阅读说明：本技术 一种基于Core XY结构的硅胶3D打印机及其打印方法 (Silica gel 3D printer based on Core XY structure and printing method thereof ) 是由 田晓青 蒋承俊 邹高林 唐之晨 邹子宁 陈振超 卢磊 于 2020-04-30 设计创作，主要内容包括：本发明公开了一种基于Core XY结构的硅胶3D打印机及其打印方法。该硅胶3D打印机包括机架、打印模块、水平面电动模块、竖轴电动模块、水平轨迹定位模块、竖轴轨迹定位模块、运行轨迹生成模块以及总控模块。打印模块包括打印平面和点胶针筒,水平面电动模块包括水平运动平台。水平面电动模块带动点胶针筒在X轴或Y轴方向上运动。竖轴电动模块带动打印平面在机架的Z轴方向上运动。水平轨迹定位模块包括距离传感器一和距离传感器二,竖轴轨迹定位模块包括距离传感器三。运行轨迹生成模块获得点胶针筒三维运行轨迹曲线,总控模块用于纠正三维运行轨迹曲线。本发明具备能够自纠偏差的功能,提高打印精度和打印效果,保证3D打印的稳定性。(The invention discloses a silica gel 3D printer based on a Core XY structure and a printing method thereof. The silica gel 3D printer comprises a rack, a printing module, a horizontal plane electric module, a vertical axis electric module, a horizontal track positioning module, a vertical axis track positioning module, a running track generating module and a master control module. The printing module comprises a printing plane and a dispensing needle cylinder, and the horizontal electric module comprises a horizontal moving platform. The horizontal plane electric module drives the dispensing needle cylinder to move in the X-axis or Y-axis direction. The vertical shaft electric module drives the printing plane to move in the Z-axis direction of the rack. The horizontal track positioning module comprises a first distance sensor and a second distance sensor, and the vertical axis track positioning module comprises a third distance sensor. The movement track generation module obtains a three-dimensional movement track curve of the dispensing needle cylinder, and the master control module is used for correcting the three-dimensional movement track curve. The invention has the function of self-correcting deviation, improves the printing precision and the printing effect and ensures the stability of 3D printing.)

1. A silica gel 3D printer based on Core XY structure, it includes:

a frame (1);

a printing module (4) comprising a printing plane (41) and a dispensing needle cylinder (42); the needle head of the dispensing needle cylinder (42) is arranged towards the printing plane (41);

a horizontal plane motorized module (2) comprising a horizontal motion platform (29); the glue dispensing needle cylinder (42) is arranged on the horizontal moving platform (29), and the horizontal plane electric module (2) drives the glue dispensing needle cylinder (42) to move in the X-axis or Y-axis direction on the horizontal plane of the rack (1) through the horizontal moving platform (29);

the vertical-axis electric module (3) is used for driving the printing plane (41) to move in the Z-axis direction of the rack (1); wherein, the X axis, the Y axis and the Z axis form a three-dimensional rectangular coordinate system;

the main control module is used for controlling the horizontal plane electric module (2) and the vertical axis electric module (3) to enable the dispensing needle cylinder (42) and the printing plane (41) to move relatively according to a preset path so as to perform 3D printing;

its characterized in that, silica gel 3D printer still includes:

the horizontal track positioning module comprises a first distance sensor and a second distance sensor; the first distance sensor is mounted on the horizontal movement platform (29) and used for detecting a first moving distance of a needle head of the dispensing needle cylinder (42) in the length direction of the rack (1) and converting the first moving distance into a first moving vector in the three-dimensional rectangular coordinate system; the second distance sensor is arranged on the horizontal movement platform (29) and used for detecting a second moving distance of the needle head of the dispensing needle cylinder (42) in the width direction of the rack (1) and converting the second moving distance into a second moving vector in the three-dimensional rectangular coordinate system;

the vertical axis track positioning module comprises a distance sensor III; the distance sensor III is arranged on the printing plane (41) and used for detecting the lifting height of the printing plane (41) relative to the rack (1) and converting the lifting height into a moving vector III in the three-dimensional rectangular coordinate system; and

the moving track generating module is used for superposing the first moving vector, the second moving vector and the third moving vector according to printing time to obtain a three-dimensional moving track curve of the dispensing needle cylinder (42) in the three-dimensional rectangular coordinate system;

the master control module is further used for comparing the three-dimensional running track curve with the preset path to obtain a track position deviation curve, and then judging whether the maximum deviation distance in the current time period in the track position deviation curve is greater than a preset deviation distance or not; when the maximum deviation distance is larger than the preset deviation distance, the master control module firstly determines a correction direction according to included angles between a deviation vector of the maximum deviation distance and an X axis, a Y axis and a Z axis, then obtains a motion vector of the next time period according to the correction direction, and finally drives the horizontal electric module (2) and the vertical electric module (3) to correct the three-dimensional running track curve according to the motion vector.

