3D printing equipment and 3D printing method
阅读说明:本技术 一种3d打印设备及3d打印方法 (3D printing equipment and 3D printing method ) 是由 刘欣宇 王武峰 王雷冲 陈定文 徐俊 于 2019-10-30 设计创作,主要内容包括:本发明涉及一种3D打印设备及3D打印方法,该设备包括打印平台、支撑组件和机器臂组件;支撑组件包括支架、滑块和连接杆,滑块可沿Z向滑动地连接到支架上,连接杆第一端通过第一轴承与滑块连接,连接杆第二端通过第二轴承与打印平台连接;机器臂组件包括滑轨、第一连接臂、第二连接臂和第三连接臂,第一连接臂第一端可沿Z向滑动地连接到滑轨上,第一连接臂第二端连接有第一电机,第一电机连接第二连接臂第一端,第二连接臂第二端连接有第二电机,第二电机连接第三连接臂第一端,第三连接臂第二端上安装有打印喷头;支撑组件的数目为至少三个,机器臂组件的数目为至少两个。本发明能够实现两种以上不同材料在同一3D打印设备中一次打印成型。(The invention relates to a 3D printing device and a 3D printing method, wherein the device comprises a printing platform, a supporting assembly and a robot arm assembly; the support assembly comprises a support, a sliding block and a connecting rod, the sliding block can be connected to the support in a sliding mode along the Z direction, the first end of the connecting rod is connected with the sliding block through a first bearing, and the second end of the connecting rod is connected with the printing platform through a second bearing; the robot arm assembly comprises a sliding rail, a first connecting arm, a second connecting arm and a third connecting arm, wherein the first end of the first connecting arm can be connected to the sliding rail in a sliding mode along the Z direction, the second end of the first connecting arm is connected with a first motor, the first motor is connected with the first end of the second connecting arm, the second end of the second connecting arm is connected with a second motor, the second motor is connected with the first end of the third connecting arm, and a printing spray head is mounted at the second end of the third connecting arm; the number of support assemblies is at least three and the number of robot arm assemblies is at least two. The invention can realize one-time printing and molding of more than two different materials in the same 3D printing equipment.)
1. A3D printing device is characterized by comprising a printing platform, a support assembly and a robot arm assembly;
the support assembly comprises a support, a sliding block and a connecting rod, the support extends along the Z direction, the sliding block can be connected to the support in a sliding mode along the Z direction, the first end of the connecting rod is connected with the sliding block through a first bearing, and the second end of the connecting rod is connected with the printing platform through a second bearing;
the robot arm assembly comprises a slide rail, a first connecting arm, a second connecting arm and a third connecting arm, and the slide rail extends along the Z direction; the first end of the first connecting arm can be connected to the sliding rail in a sliding mode along the Z direction, the second end of the first connecting arm is connected with a first motor, the first motor is connected with the first end of the second connecting arm, the second end of the second connecting arm is connected with a second motor, the second motor is connected with the first end of the third connecting arm, the second end of the third connecting arm is provided with a mounting position, and the mounting position is provided with a printing spray head;
the number of the supporting assemblies is at least three, and the brackets of the at least three supporting assemblies are arranged around the printing platform; the number of the robot arm assemblies is at least two, and the slide rails of the at least two robot arm assemblies are arranged around the printing platform.
2. 3D printing device according to claim 1, characterized in that:
the print head is detachably mounted on the mounting position.
3. 3D printing device according to claim 1, characterized in that:
the first bearing and the second bearing are universal bearings.
4. A 3D printing device according to any of claims 1 to 3, characterized in that:
the support and the sliding rail are fixedly arranged on the fixing frame.
5. The 3D printing apparatus according to claim 4, wherein:
the support assembly further comprises a first drive mechanism;
the first driving mechanism comprises a third motor, a driving wheel, a driven wheel and a belt, the driving wheel and the driven wheel are arranged at two ends of the support, the belt is arranged around the driving wheel and the driven wheel, and the third motor drives the driving wheel to rotate; the belt is connected with the sliding block and drives the sliding block to move.
6. A 3D printing device according to any of claims 1 to 3, characterized in that:
the two sides of the sliding block are respectively connected with one connecting rod.
7. A 3D printing device according to any of claims 1 to 3, characterized in that:
the robot arm assembly further comprises a screw rod and a fourth motor, the screw rod is arranged in the slide rail, the fourth motor is connected with the screw rod and drives the screw rod to rotate, and the screw rod is connected with the first end of the first connecting arm and drives the first connecting arm to move.
