KR102271074B1 - System for processing surface of 3D printed sintered product using multiaxial joint robot - Google Patents

Abstract

The 3D laser processing system for the surface of a 3D printer sintered product using a multi-axis articulated robot according to the present invention sequentially supplies powder from the powder supply unit to the working plate of the product shaping chamber, and then is stacked on the working plate to a predetermined thickness. The surface processing of the 3D molded product is performed by sintering on the powder layer using the laser irradiated from the laser irradiation unit, and the laser irradiation unit is fixed on the end of the multi-axis articulated robot, and a plurality of joints constituting the multi-axis articulated robot And by changing the position and angle of a plurality of axes connecting the joints, it enables laser sintering of various angles for the powder layer laminated on the surface of the 3D molded product to improve the surface precision.

Description

A processing system for the surface of a 3D printed sintered product using a multiaxial joint robot {System for processing surface of 3D printed sintered product using multiaxial joint robot}

The present invention is a processing method to improve the surface precision of the surface of the 3D printing product sintered in the process of irradiating a laser on the powder supplied to the 3d printer using a device in which a multi-axis joint robot is added to a galbanon scanner is about

Metal 3D printers are generally divided into PBF (Powder Bed Fusion) method and DED (Directed Energy Deposition) method. PBF is a method of laminating powder by sintering or melting it by selectively irradiating a high-energy laser or electron beam on a powder bed using powder as a material. The laser uses a galvano scanner to control the laser path, and a deflecting lens composed of a coil moves the electron beam.

The biggest advantage of the PBF method is that it can print complex shapes without difficulty. For example, it is advantageous for processing difficult-to-cut materials or producing high value-added products with complex shapes. On the other hand, although the precision is excellent, the productivity is low, the sintering and melting uniformity of the laminated product is not good, so the strength of the product is weak and it is difficult to secure an impact value. Currently, many companies are developing solutions focusing on the SLM (Selective Laser Melting) process.

In DED, when a high-power laser beam is irradiated on a metal surface, a molten pool is instantaneously generated, and metal powder is also supplied and laminated in real time. It can be stacked on top of existing products in a similar way to welding, so it can be used for repair work. In addition, it is possible to use several powders at the same time to produce an alloy in real time or use other materials.

When selecting a metal 3D printer, you can choose a method suitable for the type of processing between the PBF method and the DED method, but since each has distinct advantages and disadvantages, it is impossible to judge which technology is superior.

On the other hand, looking at the general 3D printing of the PBF method, the powder sequentially supplied on the powder bed is sintered using a galvanon scanner to perform lamination between layers.

3D printing products using metal are difficult to control the surface roughness because of the limited mechanical processing in nature, and in the case of products requiring low surface roughness, post-treatment is absolutely necessary. 3D printing technology using metal and laser has limitations in application to medical products due to the low shape precision of 30~100㎛, so the surface is processed through separate post-processing technology including milling, grinding, sanding, polishing or CNC processing. A process to increase precision is required.

That is, when polishing the outer surface of the 3D printed product stacked using the conventional PBF method, it is difficult to maintain the fine precision of the outer surface of the printed material even if the polishing process is performed by applying the conventional milling method. There is this.

On the other hand, in the case of Korean Patent Registration No. 10-1591438, the 3D printing method removes the metal powder remaining on the product surface and smoothes the surface by applying ultrasonic waves and simultaneously performing electrolytic polishing in the surface treatment of the 3D printing product. Discloses a method for modifying the surface by lowering the roughness of the surface,

In the case of Korean Patent Registration No. 10-1509432, the surface of the printed product is processed gently using acetone chemical reaction, and shape deformation is prevented through drying by rapid cooling, and high-quality painting is possible by applying a surface finishing material for painting. and discloses technical details regarding a rapid surface treatment apparatus for 3D printer output so that the surface treatment process can be automatically and rapidly performed.

On the other hand, as a technology for manufacturing a three-dimensional object, there is known a laminate molding technology for producing a three-dimensional object by irradiating a light beam to a metal powder material. A method for manufacturing a three-dimensional shaped object in which a plurality of sintered layers are integrally laminated by forming a sintered layer by irradiating the layer with a light beam and repeating the same is described.

(Patent Document 1) KR10-1591438 B

(Patent Document 2) KR10-1509432 B

(Patent Document 3) JP2009-001900A

The present invention is to solve the conventional problem, in the process of irradiating a laser on the powder supplied to the 3D printer using a galbanon scanner, 3D sintering by adding a multi-axis articulated robot structure to the galbanon scanner An object of the present invention is to provide a processing method to improve surface precision by enabling laser sintering of various angles on the surface of a printing product.

In order to solve the above problems, the 3D laser processing system for the surface of a 3D printer sintered product using a multi-axis articulated robot according to the present invention sequentially supplies the powder from the powder supply unit to the work plate of the product shaping chamber, and then the operation Surface processing of a 3D molded product is performed by sintering on a powder layer stacked on a plate to a predetermined thickness using a laser irradiated from a laser irradiation unit, and the laser irradiation unit is fixed on the end of the multi-axis articulated robot, the multi-axis By changing the position and angle of a plurality of joints constituting the articulated robot and a plurality of axes connecting the joints, it enables laser sintering of various angles for the powder layer laminated on the surface of the 3D molded product to improve surface precision. .