2. A silica gel 3D printer based on a Core XY structure as claimed in claim 1, wherein the silica gel 3D printer further comprises:

the air pressure control device comprises a pressure sensor and an electronic pressure regulating valve; the pressure sensor is used for detecting the air pressure value in the dispensing syringe (42); the electronic pressure regulating valve is used for regulating the amount of silica gel entering the dispensing needle cylinder (42); and

the temperature control device comprises a heating sheet, a heating net, a temperature control module, a first temperature sensor, a second temperature sensor and at least one third temperature sensor; the heating sheet is arranged in the dispensing needle cylinder (42), the heating net is arranged on the printing plane (41), and the temperature control module is used for adjusting the environment temperature in the rack (1); the temperature sensor I is used for detecting a first temperature value of silica gel in the dispensing needle cylinder (42); the second temperature sensor is arranged at the bottom of the printing plane (41) and is used for detecting a second temperature value of the printing plane (41); the temperature sensor III is arranged on the rack (1) and is used for detecting a temperature value III in the rack (1); the silica gel is thermosetting silica gel;

or the like, or, alternatively,

a humidity control device including a humidity sensor and a humidifier; the humidifier is arranged on the rack (1) and is used for adjusting the environment humidity in the rack (1); the humidity sensor is used for detecting a humidity value in the rack (1); the silica gel is moisture-cured silica gel;

or the like, or, alternatively,

the ultraviolet lamp is arranged on the rack (1) and is used for irradiating the silica gel extruded from the dispensing needle cylinder (42); the silica gel is UV curing silica gel;

the general control module is further used for inquiring the printing temperature, the printing pressure range, the forming temperature and the forming humidity of the silica gel in a preset silica gel forming parameter library according to the type of the silica gel in the dispensing needle cylinder (42), judging whether the air pressure value is within one printing pressure range, judging whether the first temperature value reaches the printing temperature, judging whether the second temperature value is the forming temperature, judging whether the third temperature value is the forming temperature, and judging whether the humidity value is the forming humidity; when the air pressure value is smaller than the lower limit value of the printing pressure range, the master control module drives the electronic pressure regulating valve to increase the amount of the silica gel; when the air pressure value is larger than the upper limit value of the printing pressure range, the master control module drives the electronic pressure regulating valve to reduce the amount of the silica gel; when the first temperature value does not reach the printing temperature, the master control module drives the heating sheet to heat; when the second temperature does not reach the molding temperature, the master control module drives the heating net to heat; when the temperature III does not reach the molding temperature, the master control module drives the temperature control module to increase the ambient temperature; when the humidity value does not reach the forming humidity, the master control module drives the humidifier to increase the environment humidity.

3. A Core XY structure based silica gel 3D printer as claimed in claim 1, wherein the horizontal plane motorized module (2) comprises motor one (21), motor two (22) and moving components; the first motor (21) and the second motor (22) are both arranged on the frame (1), and the horizontal motion platform (29) is driven to move by the moving assembly in a preset Core XY structure driving mode.

4. A Core XY structure based silica gel 3D printer according to claim 1, wherein the vertical axis motor module (3) comprises at least two motors three (31), at least two sets of screw rod assemblies respectively corresponding to the at least two motors three (31), and a plurality of polish rods one (33); each group of screw rod components comprises a screw rod (32) and a screw rod sleeve (34) which are matched with each other; the motor III (31) is arranged on the rack (1), and an output shaft is connected with the corresponding screw rod (32); the lead screw sleeve (34) is fixed on the printing plane (41); two ends of the polish rod I (33) are fixed on the rack (1) and are arranged in parallel with the lead screw (32); the first polished rod (33) penetrates through the printing plane (41) so that the printing plane (41) moves along the axial direction of the first polished rod (33).

