CN210706056U

CN210706056U - Multi-coordinate system collaborative 3D printer

Info

Publication number: CN210706056U
Application number: CN201920791706.2U
Authority: CN
Inventors: 杨卫民; 王修磊; 邓暄; 朱嘉敏; 石美浓; 阎华�; 丁玉梅
Original assignee: Beijing University of Chemical Technology
Current assignee: Beijing University of Chemical Technology
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-06-09
Anticipated expiration: 2029-05-29

Abstract

The utility model provides a multi-coordinate system is 3D printer in coordination, including step motor, electromagnetism chassis, hot bed, six arms, tray frame, iron disc and shower nozzle mechanism, shower nozzle mechanism includes extrusion material step motor, shower nozzle, cooling fan, vertical guiding mechanism and horizontal adjustment mechanism. The electromagnetic chassis internally comprises a permanent magnet and an electromagnet, and demagnetization and magnetization are controlled by controlling the current flowing through the electromagnet. The utility model relates to a multi-coordinate system is compared with current 3D printer in coordination with 3D printer, through the rotational degree of freedom on six degree of freedom arms and electromagnetism permanent magnetism set composite increase chassis, can not only realize the three-dimensional entity shaping of plane cube under the general condition, can also be in a flexible way the conversion in cartesian coordinate system, cylindrical coordinate system and spherical coordinate system, realize the promotion of cambered surface and sphere printing precision, provide new thinking for printing arc and sphere assembly. The equipment is simple to operate and wide in application range, and equipment conditions are created for high-precision micro printing.

Description

Multi-coordinate system collaborative 3D printer

Technical Field

The invention belongs to the field of 3D printing, and particularly relates to a multi-coordinate system collaborative 3D printer.

Background

The 3D printing technique is one of additive manufacturing techniques that manufactures three-dimensional objects by fused deposition of bondable materials such as powdered metals or plastics based on STL digital modeling. Compared with the traditional material reducing manufacturing process, the 3D printing process has higher material utilization rate and can process products with complex structures according to actual use requirements.

Most of the existing 3D printers are still built in a Cartesian coordinate system and are characterized in that three axes are mutually independent, each axis can only do linear motion in the printing process, and the macro molding in the three-dimensional space of an object is completed through the motion coordination among the axes. For products with a series of curved surfaces such as an arc surface, a spherical surface and the like, a common printer differentiates the curved surfaces into right angles for printing, and the printed products are not smooth arcs on the microstructure and have certain errors compared with the original design. The smaller the printed product is, the more obvious the small triangle is embodied, and the worse the printing precision is.

The 3D printer based on cylindrical coordinate transmission positioning disclosed in patent number CN207747423U has increased the rotational degree of freedom of shaping base in the horizontal direction, has avoided the printing deviation that leads to because the cooperation deviation of X, Y axle when printing the plane solid of revolution. However, when the space revolver is printed, the deviation of the extrusion nozzle in the matching of the X and Z axes is inevitable. Meanwhile, the patent is only suitable for a cylindrical coordinate system, and cannot realize multi-coordinate system collaborative printing.

Disclosure of Invention

Aiming at the defect that a common 3D printer can only work in a single coordinate system, the invention provides the multi-coordinate system cooperated 3D printer, which not only can effectively avoid the equipment error of the cambered surface of a product during printing, but also can realize the random switching of the multi-coordinate system, further improve the precision of 3D printing and further widen the application range of the 3D printer in the field of microstructures.

On the basis that the original Cartesian 3D printer is simple and easy to control, the magnetic attraction device and the six-axis mechanical arm device are utilized to increase the spatial freedom degree of the chassis, column coordinate axes or spherical coordinate circle centers are customized according to printing requirements to print, 3D printing precision of cambered surfaces and spherical surfaces of products can be effectively improved, and high-precision printing requirements of complex products (including more than one of spherical surfaces, cambered surfaces and non-curved surfaces) are met.

The structural scheme of the invention is as follows: the utility model provides a 3D printer is in coordination with multi-coordinate system, includes step motor, electromagnetism chassis, hot bed, six arms, tray frame, iron disc and shower nozzle mechanism, shower nozzle mechanism includes extrusion material step motor, shower nozzle, cooling fan, vertical guiding mechanism and horizontal adjustment mechanism.

According to the multi-coordinate system cooperation 3D printer, the permanent magnet and the electromagnet are arranged in the electromagnetic chassis, demagnetization and magnetization are controlled by controlling the current flowing through the electromagnet, the permanent magnet can ensure that continuous current does not need to be provided for the electromagnetic chassis during printing, energy is saved, and reliability can be ensured. The hot bed adopts an aluminum plate with strong bonding capacity with printing materials. The iron disc is made of iron metal products which are sensitive to magnetism and easy to magnetize.

