阅读说明：本技术 一种微小三维结构的无支撑熔融静电纺丝直写装置 (Supportless melt electrostatic spinning direct-writing device with micro three-dimensional structure ) 是由 叶瑞芳 张宏浩 杨晓光 何广奇 郑高峰 于 2021-09-22 设计创作，主要内容包括：本发明专利涉及近场熔融静电纺丝直写技术领域,具体涉及一种微小三维结构的无支撑熔融静电纺丝直写装置,通过设置Y轴水平运动平台、X轴水平运动平台、X轴旋转平台、Z轴旋转绝缘平台的设置,使得零件接收板最终可以在X、Y轴水平运动,X、Z轴的旋转,具有4个自由度,能够灵活调整被制备零件的姿态,配合一个在垂直方向可以旋转的3自由度机械臂,用于调节静电纺丝喷头在垂直平面的姿态。本发明在静电纺丝过程中能够将支撑零件的3D模型按一个平面裁剪成更小的部分,每一个被分割的部分在分割他的标准面的法线方向上打印时是自支撑的,分割时顺序进行后续加工,最终通过前一个分割部分为基底的连续无支撑静电纺丝直写,打印出完整的零件,无需添加额外的支撑物,提高了生产效率。(The invention relates to the technical field of near-field melt electrostatic spinning direct writing, in particular to a supportless melt electrostatic spinning direct writing device with a tiny three-dimensional structure, wherein a Y-axis horizontal motion platform, an X-axis rotation platform and a Z-axis rotation insulation platform are arranged, so that a part receiving plate can finally move horizontally at X, Y axes, the rotation of X, Z axes has 4 degrees of freedom, the posture of a prepared part can be flexibly adjusted, and the supportless melt electrostatic spinning direct writing device is matched with a 3-degree-of-freedom mechanical arm which can rotate in the vertical direction and is used for adjusting the posture of an electrostatic spinning nozzle in the vertical plane. According to the invention, in the electrostatic spinning process, the 3D model of the supporting part can be cut into smaller parts according to a plane, each divided part is self-supporting when being printed in the normal direction of the standard surface of the divided part, subsequent processing is sequentially carried out during division, and finally, the integral part is printed by continuous unsupported electrostatic spinning direct writing with the previous divided part as the substrate without adding extra supports, so that the production efficiency is improved.)

1. A unsupported melt electrostatic spinning direct-writing device with a micro three-dimensional structure is characterized in that: comprises a frame, a Y-axis horizontal motion motor, a Y-axis coupler, a Y-axis precise ball screw, a Y-axis motion platform, an X-axis precise ball screw, an X-axis coupler, an X-axis horizontal motion motor, an X-axis horizontal motion platform, an X-axis rotary motor, a Z-axis rotary insulation platform, a Z-axis rotary motor, a part receiving plate, a mechanical arm and an electrostatic spinning nozzle,

the Y-axis horizontal motion motor and the Y-axis precise ball screw are arranged on the frame, the Y-axis horizontal motion motor and the Y-axis precise ball screw are mutually connected through a Y-axis coupler, the Y-axis motion platform is horizontally arranged on the frame in a sliding manner along the Y direction, the Y-axis motion platform is arranged on the Y-axis precise ball screw in a sliding manner,

the X-axis precise ball screw and the X-axis horizontal motion motor are arranged on the Y-axis motion platform, the X-axis precise ball screw and the X-axis horizontal motion motor are mutually connected through an X-axis coupler, the X-axis horizontal motion platform is horizontally arranged on the X-axis precise ball screw in a sliding manner along the X direction,

the X-axis rotary platform is driven by an X-axis rotary motor and is arranged on the X-axis horizontal motion platform, the Z-axis rotary insulation platform is driven by a Z-axis rotary motor and is arranged on the X-axis rotary platform, the part receiving plate is arranged on the Z-axis rotary insulation platform,

the mechanical arm is arranged on the rack, the electrostatic spinning nozzle is arranged at the tail end of the mechanical arm, and the electrostatic spinning nozzle is driven by the mechanical arm and movably arranged at the opposite position of the part receiving plate.

2. The electrospinning direct-writing apparatus according to claim 1, wherein: the arm includes the shower nozzle anchor clamps of installing support, arm one arm rotating electrical machines, arm shower nozzle rotating electrical machines, arm two arm rotating electrical machines, arm one arm and arm two arms, the installing support is fixed in the frame, arm one arm and arm one arm rotating electrical machines set up on the installing support, and arm one arm is driven rotatoryly by arm one arm rotating electrical machines, and arm two arms and arm two arm rotating electrical machines set up on arm one arm, and arm two arms are driven rotatoryly by arm two arm rotating electrical machines, and arm shower nozzle anchor clamps set up at arm two ends, the electrostatic spinning nozzle is pressed from both sides and is located on arm shower nozzle anchor clamps.

