CN108284593A - And the movable 3D printer of connecting rod slider-type platform - Google Patents

Abstract

The invention discloses a kind of and movable 3D printers of connecting rod slider-type workbench, belong to Digital manufacturing technical field.For current 3D printer, using platform, motionless, printing head is driven down by stepper motor and is moved the present invention, this mode is limited by extruder head wire vent speed and nozzle movement speed, often there is wire drawing phenomenon, the problem of causing printout part surface roughness higher, influencing print quality.Drive print platform to move under the driving of stepper motor with three groups and connecting rod, while printing head is avoided the appearance of the above problem, solved the problems, such as due to print quality caused by wire drawing using fixed mode.

Description

Parallel link slider platform movable 3D printer

technical field

The invention belongs to the technical field of digital processing.

Background technique

3D printing is a production and processing technology based on digital models. Firstly, the computer slices the digital model to generate corresponding codes, and uses fused deposition technology, selective laser sintering technology or light curing technology to print layer by layer. The production and processing of objects.

Currently, the common printing arrangement of existing 3D printers is that the working platform does not move, and the printing nozzle moves through the stepping motor control, and at the same time, the nozzle extrudes printing consumables, and the consumables are superimposed on the stationary part that has been printed to form an entity. However, this method is limited by the speed of the extrusion head and the moving speed of the nozzle, and the phenomenon of stringing often occurs, resulting in a higher surface roughness of the printed part, which affects the printing quality. This limits the development of 3D printing technology printing quality.

Contents of the invention

In order to solve the above problems, the present invention provides a movable 3D printer with a parallel-link slider type platform, which is mainly composed of a double-layer cylindrical frame, a nozzle 14, a platform movement mechanism and a printing platform 10;

The frame is mainly composed of a base plate 2, a bracket 11, a nozzle support plate 18 and a top plate 23; wherein, the base plate 2 is located at the bottom of the frame, and three bases 1 are installed at the bottom of the base plate 2 as supports; there are six brackets 11, each Two groups are divided into three groups, evenly arranged on the base plate 2, and the lower end of the bracket 11 is inserted into the preset slot on the base plate 2, the middle part of the bracket 11 passes through the slot on the nozzle support plate 18, and the nozzle support plate 18 passes through it. The nozzle support plate fixing seat 17 fixedly installed below limits it on the bracket 11, and the upper part of the bracket 11 is fixedly connected with the top plate 23;

The platform movement mechanism includes a synchronous pulley 4, a slider 5, a fixed block 6, a long bolt 7, a printing platform support rod 8, a support rod connecting sleeve 9, a printing platform 10, a light rod 12, a timing belt 13 and a stepping motor 19; The light rod 12 is fixedly installed on both sides of the two brackets 11 of each group, and the lower end of the light rod 12 is inserted into the slot provided on the base plate 2; the slider 5 is set on the light rod 12, and the fixed block 6 is fixedly installed on the slider 5; there are six printing platform support rods 8, and each printing platform support rod 8 is covered with a support rod connecting sleeve 9; every two supporting rod connecting sleeves 9 are set, and one end of each supporting rod connecting sleeve 9 passes through The same long bolt is fixed on both sides of the fixed block 6, and the other end is hinged to the printing platform 10. Every two printing platform support rods 8 form a parallel linkage mechanism, forming a total of six sets of rotating pairs, three sets of 120 angles Uniformly distributed parallel linkages. Two fixed shafts are arranged in the middle of the fixed block 6, and a synchronous pulley 4 is installed on the bottom plate 2 corresponding directly below the fixed block 6, and a through hole is opened on the corresponding nozzle support plate 18 directly above the fixed block 6, above the through hole Stepper motor 19 is set, and described stepper motor 19 is fixedly connected on the support 11 by stepper motor seat 22; Synchronous belt 13 one ends are fixed on a fixed shaft in the middle of fixed block 6 and are wound sequentially on synchronous pulley 4, stepper motor Behind the motor shaft of 19, the other end of synchronous belt 13 is fixedly installed on another fixed shaft in the middle of fixed block 6; The linear movement drives three sets of parallel linkages to complete the translation of the printing platform 10 .