The invention discloses a multi-coordinate system collaborative 3D printer, wherein a tray frame is arranged on a rack; the six-axis mechanical arm is fixedly connected with the stepping motor and controls the spatial position and the spatial angle of the stepping motor; the stepping motor is fixedly connected with the iron disc; the electromagnetic chassis is fixedly connected with the hot bed without relative movement. The installation mode of the spray head mechanism is basically consistent with that of a spray head part of an existing 3D printer, an extrusion material stepping motor is fixedly connected with a rack, a cooling fan and the spray head are kept in a relatively static installation relation, a vertical adjusting mechanism is installed on the rack of the printer, and a three-linkage mechanical arm mechanism is adopted as a horizontal adjusting mechanism in the embodiment of the invention.

The working mode of the multi-coordinate system cooperated with the 3D printer is as follows: when printing a common planar assembly (without arcs), a common cartesian 3D printing algorithm is used. The six-shaft mechanical arm does not work, the electromagnetic chassis is placed on the tray frame, and the electromagnetic chassis is kept horizontal. The nozzle mechanism prints the product according to a predetermined program.

When printing plane arc assembly, on the basis of original cartesian coordinate system, six arms play a role, when printing ordinary structure (do not have the arc), six arms remain static, and the electro-magnet does not circular telegram, adsorbs the iron disc in step motor rigid coupling by the permanent magnet, keeps static. When the arc-shaped part of the assembly is printed, the system keeps the relative position memory of the spray head and the hot bed; the six-axis mechanical arm drives the electromagnetic chassis and the hot bed and places the electromagnetic chassis and the hot bed on the tray frame; then the electromagnetic chassis is electrified to carry out magnetism releasing operation, and the electromagnetic chassis is separated from the iron disc; the common rotation center of the stepping motor and the iron disc is moved to a position which is superposed with the rotation center of the arc-shaped object to be printed by a six-axis mechanical arm; the electromagnetic chassis is powered off, so that the iron disc and the electromagnetic chassis are attracted, and then the hot bed is moved to the position just memorized; the spray head keeps static in the horizontal direction at the arc edge position, and the hot bed and the electromagnetic chassis rotate along with the rotation of the stepping motor; when the non-arc surface needs to be printed again, the motor stops rotating, the spray head moves, and the printing work of the product can be completed.

When a spherical (space cambered surface) assembly is printed, the system keeps the memory of the relative positions of the spray head and the hot bed; the six-axis mechanical arm drives the electromagnetic chassis and the hot bed and places the electromagnetic chassis and the hot bed on the tray frame; then the electromagnetic chassis is electrified to carry out magnetism releasing operation, and the electromagnetic chassis is separated from the iron disc; the six-axis mechanical arm moves the stepping motor to the intersection point of the curvature radius of the spherical surface and the electromagnetic chassis, the electromagnetic chassis is powered off, the iron disc and the electromagnetic chassis are attracted, and then the hot bed is moved to the position just memorized; the six-shaft mechanical arm rotates the stepping motor by a certain angle according to requirements, and the electromagnetic chassis and the hot bed rotate along with the rotation of the stepping motor, so that the spherical assembly is printed more accurately.

The multi-coordinate system coordinated 3D printer is not limited to the structural scheme and the implementation mode provided in the case of the invention, and other structural schemes such as a structure that a single mechanical arm is used at a spray head to control movement and the like belong to the invention.

Compared with the existing 3D printer, the multi-coordinate system collaborative 3D printer has the advantages that the rotational freedom of the chassis is increased through the six-freedom-degree mechanical arm and the electromagnetic permanent magnet compounding device, the three-dimensional solid forming of a plane cube under the general condition can be realized, the flexible conversion in a Cartesian coordinate system, a cylindrical coordinate system and a spherical coordinate system can be realized, the printing precision of the cambered surface and the spherical surface is improved, and a new thought is provided for printing arc-shaped and spherical surface combined bodies. The equipment is simple to operate and wide in application range, and equipment conditions are created for high-precision micro printing.

Drawings

FIG. 1 is a schematic front view of an overall installation of a multi-coordinate system cooperating with a 3D printer;

fig. 2 is a schematic diagram of a six-axis mechanical arm of a multi-coordinate system cooperative 3D printer.

In the figure: the automatic feeding device comprises the following components of 1-six-shaft mechanical arm, 2-stepping motor, 3-electromagnetic chassis, 4-hot bed, 5-cooling fan, 6-feeding stepping motor, 7-vertical adjusting mechanism, 8-horizontal adjusting mechanism, 9-spray head, 10-iron disc, 11-tray frame and 12-servo motor.