The laser irradiation unit is a galbanon scanner.

In the process of irradiating a laser on the powder supplied to the 3D printer using a galbanon scanning system, a multi-axis articulated robot structure is added to the galbanon scanning system at various angles to the surface of the sintered 3D printing product. Enables laser sintering to improve surface precision.

That is, in the case of sintering the powder sequentially stacked and supplied on the powder bed using the multi-axis articulated robot, through the process of diversifying the arrangement and operating angle of the multi-axis articulated robot, various By irradiating at an angle, it is possible to variously change the stacking angle between the stacked layers.

The present invention uses a multi-axis articulated robot to provide a 3D printing product that enables the lamination of output with high quality surface condition through precise laser processing, regardless of whether the inclination angle of the surface of the sintered 3D printing product is steep or gentle. to derive

1 is a conceptual diagram showing a processing system for the surface of a 3D printer sintered product using a multi-axis articulated robot according to the present invention.
2 shows the arrangement relationship between the powder supply unit and the product molding unit.
3 shows the concept of producing a 3D printer sintered product by irradiating a laser mounted on an articulated robot on the powder supplied on the support constituting the lower part of the medical implant.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be embodied in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art It is provided for complete disclosure. In the drawings, like reference numerals refer to like elements.

The present invention is a process to improve the surface precision of the surface of the 3D printing product sintered in the process of irradiating a laser on the powder supplied to the 3d printer using a device with a multi-joint robot structure added to the galbanon scanner provide a way

The 3D laser processing system for processing the surface of a sintered product according to the present invention is a powder supply unit 100, a powder supply unit 100 that supplies powder to form a product at a predetermined cycle in a state in which the powder is accommodated therein. The product molding unit 200 that enables 3D product molding by sintering the powder supplied from the laser irradiation unit and the multi-axis joint robot structure 300 coupled on the laser irradiation unit for sintering the powder stacked in the product molding unit 200 include

The product shaping unit 200 allows the sintering process to proceed in a pattern shape corresponding to the cross-sectional shape of a desired product through laser exposure.

The product shaping unit 200 moves downward according to a preset program in the product shaping chamber 210 and the product shaping chamber 210 existing under a state in which the supplied powder is sintered through the powder supply part 100. It includes a working plate 220 on which the supplied powder is spread, and a laser irradiator 240 for supplying a laser onto the powder layer placed on the working plate 220 in a state disposed on the upper side of the product shaping chamber 210 . .

The product shaping chamber 210 refers to a space in which the powder supplied from the powder supply unit 100 is molded into a product of a desired shape under a state in which the powder is sintered by a laser. It may be of a structure connected through a transfer plate separate from the top. As an example, the transfer plate may be inclined downward from the powder receiving chamber toward the product shaping chamber 210 .

The working plate 220 functions as a powder bed in which the supplied powder is uniformly spread, and is movable up and down through the driving unit 225 coupled thereto. The driving unit 225 has one end fixed to the lower portion of the work plate 220 and the other end is a lifting rod (not shown) extending downward in the product shaping chamber 210, a driving motor for moving the lifting rod up and down ( not shown), and may guide the movement of the work plate 220 while ascending and descending together with the lifting rod in a state in which one or more guides (not shown) are disposed around the lifting rod.

On the other hand, in a state in which a certain amount of powder supplied from the powder supply unit 100 is gathered on one side of the work plate 220 , a predetermined amount of powder supplied through the distribution roller unit 230 is applied to the work plate 220 to a uniform thickness. can be unfolded with

The distribution roller unit 230 may perform a function of transferring the powder during the rotation process and at the same time perform a process of compacting the powder passing under the work plate 220 and the distribution roller through a rolling motion. On the other hand, by additionally disposing a vibrating body capable of applying vibration on the distribution roller, a predetermined vibration pressure may be applied on the powder placed on the work plate 220 through the process of applying vibration on the distribution roller.

The distribution roller 231 of the cylindrical shape is coupled along the axial direction to a roller connecting shaft 233 coupled in a direction orthogonal to the rotation shaft 235 disposed on the upper center of the work plate 220 .

The rotation shaft is rotatably coupled to the upper end of one side of the product shaping chamber 210 through a separate driving means operated by the controller in a state coupled in the vertical direction.

The distribution roller rotates within a certain angular range on the work plate 220 according to the rotation of the rotating shaft. Specifically, when powder is supplied to one side of the product shaping chamber 210, the distribution roller moves similarly to the unfolding operation of a fan from one side to the other, like a wiper of a car, around a rotational axis.

The laser irradiation unit 240 includes a laser light source disposed on the upper portion of the product shaping chamber 210 and a lens unit through which light irradiated from the laser light source is incident and refracted.

The multi-axis articulated robot structure 300 has a multi-joint link and a structure having a plurality of axes constituting the connection point of the multi-joint link, and a path including position, speed and acceleration information of each axis constituting the robot structure through the motion control unit. Make a plan and give orders.