The nozzle 14 is fixed on the nozzle support plate 18; the fan port 15 and the fan 16 are respectively fixed on the lower and upper surfaces of the nozzle support plate 18, and the vent of the fan port 15 communicates with the exhaust port of the fan 16, and the ventilation of the fan port 15 The mouth is facing the nozzle 14; the extruder stepping motor 21 is fixedly installed on the nozzle support plate 18; The feed inlet of 23 is concentric; the wire guide 24 is fixedly connected on the top plate 23 through set screws, and the consumable material support seat 25 is axially fixed on the top plate 23, and can rotate with the consumption of consumable materials.

In the preferred mode of the present invention, the two circular holes for installing the light rod 12 of the slider 5 are equipped with linear bearings; the outer surface of the fixed shaft has a positioning structure for the synchronous belt 13, which can prevent the synchronous belt 13 from the front during work. come out.

The preferred mode of the present invention also includes a control device 26, which controls the position of the printing platform 10 by controlling the working state of the stepping motor 19; and controls the printing progress by controlling the stepping motor 21 of the extruder .

The control device 26 mainly includes a control board, an expansion board and a driving device. Among them, the control board, as the central processor of the entire control device 26, is responsible for sending signals, feedback and processing signals collected by sensors; the expansion board provides an interface for the sensors installed on the printer to connect the sensors; the driver board is mainly composed of the control board Drive and stepper motor drive, the control board drive is used to provide drive power for the control board, and the stepper motor drive provides drive power for the start and stop of the stepper motor 19 and extruder stepper motor 21; the expansion board is plugged into the control board On the board, the driver board is respectively connected with the power supply, the control board and the stepper motor.

The preferred mode of the present invention also includes a liquid crystal display 27 connected to the control device 26 for displaying the printing progress and printing speed when the printer is working.

In the preferred mode of the present invention, a limit switch 28 is also included, and the limit switch 28 is installed under the fixed block 6 and above the bottom plate 2 for limiting the movement range of the fixed block 6 .

In the preferred mode of the present invention, the material selected for the support rod 8 of the printing platform is carbon fiber material.

In the preferred mode of the present invention, the control board in the control device 26 is Arduino Mega2560, and the expansion board is Ramps1.4. Beneficial effects of the present invention:

1. In the present invention, the movable 3D printing nozzle of the parallel-link slider platform does not move, and the printing accuracy of the printed part can be improved by controlling the translation of the working platform, especially when the nozzle needs to draw back the consumables or print the cantilever structure When connecting with the support structure, it can reduce the stringing phenomenon and avoid the printing failure caused by the stringing.

2. The movable 3D printer of the parallel link slider platform in the present invention uses a three-bar parallel mechanism to link the platform structure, which skillfully utilizes and avoids the shortcomings of the parallel mechanism in terms of accuracy and rigidity.

3. The limit switch of the movable 3D printer with parallel-link slider platform in the present invention can determine the movement stroke of the guide wheel mechanism, thereby determining the translation limit of the working platform. In the printing preparation stage, the limit position of the printing platform during the printing process can be determined according to the structure of the printed part, so that the position of the limit switch can be fixed to adjust the movement stroke of the guide wheel of the working platform.

4. The movable 3D printer of the parallel link slider platform in the present invention adopts a three-bar parallel mechanism to link the platform structure, and three parallelogram closed loops composed of three sets of parallel links eliminate the three degrees of freedom of the platform rotation, making the parallel The platform mechanism has only precise 3 translational degrees of freedom.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the belt drive structure of the working platform of the present invention.

Fig. 3 is a second schematic diagram of the belt drive structure of the working platform of the present invention.

Fig. 4 is a schematic structural diagram of the motion platform of the present invention.

Fig. 5 is a second schematic diagram of the structure of the motion platform of the present invention.

Fig. 6 is a partially enlarged top view of the nozzle support plate of the present invention.

