WO2021012675A1 - 深海潜艇专用3d打印机 - Google Patents

深海潜艇专用3d打印机 Download PDF

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Publication number
WO2021012675A1
WO2021012675A1 PCT/CN2020/077555 CN2020077555W WO2021012675A1 WO 2021012675 A1 WO2021012675 A1 WO 2021012675A1 CN 2020077555 W CN2020077555 W CN 2020077555W WO 2021012675 A1 WO2021012675 A1 WO 2021012675A1
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WIPO (PCT)
Prior art keywords
damping
module
printing
longitudinal
deep
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PCT/CN2020/077555
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English (en)
French (fr)
Inventor
熊刚
魏培企
沈震
刘胜
董西松
赵美华
牛璐璐
商秀芹
王飞跃
Original Assignee
中国科学院自动化研究所
东莞中国科学院云计算产业技术创新与育成中心
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Publication of WO2021012675A1 publication Critical patent/WO2021012675A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
    • B22F3/115—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces by spraying molten metal, i.e. spray sintering, spray casting
    • 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
    • B29C64/112—Processes 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
    • 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
    • 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
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • 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
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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
    • 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
    • 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

Definitions

  • the invention belongs to the technical field of 3D printing, and specifically relates to a 3D printer special for deep-sea submarines.
  • 3D printing is a kind of rapid prototyping technology. It uses software to layer and discretize the 3D digital model, and then uses adhesive materials such as powdered metal or plastic to construct the entity by stacking it layer by layer.
  • adhesive materials such as powdered metal or plastic to construct the entity by stacking it layer by layer.
  • 3D printing technology due to its unique principle, its advantages mainly include the following aspects: First, the technology does not need to cut objects, and does not require the application of molds; Second, the processing speed of the technology is compared in the actual application process Fast, its production cycle is relatively short; third, it shows obvious application advantages for some objects with more complex structure and smaller volume.
  • the application of this technology can be easy
  • the realization is mainly because it can be formed in one piece and does not require secondary processing; fourth, it can be mass-produced and can be online, which enables remote operation to realize 3D printing technology.
  • 3D printers Driven by manufacturing requirements for personalized and specific services, the application requirements for 3D printers are becoming wider and wider. Not only can they be more widely used in aviation, machinery and medical fields, 3D printing is also often used in military parts manufacturing. In other fields, it can play a very good role in promoting the further development of these industries.
  • Submarines are commonly used tools for underwater transportation, search and rescue, military and other purposes.
  • Submarines, especially nuclear-powered submarines have been operating underwater for a long time. They have the characteristics of non-level working environment, severe turbulence, etc., and because of the special working environment, they often perform space maneuvers.
  • the submarine also has the characteristics of difficulty in replenishment and long replenishment period.
  • a portable, vibration-proof, fast and accurate manufacturing method that can be used for the submarine is very important.
  • 3D printing is fast, accurate, programmable, customizable, and portable.
  • most of the 3D printers in the prior art are used in stable environments, and are not vibration resistant, and cannot be applied to environments where vibrations and turbulence often occur such as ships and submarines. Therefore, a new type of vibration-proof 3D printer that can be used in submarines is needed to solve or improve the above problems.
  • the present invention provides a special 3D printer for deep-sea submarines, which includes a signal acquisition module, a printing module, a balance module and a controller.
  • the signal acquisition module inputs the collected signals to the controller
  • the controller outputs control signals to the printing module, the balance module and the vibration reduction module, where:
  • the printing module is connected to the balance module, and the function of the controller is to control the balance module based on the information collected by the signal acquisition module to maintain the stability and balance of the printing module.
  • the deep-sea submarine-specific 3D printing device further includes a vibration reduction module; the printing module is set on the deep-sea submarine through the vibration reduction module, and the controller also has a function of collecting data based on the signal acquisition module The received input information controls the function of the vibration reduction module to reduce the vibration of the printing module and improve the operation stability.
  • the rotating gyroscope is connected to the printing module.
  • the printing module includes a printing nozzle, a translation rod, two lifting rods and a printing platform, wherein: the two lifting rods are symmetrically and vertically fixedly installed on the upper two sides of the printing platform, so The rotating gyroscope is connected to the printing platform; both ends of the translation rod are respectively mounted on the two lifting rods, and the translation rod can slide along the lifting rods, and its horizontal axis is parallel to the printing platform;
  • the printing nozzle is slidably arranged on the translation rod; the printing nozzle is used to melt the printing material and squeeze the material; the translation rod can move up and down on the lifting rod, and the printing nozzle can be in the Move horizontally on the translation rod, so that it can perform three-dimensional point searching in space and realize three-dimensional printing.
  • the damping module includes a first damping module, the first damping module includes a plurality of longitudinal damping rods, and the longitudinal damping rods are evenly distributed along the circumference of the printing platform, so Both ends of the plurality of longitudinal damping rods are rotatably connected to the external structure through the first connecting member;
  • the signal detection module includes a levelness sensor and a longitudinal damping sensor group.
  • the levelness sensor is arranged at the bottom of the printing platform.
  • the longitudinal damping sensor group is arranged inside the longitudinal damping rod.
  • the vibration sensor group includes an acceleration sensor, a displacement sensor, and a force sensor, and the longitudinal vibration reduction sensor group and the level sensor are both signally connected to the controller.
  • the longitudinal damping rod includes a longitudinal electromagnetic damping damping group, a damping spring group, and at least two damping sections nested along its length, wherein: any two adjacent damping sections A longitudinal electromagnetic damping damping group is installed between the damping sections, and the control end of the longitudinal electromagnetic damping damping group is signally connected to the controller to realize functions such as active vibration damping and level fine-tuning.
  • one damping spring group is installed between any two adjacent damping sections for passive damping.
  • the damping module includes a second damping module, the second damping module is a suspended structure, and the deep-sea submarine-specific 3D printing device communicates with the external structure through the suspended structure connection.
  • the second damping module includes a damping platform and a longitudinal connecting rod member; the damping platform is connected to the printing platform through the plurality of longitudinal damping rods; the longitudinal connecting rod member It includes a first connecting rod, a second connecting rod, and a second connecting piece; the first connecting rod and the second connecting rod are rotationally connected by the second connecting piece, and the second connecting rod is connected to the center of the damping platform Connected, the first connecting rod is rotatably connected with an external structure; the external structure is a deep-sea submarine cabin, and the printing module and the balance module are suspended in the deep-sea submarine cabin through the second damping module of the damping module Inside the body.
  • the second vibration damping module further includes a hoop damping bearing, and the hoop damping bearing includes a tapered roller bearing, a hoop damping rubber sleeve, and a hoop damping damping group;
  • One end of the first connecting rod is arranged inside the tapered roller bearing, the hoop damping rubber sleeve is wrapped around the outside of the tapered roller bearing, and the tapered roller bearing is damped by the hoop
  • the damping group is connected to the external structure
  • the information collection module also includes several groups of hoop damping bearing sensor groups; the several groups of hoop damping bearing sensor groups are evenly arranged along the outside of the hoop damping bearing, and are signally connected to the controller; Each of the several groups of hoop damping bearing sensor groups includes an acceleration sensor, a force sensor and a displacement sensor.
  • the 3D printer dedicated for deep-sea submarines of the present invention is based on a rotating gyroscope structure, and has good directional stability and horizontal stability, and is suitable for changes in mobile platforms such as ships, submarines, etc., such as vibration, floating and large-scale sloshing, and sudden changes in direction. Rapid and accurate manufacturing in a horizontal environment.
  • the invention adopts a suspended structure and uses a ring-directed vibration damping bearing to provide the printing platform with 360° rotation in the horizontal direction, so that the 3D printing platform of the invention is more flexible and will not be affected by the spatial direction and motion state of the hull.
  • the invention is small and portable, has a simple structure and strong practicability.
  • the application of the invention can effectively utilize the space and material resources of the submarine, and solve the shortcomings of the submarine cannot carry too many parts, the supply is difficult, and the supply cycle is long.
  • the damping structure of the hoop damping bearing of the present invention is composed of hoop damping and damping rubber sleeves, wherein hoop damping and damping can realize active damping, and the damping rubber sleeve can realize passive damping.
