WO2015081599A1 - 3d printer platform and printer composed thereof - Google Patents

3d printer platform and printer composed thereof Download PDF

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Publication number
WO2015081599A1
WO2015081599A1 PCT/CN2014/000340 CN2014000340W WO2015081599A1 WO 2015081599 A1 WO2015081599 A1 WO 2015081599A1 CN 2014000340 W CN2014000340 W CN 2014000340W WO 2015081599 A1 WO2015081599 A1 WO 2015081599A1
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WO
WIPO (PCT)
Prior art keywords
nozzle
head
printer
gripping
fixed
Prior art date
Application number
PCT/CN2014/000340
Other languages
French (fr)
Chinese (zh)
Inventor
唐果林
Original Assignee
北京太尔时代科技有限公司
唐果林
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority to CN201310640307.3 priority Critical
Priority to CN201310640307.3A priority patent/CN103640217B/en
Application filed by 北京太尔时代科技有限公司, 唐果林 filed Critical 北京太尔时代科技有限公司
Publication of WO2015081599A1 publication Critical patent/WO2015081599A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive 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
    • B29C64/10Processes of additive manufacturing
    • B29C64/106Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B29C64/112Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive 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
    • B29C64/20Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205Means for applying layers
    • B29C64/209Heads; Nozzles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive 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
    • B29C64/20Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/245Platforms or substrates

Abstract

A 3D printer platform and printer composed thereof, comprising a bracket, a nozzle gripping apparatus fixed onto the bracket, and also comprising a nozzle repository, a plurality of nozzles fixed independently within the nozzle repository, the nozzles and the gripping apparatus provided with a mutually fitting connecting device to facilitate the gripping device to extract and replace the nozzles. The beneficial effect is: when the plurality of independent nozzles are printing, the nozzle gripping apparatus only has to bear the weight of one nozzle.

