Delta-style five-degree-of-freedom additive manufacturing apparatus and control method

Abstract

The application provides a delta type five-degree-of-freedom additive manufacturing equipment and a control method, which comprise an outer frame, a feeding and withdrawing material module, an effector, a zero-resettable turntable, an end effector and a stepping motor, the outer frame comprises short aluminum profiles and long aluminum profiles, the feeding and withdrawing material module comprises a linear gear, an extrusion motor and a pressing mechanism, the effector comprises a fixed table, the zero-resettable turntable comprises a printing disc, an A-axis adjusting mechanism and a C-axis adjusting mechanism are installed below the printing disc, the end effector comprises an extrusion head nozzle and a heat preservation piece, and the stepping motor is fixedly installed on an upper plane fixing frame. The application has the advantages of compact structure, high space utilization efficiency, greatly reduced step effect of the printed product through the zero-resetting structure and the motion shaft linkage control method, smooth surface, reduced material waste, improved printing efficiency and easily realized printing structure which is difficult to realize by a common three-axis 3D printer.

Description

Technical Field

[0001] This invention belongs to the field of additive manufacturing equipment, and more specifically, relates to a delta-type five-degree-of-freedom additive manufacturing equipment and control method. Background Technology

[0002] Additive manufacturing (AM), unlike subtractive manufacturing commonly used in industrial processing, is a technology that involves adding materials to produce materials. After years of in-depth research by industry and academia, AM technology has made significant progress in development and commercialization, and has been widely applied in fields such as aerospace, automotive, and biomedicine. Additive manufacturing technology is also widely known as 3D printing technology.

[0003] In additive manufacturing, fused deposition modeling (FDM) has rapidly become the preferred choice for ordinary home AM equipment and small parts printing due to its lower cost, simple structural principles, and low barrier to entry. Although FDM equipment structures vary widely, most commercial systems still use a three-axis configuration as their core structure. Therefore, the problems inherent in three-axis structures are unavoidable: the step effect during material forming and the use of support structures reduce print quality and efficiency. On one hand, the FDM process creates parts by stacking materials layer by layer from bottom to top. When encountering steep slopes, this produces stepped serrations on the surface, resulting in a rough final product. On the other hand, due to the fixed printing direction, support structures are unavoidable when printing parts with overhanging structures. As the part structure becomes more complex, the complexity of the support structure also increases, making removal difficult. Removing the support material may damage the printed part and leave defects on the surface of the formed body.

[0004] Patent CN215921291U discloses a five-axis 3D printer structure, and patent CN111941832A discloses a five-axis fused deposition modeling 3D printer, which can realize the five degrees of freedom required for a five-axis printer. However, in patent CN215921291U, the structure of the two rotational degrees of freedom is relatively crowded, and its interference problem in five-axis additive manufacturing is more serious. Patent CN111941832A has a more complex structure, low space utilization, and the coupling between the turntable and the Z-axis movement affects the smoothness of printing. Furthermore, neither patent proposes a specific structure and control scheme for the two rotational axes to level, return to zero, etc., nor does it propose a specific control scheme for five-axis synchronization. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes a delta-shaped five-degree-of-freedom additive manufacturing equipment and control method. This equipment features a compact structure and high space utilization efficiency. Through a zero-return structure and motion axis linkage control method, it ensures that the printed products significantly reduce step effects, achieve smooth surfaces, minimize material waste, and improve printing efficiency. It can easily achieve printing structures that are difficult for ordinary three-axis 3D printers to replicate.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A delta-shaped five-degree-of-freedom additive manufacturing equipment is characterized by comprising an outer frame, a feeding / unfeeding module, an effector, a zero-returning turntable, an end effector, and a stepper motor. The feeding / unfeeding module, effector, zero-returning turntable, end effector, and stepper motor are respectively installed inside the outer frame. The outer frame comprises short aluminum profiles and long aluminum profiles. The two ends of the short aluminum profiles are connected to each other to form an upper plane fixing frame and a lower plane fixing frame, respectively. The two ends of the long aluminum profiles are respectively vertically fixed on the upper plane fixing frame and the lower plane fixing frame, so that the outer frame forms a spatial coordinate axis.

[0008] The feeding and unloading module is fixed on the long aluminum profile. The feeding and unloading module includes a linear gear, an extrusion motor, and a pressing mechanism. The linear gear is mounted on the output shaft of the extrusion motor and is connected to the pressing mechanism. The extrusion motor drives the linear gear to rotate, and the linear gear drives the pressing mechanism to press the printing material.

[0009] The effector is connected to a stepper motor. The effector includes a fixed platform. The end effector is mounted on the fixed platform. Driven by the stepper motor, the fixed platform drives the end effector on it to move up and down reciprocally.

[0010] The zero-returning rotary table is installed below the end effector. The rotary table includes a print disk, and below the print disk are an A-axis adjustment mechanism and a C-axis adjustment mechanism. The C-axis adjustment mechanism includes a C-axis stepper motor and a C-axis. The C-axis is fixed at the center below the print disk. A first synchronous pulley is mounted on the C-axis, and a second synchronous pulley is mounted on the output shaft of the C-axis stepper motor. The first and second synchronous pulleys are connected by a belt drive. When the C-axis stepper motor starts, the C-axis drives the print disk to rotate via the first and second synchronous pulleys.

[0011] The A-axis adjustment mechanism includes an axis support base, an A-axis fixing plate, and an A-axis stepper motor. The C-axis stepper motor is fixed below the A-axis fixing plate, which is fixedly connected to the bottom of the print disk. The A-axis fixing plate has a through hole, through which the C-axis passes and is fixedly connected to the center of the bottom of the print disk. The axis support base is fixed to both ends of the A-axis fixing plate. A third synchronous pulley is mounted on the output shaft of the A-axis stepper motor. A fourth synchronous pulley is mounted on one side of the axis support base, and a synchronous rotating shaft is mounted on the other side. The third and fourth synchronous pulleys are connected by belt drive. When the A-axis stepper motor is started, the A-axis fixing plate is driven by the third and fourth synchronous pulleys to rotate along the axial direction of the A-axis fixing plate, thereby tilting the print disk to different degrees.

[0012] The end effector includes an extrusion nozzle and an insulation component. The extrusion nozzle is fixedly connected to the fixed platform, and the extrusion nozzle is covered with an insulation component.

[0013] The stepper motor is fixedly mounted on the upper plane mounting bracket.