3. The electrospinning direct-writing apparatus according to claim 1, wherein: the Y-axis motion platform is characterized in that sliding guide rails are symmetrically arranged on two sides of the rack along the Y-axis direction, guide grooves are oppositely arranged on two sides of the bottom of the Y-axis motion platform, and the Y-axis motion platform and the rack slide horizontally along the Y direction through the matching of the sliding guide rails and the guide grooves.

4. The electrospinning direct-writing apparatus according to claim 1, wherein: x axle horizontal movement platform is U font platform, U font platform bottom is established on the accurate ball screw of X axle along X direction horizontal slip cover, U font platform both sides limit is equipped with the connecting hole, X axle rotary platform rotates the cross in the connecting hole of establishing in U font platform both sides, X axle rotating electrical machines sets up and is connected with X axle rotary platform at U font platform one side and its output through a connecting hole, and drives X axle rotary platform uses the X axle to rotate as the symmetry axis to the angle of adjustment part receiver plate for the inclination of complicated unsettled part and part receiver plate normal line is lighter than the biggest free brace angle of part on it.

5. The electrospinning direct-writing apparatus according to claim 4, wherein: the Z-axis rotary insulation platform is arranged above the X-axis rotary platform, the Z-axis rotary motor is arranged below the X-axis rotary platform and penetrates through the X-axis rotary platform, and the output end of the Z-axis rotary motor is connected with the Z-axis rotary insulation platform to drive the Z-axis rotary insulation platform to rotate by 360 degrees.

6. The electrospinning direct-writing apparatus according to claim 1, wherein: still include conveying pipe, spinning material box, feeding motor, heating block, heating rod and the insulating cover of nozzle, the feeding motor sets up in the frame, and conveying pipe intercommunication spinning material box and electrostatic spinning nozzle, conveying pipe are carried the material in the spinning material box to the electrostatic spinning nozzle under the feeding motor drives, and the heating block sets up between electrostatic spinning nozzle and the conveying pipe tip, the embedded heating rod that is equipped with of heating block, the electrostatic spinning nozzle still is equipped with the insulating cover of nozzle outward.

7. The electrospinning direct-writing apparatus according to claim 6, wherein: the part receiving plate is connected with the ground of the high-voltage direct-current power supply, and the electrostatic spinning nozzle is connected with the positive electrode of the high-voltage direct-current power supply.

8. The electrospinning direct-writing apparatus according to claim 1, wherein: the motion precision of the X precision ball screw and the Y precision ball screw is higher than 0.005 mm.

9. The electrospinning direct-writing apparatus according to claim 1, wherein: the nozzle insulating sleeve is made of a material with a heat conductivity coefficient larger than 20W/M.K.

10. The electrospinning direct-writing apparatus according to claim 1, wherein: the X-axis horizontal motion motor, the Y-axis horizontal motion motor, the X-axis rotary motion motor, the mechanical arm one-arm rotary motor, the mechanical arm two-arm rotary motor and the mechanical arm spray nozzle rotary motor are all servo motors.

Technical Field

The invention relates to the technical field of near-field melt electrostatic spinning direct writing, in particular to a supportless melt electrostatic spinning direct writing device with a micro three-dimensional structure.

Background

Electrostatic spinning is a novel micro-nano manufacturing technology, the current electrostatic spinning is divided into solution electrostatic spinning and melt electrostatic spinning, and the melt electrostatic spinning is late, equipment is more complex than the solution electrostatic spinning, and parameters needing to be controlled are more than the solution electrostatic spinning, so that people researching and paying attention to the method are relatively few, but the melt electrostatic spinning does not need a solvent, is environment-friendly, extremely low in cost, high in efficiency and strong in industrialization prospect compared with the solution electrostatic spinning, and therefore the melt electrostatic spinning has great development potential in the future.

Near-field electrospinning direct writing is the regulation of the flow rate of polymer melt extruded from an injection nozzle by an extrusion device and stacking at predictable deposition locations using a high voltage power supply to drive a charged melt jet. So that the orderly distributed micron-sized fibers are collected on the receiving device, the structure of the prepared part is relatively simple because the controllability of the spinning fibers in the third dimension of the space is generally not high at present, however, with the development of technology, the electrostatic spinning inevitably carries out the structural processing of more and more complex parts, the part of a complex structure with a suspended structure is determined to be necessarily stacked in the manufacturing process along with the characteristics of layered deposition of the complex structure, a certain supporting material is generally selected to be used as a support facing the suspended structure, otherwise, the product material does not have a support with enough strength, and the complex structure cannot be stacked and printed layer by layer when suspended, but for electrostatic spinning, a micro-nano-level part is manufactured, if the use of a support material for support and subsequent removal of the support material is a difficult task, it takes a lot of labor, material and time.

