CN105599294A - Five-axis linkage 3 D printer mechanism - Google Patents
Five-axis linkage 3 D printer mechanism Download PDFInfo
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- CN105599294A CN105599294A CN201510954086.6A CN201510954086A CN105599294A CN 105599294 A CN105599294 A CN 105599294A CN 201510954086 A CN201510954086 A CN 201510954086A CN 105599294 A CN105599294 A CN 105599294A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- 238000007639 printing Methods 0.000 claims abstract description 17
- 230000008878 coupling Effects 0.000 claims description 23
- 238000010168 coupling process Methods 0.000 claims description 23
- 238000005859 coupling reaction Methods 0.000 claims description 23
- 230000008520 organization Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000012943 hotmelt Substances 0.000 claims description 7
- 208000032370 Secondary transmission Diseases 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 238000009941 weaving Methods 0.000 claims description 3
- 230000004973 motor coordination Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 13
- 229920003023 plastic Polymers 0.000 abstract description 2
- 239000004033 plastic Substances 0.000 abstract description 2
- 239000000853 adhesive Substances 0.000 abstract 2
- 230000001070 adhesive effect Effects 0.000 abstract 2
- 238000001125 extrusion Methods 0.000 abstract 1
- 239000012255 powdered metal Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 101100458111 Bacillus subtilis (strain 168) mreD gene Proteins 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000002195 soluble material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
Abstract
The present invention relates to a five-axis linkage 3 D printer mechanism. The five-axis linkage 3 D printer mechanism is characterized in that: two-axis printing of a lower dynamic platform can be achieved by two screw rod drivers, a parallel mechanism is used to achieve three-axis printing of an upper dynamic platform, and the five-axis linkage 3 D printer mechanism mainly comprises a machine body system, a control system, a printing system and a display system. The 3D printer is on the basis of digital model files, the digital model files are sliced, a special wax material, a powdered metal or a plastic material and other adhesive materials is used, x, y and z-axis mobile printing can be achieved by an extrusion head controlled by the parallel mechanism, the two screw rod drivers control the lower dynamic platform to achieve v-axis rotating printing, and then a three-dimensional object is produced by use of the layer-by-layer adhesive materials to achieve five-axis linkage printing of a three-dimensional entity.
Description
Technical field
The present invention relates to a kind of five-axle linkage 3D printer organization. A kind of taking mathematical model file as base specificallyPlinth, is cut into slices, and uses special wax material, powdery metal or the plastics etc. can jointing material, by extruding of parallel institution controlHead is realized the mobile print of x, y, z axle, and the lower moving platform of two screw drive controls is realized the rotating print of u, v axle, thenManufacture the 3D printer of three-dimensional object with jointing material from level to level, belong to 3D printer field.
Background technology
3D prints and has brought world's manufacturing industry revolution, has overturned traditional mode of production, needs one badly and can realize multiaxis and beatThe 3D printer printing. Traditional 3 D-printing device, generally adopts worm drive, controls three directions of x, y, z axle of extruder headMovement, operating efficiency is low, and prints and the limitation of material because of three axles, object occurs that hanging structure very easily caves in, and designsShortcomings, can not meet multi-field application demand.
The 3D printer of existing maturation only stops 3 axles and prints, and five axles are printed the application of printing expanding greatly 3D.
Because manufacturing by accumulation, successively printing constructed object, although the very thin section that every one deck is printed, at X-YThe raising of directional resolution is very restricted, and can be formed with certain thickness one-level level " step ", as the object table of need printingFace is bending arc, can cause accuracy error, just can obtain ganoid " high-resolution " article through surface finish;Adopt five-axle linkage 3D printer can greatly improve suface processing quality.
Tradition 3D printer also can be used supporter in the process of printing, as prints some and have the object of reversal of the natural order of things shape,Need be with the material that is easy to a bit remove (as soluble material) as supporter. 3 axle 3D printers, always along A to printing, cannotImprove, five-axle linkage 3D printer change A to 90 ° of side veers print, can solve the structural issue of transitional region.
