A gantry motion platform device for 3D printing

Abstract

The present invention discloses a gantry motion platform device for 3D printing, which includes an X-axis guide rail, a crossbeam, a Y-axis guide rail, a Y-axis ram, a Z-axis guide rail, a Z-axis ram and a workbench, and also includes a speed compensation system, wherein the speed compensation system is respectively connected to the driving devices of the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail. The present invention ensures the accuracy of the three-axis moving speed, thereby improving the printing accuracy; the present invention can meet the demand for a larger printing space; the present invention does not need to set an electric heating device, thereby reducing the cost and improving the safety; the present invention reduces the horizontal error of the upper wooden board after installation, thereby further improving the printing accuracy.

Description

Technical Field

[0001] The invention relates to a motion platform device, in particular to a gantry type motion platform device for 3D printing. Background Art

[0002] With the rapid development of 3D printing technology, its application fields are becoming more and more extensive. 3D printing technology has brought new changes to the existing construction industry. According to the development needs of the construction industry, the production of relatively large new building material components such as garden landscapes or pedestrian bridges, building decorations, etc. requires the use of 3D printing additive technology to achieve production.

[0003] The above-mentioned 3D printing movement is generally achieved by three-axis movement through a gantry motion platform device. Due to the large volume requirements in the construction industry, the overall volume of the gantry motion platform device also increases, which inevitably leads to an increase in the weight of the equipment on the gantry motion platform device. This makes it impossible for a general power drive device to drive it. Therefore, a large-torque rack and pinion transmission structure is generally used to achieve movement. However, mechanical error backlash often occurs in the rack and pinion transmission structure, which can easily cause deviations in the movement speed of the three axes, thereby affecting the printing accuracy. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a gantry motion platform device for 3D printing which can greatly improve the printing accuracy.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A gantry motion platform device for 3D printing, the gantry motion platform device comprising an X-axis guide rail, a crossbeam, a Y-axis guide rail, a Y-axis slide, a Z-axis guide rail, a Z-axis slide and a workbench, the gantry motion platform device also comprising a speed compensation system, the speed compensation system is respectively connected to the drive devices of the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail.

[0007] The speed compensation system is used to connect the driving devices of the X-axis guide, Y-axis guide and Z-axis guide respectively, so as to compensate the transmission speed on the X-axis guide, Y-axis guide and Z-axis guide, ensure the accuracy of the moving speed of the three axes, and thus improve the printing accuracy.

[0008] In a preferred embodiment of the present invention, the X-axis guide, the Y-axis guide and the Z-axis guide all adopt a gear rack transmission structure, and are respectively driven by a first servo motor, a second servo motor and a third servo motor connected in series in sequence. The speed compensation system includes a first speed sensor, a second speed sensor, a third speed sensor, a first driver, a second driver, a third driver, a differential negative feedback controller and a controller. The first speed sensor is arranged on a gear on the X-axis guide, the second speed sensor is arranged on a gear on the Y-axis guide, and the third speed sensor is arranged on a gear on the Z-axis guide. The first driver is connected to the first servo motor, the second driver is connected to the second servo motor, and the third driver is connected to the third servo motor. The controller is respectively connected to the first speed sensor, the second speed sensor, the third speed sensor, the differential negative feedback controller, the first driver, the second driver and the third driver, and the differential negative feedback controller is respectively connected to the first driver, the second driver and the third driver.

[0009] The first driver, the second driver and the third driver are respectively controlled by the controller to respectively control the switch and the moving speed of the three axes, which can improve the work efficiency and save labor.

[0010] In addition, a differential negative feedback controller is provided to compensate for the position error bias current signal of the first servo motor, the second servo motor and the third servo motor, so as to ensure that the first servo motor, the second servo motor and the third servo motor connected in series form an outer, middle and inner three-loop closed loop in the current loop, the speed loop and the position loop, thereby eliminating the mechanical error gap of the gear and effectively ensuring the printing accuracy.

[0011] In a preferred embodiment of the present invention, the speed compensation system also includes a first displacement sensor, a second displacement sensor and a third displacement sensor, the first displacement sensor is arranged at any end of the X-axis guide rail, the second displacement sensor is arranged at any end of the Y-axis guide rail, and the third displacement sensor is arranged at any end of the Z-axis guide rail, and the first displacement sensor, the second displacement sensor and the third displacement sensor are respectively connected to the controller.