In the prior art, for example, CN109137265A and CN108068308A patents propose multi-degree-of-freedom electrostatic spinning devices with mechanical arms, but these patent solutions all need to add corresponding supporting dies to ensure final printing and molding, and they use solution electrostatic spinning materials, which are very expensive, and the volatilization of a large amount of organic solvents during the preparation process of solution electrostatic spinning is likely to cause environmental pollution.

Disclosure of Invention

In order to solve the problems in the aspect of the above melt electrostatic spinning, a support-free melt near-field electrostatic spinning direct-writing printing device needs to be provided, which is used for solving the technical problem that a support material is needed to support when the micro-nano-level part is manufactured by the existing electrostatic spinning, so that the difficulty in removing the subsequent support material is avoided.

In order to achieve the aim, the invention provides a supportless melt electrostatic spinning direct-writing device with a tiny three-dimensional structure, which comprises a frame, a Y-axis horizontal motion motor, a Y-axis coupler, a Y-axis precise ball screw, a Y-axis motion platform, an X-axis precise ball screw, an X-axis coupler, an X-axis horizontal motion motor, an X-axis horizontal motion platform, an X-axis rotation motor, a Z-axis rotation insulation platform, a Z-axis rotation motor, a part receiving plate, a mechanical arm and an electrostatic spinning nozzle,

the Y-axis horizontal motion motor and the Y-axis precise ball screw are arranged on the frame, the Y-axis horizontal motion motor and the Y-axis precise ball screw are mutually connected through a Y-axis coupler, the Y-axis motion platform is horizontally arranged on the frame in a sliding manner along the Y direction, the Y-axis motion platform is arranged on the Y-axis precise ball screw in a sliding manner,

the X-axis precise ball screw and the X-axis horizontal motion motor are arranged on the Y-axis motion platform, the X-axis precise ball screw and the X-axis horizontal motion motor are mutually connected through an X-axis coupler, the X-axis horizontal motion platform is horizontally arranged on the X-axis precise ball screw in a sliding manner along the X direction,

the X-axis rotary platform is driven by an X-axis rotary motor and is arranged on the X-axis horizontal motion platform, the Z-axis rotary insulation platform is driven by a Z-axis rotary motor and is arranged on the X-axis rotary platform, the part receiving plate is arranged on the Z-axis rotary insulation platform,

the mechanical arm is arranged on the rack, the electrostatic spinning nozzle is arranged at the tail end of the mechanical arm, and the electrostatic spinning nozzle is driven by the mechanical arm and movably arranged at the opposite position of the part receiving plate.

Further, the arm includes installing support, arm one arm rotating electrical machines, arm shower nozzle rotating electrical machines, arm two arm rotating electrical machines, the shower nozzle anchor clamps of arm, arm one arm and arm two arms, the installing support is fixed in the frame, arm one arm and arm one arm rotating electrical machines set up on the installing support, and arm one arm is driven rotatoryly by arm one arm rotating electrical machines, and arm two arms and arm two arm rotating electrical machines set up on arm one, and arm two arms are driven rotatoryly by arm two arm rotating electrical machines, and arm shower nozzle anchor clamps set up at arm two ends, the electrostatic spinning nozzle is pressed from both sides and is located on arm shower nozzle anchor clamps. The invention can accurately control three rotary joints of the mechanical arm by combining a mechanical arm one-arm rotary motor, a mechanical arm spray nozzle rotary motor and a mechanical arm two-arm rotary motor, and the spray nozzle clamp of the mechanical arm, the mechanical arm one-arm and the mechanical arm two-arm jointly form a 3-freedom-degree mechanical arm which can rotate in the vertical direction and is used for adjusting the posture of the electrostatic spinning spray nozzle in the vertical plane.

In the embodiment, in the stable process of electrostatic spinning direct writing, the deposition direction of the fiber filaments is determined by the direction of an electric field force, in the process of electrostatic spinning direct writing, the relative angle and the distance between an electrostatic spinning nozzle and a part receiving plate are controlled through a mechanical arm with 3 degrees of freedom, the electric field force direction is always coincided with the normal direction of the part receiving plate, the deposition direction of the fiber filaments is the normal direction of the part, meanwhile, the relative distance between the nozzle and the part receiving plate is controlled to be between 1mm and 5mm, and the electrostatic spinning is ensured to be always in a direct writing state in the working process.

