CN101681240B - 个人作用器机器 - Google Patents

个人作用器机器 Download PDF

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CN101681240B
CN101681240B CN2008800113676A CN200880011367A CN101681240B CN 101681240 B CN101681240 B CN 101681240B CN 2008800113676 A CN2008800113676 A CN 2008800113676A CN 200880011367 A CN200880011367 A CN 200880011367A CN 101681240 B CN101681240 B CN 101681240B
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CN101681240A (zh
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保罗·H·奈
约翰·狄索特斯
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205Means for applying layers
    • B29C64/209Heads; Nozzles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41JTYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/255Enclosures for the building material, e.g. powder containers
    • B29C64/259Interchangeable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B41PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41JTYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/12Digital output to print unit, e.g. line printer, chain printer

Abstract

本发明总体涉及机器,更具体而言,涉及用于提供个人作用器机器的系统和方法。在一个实施方案中,本发明包括顶部框架;横向构件,该横向构件从所述顶部框架延伸,该横向构件可配置为相对于所述顶部框架进行平移和旋转中的任意一种;作用器头,该作用器头连接至所述横向构件,该作用器头可配置为相对于所述顶部框架进行平移、旋转和回旋中的任意一种,该作用器头具有一作用器;底部框架,该底部框架连接至所述顶部框架;以及盒,该盒可配置为可拆地将材料紧固其中,该盒可拆地可附接至所述底部框架,其中所述作用器可配置为在多个维度上作用所述盒中的材料。