Summary of the invention
For the existing above-mentioned problems of 3D printer, the invention provides a kind of five-axle linkage 3D printer organization.Concretely, be the mobile print of realizing x, y, z axle by the extruder head of parallel institution control, two screw drive controlsLower moving platform is realized the rotating print of u, v axle, completes five-axle linkage and print on lower moving platform the 3D printer of three-dimensional body
Technical scheme provided by the invention is:
A kind of five-axle linkage 3D printer organization,, described device comprise airframe systems, control system, print system,Display system. Airframe systems is by (4) cramp bar, (10) slide block, (11) Timing Belt, (12) synchronous pulley, (13) jointBall a, (22) frame composition; Control system is made up of control module; Print system by (1) hinge, (2) spherical pair a,(3) outside framework, (5) extruder head, (6) fan, (7) threaded fastener a, (8) v shape plate, (9) parallel arm, (14)Threaded fastener b, (15) upper moving platform, (16) joint ball b, (17) lower moving platform; (18) screw rod a, (19) soft companyConnect shaft coupling a, (20) motor a, (21) spherical pair b, (23) motor b, (24) be flexible coupling shaft coupling b, (25) screw rodB composition; Display system is made up of control system, display screen.
(22) all parts of rack support, are the equilateral triangular prism of hollow, two one group of (4) cramp bar, three ribsLimit place is each arranges one group, does for forming (10) slide block the line slideway pumping; Meanwhile, upper and lower at three seamed edgesEach one (12) synchronous pulley of arranging, provides power by below motor, (11) toothed belt transmission. (10) slide block is by sliding bearingMatch with (4) cramp bar, block one side of (11) Timing Belt by inner concaveconvex structure. (15) upper moving platform, (10) are slidedPiece is connected in respectively the two ends of a pair of parallel arm by one group of (16) joint ball b, (13) joint ball a, form parallelogramMechanism, has improved mechanism stable and rigidity. (6) fan is fixed on (8) v shape plate, (8) by (7) threaded fastener aV shape plate is fixed on (15) upper moving platform by (14) threaded fastener b, ensures that (6) fan becomes one with (5) extruder headDetermine angle, be easy to it to dispel the heat. (5) extruder head is fixed on (15) upper moving platform, and there is spring bearing upper end, has spiral shellRevolve shape engraved structure, the heat of the material hot melt that is easy to leave.
(2) spherical pair a main body is one shaft-like, is connected by a sponson and (1) hinge, and end is a sphere,Match with the overhanging boom end of (3) outside framework, form spherical pair; Bar portion connects a nut, and screw rod b matches with (25).(24) the shaft coupling b that is flexible coupling connects (23) motor b rotor, (25) screw rod b. In like manner, (21) spherical pair b connects (17)The lower outside boom portion of lower moving platform, forms spherical pair; By a fixing nut of bar portion, screw rod a matches with (18);Also be connected by a sponson and (1) hinge. (19) be flexible coupling shaft coupling a connect (18) screw rod a, (20) motor aRotor, makes it common rotation.
Under (22) frame, arrange the motor of control module and three drivings (12) synchronous pulley work. By calculatingMachine modeling, then by the section of mathematical model file, thereby instruct print system co-ordination, successively print three-dimensional body. (5) squeezeThe filament mouth of lifting one's head is equipped with pressure sensor. When this 3D printer work, after material hot melt, warp is extruded by (5) extruder head, simultaneously(6) fan is its heat radiation. (5) extruder head close contact to pressure reaches setting value, and pressure sensor is perception at once, will believeBreath feeds back to control module, and (6) rotation speed of the fan reduces then, ensures that weaving silk of hot melt can be adhered to (17) lower moving platform. WhenWorking time, while reaching setting value, pressure sensor quit work, and it is normal that (6) rotation speed of the fan recovers. Control module control motorCo-ordination, through the transmission of (11) Timing Belt one-level, parallel-crank mechanism secondary transmission, movement output is upper moving to (15)Platform, (5) extruder head is synchronized with the movement, and can realize the motion of three directions of x, y, z axle of (5) extruder head. Control moduleAlso control (20) motor a, (23) motor b co-ordination, (18) screw rod a, (25) screw rod b rotate, two screw rods spiralTransmission, and then (1) hinge folding, realize turning round around u, v axle of (3) outside framework, (17) lower moving platform through ball pivot, reachesTo the printing of the 4th axle, the 5th axle, complete five-axle linkage and print three-dimensional body. Control module by process (the working time, beatPrint thickness, residue working time etc.) output to display screen.