Furthermore, sliding guide rails are symmetrically arranged on two sides of the rack along the Y-axis direction, guide grooves are oppositely arranged on two sides of the bottom of the Y-axis motion platform, and the Y-axis motion platform and the rack slide horizontally along the Y direction through the matching of the sliding guide rails and the guide grooves. Through setting up guide rail and guide slot, can keep the equilibrium and the stability of Y axle motion platform's horizontal direction, Y axle motion platform middle part cover is established at the accurate ball screw of Y axle, and under Y axle horizontal motion motor drives, Y axle motion platform can be followed Y axle direction level and moved steadily to the stationarity of the X axle motion structure that has guaranteed its top to set up.

Further, X axle horizontal movement platform is U font platform, U font platform bottom is established on the accurate ball screw of X axle along X direction horizontal slip cover, U font platform both sides limit is equipped with the connecting hole, X axle rotary platform rotates horizontal establishing in the connecting hole of U font platform both sides, X axle rotating electrical machines sets up and is connected with X axle rotary platform at U font platform one side and its output through a connecting hole, and drives X axle rotary platform uses the X axle to rotate as the symmetry axis to the angle of adjustment part receiver plate for the gravity of complicated unsettled part and the inclination of part receiver plate normal line are less than the biggest free brace angle of part on it.

According to the invention, through the structural arrangement and the flexible angle control, the X-axis rotating platform can rotate around the X axis under the driving of the X-axis rotating motor, so that the angle of the Z-axis rotating insulation platform arranged on the X-axis rotating platform is adjusted, the angle of the part receiving plate is further adjusted, the gravity of the complex suspended part and the inclination angle of the normal line of the part receiving plate are always smaller than the maximum free support angle of the part, and the preparation of the wiener-level composite part without support is realized.

Furthermore, the Z-axis rotary insulation platform is arranged above the X-axis rotary platform, the Z-axis rotary motor is arranged below the X-axis rotary platform and penetrates through the X-axis rotary platform, and the output end of the Z-axis rotary motor is connected with the Z-axis rotary insulation platform to drive the Z-axis rotary insulation platform to rotate for 360 degrees.

Further, still include conveying pipe, spinning material box, feeding motor, heating block, heating rod and nozzle insulation cover, the feeding motor sets up in the frame, and conveying pipe intercommunication spinning material box and electrostatic spinning nozzle, conveying pipe are carried the material in the spinning material box to the electrostatic spinning nozzle in under the feeding motor drives, and the heating block sets up between electrostatic spinning nozzle and the conveying pipe tip, the embedded heating rod that is equipped with of heating block, the nozzle insulation cover that still is equipped with outside the electrostatic spinning nozzle.

Furthermore, the part receiving plate is connected with the ground of the high-voltage direct-current power supply, the electrostatic spinning nozzle is connected with the anode of the high-voltage direct-current power supply, high-voltage pressure difference is generated between the part receiving plate and the electrostatic spinning nozzle, solid molten materials are conveyed to the heating module of the head of the mechanical arm through the feeding pipe by the feeding motor, the solid molten materials can be changed into liquid by the heating rod and the heating module, molten electrostatic spinning material droplets are stretched to generate fiber jet flow under the action of the pressure difference, the fiber jet flow is sprayed out of the nozzle to enter air to be gradually solidified under the pushing of the feeding motor, the nozzle moves towards the part receiving plate with low electric potential under the action of the electric field force, and the part receiving plate and the electrostatic spinning nozzle are continuously adjusted in posture, and finally stacked layer by layer on the part receiving plate to form the required part.

Furthermore, the movement precision of the X precision ball screw and the Y precision ball screw is higher than 0.005 mm.

Furthermore, the nozzle insulation sleeve is made of a material with a thermal conductivity coefficient larger than 20W/M.K. Such as ceramic alumina.

Furthermore, the X-axis horizontal motion motor, the Y-axis horizontal motion motor, the X-axis rotary motion motor, the mechanical arm one-arm rotary motor, the mechanical arm two-arm rotary motor and the mechanical arm nozzle rotary motor are all servo motors.

Furthermore, the high-voltage direct current voltage is 3-20 KV.

Furthermore, the melt electrostatic spinning manufacturing material is one of high polymer materials such as PLA, PP, PE, PET and the like.

Furthermore, the diameter of the nozzle of the electrostatic spinning nozzle is 0.1mm-1mm, and various nozzles with different sizes meet the requirements of various printing structures.