Description

个人作用器机器
优先权要求
本申请要求以下申请的权益:2007年2月13日提交的美国临时专利申请60/889,707(我们的卷号:2BOT-1-1001);2007年11月26日提交的美国临时专利申请60/990,110(我们的卷号:2BOT-1-1001-1);以及2008年2月11日提交的美国非临时申请12/029,032(我们的卷号:2BOT-1-1001-2)。前述申请以引用方式全文纳入本说明书。
技术领域
本发明总体涉及机器,更具体而言,涉及用于提供个人作用器(affector)机器的系统和方法。
背景技术
经常期望制作数字内容的物质表现形式。例如,个人经常使用计算机打印机来制作包含在计算机中的数字照片、CAD制图、工艺图(artwork),或一些其他数字内容的纸质表现形式。但是,大部分的计算机打印机限制于仅制作数字内容的二维表现形式,即使是在数字内容包括三维数据时。这是因为计算机打印机是基于在二维衬底也就是纸上沉积墨水的原理。二维表现形式能满足许多应用,诸如在制作打字文档或二维图表时。但是,有许多情况是二维表现形式不能满足的,诸如当像在建筑模型中第三维度传达了有用信息时。计算机打印机已尝试通过使用增强色、使用透视图、提高分辨率、甚至使用多层墨水的方式来解决这一问题。虽然这些发展都是显著的,但是它们并不能完全地表现三维数据。
虽然有制造三维物体的CNC型机器,但是这些机器是复杂、庞大、昂贵的,而且不适于大部分商业或个人使用。这些CNC型机器经常用在制造过程中,并需要大量的专业培训以安全和成功地运作。因此,需要或希望制作数字内容的三维表现形式的个人或其他实体必须在下述两者之间作出决定:使用计算机打印机而丢失三维数据;或通过雇佣具有操作CNC型机器所需的资源和知识的制造公司来保留三维数据。因此,虽然所期望的结果在本领域已经实现,但是仍然有大量的改进空间。因此,需要用于提供个人作用器机器的系统和方法。
发明内容
本发明总体涉及机器,更具体而言,涉及用于提供个人作用器机器的系统和方法。在一个实施方案中,本发明包括顶部框架;横向构件,该横向构件从顶部框架延伸,该横向构件可配置为相对于顶部框架进行平移和旋转中的任意一种;作用器头,该作用器头连接至横向构件,该作用器头可配置为相对于顶部框架进行平移、旋转和回旋中的任意一种,该作用器头具有一作用器;底部框架,该底部框架连接至所述顶部框架;以及盒,该盒可配置为可拆地将材料紧固其中,该盒可拆地可附接至所述底部框架,其中所述作用器可配置为在多个维度上作用所述盒中的材料。
附图说明
下文参照下列附图详细描述本发明的实施方案。
图1是根据本发明的实施方案的个人作用器机器的俯视立体图;
图2是根据本发明的实施方案的个人作用器机器的分解俯视立体图;
图3是根据本发明的实施方案的盒的俯视立体图;
图4是根据本发明的实施方案的盒的后视立面图;以及
图5是根据本发明的实施方案的盒的俯视立体图,该盒使用电机提供绕轴线的旋转。
具体实施方式
本发明总体涉及机器,更具体而言,涉及用于提供个人作用器机器的系统和方法。本发明的一些实施方案的具体细节在以下说明和附图1-5中陈述,以提供对于这些实施方案的完全理解。本发明可以具有另外的实施方案,可以在没有用于任一具体描述的实施方案的细节中的一个或多个细节的情况下而被实施,或可以具有利用在另一实施方案的任一其他细节而实施的一个实施方案的任一细节。
由于缺乏更适合的词语,术语作用(affect)、作用器(affector)、作用(affecting)及其变体在本申请和相关申请中广义地使用。所使用的作用、作用器、作用及其变体可以指机械地、化学地、电学地、生物学地、视觉上的或其他方面的改变;保持;或感应、扫描,或以其他方式重现信息。不应作出任何解释以将作用、作用器、作用及其变体限制到其仅产生影响或变化的常规意思。
作用器是一种作用材料的装置,包括但不限于:激光器、喷水器、振荡刀(oscillating knife)、定制工具、竖锯(jig saw)、喷沙机(sander)、软擦器(buffer)、镗床(borer)、车床、切割机、刳刨机、焊接机、钻孔机、锯、连接器、扫描器、牛头刨床、打印头、针、超声波刀、等离子体焰炬、光学扫描仪、墨水喷头、照相机、涡轮主轴(turbinespindle)、挤压机、胶浇注机(glue depositor)、空气分配器(airdispenser)、化学浇注机(chemical depositor)、喷雾器、近距离传感器(proximity sensor)、激光测距仪、光辐照器(light applicator)、冲头、锉刀、锤、螺丝刀、扳手、磁体、密度传感器,或者任何其他用于改变、保持,或重现信息的工具。
图1是根据本发明的实施方案的个人作用器机器的俯视立体图。在一个实施方案中,作用器机器100包括主顶部102、顶部框架104、底部框架106、作用器头108、真空系统110以及盒112。
