CN114961268B - Second Z-axis device for building 3D printing and printing path part type traversing method - Google Patents

Abstract

The invention relates to a second Z-axis device for building 3D printing and a printing path part type traversing method, which belong to the field of building 3D printing. The printing path part type traversing method extracts part of models to generate slicing paths, the slicing paths are printed layer by layer from a reference surface to a certain height, then the corresponding reference surface is returned, the unprinted models are extracted again to generate slicing paths, the upward printing is continued, and the printing of the components is repeatedly completed in such a way, so that the problems that the printer stops working and waits for concrete solidification, and frequent material replacement is caused when the materials used by all parts of the building are different and printed layer by layer are solved. Compared with the prior art, the second Z-axis device can ensure the implementation of a partial traversing method of a printing path, and the partial traversing method can effectively reduce the solidification waiting time and the material changing times of printing materials.

Description

A second Z-axis device and partial traversal of the printing path for architectural 3D printing method

technical field

The present invention relates to the field of architectural 3D printing, in particular to a second Z-axis device for architectural 3D printing and a printing path partial traversal method.

Background technique

3D printing is a rapid prototyping technology that uses bondable materials such as powdered metal or plastic to construct objects by printing layer by layer. It is an innovative technology that can turn digital models into physical objects. Architectural 3D printers combined with the construction industry usually use special concrete as the adhesive material, reinforced with steel cages, and can quickly print out various buildings.

Existing architectural 3D printers are based on the FDM (Fused Deposition Manufacturing) process and follow the complete traversal printing path to print special concrete layer by layer. The waiting time for solidification is long and the printing efficiency is low; when the printing materials used for the inner and outer walls are different, they need to be replaced frequently printing materials, reducing print quality and printer life.

At present, the print head of the traditional truss and gantry structure printer is fixed on the printing beam and moves along the vertical direction of the column. Usually, it only rises and does not fall during the work process to avoid interference between the print head and the frame on the printed component entity. ; The printer with the robotic arm structure does have higher flexibility, but the dexterous space and accessible space of the robotic arm are limited, making it difficult to achieve large-span printing.

Contents of the invention

The purpose of the present invention is to propose a second Z-axis device and a partial printing path traversal method for architectural 3D printing, so as to solve the problems of long waiting time for solidification and frequent replacement of printing materials in the background technology.

On the basis of the original architectural 3D printer, the idea of using the complete traversal path of the FDM process for architectural 3D printing is changed, and a partial traversal method for the architectural 3D printing path is proposed. The partial traversal method extracts part of the model to generate a slice path, layer by layer from the reference plane After printing to a certain height, return to the corresponding reference plane, extract the unprinted model again to generate a slice path, and continue to print upwards, so as to complete the printing of components repeatedly; design the second Z-axis as the implementation device of the partial traversal method of the printing path.

The present invention can be realized through the following technical solutions: a second Z-axis device for building 3D printing, including a first-level mobile module, a second-level mobile module, and a third-level mobile module, and the three-level mobile module constitutes a telescopic The structure is characterized in that the first-stage mobile module includes a first-stage shaft cylinder, a top positioning nut, a top positioning frame, a second Z-axis fixing frame, a lead screw a, a coupling a, a first-stage motor, Moving nut a, the second-stage moving module includes the second-stage shaft barrel, second-stage motor, coupling b, moving nut b, lead screw b, fastening sleeve, second-stage positioning nut, and the third-stage moving The module includes the third shaft cylinder, two screw screws c, three-stage positioning nuts, end fixing frame, third-stage motor, intermediate connecting frame, synchronous belt, synchronous pulley, two moving nuts c, discharge port and Z A shaft connector, an end dust cover, and a shaft coupling c; the second Z-axis device utilizes a three-stage T-shaped lead screw screw a, lead screw b, and lead screw c for transmission and locking; the first stage The motor is fixed on the second Z-axis fixed frame, and is connected to the lead screw a through the coupling a to provide power. The moving nut a drives the first shaft cylinder to move vertically on the lead screw a, and the top positioning nut is fixed on the top positioning frame to set up the top positioning function, the secondary positioning nut is fixed on the bottom of the first shaft cylinder to position the screw b; the second motor is connected to the fastening sleeve, and the screw b is connected to the screw b through the coupling b to provide power to move the nut b Connect the fastening bushing to drive the shaft cylinder of the second section on the screw b to move vertically; the two screw c are linked with the synchronous belt through the synchronous pulley, and the screw c is connected to the second shaft through the coupling c The three-stage motor is connected, the third-stage motor and the three-stage positioning nut are respectively fixed on the upper and lower sides of the middle connecting frame, the third section of the shaft cylinder is connected with the two moving nuts c on the end fixing frame, and the two moving nuts c are connected to the lead screw c Move vertically; the outlet and the Z-axis connector are used to connect the print head, and the dust cover at the end is used for bottom sealing.