Different from the prior art, the technical scheme has the following beneficial effects:

(1) according to the invention, through the high-freedom electrostatic spinning nozzle and the part receiving plate in the unsupported melting near-field electrostatic spinning manufacturing device with the complex micro three-dimensional structure, most of solid melting electrostatic spinning materials in the current market can be used, the posture between the electrostatic spinning nozzle and the part receiving plate is adjusted through the multiple degrees of freedom of the device, the distance between the part receiving plate and the electrostatic spinning nozzle is ensured to be unchanged (the stability of an electric field is ensured), meanwhile, the inclination angles of the normal lines of the complex suspended part and the part receiving plate are always smaller than the maximum self-supporting angle of the part, and the preparation of the micro-nano complex part without support is realized.

(2) The invention makes the part receiving board fixed on the Z-axis rotary insulating platform by setting the Y-axis horizontal moving platform, the X-axis rotary platform and the Z-axis rotary insulating platform, and finally can horizontally move on X, Y axes, the X, Z axes of rotation has 4 degrees of freedom, the invention can flexibly adjust the posture of the prepared part, and simultaneously matches with a 3-degree-of-freedom mechanical arm which can rotate in the vertical direction for adjusting the posture of the electrostatic spinning nozzle in the vertical plane, the structure of the invention is that in the using process, a 3D model which needs to support the part in the electrostatic spinning process is cut into smaller parts according to one plane (which is called as a standard plane), each divided part is self-supporting when printing in the normal direction of the standard plane, and the divided parts are continuous, the subsequent processing is carried out according to the continuous sequence during the division, and finally, a complete part is printed through continuous unsupported electrostatic spinning direct writing with the former division part as a substrate.

(3) When each divided part is printed, the posture of the part receiving plate is adjusted to be parallel to the standard surface through the X-axis rotating platform and the Z-axis rotating insulating platform, so that the divided part is self-supported when being printed in the normal direction of the part receiving plate (the standard surface), and the electrostatic spinning direct-writing accumulation of the part can be completed without adding any support. After the angle of the part receiving plate is adjusted, the direct writing movement of the part in the X-axis direction and the Y-axis direction is controlled through the X-axis horizontal movement platform and the Y-axis horizontal movement platform, and the direct writing movement of the part in the Z-axis direction of the vertical plane is controlled through the mechanical arm, so that the flexibility of multiple degrees of freedom of the part receiving plate is realized.

(4) In the stable process of electrostatic spinning direct writing, the deposition direction of the fiber filaments is determined by the direction of an electric field force, the relative angle between the electrostatic spinning nozzle and the part receiving plate is controlled through multiple degrees of freedom, the direction of the electric field force is always coincident with the normal direction of the part receiving plate, and the deposition direction of the fiber filaments is the normal direction of the part receiving plate. Because the diameter of the fiber filament is in a micro-nano level, the influence of gravity is ignored in the stable direct writing process. Therefore, free and accurate printing of the micro-nano-level parts without support can be realized.

Drawings

Fig. 1 is a perspective view of an embodiment of the present invention.

Fig. 2 is a side view of an embodiment of the present invention.

Fig. 3 is a partially enlarged view of an embodiment of the present invention.

FIG. 4 is a schematic view of a partial state of an electrospinning process according to an embodiment of the present invention.

Description of reference numerals:

1. a feed pipe; 2. a heating block; 3. an electrostatic spinning nozzle; 4. a heating rod; 5. a nozzle insulating sleeve; 6. a high-voltage direct-current power supply positive level; 7. a part receiving plate; 8. an X-axis rotating motor; 9. an X-axis rotating platform; 10. an X-axis precision ball screw; 11. an X-axis coupler; 12. an X-axis horizontal movement motor; 13. a Z-axis rotary insulation platform; 14. a Y-axis horizontal motion platform; 15. a Y-axis horizontal motion motor; 16. a Y-axis coupler; 17. y-axis precision ball screw; 18. a Z-axis rotating motor; 19. an X-axis horizontal motion platform; 20. a frame; 21. spinning the material box; 22. a feeding motor; 23. the mechanical arm 1 is provided with an arm rotating motor; 24. a mechanical arm 2 arm rotating motor; 25. a mechanical arm nozzle rotating motor; 26. a mechanical arm 1; 27. a mechanical arm 2; 28. a spray head clamp 29 of the mechanical arm, a high voltage power supply; 30. a high voltage power ground; 31. a sliding guide rail; 32. a guide groove; 33. complex suspended parts.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1, 2 and 3, the unsupported melt electrostatic spinning direct-writing device with a micro three-dimensional structure of the present embodiment includes a frame 20, a Y-axis horizontal movement motor 15, a Y-axis coupler 16, a Y-axis precision ball screw 17, a Y-axis horizontal movement platform 14, an X-axis precision ball screw 10, an X-axis coupler 11, an X-axis horizontal movement motor 12, an X-axis horizontal movement platform 19, an X-axis rotation platform 9, an X-axis rotation motor 8, a Z-axis rotation insulation platform 13, a Z-axis rotation motor 18, a part receiving plate 7, a mechanical arm and an electrostatic spinning nozzle 3,

