A six-degree-of-freedom three-dimensional printing device and its following control method

Abstract

The invention relates to a six-degree-of-freedom three-dimensional printing device and a following control method thereof, belonging to the technical field of rapid prototyping. The three-dimensional printing device includes a frame, a printing head, a printing platform, and a translational travel mechanism; the printing head includes a head seat, a printing nozzle installed on the head seat, and a first swing for driving the printing nozzle to swing relative to the head seat around a first swing axis mechanism; the printing platform includes a pedestal, a support platform installed on the pedestal, a second swing mechanism that drives the pedestal to swing around the second swing axis, and a rotating mechanism that drives the support platform to rotate around the rotation axis; the axial direction of the rotation axis and the second swing The axial directions of the axes are not parallel and are perpendicular to the printing plane. And based on the device using the following control method, the calibration position on the device can always dynamically follow and align its target position point by point, which improves the six-degree-of-freedom servo motion accuracy, expands the applicability and flexibility of the printing device, and can be used for zero Rapid production of parts and other fields.

Description

technical field [0001] The invention relates to the technical field of rapid prototyping, in particular to a six-degree-of-freedom three-dimensional printing device and a following control method thereof. Background technique [0002] A three-dimensional printing device is a device based on a digital model of a three-dimensional object, which uses forming materials to build a three-dimensional object by layer-by-layer printing. The announcement number is CN203779870U, CN107855530A and other patent documents disclose a three-dimensional printing device, that is, a three-dimensional printing device formed by melting and extrusion, which includes a printing platform and a printing head that is controlled by a walking mechanism and moves in three-dimensional space relative to the printing platform, namely It is a three-dimensional printing device with three degrees of freedom. [0003] For the aforementioned three-degree-of-freedom 3D printing device, the movement of the print ...

AI Technical Summary

Problems solved by technology

[0003] For the aforementioned three-degree-of-freedom 3D printing device, the movement of the print head relative to the printing platform is usually the three axial linear motion degrees of freedom of X-Y-Z, which can print three-dimensional objects with partial shapes, but for some three-dimensional objects with special structures, such as three-dimensional When there is a slice layer perpendicular to the printing platform in the model, it cannot be printed, or if there is a large curvature between the two slice layers, only a rough three-dimensional object structure can be printed, which is difficult to meet the high-precision requirements

Images