CN109466062A - Magnetic control polar coordinates 3D printer - Google Patents
Magnetic control polar coordinates 3D printer Download PDFInfo
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- CN109466062A CN109466062A CN201811464466.1A CN201811464466A CN109466062A CN 109466062 A CN109466062 A CN 109466062A CN 201811464466 A CN201811464466 A CN 201811464466A CN 109466062 A CN109466062 A CN 109466062A
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- polar coordinates
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- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000003028 elevating effect Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 30
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 16
- 238000007639 printing Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 10
- 238000004033 diameter control Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
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- 230000005484 gravity Effects 0.000 abstract description 6
- 239000000203 mixture Substances 0.000 abstract description 6
- 239000003921 oil Substances 0.000 abstract description 6
- 239000000725 suspension Substances 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
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- 230000003321 amplification Effects 0.000 description 1
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Classifications
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- 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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
-
- 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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/236—Driving means for motion in a direction within the plane of a layer
-
- 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
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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
-
- 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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of magnetic control polar coordinates 3D printers, it is positioned using polar coordinates, it is built using magnet ring center as pole and is, program is greatly simplified, while overcoming the influence of articulated type program complexity and cantilever beam unstable structure etc., using photoelectric sensor, real-time measurement polar angle is displaced and feeds back to control terminal, it realizes closed-loop control, not only eliminates contour distortion, also substantially increase precision and stability.The conversion of motion of two-dimensional surface is the noiseless contact movement that magnetic force directly controls for moving slowly Z axis elevating movement by synchronous belt of the present invention and lead screw transmission；Simultaneously, there are a upward component to permanent magnetism interpolar for electromagnetic pole, it is cancelled permanent magnetism inner ring major part gravity, close to suspension, to the pressure very little of lower electromagnetism outer ring, contact portion uses ball and art chute designs, and it is subject to lubricating oil composition oil film, noise is preferably minimized, compared to conventional printer, greatly reduces noise.
Description
Technical field
The present invention relates to three-dimensional printer more particularly to magnetic control polar coordinates 3D printers.
Background technique
Existing 3D printer, is broadly divided into rectangular co-ordinate 3D printer and polar coordinates 3D printer, and current three-dimensional is beaten
Print machine, most of three-dimensional fast shaping technology using under rectangular coordinate system.The working principle of rapid shaping technique be according to by
Layer completes the manufacture of physical prototypes, specifically, according to the printer model that three Dimensional CAD Design goes out, three-dimensional entity model discretization,
Physical print object is manufactured using the manufacturing method of " from bottom to top " material addition, just obtains processing required three-dimensional modeling.
Rectangular coordinate system printer has rectangular box and delta formula, drives print head fortune by lead screw and synchronous belt respectively
It is dynamic, it is scanned printing in two-dimensional surface, two-dimensional surface scanning speed is very fast, and screw rod and synchronous belt engaged transmission noise are larger.
The circle of rectangular coordinate system printer is replaced with polygonal approximation, and there are contour distortions especially for thin-walled parts is mostly
Circle, error are larger.
Polar coordinates 3D printer is divided into articulated type 3D printer and rotating disc type 3D printer, and articulated type 3D printer is open loop
Formula node, very high for motor required precision, precision is poor, while motion planning is difficult, and program is realized complex and similar
Cantilever beam structure is also easy to produce bending deformation.
The various rapidform machines developed in recent years, although technique used is different, its mechanical driving part and point
Layer software principle is roughly the same.However, the rapid prototyping machine of rectangular coordinate mechanism is in revolving parts such as processing circle, annulus walls
When, have the shortcomings that fatal, i.e., circle is replaced with polygonal approximation, and polygon equal part is more, and circle is more true to nature, but uses straight line
Circular arc is replaced inherently to there is the distortion of profile；Especially thin-walled parts, section are usually annulus, and inner circle and outer circle
Radius is not much different.It is just very high to the required precision of rapid prototyping equipment to obtain more accurate part.Theoretically,
As long as circular arc and its intersection point line segment distance are short enough, i.e. the diameter of spray head is sufficiently small, and control nozzle moves simultaneously in X and Y-direction
Driving mechanism is accurate enough, so that it may restore the actual profile of part.But this is not only to technically proposing higher want
It asks, and at high cost, expensive.Fundamentally, the diameter of spray head is still existing, and the profile of institute's workpieces processing is still
What approximation came out.So when processing the thin-walled parts that section is annulus, when radius of circle is not much different inside and outside it, using XY
Rectangular co-ordinate can not fundamentally solve the problems, such as this.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of magnetic control polar coordinates 3D printers, to solve existing 3 D-printing
Machine print speed is slow, noise is big, precision is low and it is unstable the problems such as.