[0014] In the above structure: This invention proposes a delta-shaped five-degree-of-freedom additive manufacturing equipment and control method, including an outer frame, a feeding / unfeeding module, an effector, a homing rotary table, an end effector, and a stepper motor. The feeding / unfeeding module, effector, homing rotary table, end effector, and stepper motor are respectively installed within the outer frame, which serves as a spatial coordinate axis to facilitate three-axis movement of the end effector. A short aluminum profile is connected at both ends to form an upper plane fixing frame and a lower plane fixing frame, respectively. The two ends of a long aluminum profile are vertically fixed to the upper and lower plane fixing frames. The feeding / unfeeding module includes a linear gear, an extrusion motor, and a clamping mechanism for clamping the printing material. The effector is connected to the stepper motor and includes a fixed platform. The end effector is mounted on the fixed platform, and driven by the stepper motor, the fixed platform moves the end effector... The end effector moves up and down to adjust the printing height. A zero-return turntable is installed below the end effector and includes a printing disk. Below the printing disk are an A-axis adjustment mechanism and a C-axis adjustment mechanism. The C-axis adjustment mechanism includes a C-axis stepper motor and a C-axis. When the C-axis stepper motor is started, the C-axis drives the printing disk to rotate through a first synchronous pulley and a second synchronous pulley. The A-axis adjustment mechanism includes an axis support, an A-axis fixing plate, and an A-axis stepper motor. When the A-axis stepper motor is started, the A-axis fixing plate drives it to rotate along the axial direction of the A-axis fixing plate through a third synchronous pulley and a fourth synchronous pulley, so as to tilt the printing disk to different degrees and adjust the printing material at different angles. The end effector includes an extrusion nozzle and a heat insulation component. The heat insulation component is used to keep the extrusion nozzle warm, and printing is performed through the extrusion nozzle.

[0015] This invention employs a delta-shaped parallel arm structure, providing adjustment for three degrees of freedom: X, Y, and Z. The lower structure, in conjunction with a zero-return turntable, provides adjustment for two rotational degrees of freedom: A and C.

[0016] The kinematic control of the A and C axes uses a "trapezoidal generator" to generate each motion. Each motion has an initial velocity v0, which is first accelerated to a cruising speed vm with a constant acceleration a, then cruises at a constant speed vm, and finally decelerates to the final velocity v1 with a constant acceleration a. The value of the cruising speed vm is determined by the initial velocity v0, the final velocity v1, and the distance traveled.

[0017] When the device performs five-axis linkage printing, based on the position change of each step, and according to the motion characteristics of the stepper motor, the A-axis stepper motor, and the C-axis stepper motor, as well as the motion constraints assigned to each motion axis, the maximum time for the X, Y, Z, A, and C axes is obtained. This maximum time is then fed back to the other axes with shorter time, thereby readjusting and recalculating the motion speed and acceleration of the shorter axes to ensure that the five axes have the same motion time in the same step, thus achieving linkage.

[0018] As a preferred technical solution of the present invention: the outer frame further includes upper corner pieces and lower corner pieces, the short aluminum profile includes a first short aluminum profile and a second short aluminum profile, the first short aluminum profile is configured as a double layer, the two ends of the first short aluminum profile are respectively connected to each other through upper corner pieces to form an upper plane fixing frame, the two ends of the second short aluminum profile are respectively connected to each other through lower corner pieces to form a lower plane fixing frame, and the two ends of the long aluminum profile are respectively fixed on the upper corner pieces and the lower corner pieces.

[0019] In the above structure: the short aluminum profile includes a first short aluminum profile and a second short aluminum profile. The two ends of the first short aluminum profile are connected to each other through upper corner pieces to form an upper plane fixing frame. The two ends of the second short aluminum profile are connected to each other through lower corner pieces to form a lower plane fixing frame. By fixing the two ends of the long aluminum profile to the upper and lower corner pieces respectively, a three-dimensional coordinate axis is formed.

[0020] As a preferred technical solution of the present invention: the first short aluminum profile and the second short aluminum profile respectively form three quasi-equilateral triangles, and the two quasi-equilateral triangles formed by the first short aluminum profile are parallel to the quasi-equilateral triangles formed by the second short aluminum profile.

[0021] In the above structure: the first short aluminum profile and the second short aluminum profile each form three equilateral triangles, which are fixed by the long aluminum profile to form the overall external frame of the device. The size of the printer and the printing size are completely determined by the length of the long aluminum profile and the short aluminum profile.

[0022] As a preferred embodiment of the present invention: the effector further includes a linear guide rail, a push rod, a fisheye bearing, and a slider. The linear guide rail is vertically fixed on a long aluminum profile. The slider is slidably mounted on the linear guide rail and connected to a stepper motor. The two ends of the push rod are respectively hinged to the slider and the fixed platform through the fisheye bearing. When the stepper motor drives the slider to slide on the linear guide rail, the slider drives the fixed platform to move up and down through the push rod. A micro switch is installed at the top of the linear guide rail. When the slider moves upward on the linear guide rail to its highest point, the slider touches the micro switch, and the micro switch sends a zero signal back to the main board.

[0023] In the above structure, the effector also includes a linear guide, a push rod, a fisheye bearing, and a slider. When the stepper motor drives the slider to slide on the linear guide, the slider drives the fixed platform to move up and down through the push rod hinged to the fisheye bearing, thereby determining the position of the end effector fixed on the fixed platform. Microswitches are installed at the top of the linear guide. When the slider moves upward on the linear guide to its highest point, it triggers the microswitch. At this time, the microswitch sends a zero signal back to the main board to limit the upper limit of the slider's movement.

[0024] As a preferred technical solution of the present invention: the zero-return turntable further includes a support frame, a front end shaft, an A-axis, and a motor mounting bracket. The support frame is vertically fixed on two adjacent second short aluminum profiles and located on one side of the turntable. The A-axis stepper motor is fixed on the support frame. The shaft support seat passes through the support frame and connects to the fourth synchronous pulley. The front end shaft is rotatably connected to the synchronous shaft. The C-axis is fixedly connected to the fourth synchronous pulley. The motor mounting bracket is fixed below the A-axis fixing plate. The C-axis stepper motor is fixedly installed inside the motor mounting bracket.

[0025] In the above structure, the zero-return turntable also includes a support frame, a front-end shaft, an A-axis, and a motor mounting bracket. The support frame is vertically fixed to two adjacent second short aluminum profiles and located on one side of the turntable to fix and install the A-axis stepper motor and the fourth synchronous pulley. The front-end shaft is rotatably connected to the synchronous shaft, and the C-axis is fixedly connected to the fourth synchronous pulley. When the A-axis stepper motor starts, it drives the shaft support to rotate, and the front-end shaft on the other side rotates together, thereby tilting the print disk. The C-axis stepper motor is fixedly installed in the motor mounting bracket to achieve its installation and fixation.

[0026] As a preferred technical solution of the present invention, it further includes a turntable fixing block, a cylindrical leveling rubber block, a leveling knob, a turntable fixing nut, a C-axis base plate, and a turntable round flange bushing bearing seat. The turntable round flange bushing bearing seat is fixedly installed between the A-axis fixing plate and the C-axis base plate. A through hole is provided in the middle of the C-axis base plate. The C-axis passes through the through hole in the A-axis fixing plate, the turntable round flange bushing bearing seat, and the through hole in the C-axis base plate in sequence. The C-axis is fixed in the through hole in the C-axis base plate by the turntable fixing nut. Three rotating arms are installed at equal intervals along the circumference of the C-axis base plate. The cylindrical leveling rubber block and the leveling knob are respectively installed above and below the rotating arms. Three turntable fixing blocks are installed below the turntable, and the three turntable fixing blocks are respectively fixedly connected to the cylindrical leveling rubber blocks on the three rotating arms.

