each transverse sliding block is connected with one end of a telescopic rod, the other ends of the two telescopic rods are respectively connected with a left cutting edge and a right cutting edge which are symmetrical, the longitudinal sliding block is connected with a first pneumatic driving mechanism, the first pneumatic driving mechanism is used for driving the longitudinal sliding block to move along the extrusion direction of composite fiber wires in the nozzle, namely the Z-axis direction, each transverse sliding block is connected with a second pneumatic driving mechanism, the second pneumatic driving mechanism is used for driving the two transverse sliding blocks to move oppositely along the X-axis direction, which is perpendicular to the extrusion direction of the composite fiber wires, thereby drive left cutting edge and the right-hand member sword of being connected with it and carry out the shearing operation to the composite fiber silk material, the telescopic link is used for driving left cutting edge or right-hand member sword and moves along X axle direction to drive left cutting edge or right-hand member sword and remove to the play silk position of nozzle below or follow the play silk position withdrawal of nozzle below.
7. The multiple degree of freedom continuous composite fiber material 3D printer of claim 1, characterized in that: the second motion mechanism comprises six electric push rods arranged between the bottom surfaces of the printing platform and the triangular prism frame, the six electric push rods are arranged at intervals of 60 degrees and jointly surround to form a cylinder, every two electric push rods form a group, the two electric push rods are three groups, one end of each group of electric push rods is connected with the bottom surface of the printing platform through a spherical revolute pair, and the other end of each group of electric push rods is connected with the bottom surface of the triangular prism frame through a hook hinge.
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