  • An acceleration sensor and a displacement sensor are installed in the circumferential direction.
  • the damping structure of the longitudinal damping rod is composed of a longitudinal damping spring group and a longitudinal electromagnetic damping damping group.
  • the longitudinal damping rod is equipped with a force sensor, a displacement sensor and an acceleration sensor.
  • the damping rod has the function of longitudinal damping (a combination of longitudinal acceleration sensor and longitudinal force sensor) and fine adjustment of levelness (combination of levelness sensor and longitudinal displacement sensor).
  • the present invention combines active damping with passive damping, acceleration detection and displacement detection, and the combination of hoop damping and rubber damping, which greatly improves the hoop damping of the printing platform. The effect of vibration.
  • the invention adopts the combination of the vibration reduction spring group and the longitudinal electromagnetic vibration reduction damping group, and adopts the combination of acceleration detection and force detection, which greatly improves the effect of longitudinal vibration reduction.
  • Fig. 1 is a schematic structural diagram of an embodiment of a 3D printer dedicated to a deep-sea submarine according to the present invention
  • FIG 2 is another perspective of Figure 1;
  • Figure 3 is a schematic view of the internal structure of an embodiment of the hoop damping bearing of the present invention.
  • FIG. 4 is a partial schematic diagram of the internal structure of an embodiment of the longitudinal damping rod of the present invention.
  • Figure 5 is a flow chart of the active vibration reduction algorithm of the ring vibration reduction damping group of the present invention.
  • Fig. 7 is a flow chart of the fine adjustment algorithm for the levelness of the longitudinal electromagnetic vibration reduction damping group of the present invention.
  • the 3D printer dedicated for deep-sea submarine of the present invention includes a signal acquisition module, a printing module, a balance module, and a controller.
  • the signal acquisition module, the printing module, and the balance module are all signal connected to the controller, wherein:
  • the printing module is connected to the balance module, and the function of the controller is to control the balance module based on the input information collected by the signal collection module to maintain the balance of the printing module.
  • the 3D printing device for deep-sea submarine further includes a vibration reduction module; the printing module is set on the deep-sea submarine through the vibration reduction module, and the controller further has a signal acquisition module based on the The collected input information controls the function of the vibration reduction module to buffer the vibration of the printing module and improve the operation stability.
  • the rotating gyroscope is fixed at the bottom of the printing module.
  • the printing module includes a printing nozzle, a translation rod, two lifting rods and a printing platform, wherein: the two lifting rods are symmetrically and vertically fixedly installed on the upper two sides of the printing platform , The rotating gyroscope is connected to the printing platform; both ends of the translation rod are slidably mounted on the two lifting rods, and the horizontal axis of the translation rod is parallel to the printing platform;
  • the printing nozzle is slidably arranged on the translation rod; the printing nozzle is used to melt the printing material and squeeze the material; the translation rod can move up and down on the lifting rod, and the printing nozzle can The horizontal movement is performed on the translation rod, so that a three-dimensional point search can be performed in space and three-dimensional printing can be realized.
  • the damping module includes a first damping module, and the first damping module includes a plurality of longitudinal damping rods, and the plurality of longitudinal damping rods are uniform along the circumference of the printing platform. Arrangement, both ends of the plurality of longitudinal damping rods are rotatably connected to the external structure through the first connecting member;
  • the signal detection module includes a levelness sensor and a longitudinal damping sensor group.
  • the levelness sensor is arranged on the printing platform.
  • the longitudinal damping sensor group is arranged inside the plurality of longitudinal damping rods.
  • the vibration sensor group includes an acceleration sensor, a displacement sensor, and a force sensor, and the longitudinal vibration reduction sensor group and the level sensor are both signally connected to the controller.
  • the longitudinal damping rod includes a longitudinal electromagnetic damping damping group, a damping spring group, and at least two damping sections nested sequentially along its length, wherein: any two phases A longitudinal electromagnetic damping damping group is installed between adjacent damping sections, and the control end of the longitudinal electromagnetic damping damping group is signally connected to the controller.
  • one damping spring group is installed between any two adjacent damping sections.
  • the damping module includes a second damping module, the second damping module is a suspended structure, and the deep-sea submarine-specific 3D printing device communicates with the suspended structure through the suspended structure. External structure connection.
  • the second damping module includes a damping platform and a longitudinal connecting rod member; the damping platform is connected to the printing platform through the plurality of longitudinal damping rods; the longitudinal connection
  • the rod member includes a first connecting rod, a second connecting rod, and a second connecting piece; the first connecting rod and the second connecting rod are rotationally connected by the second connecting piece, and the second connecting rod is connected to the damping member.
  • the center of the platform is connected, the first connecting rod is rotatably connected with an external structure; the external structure is a deep-sea submarine cabin, and the printing module and the balance module are suspended in the deep sea through the second vibration reduction module of the vibration reduction module Inside the submarine cabin.
  • the second damping module further includes a hoop damping bearing, and the hoop damping bearing includes a tapered roller bearing, a hoop damping rubber sleeve, and a hoop damping damping group ;
  • One end of the first connecting rod is arranged inside the tapered roller bearing, the hoop damping rubber sleeve is wrapped around the outside of the tapered roller bearing, and the tapered roller bearing is damped by the hoop
  • the damping group is connected to the external structure
  • the information collection module also includes several groups of hoop damping bearing sensor groups; the several groups of hoop damping bearing sensor groups are evenly arranged along the outside of the hoop damping bearing, and are signally connected to the controller; Each of the several groups of hoop damping bearing sensor groups includes an acceleration sensor, a force sensor and a displacement sensor.
  • FIG 1 is a schematic structural diagram of a preferred embodiment of the present invention.
  • the 3D printing device for deep-sea submarine of the present invention includes a signal acquisition module, a printing module, a balance module, a vibration reduction module and a controller, as shown in Figure 1.
  • the balance module of the present invention includes a rotating gyroscope 6 and a rotating gyroscope vibration reduction platform 61.
  • the printing module of the present invention is connected to the rotating gyroscope 6 through the rotating gyroscope vibration reduction platform 61.
  • the rotating gyroscope has good directional properties.
  • the vibration reduction platform 6 adopting the rotating gyroscope can ensure that the direction of the vibration reduction platform does not change when the submarine is maneuvering in space, and at the same time has a certain vibration reduction effect, which provides conditions for the normal progress of 3D printing.
  • the printing module is set on the deep-sea submarine through the vibration reduction module.
  • the controller is configured to control the balance module based on the input information collected by the signal acquisition module to maintain the balance of the printing module.
  • the controller is configured to control the vibration damping module to buffer the vibration of the printing module based on the input information collected by the signal acquisition module, so as to improve the operation stability.
  • the printing module includes a rotating disc 3D printer.
  • the rotating disc 3D printer is an XZ axis-disk 3D printer, and the XZ axis-disk 3D printer
  • the printer is fixed on the rotating gyroscope damping platform 61, which includes a print nozzle 5, a translation rod 8, two lifting rods 9 and a printing platform 51, wherein the lifting rod 9 is a screw motor, and the translation rod 8 is a horizontal guide rail.
  • the disc 3D printer has a simple structure and can operate stably even in a complex environment.
  • two lifting rods 9 are symmetrically and vertically fixedly installed on the upper two sides of the printing platform, and the rotating gyroscope 6 is fixed on the bottom of the printing platform 51.
  • the lifting rod 9 is a screw motor.
  • the rotating gyroscope 6 is connected to the printing platform 51 through the rotating gyroscope vibration reduction platform 61. It should be noted that the rotating gyroscope vibration reduction platform 61 is concentric with the printing platform 51.
  • the diameter of the printing platform is smaller than the rotation
  • the diameter of the gyro vibration reduction platform those skilled in the art can also flexibly design the diameter of the printing platform and the rotating gyroscope vibration reduction platform according to actual needs, and flexibly adjust the parts installed on them, for example, when the diameter of the printing platform is greater than
  • the rotating gyroscope vibration damping platform has a diameter
  • the longitudinal connecting rod is fixed on the printing platform.
