A Reconfigurable 3D Printing Parallel Robot Mechanism

Abstract

The invention discloses a reconfigurable 3D printing parallel robot mechanism, which includes a fixed platform and a moving platform. The fixed platform and the moving platform are connected by a fixed degree of freedom branch chain, a first modified branch chain and a second modified branch chain. Two branched chains are placed adjacent to each other at 90° and connected to the fixed platform by bolts; the tops of the fixed degree of freedom branched chain, the first modified branched chain, and the second modified branched chain are respectively connected to the first joints around the moving platform. The rod, the second connecting rod, and the third connecting rod are connected. During operation, the first and second revolving pairs of the spherical five-bar mechanism connected to the frame are selected as the input pairs, and when the first and second revolving pairs on the metamorphic branch chain are locked or driven, the motion platform on the top It can switch between three configurations of 3T2R motion, 3T1R motion and 3T motion. The 3T1R motion includes two configuration modes with different rotation directions, so as to adapt to different surface operations, and has the ability to change its topology and Ability of freedom.

Description

technical field [0001] The invention relates to the technical fields of mechanism and robotics, in particular to a reconfigurable 3D printing parallel robot mechanism. Background technique [0002] With the introduction of Industry 4.0 and Made in China 2025, intelligent manufacturing and robots have become the theme of the development of the manufacturing industry, and intelligent robots, drones, and 3D printing robots have gradually become hot spots of social concern. Traditional 3D printing robots generally have a serial structure. In order to increase the speed of 3D printing, Delta parallel robots are applied to the design of 3D printers, such as the currently widely used Delta 3D printers. [0003] Whether it adopts a series structure or a parallel structure, most of the 3D printing robots currently have a fixed print head posture, which has the following obvious shortcomings: (1) The surface quality of the printed product is poor. For some surfaces in the three-dimen...

AI Technical Summary

Problems solved by technology

[0003] Regardless of whether the serial structure or the parallel structure is adopted, the posture of the print head of most 3D printing robots is fixed at present, which has the following obvious shortcomings: (1) The surface quality of the printed product is poor

For some surfaces in the 3D solid that are not perpendicular to the print head, there will be rough steps in unidirectional layered 3D printing, which will affect the smoothness and surface accuracy of the product

(2) It is difficult to add geometric features to some parts

Traditional 3D printing equipment is generally a fixed degree of freedom equipment, which does not have the ability to change its topology and degrees of freedom according to changes in operational tasks

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