8. A3D printing method is characterized in that:
the method is carried out in a 3D printing device according to any one of claims 1 to 7; the method comprises the following steps:
the method comprises the following steps: determining a moving path of the slider in the support assembly according to slice information of the three-dimensional model;
step two: according to the moving path, the supporting assembly drives the printing platform to move, and a first mechanical arm assembly in the at least two mechanical arm assemblies prints layer by layer on the printing platform to obtain a first forming part; the second mechanical arm component prints layer by layer on the pre-forming part or injects slurry into the first forming part;
step three: and finishing printing, and recovering the original state of the supporting component.
9. A 3D printing method according to claim 8, characterized in that:
in the first step, determining a moving path of the slide block in the support assembly and at least one of the first connecting arm, the second connecting arm and the third connecting arm in the mechanical arm assembly according to slice information of the three-dimensional model;
in the second step, according to the moving path, at least one of the first connecting arm, the second connecting arm and the third connecting arm in the mechanical arm assembly moves to drive the printing nozzle to move so as to print; after each mechanical arm assembly finishes printing, the second connecting arm and the third connecting arm of the mechanical arm assembly are restored to the original state;
in the third step, after the printing is finished, the first connecting arm of each mechanical arm assembly is restored to the original state.
10. A 3D printing method according to claim 8 or 9, characterized in that:
the first step further comprises: selecting the printing spray heads in at least two mechanical arm assemblies according to the types of printing materials; setting the thickness of layer-by-layer printing, adjusting the temperature of the printing nozzle and adjusting the feeding rate of the printing nozzle;
and the second step is carried out once or repeatedly for a plurality of times.
Technical Field
The invention relates to the technical field of 3D printing, in particular to 3D printing equipment and a 3D printing method.
Background
The 3D printing can stack the materials into a three-dimensional entity in a material layer-by-layer accumulation mode, and the process of a product with a complex shape without a mold can be realized.
At present, 3D printing equipment aiming at some slurry such as cement and clay slurry mainly uses free forming, and the printing precision is more than 2mm, so the requirement on the product precision cannot be met. The cement product is indirectly molded by adopting a 3D printing mold, although a product with higher precision can be molded, the cement product is generally extruded or injected with slurry for molding through another procedure after the mold is printed, and the cement product is not finished without manual operation. At present, 3D printing equipment for plastics mainly uses Fused Deposition Modeling (FDM), and only one or two plastic materials can be printed on one equipment at the same time, and more than two different types of materials cannot be printed on the same equipment at the same time, for example, plastics and non-plastics cannot be printed at the same time, which makes the existing 3D printing product single in material and performance. For example, the chinese patent application No. 201610344610.2 discloses a 3D printer with curved surface processing characteristics, which performs support-free printing on a workpiece cantilever and a cavity curved surface printing piece by tilting a base platform and moving a nozzle on a main body of the 3D printer, however, the printer can only print one material and cannot be compatible with printing of multiple materials at the same time. The application number 201811159227.5 Chinese patent application discloses a rotary switching double-nozzle device of a 3D printer and a printing method thereof, wherein a rotary switching machine is added on an extrusion head, but the printed material is only limited to plastic, and more than two different types of materials such as plastic and non-plastic can not be molded in the same 3D printing equipment.
Disclosure of Invention
In view of the shortcomings of the prior art, a first object of the present invention is to provide a 3D printing apparatus capable of printing and molding more than two different types of materials, such as plastic and non-plastic, in the same 3D printing apparatus.
A second object of the present invention is to provide a 3D printing method, which can realize that more than two different types of materials, such as plastic and non-plastic, are printed and molded in the same 3D printing device.
To achieve the first object of the present invention, the present invention provides a 3D printing apparatus comprising a printing platform, a support assembly and a robot arm assembly; the support assembly comprises a support, a sliding block and a connecting rod, the support extends along the Z direction, the sliding block can be connected to the support in a sliding mode along the Z direction, the first end of the connecting rod is connected with the sliding block through a first bearing, and the second end of the connecting rod is connected with the printing platform through a second bearing; the robot arm assembly comprises a slide rail, a first connecting arm, a second connecting arm and a third connecting arm, and the slide rail extends along the Z direction; the first end of the first connecting arm can be connected to the sliding rail in a sliding mode along the Z direction, the second end of the first connecting arm is connected with a first motor, the first motor is connected with the first end of the second connecting arm, the second end of the second connecting arm is connected with a second motor, the second motor is connected with the first end of the third connecting arm, the second end of the third connecting arm is provided with a mounting position, and the mounting position is provided with a printing nozzle; the number of the supporting assemblies is at least three, and the supports of the at least three supporting assemblies are arranged around the printing platform; the number of the robot arm assemblies is at least two, and the sliding rails of the at least two robot arm assemblies are arranged around the printing platform.
The further technical scheme is that the printing spray head is detachably arranged on the mounting position.