  • the printing platform and the rotating gyroscope vibration damping platform of the present invention can also be provided with a fence and other divided structures in the circumferential direction to further protect the printing platform working environment. Such changes to the structure, shape, and size of the two platforms of the present invention do not deviate from the principle and scope of the present invention, and should be limited within the protection scope of the present invention.
  • both ends of the translation rod 8 are slidably mounted on the two lifting rods 9, and the horizontal axis of the translation rod 8 is parallel to the printing platform 51; the printing nozzle 5 is slidably arranged on the translation rod 8; the printing nozzle 5 is used for melting Print the material and squeeze the material; when the translation rod 8 moves up and down in the groove on the lifting rod 9, the printing nozzle 5 moves horizontally on the translation rod 8 to perform a three-dimensional point search in space and realize three-dimensional printing.
  • the damping module of the present invention includes a first damping module, and the first damping module includes a plurality of longitudinal damping rods. As shown in FIG. 2, four longitudinal damping rods 4 are preferred in this embodiment.
  • the two ends of the longitudinal damping rod 4 are connected to the external structure through the first connecting member.
  • the external structure refers to the connection structure at both ends of the longitudinal vibration damping rod.
  • the external structure refers to the rotating gyroscope vibration damping platform 61 and the vibration damping platform 31 respectively.
  • the four longitudinal damping rods 4 are evenly arranged on the rotating gyroscope damping platform 61 along the circumference of the printing platform 51, and the longitudinal damping rod 4 is generally parallel to the axial direction of the printing platform 51 in its length direction. That is, it is arranged vertically relative to the printing platform 51; the first connecting pieces at both ends of the longitudinal damping rod 4 can be spherical hinges, universal joints, Hooke hinges, cylindrical pins or other connecting pieces, and those skilled in the art can use them according to actual applications.
  • the structure and type of the first connecting member can be flexibly designed, as long as both ends of the longitudinal damping rod 4 can have the freedom of 360° rotation along the horizontal axis. It is understandable that those skilled in the art can flexibly design the number of longitudinal damping rods according to actual applications. This change in number does not deviate from the principle and scope of the present invention, and should be limited to the protection scope of the present invention. .
  • the signal detection module includes a level sensor and a longitudinal damping sensor group, the level sensor is arranged on the printing platform 51, the longitudinal damping sensor group is arranged inside the plurality of longitudinal damping rods 4, the
  • the longitudinal vibration reduction sensor group includes an acceleration sensor, a displacement sensor, and a force sensor, and the longitudinal vibration reduction sensor group and the levelness sensor are both signally connected to the controller.
  • the printing platform 51 is concentrically connected with the rotating gyroscope vibration damping platform 61
  • the level sensor can be arranged on the printing platform 51 or the rotating gyroscope vibration damping platform 61.
  • the detection results are the same.
  • the position of the levelness sensor can be flexibly designed according to actual applications, and the levelness sensor is signally connected to the controller.
  • the longitudinal damping rod includes a longitudinal electromagnetic damping damping group, a damping spring group, and at least two damping sections connected in sequence along its length, wherein: any two adjacent damping sections are equally spaced.
  • a longitudinal electromagnetic vibration reduction and damping group is installed, and the control end of the longitudinal electromagnetic vibration reduction and damping group is signally connected with the controller.
  • the longitudinal electromagnetic vibration reduction and damping group can realize the active vibration reduction of the present invention on the one hand, and can realize the fine adjustment function of the levelness of the present invention through cooperation with the levelness sensor.
  • the controller can fine-tune the levelness of the present invention by obtaining the displacement information of the levelness sensor and the longitudinal damping rod 4 and feeding it back to the longitudinal electromagnetic damping damping group.
  • the longitudinal damping rod 4 in the preferred embodiment of the present invention includes two damping sections connected sequentially along its length.
  • the longitudinal damping rod 4 has two types of active damping and passive damping. Vibration reduction method.
  • the present invention names the two damping sections in the longitudinal damping rod 4 as an upper damping section 401 and a lower damping section 402.
  • the upper damping section 401 is connected to the second damping section through the first connecting member.
  • the vibration damping platform of the vibration module is rotatably connected, and the lower damping section 402 is rotatably connected to the rotating gyroscope vibration damping platform 61 through a first connecting member.
  • a spherical hinge is preferably used as the first connecting member. Choosing the spherical hinge as the connecting member can make the longitudinal damping rod 4 have the degree of freedom along the horizontal axis, and further enable the present invention to realize the function of fine adjustment of the levelness. Further, in the present invention, the diameter of the upper damping section 401 is smaller than the diameter of the lower damping section 402, the upper damping section 401 and the lower damping section 402 are matched through clearance, and an electromagnetic damping group 403 is installed between the two damping sections.
  • the electromagnetic damping group 403 is the above-mentioned longitudinal electromagnetic damping damping group.
  • the electromagnetic damping group 403 is divided into two parts arranged opposite to each other.
  • the upper part of the electromagnetic damping group 403 is fixedly connected to the upper damping section 401, and the lower part of the electromagnetic damping group 403 is fixed. Connected to the lower damping section 402.
  • the control end of the electromagnetic damping group 403 is signally connected to the controller, and the present invention can realize active vibration reduction through the electromagnetic damping group 403.
  • the longitudinal damping rod 4 of the present invention can also passively dampen vibration.
  • a damping spring group is installed between any two adjacent damping sections.
  • the spring group 404 is installed between the upper damping section 401 and the lower damping section 402 as shown in the figure, and the damping spring group 404 is used for passive longitudinal damping of the present invention.
  • the design of the longitudinal damping rod of the invention can make the invention adapt to the severe vibration and bumpy environment in the submarine, and can print when the submarine is in a maneuvering state.
  • the damping module of the present invention also includes a second damping module.
  • the second damping module includes a damping platform, a hoop damping bearing and a longitudinal connecting rod member; the damping platform, the ring
  • the damping bearing and the longitudinal connecting rod member form a suspended structure.
  • the deep-sea submarine special 3D printing equipment of the present invention is connected to an external structure through the suspended structure composed of the second damping module.
  • the suspended structure enables the present invention It has 360° rotation freedom in the horizontal direction.
  • the external structure refers to the installation environment inside the hull, hull, and submarine, that is, the present invention is fixedly suspended inside the ship or deep-sea submarine through the suspended structure.
  • the present invention can also be installed in other external structures and environments that do not require anti-vibration.
  • the present invention has no restrictions on the installation environment, and the installation environment only needs to be able to hang and fix the present invention.
  • the lower end of the vibration damping platform 31 is connected to the rotating gyroscope vibration damping platform 61 through the longitudinal damping rod 4, and the upper end of the vibration damping platform 31 is connected to the cabin through a longitudinal connecting rod member;
  • the longitudinal connecting rod member includes The first connecting rod, the second connecting rod, and the second connecting member.
  • the first connecting rod is rotatably connected to the second connecting rod through the second connecting member.
  • the second connecting member is preferably a bearing pin.
  • the first connecting rod is a longitudinal connecting rod 2
  • the second connecting rod is a longitudinal connecting rod 3.
  • One end of the longitudinal connecting rod 2 is connected to the external structure through a ring-direction damping bearing 1, and the other end is through a longitudinal connecting rod 3 is connected to the damping platform 31; the longitudinal connecting rod 2 and the longitudinal connecting rod 3 are connected by pins, and the connecting pin between the longitudinal connecting rod 2 and the longitudinal connecting rod 3 is the bearing connecting pin 7.
  • There is a degree of freedom between the connecting rod 2 and the longitudinal connecting rod 3 to ensure that the 3D printing platform can rotate in the longitudinal plane.
  • the freedom of the longitudinal connecting rod 3 can ensure the direction of the printing module and the balance module when the submarine floats. Always keep consistent under the influence of gravity, so that the printing environment is not disturbed and the operation is stable.
  • the hoop damping bearing 1 includes a tapered roller bearing, a hoop damping rubber sleeve, and a hoop damping damping group; one end of the longitudinal connecting rod 2 is arranged inside the tapered roller bearing, and hoop damping A rubber sleeve covers the outside of the tapered roller bearing, and the tapered roller bearing is connected to the outer structure hull 11 through the toroidal vibration damping group.
