CN107379522A - A kind of 3D printer based on planar moving parallel structure - Google Patents
A kind of 3D printer based on planar moving parallel structure Download PDFInfo
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- CN107379522A CN107379522A CN201710818475.5A CN201710818475A CN107379522A CN 107379522 A CN107379522 A CN 107379522A CN 201710818475 A CN201710818475 A CN 201710818475A CN 107379522 A CN107379522 A CN 107379522A
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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
- 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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
A kind of 3D printer based on planar moving parallel structure, including framework, planar moving parallel structure, printing lifting platform, device for transporting objects and control panel.Planar moving parallel structure is connected by revolute pair with ball screw assembly, and guide rail, and the two-dimensional movement of printing head in the horizontal plane is realized by three sub-chains, servomotor is connected by decelerator with ball-screw to provide power to plane-parallel type travel mechanism；Printing lifting platform is fixed on framework using ball screw assembly, and guide rod, and servomotor is connected by decelerator and ball screw assembly, with printing lifting platform, and offer power is moved up and down in vertical plane for it；Device for transporting objects is installed on moving platform；Control panel is detected by controlling with detection module to the position of printing head, and leads to and regulation and control completion 3D printing is carried out to its position.The present invention can solve the problems such as general 3D printer mechanism decoupling is poor, working space is small, bearing capacity is weak.
Description
Technical field
The present invention relates to 3D printer technical field, and in particular to a kind of 3D printing based on planar moving parallel structure
Machine.
Background technology
In the epoch of science and technology rapid development of today, people also require high processing effect while high crudy is required
Rate, traditional manufacture can not meet the material requisite of people, therefore rapid shaping technique is arisen at the historic moment.Wherein, should
With it is most commonly used be 3D printer.
3D printer be based on mathematical model, with can jointing material, into by way of accumulation come structure
The machine of body.3D printer, can be direct according to computer graphics data without blank and mould by the method for increasing material manufacturing
Generate part.There is low cost, high efficiency compared with tradition excision manufacture, be simple to manufacture.Also it is exactly that these advantages make
The technology be widely used in the numerous areas such as jewelry, Aero-Space, medical science, building construction, naval ship.
In China, many scholars apply for Patents, such as Application No. in this regard：201710084731.2、
201610404213.x wait patent.But the 3D printing industry in China still has problems such as at present：Mechanism decoupling is poor,
The problems such as working space is small, bearing capacity is weak.
The content of the invention
The purpose of the present invention is to propose to a kind of 3D printer based on planar moving parallel structure, to solve mechanism decoupling
The problems such as property is poor, working space is small, bearing capacity is weak.
In order to solve the above problems, the technical solution adopted by the present invention is：A kind of 3D based on planar moving parallel structure is beaten
Print machine, including framework, planar moving parallel structure, printing lifting platform, device for transporting objects and control panel, described plane are moved
Dynamic parallel institution includes actuating unit, parallel institution, guide rail, transmission mechanism and moving platform, and setting two is perpendicular in the frame
Guide rail and two transmission mechanisms being engaged with guide rail, each transmission mechanism driven by a set of actuating unit；The parallel machine
Structure includes the first sub-chain, the second sub-chain and the 3rd sub-chain, and the first sub-chain is transported for just constraint
Dynamic chain, includes the connecting rods of two rotation connections, the both ends of the first sub-chain respectively with the column of the framework and dynamic flat
Platform is rotatablely connected, and pivot center and the first sub-chain and column and the rotary shaft of moving platform junction between connecting rod
Line is vertical direction；The structure of second sub-chain and the 3rd sub-chain is identical, includes rotation connection
Two connecting rods and revolute pair and universal hinge, wherein a connecting rod is connected by revolute pair with guide rail and transmission mechanism, Ling Yigen
Connecting rod is connected by universal hinge with moving platform, and universal hinge has two same planes and perpendicular first rotating shaft and second turn
Axle, in same sub-chain, guide rail and the diameter parallel of revolute pair that first rotating shaft is connected with sub-chain, together
When parallel to the pivot center between connecting rod, transmission mechanism is passed through by actuating unit and drives the second sub-chain and the 3rd branch
Kinematic chain moves horizontally along the guide rail each connected；The device for transporting objects is arranged on moving platform；The printing lifting
Platform includes table top and the vertical lifting mechanism on framework to drive table top to move up and down vertically.
Preferably, described transmission mechanism is ball screw assembly, I, the ball-screw I in ball screw assembly, I parallel to rolling
The guide rail that ballscrew pair I is engaged.