Technical solution: the present invention includes top polar coordinates control ring, Z-axis lifting mechanism, printing head and print platform；On
Portion's polar coordinates control ring includes realizing closed-loop control by photoelectric sensor real-time measurement polar angle change in location to change electric current
Polar angle control mechanism, and the polar diameter control machine for changing polar diameter size and reaching closed-loop control is moved by control electromagnetism sliding block
Structure；Z-axis lifting mechanism includes lead screw, stepping motor gear and synchronous belt drive mechanism, and silk is realized in print platform and lead screw cooperation
Conversion of the screw of thick stick to print platform elevating movement.
Printer further includes bottom plate, synchronous pulley, adjustable hold-down support, gear one, gear two, stepper motor, synchronization
Band, feed screw nut, lead screw fixed disk.Stepper motor band moving gear one, gear one are engaged with gear two, and gear two rotates, and drives
Synchronous pulley that is coaxial with gear two and being fixed on active lead screw, synchronous pulley drive three driven lead screws by synchronous belt,
Screw rod and feed screw nut and lead screw fixed disk act on, and printing chassis is made to move up and down in the drive of not only motor.
Printer further includes lower electromagnetism outer ring, upper electromagnetism outer ring, electromagnetic pole, permanent magnetism inner ring, permanent-magnet pole, fixing bolt, rolling
Pearl and sliding slot；Upper electromagnetism outer ring is connected with lower electromagnetism outer ring by fixing bolt, and equally distributed ball has been embedded in；In permanent magnetism
There is the interior sliding slot through matching with ball on ring, being allowed to permanent magnetism inner ring can rotational slide wherein；Have on upper permanent-magnetic clamp and uniformly divides
The electromagnetic pole of cloth, be evenly distributed in permanent magnetism inner ring permanent-magnet pole, electromagnetic pole and permanent-magnet pole by mutual electromagnetic coupling and
Electromagnetic force accurately controls the angle of permanent magnetism inner ring rotation.
It is wound with copper wire on electromagnetic pole, copper wire there are two contacts to portal with copper wire to connect, facilitate wiring and replacement.Electromagnetic pole by
Multilayer silicon steel sheet is suppressed.
Working principle: the present invention is positioned by using polar coordinate system, the electromagnetism generated with the different magnetic pole of polar angle difference
The power that power is moved as polar angle, due to the permanent-magnet pole being fixed in permanent magnetism inner ring and the electromagnetic pole being fixed on upper electromagnetism outer ring
Between that there are polar angles is poor, after electromagnetic pole is powered by certain timing, permanent-magnet pole and electromagnetism interpolar can generate a tangential power, can
To change stress condition by the size of current for changing electromagnetic pole coil and phase, polar angle motion conditions are changed with this；
Electromagnetic pole is slightly higher compared to the horizontal position of permanent-magnet pole, so electromagnetism interpolar is there are a upward component, when work, and this component
The most of gravity for counteracting permanent magnetism inner ring makes permanent magnetism inner ring close to suspension, and frictional force and noise are all minimum, while using rolling
Pearl and sliding slot reduce frictional force, realize quick response, realize polar angle displacement measurement by photoelectric sensor, feed back to control terminal reality
Existing closed-loop control；Intermediate polar diameter control section also uses electromagnetic force to push, and is made of electromagnetism sliding block and permanent magnetic guideway,
Electromagnetism sliding block is different from the magnetic pole pitch on permanent magnetic guideway, big by continuously changing the electric current of coil of electromagnetism sliding block upper magnetic pole
It is small, change electromagnetism slide block movement position, controls polar diameter length.Z-axis movement drives gear set by stepper motor, then passes through synchronization
Belt wheel drives four guide screw movements, and print platform is made to realize elevating movement.
The utility model has the advantages that compared with prior art, the present invention directly controls polar angle using big magnet ring and changes, and existing printer
It is driven using stepper motor, first with small magnetic field control stepper motor rotation, then by mechanical structure to the motion amplification of stepper motor,
Printing head movement is driven, in comparison polar coordinates magnetic control ring of the invention is faster than stepper motor speed very much, and print speed is fast.