  • the connecting end of the longitudinal connecting rod 2 and the hoop damping bearing 1 is tapered, and its tapered end serves as the inner core of the hoop damping bearing 1 and is fixed to the hoop damping bearing 1 by a tapered roller bearing.
  • the hoop damping bearing 1 is fixedly suspended on the outer structure hull 11, and the tapered design can make the connection between the longitudinal connecting rod 2 and the hoop damping bearing 1 more reliable and stable.
  • the hoop damping rubber sleeve 101 is wrapped around the tapered roller bearing, and the tapered roller bearing is connected to the outer structure hull 11 through a hoop damping and damping group.
  • the inner core of the hoop damping bearing 1 is the tapered end of the longitudinal connecting rod 2, and the outer ring and the hull are fixed by the hoop damping and damping group 102, which is a magnetic current Variable fluid vibration damping group.
  • a ring-direction vibration-damping rubber sleeve 101 is arranged between the ring-direction vibration reduction damping group 102 and the outer ring of the bearing.
  • the ring-direction vibration reduction rubber sleeve has a certain elasticity and can absorb a certain vibration to achieve a passive vibration reduction effect.
  • the information collection module also includes several groups of hoop damping bearing sensor groups; the several groups of hoop damping bearing sensor groups are evenly arranged along the outside of the hoop damping bearing 1. In this embodiment, four groups of hoop damping bearing sensors are preferred.
  • the group is used to collect the information of the hoop damping bearing 1, and the four groups of hoop damping bearing sensors are all signal-connected to the controller; each of the several groups of hoop damping bearing sensor groups includes an acceleration sensor, Force sensor and displacement sensor.
  • each of the several groups of hoop damping bearing sensor groups includes an acceleration sensor, Force sensor and displacement sensor.
  • the vibration-damping 3D printing platform can be rotated 360 degrees in the horizontal direction, and it has the function of ring-direction vibration reduction.
  • the vibration-damping rubber sleeve set between the ring-direction vibration reduction damping group and the outer ring of the bearing can increase the reduction Vibration effect.
  • Those skilled in the art can flexibly design the number of hoop damping bearing sensor groups and the matching of sensors according to actual applications, as long as the hoop damping of the present invention can be realized.
  • the controller of the present invention includes a signal processing module, and also includes functional components such as a power amplifier module. Since other structures are well known to those skilled in the art, no detailed description is given here. The present invention only deals with the signal processing module in the controller. Give an example. Refer to Figures 5-7, Figure 5 is the flow chart of the active vibration reduction algorithm of the ring-direction vibration reduction damping group; Figure 6 is the flow chart of the active vibration reduction algorithm of the longitudinal electromagnetic vibration reduction damping group; Figure 7 is the fine adjustment of the level of the longitudinal electromagnetic vibration reduction damping group Algorithm flowchart.
  • the signal acquisition module of the present invention is mainly used to collect the signals of the hoop damping bearing sensor group, the longitudinal damping rod sensor group and the level sensor, and input them to the signal processing module for processing to obtain the center position of the hoop damping bearing 1, Vibration acceleration and force, using switch control and fuzzy control algorithms, output active control rate, input into the vibration isolation unit after digital-to-analog conversion and power amplification, quickly adjust the parameters of the damper, and feedback to the magnetorheological fluid vibration damping group Active vibration damping; the acceleration and force signals of the longitudinal vibration damping rod 4 are obtained through the signal processing module, and the switch control and fuzzy control are adopted to output the active control rate.
  • Magnetorheological fluid is a material whose rheological properties change drastically under the action of an external magnetic field. Its basic feature is that it can transform from a free-flowing liquid to a semi-solid in an instant (ms level) under the action of a strong magnetic field, presenting a controllable yield strength, and this change is reversible.
  • the influence of magnetic field on the viscosity, plasticity and viscoelasticity of magnetorheological fluid is called magnetorheological effect.
  • Magnetorheological fluid damper is a kind of damping and vibration reduction device manufactured by applying magnetorheological fluid. When it is installed on a structure, according to the vibration state of the controlled structure, the parameters (damping) of the damper can be quickly and automatically adjusted according to certain control rules to suppress the vibration response of the structure, so it can be used as an ideal intelligent control device.
  • the levelness fine-tuning process of the present invention is as follows: when the printer is started, the displacement information of the levelness sensor and the longitudinal damping rod is obtained through the signal processing module and fed back to the electromagnetic damping group for levelness fine-tuning.
  • the use steps of the present invention are: firstly start the longitudinal damping rod 4 for levelness fine-tuning, and then start the rotating gyroscope 6, and at the same time the longitudinal damping rod 4 enters the vibration damping mode; after the rotating gyro vibration damping platform 61 operates stably , And then 3D printing.
  • the 3D printer dedicated for deep-sea submarines of the present invention is based on a rotating gyroscope structure, and has good directional stability and horizontal stability, and is suitable for changes in mobile platforms such as ships, submarines, etc., such as vibration, floating and large-scale sloshing, and sudden changes in direction. Rapid and accurate manufacturing in a horizontal environment.
  • the invention adopts a suspended structure and uses a ring-directed vibration damping bearing to provide the printing platform with 360° rotation in the horizontal direction, so that the 3D printing platform of the invention is more flexible and will not be affected by the spatial direction and motion state of the hull.
  • the invention is small and portable, has a simple structure and strong practicability.
  • the application of the invention can effectively utilize the space and material resources of the submarine, and solve the shortcomings of the submarine cannot carry too many parts, the supply is difficult, and the supply cycle is long.
  • the damping structure of the hoop damping bearing of the present invention is composed of hoop damping and damping rubber sleeves, wherein hoop damping and damping can realize active damping, and the damping rubber sleeve can realize passive damping.
  • An acceleration sensor and a displacement sensor are arranged in the circumferential direction.
  • the damping structure of the longitudinal damping rod is composed of a longitudinal damping spring group and a longitudinal damping electromagnetic damping.
  • the longitudinal damping rod is equipped with a force sensor, a displacement sensor and an acceleration sensor, and the longitudinal damping rod
  • the vibrating rod has the functions of longitudinal vibration reduction (combination of longitudinal acceleration sensor and longitudinal force sensor) and fine adjustment of levelness (combination of levelness sensor and longitudinal displacement sensor).
  • the invention combines active damping with passive damping, acceleration detection with displacement detection, and hoop magnetorheological damping with rubber damping, which greatly improves the printing platform The effect of hoop damping.
  • the invention adopts the combination of the vibration reduction spring group and the longitudinal electromagnetic vibration reduction damping group, and adopts the combination of acceleration detection and force detection, which greatly improves the effect of longitudinal vibration reduction.
  • the terms “installation”, “setting”, “connection”, “connection”, and “docking” should be understood in a broad sense, such as It can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components .
  • the specific meaning of the above-mentioned terms in the present invention can be understood according to specific circumstances.