The multi-joint robot structure used in the present invention includes an orthogonal robot in which all joints are straight, a cylindrical robot having two linear motion joints and one rotation joint, a spherical robot having two rotation joints and one linear joint, and three It is possible to use any one type of connection type robot having a rotation joint or to use a combination of two or more types of the plurality of robot types.

Meanwhile, a process of producing a medical prosthesis such as an artificial joint by irradiating a laser on the powder supplied using the multi-joint robot structure of the 3D laser processing system according to the present invention will be described with reference to FIG. 3 .

The powder is sequentially supplied onto the working plate 220 of the product shaping chamber 210 to form the support 250 constituting the lower part of the medical implant.

The powder supply unit 100 sequentially supplies the powder onto the working plate of the product shaping chamber. The distribution roller is operated to compact the powder supplied on the work plate 220 to a predetermined thickness.

After sequentially supplying the powder onto the support 250, the 3D molded product surface processing is performed by sintering using a laser irradiated from the laser irradiation unit 240 on the powder layer stacked on the support to a predetermined thickness. .

The laser irradiator 240 is fixed on the end of the multi-axis articulated robot 300, and through changing the positions and angles of a plurality of joints constituting the multi-axis articulated robot and a plurality of axes connecting the joints, the 3D Improves surface precision by enabling laser sintering of various angles on the powder layer laminated on the molded product surface.

Here, the support is formed in a grid or mesh structure.

Hereinafter, a processing process for the surface of the 3D printer sintered product using the articulated robot structure will be described.

The powder supply unit 100 sequentially supplies the powder onto the working plate of the product shaping chamber.

The distribution roller is operated to compact the powder supplied on the work plate 220 to a predetermined thickness.

The surface processing of the 3D molded product is performed by sintering the powder layer stacked on the working plate to a predetermined thickness using a laser irradiated from a laser irradiation unit.

The laser irradiator 240 is fixed on the end of the multi-axis articulated robot structure 300, through a plurality of joints constituting the multi-joint robot structure and the position and angle change of a plurality of axes connecting the joints, the work plate It enables multi-angle laser sintering of the powder layer laminated on the overlying 3D molded product surface to improve the surface precision.

Specifically, the lamination angle between the powder layers placed on the work plate is diversified through the process of freely adjusting the arrangement angle of the galbanon scanner, which is the laser irradiation unit, using the articulated robot structure.

Looking at the 3D output to be molded, it may have a surface with a steep slope or a surface with a gentle slope. Here, the roughness of the slope can be smoothed by properly maintaining the angle of the galvanon scanner according to the slope formed on the 3D output. .

As described above, the present invention provides a surface of a 3D printing product that is sintered by adding a multi-axis articulated robot structure to the galbanon scanning system in the process of irradiating a laser on the powder supplied to the 3D printer using the galbanon scanning system. It enables laser sintering of various angles to the surface to improve the surface precision.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to the specific embodiments described above. That is, a person of ordinary skill in the art to which the present invention pertains can make numerous changes and modifications to the present invention without departing from the spirit and scope of the appended claims, and all such appropriate changes and modifications are possible. Equivalents are to be considered as falling within the scope of the present invention.

Claims (2)

In the 3D laser processing system for the surface of a 3D printer sintered product using a multi-axis articulated robot,
The processing system is a 3D molded product by sequentially supplying powder from the powder supply unit onto the working plate of the product shaping chamber and then sintering the powder layer stacked on the working plate to a predetermined thickness using the laser irradiated from the laser irradiation unit. surface processing,
The powder distribution module, which functions to uniformly supply the powder supplied to one side of the work plate onto the work plate, includes a cylindrical distribution roller, a roller connecting shaft coupled along the axial direction of the distribution roller, and the roller connecting shaft. Including a rotating shaft coupled to the end,
The distribution roller is coupled along an axial direction to a roller connecting shaft coupled in a direction perpendicular to a rotation shaft disposed on the upper center of the work plate, and the rotation shaft is coupled in a direction perpendicular to an upper end of one side of the product shaping chamber is rotatably coupled through a separate driving means operated by the control unit in a state where the distribution roller rotates within a certain angular range on the work plate according to the rotation of the rotation shaft, and vibration is applied to the distribution roller. By additionally disposing a vibrating body capable of performing a predetermined vibration pressure on the powder placed on the working plate through the process of applying vibration on the distribution roller,
The laser irradiation unit performs sintering using the laser irradiated from the laser irradiation unit on a powder layer stacked to a predetermined thickness on a support formed to constitute the lower part of the medical implant on the working plate, and on the end of the multi-axis joint robot. Multi-axis, which improves surface precision by performing laser sintering of various angles on the stacked powder layer by changing the positions and angles of a plurality of joints constituting the multi-axis joint robot in a fixed state and a plurality of axes connecting the joints A processing system for the surface of a 3D printer sintered product using an articulated robot.
The method of claim 1,
The laser irradiation unit is a galbanon scanner,
A processing system for the surface of a 3D printer sintered product using a multi-axis articulated robot.

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