[0027] In the above structure, the zero-returning turntable also includes a turntable fixing block, a cylindrical leveling rubber block, a leveling knob, a turntable fixing nut, a C-axis base plate, and a turntable round flange bushing bearing seat. The C-axis passes through the through hole on the A-axis fixing plate, the turntable round flange bushing bearing seat, and the through hole on the C-axis base plate in sequence. The C-axis is fixed in the through hole on the C-axis base plate by the turntable fixing nut, thus achieving the fixation of the C-axis. The C-axis is interference-fitted in the through holes on the A-axis fixing plate and the C-axis base plate, and is fixedly connected to the inner ring of the turntable round flange bushing bearing seat. Therefore, the C-axis can rotate without affecting other parts.

[0028] Three cantilever arms extend from the C-axis base plate at equal angles. The ends of the three cantilever arms are connected to cylindrical leveling rubber blocks and leveling knobs. A turntable fixing block is installed below the print plate. The three turntable fixing blocks are respectively fixedly connected to the cylindrical leveling rubber blocks on the three cantilever arms, thus fixing and installing the C-axis base plate. The leveling knob is fixed by the internal thread of the C-axis base plate and can be adjusted up and down. The cylindrical leveling rubber blocks are fitted onto the leveling knobs. The turntable fixing blocks have internal threads, and the bottom of the leveling knob is fixed to the turntable fixing block through the internal threads. The print plate is locked by the turntable fixing block. Therefore, the parallelism of the print plate can be adjusted using the three leveling knobs.

[0029] As a preferred technical solution of the present invention: it further includes a fixed short aluminum profile, a turntable support, a turntable vertical bearing seat, and a turntable diamond bearing seat. The turntable support is respectively installed on two adjacent long aluminum profiles and located below the effector. The two ends of the fixed short aluminum profile are respectively fixed on the turntable support. The turntable vertical bearing seat is fixed on the fixed short aluminum profile. The turntable diamond bearing seat is fixed on the long aluminum profile opposite to the short aluminum profile. The front end shaft is rotatably connected to the turntable vertical bearing seat, and the A-axis is rotatably connected to the turntable diamond bearing seat.

[0030] In the above structure: by installing and fixing short aluminum profiles, both ends of the short aluminum profiles are fixed to the turntable support, the turntable vertical bearing seat is fixed to the fixed short aluminum profile, and the turntable diamond bearing seat is fixed to the long aluminum profile opposite to the short aluminum profile, thus realizing the overall installation and fixation of the zero-return turntable. Among them, the front shaft is rotatably connected to the turntable vertical bearing seat, and the A-axis is rotatably connected to the turntable diamond bearing seat, which facilitates the rotation of the A-axis fixing plate and realizes the tilt adjustment of the printing disk.

[0031] As a preferred technical solution of the present invention: photoelectric sensors are respectively installed on the A-axis fixing plate and the fixed short aluminum profile. The C-axis drives the C-axis base plate to move. When the C-axis base plate enters the sensing area of ​​the photoelectric sensor on the A-axis fixing plate, the photoelectric sensor sends a zero-return signal to the main board, thereby realizing the calibration of the C-axis. When the A-axis fixing plate enters the sensing area of ​​the photoelectric sensor on the fixed short aluminum profile, the photoelectric sensor sends a zero-return signal to the main board, thereby realizing the calibration of the A-axis.

[0032] In the above structure, photoelectric sensors are installed on the A-axis fixing plate and the fixed short aluminum profile, respectively, to realize the calibration of the A-axis and C-axis. In addition, by replacing the photoelectric sensors with mechanical or electromagnetic sensors or using them in combination, the zeroing operation of the A and C axes can be realized in the same way.

[0033] As a preferred embodiment of the present invention: the first and third synchronous pulleys are both 16-tooth synchronous pulleys, and the second and fourth synchronous pulleys are both 40-tooth synchronous pulleys.

[0034] A control method for a delta-shaped five-degree-of-freedom additive manufacturing equipment, characterized by comprising the following steps:

[0035] Before the equipment performs five-axis simultaneous printing, ensure that the zero plane of the Z-axis is parallel to the zero-return turntable and that the print disk is horizontal when it is at the zero position of each axis. If it is tilted, you can rotate the leveling knob to squeeze or stretch it, thereby adjusting its height and achieving leveling of the print disk.

[0036] When the equipment performs five-axis linkage printing, the angles of the A-axis and C-axis on the zero-return turntable are adjusted to ensure that the end effector at each printing point is always parallel to the normal of the surface of the workpiece to be printed.

[0037] Since the angles of the A-axis and C-axis change, thus altering the position of the printed workpiece, in order to ensure that the end effector reaches the desired workpiece position, the positions of the X, Y, and Z axes need to be adjusted synchronously to achieve the expected printing point.

[0038] When the device performs five-axis simultaneous printing, the system reads a line of G-code each time and first uses an inverse kinematics algorithm to determine the positions of the X, Y, Z, A, and C axes based on the printer's structural configuration. The motion control algorithm then uses a trapezoidal generator to calculate the motion time of the X, Y, Z, A, and C axes based on the change in position between the current and previous steps and the kinematic constraints of each axis drive. The longest motion time is then fed back to the axes with shorter motion times, allowing for a readjustment and recalculation of the motion speed and acceleration of the shorter axes. This ensures that all five axes maintain the same motion time in each step, achieving simultaneous printing.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] In addition to using fused deposition modeling to print thermoplastic materials, the nozzle at the end of this invention can also be replaced with a laser or other biomaterial extrusion device to achieve five-degree-of-freedom photopolymerization printing and bioprinting.

[0041] This invention adds two degrees of freedom, the A-axis and the C-axis, and uses photoelectric sensors to achieve zero-return operation of the A and C-axis positions. This allows the invention to print complex structures without the need for support structures. At the same time, the printing process effectively reduces the step effect, improves printing efficiency and printing effect, and reduces material waste.

[0042] Furthermore, by incorporating a five-axis inverse kinematics solution algorithm and a motion axis synchronization algorithm, 3+2 axis printing and five-axis linkage printing were achieved from a hardware control perspective, with smooth and efficient control and good printing results.

[0043] A newly designed extended printhead structure adapted for five-axis printing reduces interference issues during the printing process.

[0044] A structure suitable for turntable leveling was designed, making turntable leveling easier. Attached Figure Description

[0045] Figure 1 This is a front view of a five-axis additive manufacturing equipment.

[0046] Figure 2 This is a 3D model of the outer frame;

[0047] Figure 3 A three-dimensional model diagram of the effector;

[0048] Figure 4 This is a 3D model of the reversible rotary table.

[0049] Figure 5 This is a 3D model of the A-axis of a rotary table with zero return capability.

[0050] Figure 6 A 3D model of the C-axis of a rotary table with zero return capability;

[0051] Figure 7 A schematic diagram of the transmission for a rotary table capable of returning to zero.

[0052] Figure 8 A 3D model diagram of the end effector;

[0053] Figure 9 A schematic diagram of the operation of a five-axis additive manufacturing equipment;

[0054] Figure 10 A schematic diagram of the installation of micro switches for the XYZ axes;

[0055] Figure 11 A schematic diagram of the installation of the AC axis photoelectric sensor;

[0056] Figure 12 This is a schematic diagram of a trapezoidal generator for kinematic control.