5. A Core XY structure based silica gel 3D printer according to claim 3, wherein the moving assembly comprises two synchronous belts (24), at least two polished rods two (25), two synchronous pulleys (26) corresponding to the two synchronous belts (24), respectively, eight fixed pulleys (27), at least two linear bearings (28) corresponding to the at least two polished rods two (25), respectively, at least two polished rods three (20), and at least two sliders (19) corresponding to the at least two polished rods three (20), respectively; at least two polish rods III (20) are arranged in parallel and are positioned at two opposite sides of the top of the frame (1); each polish rod III (20) penetrates through the corresponding slide block (19) and two ends of each polish rod III are fixed on the rack (1); at least two second polished rods (25) are arranged in parallel, and two ends of each second polished rod (25) are respectively fixed on the two sliding blocks (19); each linear bearing (28) is sleeved on the corresponding polish rod II (25) and is arranged on the horizontal moving platform (29); one synchronous pulley (26) is arranged on an output shaft of the first motor (21), and the other synchronous pulley (26) is arranged on an output shaft of the second motor (22); the eight fixed pulleys (27) are all arranged on the frame (1) and are divided into two groups with equal quantity; the same ends of the two synchronous belts (24) are fixed on the opposite side of the horizontal moving platform (29), and the same other ends of the two synchronous belts (24) are fixed on the opposite side of the horizontal moving platform (29); one synchronous belt (24) is sequentially matched with one group of fixed pulleys (27) and the corresponding synchronous belt wheel (26), and the other synchronous belt (24) is sequentially matched with the other group of fixed pulleys (27) and the corresponding synchronous belt wheel (26) to form a Core XY structure; when the first motor (21) and the second motor (22) rotate in the same direction, the two synchronous belts (24) pull the horizontal motion platform (29) to move along the X-axis direction; when the first motor (21) and the second motor (22) rotate reversely, the two synchronous belts (24) pull the horizontal motion platform (29) to move along the Y-axis direction.

6. A Core XY structure based silica gel 3D printer as claimed in claim 1, wherein the horizontal plane motorized module (2) further comprises a clamp (23); the clamp (23) comprises two clamping pieces and a plurality of connecting pieces; the two clamping pieces clamp the dispensing syringe (42) and are fixed by a plurality of connecting pieces.

7. A Core XY structure based silica gel 3D printer according to claim 4, characterised in that the frame (1) further comprises a base plate (11); the bottom end of the polish rod I (33) is fixed on the bottom plate (11), and the motor III (31) is installed on the bottom plate (11);

the silica gel is neutral curing sealant.

8. A Core XY structure based silica gel 3D printer as claimed in claim 5, wherein the displacement formula of the dispensing needle cylinder (42) on the plane formed by the X axis and the Y axis is:

ΔX＝1/2(ΔA+ΔB)

ΔY＝1/2(ΔA-ΔB)

in the formula, delta A is the linear displacement output by the first motor (21), and delta B is the linear displacement output by the second motor (22); DeltaX is the displacement of the dispensing syringe (42) in the X-axis direction, and DeltaY is the displacement of the dispensing syringe (42) in the Y-axis direction.

9. A Core XY structure based silica gel 3D printing method applied to the Core XY structure based silica gel 3D printer according to any one of claims 1 to 8, characterized by comprising the steps of:

detecting a first moving distance of a needle head of a dispensing needle cylinder (42) in the length direction of a rack (1) and a second moving distance of the needle head of the dispensing needle cylinder (42) in the width direction of the rack (1), converting the first moving distance into a first moving vector in a three-dimensional rectangular coordinate system, and converting the second moving distance into a second moving vector in the three-dimensional rectangular coordinate system;

detecting the lifting height of a printing plane (41) relative to a rack (1), and converting the lifting height into a moving vector III in the three-dimensional rectangular coordinate system;

superposing the first moving vector, the second moving vector and the third moving vector according to printing time to obtain a three-dimensional moving track curve in the three-dimensional rectangular coordinate system;

comparing the three-dimensional running track curve with the preset path to obtain a track position deviation curve;

judging whether the maximum deviation distance in the current time period in the track position deviation curve is greater than a preset deviation distance or not;

when the maximum deviation distance is larger than the preset deviation distance, determining a correction direction according to included angles between a deviation vector of the maximum deviation distance and an X axis, a Y axis and a Z axis, acquiring a motion vector of the next time period according to the correction direction, and driving the horizontal electric module (2) and the vertical electric module (3) to correct the three-dimensional running track curve according to the motion vector.