Further, the lead of the screw a is not smaller than that of the screw b, and the lead of the screw b is not smaller than that of the screw c.

Further, the length of the first section of the shaft cylinder is not less than that of the second section of the shaft cylinder, and the length of the second section of the shaft cylinder is not less than that of the third section of the shaft cylinder.

A second Z-axis device and printing path partial traversal method for architectural 3D printing as described above, characterized in that it specifically includes the following steps:

S1. Divide the model to obtain parts with equal area or better internal structure connectivity;

S2. Set an appropriate printing height, or calculate the printing height of each part according to the performance of the printing material and the area of the area;

S3. Slice each part successively, and complete the printing within the height successively;

S4. Step S3 is repeated until all printing is completed.

Further, the calculation expressions of the area and height of each part:

Formula 1:

Formula 2: t _x = (S _x , H _x );

Formula 3:

Among them, S ₁ , S ₂ , S ₃ ,… are the areas of each part, H ₁ , H ₂ , H ₃ ,… are the heights of each part, t ₁ , t ₂ , t _x … are the printing time of each part, t′ ₁ is the time for the printer to stop working and wait for the first part to be printed upward again, _Th is the solidification time for the material with a height of h to obtain the strength of continuous upward printing, and n is the serial number of the divided printing part.

Compared with the prior art, the present invention has the following advantages:

1. Starting from the uniqueness of architectural 3D printing, a partial traversal method of the printing path is proposed on the basis of the current architectural 3D printing following the complete traversal printing path of the FDM process, so as to make reasonable use of the solidification time of the printing material and improve efficiency;

2. When the printing materials used for the inner and outer walls are different, there is no need to frequently replace the printing materials, which improves the overall quality of printing and the service life of the printer;

3. The present invention provides the second Z-axis as the implementation device of the partial traversal method of the printing path, and the design of the telescopic structure reduces vibration and improves stability. The vertical movement of the second Z-axis as a redundant degree of freedom can improve the overall flexibility of the printer .

Description of drawings

Fig. 1 is a schematic diagram of the maximum contraction state of the second Z-axis device of the present invention

Fig. 2 is a schematic diagram of an elongated state of the second Z-axis device of the present invention

Fig. 3 is a structural schematic diagram of the second Z-axis device of the present invention hiding the first section and the second section of the shaft cylinder

Fig. 4 is a schematic diagram of a high-priority embodiment of the printing path partial traversal method of the present invention

Fig. 5 is a schematic diagram of an area-first embodiment of the printing path partial traversal method of the present invention

Reference signs: 1, the first section shaft cylinder, 2, the second section shaft cylinder, 3, the end shaft cylinder, 4, the top positioning nut, 5, the top positioning frame, 6, the second stage motor, 7, the coupling b, 8, moving nut b, 9, lead screw b, 10, second Z-axis fixed frame, 11, lead screw a, 12, coupling a, 13, first-stage motor, 14, lead screw c, 15 , three-level positioning nut, 16, end fixed frame, 17, moving nut a, 18, third-level motor, 19, intermediate connecting frame, 20, synchronous belt, 21, synchronous pulley, 22, mobile nut c, 23, Outlet and Z-axis connector, 24, end dust cover, 25, fastening bushing, 26, shaft coupling c, 27, secondary positioning nut.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