[0057] List of reference numerals in the attached diagram:

[0058] 1. Outer frame; 101. Upper corner piece; 102. Turntable support piece; 103. Lower corner piece; 104. Short aluminum profile; 1041. First short aluminum profile; 1042. Second short aluminum profile; 105. Long aluminum profile; 106. Fixed short aluminum profile; 2. Feed / retract module; 3. Effector; 301. Linear guide rail; 302. Push rod; 303. Fisheye bearing; 304. Slider; 305. Fixed platform; 4. Zero-returning turntable; 401. Turntable vertical bearing seat; 402. Turntable diamond bearing seat; 403. Support frame; 404. Printing disc; 405. Shaft support seat; 406. 407. Front shaft; 408. A-axis fixing plate; 409. 40-tooth synchronous pulley; 410. A-axis; 411. 16-tooth synchronous pulley; 412. A-axis stepper motor; 413. Motor mounting bracket; 414. C-axis stepper motor; 415. Turntable fixing block; 416. Cylindrical leveling rubber block; 417. Leveling knob; 418. C-axis; 419. Turntable fixing nut; 420. C-axis base plate; 501. Turntable round flange bushing bearing seat; 502. End effector; 503. Extrusion nozzle; 504. Insulation component; 6. Stepper motor; 7. Micro switch; 8. Photoelectric sensor. Detailed Implementation

[0059] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0060] like Figure 1-12As shown: This invention proposes a delta-shaped five-degree-of-freedom additive manufacturing device, including an outer frame 1, a feeding / unfeeding module 2, an effector 3, a zero-returning turntable 4, an end effector 5, and a stepper motor 6. The feeding / unfeeding module 2, the effector 3, the zero-returning turntable 4, the end effector 5, and the stepper motor 6 are respectively installed inside the outer frame 1. The outer frame 1 includes a short aluminum profile 104 and a long aluminum profile 105. The two ends of the short aluminum profile 104 are connected to each other to form an upper plane fixing frame and a lower plane fixing frame, respectively. The two ends of the long aluminum profile 105 are respectively vertically fixed on the upper plane fixing frame and the lower plane fixing frame, so that the outer frame 1 forms a spatial coordinate axis.

[0061] The feeding and unloading module 2 is fixed on the long aluminum profile 105. The feeding and unloading module 2 includes a linear gear, an extrusion motor and a pressing mechanism. The linear gear is installed on the output shaft of the extrusion motor and is connected to the pressing mechanism. The extrusion motor drives the linear gear to rotate, and the linear gear drives the pressing mechanism to press the printing material.

[0062] The effector 3 is connected to the stepper motor 6. The effector 3 includes a fixed platform 305. The end effector 5 is mounted on the fixed platform 305. Driven by the stepper motor 6, the fixed platform 305 drives the end effector 5 on it to move up and down reciprocally.

[0063] The zero-returning rotary table 4 is installed below the end effector 5. The zero-returning rotary table 4 includes a print disk 404. An A-axis adjustment mechanism and a C-axis adjustment mechanism are installed below the print disk 404. The C-axis adjustment mechanism includes a C-axis stepper motor 413 and a C-axis 417. The C-axis 417 is fixed at the center below the print disk 404. A first synchronous pulley is installed on the C-axis 417, and a second synchronous pulley is installed on the output shaft of the C-axis stepper motor 413. The first and second synchronous pulleys are connected by a belt drive. When the C-axis stepper motor 413 starts, the C-axis 417 drives the print disk 404 to rotate via the first and second synchronous pulleys.

[0064] The A-axis adjustment mechanism includes an axis support 405, an A-axis fixing plate 407, and an A-axis stepper motor 411. The C-axis stepper motor 413 is fixed below the A-axis fixing plate 407. The A-axis fixing plate 407 is fixedly connected to the bottom of the print disk 404. The A-axis fixing plate 407 has a through hole. The C-axis 417 passes through the through hole and is fixedly connected to the center of the bottom of the print disk 404. The axis support 405 is fixed to both ends of the A-axis fixing plate 407. A third synchronous pulley is installed on the output shaft of the A-axis stepper motor 411. A fourth synchronous pulley is installed on one side of the axis support 405, and a synchronous rotating shaft is installed on the other side. The third and fourth synchronous pulleys are connected by belt drive. When the A-axis stepper motor 411 is started, the A-axis fixing plate 407 is driven to rotate along the axial direction of the A-axis fixing plate 407 through the third and fourth synchronous pulleys, so that the print disk 404 is tilted to different degrees.

[0065] The end effector 5 includes an extrusion nozzle 501 and a heat insulation component 502. The extrusion nozzle 501 is fixedly connected to the fixed platform 305, and the extrusion nozzle 501 is covered by the heat insulation component 502.

[0066] The stepper motor 6 is fixedly mounted on the upper plane mounting bracket.

[0067] This invention proposes a delta-shaped five-degree-of-freedom additive manufacturing equipment and control method, comprising an outer frame 1, a feeding / unfeeding module 2, an effector 3, a zero-returning rotary table 4, an end effector 5, and a stepper motor 6. The feeding / unfeeding module 2, effector 3, zero-returning rotary table 4, end effector 5, and stepper motor 6 are respectively installed within the outer frame 1. The outer frame 1 serves as a spatial coordinate axis, facilitating three-axis movement of the end effector 5. A short aluminum profile 104 is connected at both ends to form an upper plane fixing frame and a lower plane fixing frame, respectively. The two ends of a long aluminum profile 105 are vertically fixed to the upper and lower plane fixing frames, respectively. The feeding / unfeeding module 2 includes a linear gear, an extrusion motor, and a clamping mechanism for clamping the printing material. The effector 3 is connected to the stepper motor 6 and includes a fixed platform 305. The end effector 5 is mounted on the fixed platform 305. Driven by the stepper motor 6, the fixed platform 305 drives the end effector 5 to move up and down reciprocally to adjust the printing process. The print height is adjusted by a zero-returning rotary table 4 installed below the end effector 5. The zero-returning rotary table 4 includes a print disk 404. An A-axis adjustment mechanism and a C-axis adjustment mechanism are installed below the print disk 404. The C-axis adjustment mechanism includes a C-axis stepper motor 413 and a C-axis 417. When the C-axis stepper motor 413 is started, the C-axis 417 drives the print disk 404 to rotate through a first synchronous pulley and a second synchronous pulley. The A-axis adjustment mechanism includes an axis support 405 (405) and an A-axis fixing plate. The A-axis stepper motor 411 and the A-axis fixed plate 407 are used to rotate the printing disk 404 at different degrees after the A-axis stepper motor 411 is started. The printing disk 404 is rotated along the axial direction of the A-axis fixed plate 407 through the third synchronous wheel and the fourth synchronous wheel, so as to adjust the printing material at different angles. The end effector 5 includes an extrusion nozzle 501 and a heat preservation component 502. The heat preservation component 502 is used to keep the extrusion nozzle 501 warm, and printing is performed through the extrusion nozzle 501.