10. A silica gel 3D printing method based on Core XY structures as claimed in claim 9, wherein the silica gel 3D printing method further comprises the steps of:

(a) according to a model of a silica gel product to be printed, carrying out shell extraction processing on the model to obtain a hollow shell structure, and carrying out slicing processing on the hollow shell structure to obtain a 3D printing motion control file;

(b) liquid silica gel is preset in the dispensing syringe (42) according to the total usage of the silica gel, air bubbles in the dispensing syringe (42) are removed, and the needle head of the dispensing syringe (42) is positioned at a mechanical zero point;

(c) when an Nth layer is printed, N is a positive integer, the vertical-axis electric module (3) is controlled according to the 3D printing motion control file, the printing plane (41) moves to the height of the Nth layer according to the Z-axis motion component in the preset path, the dispenser is controlled to extrude the liquid silica gel from the dispensing syringe (42) under the preset pressure, the horizontal-plane electric module (2) is controlled in a linkage mode, the dispensing syringe (42) moves according to the horizontal-plane motion component in the preset path, and the extruded liquid silica gel is rapidly solidified at the preset position;

(d) and (3) after the Nth layer is printed, controlling the vertical shaft electric module (3) to drive the printing plane (41) to ascend or descend, switching to the (N + 1) th layer, and repeating the step (c) until the printing is finished.

Technical Field

The invention relates to a silica gel 3D printer in the technical field of 3D printing, in particular to a silica gel 3D printer based on a Core XY structure, and further relates to a silica gel 3D printing method based on the Core XY structure of the printer.

Background

Compared with solid high-temperature vulcanized silicone rubber, the liquid silicone rubber has the advantages of good fluidity, quick vulcanization, safety, environmental protection, capability of meeting food-grade requirements and the like, does not generate byproducts in the cross-linking vulcanization process, has extremely low shrinkage rate, can be deeply cured, and is non-toxic and non-corrosive. The vulcanized liquid silica gel has excellent physical and mechanical properties and electrical properties, has the characteristics of good high and low temperature properties, good weather resistance, low surface tension, environmental friendliness, non-flammability and the like, and can be used in the fields of food, medical treatment, sealing, automobiles, electronic and electrical appliances and the like.

The traditional processing methods of liquid silica gel include injection molding and compression molding. The injection molding process has the disadvantages of long production period, repeated work and the like, while the mold for compression molding process has high manufacturing cost and demolding limitation, and both methods are not beneficial to manufacturing the gradient functional material. Therefore, the liquid silica gel can be applied to the field of 3D printing, but the requirements of the existing 3D printing technologies such as photocuring forming and laser sintering forming on materials are different, the liquid silica gel absorbs water for curing and is difficult to process by adopting laser sintering forming, and if the photocuring process is selected for rapid forming, the safety and physical properties of the silica gel material are obviously reduced due to the introduction of photosensitive components and photoinitiators in the liquid silica gel, the application value of silica gel products is reduced, and meanwhile, the liquid silica gel has certain toxicity and cannot meet the requirements of the fields such as food medical treatment.

Realize through Core XY structure that 3D prints and have to the raw and other materials low, easily debug the repacking, equipment cost is low, be fit for advantages such as extensive application, silica gel product has kept silica gel's performance well simultaneously, elasticity is good after the solidification, high strength, but because use conveyer and a plurality of pulley in the Core XY structure, deformation can appear in conveyer and the long-term use of pulley, often can lead to some glue cylinder to take place the deviation like this, and then make the printing off tracking, great deviation appears with the product of actual need in the product that makes final printing, 3D printing precision ratio is lower.

Disclosure of Invention

The invention provides a silica gel 3D printer based on a Core XY structure and a printing method thereof, and aims to solve the technical problems that printing deviation occurs when the existing 3D printer realizes printing through the Core XY structure and printing precision is low.