在一个实施方案中,底部框架106连接到顶部框架104,该顶部框架104连接到主顶部102。底部框架106、顶部框架104和主顶部102一起限定了一个内部空腔,在该空腔内材料(不可见)可以穿过盒开口114被可滑动地插入盒112中。位于空腔中的作用器头108则可配置为使用作用器作用材料,诸如,通过振动、回旋、碰撞或旋转来制造一个物体。该物体可以包括标志、雕版、雕刻品、建筑模型、积木式部件、模型、常规地板或镶板、烹饪物品(culinary art)、餐具、家具、牙科产品、玩具、展示物品(presentation article)、原型、卡片、陈列品、半导体、计算机板、生物细胞、分子,或任何其他物体。在一个具体实施方案中,真空系统110可配置为移除由这些作用所产生的任何碎片。
图2是根据本发明的实施方案的个人作用器机器的分解俯视立体图。在一个实施方案中,主顶部102由透明材料——诸如塑料——构造的表面,该表面允许了对于作用器机器100内部活动的视觉印象,同时也提供了对于观察者的保护。所述顶部102可以是任何形状,包括矩形、三角形、正方形,或其他形状。
在一个实施方案中,顶部框架104是限定一空腔的矩形、三角形、正方形或其他形状。横向构件204在空腔中在顶部框架104的相对两侧之间延伸,且作用器头108连接至横向构件204。利用诸如齿条齿轮传动装置、缆索、线性电机、导螺杆或磁体等的运动系统,横向构件204被配置为沿顶部框架104的相对两侧的长度或垂直于顶部框架104相对两侧平移、旋转或回旋,同时作用器头108被配置为沿横向构件204的长度或垂直于横向构件204平移、旋转或回旋。因此,作用器头108能够相对于个人作用器机器100在一、二、三、四或更多个维度上运动,并可以手动或电子地控制。真空系统110可铰接地(articulably)连接至作用器头108,并可被配置为与作用器头108一致地运动以移除由作用器头108的运行所产生的任何碎片。在一个具体实施方案中,电力、电子信号、数据、冷却水、压缩空气、供焊接的金属、打印墨水、用于保持材料的吸力(suction),或其他固体、液体,或气体通过真空系统110被提供给作用器头108或从作用器头108接收。
在一个实施方案中,底部框架106是限定一个与顶部框架104所限定的空腔大体类似的空腔的矩形、三角形、正方形或其他形状。底部框架106的一侧限定了用于接收所述盒112的盒开口114。诸如泡沫、木材、塑料、玻璃、金属、纸张、电子设备或生物材料的材料可配置为布置在盒112中,并随盒112插入由底部框架106限定的空腔,以用于通过作用器头108而施加作用。底部框架106用铰链连接至顶部框架104以允许将顶部框架104和作用器头108从盒302和布置在其中的任何材料升起或返回至邻近盒302和布置在其中的任何材料的位置。盘202在底部框架106之下提供了表面以收集碎片,并且真空软管可以用来移除这些碎片。
在一个具体实施方案中,铰链、滑动机构、搭扣(snapping)机构以及提升机构之中的任意方式用来可移动地连接底部框架106、顶部框架104以及主顶部102之中的任意一个。在另一实施方案中,顶部框架104可配置为相对于底部框架106升起、滑动、压缩、平移、旋转或回旋。在一个替代实施方案中,底部框架106可配置为相对于盒112升起、滑动、压缩、平移、旋转或回旋。在另一具体实施方案中,主顶部102、顶部框架104以及底部框架106由较少的或较多的分立部件部分地或整体地结合或构造而成。在另外的实施方案中,主顶部102、顶部框架104和底部框架106之中的任意一个被省略或与其他的可分离;例如,顶部框架104可以直接布置在一表面上而作用器头108可以在该表面运行。在另一实施方案中,作用器机器100在尺寸或体积上增加或减小。在又一实施方案中,作用器机器100可配置为模块化地扩展。在其它实施方案中,作用器机器100具有不同形状,诸如卵形、圆形、球形、梯形或任意其他形状。在另一实施方案中,底部框架106替代地相对于顶部框架104布置或重新定位,诸如位于顶部框架104之上、之内,或侧面。在另一实施方案中,盒112可配置为以压入、升起或替代地插入由底部框架106限定的空腔。在另一实施方案中,在作用器机器100中安装光源,以照亮盒112中容纳的材料。在一个具体实施方案中,盘202被一个真空系统或垃圾系统替换,以移除碎片。在一个具体实施方案中,作用器头108使用机械臂在一、二、三、四或更多维度上运动。