Description

一种 3D打印机平台及其构成的打印机 技术领域  A 3D printer platform and a printer composed thereof

本发明涉及 3D打印技术领域, 具体涉及一种带有独立喷头库、 且支 架上安装有喷头抓取装置的 3D打印机。 背景技术 现有技术中, 3D打印机都是单个喷头, 所谓的多喷头打印机实际上 指的是单个喷头上集成有多个喷嘴, 此种方式的缺陷在于, 由于多个喷嘴 存在位置上的限制, 在其中一个喷嘴工作时, 另一个喷嘴为了防止剐蹭模 型, 需要移动以避开模型。 在长期使用中, 频繁移动会导致连接件的疲劳 损耗, 从而造成误差。 同时, 由于喷嘴是集成在喷头上的, 受位置以及相 对运动的影响, 在喷头总体结构不做大的改变的时候, 喷嘴的数量有一定 的限制, 一般是双喷头。 同时,每个喷嘴均包括独立的送丝机构、加热机构以及多个传动部件, 当多个喷嘴集成到一个喷头上时, 喷头的驱动轴需要相当大的驱动力,驱 动负载较大。 这一方面需要更多的驱动能源, 另一方面也提升了发生问题 的概率。 发明内容 有鉴于此, 本发明提供的 3D打印机, 以提供一种只需负载一个喷头的 重量, 却能实现多喷头打印的 3D打印机。 为达到上述目的, 本发明采用的技术方案是: 一种 3D打印机平台, 包括支架、 及固定于支架上的工作台, 其特征 在于, 支架上连接有喷头抓取装置。在现有技术的喷头及其驱动轴部位替 换以一个机械手或起类似作用的抓取装置,这样一方面该工作平台可以几 乎可以适用于任何喷头,另一方面,多个工作平台甚至可以共享一组喷头。 一种 3D打印机, 包括权利要求 1所述的打印机平台, 所述支架外侧 放置有喷头库, 喷头库内活动悬挂有至少一个独立喷头, 喷头上固定连接 与抓取装置结构相匹配的连接装置。 工作过程中,抓取装置去喷头库取出 需要的喷头, 工作结束后将喷头放回。 这样, 即可完成多喷头的使用,又 能保证抓取装置上只有一个喷头。 进一步的, 喷头上集成有一个或多个喷嘴。 作为优选的技术方案,推 荐一个喷头上只固定一个喷嘴。但作为可选的, 也可以在一个喷头上集成 多个喷嘴。 可选的, 连接装置包括喷头两侧开口向下的卡口,抓取装置和喷头库 内喷头固定装置均为与卡口配合的卡头件。 可选的, 连接装置包括喷头一侧的挂套、 以及喷头另一侧的锥形槽, 所述喷头库上固定有与挂套配合的挂钩,所述抓取装置为与锥形槽紧密配 合的锥形头。 可选的, 连接装置包括喷头一侧的挂套、 以及喷头另一侧的卡槽,卡 槽内固定有磁性件, 所述喷头库上固定有与挂套配合的挂钩, 所述抓取装 置为与卡槽磁吸的卡头。 可选的, 连接装置包括喷头一侧的挂套、 以及喷头另一侧的相对设置 的两个开口, 所述喷头库上固定有与挂套配合的挂钩, 所述抓取装置为通 过两个推杆推动的两个滑杆,滑杆通过推杆推动卡入开口以从喷头库内取 出和放回喷头。 可选的, 连接装置包括喷头一侧的 T形件; 所述抓取装置为通过电机 驱动的两个卡钳,卡钳能够卡住 τ形件的内侧以从喷头库内取出和放回喷 头。 上述五种连接方式为优选的推荐方案,一方面喷头能够稳定的固定在 喷头库内, 另一方面, 抓取装置取用和放回时均能精确定位且使用方便。 本发明的有益效果为: 实现了独立的多喷头打印的同时, 喷头抓取装 置上只需负载一个喷头的重量。 附图说明 The invention relates to the technical field of 3D printing, and particularly relates to a 3D printer with a separate nozzle library and a nozzle grasping device mounted on the bracket. BACKGROUND OF THE INVENTION In the prior art, 3D printers are all single nozzles. The so-called multi-head printer actually refers to a plurality of nozzles integrated on a single nozzle. The disadvantage of this method is that due to the positional limitation of a plurality of nozzles, When one of the nozzles is working, the other nozzle needs to move to avoid the model in order to prevent the squatting model. In long-term use, frequent movement can cause fatigue loss of the connector, resulting in errors. At the same time, since the nozzle is integrated on the nozzle, affected by the position and relative motion, when the overall structure of the nozzle is not changed greatly, the number of nozzles has a certain limit, which is generally a double nozzle. At the same time, each nozzle comprises a separate wire feeding mechanism, a heating mechanism and a plurality of transmission components. When a plurality of nozzles are integrated into one nozzle, the driving shaft of the nozzle requires a relatively large driving force and a large driving load. This requires more drive energy and, on the other hand, increases the probability of problems. SUMMARY OF THE INVENTION In view of the above, the present invention provides a 3D printer to provide a 3D printer capable of multi-nozzle printing by simply loading one nozzle. In order to achieve the above object, the technical solution adopted by the present invention is as follows: A 3D printer platform includes a bracket and a workbench fixed to the bracket, wherein the bracket is connected with