[0012] Since the components on the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail will be affected by many external uncertain factors when moving through the transmission structure, such as different wind forces in different wind directions, although the rotation speed of each gear is controlled by the differential negative feedback controller, the movement stroke of the components on the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail will still be affected by external uncertain factors, thereby affecting the printing accuracy. By setting the first displacement sensor, the second displacement sensor and the third displacement sensor, the movement stroke of the components on the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail can be detected in real time and combined with the measured gear rotation speed on the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail for judgment or comparison, which can further improve the printing accuracy.

[0013] In a preferred embodiment of the present invention, the connecting columns between the two sides of the crossbeam and the X-axis guide rail are segmented and consist of a plurality of connecting blocks that can be spliced ​​with each other.

[0014] By arranging the connecting column into sections, the need for a greater height can be met.

[0015] In a preferred embodiment of the present invention, the crossbeam is segmented, consisting of a plurality of crossbeam segments that can be connected to each other, and the Y-axis guide rail is also segmented, consisting of a plurality of Y-axis guide rail segments that can be connected to each other, and a Y-axis guide rail segment is correspondingly arranged on each crossbeam segment.

[0016] This can meet the needs of larger volumes without affecting the movement in the Y-axis direction.

[0017] In a preferred embodiment of the present invention, the workbench includes a bottom plate and an upper wooden board, wherein the upper wooden board is detachably arranged above the bottom plate, and a printing layer is provided on the upper surface of the upper wooden board.

[0018] This makes it easier to replace the upper wooden board and improves the adhesion between the workbench and the printing material.

[0019] In a preferred embodiment of the present invention, the printing layer is composed of a plurality of fine particles and a glue coating, and the fine particles are the same as the base material of the printing material.

[0020] In this way, when the printing material flows onto the printing layer, the printing material will melt the glue coating, and the melted glue coating will bond the printing material and the fine particles together, thereby greatly improving the firmness between the printing material and the workbench.

[0021] In addition, in the prior art, the workbench generally includes only a base plate, and an electric heating device is arranged on the base plate. The temperature of the printing material flowing onto the base plate is increased by the electric heating device, thereby improving the firmness between the printing material and the base plate. This is costly and unsafe. However, with the above structure, there is no need to arrange an electric heating device, which reduces costs and improves safety.

[0022] In a preferred embodiment of the present invention, an adjustment structure is provided on the bottom plate, and the upper wooden board is detachably arranged on the adjustment structure, and the adjustment structure can drive the upper wooden board to rise and fall and adjust the horizontal angle of the upper wooden board.

[0023] Since the upper wooden board and the bottom board are detachable structures, the levelness of the upper wooden board will be very poor after installation, which will affect the printing accuracy. However, by adjusting the structure to drive the upper wooden board to rise and fall and adjust the horizontal angle of the upper wooden board, the levelness of the upper wooden board after installation can be ensured.

[0024] In a preferred embodiment of the present invention, the bottom plate includes a plate body, a plurality of support columns are provided on the lower surface of the plate body, a plurality of groups of through holes are provided on the plate body, each group of through holes consists of a first through hole, a second through hole and a third through hole located on the same horizontal line, the first through hole is located on the left side of the plate body, the second through hole is located in the middle of the plate body, and the third through hole is located on the right side of the plate body, the adjustment structure is arranged on the lower side of the plate body, and the adjustment structure includes a plurality of first lifting cylinders, a plurality of second lifting cylinders and a plurality of third lifting cylinders, and the telescopic end of each first lifting cylinder passes through a first Through hole, the telescopic end of each second lifting cylinder passes through a second through hole correspondingly, and the telescopic end of each third lifting cylinder passes through a third through hole correspondingly. The top of the telescopic end of each first lifting cylinder and the top of the telescopic end of each third lifting cylinder are respectively provided with a rectangular connecting block, and the upper surface of the rectangular connecting block is provided with a threaded connecting groove. The top of the telescopic end of each second lifting cylinder is provided with a hemispherical connecting block, and the arc surface of the hemispherical connecting block is in contact with the upper wooden board. A number of connecting holes are respectively provided on both sides of the upper wooden board, and each connecting hole corresponds to a first through hole or a third through hole.