The further technical scheme is that the first bearing and the second bearing are universal bearings.
The further technical scheme is that the 3D printing equipment further comprises a fixing frame, and the support and the sliding rail are fixedly installed on the fixing frame.
The further technical scheme is that the support assembly further comprises a first driving mechanism; the first driving mechanism comprises a third motor, a driving wheel, a driven wheel and a belt, the driving wheel and the driven wheel are arranged at two ends of the support, the belt is arranged around the driving wheel and the driven wheel, and the third motor drives the driving wheel to rotate; the belt is connected with the sliding block and drives the sliding block to move.
The further technical proposal is that two sides of the sliding block are respectively connected with a connecting rod.
The further technical scheme is that the robot arm assembly further comprises a screw rod and a fourth motor, the screw rod is arranged in the sliding rail, the fourth motor is connected with the screw rod and drives the screw rod to rotate, and the screw rod is connected with the first end of the first connecting arm and drives the first connecting arm to move.
To achieve the second object of the present invention, the present invention provides a 3D printing method performed in a 3D printing apparatus according to any one of the above aspects; the method comprises the following steps:
the method comprises the following steps: determining a movement path of the support assembly slider according to slice information of the three-dimensional model;
step two: according to the moving path, the support assembly drives the printing platform to move, and a first mechanical arm assembly in the at least two mechanical arm assemblies prints layer by layer on the printing platform to obtain a first forming part; the second mechanical arm component prints on the previous forming part layer by layer or injects sizing agent into the first forming part;
step three: and finishing printing, and restoring the support assembly to the original state.
The method comprises the following steps that in the step one, the moving path of at least one of a sliding block in a supporting assembly and a first connecting arm, a second connecting arm and a third connecting arm in a mechanical arm assembly is determined according to slice information of a three-dimensional model; in the second step, according to the moving path, at least one of a first connecting arm, a second connecting arm and a third connecting arm in the mechanical arm assembly moves to drive the printing nozzle to move so as to print; after each mechanical arm assembly finishes printing, the second connecting arm and the third connecting arm of the mechanical arm assembly are restored to the original state; in step three, after printing is finished, the first connecting arm of each mechanical arm assembly is restored to the original state.
The further technical scheme is that the first step further comprises the following steps: selecting at least two printing nozzles in the mechanical arm assembly according to the type of the printing material; setting the thickness of layer-by-layer printing, adjusting the temperature of a printing nozzle and adjusting the feeding rate of the printing nozzle; and the second step is carried out once or repeatedly.
Compared with the prior art, the invention can obtain the following beneficial effects:
(1) the 3D printing equipment and the 3D printing method can process and mold various different materials such as plastics and non-plastics in one equipment, and expand the material processing range of 3D printing. When a product consisting of a plurality of different materials is printed, the printing materials can be changed by controlling the movement of the printing platform and/or the mechanical arm assembly, and then the printing of the multi-material product can be completed on the same platform.
(2) When a higher workpiece is processed, the processing length of the 3D printing equipment and the 3D printing method in the Z direction is the sum of the Z-direction movement stroke of the printing platform and the Z-direction movement stroke of the mechanical arm, so that the processing length in the Z direction of 3D printing can be theoretically increased by increasing the movement stroke of the mechanical arm in the Z direction.
(3) The invention can realize 3D printing through the movement of the printing platform, and the mechanical arm assembly does not need to move. When processing comparatively complicated work piece, print platform and 3D print the arm and can move simultaneously, and six motions can satisfy the processing of most complicated work pieces.
(4) When processing a workpiece with high precision, the processing of the characteristics of various materials can be completed by the equipment and the method, wherein one spray head prints a mould and one spray head sprays slurry.
Drawings
FIG. 1 is a schematic perspective view of a 3D printing apparatus according to an embodiment of the present invention;
fig. 2 is a schematic side view of a 3D printing apparatus according to an embodiment of the present invention.
The printing device comprises a
Detailed Description
Embodiments of the invention will be further described with reference to the accompanying drawings, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below are exemplary and are intended to be illustrative, but not limiting, of the present invention, and any modifications, equivalents, or improvements made within the spirit and principle of the present invention, which are not described in detail in the technical solutions below, are known in the art, and are intended to be included within the scope of the claims of the present invention.
Referring to fig. 1 to 2, the present embodiment provides a 3D printing apparatus having a
The
The
The
In the embodiment, the number of the robot arm assemblies 30 is two, and the two sliding
The
The printing device also comprises a control device which controls the printing position by controlling the working states of the
Embodiment of the printing method
This embodiment uses above-mentioned 3D printing apparatus to print plastic mold shaping ceramic artwork. The method specifically comprises the following steps:
the method comprises the following steps: and importing the three-dimensional model file into the 3D printing and forming equipment, and determining the moving paths of the printing platform and the 3D printing mechanical arm according to the slice information of the model by the program. According to the printing material, a plastic material printing nozzle is selected from the first mechanical arm assembly, and a ceramic slurry material printing nozzle is selected from the second mechanical arm assembly.