the Y-axis horizontal motion motor 15 and the Y-axis precise ball screw 17 are arranged on the frame 20, the Y-axis horizontal motion motor 15 and the Y-axis precise ball screw 17 are mutually connected through a Y-axis coupler 16, the Y-axis motion platform is horizontally arranged on the frame 20 in a sliding manner along the Y direction, the Y-axis motion platform is arranged on the Y-axis precise ball screw 17 in a sliding manner,

the X-axis precise ball screw and the X-axis horizontal motion motor are arranged on the Y-axis motion platform, the X-axis precise ball screw and the X-axis horizontal motion motor are mutually connected through an X-axis coupler, the X-axis horizontal motion platform 19 is horizontally arranged on the X-axis precise ball screw in a sliding manner along the X direction,

the X-axis rotating platform is driven by an X-axis rotating motor and is arranged on an X-axis horizontal moving platform 19,

the Z-axis rotary insulating platform is driven by a Z-axis rotary motor 18 and is arranged on the X-axis rotary insulating platform, the part receiving plate is arranged on the Z-axis rotary insulating platform,

the mechanical arm is arranged on the frame 20, the electrostatic spinning nozzle 3 is arranged at the tail end of the mechanical arm, and the mechanical arm drives the electrostatic spinning nozzle to be movably arranged at the opposite position of the part receiving plate. The diameter of the nozzle of the electrostatic spinning nozzle 3 is 0.1mm-1mm, and various nozzles with different sizes meet the requirements of various printing structures.

The motion precision of the X precision ball screw and the Y precision ball screw is higher than 0.005 mm.

The arm includes the shower nozzle anchor clamps of installing support, arm one arm rotating electrical machines, arm shower nozzle rotating electrical machines, arm two arm rotating electrical machines, arm one arm and arm two arms, the installing support is fixed in on the frame 20, arm one arm and arm one arm rotating electrical machines set up on the installing support, and arm one arm is driven rotatoryly by arm one arm rotating electrical machines, and arm two arms and arm two arm rotating electrical machines set up on arm one, and arm two arms are driven rotatoryly by arm two arm rotating electrical machines, and arm shower nozzle anchor clamps set up at arm two ends, electrostatic spinning nozzle 3 is pressed from both sides and is located on arm shower nozzle anchor clamps. The invention can accurately control three rotary joints of the mechanical arm by combining a mechanical arm one-arm rotary motor, a mechanical arm spray nozzle rotary motor and a mechanical arm two-arm rotary motor, and the spray nozzle clamp of the mechanical arm, the mechanical arm one-arm and the mechanical arm two-arm jointly form a 3-freedom-degree mechanical arm which can rotate in the vertical direction and is used for adjusting the posture of the electrostatic spinning spray nozzle in the vertical plane.

In this embodiment, the two sides of the frame 20 are symmetrically provided with sliding guide rails 31 along the Y-axis direction, the two sides of the bottom of the Y-axis moving platform are provided with guide grooves 32, and the Y-axis moving platform and the frame 20 slide horizontally along the Y-axis direction through the cooperation of the sliding guide rails and the guide grooves. Through setting up guide rail and guide slot, can keep the equilibrium and the stability of Y axle motion platform's horizontal direction, Y axle motion platform middle part cover is established at the accurate ball screw 17 of Y axle, drives under Y axle horizontal motion motor 15, and Y axle motion platform can be followed Y axle direction level and moved steadily to the stationarity of the X axle motion structure that has guaranteed its top to set up.

In this embodiment, the X-axis horizontal motion platform 19 is a U-shaped platform, the bottom of the U-shaped platform is sleeved on the precise X-axis ball screw along the X-direction horizontal sliding sleeve, the two sides of the U-shaped platform are provided with connecting holes, the X-axis rotary platform is arranged in the connecting holes at the two sides of the U-shaped platform in a rotating manner, the X-axis rotary motor is arranged at one side of the U-shaped platform and the output end of the X-axis rotary motor is connected with the X-axis rotary platform through a connecting hole, and drives the X-axis rotary platform to rotate with the X-axis as the symmetry axis, and adjusts the angle of the part receiving plate, so that the gravity G of the complex suspended part thereon and the inclination angle α of the normal line of the part receiving plate are smaller than the maximum free support angle of the part.