The symbols used in the above drawings are as follows: 1-base, 2-bottom plate, 3-set screw, 4-synchronous pulley, 5-slider, 6-fixed block, 7-long bolt, 8-printing platform support Rod, 9-support rod connection sleeve, 10-printing platform, 11-bracket, 12-light bar, 13-synchronous belt, 14-nozzle, 15-fan port, 16-fan, 17-nozzle support plate fixing seat, 18 -Nozzle support plate, 19-stepper motor, 20-extruder extrusion head, 21-extruder stepper motor, 22-stepper motor seat, 23-top plate, 24-wire guide, 25-consumable support seat , 26-control device, 27-LCD display, 28-limit switch.

Detailed ways

The technical solution of the present invention will be further explained and described in the manner of specific embodiments below.

Example 1

As shown in Figures 1 and 2, a movable 3D printer with a parallel-link slider platform in this embodiment is mainly composed of a double-layer cylindrical frame, a nozzle 14, a platform movement mechanism and a printing platform 10;

The frame is mainly composed of a base plate 2, a bracket 11, a nozzle support plate 18 and a top plate 23; wherein, the base plate 2 is located at the bottom of the frame, and three bases 1 are installed at the bottom of the base plate 2 as supports; there are six brackets 11, each Two groups are divided into three groups, evenly arranged on the base plate 2, and the lower end of the bracket 11 is inserted into the preset slot on the base plate 2, the middle part of the bracket 11 passes through the slot on the nozzle support plate 18, and the nozzle support plate 18 passes through it. The nozzle support plate fixing seat 17 fixedly installed below limits it on the bracket 11, and the upper part of the bracket 11 is fixedly connected with the top plate 23;

The platform movement mechanism includes a synchronous pulley 4, a slider 5, a fixed block 6, a long bolt 7, a printing platform support rod 8, a support rod connecting sleeve 9, a printing platform 10, a light rod 12, a timing belt 13 and a stepping motor 19; The light rod 12 is fixedly installed on both sides of the two brackets 11 of each group, and the lower end of the light rod 12 is inserted into the slot provided on the base plate 2; the slider 5 is set on the light rod 12, and the fixed block 6 is fixedly installed on the slider 5; there are six printing platform support rods 8, and each printing platform support rod 8 is covered with a support rod connecting sleeve 9; every two supporting rod connecting sleeves 9 are set, and one end of each supporting rod connecting sleeve 9 passes through The same long bolt is fixed on both sides of the fixed block 6, and the other end is hinged to the printing platform 10. Every two printing platform support rods 8 form a parallel linkage mechanism, forming a total of six sets of rotating pairs, three sets of 120 angles Uniformly distributed parallel linkages. Two fixed shafts are arranged in the middle of the fixed block 6, and a synchronous pulley 4 is installed on the bottom plate 2 corresponding directly below the fixed block 6, and a through hole is opened on the corresponding nozzle support plate 18 directly above the fixed block 6, above the through hole Stepper motor 19 is set, and described stepper motor 19 is fixedly connected on the support 11 by stepper motor seat 22; Synchronous belt 13 one ends are fixed on a fixed shaft in the middle of fixed block 6 and are wound sequentially on synchronous pulley 4, stepper motor Behind the motor shaft of 19, the other end of synchronous belt 13 is fixedly installed on another fixed shaft in the middle of fixed block 6; The linear movement drives three sets of parallel connecting rods to complete the translation of the printing platform 10; the two round holes of the slider 5 for installing the light rod 12 are equipped with linear bearings.