The invention is realized by adopting the following technical scheme: a silica gel 3D printer based on Core XY structure, it includes:

a frame;

the printing module comprises a printing plane and a dispensing needle cylinder; the needle head of the dispensing needle cylinder is arranged towards the printing plane;

a horizontal surface motorized module comprising a horizontal motion platform; the horizontal electric module drives the glue dispensing needle cylinder to move in the X-axis or Y-axis direction on the horizontal plane of the rack through the horizontal moving platform;

the vertical shaft electric module is used for driving the printing plane to move in the Z-axis direction of the rack; wherein, the X axis, the Y axis and the Z axis form a three-dimensional rectangular coordinate system;

the main control module is used for controlling the horizontal electric module and the vertical shaft electric module so that the dispensing needle cylinder and the printing plane move relatively according to a preset path to perform 3D printing;

the horizontal track positioning module comprises a first distance sensor and a second distance sensor; the first distance sensor is arranged on the horizontal motion platform and used for detecting a first moving distance of a needle head of the dispensing needle cylinder in the length direction of the rack and converting the first moving distance into a first moving vector in the three-dimensional rectangular coordinate system; the second distance sensor is arranged on the horizontal motion platform and used for detecting a second moving distance of the needle head of the dispensing needle cylinder in the width direction of the rack and converting the second moving distance into a second moving vector in the three-dimensional rectangular coordinate system;

the vertical axis track positioning module comprises a distance sensor III; the distance sensor III is arranged on the printing plane and used for detecting the lifting height of the printing plane relative to the rack and converting the lifting height into a moving vector III in the three-dimensional rectangular coordinate system; and

the moving track generating module is used for superposing the first moving vector, the second moving vector and the third moving vector according to the printing time to obtain a three-dimensional moving track curve of the dispensing needle cylinder in the three-dimensional rectangular coordinate system;

the master control module is further used for comparing the three-dimensional running track curve with the preset path to obtain a track position deviation curve, and then judging whether the maximum deviation distance in the current time period in the track position deviation curve is greater than a preset deviation distance or not; when the maximum deviation distance is larger than the preset deviation distance, the master control module firstly determines a correction direction according to included angles between a deviation vector of the maximum deviation distance and an X axis, a Y axis and a Z axis, then obtains a motion vector of the next time period according to the correction direction, and finally drives the horizontal electric module and the vertical electric module to correct the three-dimensional running track curve according to the motion vector.

The invention respectively detects the moving distance of the needle head of the dispensing syringe in the length and width direction of the frame through the first distance sensor and the second distance sensor of the horizontal track positioning module, converts the moving distance into a first moving vector and a second moving vector in a three-dimensional rectangular coordinate system, detects the lifting height of a printing plane through the third distance sensor of the vertical axis track positioning module, converts the lifting height into a third moving vector in the three-dimensional rectangular coordinate system, superposes the moving vectors according to the printing time through the running track generating module to obtain a three-dimensional moving track curve of the dispensing syringe, so that the master control module can firstly compare the curve with a preset path to obtain a track position deviation curve, then judges whether the maximum deviation distance of the current time period in the track position deviation curve is greater than the preset deviation distance or not, and calculates the included angle between the deviation vector and each axis once the maximum deviation distance is greater than the preset deviation distance, confirm to correct the direction, then obtain the motion vector of next time quantum and order about horizontal plane electric module and vertical axis electric module with this and correct three-dimensional orbit curve, solved current 3D printer and realized printing through the Core XY structure and can appear printing the deviation, print the lower technical problem of precision, obtained and printed the precision height, can correct automatically and print the deviation to improve the technological effect of printing the effect.

As a further improvement of the above scheme, the silica gel 3D printer further includes:

the air pressure control device comprises a pressure sensor and an electronic pressure regulating valve; the pressure sensor is used for detecting the air pressure value in the dispensing needle cylinder; the electronic pressure regulating valve is used for regulating the amount of the silica gel entering the dispensing needle cylinder; and

the temperature control device comprises a heating sheet, a heating net, a temperature control module, a first temperature sensor, a second temperature sensor and at least one third temperature sensor; the heating plate is arranged in the dispensing needle cylinder, the heating net is arranged on the printing plane, and the temperature control module is used for adjusting the environment temperature in the rack; the temperature sensor I is used for detecting a first temperature value of the silica gel in the dispensing needle cylinder; the temperature sensor II is arranged at the bottom of the printing plane and used for detecting a temperature value II of the printing plane; the temperature sensor III is arranged on the rack and used for detecting a temperature value III in the rack; the silica gel is thermosetting silica gel;

or the like, or, alternatively,

a humidity control device including a humidity sensor and a humidifier; the humidifier is arranged on the rack and used for adjusting the environment humidity in the rack; the humidity sensor is used for detecting a humidity value in the rack; the silica gel is moisture-cured silica gel;

or the like, or, alternatively,

the ultraviolet lamp is arranged on the rack (1) and is used for irradiating the silica gel extruded from the dispensing needle cylinder; the silica gel is UV curing silica gel;

