CN206092856U - Based on planetary gear train 3D printer driver mechanism - Google Patents

Abstract

The utility model discloses a based on planetary gear train 3D printer driver mechanism, including outer ring gear, with the sun gear that outer ring gear set up with one heart, the symmetry meshing that is 180 contained angles sets up outside two planet wheels between ring gear and the sun gear, the planet carrier of connecting two planet wheels, every planet wheel is all through connecting axle and synchronous pulley coaxial coupling, be connected with the hold -in range between two synchronous pulley, printer extrusion device bracing piece links firmly with the planet carrier, the connecting axle passes through the bearing dress on the planet carrier, printer extrusion device installs the one side at the hold -in range, and drive by this side hold -in range, simultaneously with printer extrusion device bracing piece sliding fit follows the removal of hold -in range and is translational motion. The utility model discloses improved the motor utilization ratio greatly, alleviateed the motor burden, promote and beat printer head translation rate, and the printing precision of whole printer has been decided by that motor that the precision is the highest for the printing precision has the promotion space.

Description

One kind is based on planet circular system 3D printer drive mechanism

Technical field

The utility model is related to 3D printing field, more particularly to a kind of based on planet circular system 3D printer drive mechanism.

Background technology

, when single axial movement is done, only one of which motor work, the utilization rate of motor is low, and printhead is moved for traditional XY formulas printer Dynamic speed is slow, meanwhile, the mobile accuracy of printhead is affected by the precision of each motor, and printing precision has much room for improvement.

Utility model content

For above-mentioned technical problem, the utility model provides one kind based on planet circular system 3D printer drive mechanism and side Method.

The utility model is achieved by the following technical solution：

One kind is based on planet circular system 3D printer drive mechanism, including external toothing and the external toothing are arranged concentrically too Sun wheel, the symmetrical engagement in 180 ° of angles is arranged on two planetary gears between external toothing and sun gear, two planetary gears of connection Planet carrier, each planetary gear by connecting shaft it is coaxially connected with synchronous pulley, be connected with synchronization between two synchronous pulleys Band, printer extrusion device support bar printer extrusion device support bar is connected with planet carrier, and connecting shaft is mounted in row by bearing In carrier, printer extrusion device is arranged on the side of Timing Belt, and is driven by the side Timing Belt, while squeezing with the printer Go out device support bar to be slidably matched, follow moving for Timing Belt and do translational motion.

Further, the center of circle of each planetary gear is located on same vertical curve, together with the center of circle of the synchronous pulley being connected When, two synchronous pulleys are located at and are same as in level height.

Compared to existing technology, the utility model mainly has the advantage that：

1st, compare traditional XY formulas printer when single axial movement is done, the work of only one of which motor, planet gear type printer without During by being the rotation of the rotation or synchronous pulley for doing planetary gear again, can two motors work simultaneously, substantially increase electricity That motor is determined by precision highest for the utilization rate of machine, lifting printhead translational speed, and the printing precision of whole printer It is fixed so that printing precision has room for promotion.

2nd, with ω_a、ω_cBased on momentum when, can according to the performance of motor be adapted to respective teeth train size (Ra, Rb, Rc), reaching preferable working condition.

3rd, with ω_From、ω_{It is public}Based on momentum when, (planetary gear does not have also without with gear can to omit external toothing and sun gear Have gear drive, matching mechanism), mechanism is greatly simplified, substantially reduce production and the difficulty of processing.

4th, planetary gear construction 3D printer, using planetary gears multi input, multivariant mechanostructural property, Realize that 3D printer printhead is fast and efficiently moved in printing plane.

Description of the drawings

Fig. 1 is the structure principle chart of the utility model embodiment.

Fig. 2 is the planetary gear of the utility model embodiment and the assembling schematic diagram of synchronous pulley.

Fig. 3 is the radial displacement schematic diagram of the planetary gear of utility model embodiment.

Fig. 4 is the printer extrusion device scheme of installation of utility model embodiment.

It is shown in figure：1- the first row star-wheels；2- sun gears；The planetary gears of 3- second；4- external toothings；5- planet carriers；6- beats Print machine extrusion device support bar；7- synchronous pulleys；8- connecting shafts；9- planetary gears；The synchronous pulleys of 10- first；The Timing Belts of 11- second Wheel；12- printer extrusion devices；13- Timing Belts.

Specific embodiment

The purpose of this utility model is described in further detail below by specific embodiment, embodiment is unable to here Repeat one by one, but therefore embodiment of the present utility model is not defined in following examples.