As shown in Figures 1 and 2, this embodiment provides a second Z-axis device for architectural 3D printing, including a first-level mobile module, a second-level mobile module, and a third-level mobile module. The third-level mobile module To form a telescopic structure, Fig. 1 is a contracted state of the second Z-axis device, and Fig. 2 is an elongated state of the second Z-axis device.

As shown in Figure 3, the first-stage mobile module includes the first shaft cylinder 1, the top positioning nut 4, the top positioning frame 5, the second Z-axis fixing frame 10, the lead screw a11, the coupling a12, and the first-stage motor 13. Move nut a17. The first-stage motor 13 is fixed on the second Z-axis fixed frame 10, and is connected to the lead screw a11 through the coupling a12 to provide power. The moving nut a17 drives the first shaft cylinder 1 to move vertically on the lead screw a11, and the top positioning nut 4 is fixed. The top positioning frame 5 acts as the top positioning function, and the secondary positioning nut 27 is fixed on the bottom of the first shaft cylinder 1 to perform the positioning function for the lead screw b9.

The second-stage moving module includes the second section of the shaft cylinder 2 , the second-stage motor 6 , the coupling b7 , the moving nut b8 , the lead screw b9 , the fastening sleeve 25 , and the secondary positioning nut 27 . The second-stage motor 6 is connected with the fastening sleeve 25, and the power is provided by connecting the lead screw b9 through the coupling b7, and the moving nut b8 is connected with the fastening bushing 25 to drive the second section of the shaft tube and the shaft tube 2 on the screw b9, vertically move.

The third-stage mobile module includes the third-stage shaft cylinder 3, two screw screws c14.1 and c14.2, the third-stage positioning nut 15, the end fixing frame 16, the third-stage motor 18, the intermediate connecting frame 19, and the timing belt 20 , Timing pulley 21, two moving nuts c22.1 and c22.2, outlet and Z-axis connector 23, end dust cover 24, coupling c26. The two lead screws c14.1 and c14.2 are linked with the synchronous belt 20 through the synchronous pulley 21, the lead screw c14.1 is connected with the third-stage motor 18 through the coupling c26, the third-stage motor 18 and the third-stage The positioning nuts 15 are respectively fixed on the upper and lower sides of the intermediate connecting frame 19, the third shaft cylinder 3 is connected to the two moving nuts c22 on the end fixing frame 16, and the two moving nuts c22.1 and c22.2 are connected to the two screw c14 .1 and c14.2 move vertically; the outlet and the Z-axis connector 23 are used to connect the print head, and the end dust cover 24 is used for bottom sealing.