Preferably, the device for transporting objects includes the material disc, heater and printing spray being sequentially connected from top to bottom
Head and the cooling device being arranged on moving platform, the material sprayed by cooling device to printing head cool down.
Preferably, the vertical lifting mechanism in the printing lifting platform includes ball screw assembly, II and power set, power
Ball-screw II in device driving ball screw assembly, II rotates, and the ball-screw nut in ball screw assembly, II lifts with printing
The table top of platform is affixed.
Preferably, the both sides of the ball-screw II are arranged with guide rod, and guide rod is parallel with ball-screw II.
Preferably, described actuating unit and power set are servomotor and decelerator.
Preferably, control module and monitoring modular are provided with the control panel.
Preferably, described moving platform is rectangle, and the first sub-chain, the second sub-chain and the 3rd branch move
Chain is connected with three sides of moving platform respectively, and the another side of moving platform is erected with what driving printing lifting platform table top moved up and down
It is relative to go straight up to falling unit.
The beneficial effects of the invention are as follows：A kind of 3D printer based on planar moving parallel structure is provided, using plane simultaneously
The movement of moving platform in the horizontal plane, the lifting of print platform is realized by ball screw assembly, where online structure realizes printing head
Motion.The velocity Jacobian matrix of the present invention is diagonal matrix, and an output campaign of mechanism solves only by a motor control
The problems such as mechanism decoupling existing for conventional 3D printer is poor, and working space is small, bearing capacity is weak.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is midplane mobile parallel connection mechanism structural representation of the present invention；
Fig. 3 is the structural representation that lifting platform is printed in the present invention；
Fig. 4 is the structural representation of device for transporting objects in the present invention；
Marked in figure：1st, framework, 2, planar moving parallel structure, 3, printing lifting platform, 4, device for transporting objects, 5, chain of command
Plate, 6, servomotor, 7, decelerator, 201, guide rail, 202, ball-screw I, 203, moving platform, 204, first connecting rod, 205,
Two connecting rods, 206, third connecting rod, 207, fourth link, 301, table top, 302, ball-screw II, 303, ball-screw nut,
304th, guide rod, 401, material disc, 402, heater, 403, printing head, 404, cooling device；
L1, the first sub-chain, L2, the second sub-chain, L3, the 3rd sub-chain, R1, the first revolute pair, R2-1,
Second revolute pair I, R2-2, the second revolute pair II, U1, universal hinge, U1-1, first rotating shaft, U1-2, the second rotating shaft.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described further by specific embodiment.
As illustrated, a kind of 3D printer based on planar moving parallel structure, including framework 1, planar moving parallel
Structure 2, printing lifting platform 3, device for transporting objects 4 and control panel 5.
The framework 1 is cube structure, the planar moving parallel structure 2 mainly include actuating unit, parallel institution,
Guide rail 201, transmission mechanism and moving platform 203, actuating unit are made up of servomotor 6 and decelerator 7, and guide rail 201 is provided with two,
And it is perpendicular, every guide rail 201 is horizontally set on the top of framework 1, and transmission mechanism uses ball screw assembly, I, ball-screw
Ball-screw I 202 in pair I corresponds with guide rail 201 and is provided with two sets parallel to corresponding guide rail 201, actuating unit,
Servomotor 6 in two sets of actuating units is installed on the different end faces of framework 1, to drive two balls respectively by decelerator 7
Leading screw I 202 rotates；Described parallel institution includes the first sub-chain L1, the second sub-chain L2 and the 3rd branch transports
Dynamic chain L3, the first sub-chain L1 are proper constrained motion chain, including first connecting rod 204, second connecting rod 205 and three first turn
Dynamic secondary R1, first connecting rod 204 and second connecting rod 205 are rotatablely connected by one of them first revolute pair R1, and first connecting rod 204 is logical
The column for crossing another the first revolute pair R1 and the framework 1 is rotatablely connected, and second connecting rod 205 passes through the 3rd the first revolute pair
R1 is rotatablely connected with the moving platform 203, and three the first revolute pair R1 rotary shaft is vertical direction；Second branch transports
Dynamic chain L2 and the 3rd sub-chain L3 structure is identical, including third connecting rod 206, fourth link 207, the second revolute pair and
Universal hinge U1, there is the R2-1 of the second revolute pair I and R2-2 of the second revolute pair II, the He of third connecting rod 206 in each sub-chain
Fourth link 207 is rotatablely connected by the R2-2 of the second revolute pair II, and third connecting rod 206 passes through the R2-1 of the second revolute pair I and guide rail
201 and ball screw assembly, I connect, the R2-1 of the second revolute pair I along ball-screw I 202 and is led under the rotation of ball-screw I 202
The straight horizontal of rail 201 moves, and third connecting rod 206 can be realized with ball-screw I 202 as axle by the R2-1 of the second revolute pair I
The rotation of the heart, fourth link 207 are connected by universal hinge U1 with described moving platform 203, and universal hinge U1 is perpendicular with two
First rotating shaft U1-1 and the second rotating shaft U1-2, first rotating shaft U1-1 be connected with fourth link 207, the second rotating shaft U1-2 with it is dynamic flat
Platform 203 connects, the R2-1 of the second revolute pair I and the R2-2 of the second revolute pair II diameter parallel, and parallel to guide rail 201 and ball wire
Thick stick I 202, while axis also parallel with the first rotating shaft U1-1 in universal hinge U1 and perpendicular to the second rotating shaft U1-2 axis.