图3是根据本发明的实施方案的盒的俯视立体图。在一个实施方案中,盒112包括夹具302、夹具止挡(clamp boss)304(a)和304(b)、弹簧轴306、带有钩326的夹臂308、后框架板330、轨道312,以及滚轮332。夹具302包括底夹320(a)和顶夹320(b),二者大体相同并各自包括齿322、齿轮324,以及夹具轴325。后框架板330包括输入/输出310、附件槽(attachment channel)316,以及室318。盒112是矩形、三角形、正方形或其他形状,所述盒限定一个空腔用于可拆地将材料紧固其中并可拆地可插入个人作用器机器100。滚轮332布置在盒112的周边上,以利于插到和移出底部框架106。类似地,轨道312充当导向装置以利于盒112和底部框架106之间的适当的接合(interface)。底夹320(a)和顶夹320(b)可移动地安装在盒112上在夹具凸起304(a)和304(b)之间,其中底夹320(a)和顶夹320(b)各自的夹具轴325可移动地插入至夹具凸起304(a)和304(b),以及它们各自的齿轮324可移动地在中央接合。弹簧轴306从顶夹320(b)的夹轴325延伸,而夹臂308提供一杠杆扩展件,以旋转弹簧轴306。夹臂308通过将钩326插入盒112的钩接收器328内能够可移动地锁定。因此,弹簧轴306的旋转通过顶夹320(b)的夹轴325传递,该旋转通过齿轮324传递给底夹320(a),从而开启或关闭夹具302。齿322可配置为夹紧(grip)夹具302中容纳的材料。可以使用一个拉簧来配合弹簧轴306以利于夹具302相对于各种尺寸材料的牢固夹紧。一附加夹具以及关联部件(未标示)相对地布置在盒112上。后框架板330包括输入/输出310,其可以向盒122提供或从盒122接收电力、电子信号、数据、固体、气体,或液体。后框架板330限定室318,该室318可配置为容纳电机、网络节点、计算机处理器、气体、液体、固体、阀,或其他部件或物体。附件槽316是一具有凸缘的凹槽,该凹槽延伸后框架板330的长度。附件槽316可用于可拆装地接收用于与盒112一并使用的扩展件,诸如,用于提供压缩空气、光源、真空源、电线的管子,或其他类似装置。
在一个具体实施方案中,盒112具有不同的形状,诸如圆形、球形、三角形,或立方形。在另一实施方案中,使用抽屉式系统,盒112可拆地可插入个人作用器机器100中。在一替代实施方案中,夹具302替代地可用一用于将材料紧固其中的替代机构来构造、替换或辅助,诸如一个施加压力或穿刺、提供吸力、使用磁力、提供支撑,或悬挂材料的装置。在另一实施方案中,夹具302可绕一个或多个轴线移动以允许材料旋转、平移、滑动或翻转,所述夹具可以机械地或电子地控制。
图4是根据本发明的实施方案的盒的后视立面图。在一个实施方案中,如参考上述图3的更充分的描述,盒112包括具有大体相同的底夹320(a)和顶夹320(b)的夹具302。所述底夹302(a)和顶夹320(b)各自包括齿322、齿轮324以及夹具轴325。底夹320(a)和顶夹320(b)的齿轮324在中央接合,而它们各自的夹具轴325可旋转地插入夹具止挡304(b)和夹具止挡304(a)(在图示中被隐藏)中。夹臂308(图3)从弹簧轴306(在图示中被隐藏)延伸,所述弹簧轴306从顶夹320(b)的夹轴325延伸。因此,弹簧轴306的旋转通过顶夹320(b)的夹轴325传递,该旋转通过齿轮324的传递给底夹320(a),从而开启或关闭夹具302以夹紧或释放材料402。当保持在盒112中时,材料402可以从上方或下方接近。因此,盒112可翻转地可插入个人作用器机器100(图1)中。
图5是根据本发明的实施方案的盒的俯视立体图,该盒使用电机来提供绕一轴线的旋转。在一个实施方案中,该盒500包括框架502、轴504、材料接收表面506、后凸缘508、电机510、室512、电机514以及转轴516。轴504布置在框架502中,并可旋转地经由后凸缘508连接至框架502。因此,轴504可配置为相对于框架502绕其轴线旋转。材料接收表面506提供了用于接收一材料(未示出)的表面,并被布置在轴504的凹部(depression)中。材料接收表面506可旋转地连接至轴504,并可配置为相对于轴504绕其轴线旋转。框架502包括限定一空腔的室512。电机510布置在室512中,并可配置为为轴504提供旋转运动。因此,电机510可配置为使轴504和材料接受表面506绕轴504的轴线旋转。轴504在其内限定一空腔,并且电机514被布置在该空腔中。电机514可配置为给转轴516提供旋转运动,该转轴516从电机514延伸并配合于齿轮系统(不可见)。所述齿轮系统连接至材料接收表面506。因此,旋转运动从电机514沿转轴516传递,以通过齿轮系统旋转材料接收表面506。因此,材料(未示出)可配置为布置在材料接收表面506上,以及可配置为绕材料接收表面506的轴线或轴504的轴线旋转。盒500可插入个人作用器机器(图1)内以提供用于作用材料的附加的旋转轴线。
在另一实施方案中,盒500被替代地构造或不同地成形。例如,框架502可以是圆形,以及材料接收表面506可以延伸至框架502的周边。在另一实施方案中,电机510或电机514可反向地或不同地布置、省略、替代或替换。
虽然如上所述已经图解和描述了本发明的优选和替代实施方案,但是可以进行许多改变而不脱离本发明的精神和范围。因此,本发明的范围并不被这些优选和替代实施方案的公开内容所限制。相反,本发明应参考所附的权利要求从整体上确定。