[0068] This invention adopts a delta-shaped parallel arm structure, providing adjustment of three degrees of freedom: X, Y, and Z. The lower part of the structure, together with the zero-return turntable 4, provides adjustment of two rotational degrees of freedom: A and C.

[0069] The kinematic control of the A and C axes uses a "trapezoidal generator" to generate each motion. Each motion has an initial velocity v0, which is first accelerated to a cruising speed vm with a constant acceleration a, then cruises at a constant speed vm, and finally decelerates to the final velocity v1 with a constant acceleration a. The value of the cruising speed vm is determined by the initial velocity v0, the final velocity v1, and the distance traveled.

[0070] When the device performs five-axis linkage printing, based on the position change of each step, and according to the motion characteristics of stepper motor 6, A-axis stepper motor 411 and C-axis stepper motor 413 and the motion constraints assigned to each motion axis, the maximum time of X, Y, Z, A and C axes is obtained. This maximum time is then fed back to the other axes with shorter time, thereby readjusting and recalculating the motion speed and acceleration of the shorter axes to ensure that the five axes have the same motion time in the same step, thus achieving linkage.

[0071] The working principle of this invention is as follows: Since two rotational degrees of freedom, A and C, are added below the printing disk 404, it is important to ensure that the zero plane of the Z axis is parallel to the zero-returning turntable 4 before printing. Therefore, before each printing, it is necessary to ensure that the printing disk 404 is in a horizontal state when each axis is at zero position. If it is tilted, the leveling knob 416 can be rotated to squeeze or stretch it, thereby adjusting its height and achieving the leveling of the printing disk 404.

[0072] Before each task is performed, the X, Y, Z, A, and C axes are calibrated to zero. When the X, Y, and Z axes are calibrated to zero, the slider 304, driven by the stepper motor 6, slides upward along the linear guide 301 until the three sliders 304 respectively touch the corresponding microswitches 7. At this time, the X, Y, and Z axes are calibrated to zero. Then, the A axis 409 continues to rotate clockwise. When the A axis fixing plate 407 moves to trigger the photoelectric sensor 8, the main board connected to the A axis 409 will receive a signal. Due to the physical position constraint of the photoelectric sensor 8, the A axis 409 has rotated exactly -90°. At this time, the position of the A axis 409 is calibrated to -90°. Then, the A axis 409 is controlled to return to the 0° position, and the A axis 409 completes the leveling and position calibration. Then, the C axis 417 continues to rotate counterclockwise until the photoelectric sensor 8 is triggered, and the position of the C axis 417 is calibrated to 0°. At this time, the position calibration of the C axis 417 is completed.

[0073] When the equipment performs five-axis linkage printing (or 3-axis + 2-axis printing), in order to improve the printing quality and reduce the possibility of collision between the end effector 5 and the printed workpiece and the zero-returning turntable 4, the angles of the A-axis 409 and C-axis 417 on the zero-returning turntable 4 are adjusted to keep the end effector 5 parallel to the normal of the surface of the workpiece at each printing point during the printing process.

[0074] Given the position and normal vector of a certain point on the workpiece surface to be printed, p and n respectively, the process of calculating the motion positions of each axis of the additive manufacturing equipment is called inverse kinematics solution. Assuming the motion quantities of the X, Y, Z, A, and C axes are qx, qy, qz, α, and β respectively, then based on the position p = (px, py, pz) and normal vector n = (nx, ny, nz) of the printing point, we can obtain:

[0075]

[0076] β = atan2(nx, ny)

[0077]

[0078] When the equipment performs five-axis simultaneous printing (or 3-axis + 2-axis printing), the system reads a line of G-code each time. The G-code contains information such as the position and normal of the printing point. The motion control algorithm first performs inverse kinematics algorithm to solve the problem. Based on the position and normal of the printing point, it calculates the position change of each axis based on this step of action. Then, based on the kinematic constraints of each axis, it uses a "trapezoidal generator" to calculate the motion time of the X, Y, Z, A, and C axes and obtains the longest time. This longest time is fed back to the other axes with shorter time, and then the motion speed and acceleration of the shorter axes are readjusted and solved to achieve synchronous motion and the same motion of the five axes in the same step, thus realizing linkage.

[0079] In this embodiment: the outer frame 1 further includes an upper corner piece 101 and a lower corner piece 103. The short aluminum profile 104 includes a first short aluminum profile 1041 and a second short aluminum profile 1042. The first short aluminum profile 1041 is configured as a double layer. The two ends of the first short aluminum profile 1041 are connected to each other through the upper corner piece 101 to form an upper plane fixing frame. The two ends of the second short aluminum profile 1042 are connected to each other through the lower corner piece 103 to form a lower plane fixing frame. The two ends of the long aluminum profile 105 are fixed to the upper corner piece 101 and the lower corner piece 103 respectively. The short aluminum profile 104 includes a first short aluminum profile 1041 and a second short aluminum profile 1042. The two ends of the first short aluminum profile 1041 are connected to each other through upper corner pieces 101 to form an upper plane fixing frame. The two ends of the second short aluminum profile 1042 are connected to each other through lower corner pieces 103 to form a lower plane fixing frame. By fixing the two ends of the long aluminum profile 105 to the upper corner pieces 101 and the lower corner pieces 103 respectively, a three-dimensional coordinate axis is formed.

[0080] In this embodiment: the first short aluminum profile 1041 and the second short aluminum profile 1042 each form three quasi-equilateral triangles, and the two quasi-equilateral triangles formed by the first short aluminum profile 1041 are parallel to the quasi-equilateral triangles formed by the second short aluminum profile 1042. The three quasi-equilateral triangles formed by the first short aluminum profile 1041 and the second short aluminum profile 1042, after being fixed by the long aluminum profile 105, form the overall external frame of the device. The size of the printer and the printing size are entirely determined by the lengths of the long aluminum profile 105 and the short aluminum profile 104.

[0081] In this embodiment, the effector 3 further includes a linear guide rail 301, a push rod 302, a fisheye bearing 303, and a slider 304. The linear guide rail 301 is vertically fixed on the long aluminum profile 105. The slider 304 is slidably mounted on the linear guide rail 301 and connected to a stepper motor 6. The two ends of the push rod 302 are hinged to the slider 304 and the fixed platform 305 respectively through the fisheye bearing 303. When the stepper motor 6 drives the slider 304 to slide on the linear guide rail, the slider 304 drives the fixed platform 305 to move up and down through the push rod 302. The effector 3 further includes a linear guide rail 301, a push rod 302, a fisheye bearing 303, and a slider 304. When the stepper motor 6 drives the slider 304 to slide on the linear guide rail, the slider 304 drives the fixed platform 305 to move up and down through the push rod 302 hinged to the fisheye bearing 303, thereby determining the position of the end effector 5 fixed on the fixed platform 305.

[0082] Microswitches 7 are installed at the top of the linear guide rail 301. When the slider 304 moves upward to its highest point on the linear guide rail 301, the slider 304 actuates the microswitches 7, and the microswitches 7 send a zero-return signal to the main board. The microswitches 7 at the top of the linear guide rail 301, when the slider 304 moves upward to its highest point on the linear guide rail 301, actuate the microswitches 7, and at this time, the microswitches 7 send a zero-return signal to the main board to limit the upper limit of the slider 304's movement.