Detailed Description

The invention discloses a multi-coordinate system cooperated 3D printer, which comprises a stepping motor 2, an electromagnetic chassis 3, a hot bed 4, a six-axis mechanical arm 1, a tray frame 11, an iron disc 10 and a spray head mechanism as shown in figure 1. The spray head mechanism comprises a feeding stepping motor 6, a spray head 9, a cooling fan 5, a vertical adjusting mechanism 7 and a horizontal adjusting mechanism 8.

A six-axis robot 1 in a multi-coordinate system coordinated 3D printer is shown in FIG. 2, and the spatial three-dimensional motion of the robot is controlled by four servo motors 12.

The invention relates to a specific implementation mode of a multi-coordinate system cooperated 3D printer, which comprises the following steps:

when printing a common planar assembly (without arcs), a common cartesian 3D printing algorithm is used. The six-shaft mechanical arm 1 does not work, the electromagnetic chassis 3 is placed on the tray frame 11, and the electromagnetic chassis 3 is kept horizontal. The nozzle mechanism prints the product according to a predetermined program.

When printing the plane arc assembly, on the basis of original cartesian coordinate system, six arms 1 play a role, when printing ordinary structure (no arc), six arms 1 keep static, and the electro-magnet is not circular telegram, adsorbs the iron disc 10 in the motor rigid coupling by the permanent magnet, keeps static. When printing the arc part of the assembly, the system keeps the relative position memory of the spray head 9 and the hot bed 4; the six-axis mechanical arm 1 drives the electromagnetic chassis 3 and the hot bed 4 and places the electromagnetic chassis and the hot bed on the tray frame 11; then the electromagnetic chassis 3 is electrified to carry out magnetism releasing operation, and the electromagnetic chassis 3 is separated from the iron disc 10; the common rotation center of the stepping motor 2 and the iron disc 10 is moved to a position which is superposed with the rotation center of the arc object to be printed by the six-axis mechanical arm 1; the electromagnetic chassis 3 is powered off, so that the iron disc 10 is attracted with the electromagnetic chassis 3, and then the hot bed 4 is moved to the position just memorized; the spray head 9 keeps static in the horizontal direction at the arc edge position, and the hot bed 4 and the electromagnetic chassis 3 rotate along with the rotation of the stepping motor 2; when the non-arc surface needs to be printed again, the stepping motor 2 stops rotating, and the spray head 9 moves, so that the printing work of the product can be completed.

When printing a spherical (spatial arc) assembly, the system retains the relative position memory of the spray head 9 and the hot bed 4; the six-axis mechanical arm 1 drives the electromagnetic chassis 3 and the hot bed 4 and places the electromagnetic chassis and the hot bed on the tray frame 11; then the electromagnetic chassis 3 is electrified to carry out magnetism releasing operation, and the electromagnetic chassis 3 is separated from the iron disc 10; the six-axis mechanical arm 1 moves the stepping motor 2 to the intersection of the curvature radius of the spherical surface and the electromagnetic chassis 3, the electromagnetic chassis 3 is powered off, the iron disc 10 is attracted with the electromagnetic chassis 3, and then the hot bed 4 is moved to the position just memorized; the six-axis mechanical arm 1 rotates the stepping motor 2 by a certain angle according to requirements, and the electromagnetic chassis 3 and the hot bed 4 rotate along with the rotation of the stepping motor 2, so that the spherical assembly is printed more accurately.

The above description is provided for the specific apparatus and process conditions of the present invention, and is illustrated with reference to the drawings. The present invention is not limited to the specific apparatus and processes described above, and any modifications or alterations to the related apparatus, based on the description above, or any local adjustments to the related processes, based on the description above, are intended to be encompassed by the present invention.

Claims

1. The utility model provides a many coordinate system cooperate 3D printer which characterized in that: the automatic feeding device comprises a stepping motor, an electromagnetic chassis, a hot bed, a six-axis mechanical arm, a tray frame, an iron disc and a nozzle mechanism, wherein the nozzle mechanism comprises an extrusion material stepping motor, a nozzle, a cooling fan, a vertical adjusting mechanism and a horizontal adjusting mechanism; the electromagnetic chassis is internally provided with a permanent magnet and an electromagnet, the demagnetization and the magnetization are controlled by controlling the current flowing through the electromagnet, the hot bed adopts an aluminum plate with strong binding capacity with a printing material, and the iron disc adopts an iron metal product which is sensitive to magnetism and easy to magnetize; the tray frame is arranged on the rack; the six-axis mechanical arm is fixedly connected with the stepping motor and controls the spatial position and the spatial angle of the stepping motor; the stepping motor is fixedly connected with the iron disc; the electromagnetic chassis is fixedly connected with the hot bed; the extrusion material stepping motor is fixedly connected with the rack, the cooling fan and the spray head are kept in a relatively static installation relation, the vertical adjusting mechanism is installed on the rack of the printer, and the horizontal adjusting mechanism adopts a triple mechanical arm mechanism.