the general control module is further used for inquiring the printing temperature, the printing pressure range, the forming temperature and the forming humidity of the silica gel in a preset silica gel forming parameter library according to the type of the silica gel in the dispensing needle cylinder, judging whether the air pressure value is within one printing pressure range, judging whether the first temperature value reaches the printing temperature, judging whether the second temperature value is the forming temperature, judging whether the third temperature value is the forming temperature, and judging whether the humidity value is the forming humidity; when the air pressure value is smaller than the lower limit value of the printing pressure range, the master control module drives the electronic pressure regulating valve to increase the amount of the silica gel; when the air pressure value is larger than the upper limit value of the printing pressure range, the master control module drives the electronic pressure regulating valve to reduce the amount of the silica gel; when the first temperature value does not reach the printing temperature, the master control module drives the heating sheet to heat; when the second temperature does not reach the molding temperature, the master control module drives the heating net to heat; when the temperature III does not reach the molding temperature, the master control module drives the temperature control module to increase the ambient temperature; when the humidity value does not reach the forming humidity, the master control module drives the humidifier to increase the environment humidity.

As a further improvement of the above scheme, the horizontal plane electric module comprises a motor I, a motor II and a moving assembly; the first motor and the second motor are both arranged on the rack, and the horizontal motion platform is driven to move by the moving assembly in a preset Core XY structure driving mode.

As a further improvement of the above scheme, the vertical shaft electric module comprises at least two motors III, at least two groups of screw rod assemblies respectively corresponding to the at least two motors III and a plurality of polished rods I; each group of screw rod components comprises a screw rod and a screw rod sleeve which are matched with each other; the motor III is arranged on the rack, and an output shaft is connected with the corresponding screw rod; the screw rod sleeve is fixed on the printing plane; two ends of the polish rod I are fixed on the rack and are arranged in parallel with the lead screw; the first polish rod penetrates through the printing plane so that the printing plane moves along the axial direction of the first polish rod.

Further, the moving assembly comprises two synchronous belts, at least two polished rods II, two synchronous belt wheels respectively corresponding to the two synchronous belts, eight fixed pulleys, at least two linear bearings respectively corresponding to the at least two polished rods II, at least two polished rods III and at least two sliding blocks respectively corresponding to the at least two polished rods III; the at least two polished rods are arranged in parallel and are positioned on two opposite sides of the top of the rack; each polished rod III penetrates through the corresponding sliding block, and two ends of each polished rod III are fixed on the rack; the two second polish rods are arranged in parallel, and two ends of each second polish rod are respectively fixed on the two sliding blocks; each linear bearing is sleeved on the corresponding polish rod II and is arranged on the horizontal motion platform; one synchronous belt wheel is arranged on an output shaft of the first motor, and the other synchronous belt wheel is arranged on an output shaft of the second motor; the eight fixed pulleys are all arranged on the frame and divided into two groups with equal quantity; the same ends of the two synchronous belts are fixed on the opposite side of the horizontal motion platform, and the same other ends of the two synchronous belts are fixed on the opposite side of the horizontal motion platform; one synchronous belt is sequentially matched with one group of fixed pulleys and the corresponding synchronous belt wheel, and the other synchronous belt is sequentially matched with the other group of fixed pulleys and the corresponding synchronous belt wheel to form a Core XY structure; when the first motor and the second motor rotate in the same direction, the two synchronous belts pull the horizontal motion platform to move along the X-axis direction; when the first motor and the second motor rotate reversely, the two synchronous belts pull the horizontal motion platform to move along the Y-axis direction.

As a further improvement of the above solution, the horizontal plane electric module further comprises a clamp; the clamp comprises two clamping pieces and a plurality of connecting pieces; the two clamping pieces clamp the dispensing needle cylinder and are fixed through a plurality of connecting pieces.

Further, the rack also comprises a bottom plate; the bottom end of the polished rod I is fixed on the bottom plate, and the motor III is installed on the bottom plate;

the silica gel is neutral curing sealant.

Still further, the displacement formula of the dispensing needle cylinder on the plane formed by the X axis and the Y axis is as follows:

ΔX＝1/2(ΔA+ΔB)

ΔY＝1/2(ΔA-ΔB)

in the formula, delta A is the linear displacement output by the first motor, and delta B is the linear displacement output by the second motor; Δ X is the displacement of the dispensing syringe in the X-axis direction, and Δ Y is the displacement of the dispensing syringe in the Y-axis direction.