The present invention is positioned using polar coordinates, and being built using magnet ring center as pole is to greatly simplify program, while overcoming pass
The influence of section formula program program complexity and cantilever beam unstable structure etc., while using photoelectric sensor, real-time measurement polar angle position
It moves, feeds back to control terminal, realize closed-loop control, not only eliminate contour distortion, also substantially increase precision and stability.
Synchronous belt of the present invention and lead screw transmission are served only for moving slowly Z axis elevating movement, not as existing product is used
In the quick motion positions of two-dimensional surface, very big noise is generated, but the conversion of motion of two-dimensional surface is directly controlled for magnetic force
Noiseless contact movement, meanwhile, there are a upward component to permanent magnetism interpolar for electromagnetic pole, make permanent magnetism inner ring major part gravity quilt
It offsets, close to suspension, to the pressure very little of lower electromagnetism outer ring, contact portion uses ball and art chute designs, and is lubricated
Oil composition oil film, noise is preferably minimized, compared to conventional printer, greatly reduces noise.
Detailed description of the invention
Fig. 1 is overall structure figure of the present invention；
Fig. 2 is control flow chart of the present invention；
Fig. 3 is polar coordinates magnetic control ring in top of the present invention；
Fig. 4 is the cross-sectional view of magnetic control movement mechanism of the present invention；
Fig. 5 is light and shade fringe distribution figure of the present invention；
Fig. 6 is electromagnetic pole detail view of the present invention；
Fig. 7 is the four-axle linked elevator composition of Z axis of the invention；
Fig. 8 is polar angle control principle schematic diagram of the invention；
Fig. 9 is electromagnetic pole timing control figure of the invention.
Specific embodiment
As shown in Figure 1, magnetic control polar coordinates 3D printer includes top polar coordinates magnetic control ring and z-axis elevating mechanism；Top pole
Coordinate magnetic control ring includes polar angle control mechanism and polar diameter control mechanism, and polar angle control mechanism includes permanent magnetism inner ring 4, upper electromagnetism outer ring
2 and lower electromagnetism outer ring 1, permanent magnetism inner ring 4 by non-magnetic nylon ring and permanent-magnet pole around forming, wherein non-magnetic nylon ring
It can be substituted with other plastics or non-magnet material.Electromagnetism outer ring is made of upper electromagnetism outer ring 2 and lower electromagnetism outer ring 1, upper and lower electricity
Magnetic outer ring is connected by fixing bolt, and is interference fitted with permanent magnetism inner ring 4, and the ball and upper and lower electromagnetism in permanent magnetism inner ring 4 are passed through
Sliding slot cooperation limitation motion range and reduction friction on outer ring.Upper electromagnetism outer ring is by non-permeable material nylon ring and electromagnetic pole
Composition.Nylon ring is evenly distributed with electromagnetic pole hole, and each electromagnetic pole is equipped on hole；Lower electromagnetism outer ring by lead screw fixed disk 23 with
Z-axis lifting mechanism is connected.Polar diameter control mechanism is mainly made of permanent magnetic guideway 7 and electromagnetism sliding block 6, and electromagnetism sliding block 6 can pass through
Itself electric current is controlled to realize the movement on guide rail, sliding block lower part is not limited to printing head 9 for installing printing head,
It can also be the execution units such as laser head, camera.Z-axis lifting mechanism mainly drives four lead screw rotations by stepper motor 20, makes
Print platform energy oscilaltion accomplishes that the positioning of Z-direction is mobile, wherein four lead screws be an active lead screw 24 and three from
Dynamic lead screw 13.
As shown in Fig. 2, the present invention realizes three-dimensional localization by the height of control polar angle, polar diameter and z-axis.Polar angle control, leads to
Cross 3 size of current of control electromagnetic pole and phase, change the stress condition of electromagnetic pole 3 and permanent-magnet pole 5, by photoelectric sensor 29 come
Real-time measurement reacts the change in location of polar angle, changes size of current in this, as feedback data, reaches closed-loop control.Polar diameter control
Mechanism, to control the movement of electromagnetism sliding block 6, changes polar diameter size, passes through coding by controlling the current impulse of electromagnetism sliding block 6
Device feedback data, reaches closed-loop control.In the control of Z axis height, by controlling the rotation of stepper motor 20, change print platform 14
Height, pass through the encoder Real-time Feedback of stepper motor 20, realize closed-loop control.