Abstract

本发明公开了一种深海潜艇专用3D打印机，旨在解决现有3D打印机无法适应船舶、潜艇等经常发生振动、颠簸环境。本发明提供一种深海潜艇专用3D打印机，包括信号采集模块、打印模块、旋转陀螺仪、振动模块和控制器；本发明使用时先启动旋转陀螺仪，待其运行平稳后打印模块开始打印，本发明工作时通过减振模块与信号采集模块配合以达到减振效果并提高水平稳定性，旋转陀螺仪的设置使本发明具有良好的定方向性和稳定性，避免由于潜艇的运动状态的不确定性对3D打印造成的影响。悬挂式的结构设计使本发明节省空间，实用性强。本发明适用于深海潜艇等剧烈颠簸的环境下的零部件3D打印，可以实现深海移动平台快速精确制造。

Description

深海潜艇专用3D打印机 技术领域
本发明属于3D打印技术领域，具体涉及一种深海潜艇专用3D打印机。
背景技术
随着现代社会科学技术水平的不断发展,越来越多的新技术及新工艺得以出现,而3D打印技术就是其中比较常见的一种,并且有着越来越广泛的应用。3D打印即快速成形技术的一种，它通过软件把3D数字模型进行分层离散化处理，然后运用粉末状金属或塑料等可粘合性材料，通过逐层堆积的方式来构造实体。对于3D打印技术而言，由于其独特原理决定其优势主要包括以下几个方面：其一，技术不必对物体进行切削，并且不需要应用模具；其二，该技术在实际应用过程中加工速度比较快，其生产周期比较短；其三，对于结构比较复杂且体积较小的一些物体，表现出明显的应用优势，对于利用传统手工很难完成的一些模型，通过这一技术的应用可得以轻松实现，主要就是因为能够一体成型，且不需二次加工；其四，能够进行批量生产，且能够联机，从而也就能够使远程操作得以实现3D打印技术。
在面向个性化和特定性服务制造要求的推动之下，3D打印机的应用需求也越来越广，不但在航空、机械及医疗领域内能够得 以更广泛应用，3D打印也常应用于军事零件制造等领域中，其对于这些行业的进一步发展能够起到很好的促进作用。
潜艇作为水下运输，搜救，军事等目的常用工具，潜艇特别是核动力潜艇，长期在水下作业，具有工作环境非水平，剧烈颠簸等特点，且由于工作环境特殊，会经常进行空间机动，另外潜艇还具有补给困难，补给周期长等特点。历史上，由于机械故障引起的潜艇事故数不胜数，他们动辄耗费大量的人力/物力资源来搜救，严重者会直接造成潜艇的沉没。同时，由于潜艇内部空间狭小，严重限制了潜艇可携带的零件的种类和数量，因此一种可以用于潜艇的便携式防振快速精确的制造方式就显得十分重要。3D打印具有快速精确，可编程，可定制化制造，便携等特点。但现有技术中3D打印机多数是应用于稳定环境下，不具备抗振性，无法适用于船舶、潜艇等经常发生振动、颠簸的环境。因此，需要一种可以用于潜艇的新型防振3D打印机，以解决或改善上述问题。
发明内容
为了解决现有技术中的上述问题，即为了解决现有3D打印机抗振性较差且无法适用于潜艇、船舶等颠簸环境，现有潜艇由于内部空间狭小，无法携带过多零件，同时还具有补给困难，补给周期长的问题，本发明提供了一种深海潜艇专用3D打印机，包括信号采集模块、打印模块、平衡模块和控制器，所述信号采集模块将采集到的信号输入到控制器中，控制器经过一些处理，向所述打印模块、所述平衡模块和所述减振模块输出控制信号，其中：
所述打印模块与所述平衡模块连接，所述控制器的功 能为基于所述信号采集模块采集到的信息控制所述平衡模块以保持所述打印模块的稳定和平衡。
在一些优选技术方案中，所述深海潜艇专用3D打印设备还包括减振模块；所述打印模块通过所述减振模块设置于深海潜艇，所述控制器还具有为基于所述信号采集模块采集到的输入信息控制所述减振模块减小所述打印模块的振动，提高运行稳定性的功能。
在一些优选技术方案中，所述旋转陀螺仪与所述打印模块连接。
在一些优选技术方案中，所述打印模块包括打印喷头、平移杆、两个升降杆和打印平台，其中：所述两个升降杆对称、垂直固定安装于所述打印平台的上两侧，所述旋转陀螺仪与所述打印平台连接；所述平移杆的两端分别安装于所述两个升降杆上，且所述平移杆可以沿升降杆滑动，其水平轴线与所述打印平台平行；
所述打印喷头滑动设置于所述平移杆上；所述打印喷头用于熔融打印材料并挤喷物料；所述平移杆可以在所述升降杆上进行上下移动，所述打印喷头可以在所述平移杆上水平移动，这样可进行空间三维寻点，实现三维打印。
在一些优选技术方案中，所述减振模块包括第一减振模块，所述第一减振模块包括若干纵向减振杆，所述纵向减振杆沿所述打印平台周向均匀分布，所述若干纵向减振杆两端均通过第一连接件转动连接于外部结构；
所述信号检测模块包括水平度传感器和纵向减振传感器组，所述水平度传感器设置于所述打印平台底部，所述纵向减振传感器组设置在所述纵向减振杆内部，所述纵向减振传感器组包括加速度传感器、位移传感器以及力传感器，所述纵向减振传感器组和所述水平度传感器均与所述控制器信号连接。
在一些优选技术方案中，所述纵向减振杆包括纵向电磁减振阻尼组、减振弹簧组和沿自身的长度方向嵌套的至少两个减振段，其中：任意两个相邻的所述减振段之间均安装有一个所述纵向电磁减振阻尼组，所述纵向电磁减振阻尼组的控制端与所述控制器信号连接，可以实现主动减振和水平度微调等功能。
在一些优选技术方案中，任意两个相邻的所述减振段之间均安装有一个所述减振弹簧组，以进行被动减振。
在一些优选技术方案中，所述减振模块包括第二减振模块，所述第二减振模块为悬挂式结构，所述深海潜艇专用3D打印设备通过所述悬挂式结构与所述外接结构连接。
在一些优选技术方案中，所述第二减振模块包括减振平台和纵向连接杆构件；所述减振平台通过所述若干纵向减振杆与所述打印平台连接；所述纵向连接杆构件包括第一连接杆、第二连接杆和第二连接件；所述第一连接杆与第二连接杆通过所述第二连接件转动连接，所述第二连接杆与所述减振平台中心连接，所述第一连接杆与外接结构转动连接；所述外接结构为深海潜艇舱 体，所述打印模块和所述平衡模块通过所述减振模块的第二减振模块悬挂于深海潜艇舱体内部。
在一些优选技术方案中，所述第二减振模块还包括环向减振轴承，所述环向减振轴承包括圆锥滚子轴承、环向减振橡胶套和环向减振阻尼组；
所述第一连接杆的一端设置于所述圆锥滚子轴承内部，所述环向减振橡胶套包覆于所述圆锥滚子轴承外部，所述圆锥滚子轴承通过所述环向减振阻尼组连接于外接结构；
所述信息采集模块还包括若干组环向减振轴承传感器组；所述若干组环向减振轴承传感器组沿所述环向减振轴承外均匀设置，且与所述控制器信号连接；所述若干组环向减振轴承传感器组的每组均包括加速度传感器、力传感器和位移传感器。
本发明的有益效果：
本发明的深海潜艇专用3D打印机，基于旋转陀螺仪结构，具有较好的方向稳定性与水平稳定性，适用于船舶、潜艇等振动、漂浮及大幅度晃荡、存在方向急剧改变等移动平台的变水平环境快速精确制造。
本发明采用悬挂式结构，并利用环向减振轴承为打印平台提供了水平方向360°旋转，使得本发明3D打印平台更加灵活，不会受艇体空间方向及运动状态的影响。
本发明小巧便携、结构简单，实用性强，应用本发明可有效利用潜艇的空间和物力资源，解决潜艇无法携带过多零件，补给困难、补给周期长的缺点。
本发明的环向减振轴承的减振结构由环向减振阻尼和减振橡胶套组成，其中环向减振阻尼可实现主动减振，减振橡胶套可实现被动减振。环向同时设置有加速度传感器和位移传感器，纵向减振杆的减振结构由纵向减振弹簧组和纵向电磁减振阻尼组组成，纵向减振杆处设置有力传感器，位移传感器和加速度传感器，纵向减振杆具有纵向减振(纵向加速度传感器与纵向力传感器结合)和水平度微调的功能(水平度传感器与纵向位移传感器相结合)。
本发明在环向减振方面，将主动减振与被动减振相结合，将加速度检测与位移检测相结合，采用环向减振阻尼与橡胶减振相结合，大大提高了打印平台环向减振的效果。