[0025] The beneficial effects of the present invention are:

[0026] (1) Ensure the accuracy of the three-axis moving speed, thereby improving printing accuracy;

[0027] (2) Can meet the needs of larger printing space;

[0028] (3) No electric heating device is required, which reduces costs and improves safety;

[0029] (4) The horizontal error of the upper wooden board after installation is reduced, further improving the printing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a structural schematic diagram of the present invention;

[0032] Figure 2 A structural schematic diagram of a speed compensation system;

[0033] Figure 3 Another structural schematic diagram of the speed compensation system;

[0034] Figure 4 It is a schematic diagram of the optimized structure of the workbench;

[0035] Figure 5 for Figure 4 Magnified view of area A.

[0036] Figure markings: X-axis guide 100; crossbeam 200; Y-axis guide 300; Y-axis slide 400; Z-axis guide 500; Z-axis slide 600; workbench 700; first speed sensor 810; second speed sensor 820; third speed sensor 830; first driver 840; second driver 850; third driver 860; differential negative feedback controller 870; controller 880; first displacement sensor 891; second displacement sensor 892; third displacement sensor 893; connecting column 210; crossbeam section 220; bottom plate 710; upper wooden board 720; printing layer 730; plate body 711; support column 712; first lifting cylinder 910; second lifting cylinder 920; third lifting cylinder 930; rectangular connecting block 940; hemispherical connecting block 950. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0038] See also Figure 1 The gantry motion platform device for 3D printing provided by the present invention includes an X-axis guide rail 100, a crossbeam 200, a Y-axis guide rail 300, a Y-axis slide 400, a Z-axis guide rail 500, a Z-axis slide 600, a workbench 700 and a speed compensation system.

[0039] The transmission structure on the X-axis guide rail 100, the Y-axis guide rail 300 and the Z-axis guide rail 500 in this embodiment adopts a gear rack transmission structure, which is respectively driven by a first servo motor, a second servo motor and a third servo motor connected in series in sequence, so that the torque can be increased, making this embodiment suitable for large-volume printing needs.

[0040] The gear rack transmission structure and the use of the first servo motor, the second servo motor and the third servo motor connected in series are both existing technologies, so their specific structures are not described in detail here.

[0041] In addition, the above-mentioned X-axis guide rail 100, beam 200, Y-axis guide rail 300, Y-axis slide 400, Z-axis guide rail 500 and Z-axis slide 600 are also prior arts, so their specific structures are not described in detail here.

[0042] See also Figure 2 The speed compensation system is respectively connected to the first servo motor, the second servo motor and the third servo motor, and is used to compensate the transmission speeds of the X-axis guide rail 100, the Y-axis guide rail 300 and the Z-axis guide rail 500, respectively, to ensure the accuracy of the moving speeds of the three axes, thereby improving the printing accuracy.

[0043] The speed compensation system specifically includes a first speed sensor 810 , a second speed sensor 820 , a third speed sensor 830 , a first driver 840 , a second driver 850 , a third driver 860 , a differential negative feedback controller 870 and a controller 880 .

[0044] The first speed sensor 810 is correspondingly arranged on the gear on the X-axis guide rail 100 and connected to the controller 880. The first speed sensor 810 is used to sense the rotation speed of the gear on the X-axis guide rail 100 in real time and send the sensed rotation speed information to the controller 880 in real time.

[0045] The second speed sensor 820 is correspondingly arranged on the gear on the Y-axis guide rail 300 and connected to the controller 880. The second speed sensor 820 is used to sense the rotation speed of the gear on the Y-axis guide rail 300 in real time and send the sensed rotation speed information to the controller 880 in real time.

[0046] The third speed sensor 830 is correspondingly arranged on the gear on the Z-axis guide rail 500 and connected to the controller 880. The third speed sensor 830 is used to sense the rotation speed of the gear on the Z-axis guide rail 500 in real time and send the sensed rotation speed information to the controller 880 in real time.

[0047] The first driver 840 , the second driver 850 and the third driver 860 are respectively connected to the first servo motor, the second servo motor and the third servo motor, and are used to respectively control the operation of the first servo motor, the second servo motor and the third servo motor.

[0048] The controller 880 is connected to the first speed sensor 810 , the second speed sensor 820 , the third speed sensor 830 , the first driver 840 , the second driver 850 , and the third driver 860 , respectively.