When the second Z axis is in the maximum contraction state, the moving nut a17 is located at the top of the stroke of the lead screw a11, the moving nut b8 is located at the top of the stroke of the lead screw b9, and the two moving nuts c22.1 and c22.2 are located at the two lead screws c14.1 and c14 .2 Top of stroke. During the transition from the shrinking state to any of the elongating states, input the specified height to the upper computer matched with the second Z-axis device to judge the height range. When the specified height is less than the stroke of the lead screw a11, the first stage motor 13 passes through the coupling The device a12 turns the lead screw a11, drives the moving nut a17 to move vertically along the lead screw a11, makes the discharge port and the Z-axis connector 2 reach the specified height, moves the nut b8, the lead screw b9, and the two moving nuts c22.1 and c22 .2. The two lead screws c14.1 and c14.2 are in a static state during this process; when the specified height is greater than the lead screw a11 but less than the sum of the strokes of the lead screw a11 and lead screw b9, turn the lead screw a11 to move the nut a17 Move vertically along the lead screw a11 to the bottom end of the lead screw a11 stroke, the first stage motor 13 stops working, the second stage motor 6 starts to work, the power is provided by connecting the lead screw b9 through the coupling b7, and the moving nut b8 moves along the lead screw b9 Move vertically so that the outlet and Z-axis connector 2 reach the specified height; when the specified height is greater than the sum of the strokes of the lead screw a11 and the lead screw b9 but less than the sum of the strokes of the lead screw a11, the lead screw b9 and the lead screw c14.1 , the first-stage motor 13 and the second-stage motor 6 work successively until the moving nut a17 and the moving nut b8 successively reach the bottom end of the stroke of the lead screw a11 and the lead screw b9 and stop working, and the third-stage motor 18 starts to work, driving the two The moving nuts c22.1 and c22.2 move vertically along the two lead screws c14.1 and c14.2, so that the discharge port and the Z-axis connector 2 reach the specified height.

The printing path partial traversal method of this example includes the following steps:

Step S1. Divide the model into parts with equal areas, or divide them into parts with different areas according to the connected structure when the area is inconvenient to calculate;

Step S2. Set an appropriate printing height, or calculate the printing height of each part according to the performance of the printing material and the area of the area;

Step S3. Slice each part successively, and complete the printing within the height successively;

Step S4. Step S3 is repeated until all printing is completed.

The second Z-axis device for architectural 3D printing and the partial traversal method of the printing path according to claim 5, wherein the calculation expressions of the area and height of each part are:

Formula 1:

Formula 2: t _x = (S _x , H _x );

Formula 3:

Among them, S ₁ , S ₂ , S ₃ ,… are the areas of each part, H ₁ , H ₂ , H ₃ ,… are the heights of each part, t ₁ , t ₂ , t _x … are the printing time of each part, t′ ₁ is the time for the printer to stop working and wait for the first part to be printed upward again, _Th is the solidification time for the material with a height of h to obtain the strength of continuous upward printing, and n is the serial number of the divided printing part.

Specifically, formula 1 is used to divide the columnar building components with regular shape, and according to formula 1, the building components are divided into parts with equal area and same height, as shown in Figure 4 ①, ②, ③ three parts, each part When the cross-sectional area is the same and the printing height is set the same, the printing time is the same. Reasonably plan the sequence, such as printing ①, ②, ③ one by one. After ① prints to the set height, then print ② from the reference surface upwards, and continue printing ③ after completion. The printing time of ②, ③ coincides with the solidification time of the material in ①, so Save overall printing time.

Equation 2 is used to give priority to ensuring the structural connectivity of each part, so the division of each part is no longer limited by the equal area and height, as shown in Figure 5 ④, ⑤, ⑥ are printed with different materials for each part, affected by the area and printing speed The height of each part is no longer the same, but it reduces the number of refills, improves print quality and printer life.

Equation 3 calculates the time t′ ₁ for the printer to stop working and wait for printing the first part again. When t′ ₁ ≤ 0, the partial traversal path has the highest value.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall be within the scope of protection defined by the claims.

Claims (6)