a nozzle grasping device. In the prior art nozzle and its drive shaft portion, a robot or a similarly grasping device is replaced, so that the working platform can be applied to almost any nozzle on the one hand, and on the other hand, multiple working platforms can even share one. Group nozzles. A 3D printer comprising the printer platform according to claim 1, wherein a nozzle library is arranged outside the bracket, and at least one independent nozzle is suspended in the nozzle magazine, and the nozzle is fixedly connected with a connecting device matched with the structure of the gripping device. During the working process, the grabbing device goes to the nozzle library to take out the required nozzles, and the nozzles are returned after the work is finished. In this way, the use of multiple nozzles can be completed, and only one nozzle on the gripping device can be ensured. Further, one or more nozzles are integrated on the shower head. As a preferred technical solution, it is recommended to fix only one nozzle on one nozzle. Alternatively, however, it is also possible to integrate a plurality of nozzles on one nozzle. Optionally, the connecting device comprises a bayonet opening with the opening on both sides of the nozzle, and the gripping device and the nozzle fixing device in the nozzle library are the chucking members that cooperate with the bayonet. Optionally, the connecting device comprises a hanging sleeve on one side of the nozzle, and a tapered slot on the other side of the nozzle, wherein the nozzle library is fixed with a hook that cooperates with the hanging sleeve, and the grasping device is closely matched with the tapered slot. Conical head. Optionally, the connecting device comprises a hanging sleeve on one side of the nozzle and a card slot on the other side of the nozzle, wherein a magnetic member is fixed in the card slot, and a hook corresponding to the hanging sleeve is fixed on the nozzle library, and the grasping device is For the chuck with the card slot magnetic. Optionally, the connecting device comprises a hanging sleeve on one side of the nozzle, and two opposite openings disposed on the other side of the nozzle, wherein the nozzle library is fixed with a hook that cooperates with the hanging sleeve, and the grasping device passes through two Two sliders pushed by the push rod, the slide rod is pushed into the opening through the push rod to be taken out from the nozzle magazine and returned to the nozzle. Optionally, the connecting device comprises a T-shaped member on one side of the nozzle; the gripping device is two calipers driven by a motor, and the caliper can clamp the inside of the τ-shaped member to take out the ejector and return the nozzle. The above five connection methods are preferred recommendations, on the one hand, the nozzle can be stably fixed at In the nozzle library, on the other hand, the gripping device can be accurately positioned and used conveniently when taken and put back. The beneficial effects of the invention are: while achieving independent multi-nozzle printing, the weight of the nozzle is only required to be loaded on the nozzle gripping device. DRAWINGS