As shown in Figures 1 to 4, it is a kind of to be based on planet circular system 3D printer drive mechanism, including external toothing 4 and described outer The sun gear 2 that gear ring 4 is arranged concentrically, the symmetrical engagement in 180 ° of angles is arranged on two rows between external toothing 4 and sun gear 2 Planet carrier 5 of the star-wheel 9, connect setting between two planetary gears 9, two planetary gears 9 are respectively the row of the first row star-wheel 1 and second Star-wheel 3, each planetary gear 9 is coaxially connected with synchronous pulley 7 by connecting shaft 8, and two synchronous pulleys 7 are respectively first synchronously The synchronous pulley 11 of belt wheel 10 and second, is connected with Timing Belt 13 between the first synchronous pulley 10 and the second synchronous pulley 11, two Printing equipment support bar 6 is provided between connecting shaft 8, printer extrusion device 12 is arranged on the side of Timing Belt 13, while with The print apparatus support bar 6 is slidably matched, and follows moving and doing radial motion for Timing Belt 13.

The center of circle of each planetary gear 9 is located on same vertical curve with the center of circle of the synchronous pulley 7 being connected, meanwhile, two Synchronous pulley 7 is located at and is same as in level height.

A kind of 3D printer driving method using the drive mechanism, including step：

1) position in the planes of printer extrusion device 12 is represented with polar coordinates (r, θ)；

2) by the angular velocity omega of setting external toothing (4)_c, planetary gear 9 spin velocity ω_From, planet carrier 5 angular speed ω_{It is public}, sun gear (2) angular velocity omega_aIn any two be that known parameter determines angular speed of another two；

3) according to the angular velocity omega of planet carrier_{It is public}With the angular velocity omega of planetary gear_FromTry to achieve the footpath of tiny time Δ t expert's star-wheel To displacement l and the angular displacement Δ θ of planetary gear revolution planetary gear revolution, the displacement of coordinate is realized.

4) printer extrusion device angular speed, displacement by planet carrier angular velocity omega_{It is public}Directly determine, radial motion speed, Displacement by planetary gear angular velocity omega_FromDirectly determine.

Further, 21) angular velocity omega of variable external toothing 4 drawn by planet circular system drive connection_c, planetary gear 9 from Tarnsition velocity ω_From, planet carrier 5 angular velocity omega_{It is public}, sun gear 2 angular velocity omega_a) between relational expression：

R_c×w_c=R_b×w_From-(R_a+R_b)×w_{It is public} (1)

R_a×w_a=R_b×w_From+(R_a+R_b)×w_{It is public} (2)

Wherein, Ra is sun gear radius, and Rb is planet carrier radius, and Rc is external toothing radius；22) in four variables are set Any two for it is known actively measure when, above-mentioned two formula is linear equation in two unknowns group, can solve expression of the residue two from momentum Formula, for example, when the angular velocity omega of external toothing 4_c, sun gear 2 angular velocity omega_aBased on momentum when, can solve：

1. planet carrier 5) angular velocity omega_{It is public}Expression formula：

2. spin velocity ω of planetary gear (9)_FromExpression formula

The rest may be inferred for situation when momentum based on other two variables is set.

Further, the step 3) specifically include：

31) Δ t and R are multiplied by the angular speed expression formula both sides of the planetary gear_b, obtain tiny time Δ t expert's star-wheel Radial displacement Δ l：

32) Δ t is multiplied by the angular speed expression formula both sides of external toothing simultaneously, obtains the revolution of tiny time Δ t expert star-wheel Angular displacement Δ θ：

33) angle revolved round the sun according to the radial displacement Δ l and tiny time Δ t expert star-wheel of tiny time Δ t expert's star-wheel Displacement θ realizes the displacement of coordinate as displacement, so

Further, the angular velocity omega of external toothing 4 is set_cBased on momentum refer to Motor drive external toothing rotate；

The angular velocity omega of setting planetary gear 9_FromBased on momentum refer to Motor drive planetary gear rotate；

The angular velocity omega of setting planet carrier 5_{It is public}Based on momentum refer to Motor drive planet carrier rotate；

The angular velocity omega of setting sun gear 2_aBased on momentum refer to Motor drive sun gear rotate.

In order that printer extrusion device 12 can reach any point in plane, should provide two it is separate from By spending, that is, provide ω_a、ω_c、ω_From、ω_{It is public}Any two is measured as active in four parameters.Represented in plane with polar coordinates Point, the present embodiment by the rotation of planetary gear and the rotation of synchronous pulley to change polar coordinate system in θ and r, to realize printing The movement of head position.

Below with ω_a、ω_cAs actively measuring printhead from point (r₀, θ₀) motion to (r₁, θ₁) a kind of motion mode As a example by, illustrate the motion mode of printer：

(r₀, θ₀)→(r₀, θ₁), r during motion₀Keep constant, i.e. two planetary gears only revolve round the sun not rotation, ω_From=0.