The invention has the beneficial effects as follows:
The present invention be to provide a kind of five-axle linkage 3D printer organization,, this 3D printer has following characteristics:
1. the upper moving platform of control of the present invention (15) does three degree of freedom motion, and (17) lower moving platform does two frees degreeMotion, then realizes five-axle linkage and prints 3D solid, improves print quality;
2. five-axle linkage of the present invention mechanism, can realize along the movement of x, y, z axle and around the axial u of x, y, z,The revolution of v axle, object to be printed can do gyration, improves widely and prints technique;
3. (20) of the present invention motor a, (23) motor b co-ordination, (18) screw rod a, (25) screw rod b turnMoving, two screw rods transmission, and then (1) hinge folding, realize (3) outside framework, (17) lower moving platform rotation through ball pivot;
4. the present invention changes traditional along A to the mode of doing X-Y plane layering processing, stack moulding printing objects, interchangeablePrint mutually at B, well solve structural strength, precision problem.
Brief description of the drawings
The front view of a kind of five-axle linkage 3D of Fig. 1 printer organization
The axonometric drawing of a kind of five-axle linkage 3D of Fig. 2 printer organization
The local enlarged diagram of 3-freedom parallel mechanism of a kind of five-axle linkage 3D of Fig. 3 printer organization
The local enlarged diagram of two screw rods transmission of a kind of five-axle linkage 3D of Fig. 4 printer organization
In figure, 1, hinge; 2, spherical pair a; 3, outside framework; 4, cramp bar; 5. extruder head; 6, fan;7, threaded fastener a; 8, v shape plate; 9, parallel arm; 10, slide block; 11, Timing Belt; 12, synchronous pulley; 13, closeJoint ball a; 14, threaded fastener b; 15, upper moving platform; 16, joint ball b; 17, lower moving platform; 18, screw rod a; 19,Shaft coupling a is flexible coupling; 20, motor a; 21 spherical pair b; 22, frame; 23, motor b; 24, the shaft coupling b that is flexible coupling;25, screw rod b.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Invention is mainly made up of airframe systems, control system, print system, display system.
As shown in Figure 2, all parts of (22) rack support, are the equilateral triangular prism of hollow, two one of (4) cramp barsGroup, three seamed edge places respectively arrange one group, do for forming (10) slide block the line slideway pumping; Meanwhile, threeIndividual seamed edge is respectively arranged one (12) synchronous pulley up and down, provides power by below motor. (10) slide block is by sliding bearing and (4)Cramp bar matches, and blocks one side of (11) Timing Belt by inner concaveconvex structure, realizes (11) toothed belt transmission.
As shown in Figure 3, (15) upper moving platform, (10) slide block are respectively by one group of (16) joint ball b, (13)Joint ball a is connected in the two ends of a pair of parallel arm, forms parallel-crank mechanism, has improved mechanism stable and rigidity. (6)Fan is fixed on (8) v shape plate by (7) threaded fastener a, and (8) v shape plate is fixed on by (14) threaded fastener b(15) upper moving platform, ensures that (6) fan and (5) extruder head are angled, is easy to it to dispel the heat. (5) extrudeHead is fixed on (15) upper moving platform, and there is spring bearing upper end, has spirality engraved structure, the heat of the material hot melt that is easy to leaveAmount.
As shown in Figure 4, (2) spherical pair a main body is one shaft-like, be connected by a sponson and (1) hinge, and endPortion is a sphere, matches with the overhanging boom end of (3) outside framework, forms spherical pair; Bar portion connects a nut, with (25) spiral shellBar b matches. (24) the shaft coupling b that is flexible coupling connects (23) motor b rotor, (25) screw rod b. In like manner, (21) sphereSecondary b connects the lower outside boom portion of (17) lower moving platform, forms spherical pair; By a fixing nut of bar portion, with (18)Screw rod a matches; Also be connected by a sponson and (1) hinge. (19) be flexible coupling shaft coupling a connect (18) screw rodA, (20) motor a rotor.