图 1为本发明所述 3D打印机平台的结构简图;  1 is a schematic structural diagram of a 3D printer platform according to the present invention;

图 2为本发明所述 3D打印机的结构简图;  2 is a schematic structural view of a 3D printer according to the present invention;

图 3为本发明所述连接装置的结构示意图之一;  Figure 3 is a schematic structural view of the connecting device of the present invention;

图 4为本发明所述连接装置的结构示意图之二;  Figure 4 is a second schematic structural view of the connecting device of the present invention;

图 5为本发明所述连接装置的结构示意图之三;  Figure 5 is a third structural schematic view of the connecting device of the present invention;

图 6为本发明所述连接装置的结构示意图之四;  Figure 6 is a fourth structural schematic view of the connecting device of the present invention;

图 7为本发明所述连接装置的结构示意图之五。  Figure 7 is a fifth structural schematic view of the connecting device of the present invention.

图中,  In the picture,

1、 支架; 2、 抓取装置; 3、 喷头库; 4、 喷头; 5、 卡口; 6、 卡头件; 7、 挂套; 8、 锥形槽; 9、 挂钩; 1 0、 锥形头; 1 1、 卡槽; 12、 磁性件; 1 3、 卡头; 14、 开口; 15、 推杆; 16、 滑杆; 17、 T形件; 18、 电机; 19 卡钳; 20、 工作台。 具体实施方式 下面结合附图对本发明的技术方案进行描述, 很显然的, 附图所描述 的仅仅是本发明的一部分而不是全部实施例。 如图 1所示, 本发明提供的一种 3D打印机平台, 包括支架 1、 及固 定于支架 1上的工作台 20, 支架 1上连接有喷头抓取装置 2。 抓取装置 2 用以抓取固定在支架 1上喷头库 3内的多个喷头 4, 或者放置在打印机平 台一侧的喷头库 3内的喷头 4。 对于后者, 一个可移动的喷头库 3可以为 多个打印机平台服务。 如图 2所示, 本发明提供的一种 3D打印机, 包括支架 1、 固定于支 架 1上的喷头 4抓取装置 2 , 还包括喷头库 3 , 所述喷头库 3内固定有独 立的多个喷头 4 , 喷头 4与抓取装置 2之间设置有相互配合的连接装置以 便于抓取装置 2取出和放回喷头 4。 应用中, 喷头库 3与支架 1连不连接 均可, 但应保证喷头库 3与支架 1的相对位置固定, 因为参数设定后,抓 取装置 2每次需要到设定的点去取出喷头 4 , 每次也需放回设定的点。 在 下面采用的多个实施例中, 均需保证喷头 4与喷头库 3内的固定位置,即 不能晃动或出现位移。 需要说明的, 本发明名称中的 3D打印机应作广义的理解, 其不仅包 括个人使用的小型 3D打印机, 也包括工业級应用的 3D打印机, 俗称快速 成型机。 本发明提供的一种 3D打印机, 喷头 4上集成有一个或多个喷嘴。 一 个喷嘴是推荐的实施例,除非在其他方面有所限制的情况迫不得已的情况 下才选择多个喷嘴集成于一个喷头 4上,例如可能需要十几甚至几十个喷 嘴, 而喷头库 3的空间有限只能放置有限数量的喷头 4 , 才建议多个喷嘴 集成于一个喷头 4上。 如图 3所示, 连接装置包括喷头 4两侧开口 14向下的卡口 5, 抓取 装置 2和喷头库 3内喷头 4固定装置均为与卡口 5配合的卡头件 6。 取用 喷头 4时,抓取装置 1向上插入喷头 4一侧的卡口 5取出喷头 4,放回时, 抓取装置 2带动喷头 4将喷头 4另一侧的卡口 5套上喷头库 3上的卡头件 6。 然后抓取装置 2向下移出, 喷头 4被喷头库 3的卡头 13件 6固定。 如图 4所示, 连接装置包括喷头 4一侧的挂套 7、 以及喷头 4另一侧 的锥形槽 8, 所述喷头库 3上固定有与挂套 7配合的挂钩 9 , 所述抓取装 置 1为与锥形槽 8紧密配合的锥形头 10。 设计时, 必须锥形头 10与锥形 槽 8之间具有较大的摩擦力以支撑喷头 4。 取用喷头 4时, 锥形头 10插 入锥形槽 8, 然后向上运动, 使喷头 4脱离喷头库 3上挂钩 9 , 放回时, 喷头 4从上到下将挂套 7套上挂钩 9, 然后锥形头 10后移, 喷头 4被挂 套 7固定以与锥形头 10脱离。 如图 5所示, 连接装置包括喷头 4一侧的挂套 7、 以及喷头 4另一侧 的卡槽 11, 卡槽 1 1内固定有磁性件 12, 所述喷头库 3上固定有与挂套 7 配合的挂钩 9 , 所述抓取装置 2为与卡槽 1 1磁吸的卡头 1 3。 使用时, 同 前一实施例相比, 上一实施例使用摩擦力, 此处使用磁吸。 这两种方法共 同的缺陷在于脱离时需要较大的作用力。 因此作为进一步的改进, 还可使 用电磁。 即连接时通电以相吸, 脱离时断电以顺利脱离。 这样放回和取出 均使用较小的力的即可。 如图 6所示, 连接装置包括喷头 4一侧的挂套 7、 以及喷头 4另一侧 的相对设置的两个开口 14,所述喷头库 3上固定有与挂套 7配合的挂钩 9, 所述抓取装置 2为分别通过两个推杆 15推动的两个滑杆 1 6, 滑杆 16通 过推杆 15推动卡入开口 14以从喷头库 3内取出和放回喷头 4。 取用喷头 4时, 推杆 15向下运动, 通过连接杆推动滑杆 16向两端推出, 滑杆 16 从通道两端伸出, 卡入开口 14 , 将喷头 4取出。 放回时反向运动即可。 如图 7所示, 连接装置包括喷头 4一侧的 T形件 1 7 ; 所述抓取装置 2 为通过电机 18驱动的两个卡钳 19 , 卡钳 1 9能够卡住 T形件 1 7的内侧以 从喷头库 3内取出和放回喷头 4。 上述多个实施例均为抓取装置 2与喷头 4之间的连接, 没有增加运动副。 本实施例增加了两个运动副, 夹取喷头 4时, 电机 18带动卡钳 19在轴上运动, 向两边张开, 移动到喷头 4处, 再向内运动, 带动卡钳 19 , 抓住喷头 4, 将喷头 4取出, 进行工作。 完成 打印后, 放回喷头 4, 将喷头 4放回原位, 电机 18运动张开卡钳 19, 将 喷头 4松开。至于喷头 4与喷头库 3之间的连接,只需能够稳定连接即可, 本实施例的优点在于能够精确控制喷头 4装卡, 精度更高, 并且电机 18 能有位置反馈, 在更换喷头 4后, 自动完成偏置的校正。 显然的, 上述结构仅仅是优选的几个实施例, 只需在保证喷头 4在喷 头库 3内能够稳定固定不晃动移动,抓取装置 2能够实现与喷头 4的稳定 连接, 现有技术中的其它固定、 取放装置均可使用。 另夕卜, 无论上述何种连接装置, 喷头与抓取装置之间的配合均优选过 渡配合或过盈配合, 应保证抓取装置和喷头连接后喷头不会有晃动, 附图 上出现的配合间隙仅为示意, 不作为加工尺寸。 本发明提供的 3D打印机, 使用时, 根据程序设计, 抓取装置 2去喷 头 4内取出相应的喷头 4进行打印工作, 该喷头 4工作结束后,抓取装置 2将喷头 4放回喷头库 3, 并取出下一需要工作的喷头 4 , 直至工作结束。 上述技术方案的描述仅体现了本发明的优选技术方案,而并不是无遗 漏的, 或者将本发明限于所公开的形式。 基于本发明的实施例, 任何人在 没有做出创造性劳动的前提下所获得的其他形式的技术方案,不论其在结 构或形式上作出何种变化, 均属于本发明的保护范围之内。 1, bracket; 2, grab device; 3, nozzle library; 4, nozzle; 5, bayonet; 6, card head; 7, hanging sleeve; 8, tapered groove; 9, hook; 1 0, cone Head; 1 1, card slot; 12, magnetic parts; 1 3, chuck; 14, opening; 15, push rod; 16, slider; 17, T-piece; 18, motor; 19 caliper; . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The technical solutions of the present invention are described below in conjunction with the accompanying drawings, and it is obvious that the drawings are only a part of the present invention and not all embodiments. As shown in FIG. 1 , a 3D printer platform provided by the present invention comprises a bracket 1 and a table 20 fixed to the bracket 1 , and the nozzle 1 is connected to the nozzle gripping device 2 . The gripping device 2 is for grasping a plurality of nozzles 4 fixed in the head magazine 3 on the rack 1, or a head 4 placed in the head magazine 3 on one side of the printer platform. For the latter, a removable magazine library 3 can serve multiple printer platforms. As shown in FIG. 2, a 3D printer provided by the present invention includes a bracket 1, a picking device 4 fixed to the bracket 1 and a picking device 2, and a nozzle library 3, wherein the nozzle library 3 is fixed separately. A plurality of nozzles 4 are provided, and a matching connecting device is arranged between the nozzles 4 and the gripping device 2 to facilitate the removal and return of the gripping device 2 to the nozzle 4. In the application, the nozzle library 3 and the bracket 1 are not connected, but the relative position of the nozzle library 3 and the bracket 1 should be fixed, because after the parameter setting, the grasping device 2 needs to go to the set point to take out the nozzle every time. 4, you need to put back the set point each time. In the various embodiments employed below, it is necessary to ensure a fixed position within the head 4 and the head magazine 3, i.e., cannot be shaken or displaced. It should be noted that the 3D printer in the name of the present invention should be understood in a broad sense, and includes not only a small 3D printer for personal use but also a 3D printer for industrial grade applications, commonly known as a rapid prototyping machine. The invention provides a 3D printer in which one or more nozzles are integrated on the nozzle 4. A nozzle is the preferred embodiment, and it is only necessary to select multiple nozzles to be integrated into one nozzle 4 unless otherwise limited. For example, a dozen or even dozen nozzles may be required, and the space of the nozzle library 3 A limited number of nozzles 4 can only be placed, and it is recommended that multiple nozzles be integrated into one nozzle 4. As shown in FIG. 3, the connecting device includes a bayonet 5 with the opening 14 on both sides of the head 4 downward, and the gripping device 2 and the head 4 fixing device in the head cartridge 3 are the chuck members 6 that cooperate with the bayonet 5. When the nozzle 4 is taken, the gripping device 1 is inserted into the bayonet 5 on the side of the nozzle 4 to take out the nozzle 4, and when it is put back, the gripping device 2 drives the nozzle 4 to put the tab 5 on the other side of the nozzle 4 on the head cartridge 3 The upper part of the card is 6. Then, the gripping device 2 is moved downward, and the head 4 is fixed by the chuck 13 of the head cartridge 3. As shown in FIG. 4, the connecting device includes a hanging sleeve 7 on one side of the nozzle 4 and a tapered groove 8 on the other side of the nozzle 4. The nozzle magazine 3 is fixed with a hook 9 that cooperates with the hanging sleeve 7, and the catching device The take-up device 1 is a tapered head 10 that mates with the tapered groove 8. In design, there must be a large friction between the tapered head 10 and the tapered groove 8 to support the spray head 4. When the nozzle 4 is taken, the tapered head 10 is inserted into the tapered groove 8, and then moved upward to disengage the nozzle 4 from the hook 9 on the headstock 3. When it is put back, the nozzle 4 will be hooked 9 from the top to the bottom. The tapered head 10 is then moved back and the spray head 4 is secured by the hanger 7 to disengage from the tapered head 10. As shown in FIG. 5, the connecting device includes a hanging sleeve 7 on one side of the head 4 and a card slot 11 on the other side of the head 4. The magnetic member 12 is fixed in the slot 1 1 , and the head holder 3 is fixed and suspended. The sleeve 7 is fitted with