Claims (16)

1.一种用于作用材料的个人作用器机器,该个人作用器机器包括:
顶部框架;
横向构件,该横向构件从顶部框架延伸,该横向构件被配置为沿顶部框架的相对两侧的长度或垂直于顶部框架的相对两侧平移、旋转或回旋;
作用器头,该作用器头被连接至所述横向构件,该作用器头被配置为沿横向构件的长度或垂直于横向构件平移、旋转或回旋,该作用器头具有一作用器;
底部框架,该底部框架被连接至所述顶部框架;以及
盒,该盒被配置为可拆地将材料紧固于其中,其中该盒包括限定盒空腔的盒框架,并且其中该盒被可拆地附接至所述底部框架,
其中,所述作用器被配置为在多个维度上作用于所述盒中的材料。
2.根据权利要求1所述的个人作用器机器,其中所述顶部框架限定一周边,且其中所述横向构件在所述顶部框架的相对两侧之间延伸。
3.根据权利要求2所述的个人作用器机器,其中所述底部框架限定一空腔和一盒开口,并且其中所述盒被配置为通过穿过所述盒开口插入所述空腔而可拆地附接至所述底部框架。
4.根据权利要求3所述的个人作用器机器,还包括:
横向构件电机,该横向构件电机被配置为可控制地相对于所述顶部框架移动所述横向构件;以及
作用器头电机,该作用器头电机被配置为可控制地相对于所述顶部框架移动所述作用器头。
5.根据权利要求4所述的个人作用器机器,其中所述底部框架以铰链连接或滑动连接中的任意一种连接至所述顶部框架。
6.根据权利要求1所述的个人作用器机器,还包括:
真空系统,该真空系统被可铰接地连接至所述作用器头,并被配置为与所述作用器头一致地运动以移除碎片。
7.根据权利要求6所述的个人作用器机器,其中电力、数据、水、空气、金属、墨水,以及吸力中的任意一种通过所述真空系统被提供给作用器头。
8.根据权利要求1所述的个人作用器机器,其中所述盒还包括:
至少一个夹具,该至少一个夹具被布置为抵在所述盒框架之上,该至少一个夹具被配置为可拆地将所述材料紧固在所述盒空腔中。
9.根据权利要求1所述的个人作用器机器,其中从所述盒的相对两侧可进入所述盒空腔,且其中所述盒可翻转地插入穿过底部框架的盒开口。
10.根据权利要求1所述的个人作用器机器,其中所述盒还包括:
轴,该轴可旋转地连接至所述盒框架;以及
材料接收表面,该材料接收表面可旋转地连接至所述轴,
其中所述材料被可拆地紧固至所述材料接收表面,并绕由所述轴限定的轴线以及由所述材料接收表面限定的材料接收表面轴线旋转。
11.根据权利要求10所述的个人作用器机器,还包括:
轴电机,该轴电机被配置为可控制地旋转所述轴;以及
材料接收表面电机,该材料接收表面电机被配置为可控制地旋转所述材料接收表面。
12.一种用于作用材料的方法,该方法包括以下步骤:
提供个人作用器机器,该个人作用器机器包括:
顶部框架;
横向构件,该横向构件从该顶部框架延伸,该横向构件被配置为沿顶部框架的相对两侧的长度或垂直于顶部框架的相对两侧平移、旋转或回旋;
作用器头,该作用器头被连接至所述横向构件,该作用器头被配置为沿横向构件的长度或垂直于横向构件平移、旋转或回旋,该作用器头具有一作用器;
底部框架,该底部框架被连接至所述顶部框架并限定一空腔和一盒开口;以及
盒,该盒被配置为可拆地将材料紧固于其中,该盒被可拆地附接至所述底部框架,
将所述材料紧固在所述盒中;
所述盒通过穿过所述盒开口插入所述空腔而可拆地附接至所述底部框架;以及
用所述作用器头作用于所述材料。
13.根据权利要求12所述的方法,其中所述顶部框架限定一周边,且其中所述横向构件在所述顶部框架的相对两侧之间延伸。
14.根据权利要求12所述的方法,还包括以下步骤:
提供横向构件电机,该横向构件电机被配置为可控制地相对于所述顶部框架移动所述横向构件;以及
提供作用器头电机,该作用器头电机被配置为可控制地相对于所述顶部框架移动所述作用器头。
15.根据权利要求14所述的方法,其中所述底部框架以铰链连接或滑动连接中的任意一种连接至所述顶部框架。
16.根据权利要求12所述的方法,还包括以下步骤:
提供真空系统,该真空系统被可铰接地连接至所述作用器头,并被配置为与所述作用器头一致地运动以移除碎片。
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EP2122451A4 (en) 2011-08-03
KR20100014404A (ko) 2010-02-10
CA2678205A1 (en) 2008-08-21
US8377360B2 (en) 2013-02-19
US20080192104A1 (en) 2008-08-14
EP2122451A1 (en) 2009-11-25
JP2010517803A (ja) 2010-05-27
WO2008100865A1 (en) 2008-08-21
CN101681240A (zh) 2010-03-24
AU2008216380A1 (en) 2008-08-21
US20130209602A1 (en) 2013-08-15

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