[0049] The controller 880 controls the operation of the first servo motor, the second servo motor and the third servo motor through the first driver 840, the second driver 850 and the third driver 860 respectively, thereby controlling the transmission speed and switch of the transmission structure on the X-axis guide rail 100, the Y-axis guide rail 300 and the Z-axis guide rail 500 respectively. In this way, only one controller 880 is needed to control the transmission speed and switch of the transmission structure of the three axes respectively, which greatly improves work efficiency and saves labor.

[0050] The controller 880 can receive the speed information sent by the first speed sensor 810, the second speed sensor 820, and the third speed sensor 830 respectively, and compare the received speed information with the speed value set by the transmission structure of the three axes in advance. If the comparison results are the same, it proves that the transmission speed of the three axes is not affected by the mechanical error tooth gap. If the comparison results are different, the transmission speed of the three axes needs to be adjusted.

[0051] The differential negative feedback controller 870 is respectively connected to the controller 880, the first driver 840, the second driver 850 and the third driver 860. The controller 880 can adjust the first driver 840, the second driver 850 and the third driver 860 accordingly through the differential negative feedback controller 870 according to the comparison result, thereby adjusting the transmission speed of each axis.

[0052] The differential negative feedback controller 870 adjusts the transmission speed of the three axes by adjusting the current on the first driver 840, the second driver 850 and the third driver 860. This method is a prior art and will not be described in detail here.

[0053] The above-mentioned adjustment method is to improve the accuracy of the three-axis transmission speed by adjusting the rotation speed of the gears on the three axes and eliminating the mechanical error clearance of the gears. However, since the components on the X-axis guide rail 100, the Y-axis guide rail 300 and the Z-axis guide rail 500 will be affected by many external uncertain factors when moving through the transmission structure, such as different wind forces in different wind directions, although the rotation speed of each gear can be controlled by the differential negative feedback controller 870 at this time, the movement stroke of the components on the X-axis guide rail 100, the Y-axis guide rail 300 and the Z-axis guide rail 500 will still be affected by external uncertain factors, which will also affect the printing accuracy.

[0054] Therefore, the speed compensation system further includes a first displacement sensor 891 , a second displacement sensor 892 and a third displacement sensor 893 .

[0055] The first displacement sensor 891 is arranged at any end of the X-axis guide rail 100 and connected to the controller 880. It can measure the distance between the moving parts on the X-axis guide rail 100 in real time and send the sensed distance information to the controller 880.

[0056] The second displacement sensor 892 is disposed at either end of the Y-axis guide rail 300 and connected to the controller 880 . It can measure the distance between the moving part on the Y-axis guide rail 300 in real time and send the sensed distance information to the controller 880 .

[0057] The third displacement sensor 893 is disposed at either end of the Z-axis guide rail 500 and connected to the controller 880 . The third displacement sensor 893 can measure the distance between the moving component on the Z-axis guide rail 500 in real time and send the sensed distance information to the controller 880 .

[0058] The controller 880 can receive the distance information sent by the first displacement sensor 891, the second displacement sensor 892 and the third displacement sensor 893, and according to the constantly changing distance information sent, obtain the moving stroke of the moving parts on the X-axis guide rail 100, the Y-axis guide rail 300 and the Z-axis guide rail 500. The controller 880 can compare the moving stroke of the moving parts on each axis guide rail with the rotation speed of the gears on each axis received in real time. If the comparison result matches, the status quo is maintained. If the comparison result does not match, the rotation speed of the gear can be fine-tuned until the moving stroke of the moving parts on each axis matches the rotation speed of the gears on each axis.

[0059] The structure of the speed compensation system is to adjust the transmission speed of the three axes separately through the controller 880 to ensure the accuracy of the transmission speed of each axis, which can be suitable for printing devices with various requirements and has a very wide range of applications.

[0060] See also Figure 3The present embodiment below also provides another structure of a speed compensation system, which is used to achieve synchronization of the transmission speeds of the X-axis guide 100 and the Y-axis guide 300. This adjustment method is suitable for a printing device in which the Z-axis is fixed or there is no requirement for the transmission speed of the Z-axis, but the transmission speeds of the X-axis guide 100 and the Y-axis guide 300 need to be synchronized, which can reduce costs.