As shown in Figure 3, the kinematic mechanism of the working platform adopts a parallel mechanism to realize the translation of the working platform 10 in the directions of X, Y and Z axes. The printing platform support rod 8 is linked by a long bolt rotation pair; the printing platform support rod 8 and the fixed block 6 are linked by a long bolt rotation pair, thus forming a 3-SPS parallel mechanism, so that the parallel mechanism has X, Y and Z linear movement 3 degrees of freedom. The working principle of this part is: the frame of the 3D printer serves as the static platform of the parallel mechanism, three pairs of symmetrically distributed upper sliders and light rods 11, and the support rod 15 is used as the branch chain of the parallel mechanism to link with the nozzle platform 20 through ball hinges. The moving pair formed by the guide rail 12 and the fixed block 6 is used as the active drive joint of the parallel mechanism, and the timing belt is driven by the stepping motor 19 to control the position of the fixed block 6, so that the printing platform can be obtained by means of the positive solution of the 3-SPS parallel mechanism Space attitude, through the inverse solution of the 3-SPS parallel mechanism, the position information of the guide wheel plate required under the planned printing platform space attitude is calculated, so as to obtain the corresponding control parameters. After obtaining the corresponding control parameters, the control system sends commands to control the three branched stepper motors 19 to drive the synchronous belt 13, and the synchronous belt 13 drives the movement composed of the fixed block 6 and the light rod 12 through the two fixed shafts on the front of the fixed block 6. The movement of the pair, as the active drive joint in the parallel mechanism, the moving pair will determine the specific pose of the printing platform to meet the motion requirements when it has a specified position. The fixed block 6 is fixed on the feed rod 12 by each group of 4 guide wheels, and the limit switch 28 is installed below the fixed block 6 and above the base plate 2 for limiting the range of motion of the fixed block 6 . The limit switch 28 is used to limit and adjust the travel of the working platform.

The nozzle 14 is fixed on the nozzle support plate 18; the fan port 15 and the fan 16 are respectively fixed on the lower and upper surfaces of the nozzle support plate 18, and the vent of the fan port 15 communicates with the exhaust port of the fan 16, and the ventilation of the fan port 15 The mouth is facing the nozzle 14; the extruder stepping motor 21 is fixedly installed on the nozzle support plate 18; The feed inlet of 23 is concentric; the wire guide 24 is fixedly connected on the top plate 23 through set screws, and the consumable material support seat 25 is axially fixed on the top plate 23, and can rotate with the consumption of consumable materials.

The printer also includes a control device 26, which controls the position of the printing platform 10 by controlling the working state of the stepping motor 19; and controls the printing progress by controlling the stepping motor 21 of the extruder. The control device 26 mainly includes a control board, an expansion board and a driving device. Among them, the control board, as the central processor of the entire control device 26, is responsible for sending signals, feedback and processing signals collected by sensors; the expansion board provides an interface for the sensors installed on the printer to connect the sensors; the driver board is mainly composed of the control board Drive and stepper motor drive, the control board drive is used to provide drive power for the control board, and the stepper motor drive provides drive power for the start and stop of the stepper motor 19 and extruder stepper motor 21; the expansion board is plugged into the control board On the board, the driver board is respectively connected with the power supply, the control board and the stepper motor. The control board in the control device 26 is Arduino Mega2560, and the expansion board is Ramps1.4.

The printer also includes a liquid crystal display 27 connected to the control device 26 for displaying the printing progress and printing speed when the printer is working.

Claims (9)