As shown in Figure 2, under (22) frame, arrange the electricity of control module and three drivings (12) synchronous pulley workMachine. By microcomputer modelling, then by the section of mathematical model file, thereby instruct print system co-ordination, successively print three-dimensionalObject. (5) extruder head filament mouth is equipped with pressure sensor. When this 3D printer work, after material hot melt, warp is extruded by (5)Head is extruded, and (6) fan is its heat radiation simultaneously. (5) extruder head close contact to pressure reaches setting value, and pressure sensorCarve perception, information is fed back to control module, (6) rotation speed of the fan reduces then, ensures that weaving silk of hot melt can be adhered to (17)Lower moving platform. In the time that the working time reaches setting value, pressure sensor quits work, and it is normal that (6) rotation speed of the fan recovers. ControlThe work of module controls motor coordination, through the transmission of (11) Timing Belt one-level, parallel-crank mechanism secondary transmission, by movement outputTo (15) upper moving platform, (5) extruder head is synchronized with the movement, and can realize the fortune of three directions of x, y, z axle of (5) extruder headMoving. Control module is also controlled (20) motor a, (23) motor b co-ordination, and (18) screw rod a, (25) screw rod b rotate,Two screw rods worm drive, and then (1) hinge folding, through ball pivot realize the lower moving platform of (3) outside framework, (17) around u, vAxle revolution, reaches the printing of the 4th axle, the 5th axle, completes five-axle linkage and prints three-dimensional body. Control module is by process (workDo time, print thickness, residue working time etc.) output to display screen.
Claims (6)
1. a five-axle linkage 3D printer organization, described 3D printer comprises support mechanism, printing mechanism, control module, its featureBe: the upper moving platform of control system (15) does three degree of freedom motion, (17) lower moving platform does two free degree motions, thenRealize five-axle linkage and print 3D solid.
2. according to a kind of five-axle linkage 3D printer organization described in right 1, it is characterized in that, support mechanism comprises: (4) cramp bar,(10) slide block, (11) Timing Belt, (12) synchronous pulley, (13) joint ball a, (22) frame composition, (22) frame is propped upHolding all parts, is the equilateral triangular prism of hollow, two one group of (4) cramp bar, and three seamed edge places respectively arrange one group, for structureBecome (10) slide block to do the line slideway pumping; Meanwhile, respectively arrange up and down one (12) synchronous pulley at three seamed edges,Provide power by below motor, (10) slide block is matched by sliding bearing and (4) cramp bar, blocks (11) by inner concaveconvex structureOne side of Timing Belt, realizes (11) toothed belt transmission.
3. according to a kind of five-axle linkage 3D printer organization described in right 1, it is characterized in that, printing mechanism is by (1) hinge, (2)Spherical pair a, (3) outside framework, (5) extruder head, (6) fan, (7) threaded fastener a, (8) v shape plate, (9) are alsoJoint arm, (14) threaded fastener b, (15) upper moving platform, (16) joint ball b, (17) lower moving platform; (18) screw rod a,(19) be flexible coupling shaft coupling a, (20) motor a, (21) spherical pair b, (23) motor b, (24) be flexible coupling shaft coupling b,(25) screw rod b composition.
4. according to a kind of five-axle linkage 3D printer organization described in right 1, it is characterized in that, lower platform is complete by double-spiral structureBecome 2DOF motion, double-spiral structure composition, (2) spherical pair a is connected by outer boom and (1) hinge, (2) spherical pairA matches with the overhanging boom end of (3) outside framework, forms spherical pair, and (2) spherical pair a bar portion is fixedly connected with a nut, with (25)Screw rod b matches, and (24) the shaft coupling b that is flexible coupling connects (23) motor b rotor, (25) screw rod b, (21) spherical pair bThe lower outside boom portion that connects (17) lower moving platform, forms spherical pair; By the fixing nut of lower outside boom portion, with (18)Screw rod a matches, 21) spherical pair b is connected by outer boom and (1) hinge, and (19) the shaft coupling a that is flexible coupling connects (18)Screw rod a, (20) motor a rotor, make it common rotation, by double-spiral structure, and then realizes 2DOF motion.
5. according to a kind of five-axle linkage 3D printer organization described in right 1, it is characterized in that, in (5) extruder head upper springs bearingBe provided with pressure sensor, (5) extruder head close contact reaches setting value to pressure, and pressure sensor is perception at once, will believeBreath feeds back to control module, then controls (6) rotation speed of the fan, ensures that weaving silk of hot melt can effectively be adhered to (17) lower moving platform.