[0061] The controller 880 in the above-mentioned adjustment method only includes the first speed sensor 810 , the second speed sensor 820 , the first driver 840 , the second driver 850 and the differential negative feedback controller 870 .

[0062] The first speed sensor 810 is correspondingly arranged on the gear on the X-axis guide rail 100, and is used to sense the rotation speed of the gear on the X-axis guide rail 100. The second speed sensor 820 is correspondingly arranged on the gear on the Y-axis guide rail 300, and is used to sense the rotation speed of the gear on the Y-axis guide rail 300. The first driver 840 and the second driver 850 are respectively connected to the first servo motor and the second servo motor, and are used to control the operation of the first servo motor and the second servo motor respectively. The differential negative feedback controller 870 is directly connected to the first speed sensor 810, the second speed sensor 820, the first driver 840 and the second driver 850 respectively.

[0063] The first speed sensor 810 and the second speed sensor 820 respectively send the sensed speed signals to the differential negative feedback controller 870, and negative feedback is directly performed through the differential negative feedback controller 870, and the feedback signals are respectively transmitted to the current command input terminals of the first servo motor and the second servo motor through the first driver 840 and the second driver 850, and the speeds of the first servo motor and the second servo motor are quickly fine-tuned by adjusting the currents of the first servo motor and the second servo motor, thereby achieving speed synchronization of the first servo motor and the second servo motor, thereby achieving transmission speed synchronization of the X-axis guide 100 and the Y-axis guide 300.

[0064] See also Figure 1 In the existing installation method, the beam 200 is connected to the X-axis guide rails 100 on both sides through the connecting column 210, but the connecting column 210 is fixed. Due to the limited travel on the Z-axis guide rail 500, it can be used in various venues with low printing height requirements. However, when encountering a venue with high printing height requirements, the existing beam 200 cannot be used and needs to be replaced with a higher beam 200, which is very costly.

[0065] In this embodiment, the connecting column 210 adopts a segmented type, and the connecting column 210 is composed of a plurality of identical connecting blocks that can be spliced ​​together. The splicing here can be spliced ​​together by screws or by welding. In this way, according to the actual height requirements, the corresponding number of connecting blocks can be selected for splicing and assembly without replacing the crossbeam 200, which greatly saves costs.

[0066] In addition, since the connecting column 210 is of segmented type, when the cross beam 200 is large in size, in order to ensure the supporting strength, a plurality of connecting columns 210 may be respectively provided on both sides of the cross beam 200 .

[0067] Furthermore, the crossbeam 200 may also be segmented, where the crossbeam 200 is configured to be composed of a plurality of crossbeam segments 220 that can be connected to each other, so that the present embodiment can meet the requirements of a larger printing volume.

[0068] Since the crossbeam 200 is segmented, in order not to affect the movement of the Y-axis slide 400 on the Y-axis guide rail 300, the Y-axis guide rail 300 is also segmented, consisting of a plurality of Y-axis guide rail segments that can be spliced ​​with each other, and a Y-axis guide rail segment is correspondingly arranged on each crossbeam segment 220, and the end face of the Y-axis guide rail segment is flush with the end face of the crossbeam segment 220, so that when the crossbeam segments 220 are spliced, the Y-axis guide segments can also be spliced.

[0069] The workbench 700 is horizontally placed on the bottom surface and is located between the two X-axis guide rails 100 , and the printing material flowing out of the printer head can flow into its upper surface.

[0070] The workbench 700 specifically includes a bottom plate 710 and an upper wooden board 720 . The bottom plate 710 is made of the same material as that of an existing workbench, which may be a steel plate, but is relatively thin.

[0071] The upper wooden board 720 can be directly and detachably arranged above the bottom board 710 , and can be specifically arranged by respectively setting corresponding connection holes on both sides of the bottom board 710 and the upper wooden board 720 , and then connecting them by screws.

[0072] A printing layer 730 may be provided on the upper surface of the upper wooden board 720, and the printing material flowing out of the printer head may flow onto the printing layer 730, and the printing layer 730 may be directly and quickly bonded to the printing material without further heating.