The invention also provides a silica gel 3D printing method based on the Core XY structure, which is applied to any silica gel 3D printer based on the Core XY structure and comprises the following steps:

detecting a first moving distance of a needle head of a dispensing needle cylinder in the length direction of a rack and a second moving distance of the needle head of the dispensing needle cylinder in the width direction of the rack (1), converting the first moving distance into a first moving vector in a three-dimensional rectangular coordinate system, and converting the second moving distance into a second moving vector in the three-dimensional rectangular coordinate system;

detecting the lifting height of a printing plane relative to a rack, and converting the lifting height into a moving vector III in the three-dimensional rectangular coordinate system;

superposing the first moving vector, the second moving vector and the third moving vector according to printing time to obtain a three-dimensional moving track curve in the three-dimensional rectangular coordinate system;

comparing the three-dimensional running track curve with the preset path to obtain a track position deviation curve;

judging whether the maximum deviation distance in the current time period in the track position deviation curve is greater than a preset deviation distance or not;

when the maximum deviation distance is larger than the preset deviation distance, determining a correction direction according to included angles between a deviation vector of the maximum deviation distance and an X axis, a Y axis and a Z axis, acquiring a motion vector of the next time period according to the correction direction, and driving a horizontal electric module and a vertical electric module to correct the three-dimensional moving track curve according to the motion vector.

As a further improvement of the above scheme, the silica gel 3D printing method further includes the steps of:

(a) according to a model of a silica gel product to be printed, carrying out shell extraction processing on the model to obtain a hollow shell structure, and carrying out slicing processing on the hollow shell structure to obtain a 3D printing motion control file;

(b) liquid silica gel is preset in the dispensing syringe according to the total consumption of the silica gel, air bubbles in the dispensing syringe are removed, and the needle head of the dispensing syringe is positioned at a mechanical zero point;

(c) when the Nth layer is printed, N is a positive integer, the vertical-axis electric module is controlled according to the 3D printing motion control file, the printing plane moves to the height of the Nth layer according to the Z-axis motion component in the preset path, the dispenser is controlled to extrude the liquid silica gel from the dispensing needle cylinder under the preset pressure, the horizontal-plane electric module is controlled in a linkage mode, the dispensing needle cylinder moves according to the horizontal-plane motion component in the preset path, and the extruded liquid silica gel is rapidly solidified at the preset position;

(d) and (3) after the Nth layer is printed, controlling the vertical shaft electric module to drive the printing plane to ascend or descend, switching to the (N + 1) th layer, and repeating the step (c) until the printing is finished.

Compared with the existing 3D printer, the silica gel 3D printer based on the Core XY structure and the printing method thereof have the following beneficial effects:

1. the silica gel 3D printer based on the Core XY structure is characterized in that a first distance sensor and a second distance sensor of a horizontal track positioning module respectively detect the moving distance of a needle head of a glue dispensing needle cylinder in the length and width direction of a rack and convert the moving distances into a first moving vector and a second moving vector which are positioned in the X-axis direction and the Y-axis direction in a three-dimensional rectangular coordinate system, the lifting height of a printing plane is detected by a third distance sensor of a vertical axis track positioning module and converted into a third moving vector which is positioned in the Z-axis direction in the three-dimensional rectangular coordinate system, the moving vectors are overlapped according to the printing time through a running track generating module to obtain a three-dimensional moving track curve of the glue dispensing needle cylinder, so that a master control module can firstly compare the curve with a preset path to obtain a track position deviation curve, and then judge whether the maximum deviation distance of the current time period in the track position deviation, and once the distance is greater than the preset deviation distance, calculating the included angle between the deviation vector and each axis, determining the correction direction, then obtaining the motion vector of the next time period, and driving the horizontal plane electric module and the vertical axis electric module to correct the three-dimensional moving track curve. Because the process of correcting the three-dimensional trajectory curve can be carried out in real time, consequently just can correct the deviation in 3D prints, even when relative slip appears in synchronous pulley and hold-in range like this, the printer also can in time make a response, this has just solved current 3D printer and has realized printing the problem that the deviation appears easily and cause the printing precision can not satisfy the demand through Core XY structure, thereby make the 3D printer possess the function that can correct the deviation certainly, improve and print the precision and print the effect, guarantee the stability that 3D printed.