a hook 9 , and the gripping device 2 is a chuck 13 that is magnetically attracted to the card slot 1 1 . In use, the previous embodiment uses friction as compared to the previous embodiment, where magnetic attraction is used. A common drawback of both methods is that a large force is required for detachment. Therefore, as a further improvement, electromagnetic can also be used. That is, when connected, the power is supplied to attract, and when it is disconnected, the power is turned off to smoothly detach. This allows for a small force to be put back and removed. As shown in FIG. 6 , the connecting device includes a hanging sleeve 7 on one side of the head 4 and two opposite openings 14 on the other side of the head 4 . The head holder 3 is fixed with a hook 9 that cooperates with the hanging sleeve 7 . The gripping device 2 is two slide bars 16 that are respectively pushed by two push rods 15. The slide bar 16 pushes the snap-in opening 14 through the push rod 15 to take out and return the head 4 from the head magazine 3. When the nozzle 4 is taken, the push rod 15 moves downward, and the slide rod 16 is pushed out to the both ends by the connecting rod. The slide rod 16 protrudes from both ends of the passage, snaps into the opening 14, and takes out the head 4. Reverse movement when you put it back. As shown in Fig. 7, the connecting device comprises a T-piece 17 on one side of the head 4; the gripping device 2 is two calipers 19 driven by a motor 18, the caliper 19 being able to catch the inside of the T-piece 17 The nozzle 4 is taken out and returned from the head magazine 3. The above various embodiments are the connection between the gripping device 2 and the head 4 without adding a motion pair. In this embodiment, two movement pairs are added. When the nozzle 4 is gripped, the motor 18 drives the caliper 19 to move on the shaft, opens to both sides, moves to the nozzle 4, moves inward, drives the caliper 19, and grasps the nozzle 4 , take out the nozzle 4 and work. After the printing is completed, the head 4 is returned, the head 4 is returned to the original position, and the motor 18 is moved to open the caliper 19 to release the head 4. As for the connection between the head 4 and the head magazine 3, it is only necessary to be able to stably connect. The advantage of this embodiment is that the head 4 can be accurately controlled, the precision is higher, and the motor 18 can have position feedback. After that, the offset correction is automatically completed. Obviously, the above structure is only a preferred embodiment, and it is only necessary to ensure that the nozzle 4 can be stably fixed in the head magazine 3 without sloshing movement, and the gripping device 2 can achieve stable connection with the nozzle 4, in the prior art. Other fixing and pick-and-place devices can be used. In addition, regardless of the above-mentioned connecting device, the cooperation between the nozzle and the gripping device is preferably a transition fit or an interference fit, and it should be ensured that the nozzle does not sway after the gripping device and the nozzle are connected. The mating clearance that appears on the screen is only an indication and is not a processing size. The 3D printer provided by the present invention, when in use, according to the program design, the grabbing device 2 removes the corresponding nozzle 4 from the nozzle 4 for printing work, and after the nozzle 4 is finished, the gripping device 2 puts the nozzle 4 back into the nozzle library 3 , and take out the next nozzle 4 that needs to work until the end of the work. The description of the above technical solutions merely embodies the preferred technical solutions of the present invention, and is not intended to be exhaustive or to limit the invention to the disclosed forms. Other forms of technical solutions obtained by any person without creative work, regardless of changes in structure or form, are within the scope of the present invention.