[0073] The printing layer 730 is specifically composed of a plurality of fine particles and a glue coating, and the fine particles are the same as the base material of the printing material, so that when the printing material flows onto the printing layer 730, it will first flow into the gaps between the fine particles. Since the temperature of the printing material is relatively high and the thermal insulation performance of the upper wooden board 720 is very good, the printing material will melt the glue layer between the fine particles, and after the glue layer melts, the printing material and the fine particles will be bonded together, so that the printing material and the workbench 700 are directly bonded together with very high firmness.

[0074] Thus, by adopting the workbench 700 of the above structure, the present embodiment does not need to set an electric heating device on the bottom plate 710. The temperature of the printing material flowing onto the bottom plate is increased by heating with the electric heating device, thereby improving the firmness between the printing material and the bottom plate, greatly reducing the cost, and preventing leakage, thereby improving safety.

[0075] Since the upper wooden board 720 and the bottom board 710 are detachable structures and the volumes of the upper wooden board 720 and the bottom board 710 are relatively large, the levelness of the upper wooden board 720 will be very poor after installation, and errors will often occur, which will affect the printing accuracy. Therefore, this embodiment also provides an optimized structure of the workbench 700:

[0076] See also Figure 4 and Figure 5 An adjustment structure is provided on the bottom plate 710, and the upper wooden board 720 is directly and detachably arranged on the adjustment structure. The adjustment structure can drive the upper wooden board 720 to move up and down and adjust the horizontal angle of the upper wooden board 720, so as to ensure the horizontal shape of the upper wooden board 720 after installation.

[0077] The base plate 710 includes a plate body 711 , and a plurality of support columns 712 are provided on the lower surface of the plate body 711 . The plate body 711 can be supported above the ground by the support columns 712 , which facilitates the installation of the adjustment structure.

[0078] Several groups of through holes are provided on the plate body 711, each group of through holes consists of a first through hole, a second through hole and a third through hole located on the same horizontal line, the first through hole is located on the left side of the plate body 711, the second through hole is located in the middle of the plate body 711, and the third through hole is located on the right side of the plate body 711.

[0079] The adjustment structure includes a plurality of first lifting cylinders 910, a plurality of second lifting cylinders 920 and a plurality of third lifting cylinders 930. The telescopic end of each first lifting cylinder 910 passes through a corresponding first through hole, the telescopic end of each second lifting cylinder 920 passes through a corresponding second through hole, and the telescopic end of each third lifting cylinder 930 passes through a corresponding third through hole.

[0080] A rectangular connecting block 940 is respectively provided at the top of the telescopic end of each first lifting cylinder 910 and the top of the telescopic end of each third lifting cylinder 930. By controlling the telescopic movement of the first lifting cylinder 910 and the third lifting cylinder 930 respectively, the lifting and lowering of each rectangular connecting block 940 can be realized. When the rectangular connecting block 940 rises, its upper surface can contact the lower surface of the upper wooden board 720, thereby supporting the upper wooden board 720.

[0081] A hemispherical connecting block 950 is provided at the top of the telescopic end of each second lifting cylinder 920. By controlling the operation of the second lifting cylinder 920, the lifting and lowering of the hemispherical connecting block 950 can be realized. When the hemispherical connecting block 950 rises, its arc surface can contact the lower surface of the upper wooden board 720, thereby supporting the upper wooden board 720.

[0082] In this way, by respectively controlling the lifting and lowering of the first lifting cylinder 910, the second lifting cylinder 920 and the third lifting cylinder 930, the upper wooden board 720 can be supported above the plate body 711 through the contact of the rectangular connecting blocks 940 on both sides and the hemispherical connecting block 950 in the middle with the lower surface of the upper wooden board 720. Since the hemispherical connecting block 950 in the middle is arc-shaped, the plate body 711 can be rotated along the arc surface of the hemispherical connecting block 950 by controlling the lifting and lowering of the first lifting cylinder 910 and the third lifting cylinder 930 on both sides, thereby achieving angle fine-tuning and ensuring the horizontality of the upper wooden board 720.

[0083] A threaded connection groove is provided on the upper surface of each rectangular connection block 940, and the threaded connection groove on each rectangular connection block 940 corresponds to a connection hole originally opened on the upper wooden board 720, so that the upper wooden board 720 and the rectangular connection block 940 can be detachably connected as a whole by screws 960.