本发明采用减振弹簧组与纵向电磁减振阻尼组相结合的方式，并采用加速度检测与力检测相结合的方式，大大提高了纵向减振的效果。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本发明深海潜艇专用3D打印机一实施例的结构示意图；
图2是图1的另一视角；
图3是本发明环向减振轴承一实施例的内部结构示意图；
图4是本发明纵向减振杆一实施例的内部结构局部示意图；
图5是本发明环向减振阻尼组主动减振算法流程图；
图6是本发明纵向电磁减振阻尼组主动减振算法流程图；
图7是本发明纵向电磁减振阻尼组水平度微调算法流程图。
具体实施方式
为使本发明的实施例、技术方案和优点更加明显，下面将结合附图对本发明的技术方案进行清楚、完整的描述，显然，所述的实施例是本发明的一部分实施例，而不是全部实施例。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。本发明的深海潜艇专用3D打印机，包括信号采集模块、打印模块、平衡模块和控制器，所述信号采集模块、所述打印模块、所述平衡模块均与所述控制器信号连接，其中：
所述打印模块与所述平衡模块连接，所述控制器的功能为基于所述信号采集模块采集到的输入信息控制所述平衡模块以保持所述打印模块的平衡。
本发明的一些优选实施例中，所述深海潜艇专用3D打印设备还包括减振模块；所述打印模块通过所述减振模块设置于深海潜艇，所述控制器还具有基于所述信号采集模块采集到的输入信息控制所述减振模块缓冲对所述打印模块的振动，提高运行稳定性的功能。
本发明的一些优选实施例中，所述旋转陀螺仪固定在所述打印模块底部。
本发明的一些优选实施例中，所述打印模块包括打印喷头、平移杆、两个升降杆和打印平台，其中：所述两个升降杆对称、垂直固定安装于所述打印平台的上两侧，所述旋转陀螺仪与所述打印平台连接；所述平移杆的两端分别滑动安装在所述两个升降杆上，且所述平移杆水平轴线与所述打印平台平行；
所述打印喷头滑动设置于所述平移杆上；所述打印喷头用于熔融打印材料并挤喷物料；所述平移杆可以在在所述升降杆上进行上下移动，所述打印喷头可以在所述平移杆上进行水平移动，这样可以进行空间三维寻点，实现三维打印。
本发明的一些优选实施例中，所述减振模块包括第一减振模块，所述第一减振模块包括若干纵向减振杆，所述若干纵向 减振杆沿所述打印平台周向均匀布置，所述若干纵向减振杆两端均通过第一连接件转动连接于外部结构；
所述信号检测模块包括水平度传感器和纵向减振传感器组，所述水平度传感器设置于所述打印平台，所述纵向减振传感器组设置在所述若干纵向减振杆内部，所述纵向减振传感器组包括加速度传感器、位移传感器以及力传感器，所述纵向减振传感器组和所述水平度传感器均与所述控制器信号连接。
本发明的一些优选实施例中，所述纵向减振杆包括纵向电磁减振阻尼组、减振弹簧组和沿自身的长度方向依次嵌套的至少两个减振段，其中：任意两个相邻的所述减振段之间均安装有一个所述纵向电磁减振阻尼组，所述纵向电磁减振阻尼组的控制端与所述控制器信号连接。
本发明的一些优选实施例中，任意两个相邻的所述减振段之间均安装有一个所述减振弹簧组。
本发明的一些优选实施例中，所述减振模块包括第二减振模块，所述第二减振模块为悬挂式结构，所述深海潜艇专用3D打印设备通过所述悬挂式结构与所述外接结构连接。
本发明的一些优选实施例中，所述第二减振模块包括减振平台和纵向连接杆构件；所述减振平台通过所述若干纵向减振杆与所述打印平台连接；所述纵向连接杆构件包括第一连接杆、第二连接杆和第二连接件；所述第一连接杆与第二连接杆通过所述第二连接件转动连接，所述第二连接杆与所述减振平台中心连 接，所述第一连接杆与外接结构转动连接；所述外接结构为深海潜艇舱体，所述打印模块和所述平衡模块通过所述减振模块的第二减振模块悬挂于深海潜艇舱体内部。
本发明的一些优选实施例中，所述第二减振模块还包括环向减振轴承，所述环向减振轴承包括圆锥滚子轴承、环向减振橡胶套和环向减振阻尼组；
所述第一连接杆的一端设置于所述圆锥滚子轴承内部，所述环向减振橡胶套包覆于所述圆锥滚子轴承外部，所述圆锥滚子轴承通过所述环向减振阻尼组连接于外接结构；
所述信息采集模块还包括若干组环向减振轴承传感器组；所述若干组环向减振轴承传感器组沿所述环向减振轴承外均匀设置，且与所述控制器信号连接；所述若干组环向减振轴承传感器组的每组均包括加速度传感器、力传感器和位移传感器。
为了更清晰地对本发明深海潜艇专用3D打印机进行说明，下面结合附图对本方发明的优选实施例进行展开详述。
参阅图1，图1为本发明的一种优选实施例的结构示意图，本发明的深海潜艇专用3D打印设备，包括信号采集模块、打印模块、平衡模块、减振模块和控制器，如图1所示，本发明平衡模块包括旋转陀螺仪6和旋转陀螺仪减振平台61，本发明打印模块通过旋转陀螺仪减振平台61与旋转陀螺仪6连接，旋转陀螺仪具有良好的定方向性，因此，采用旋转陀螺仪的减振平台6可以 在潜艇进行空间机动时，保证减振平台的方向不会变化，同时具有一定的减振效果，为3D打印的正常进行提供了条件。
打印模块通过减振模块设置于深海潜艇，控制器一方面配置为基于信号采集模块采集到的输入信息控制所述平衡模块以保持打印模块的平衡。控制器另一方面配置为基于信号采集模块采集到的输入信息控制减振模块缓冲对打印模块的振动，提高运行稳定性。
继续参阅图1和图2，打印模块包括旋转圆盘式3D打印机，本发明实施例中所述旋转圆盘式3D打印机为XZ轴-圆盘式3D打印机，所述XZ轴-圆盘式3D打印机固设于旋转陀螺仪减振平台61上，其包括打印喷头5、平移杆8、两个升降杆9和打印平台51，其中升降杆9为螺杆电机，平移杆8为水平导轨，本发明圆盘式3D打印机结构简单，即便在复杂环境下也能稳定运行。
如图所示，两个升降杆9对称、垂直固定安装于所述打印平台的上两侧，所述旋转陀螺仪6固定在打印平台51的底部。所述升降杆9为螺杆电机。具体地，旋转陀螺仪6通过旋转陀螺仪减振平台61与打印平台51连接，需要说明的是，旋转陀螺仪减振平台61与打印平台51同心，本发明实施例中设计打印平台直径小于旋转陀螺仪减振平台直径，本领域技术人员也可根据实际需要灵活设计打印平台与旋转陀螺仪减振平台的直径，并对其上安装的零件进行灵活调整，例如当设计所述打印平台直径大于所述旋转陀螺仪减振平台直径时，纵向连接杆则固定于所述打印平台 上，本发明打印平台、旋转陀螺仪减振平台也可在周向设置围栏等分设结构，以进一步保护打印平台工作环境。这种对本发明上述两平台的结构、形状、大小的改变并不偏离本发明的原理和范围，均应限定在本发明的保护范围之内。
进一步地，平移杆8的两端分别滑动安装于两个升降杆9上，且平移杆8的水平轴线与打印平台51平行；打印喷头5滑动设置于平移杆8上；打印喷头5用于熔融打印材料并挤喷物料；平移杆8在沿升降杆9上的凹槽内上下移动时，打印喷头5在平移杆8上水平移动可进行空间三维寻点，实现三维打印。
进一步地，本发明减振模块包括第一减振模块，所述第一减振模块包括若干纵向减振杆，如图2所示，本实施例中优选四个纵向减振杆4，所述纵向减振杆4两端通过第一连接件与外部结构连接。外部结构指代纵向减振杆两端的连接结构，在本实施例中外部结构分别指代旋转陀螺仪减振平台61和减振平台31。具体地，四个纵向减振杆4沿打印平台51周向均匀布置于旋转陀螺仪减振平台61上，所述纵向减振杆4在常规情况下长度方向与打印平台51的轴向平行，即相对于所述打印平台51垂直设置；纵向减振杆4两端的第一连接件可以为球形铰、万向节、虎克铰、圆柱销或其他连接件，本领域技术人员可根据实际应用灵活设计第一连接件的结构及种类，只要能够使纵向减振杆4两端均具有沿水平轴线360°转动的自由度即可。可以理解的是，本领域技术人员可 根据实际应用灵活设计纵向减振杆的个数，这种对数量的改变并不偏离本发明的原理和范围，均应限定在本发明的保护范围之内。