Step two: after the supporting component moves to enable the printing platform to be aligned to the plastic material printing nozzle of the first mechanical arm component, the plastic material printing nozzle starts discharging, and according to the moving path, the supporting component moves to enable the printing platform to move downwards layer by layer, so that the first mechanical arm component prints the mold layer by layer. After the die is machined to a proper layer height, the first mechanical arm assembly is restored to the original state, the supporting assembly moves to enable the printing platform to be aligned to the ceramic slurry material printing nozzle of the second mechanical arm assembly, the ceramic slurry material printing nozzle starts to stably extrude ceramic slurry, and after the slurry is extruded, the second mechanical arm assembly is restored to the original state.
Step three: and (5) recovering the support assembly and the printing platform to the original state, and finishing printing.
Printing method embodiment two
The embodiment uses the 3D printing equipment to print the plastic mold to form the cement artware. The method specifically comprises the following steps:
the method comprises the following steps: and importing the three-dimensional model file into the 3D printing and forming equipment, and determining the moving paths of the 3D printing platform and the 3D printing mechanical arm according to the slice information of the model by the program. According to the printing material, a plastic material printing nozzle is selected from the first mechanical arm assembly, and a cement paste material printing nozzle is selected from the second mechanical arm assembly.
Step two: after the supporting component moves to enable the printing platform to be aligned to the plastic material printing nozzle of the first mechanical arm component, the plastic material printing nozzle starts discharging, and according to the moving path, the supporting component moves to enable the printing platform to move downwards layer by layer, so that the first mechanical arm component prints the mold layer by layer. After the mould is processed to a proper layer height, the first mechanical arm assembly is restored to the original state, the supporting assembly moves to enable the printing platform to be aligned to the cement paste material printing nozzle of the second mechanical arm assembly, and the cement paste material printing nozzle starts to stably extrude cement paste. And after the extrusion of the slurry is finished, the second mechanical arm assembly is restored to the original state.
Step three: and (5) the supporting component and the printing platform are restored to the original state, and the printing is finished.
Printing method embodiment three
The present embodiment prints the ceramic cement artwork using the above-mentioned 3D printing apparatus. The method specifically comprises the following steps:
the method comprises the following steps: and importing the three-dimensional model file into the 3D printing and forming equipment, and determining the moving paths of the 3D printing platform and the 3D printing mechanical arm according to the slice information of the model by the program. According to the printing material, the ceramic slurry material printing spray head is selected from the first mechanical arm component, and the cement slurry material printing spray head is selected from the second mechanical arm component.
Step two: after the supporting component moves to enable the printing platform to be aligned to the ceramic slurry material printing nozzle of the first mechanical arm, the ceramic slurry material printing nozzle starts discharging, and according to the moving path, the supporting component moves to enable the printing platform to move downwards layer by layer, so that the ceramic part is printed layer by the first mechanical arm component. After the required layer height is processed, the first mechanical arm assembly is restored to the original state, the supporting assembly moves to enable the printing platform to be aligned to the cement paste material printing nozzle of the second mechanical arm assembly, the cement paste material printing nozzle starts to stably extrude cement paste, and the supporting assembly moves to enable the printing platform to move downwards layer by layer according to the moving path, so that the cement part is printed on the second mechanical arm assembly layer by layer. And after the cement slurry is extruded, the second mechanical arm assembly is restored to the original state. The supporting component moves to enable the printing platform to align the printing nozzle of the first mechanical arm component again, and printing is continued. This process is cycled until printing is complete.
Step three: and (5) the supporting component and the printing platform are restored to the original state, and the printing is finished.
Therefore, the invention can realize one-time processing of various materials, has larger size space in the processing Z direction, is suitable for the requirements of different products and materials, and has strong practicability.
Although the present description makes extensive use of terms like printing platform, support assembly, carriage, slider, connecting rod, first bearing, second bearing, third motor, belt, robot arm assembly, slide rail, first connecting arm, second connecting arm, third connecting arm, first motor, second motor, printing head, lead screw, fourth motor, mount, base, top seat, pillar, etc., the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe the nature of the invention and they are to be construed as any additional limitation which is not in accordance with the spirit of the invention. The terms first, second, third, fourth, and the like are used only for distinguishing and do not limit the structure or function.
It should be understood that parts of the specification not set forth in detail are well within the prior art.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
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