[0084] In addition, after printing is completed, the upper wooden board 720 can be supported to a certain height by controlling the first lifting cylinder 910, the second lifting cylinder 920 and the third lifting cylinder 930 to continue to rise, so as to facilitate the disassembly and assembly of the upper wooden board 720.

[0085] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A gantry motion platform device for 3D printing, the gantry motion platform device comprising an X-axis guide rail, a crossbeam, a Y-axis guide rail, a Y-axis ram, a Z-axis guide rail, a Z-axis ram and a workbench, characterized in that: The gantry motion platform device also includes a speed compensation system, which is connected to the drive devices of the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail respectively; The workbench comprises a bottom plate and an upper wooden board, wherein the upper wooden board is detachably arranged above the bottom plate, and a printing layer is arranged on the upper surface of the upper wooden board; the printing layer is composed of a plurality of fine particles and a glue coating, and the fine particles are the same as the base material of the printing material; The bottom plate is provided with an adjustment structure, the upper wooden board is detachably arranged on the adjustment structure, and the adjustment structure can drive the upper wooden board to move up and down and adjust the horizontal angle of the upper wooden board; The bottom plate includes a plate body, a plurality of support columns are provided on the lower surface of the plate body, a plurality of groups of through holes are provided on the plate body, each group of through holes consists of a first through hole, a second through hole and a third through hole located on the same horizontal line, the first through hole is located on the left side of the plate body, the second through hole is located in the middle of the plate body, and the third through hole is located on the right side of the plate body, the adjustment structure is arranged on the lower side of the plate body, and the adjustment structure includes a plurality of first lifting cylinders, a plurality of second lifting cylinders and a plurality of third lifting cylinders, the telescopic end of each first lifting cylinder passes through a first through hole correspondingly, and each second The telescopic end of the lifting cylinder passes through a second through hole, and the telescopic end of each third lifting cylinder passes through a third through hole. The top of the telescopic end of each first lifting cylinder and the top of the telescopic end of each third lifting cylinder are respectively provided with a rectangular connecting block, and the upper surface of the rectangular connecting block is provided with a threaded connecting groove. The top of the telescopic end of each second lifting cylinder is provided with a hemispherical connecting block, and the arc surface of the hemispherical connecting block is in contact with the upper wooden board. A number of connecting holes are respectively provided on both sides of the upper wooden board, and each connecting hole corresponds to a first through hole or a third through hole.

2. A gantry motion platform device for 3D printing according to claim 1, characterized in that: The X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail all adopt a gear rack transmission structure, and are respectively driven by a first servo motor, a second servo motor and a third servo motor connected in series in sequence. The speed compensation system includes a first speed sensor, a second speed sensor, a third speed sensor, a first driver, a second driver, a third driver, a differential negative feedback controller and a controller. The first speed sensor is arranged on a gear on the X-axis guide rail, the second speed sensor is arranged on a gear on the Y-axis guide rail, and the third speed sensor is arranged on a gear on the Z-axis guide rail. The first driver is connected to the first servo motor, the second driver is connected to the second servo motor, and the third driver is connected to the third servo motor. The controller is respectively connected to the first speed sensor, the second speed sensor, the third speed sensor, the differential negative feedback controller, the first driver, the second driver and the third driver, and the differential negative feedback controller is respectively connected to the first driver, the second driver and the third driver.

3. A gantry motion platform device for 3D printing according to claim 2, characterized in that: The speed compensation system also includes a first displacement sensor, a second displacement sensor and a third displacement sensor, wherein the first displacement sensor is arranged at any end of the X-axis guide rail, the second displacement sensor is arranged at any end of the Y-axis guide rail, and the third displacement sensor is arranged at any end of the Z-axis guide rail, and the first displacement sensor, the second displacement sensor and the third displacement sensor are respectively connected to the controller.

4. The gantry motion platform device for 3D printing according to claim 1, characterized in that: The connecting columns between the two sides of the crossbeam and the X-axis guide rail are segmented and consist of a plurality of connecting blocks that can be spliced ​​with each other.

5. A gantry motion platform device for 3D printing according to claim 4, characterized in that: The crossbeam is segmented, consisting of a plurality of crossbeam segments that can be connected to each other. The Y-axis guide rail is also segmented, consisting of a plurality of Y-axis guide rail segments that can be connected to each other. A Y-axis guide rail segment is correspondingly arranged on each crossbeam segment.

Images