所述信号检测模块包括水平度传感器和纵向减振传感器组，所述水平度传感器设置于打印平台51上，所述纵向减振传感器组设置在所述若干纵向减振杆4的内部，所述纵向减振传感器组包括加速度传感器、位移传感器以及力传感器，所述纵向减振传感器组和所述水平度传感器均与所述控制器信号连接。需要注意的是，打印平台51与旋转陀螺仪减振平台61同心连接，水平度传感器设置于打印平台51上或旋转陀螺仪减振平台61上均可，其所检测结果相同，本领域技术人员可根据实际应用灵活设计水平度传感器的位置，所述水平度传感器与控制器信号连接。
所述纵向减振杆包括纵向电磁减振阻尼组、减振弹簧组和沿自身的长度方向依次连接的至少两个减振段，其中：任意两个相邻的所述减振段之间均安装有一个所述纵向电磁减振阻尼组，所述纵向电磁减振阻尼组的控制端与所述控制器信号连接。所述纵向电磁减振阻尼组一方面可实现本发明的主动减振，另一方面通过与水平度传感器的配合可实现本发明水平度微调功能，具体地，本发明所述纵向电磁减振阻尼组在启动打印模块的时候控制器通过得到水平度传感器和纵向减振杆4的位移信息并反馈到纵向电磁减振阻尼组可对本发明进行水平度微调。
具体如图4所示，本发明优选实施例中纵向减振杆4包括沿自身的长度方向依次连接的两个减振段，所述纵向减振杆4 具有主动减振和被动减振两种减振方式。进一步地，为方便描述，本发明将纵向减振杆4中的两个减振段命名为上减振段401和下减振段402，上减振段401通过第一连接件与第二减振模块的减振平台转动连接，下减振段402通过第一连接件与旋转陀螺仪减振平台61转动连接，本实施例中优选球形铰作为第一连接件。选用球形铰作为连接件可以使纵向减振杆4具有沿水平轴线方向的自由度，进一步地使本发明实现水平度微调的功能。进一步地，本发明设置上减振段401的直径小于下减振段402的直径，上减振段401和下减振段402通过间隙配合，两减振段之间安装有电磁阻尼组403，电磁阻尼组403为上述纵向电磁减振阻尼组，该电磁阻尼组403分为上下对置设置的两部分，电磁阻尼组403上部分固连在上减振段401上，电磁阻尼组403下部固连在下减振段402。电磁阻尼组403的控制端与所述控制器信号连接，本发明可通过电磁阻尼组403实现主动减振。
进一步地，本发明纵向减振杆4还可被动减振，任意两个相邻的所述减振段之间均安装有一个减振弹簧组，继续参阅图4，本发明实施例中减振弹簧组404安装于如图所示的上减振段401和下减振段402之间，减振弹簧组404用于本发明的被动纵向减振。本发明纵向减振杆的设计可以使本发明很好的适应潜艇内的剧烈振荡颠簸的环境，可以在潜艇机动状态下进行打印。
返回参阅图1，本发明减振模块还包括第二减振模块，所述第二减振模块包括减振平台、环向减振轴承和纵向连接杆构 件；所述减振平台、所述环向减振轴承和所述纵向连接杆构件组成悬挂式结构，本发明深海潜艇专用3D打印设备通过第二减振模块组成的所述悬挂式结构与外接结构连接，所述悬挂式结构使本发明具有在水平方向上进行360°的旋转自由度。需要说明的是，外接结构指代艇体、船体、潜艇内部的安装环境，即本发明通过所述悬挂式结构固定悬挂于船舶、深海潜艇内部。可以理解的是，本发明也可以安装于其他无需抗振的外接结构及环境，本发明对安装环境无限制，安装环境只要能使本发明悬挂固定即可。
具体地，如图2所示，减振平台31下端通过纵向减振杆4与旋转陀螺仪减振平台61连接，减振平台31上端通过纵向连接杆构件连接于舱体；纵向连接杆构件包括第一连接杆、第二连接杆和第二连接件，所述第一连接杆通过第二连接件与所述第二连接杆转动连接，本实施例中第二连接件优选为轴承销，本领域技术人员可根据实际应用灵活设计第二连接件的具体结构，只要能够使第一连接杆与第二连接杆之间存在转动自由度即可。继续参阅图2，第一连接杆为纵向连接杆2，第二连接杆为纵向连接杆3，所述纵向连接杆2一端通过环向减振轴承1与外接结构连接，另一端通过纵向连接杆3与减振平台31连接；纵向连接杆2与纵向连接杆3之间通过销进行连接，纵向连接杆2与纵向连接杆3之间的连接销为轴承连接销7，通过这样的设置使纵向连接杆2与纵向连接杆3之间具有自由度，保证3D打印平台可以在纵向平面内旋转。当潜艇在水中工作时，受海洋环境影响，潜艇内物体会上浮， 本发明由于是悬挂式结构，通过这样的设计纵向连接杆3的自由度可在潜艇上浮时保证打印模块和平衡模块的方向始终受重力影响保持一致，使打印环境不受干扰，运行稳定。
本领域技术人员可根据实际应用灵活设计纵向连接杆个数及形状结构，这种对于数量及结构的改变并不偏离本发明的原理和范围，均应限定在本发明的保护范围之内。
参阅图3，环向减振轴承1包括圆锥滚子轴承、环向减振橡胶套和环向减振阻尼组；纵向连接杆2的一端设置于所述圆锥滚子轴承内部，环向减振橡胶套包覆于所述圆锥滚子轴承外部，所述圆锥滚子轴承通过所述环向振阻尼组连接于外接结构艇体11。具体地，纵向连接杆2与环向减振轴承1的连接端为锥形，其锥形端作为环向减振轴承1的内芯，与环向减振轴承1通过圆锥滚子轴承进行固定。环向减振轴承1固定悬挂于外接结构艇体11上，所述锥形的设计可使纵向连接杆2与环向减振轴承1的连接更可靠稳定。
进一步地，环向减振橡胶套101包覆于所述圆锥滚子轴承外部，所述圆锥滚子轴承通过环向减振阻尼组连接于外接结构艇体11。具体地，环向减振轴承1的内芯为纵向连接杆2的锥形端，其外环与艇体通过环向减振阻尼组102进行固定，所述环向减振阻尼组为磁流变液减振阻尼组。可以理解的是，由于磁流变液减振阻尼组的减振原理为本领域技术人员所熟知，不在本申请描述范围内，故在此不再对其原理及功能进行说明。环向减振阻尼组 102与轴承外环之间设置有环向减振橡胶套101，环向减振橡胶套具有一定的弹性，可以吸收一定的振动，达到被动减振的效果。信息采集模块还包括若干组环向减振轴承传感器组；所述若干组环向减振轴承传感器组沿环向减振轴承1外均匀设置，本实施例中优选四组环向减振轴承传感器组用于采集环向减振轴承1的信息，且四组环向减振轴承传感器均与所述控制器信号连接；所述若干组环向减振轴承传感器组的每组均包括加速度传感器、力传感器和位移传感器。通过这样的设置可以使减振3D打印平台在水平方向上进行360度旋转，同时具有环向减振功能，环向减振阻尼组与轴承外环之间设置的减振橡胶套更能增加减振效果。本领域技术人员可根据实际应用灵活设计环向减振轴承传感器组的组数，以及传感器的搭配，只要能实现本发明的环向减振即可。
本发明控制器包括信号处理模块，此外还包括功率放大模块等功能性部件，由于其他结构为本领域技术人员所熟知，在此不做过多说明，本发明仅对控制器中的信号处理模块进行举例说明。参阅图5-7，图5为环向减振阻尼组主动减振算法流程图；图6为纵向电磁减振阻尼组主动减振算法流程图；图7为纵向电磁减振阻尼组水平度微调算法流程图。本发明信号采集模块主要用于采集环向减振轴承传感器组、纵向减振杆传感器组及水平度传感器的信号，并输入到信号处理模块进行处理，得到环向减振轴承1的圆心位置、振动加速度和力，采用开关控制和模糊控制算法，输出主动控制率，经过数模转换和功率放大后输入隔振单元， 迅速调整阻尼器的参数，并反馈到磁流变液减振阻尼组进行主动减振；通过信号处理模块得到纵向减振杆4的加速度和力的信号，采用开关控制和模糊控制，输出主动控制率，经过数模转换和功率放大后输入隔振单元，调整电磁阻尼组的参数，并反馈到电磁阻尼组进行纵向主动减振。具体数控方法不在本发明专利的描述范围之内，可采用公知技术进行。