1. A movable 3D printer with connecting rod slider formula platform, is characterized in that, this printer mainly is made up of double-layer cylindrical frame, shower nozzle (14), platform kinematic mechanism and printing platform (10); The frame is mainly composed of a base plate (2), a bracket (11), a nozzle support plate (18) and a top plate (23); wherein, the base plate (2) is located at the bottom of the frame, and three The base (1) is used as a support; the brackets (11) are six in total, and each group of two is divided into three groups, which are evenly arranged on the bottom plate (2), and the lower ends of the brackets (11) are inserted into the preset slots on the bottom plate (2) , the middle part of the bracket (11) passes through the slot on the nozzle support plate (18), and the nozzle support plate (18) is limited on the bracket (11) by the nozzle support plate fixing seat (17) fixedly installed below it. , the upper part of the bracket (11) is fixedly connected with the top plate (23); The platform movement mechanism includes a synchronous pulley (4), a slider (5), a fixed block (6), a long bolt (7), a printing platform support rod (8), a support rod connecting sleeve (9), a printing platform (10) , light rod (12), synchronous belt (13) and stepping motor (19); described light rod (12) is fixedly installed on two supports (11) both sides of every group, and light rod (12) lower end inserts base plate (2) in the slot provided on; the slide block (5) is sleeved on the light rod (12), and the fixed block (6) is fixedly installed on the slide block (5); there are six printing platform support rods (8), each Both ends of the support rods (8) of the printing platform are covered with support rod connecting sleeves (9); every two supporting rod connecting sleeves (9) are in one group, and one end of each group of supporting rod connecting sleeves (9) is passed through the same long bolt It is fixed on both sides of the fixed block (6), and the other end is hinged to the printing platform (10). Every pair of two printing platform support rods (8) forms a parallel linkage mechanism, forming a total of six sets of revolving pairs, three sets of which are (120) a parallel link mechanism with evenly distributed angles; two fixed shafts are arranged in the middle of the fixed block (6), and a synchronous pulley (4) is installed on the corresponding base plate (2) directly below the fixed block (6), The corresponding nozzle support plate (18) directly above the fixed block (6) has a through hole, and a stepper motor (19) is arranged above the through hole, and the stepper motor (19) is fixedly connected by a stepper motor seat (22) On the support (11); one end of the synchronous belt (13) is fixed on a fixed shaft in the middle of the fixed block (6) and winds the motor shaft of the synchronous pulley (4) and the stepper motor (19) successively, and the synchronous belt (13) ) is fixedly installed on another fixed shaft in the middle of the fixed block (6); under the drive of the stepper motor (19), it is driven by the synchronous belt (13), so that the slide block (5) is positioned on the feed rod (12 ) to move in a straight line, driving three groups of parallel connecting rods to complete the translation of the printing platform (10); The nozzle (14) is fixed on the nozzle support plate (18); the fan port (15) and the fan (16) are respectively fixed on the lower and upper surfaces of the nozzle support plate (18), and the vent of the fan port (15) and the fan (16) the exhaust port communicates, and the vent of fan port (15) is toward shower head (14); Extruder stepper motor (21) is fixedly installed on the shower head support plate (18); Extruder extrusion head ( 20) It is fixedly connected on the extruder stepper motor (21), and the feed port of the extruder is concentric with the feed port of the top plate (23); the wire guide (24) is fixed on the top plate (23) by a set screw ), the consumables supporting base (25) is axially fixed on the top plate (23), and can rotate with the consumption of consumables. 2. The movable 3D printer of parallel-link slider type platform according to claim 1, characterized in that, in the printer, the two round holes for installing the light rod (12) of the slider (5) are equipped with Linear Bearings. 3. The movable 3D printer of parallel-link slider type platform according to claim 1, characterized in that, the outer surface of the fixed shaft on the fixed block (6) has a positioning structure for the synchronous belt (13). 4. The movable 3D printer according to claim 1, characterized in that the printer also includes a control device (26), and the control device (26) controls the stepper motor (19) The working state realizes the control of the position of the printing platform (10); and controls the printing progress through the control of the stepping motor (21) of the extruder. 5. The movable 3D printer according to claim 4, wherein the control device (26) mainly includes a control board, an expansion board and a driving device; wherein the control board is used as the entire control device (26) The central processor is responsible for sending signals, feedback and processing the signals collected by the sensor; the expansion board provides an interface for the sensor installed on the printer for connecting the sensor; the driver board is mainly driven by the control board and the stepping motor The control board driver is used to provide drive power for the control board, and the stepper motor driver provides drive power for the start-stop operation of the stepper motor (19) and the extruder stepper motor (21); the expansion board is inserted into the control board , the driver board is connected with the power supply, the control board and the stepping motor respectively. 6. The movable 3D printer according to claim 1, characterized in that the printer also includes a liquid crystal display (27), and the liquid crystal display (27) and the control device (26) Connection for displaying printing progress and printing speed when the printer is working. 7. The movable 3D printer according to claim 1, characterized in that the printer also includes a limit switch (28), and the limit switch (28) is installed on the fixed block ( 6) The lower part and the upper part of the bottom plate (2) are used to limit the range of motion of the fixed block (6). 8. The movable 3D printer of parallel link slider type platform according to claim 1, characterized in that the material selected for the printing platform support rod (8) is carbon fiber material. 9. The movable 3D printer with a parallel-link slider platform according to claim 4, wherein the control board in the control device (26) is an Arduino Mega2560 driver board, and the expansion board is a Ramps1.4 expansion board.