[0083] In this embodiment: the zero-return turntable 4 further includes a support frame 403, a front end shaft 406, an A-axis 409, and a motor mounting bracket 412. The support frame 403 is vertically fixed on two adjacent second short aluminum profiles 1042 and located on one side of the turntable. The A-axis stepper motor 411 is fixed on the support frame 403. The shaft support seat 405 passes through the support frame 403 and connects to the fourth synchronous pulley. The front end shaft 406 is rotatably connected to the synchronous shaft. The C-axis 417 is fixedly connected to the fourth synchronous pulley. The motor mounting bracket 412 is fixed below the A-axis fixing plate 407. The C-axis stepper motor 413 is fixedly installed inside the motor mounting bracket 412. The zero-returning turntable 4 also includes a support frame 403, a front shaft 406, an A-axis 409, and a motor mounting bracket 412. The support frame 403 is vertically fixed to two adjacent second short aluminum profiles 1042 and located on one side of the turntable to fix and install the A-axis stepper motor 411 and the fourth synchronous pulley. The front shaft 406 is rotatably connected to the synchronous shaft, and the C-axis 417 is fixedly connected to the fourth synchronous pulley. When the A-axis stepper motor 411 starts, it drives the shaft support 405 to rotate, and the front shaft 406 on the other side rotates together, thereby tilting the printing disk 404. The C-axis stepper motor 413 is fixedly installed in the motor mounting bracket 412 to achieve its installation and fixation.

[0084] In this embodiment, the system also includes a turntable fixing block 414, a cylindrical leveling rubber block 415, a leveling knob 416, a turntable fixing nut 418, a C-axis base plate 419, and a turntable round flange bushing bearing seat 420. The turntable round flange bushing bearing seat 420 is fixedly installed between the A-axis fixing plate 407 and the C-axis base plate 419. The C-axis base plate 419 has a through hole in the middle. The C-axis 417 passes through the through hole on the A-axis fixing plate 407 and the turntable round flange bushing bearing seat 420 in sequence. 20 and through holes on the C-axis base plate 419. The C-axis 417 is fixed in the through holes on the C-axis base plate 419 by a turntable fixing nut 418. Three rotating arms are installed at equal intervals along the circumference of the C-axis base plate 419. The cylindrical leveling rubber block 415 and the leveling knob 416 are respectively installed above and below the rotating arms. Three turntable fixing blocks are installed below the turntable. The three turntable fixing blocks 414 are respectively fixedly connected to the cylindrical leveling rubber blocks 415 on the three rotating arms.

[0085] The zero-returning turntable 4 also includes a turntable fixing block 414, a cylindrical leveling rubber block 415, a leveling knob 416, a turntable fixing nut 418, a C-axis base plate 419, and a turntable round flange bushing bearing seat 420. The C-axis 417 passes through the through holes on the A-axis fixing plate 407, the turntable round flange bushing bearing seat 420, and the C-axis base plate 419 in sequence. The C-axis 417 is fixed in the through hole on the C-axis base plate 419 by the turntable fixing nut 418, thus achieving the fixation of the C-axis 417. The C-axis 417 is interference-fitted in the through holes on the A-axis fixing plate 407 and the C-axis base plate 419, and is fixedly connected to the inner ring of the turntable round flange bushing bearing seat 420. Therefore, the C-axis 417 can rotate without affecting other parts.

[0086] Three cantilever arms extend from the C-axis base plate 419 at equal angles. The ends of the three cantilever arms are connected to cylindrical leveling rubber blocks 415 and leveling knobs 416. A turntable fixing block 414 is installed below the print disk 404. The three turntable fixing blocks 414 are respectively fixedly connected to the cylindrical leveling rubber blocks 415 on the three rotating arms, thus achieving the fixation and installation of the C-axis base plate 419. The leveling knob 416 is fixed by the internal thread of the C-axis base plate 419 and can be adjusted up and down. The cylindrical leveling rubber blocks 415 are fitted onto the leveling knob 416. The turntable fixing block 414 has internal threads. The bottom of the leveling knob 416 is fixedly connected to the turntable fixing block 414 through the internal threads. The print disk 404 is locked by the turntable fixing block. Therefore, the parallelism of the print disk 404 can be adjusted by the three leveling knobs 416.

[0087] In this embodiment, the system also includes a fixed short aluminum profile 106, a turntable support 102, a turntable vertical bearing seat 401, and a turntable diamond bearing seat 402. The turntable support 102 is installed on two adjacent long aluminum profiles 105 and is located below the effector 3. The two ends of the fixed short aluminum profile 106 are fixed on the turntable support 102. The turntable vertical bearing seat 401 is fixed on the fixed short aluminum profile 106. The turntable diamond bearing seat 402 is fixed on the long aluminum profile 105 opposite to the short aluminum profile 104. The front end shaft 406 is rotatably connected to the turntable vertical bearing seat 401, and the A-axis 409 is rotatably connected to the turntable diamond bearing seat 402. By installing and fixing the short aluminum profile 106, both ends of the short aluminum profile 106 are fixed to the turntable support 102, the turntable vertical bearing seat 401 is fixed to the short aluminum profile 106, and the turntable diamond bearing seat 402 is fixed to the long aluminum profile 105 opposite to the short aluminum profile 104, thus realizing the overall installation and fixing of the zero-return turntable 4. Among them, the front shaft 406 is rotatably connected to the turntable vertical bearing seat 401, and the A-axis 409 is rotatably connected to the turntable diamond bearing seat 402, which facilitates the rotation of the A-axis fixing plate 407 and realizes the tilt adjustment of the printing disk 404.

[0088] In this embodiment: photoelectric sensors 8 are respectively installed on the A-axis fixing plate 407 and the fixed short aluminum profile 106. The C-axis 417 drives the C-axis base plate 419 to move. When the C-axis base plate 419 enters the sensing area of ​​the photoelectric sensor 8 on the A-axis fixing plate 407, the photoelectric sensor 8 sends a zero-return signal to the main board, thereby calibrating the C-axis 417. When the A-axis fixing plate 407 enters the sensing area of ​​the photoelectric sensor 8 on the fixed short aluminum profile 106, the photoelectric sensor 8 sends a zero-return signal to the main board, thereby calibrating the A-axis 409. The photoelectric sensors 8 are respectively installed on the A-axis fixing plate 407 and the fixed short aluminum profile 106 to calibrate the A-axis 409 and the C-axis 417 respectively. In addition, the zero-return operation of the A and C axes can also be achieved by replacing the photoelectric sensor 8 with a mechanical or electromagnetic sensor or using them in combination.

[0089] In this embodiment: the first and third synchronous pulleys are both 16-tooth synchronous pulleys 410, and the second and fourth synchronous pulleys are both 40-tooth synchronous pulleys 408.

[0090] A control method for a delta-shaped five-degree-of-freedom additive manufacturing equipment includes the following steps:

[0091] Before the equipment performs five-axis linkage printing, ensure that the zero plane of the Z axis is parallel to the zero-returning turntable 4, and ensure that the printing disk 404 is in a horizontal state when each axis is at zero position. If it is tilted, the leveling knob 416 can be rotated to squeeze or stretch it, thereby adjusting its height and thus achieving the leveling of the printing disk 404.