The printing lifting platform 3 includes table top 301 and the vertical lifting mechanism on framework 1, vertical lifting machine
Structure includes ball screw assembly, II and power set, and power set drive the ball-screw II 302 in ball screw assembly, II to rotate, rolling
The table top 301 of ball-screw nut 303 and printing lifting platform 3 in ballscrew pair II is affixed, and power set are still using servo electricity
Machine 6 and decelerator 7, further, be symmetrical arranged in the both sides of ball-screw II 302 two it is parallel with ball-screw II 302
Guide rod 304.
Described device for transporting objects 4 is arranged on moving platform 203, including material disc 401, heater 402, printing spray
First 403 and cooling device 404, material heater 402 is entered by the aperture on material disc 401, by heater 402 plus
Heat makes melt material, and then the table top 301 of the printing lifting platform 3 by printing head 403 downward sprays material, finally by dynamic flat
The cooling device 404 installed on platform 203 sprays material to printing head 403 and cooled down, and cooling device 404 used can be with
Using fan.
Include control module and monitoring modular in described control panel 5, two module mutual cooperations are acted on to monitor
The position of 3D printer printing head 403, then by the presentation of information collected on the display screen of control panel 5, pass through control
Button on panel 5 processed can be controlled to the position of 3D printer printing head 403.
Further, described moving platform 203 is rectangle, the first sub-chain L1, the second sub-chain L2 and
Three sub-chain L3 are connected with three sides of moving platform 203 respectively, and another side and the driving printing of moving platform 203 rise
The vertical lifting device that the drop table top 301 of platform 3 moves up and down is relative.
The 3D printer of the present invention provides power by servomotor 6, and ball screw assembly, I is connected to parallel connection by decelerator 7
Moving platform 203 in mechanism provides two-dimensional movement in the horizontal plane, and connect ball screw assembly, II by decelerator 7 rises to printing
The drop table top 301 of platform 3 provides the one-dimensional lifting moving in vertical plane；3D printer will be gathered by monitoring modular and control module
Presentation of information on the display screen of control panel 5, by control panel 5 adjusting parallel institution with printing the table top 301 of lifting platform 3
Position so as to realizing 3D printing.
Above-mentioned embodiment is only a kind of embodiment of the present invention, but the invention is not limited in above-mentioned specific implementation
Mode, the related personnel of this area are not departing from present inventive concept and claimed model under the enlightenment of the present invention
The various change made in the case of enclosing and modification, are belonged within protection scope of the present invention.
Claims (8)
1. a kind of 3D printer based on planar moving parallel structure, including framework（1）, planar moving parallel structure（2）, printing
Lifting platform（3）, device for transporting objects（4）And control panel（5）, it is characterised in that：Described planar moving parallel structure（2）Bag
Include actuating unit, parallel institution, guide rail（201）, transmission mechanism and moving platform（203）, in framework（1）Middle setting two is perpendicular
Guide rail（201）And and guide rail（201）Two transmission mechanisms being engaged, each transmission mechanism are driven by a set of actuating unit；
The parallel institution includes the first sub-chain（L1）, the second sub-chain（L2）With the 3rd sub-chain（L3）, the
One sub-chain（L1）For proper constrained motion chain, include two connecting rods being rotatablely connected, the first sub-chain（L1）Two
End respectively with the framework（1）Column and moving platform（203）Rotation connection, and the pivot center between connecting rod and first
Sub-chain（L1）With column and moving platform（203）The pivot center of junction is vertical direction；The second branch fortune
Dynamic chain（L2）With the 3rd sub-chain（L3）Structure it is identical, include rotation connection two connecting rods and revolute pair and ten thousand
To hinge（U1）, wherein a connecting rod passes through revolute pair and guide rail（201）And transmission mechanism connection, another connecting rod pass through universal hinge
（U1）With moving platform（203）Connection, universal hinge（U1）With two same planes and perpendicular first rotating shaft（U1-1）With
Two rotating shafts（U1-2）, in same sub-chain, first rotating shaft（U1-1）The guide rail being connected with sub-chain（201）With
And the diameter parallel of revolute pair, while parallel to the pivot center between connecting rod, transmission mechanism driving the is passed through by actuating unit
Two sub-chains（L2）And the 3rd sub-chain（L3）Along the guide rail each connected（201）Move horizontally；The material
Conveying device（4）Installed in moving platform（203）On；The printing lifting platform（3）Including table top（301）And installed in framework
（1）The vertical lifting mechanism that upper driving table top moves up and down vertically.