磁流变液是在外加磁场作用下流变特性发生急剧变化的材料。其基本特征是在强磁场作用下能在瞬间(ms级)从自由流动的液体转变为半固体，呈现可控的屈服强度，而且这种变化是可逆的。磁场对磁流变液的粘度、塑性和粘弹性等特性的影响称为磁流变效应。磁流变液阻尼器是应用磁流变液加工制造的一种阻尼减振装置。当其安装在结构上时，根据受控结构的振动状态，按照一定的控制规则迅速自动调整阻尼器的参数(阻尼)，从而抑制结构的振动响应，因此可以作为一种理想的智能控制装置。
本发明的水平度微调流程为：在启动打印机的时候通过信号处理模块得到水平度传感器和纵向减振杆的位移信息并反馈到电磁阻尼组进行水平度微调。
本发明的使用步骤为：使用时首先启动纵向减振杆4进行水平度微调，然后启动旋转陀螺仪6，同时纵向减振杆4进入减振模式；待旋转陀螺仪减振平台61运行稳定后，再进行3D打印。
上述本申请实施例中的技术方案，至少具有如下的技术效果或优点：
本发明的深海潜艇专用3D打印机，基于旋转陀螺仪结构，具有较好的方向稳定性与水平稳定性，适用于船舶、潜艇等振动、漂浮及大幅度晃荡、存在方向急剧改变等移动平台的变水平环境快速精确制造。
本发明采用悬挂式结构，并利用环向减振轴承为打印平台提供了水平方向360°旋转，使得本发明3D打印平台更加灵活，不会受艇体空间方向及运动状态的影响。
本发明小巧便携、结构简单，实用性强，应用本发明可有效利用潜艇的空间和物力资源，解决潜艇无法携带过多零件，补给困难、补给周期长的缺点。
本发明的环向减振轴承的减振结构由环向减振阻尼和减振橡胶套组成，其中环向减振阻尼可实现主动减振，减振橡胶套可实现被动减振。环向同时设置有加速度传感器和位移传感器，纵向减振杆的减振结构由纵向减振弹簧组和纵向减振电磁阻尼组成，纵向减振杆处设置有力传感器，位移传感器和加速度传感器，纵向减振杆具有纵向减振(纵向加速度传感器与纵向力传感器结合)和水平度微调的功能(水平度传感器与纵向位移传感器相结合)。
本发明在环向减振方面，将主动减振与被动减振相结合，将加速度检测与位移检测相结合，采用环向磁流变减振阻尼与橡胶减振相结合，大大提高了打印平台环向减振的效果。
本发明采用减振弹簧组与纵向电磁减振阻尼组相结合的方式，并采用加速度检测与力检测相结合的方式，大大提高了纵向减振的效果。
需要说明的是，在本发明的描述中，术语“前”、“后”、“左”、“右”、“上”、“下”、“中”、“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系，这仅仅是为了便于描述，而不是指示或暗示所述装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
此外，还需要说明的是，在本发明的描述中，除非另有明确的规定和限定，术语“安装”、“设置”、“相连”、“连接”、“对接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域技术人员而言，可根据具体情况理解上述术语在本发明中的具体含义。
术语“包括”或者任何其它类似用语旨在涵盖非排他性的包含，从而使得包括一系列要素的过程、物品或者设备/装置 不仅包括那些要素，而且还包括没有明确列出的其它要素，或者还包括这些过程、物品或者设备/装置所固有的要素。
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征做出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。

Claims (10)

  1. 一种深海潜艇专用3D打印设备，其特征在于，包括信号采集模块、打印模块、平衡模块和控制器，所述信号采集模块、所述打印模块、所述平衡模块均与所述控制器信号连接，其中：
    所述打印模块与所述平衡模块连接，所述控制器配置为基于所述信号采集模块采集到的输入信息控制所述平衡模块以保持所述打印模块的平衡。
  2. 根据权利要求1所述的深海潜艇专用3D打印设备，其特征在于，所述深海潜艇专用3D打印设备还包括减振模块；
    所述打印模块通过所述减振模块设置于外接结构，所述控制器还配置为基于所述信号采集模块采集到的输入信息控制所述减振模块缓冲对所述打印模块的振动，提高运行稳定性。
  3. 根据权利要求2所述的深海潜艇专用3D打印设备，其特征在于，所述平衡模块包括旋转陀螺仪，所述旋转陀螺仪与所述打印模块连接。
  4. 根据权利要求3所述的深海潜艇专用3D打印设备，其特征在于，所述打印模块包括打印喷头、平移杆、两个升降杆和打印平台，其中：
    所述两个升降杆对称、垂直固定安装于所述打印平台的上两侧，所述旋转陀螺仪与所述打印平台连接；
    所述平移杆的两端分别滑动安装于所述两个升降杆上，且所述平移杆水平轴线与所述打印平台平行；
    所述打印喷头滑动设置于所述平移杆上；所述打印喷头用于熔融打印材料并挤喷物料；所述平移杆在所述升降杆上下移动时，所述打印喷头在所述平移杆上水平移动可进行空间三维寻点，实现三维打印。
  5. 根据权利要求4所述的深海潜艇专用3D打印设备，其特征在于，所述减振模块包括第一减振模块，所述第一减振模块包括若干纵向减振杆，所述若干纵向减振杆沿所述打印平台周向均匀布置，所述若干纵向减振杆两端均通过第一连接件转动连接于外部结构；
    所述信号检测模块包括水平度传感器、纵向减振传感器组，所述水平度传感器设置于所述打印平台，所述纵向减振传感器组设置在所述若干纵向减振杆内部，所述纵向减振传感器组包括加速度传感器、位移传感器以及力传感器，所述纵向减振传感器组和所述水平度传感器均与所述控制器信号连接。
  6. 根据权利要求5所述的深海潜艇专用3D打印设备，其特征在于，所述纵向减振杆包括纵向电磁减振阻尼组、减振弹簧组和沿 自身的长度方向依次连接的至少两个减振段，其中：
    任意两个相邻的所述减振段之间均安装有一个所述纵向电磁减振阻尼组，所述纵向电磁减振阻尼组的控制端与所述控制器信号连接。
  7. 根据权利要求6所述的深海潜艇专用3D打印设备，其特征在于，任意两个相邻的所述减振段之间均安装有一个所述减振弹簧组。
  8. 根据权利要求7所述的深海潜艇专用3D打印设备，其特征在于，所述减振模块包括第二减振模块，所述第二减振模块为悬挂式结构，所述深海潜艇专用3D打印设备通过所述悬挂式结构与所述外接结构连接。
  9. 根据权利要求8所述的深海潜艇专用3D打印设备，其特征在于，所述第二减振模块包括减振平台和纵向连接杆构件；
    所述减振平台通过所述若干纵向减振杆与所述打印平台连接；
    所述纵向连接杆构件包括第一连接杆、第二连接杆和第二连接件；所述第一连接杆与第二连接杆通过所述第二连接件转动连接，所述第二连接杆与所述减振平台中心连接，所述第一连接杆与外接结构转动连接。
    所述外接结构为深海潜艇舱体，所述打印模块和所述平衡模 块通过所述减振模块的第二减振模块悬挂于深海潜艇舱体内部。
  10. 根据权利要求9所述的深海潜艇专用3D打印设备，其特征在于，所述第二减振模块还包括环向减振轴承，所述环向减振轴承包括圆锥滚子轴承、环向减振橡胶套和环向减振阻尼组；
    所述第一连接杆的一端设置于所述圆锥滚子轴承内部，所述环向减振橡胶套包覆于所述圆锥滚子轴承外部，所述圆锥滚子轴承通过所述环向减振阻尼组连接于外接结构；
    所述信息采集模块还包括若干组环向减振轴承传感器组；所述若干组环向减振轴承传感器组沿所述环向减振轴承外均匀设置，且与所述控制器信号连接；
    所述若干组环向减振轴承传感器组的每组均包括加速度传感器、力传感器和位移传感器。
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