[0092] When the equipment performs five-axis linkage printing, the angles of the A-axis 409 and C-axis 417 on the zero-returning turntable 4 are adjusted to keep the end effector 5 at each printing point parallel to the normal of the surface of the workpiece to be printed.

[0093] Since the angles of the A-axis 409 and C-axis 417 change, thus altering the position of the printed workpiece, in order to ensure that the end effector 5 reaches the desired workpiece position, the positions of the X, Y, and Z axes need to be adjusted synchronously to achieve the expected printing point.

[0094] When the device performs five-axis simultaneous printing, the system reads a line of G-code each time and first uses an inverse kinematics algorithm to determine the positions of the X, Y, Z, A, and C axes based on the printer's structural configuration. The motion control algorithm then uses a trapezoidal generator to calculate the motion time of the X, Y, Z, A, and C axes based on the change in position between the current and previous steps and the kinematic constraints of each axis drive. The longest motion time is then fed back to the axes with shorter motion times, allowing for a readjustment and recalculation of the motion speed and acceleration of the shorter axes. This ensures that all five axes maintain the same motion time in each step, achieving simultaneous printing.

[0095] In addition to using fused deposition modeling to print thermoplastic materials, the nozzle at the end of this invention can also be replaced with a laser or other biomaterial extrusion device to achieve five-degree-of-freedom photopolymerization printing and bioprinting.

[0096] This invention improves the repeatability of positioning by adding two degrees of freedom, A-axis 409 and C-axis 417, and using photoelectric sensor 8 to achieve zero-return operation of A and C axis positions. This allows the invention to print complex structures without the need for support structures, while also effectively reducing step effects, improving printing efficiency and quality, and reducing material waste.

[0097] Furthermore, by incorporating a five-axis inverse kinematics solution algorithm and a motion axis synchronization algorithm, 3+2 axis printing and five-axis linkage printing were achieved from a hardware control perspective, with smooth and efficient control and good printing results.

[0098] A newly designed extended printhead structure adapted for five-axis printing reduces interference issues during the printing process.

[0099] A structure suitable for turntable leveling was designed, making turntable leveling easier.

[0100] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A delta-shaped five-degree-of-freedom additive manufacturing apparatus, characterized in that: The device includes an outer frame (1), a feeding / unloading module (2), an effector (3), a zero-returning turntable (4), an end effector (5), and a stepper motor (6). The feeding / unloading module (2), the effector (3), the zero-returning turntable (4), the end effector (5), and the stepper motor (6) are respectively installed inside the outer frame (1). The outer frame (1) includes a short aluminum profile (104) and a long aluminum profile (105). The two ends of the short aluminum profile (104) are connected to each other to form an upper plane fixing frame and a lower plane fixing frame, respectively. The two ends of the long aluminum profile (105) are respectively vertically fixed on the upper plane fixing frame and the lower plane fixing frame. The zero-returning rotary table (4) is installed below the end effector (5). The zero-returning rotary table (4) includes a print disk (404). An A-axis adjustment mechanism and a C-axis adjustment mechanism are installed below the print disk (404). The C-axis adjustment mechanism includes a C-axis stepper motor (413) and a C-axis (417). The C-axis (417) is fixed at the center below the print disk (404). A first synchronous pulley is installed on the C-axis (417). A second synchronous pulley is installed on the output shaft of the C-axis stepper motor (413). The first synchronous pulley and the second synchronous pulley are connected by belt drive. When the C-axis stepper motor (413) is started, the C-axis (417) drives the print disk (404) to rotate through the first synchronous pulley and the second synchronous pulley. The A-axis adjustment mechanism includes an axis support base (405), an A-axis fixing plate (407), and an A-axis stepper motor (411). The C-axis stepper motor (413) is fixed below the A-axis fixing plate (407). The A-axis fixing plate (407) is fixedly connected to the bottom of the print disk (404). The A-axis fixing plate (407) has a through hole, through which the C-axis (417) passes and is fixedly connected to the center of the bottom of the print disk (404). The axis support base (405) is fixed to the A-axis fixing plate (405). At both ends of 7), a third synchronous pulley is installed on the output shaft of the A-axis stepper motor (411), a fourth synchronous pulley is installed on one side of the shaft support (405), and a synchronous rotating shaft is installed on the other side. The third and fourth synchronous pulleys are connected by belt drive. When the A-axis stepper motor (411) starts, the A-axis fixing plate (407) is driven by the third and fourth synchronous pulleys to rotate along the axial direction of the A-axis fixing plate (407) to achieve different degrees of tilting of the printing disk (404). It also includes a turntable fixing block (414), a cylindrical leveling rubber block (415), a leveling knob (416), a turntable fixing nut (418), a C-axis base plate (419), and a turntable round flange bushing bearing seat (420). The turntable round flange bushing bearing seat (420) is fixedly installed between the A-axis fixing plate (407) and the C-axis base plate (419). The C-axis base plate (419) has a through hole in the middle. The C-axis (417) passes through the through hole on the A-axis fixing plate (407) and the turntable round flange bushing bearing seat (418) in sequence. 20) and the through hole on the C-axis base plate (419), the C-axis (417) is fixed in the through hole on the C-axis base plate (419) by the turntable fixing nut (418), three rotating arms are installed at equal intervals along the circumference of the C-axis base plate (419), the cylindrical leveling rubber block (415) and the leveling knob (416) are respectively installed above and below the rotating arm, and three turntable fixing blocks are installed below the turntable, the three turntable fixing blocks (414) are respectively fixedly connected to the cylindrical leveling rubber block (415) on the three rotating arms; Photoelectric sensors (8) are respectively installed on the A-axis fixing plate (407) and the fixed short aluminum profile (106). The photoelectric sensor (8) installed on the fixed short aluminum profile (106) corresponds to the A-axis -90° calibration position when the A-axis fixing plate (407) enters its sensing area; the photoelectric sensor (8) installed on the A-axis fixing plate (407) corresponds to the C-axis 0° calibration position when the C-axis base plate (419) enters its sensing area; when the C-axis base plate (419) enters the sensing area of ​​the photoelectric sensor (8) on the A-axis fixing plate (407), the photoelectric sensor (8) sends a zero-return signal to the main board, thereby calibrating the C-axis (417); when the A-axis fixing plate (407) enters the sensing area of ​​the photoelectric sensor (8) on the fixed short aluminum profile (106), the photoelectric sensor (8) sends a zero-return signal to the main board, thereby calibrating the A-axis (409).