Claims

1、一种 3D打印机平台,包括支架( 1 )及固定于支架上的工作台( 20 ), 其特征在于, 支架连接喷头抓取装置 ( 2 )。 A 3D printer platform comprising a bracket (1) and a table (20) fixed to the bracket, characterized in that the bracket is connected to the nozzle gripping device (2).
2、 一种利用权利要求 1所述的 3D打印机平台构建的 3D打印机, 其 特征在于, 所述支架外侧放置有喷头库(3 ), 喷头库内活动悬挂有至少一 个独立喷头 (4 ), 喷头上固定连接与抓取装置结构相匹配的连接装置。 2. A 3D printer constructed by using the 3D printer platform of claim 1, wherein a nozzle library (3) is disposed outside the bracket, and at least one independent nozzle (4) is suspended in the nozzle library, the nozzle The connecting device is fixedly connected to the structure of the gripping device.
3、 根据权利要求 2所述的 3D打印机, 其特征在于, 喷头上集成有一 个或多个喷嘴. 3. A 3D printer according to claim 2, wherein one or more nozzles are integrated on the nozzle.
4、 根据权利要求 2所述的 3D打印机, 其特征在于, 连接装置包括喷 头两侧开口向下的卡口(5 ), 抓取装置和喷头库内喷头固定装置均为与卡 口配合的卡头件(6 ). 4. The 3D printer according to claim 2, wherein the connecting device comprises a bayonet (5) with a downward opening on both sides of the nozzle, and the gripping device and the nozzle fixing device in the nozzle are all cards matched with the bayonet. Head piece (6).
5、 根据权利要求 2所述的 3D打印机, 其特征在于, 连接装置包括喷 头一侧的挂套(7 )、 以及喷头另一侧的锥形槽(8 ), 所述喷头库上固定有 与挂套配合的挂钩( 9 ),所述抓取装置为与锥形槽紧密配合的锥形头( 10 )。 The 3D printer according to claim 2, wherein the connecting device comprises a hanging sleeve (7) on one side of the head and a tapered groove (8) on the other side of the head, and the head holder is fixed with A hook (9) is fitted with the sleeve, and the gripping device is a tapered head (10) that closely fits the tapered groove.
6、 根据权利要求 2所述的 3D打印机, 其特征在于, 连接装置包括喷 头一侧的挂套、 以及喷头另一侧的卡槽( 11 ),卡槽内固定有磁性件( 12 ), 所述喷头库上固定有与挂套配合的挂钩,所述抓取装置为与卡槽磁吸的卡 头 (13 )。 The 3D printer according to claim 2, wherein the connecting device comprises a hanging sleeve on one side of the head and a card slot (11) on the other side of the head, and a magnetic member (12) is fixed in the card slot. A hook that cooperates with the hanging sleeve is fixed on the nozzle magazine, and the grasping device is a chuck (13) that is magnetically attracted to the card slot.
7、根据权利要求 2所述的 3D打印机, 其特征在于, 连接装置包括喷 头一侧的挂套、 以及喷头另一侧的相对设置的两个开口 ( 14 ), 所述喷头 库上固定有与挂套配合的挂钩, 所述抓取装置为分别通过两个推杆(15 ) 推动的两个滑杆(16 ), 滑杆通过推杆推动卡入开口以从喷头库内取出和 放回喷头。 The 3D printer according to claim 2, wherein the connecting device comprises a hanging sleeve on one side of the head and two opposite openings (14) on the other side of the head, and the head holder is fixed with The hooks of the hanging sleeves are the two sliding rods (16) respectively pushed by the two push rods (15), and the sliding rods are pushed into the opening through the push rods to take out and return the nozzles from the head magazine .
8、根据权利要求 2所述的 3D打印机, 其特征在于, 连接装置包括喷 头一侧的 T形件( 17 ); 所述抓取装置为通过电机 ( 18 )驱动的两个卡钳A 3D printer according to claim 2, wherein the connecting means comprises a T-piece (17) on one side of the spray head; and the gripping means is two calipers driven by a motor (18)
( 19 ), 卡钳能够卡住 T形件的内侧以从喷头库内取出和放回喷头。 (19), the caliper can catch the inside of the T-piece to remove and return the nozzle from the nozzle housing.
PCT/CN2014/000340 2013-12-04 2014-03-28 3d printer platform and printer composed thereof WO2015081599A1 (en)

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