According to the invention, through the arrangement of the Y-axis horizontal motion platform 14, the X-axis horizontal motion platform 19, the X-axis rotary platform and the Z-axis rotary insulation platform, the part receiving plate is fixed on the Z-axis rotary insulation platform and can finally horizontally move at X, Y, the rotation of X, Z axis has 4 degrees of freedom, the posture of the prepared part can be flexibly adjusted, and meanwhile, the 3-degree-of-freedom mechanical arm capable of rotating in the vertical direction is matched for adjusting the posture of the electrostatic spinning nozzle in the vertical plane. Through the structure arrangement and the flexible angle control, the X-axis rotating platform can rotate around the X axis under the driving of the X-axis rotating motor, so that the angle of the Z-axis rotating insulation platform arranged on the X-axis rotating platform is adjusted.

Referring to fig. 4, in the stabilization process of the electrospinning direct writing, the deposition direction of the fiber filament is determined by the direction of the electric field force E, in the electrostatic spinning direct writing process, the relative angle and distance between the electrostatic spinning nozzle 3 and the part receiving plate 7 are controlled by a mechanical arm with 3 degrees of freedom, the direction of the electric field force E is always coincident with the normal direction of the part receiving plate 7, so that the deposition direction of the fiber filaments is the normal direction of the complex suspended part 33, further adjusting the angle of the part receiving plate to ensure that the gravity G of the complex suspended part and the inclination angle alpha of the normal line of the part receiving plate are always smaller than the maximum free support angle (45 ℃) of the part, meanwhile, the relative distance between the nozzle 3 and the part receiving plate 7 is controlled to be 1-5 mm, so that the electrostatic spinning is always in a direct writing state in the working process, and the preparation of the micro-nano composite part without support is realized.

In this embodiment, the Z-axis rotary insulation platform is disposed above the X-axis rotary platform, the Z-axis rotary motor 18 is disposed below the X-axis rotary platform and passes through the X-axis rotary platform, and an output end of the Z-axis rotary motor 18 is connected to the Z-axis rotary insulation platform to drive the Z-axis rotary insulation platform to rotate by 360 degrees.

The X-axis horizontal motion motor, the Y-axis horizontal motion motor 15, the X-axis rotary motion motor, the mechanical arm one-arm rotary motor, the mechanical arm two-arm rotary motor and the mechanical arm spray nozzle rotary motor are all servo motors.

In the embodiment, the spinning machine further comprises a feeding pipe 1, a spinning material box, a feeding motor, a heating block 2, a heating rod 4 and a nozzle insulating sleeve 5, wherein the feeding motor is arranged on the rack 20, the feeding pipe 1 is communicated with the spinning material box and an electrostatic spinning nozzle 3, the feeding pipe 1 is driven by the feeding motor to convey materials in the spinning material box to the electrostatic spinning nozzle 3, the heating block 2 is arranged between the electrostatic spinning nozzle 3 and the end part of the feeding pipe 1, the heating rod 4 is embedded in the heating block 2, and the nozzle insulating sleeve 5 is arranged outside the electrostatic spinning nozzle 3. The nozzle insulating sleeve 5 is made of a material with a heat conductivity coefficient larger than 20W/M.K. Such as ceramic alumina.

In this embodiment, the part receiving plate is connected to the ground of the high voltage dc power supply, the electrostatic spinning nozzle 3 is connected to the positive electrode of the high voltage dc power supply, and the high voltage dc voltage is 3 to 20 KV. High-voltage pressure difference is generated between the part receiving plate and the electrostatic spinning nozzle 3, solid molten materials are conveyed to a heating module of the head of the mechanical arm through the conveying pipe 1 by the conveying motor, the solid molten materials can be changed into liquid by the heating rod 4 and the heating block 2, molten electrostatic spinning material droplets are stretched to generate fiber jet flow under the action of the pressure difference, the fiber jet flow is sprayed out of a nozzle to enter air to be gradually solidified under the driving of the conveying motor, the fiber jet flow moves towards the part receiving plate with low electric potential under the action of electric field force, and the fiber jet flow is finally stacked on the part receiving plate layer by layer along with the continuous posture adjustment of the part receiving plate and the electrostatic spinning nozzle to form required parts. The melt electrostatic spinning manufacturing material is one of high polymer materials such as PLA, PP, PE, PET and the like.