A kind of 2. 3D printer based on planar moving parallel structure according to claim 1, it is characterised in that：Described
Transmission mechanism is ball screw assembly, I, the ball-screw I in ball screw assembly, I（202）It is engaged parallel to ball screw assembly, I
Guide rail（201）.
A kind of 3. 3D printer based on planar moving parallel structure according to claim 1, it is characterised in that：The thing
Material conveying device（4）Including material disc（401）, heater（402）And printing head（403）And it is arranged on moving platform
（203）On cooling device（404）, by cooling device（404）To printing head（403）The material of ejection is cooled down.
A kind of 4. 3D printer based on planar moving parallel structure according to claim 1, it is characterised in that：It is described to beat
Print lifting platform（3）In vertical lifting mechanism include ball screw assembly, II and power set, power set driving ball screw assembly,
Ball-screw II in II（302）Rotate, the ball-screw nut in ball screw assembly, II（303）With printing lifting platform（3）'s
Table top（301）It is affixed.
A kind of 5. 3D printer based on planar moving parallel structure according to claim 4, it is characterised in that：The rolling
Ballscrew II（302）Both sides be arranged with guide rod（304）, guide rod（304）With ball-screw II（302）It is parallel.
A kind of 6. 3D printer based on planar moving parallel structure according to claim 5, it is characterised in that：Described
Actuating unit and power set are servomotor（6）And decelerator（7）.
A kind of 7. 3D printer based on planar moving parallel structure according to claim 1, it is characterised in that：The control
Panel processed（5）It is interior to be provided with control module and monitoring modular.
A kind of 8. 3D printer based on planar moving parallel structure according to claim 1, it is characterised in that：Described
Moving platform（203）For rectangle, the first sub-chain（L1）, the second sub-chain（L2）With the 3rd sub-chain（L3）Point
Not and moving platform（203）Three sides connection, moving platform（203）Another side with driving printing lifting platform（3）Table top
（301）The vertical lifting device moved up and down is relative.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710818475.5A CN107379522B (en) | 2017-09-12 | 2017-09-12 | 3D printer based on plane removes parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710818475.5A CN107379522B (en) | 2017-09-12 | 2017-09-12 | 3D printer based on plane removes parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN107379522A true CN107379522A (en) | 2017-11-24 |
| CN107379522B CN107379522B (en) | 2023-08-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710818475.5A Active CN107379522B (en) | 2017-09-12 | 2017-09-12 | 3D printer based on plane removes parallel mechanism |
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| CN (1) | CN107379522B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044764A (en) * | 2018-01-26 | 2018-05-18 | 北京崇建工程有限公司 | A kind of multi-nozzle 3D printer for building and load wagon |
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| CN207682951U (en) * | 2017-09-12 | 2018-08-03 | 河南科技大学 | A kind of 3D printer based on planar moving parallel structure |
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| CN103072132A (en) * | 2013-01-14 | 2013-05-01 | 燕山大学 | Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure |
| US20140210137A1 (en) * | 2013-01-25 | 2014-07-31 | Radiant Fabrication, Inc. | Fixed Printhead Fused Filament Fabrication Printer and Method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108044764A (en) * | 2018-01-26 | 2018-05-18 | 北京崇建工程有限公司 | A kind of multi-nozzle 3D printer for building and load wagon |
| CN108044764B (en) * | 2018-01-26 | 2023-07-25 | 北京崇建工程有限公司 | Multi-nozzle 3D printer for building and loading vehicle |
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| Publication number | Publication date |
|---|---|
| CN107379522B (en) | 2023-08-18 |
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