As shown in Figure 3, Figure 4, top polar coordinates magnetic control ring includes lower electromagnetism outer ring 1, upper electromagnetism outer ring 2, electromagnetic pole 3, forever
Magnetic inner ring 4, permanent-magnet pole 5, electromagnetism sliding block 6, permanent magnetic guideway 7, printing head 9, fixing bolt 10.Electromagnetism outer ring 1 is wherein descended to have four
A ear shaped threaded hole is connected by four fixing bolts 10 with upper electromagnetism outer ring 2；Sliding slot 11 is arranged at lower electromagnetism outer ring top, sliding
Slot 11 is matched with the ball 12 in permanent magnetism inner ring 4, reduces contact area, is replaced sliding friction with rolling friction, is reduced resistance,
There is a through-hole in lower 1 side of electromagnetism outer ring, and photoelectric sensor 29 is equipped in through-hole, for measuring polar angle displacement.Upper electromagnetism outer ring 2
On the mounting hole of evenly spaced electromagnetic pole 3 is distributed with, electromagnetic pole 3 is uniformly distributed in by being tightly fixed in mounting hole
Upper electromagnetism outer ring 2, electromagnetic pole 3 are formed by stacking by silicon steel sheet, above there is the copper wire 25 of coiling, after 25 coiling of copper wire with copper wire outer contacting
Point 26 is connected, and has copper wire to portal at the mounting hole of upper electromagnetism outer ring 2 and 8 is connected with the external contact 26 of the copper wire of electromagnetic pole 3, facilitates
Wiring, to realize the control to electromagnetic pole 3.4 upper and lower surface of permanent magnetism inner ring is embedded with equally distributed ball 12, matches with sliding slot 11
Close, 4 diameter of permanent magnetism inner ring is less than lower electromagnetism outer ring 1 and upper 2 internal diameter of electromagnetism outer ring, and it is contactless to be allowed to side, only by ball with
Sliding slot 11 contacts, and reduces friction, meanwhile, there are a upward component between permanent-magnet pole 5 for electromagnetic pole 3, make the big portion of permanent magnetism inner ring 4
Gravity is divided to be cancelled, close to suspension, to the pressure very little of lower electromagnetism outer ring 1, contact portion is designed using ball and sliding slot 11,
And it is subject to lubricating oil composition oil film, noise is preferably minimized, corresponding speed is improved.Spacing is evenly distributed in permanent magnetism inner ring 4 not
Same permanent-magnet pole 5, under electromagnetic pole energized state, permanent-magnet pole 5 and electromagnetic pole 3 directly generate active force, control 4 turns of permanent magnetism inner ring
It is dynamic.Polar diameter control mechanism is made of electromagnetism sliding block 6 and permanent magnetic guideway 7, there is uniformly alternate permanent-magnet pole on permanent magnetic guideway 7.
Top magnetic control movement mechanism is made of polar angle control mechanism, polar diameter movement mechanism, and polar angle movement mechanism is by lower electromagnetism
Outer ring 1, upper electromagnetism outer ring 2, electromagnetic pole 3, permanent magnetism inner ring 4, permanent-magnet pole 5 form；Permanent-magnet pole 5 is uniformly distributed in permanent magnetism inner ring, this
Each permanent-magnet pole pitch angle is n θ (wherein n is electromagnetic pole group number) in embodiment, and permanent-magnet pole is divided into two groups, is permanent magnetism group one and permanent magnetism
Group two, inwardly, the pole S is permanent magnetism group one outwardly for one group of pole N；Outwardly, the pole S is permanent magnetism group two, two groups of magnetic poles inwardly for another group of pole N
It distributes alternately.The equal electromagnetic pole 3 of spacing is evenly distributed on upper electromagnetism outer ring 2, each electromagnetic pole pitch angle is in the present embodiment
θ, electromagnetic components are n group, and when electromagnetism group forward direction is powered, it is the pole N that electromagnetic pole 3, which is directed toward center of circle side, and opposite direction is the pole S, electromagnetism
There are tangential forces for pole 3 and permanent magnetism interpolar, can make permanent magnetism inner ring 4 by the electric current of the copper wire 25 of coiling on control each group electromagnetic pole 3
Generate the power of rotation.Meanwhile electromagnetic pole 3 is more slightly higher than the horizontal position of permanent-magnet pole 5, so each electromagnetic pole 3 has permanent-magnet pole 5
One upward component overcomes the most of gravity for falling permanent magnetism inner ring 4 with this, keeps it minimum with lower 1 pressure of electromagnetism outer ring, approaches
In suspended state.Polar diameter control mechanism includes permanent magnetic guideway 7 and electromagnetism sliding block 6, between electromagnetism sliding block 6 is by non-magnet material and uniformly
Away from electromagnetic pole composition, electromagnetism sliding block 6 is the wedge sliding block that can be slided on permanent magnetic slider, and the side of muti-piece proportional spacing is arranged at lower part
The small electromagnetic pole of shape is fixed on sliding block, and the medium spacing of the present embodiment electromagnetic pole is L, and the top of electromagnetism is the pole N, and lower part is the pole S；It is sliding
Block top is cooperated by sliding slot and permanent magnetic guideway, limits the direction of motion.Permanent magnetic guideway 7 is by the rectangular strip of non-magnetic and a row etc.