The application process of this embodiment is as follows:

the Y-axis horizontal motion motor 15 and the Y-axis precise ball screw 17 are fixed on the frame 20 and are mutually connected through a Y-axis coupler 16, the Y-axis horizontal motion motor 15 rotates to drive the Y-axis precise ball screw 17 to move, the Y-axis motion platform 14 can horizontally move in the Y direction, the X-axis horizontal motion motor 12 and the X-axis precise ball screw 10 are fixed on the Y-axis motion platform 14 and can horizontally move in the Y direction along with the Y axis, the Y-axis horizontal motion motor and the X-axis horizontal motion platform 8 are mutually connected through an X-axis coupler 11, the X-axis horizontal motion motor 12 rotates to drive the X-axis precise ball screw 10 to move, the X-axis horizontal motion platform 19 can horizontally move in the X direction, the X-axis rotation motor 8 and the X-axis rotation platform 9 are fixed on the X-axis horizontal motion platform 19 and can horizontally move in the X, Y direction along with the X, Y motion platform, the Z-axis rotation motor 18 and the Z-axis rotation insulation platform 13 are driven by the Z-axis rotation motor 18 and are fixed on the X-axis rotation platform 18 The rotating platform 9 can rotate 360 degrees, the part receiving plate 7 is fixed on the Z-axis rotating insulation platform 13 and can move horizontally at X, Y axis finally, the X, Z axis rotates, the part receiving plate 7 is connected with the ground 30 of a high-voltage direct-current power supply, the electrostatic spinning nozzle 3 at the tail end of the mechanical arm is connected with the high-voltage direct-current power supply 20kv, so that a pressure difference of 20kv is generated between the part receiving plate 7 and the electrostatic spinning nozzle 3, a PLA material is sent to the heating block 2 at the head of the mechanical arm through the feeding pipe 1 by the feeding motor 22, the heating rod 4 and the heating block 2 are heated to 200 ℃ to change the solid PLA material into liquid, the molten electrostatic spinning material drops are stretched to generate fiber jet under the action of the pressure difference, the fiber jet is sprayed out from the nozzle to enter the air to be solidified gradually under the push of the feeding motor 22 and moves towards the part receiving plate with low potential, the postures of the part receiving plate 7 and the electrostatic spinning nozzle 3 are adjusted continuously, and finally, stacking the parts on the part receiving plate layer by layer to form the required parts.

The 3D model needing to support the part in the electrostatic spinning process is cut into smaller parts according to a plane (called a standard plane), each divided part is self-supporting when being printed in the normal direction of the standard plane and is continuous, subsequent processing is carried out according to the continuous sequence during division, finally, the complete part is printed by continuous unsupported electrostatic spinning direct writing with the previous divided part as a substrate,

through the flexibility of multiple degrees of freedom of the part receiving plate, when each divided part is printed, the posture of the part receiving plate is adjusted to be parallel to the standard surface through the X-axis rotating platform and the Z-axis rotating insulating platform, so that the divided part is self-supported when being printed in the normal direction of the part receiving plate, and the electrostatic spinning direct-writing accumulation of the part can be completed without adding any support. After the angle of the part receiving plate is adjusted, the direct writing movement of the part in the X-axis direction and the Y-axis direction is controlled through the X-axis horizontal movement platform 19 and the Y-axis horizontal movement platform 14, and the direct writing movement of the part in the Z-axis direction of the vertical plane is controlled through the mechanical arm.

In the stable process of electrostatic spinning direct writing, the deposition direction of the fiber filaments is determined by the direction of an electric field force, and in the process of electrostatic spinning direct writing, the relative angle between the electrostatic spinning nozzle 3 and the part receiving plate is controlled through multiple degrees of freedom, so that the direction of the electric field force E is always coincident with the normal direction of the part receiving plate, and the deposition direction of the fiber filaments is the normal direction of the part receiving plate.

The part receiving plate is connected with the ground of a high-voltage direct-current power supply, an electrostatic spinning nozzle 3 at the tail end of the mechanical arm is connected with the positive level of the high-voltage direct-current power supply, so that high-voltage pressure difference is generated between the part receiving plate and the electrostatic spinning nozzle 3, a solid molten material is conveyed to a heating module at the head of the mechanical arm through a conveying pipe 1 by a conveying motor, the solid molten material can be changed into liquid by a heating rod 4 and a heating block 2, molten electrostatic spinning material droplets are stretched under the action of the pressure difference to generate fiber jet flow, the fiber jet flow is ejected out of a spray head to enter air to be gradually solidified and moves towards the part receiving plate with low potential, and the part receiving plate and the electrostatic spinning spray head are continuously adjusted in posture and finally stacked layer by layer on the part receiving plate to form a required part.

In the embodiment, the posture between the electrostatic spinning nozzle and the part receiving plate is adjusted through multiple degrees of freedom, so that the inclination angle alpha of the gravity G of the printed complex suspended part 33 and the normal line of the part receiving plate 7 is always smaller than the maximum self-supporting angle (45 degrees) of the part, the preparation of the micro-nano complex part without support is realized, and the labor, material and time costs in the manufacturing process are saved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.