2. This silica gel 3D printer based on Core XY structure, it still sets up air pressure control device, temperature control device and humidity control device. The pressure sensor of the air pressure control device can detect the air pressure value in the dispensing needle cylinder, each temperature sensor of the temperature control device can detect the temperature of the dispensing needle cylinder, the printing plane and the machine frame, the humidity sensor of the humidity control device can detect the humidity, and the master control module can determine the corresponding printing temperature, the printing pressure range, the forming temperature and the forming humidity according to the type of the silicon material. When atmospheric pressure value is not printing the pressure range, total accuse module will order about the silica gel volume that the electronic pressure regulating valve adjusted the entering, makes the pressure value all the time in printing the pressure range, goes out like this and glues more evenly stably, and then promotes and print the quality. When the silica gel is a heat-curable silica gel, the silica gel is heat-cured when the temperature reaches a certain temperature. When the silica gel temperature at the point gluey cylinder can not satisfy the printing temperature, at this moment because the mobility of silica gel is relatively poor, can block up the syringe needle of some gluey cylinder, therefore total control module then can heat the silica gel in the some gluey cylinder through the heating plate at this moment, makes the silica gel temperature reach the printing temperature all the time to guarantee printing efficiency, reduce the fault rate of printing. When the temperature of printing plane or frame does not reach forming temperature, total accuse module will order about heating net or temperature control module to heat, makes the ambient temperature at the silica gel place of falling from the syringe needle be in forming temperature all the time to can accelerate the silica gel shaping, further improve silica gel printing efficiency. When silica gel is moisture curing silica gel, when environmental humidity did not reach printing humidity, moisture in the air can not satisfy the fashioned demand of silica gel water absorption, and the module of always controlling can order about the humidifier this moment and carry out the humidification, and then can improve the shaping speed of silica gel, avoids appearing unnecessary deformation because silica gel shaping time overlength to improve 3D and print the effect. When the silica gel is UV-curable silica gel, the ultraviolet lamp may irradiate the silica gel to cure the silica gel.

Consequently, this silica gel 3D printer based on Core XY structure can adapt to the silica gel of different materials, like thermosetting silica gel, moisture cure silica gel, UV curing silica gel, widens the silica gel kind of 3D printer consumptive material, satisfies different 3D and prints the demand.

3. This silica gel 3D printer based on Core XY structure, its Core XY structure of using compare in common longmen (i3) structure and cross axle structure among the traditional 3D printer, two motors in the XY plane of this structure only need drive and a little gluey cylinder and X axle motion are glued to the point, and the Y axle is fixed, and load lightweight inertia is little is difficult for losing steps, and printing effect is stable. Compared with a Delta parallel arm structure, the Core XY structure has high space utilization rate, low leveling difficulty and better effect in arc line printing.

4. This silica gel 3D printer based on Core XY structure, its dependency to the silica gel raw materials is low, and common deoximation solidification neutral sealant can reach good printing effect, and can keep the characteristic of liquid silica gel, and is nontoxic harmless, can satisfy the requirement in fields such as food medical treatment.

5. This silica gel 3D printer based on Core XY structure, it can improve on current 3D printer, can print bearing structure and silica gel model simultaneously, has advantages such as equipment cost is low, the range of application is wide.

6. The beneficial effects of the silica gel 3D printing method based on the Core XY structure are the same as those of the silica gel 3D printer based on the Core XY structure, and are not repeated here.

Drawings

Fig. 1 is a perspective view of a Core XY structure-based silica gel 3D printer according to embodiment 1 of the present invention.

Fig. 2 is a front view of the Core XY structure-based silicone 3D printer of fig. 1.

Fig. 3 is a perspective view of a split partial structure of the Core XY structure-based silica gel 3D printer in fig. 1.

Fig. 4 is a top view of the Core XY structure-based silica gel 3D printer of fig. 1.

Fig. 5 is a perspective view of the printing module of the Core XY structure-based silicone 3D printer in fig. 1.

FIG. 6 is a Core XY structure winding schematic diagram of the Core XY structure-based silica gel 3D printer in FIG. 1.

Description of the symbols:

1 rack 25 polish rod two

2 horizontal electric module 26 synchronous belt wheel

3 vertical axis electric module 27 fixed pulley

4 print module 28 linear bearing

11 bottom plate 29 horizontal movement platform

12 frame 31 motor three

19 slide block 32 screw rod

20 three 33 polish rods

21 motor-34 screw rod sleeve

22 motor two 41 printing plane

23 clamp 42 dispensing syringe

24 synchronous belt

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.