6. according to a kind of five-axle linkage 3D printer organization described in right 1, it is characterized in that, the work of control module control motor coordination,Through the transmission of (11) Timing Belt one-level, parallel-crank mechanism secondary transmission, arrives (15) upper moving platform, (5) by movement outputExtruder head is synchronized with the movement, and can realize the motion of three directions of x, y, z axle of (5) extruder head, and control module is controlled (20) simultaneouslyMotor a, (23) motor b co-ordination, (18) screw rod a, (25) screw rod b rotate, two screw rods worm drive, and then (1)Hinge folding, realizes turning round around u, v axle of (3) outside framework, (17) lower moving platform through ball pivot, reaches the 4th axle, the 5th axlePrinting, complete five-axle linkage print three-dimensional body.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965896A (en) * | 2016-06-15 | 2016-09-28 | 燕胜 | Multidimensional angle 3D printer |
| CN106965433A (en) * | 2017-05-22 | 2017-07-21 | 四川建筑职业技术学院 | A kind of five axle 3D printers |
| CN107283841A (en) * | 2017-07-19 | 2017-10-24 | 贵阳新洋诚义齿有限公司 | A kind of five-axle linkage formula artificial tooth model 3D printer |
| CN107415230A (en) * | 2017-09-11 | 2017-12-01 | 武汉科技大学 | Five axle fused glass pellet 3D printers |
| CN108262967A (en) * | 2018-03-28 | 2018-07-10 | 吉林大学 | The trans- and movable 3D printer of connecting rod workbench |
| CN108527848A (en) * | 2018-05-22 | 2018-09-14 | 西安交通大学 | A kind of 5 axis 3D printing device and methods of curved surface layering fused glass pellet |
| CN108973109A (en) * | 2017-06-01 | 2018-12-11 | 天津职业技术师范大学 | The rotatable 3D printing device of workbench and control method |
| CN108973124A (en) * | 2018-10-12 | 2018-12-11 | 吉林大学 | A kind of delta formula five degree of freedom 3D printer |
| CN109016507A (en) * | 2018-09-25 | 2018-12-18 | 杭州电子科技大学 | A kind of arm-type 3D printer of parallel connection based on the control of five axis |
| CN109922941A (en) * | 2016-10-28 | 2019-06-21 | Ntn株式会社 | Three-dimensional arthroplasty devices |
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| CN105965896B (en) * | 2016-06-15 | 2017-12-19 | 灌云创豪电子科技有限公司 | A kind of multidimensional angle 3D printer |
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| CN106965433A (en) * | 2017-05-22 | 2017-07-21 | 四川建筑职业技术学院 | A kind of five axle 3D printers |
| CN108973109A (en) * | 2017-06-01 | 2018-12-11 | 天津职业技术师范大学 | The rotatable 3D printing device of workbench and control method |
| CN107283841A (en) * | 2017-07-19 | 2017-10-24 | 贵阳新洋诚义齿有限公司 | A kind of five-axle linkage formula artificial tooth model 3D printer |
| CN107415230A (en) * | 2017-09-11 | 2017-12-01 | 武汉科技大学 | Five axle fused glass pellet 3D printers |
| CN108262967A (en) * | 2018-03-28 | 2018-07-10 | 吉林大学 | The trans- and movable 3D printer of connecting rod workbench |
| CN108262967B (en) * | 2018-03-28 | 2023-09-12 | 吉林大学 | Movable 3D printer of trans-parallel connecting rod working platform |
| CN108527848A (en) * | 2018-05-22 | 2018-09-14 | 西安交通大学 | A kind of 5 axis 3D printing device and methods of curved surface layering fused glass pellet |
| CN109016507A (en) * | 2018-09-25 | 2018-12-18 | 杭州电子科技大学 | A kind of arm-type 3D printer of parallel connection based on the control of five axis |
| CN108973124A (en) * | 2018-10-12 | 2018-12-11 | 吉林大学 | A kind of delta formula five degree of freedom 3D printer |
| CN108973124B (en) * | 2018-10-12 | 2024-03-08 | 吉林大学 | Delta type five-degree-of-freedom 3D printer |
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| CN105599294B (en) | 2018-12-04 |
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