1. The second Z-axis device for 3D printing of the building comprises a first-stage moving module, a second-stage moving module and a third-stage moving module, wherein the third-stage moving module forms a telescopic structure, the first-stage moving module comprises a first shaft cylinder (1), a top positioning nut (4), a top positioning frame (5), a second Z-axis fixing frame (10), a screw rod a (11), a coupler a (12), a first-stage motor (13) and a moving nut a (17), the second-stage moving module comprises a second shaft cylinder (2), a second-stage motor (6), a coupler b (7), a moving nut b (8), a screw rod b (9), a fastening sleeve (25), a second-stage positioning nut (27), and the third-stage moving module comprises a tail end shaft cylinder (3), a first screw rod c (14.1) and a second screw rod c (14.2), a third-stage positioning nut (15), a tail end fixing frame (16), a third-stage motor (18), an intermediate connecting frame (19), a synchronous belt (20), a synchronous belt wheel (21), a first moving nut c (22.1) and a second moving nut (22.2), a tail end connector (24) and a dust-proof cover (23) are connected with the Z-axis; the second Z-axis device utilizes a three-stage T-shaped lead screw a (11), a lead screw b (9), a first lead screw c (14.1) and a second lead screw c (14.2) for transmission and locking; the first-stage motor (13) is fixed on the second Z-axis fixing frame (10), a shaft coupler a (12) is connected with a screw rod a (11) to provide power, a movable nut a (17) drives a first shaft sleeve (1) to vertically move on the screw rod a (11), a top end positioning nut (4) is fixed on the top end positioning frame (5) to play a role in top end positioning, and a second-stage positioning nut (27) is fixed on the bottom of the first shaft sleeve (1) to play a role in positioning a screw rod b (9); the second-stage motor (6) is connected with the fastening sleeve (25), the screw rod b (9) is connected through the coupler b (7) to provide power, and the movable nut b (8) is connected with the fastening sleeve (25) to drive the second section shaft barrel (2) to vertically move on the screw rod b (9); the first lead screw c (14.1) and the second lead screw (14.2) are linked with the synchronous belt (20) through a synchronous pulley (21), the first lead screw c (14.1) is connected with a third-stage motor (18) through a coupler c (26), the third-stage motor (18) and a third-stage positioning nut (15) are respectively fixed on the upper side and the lower side of a middle connecting frame (19), a tail end shaft barrel (3) is connected with a first moving nut c (22.1) and a second moving nut c (22.2) on a tail end fixing frame (16), and the first moving nut c (22.1) and the second moving nut c (22.2) are respectively vertically moved on the first lead screw c (14.1) and the second lead screw c (14.2); the discharging hole is connected with the Z-axis connector (23) and is used for connecting a printing head, and the tail end dust cover (24) is used for sealing the bottom.

2. The second Z-axis apparatus for 3D printing of construction according to claim 1, wherein the lead of the lead screw a (11) is not smaller than the lead screw b (9), and the lead screw b (9) is not smaller than the first lead screw c (14.1) and the second lead screw c (14.2).

3. The second Z-axis apparatus for 3D printing of construction according to claim 1, wherein the first joint cylinder (1) is not smaller in length than the second joint cylinder (2), and the second joint cylinder (2) is not smaller in length than the end cylinder (3).

4. The second Z-axis apparatus for 3D printing of construction according to claim 1, wherein the first lead screw c (14.1) and the second lead screw c (14.2) are identical, and the first moving nut c (22.1) and the second moving nut c (22.2) are identical.

5. A method of partial traversal of a print path using a second Z-axis device for 3D printing of a building according to any one of claims 1 to 4, comprising in particular the steps of:

s1, dividing a model to obtain parts with equal areas or better internal structure connectivity;

s2, setting a proper printing height, or calculating the printing height of each part according to the performance of the printing material and the area of the region;

s3, sequentially slicing each part to sequentially finish printing in the height;

s4, repeating the step S3 until all printing is completed.

6. The method of claim 5, wherein the area and height calculation expression for each portion is: formula 1:

formula 2: t is t _x ＝(S _x ，H _x )；

Formula 3:

wherein S is ₁ ,S ₂ ,S ₃ … each part has an area of H ₁ ，H ₂ ，H ₃ … the height of each part, t ₁ ，t ₂ ，t _x … when printing for each partBetween t ₁ ' waiting for the printer to stop working for the time to print the first portion up again, T _h Obtaining the solidification time of the upward printing strength for the material with the height h, wherein n is the serial number of the divided printing part; dividing the parts to make t ₁ ' decrease, when t ₁ When the'.ltoreq.0, the print path partial traversal method exerts the maximum value.