Now, ω_a、ω_cR should be met_a×ω_a=R_c×ω_c, after certain hour, extrusion device is with planet wheels by θ₀Turn To θ₁：

(r₀, θ₁)→(r₁, θ₁), θ during motion₁Constant, i.e. two planetary gear rotations are kept, is not revolved round the sun, ω_{It is public}=0.

Now, ω_a、ω_cR should be met_a×ω_a=-R_c×ω_c, after certain hour, printhead is by r₀Move to r₁。

From said process, can pass through to change the relation between actively measuring to obtain required motion state, it is actual In enforcement, need to only change the ratio of the rotating speed between two motors come the motion mode required for obtaining.

Planetary gear 1 is separated by 180 ° and places and be connected by planet carrier with planetary gear 2, then is mutually nibbled with external toothing and sun gear Close.It is arbitrarily angled by driving external toothing (or planetary gear or planet carrier) rotation that planet carrier can be caused to turn to.Motion process In two planetary gears because specification is identical and has planet carrier to constrain, relative position remains constant.

Respectively actively measuring available solutions includes：

1、ω_a、ω_cMeasure as active, ω_From、ω_{It is public}As from momentum；

2、ω_From、ω_{It is public}Measure as active, ω_a、ω_cAs from momentum；

3、ω_a、ω_{It is public}Measure as active, ω_From、ω_cAs from momentum；

4、ω_From、ω_cMeasure as active, ω_a、ω_{It is public}As from momentum；

Each parameter is used as corresponding implementation when actively measuring：ω_aRotated with Motor drive sun gear；ω_cUse Motor drive External toothing is rotated；ω_FromRotated with Motor drive planetary gear；ω_{It is public}Rotated with Motor drive planet carrier.

In another embodiment, rotated (with ω with Motor drive sun gear 2 and external toothing 4_a、ω_cBased on momentum) side Case：

The main axis of sun gear 2, and motor are driven to drive the rotation of vertical axis helical gear to be driven again to outer using motor Gear ring 4 rotates it, realizes the two degrees of freedom input of planetary gears.Planetary gear 9 is output as, and planet carrier 5 connects two Planetary gear 5 makes it revolve round the sun, and the rotation of two planetary gears 5 is so as to driving coaxial synchronous pulley 7, synchronous pulley 7 to drive synchronization Band makes printer extrusion device 12 move on printing equipment support bar, realizes the freedom planar of printer extrusion device 12 It is mobile, processing and the larger external toothing of driving dimensions are needed in this scheme.

In another embodiment, rotated (with ω with Motor drive sun gear 2 and planet carrier 5_From、ω_{It is public}Based on momentum) Scheme：

The main axis of sun gear 2 are driven using a motor, another motor drives the connecting rod of two planetary gears 9 of connection To drive two symmetrical planetary gears 9 to do revolution motion, the two degrees of freedom input of the mechanism of planetary gear 9, the output of planetary gear 9 are realized It is identical with a upper scheme.

In addition to the mode that the present embodiment is referred to, the utility model can be also input into using planet carrier 5 and planetary gear 9, planet The mode such as frame 5 and the input of external toothing 4.These mapping modes are in protection domain of the present utility model.

Above-described embodiment is the utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned The restriction of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.

Claims (2)

1. It is 1. a kind of to be based on planet circular system 3D printer drive mechanism, it is characterised in that：Including external toothing (4) and the external toothing (4) sun gear (2) being arranged concentrically, the symmetrical engagement in 180 ° of angles is arranged on two between external toothing (4) and sun gear (2) Individual planetary gear (9), the planet carrier (5) of two planetary gears (9) of connection, each planetary gear (9) is by connecting shaft (8) and Timing Belt Wheel (7) is coaxially connected, and Timing Belt (13) is connected between two synchronous pulleys, and printer extrusion device support bar (6) level is worn Two connecting shafts (8) are crossed, printer extrusion device support bar (6) is connected with planet carrier (5), and connecting shaft (8) is mounted in by bearing On planet carrier (5), printer extrusion device (12) is driven installed in the side of Timing Belt (13) by the side Timing Belt (13), It is slidably matched with the printer extrusion device support bar (6) simultaneously, follows moving and doing translational motion for Timing Belt (13).
2. 2. according to claim 1 based on planet circular system 3D printer drive mechanism, it is characterised in that：Each planetary gear (9) the center of circle is located on same vertical curve with the center of circle of the synchronous pulley (7) being connected, meanwhile, two synchronous pulleys (7) are located at It is same as in level height.