The square permanent magnets of spacing form, and spacing is L+ Δ L between square permanent magnets.Upward, the pole S is downward for the pole N of permanent magnet.By
It is opposite with electromagnetism opposite pole in permanent magnet, suction is generated, it, can be real when changing each electromagnetism winding current size and phase change
Now to permanent magnetic guideway 7 and the power of electromagnetism sliding block 6 and the control of relative motion ring.Pass through the electromagnetism ferroelectricity in control electromagnetism sliding block 6
The movement of the sliding block of flow control polar diameter enables the arbitrary motion in two-dimensional surface of printing head 9.
When the cooperation and installation of lower electromagnetism outer ring 1, upper electromagnetism outer ring 2 and permanent magnetism inner ring 4, lower electromagnetism outer ring 1 and upper electromagnetism
There is sliding slot 11 in outer ring 2, about 4 permanent magnetism inner ring is all uniformly embedded with equally distributed ball respectively, and ball 12 is slightly smaller than embedded
Hole, and have oil lubrication, oil film is formed inside, greatly reduces friction.The slightly smaller than lower electromagnetism outer ring 1 of 4 diameter of permanent magnetism inner ring, on
2 internal diameter of electromagnetism outer ring, it is contactless to be allowed to side, is only contacted by ball with sliding slot, reduces friction, improves corresponding speed.
As shown in figure 5, there is a series of light and shade stripeds outside permanent magnetism inner ring, bright fringe 27 and dark fringe 28 are respectively width phase
Same rectangular block, and distribute alternately around permanent magnetism inner ring 4, throughout permanent magnetism inner ring 4 one weeks.In the present embodiment in permanent magnetism inner ring 4
It is divided into and is furnished with dark fringe and bright fringe each 360, i.e., the displacement of polar angle representated by every striped is 0.5 degree, in lower permanent magnetism inner ring
Horizontal plane is same plane where 29 place horizontal plane of photoelectric sensor and light and shade stripe centerline, and photoelectric sensor 29 is emitted
Also it is located at this horizontal plane entirely with the laser beam of reflection, bright fringe 27 is reflectorized material, and the present embodiment is reflective membrane, but is not limited to
Reflective membrane, dark fringe 28 are the porous light absorptive material of black.When the laser beam that photoelectric sensor 29 emits is radiated at bright fringe
When, most of reflected light returns to the fibre-optical probe of photoelectric sensor 29 along original optical path, and photoelectric sensor 29 is reached after branch
Probe portion simultaneously measures intensity of reflected light, and intensity of reflected light is larger at this time, and photoelectric sensor 29 obtains a biggish simulation letter
Number value, when photoelectric sensor 29 emit laser beam be radiated at dark fringe when, most of light is absorbed by dark fringe 28, few portion
Light splitter returns to the fibre-optical probe of photoelectric sensor 29 along original optical path, reaches the probe portion of photoelectric sensor 29 simultaneously after branch
Intensity of reflected light is measured, at this time intensity of reflected light very little, photoelectric sensor 29 obtains the analog signal values of a very little, by setting
A fixed threshold value, converts digital signal for gained analog signal, obtains passed through light and shade fringe number after having processor processing,
And be displaced by known corresponding 0.5 degree of each striped to calculate turned over polar angle, it is controlled in this, as feedbacking data to
Closed-loop control is realized at end.Wherein there is one piece of bright fringe bigger than other bright fringe reflectivity, for marking the initial bit of polar angle
It sets, i.e., polar angle is 0 position, and printing starts the meeting of permanent magnetism inner ring 4 automatically by polar angle zero setting every time.