2. The delta-type five-degree-of-freedom additive manufacturing equipment according to claim 1, characterized in that: The feeding and unloading module (2) is fixed on the long aluminum profile (105). The feeding and unloading module (2) includes a linear gear (205), an extrusion motor (206), and a pressing mechanism. The linear gear (205) is mounted on the output shaft of the extrusion motor (206). The linear gear (205) is connected to the pressing mechanism. The extrusion motor (206) drives the linear gear (205) to rotate. The linear gear (205) drives the pressing mechanism to press the printing material. The effector (3) is connected to the stepper motor (6). The effector (3) includes a fixed platform (305). The end effector (5) is mounted on the fixed platform (305). Under the drive of the stepper motor (6), the fixed platform (305) drives the end effector (5) on it to move up and down reciprocally. The end effector (5) includes an extrusion nozzle (501) and a heat insulation component (502). The extrusion nozzle (501) is fixedly connected to the fixed platform (305), and the extrusion nozzle (501) is covered by the heat insulation component (502). The stepper motor (6) is fixedly mounted on the upper plane mounting bracket; The effector (3) further includes a linear guide (301), a push rod (302), a fisheye bearing (303), and a slider (304). The linear guide (301) is vertically fixed on the long aluminum profile (105). The slider (304) is slidably mounted on the linear guide (301). The slider (304) is connected to the stepper motor (6). The two ends of the push rod (302) are respectively connected to the slider (304) and the fixed platform (3) through the fisheye bearing (303). 05) Hinged, when the stepper motor (6) drives the slider (304) to slide on the linear guide rail, the slider (304) drives the fixed platform (305) to move up and down through the push rod (302). The top of the linear guide rail (301) is equipped with micro switches (7). When the slider (304) moves upward on the linear guide rail (301) to its top, the slider (304) touches the micro switch (7), and the micro switch (7) sends a zero signal to the main board. The zero-return turntable (4) also includes a support frame (403), a front shaft (406), an A-axis (409), and a motor mounting bracket (412). The support frame (403) is vertically fixed on two adjacent second short aluminum profiles (1042) and located on one side of the turntable. The A-axis stepper motor (411) is fixed on the support frame (403). The shaft support seat (405) passes through the support frame (403) and connects to the fourth synchronous pulley. The front shaft (406) is rotatably connected to the synchronous shaft. The C-axis (409) is fixedly connected to the fourth synchronous pulley. The motor mounting bracket (412) is fixed below the A-axis fixing plate (407). The C-axis stepper motor (413) is fixedly installed inside the motor mounting bracket (412). It also includes a fixed short aluminum profile (106), a turntable support (102), a turntable vertical bearing seat (401), and a turntable diamond bearing seat (402). The turntable support (102) is installed on two adjacent long aluminum profiles (105) and located below the effector (3). The two ends of the fixed short aluminum profile (106) are fixed on the turntable support (102). The turntable vertical bearing seat (401) is fixed on the fixed short aluminum profile (106). The turntable diamond bearing seat (402) is fixed on the long aluminum profile (105) opposite to the short aluminum profile (104). The front end shaft (406) is rotatably connected to the turntable vertical bearing seat (401). The A-axis (409) is rotatably connected to the turntable diamond bearing seat (402). The first and third synchronous pulleys are both 16-tooth synchronous pulleys (410), and the second and fourth synchronous pulleys are both 40-tooth synchronous pulleys (408).

3. The delta-type five-degree-of-freedom additive manufacturing equipment according to claim 1, characterized in that: The outer frame (1) also includes an upper corner piece (101) and a lower corner piece (103). The short aluminum profile (104) includes a first short aluminum profile (1041) and a second short aluminum profile (1042). The first short aluminum profile (1041) is configured as a double layer. The two ends of the first short aluminum profile (1041) are connected to each other through the upper corner piece (101) to form an upper plane fixing frame. The two ends of the second short aluminum profile (1042) are connected to each other through the lower corner piece (103) to form a lower plane fixing frame. The two ends of the long aluminum profile (105) are fixed on the upper corner piece (101) and the lower corner piece (103) respectively.

4. A delta-type five-degree-of-freedom additive manufacturing apparatus according to claim 3, characterized in that: The first short aluminum profile (1041) and the second short aluminum profile (1042) respectively form three quasi-equilateral triangles. The two quasi-equilateral triangles formed by the first short aluminum profile (1041) are parallel to the quasi-equilateral triangles formed by the second short aluminum profile (1042).

5. A control method for a delta-type five-degree-of-freedom additive manufacturing apparatus as described in any one of claims 1-4, characterized in that: Before each task is performed, the X, Y, Z, A, and C axes are calibrated to zero: When the X, Y, and Z axes are calibrated to zero, the slider (304) slides upward along the linear guide (301) under the drive of the stepper motor (6) until the three sliders (304) respectively touch the corresponding micro switch (7), then the X, Y, and Z axes are calibrated to zero; then the A axis (409) continues to rotate clockwise, and the A axis fixing plate (407) moves to trigger the fixing short aluminum profile ( When the photoelectric sensor (8) on the 106) is activated, the position of the A-axis (409) is calibrated to -90°. Then, the A-axis (409) is controlled to return to the 0° position, and the A-axis (409) completes the leveling and position calibration. Then, the C-axis (417) continues to rotate counterclockwise until the C-axis base plate (419) triggers the photoelectric sensor (8) on the A-axis fixing plate (407) to calibrate the position of the C-axis (417) to 0°, and the position calibration of the C-axis (417) is completed. Before the device performs five-axis linkage printing, ensure that the zero plane of the Z axis is parallel to the zero-returning turntable (4), and ensure that the printing disk (404) is in a horizontal state when each axis is at zero position. If it is tilted, rotate the leveling knob (416) to squeeze or stretch it, thereby adjusting its height and thus achieving leveling of the printing disk (404). When the equipment performs five-axis linkage printing, the angles of the A-axis (409) and C-axis (417) on the zero-returning turntable (4) are adjusted to keep the end effector (5) at each printing point parallel to the normal of the surface of the workpiece to be printed. Since the angles of the A-axis (409) and C-axis (417) change, the position of the printed workpiece changes. In order to ensure that the end effector (5) reaches the desired workpiece position, the positions of the X, Y, and Z axes need to be adjusted synchronously to achieve the expected printing point. Given that the position and normal of a certain point on the workpiece surface to be printed are p and n respectively, and assuming that the motion quantities of the X, Y, Z, A, and C axes are qx, qy, qz, α, and β respectively, then based on the position p = (px, py, pz) and normal n = (nx, ny, nz) of the printing point, we obtain: Given the position and normal of a certain point on the workpiece surface to be printed, p and n respectively, the process of calculating the motion positions of each axis of the additive manufacturing equipment is called inverse kinematics solution. Assuming the motion quantities of the X, Y, Z, A, and C axes are qx, qy, qz, α, and β respectively, then based on the position of the printing point p = (px, py, pz) and the normal n = (nx, ny, nz), we obtain: ； ； ； When the equipment performs five-axis simultaneous printing, the system reads a line of G-code each time. The G-code contains the position and normal information of the printing point. The motion control algorithm first performs inverse kinematics algorithm to solve the problem. Based on the position and normal of the printing point, it calculates the position change of each axis based on this step of action. Then, based on the kinematic constraints of each axis, it uses a "trapezoidal generator" to calculate the motion time of the X, Y, Z, A, and C axes and obtains the longest time. This longest time is fed back to the other axes with shorter time, and then the motion speed and acceleration of the shorter axes are readjusted and solved to achieve synchronous motion of the five axes in each step of action, thus realizing linkage.

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