As shown in fig. 6,3 top of electromagnetic pole is wound with several circle copper wire 25, outside the both threads and copper wire that copper wire 25 is finally drawn
Contact point 26 is connected, and the external contact 26 of copper wire is connected with control circuit again, to control each 3 size of current of electromagnetic pole, realizes control
The stress condition of electromagnetic pole processed and permanent magnetism interpolar, control electrode angular transformation.
As shown in fig. 7, stepper motor 20 is fixed on 15 lower part of bottom plate, it is fitted close with gear 1 and holding screw is connect
Fixed, gear 1 is engaged with gear 2 19, and gear 2 19 and active lead screw 24 are tightly fixed in end, and synchronous pulley 16 is solid
Due on active lead screw 24, synchronous pulley 16 is engaged with synchronous belt 21, is driven by synchronous belt 21 and is driven other synchronous belts rotation
Dynamic, other synchronous pulleys are fixed on driven lead screw 13, and when stepper motor 20 rotates, active lead screw 24 and driven lead screw 13 are same
Step rotation, active lead screw 24 and driven 13 lower part of lead screw are fixed on bottom plate 15 by lower leading screw fixed disk 22, and top is by upper leading screw
Fixed disk 23 is fixed on lower electromagnetism outer ring, and lead screw is fixed with the bearing in lead screw fixed disk respectively.Stepper motor 20 and driven silk
Thick stick 13 is all engaged with the screw thread of print platform 14, and when lead screw rotation, print platform 14 can be moved up and down.
As shown in fig. 7, lower 1 lower part of electromagnetism outer ring is connected by bolt and four lead screw fixed disks 23 in z-axis elevating mechanism
It connects, there is bearing in screw rod fixed disk, bearing with 13 tight fit of active screw rod 24 and driven lead screw, makes electromagnetism outer ring always respectively
Distance is kept fixed with bottom plate 15；Active lead screw 24 is matched with driven lead screw 13 with the screw thread of print platform 14, turns lead screw
Print platform 14 can be made to move up and down after dynamic；Active screw rod 24 and driven lead screw 13 are solid by lower leading screw fixed disk 22 and bottom plate 15
It is fixed.There are four height-adjustable supports 17 for bottom plate lower part, for putting printer horizontal stable.
As shown in figure 8, each 5 pitch angle of electromagnetic pole magnetic pole is θ in embodiment, it is divided into multiple groups magnetic pole, a present embodiment is three
Group, can according to different control precision increase and decrease group numbers, when passing to forward current, the pole N of electromagnetic pole a inwardly, the pole S outwardly, other
When each group electromagnetic pole forward direction is powered, polarity is identical as electromagnetic pole a；Three groups of magnetic poles distribute alternately, big with the electric current for organizing electromagnetic pole
Small to drive with direction, timing diagram is as shown in figure 9, initial time t1 is identical.Each 5 pitch angle of permanent-magnet pole is 3 θ in embodiment, respectively forever
Magnetic pole 5 is divided to for two groups of magnetic poles, and inwardly, the pole S is permanent magnetism group 5-1 outwardly for one group of pole N, another group of pole N outwardly, the pole S inwardly, for forever
Magnetic group 5-2, two groups of magnetic poles distribute alternately.When permanent magnetism inner ring to be made rotates clockwise, electromagnetic pole is respectively in different time to three
When the different electromagnetic pole group of group applies positive square wave currents, only electromagnetic pole a5-7 forward current, permanent-magnet pole N pole 5-4 inwardly, permanent magnetism
The pole pole S 5-3 outwardly, the magnetic pole face of each pole S of electromagnetic pole a5-7 and permanent magnetism group 5-1, electromagnetic pole only by radial force, and due to
Symmetry, it is zero that entire electromagnetism inner ring radial force, which also balances, and only the power upward by an entirety is to offset electromagnetism inner ring
Gravity, when next time t2, only electromagnetic pole b5-6 is motivated by forward current, since electromagnetism group b5-6 is not in equalization point,
By the tangential attraction that permanent magnetism group 5-1 rotates clockwise it to one of generation, permanent magnetism group 5-2 generates electromagnetic pole b5-6
One makes the tangential repulsive force that it is rotated clockwise, the power that permanent-magnetic clamp totally rotates clockwise it by one, when a to third
When the t3 time, only electromagnetic pole c5-5 is motivated by forward current, and it is tangential that electromagnetic pole c5-5 by one rotates clockwise it
Power, entire electromagnetism inner ring turn an angle clockwise again, so that electromagnetic pole c5-5 is in stable state, thus repeat a week
Phase rotates clockwise electromagnetism inner ring persistently.When each electromagnetism group is pressed the above-mentioned period with opposite direction electric current, stress condition is just
On the contrary, rotating counterclockwise electromagnetism inner ring.When electromagnetic pole a, b, c are powered simultaneously, electromagnetism inner ring it is whole in the horizontal direction by
Dynamic balance is static, is in equalization point.Passed through by the control to electromagnetism electrode current to realize the control of the rotation to electromagnetism ring
Measurement of the photoelectric sensor 29 to corner carrys out its rotational angle situation of Real-time Feedback, changes size of current with this, reach closed loop control
System.
Specific coiling and magnetic pole production method in the present embodiment are not limited to the scheme provided, further include that other can produce phase
With magnetic field scheme similar with effect, and relevant programme or product by such scheme applied to printer.
Claims (9)
1. a kind of magnetic control polar coordinates 3D printer, it is characterised in that: including top polar coordinates control ring, Z-axis lifting mechanism, printing
Spray head and print platform；The top polar coordinates control ring include by photoelectric sensor real-time measurement polar angle change in location with
Change the polar angle control mechanism that electric current realizes closed-loop control, and the movement by controlling electromagnetism sliding block changes polar diameter size and reaches
The polar diameter control mechanism of closed-loop control；The Z-axis lifting mechanism includes lead screw, stepping motor gear and synchronous belt drive mechanism,
The print platform and lead screw cooperation realize the screw of lead screw to the conversion of print platform elevating movement.
2. magnetic control polar coordinates 3D printer according to claim 1, it is characterised in that: under the polar angle control mechanism includes
Electromagnetism outer ring, upper electromagnetism outer ring, electromagnetic pole, permanent magnetism inner ring and permanent-magnet pole, are disposed with electromagnetic pole on upper electromagnetism outer ring, outside lower electromagnetism
There is sliding slot in ring and upper electromagnetism outer ring, permanent magnetism inner ring is contacted by ball with sliding slot, and the polar diameter control mechanism includes that permanent magnetism is led
Rail and electromagnetism sliding block.
3. magnetic control polar coordinates 3D printer according to claim 2, it is characterised in that: have around the permanent magnetism outer ring a plurality of
Represent the light and shade striped of polar angle displacement.
4. magnetic control polar coordinates 3D printer according to claim 2, it is characterised in that: electromagnetism sliding block lower part is by multiple
Rectangular small electromagnetism is fixed on sliding block, and the sliding block top is cooperated by sliding slot and permanent magnetic guideway, limits the direction of motion.
5. magnetic control polar coordinates 3D printer according to claim 2, it is characterised in that: the permanent magnetic guideway includes non-magnetic
Property the rectangular strip and equidistant square permanent magnets of a row.
6. magnetic control polar coordinates 3D printer according to any one of claims 1 to 5, it is characterised in that: the Z axis elevator
Structure is four-axle linked elevating mechanism.
7. magnetic control polar coordinates 3D printer according to claim 1, it is characterised in that: further include bottom plate, synchronous pulley, can
Support, gear one, gear two, the stepper motor band moving gear one are adjusted, gear one is engaged with gear two, and gear two rotates,
Drive synchronous pulley that is coaxial with gear two and being fixed on active lead screw.
8. magnetic control polar coordinates 3D printer according to claim 2, it is characterised in that: be wound with copper on the electromagnetic pole
Line, copper wire have two contacts to portal with copper wire to connect.
9. magnetic control polar coordinates 3D printer according to claim 2, it is characterised in that: the electromagnetic pole is by multilayer silicon steel sheet
It suppresses.
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| CN201811464466.1A CN109466062A (en) | 2018-12-03 | 2018-12-03 | Magnetic control polar coordinates 3D printer |
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