CN103465475A - Calculus 3D (three Dimensional) constructing method and device - Google Patents

Calculus 3D (three Dimensional) constructing method and device Download PDF

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Publication number
CN103465475A
CN103465475A CN2013104366120A CN201310436612A CN103465475A CN 103465475 A CN103465475 A CN 103465475A CN 2013104366120 A CN2013104366120 A CN 2013104366120A CN 201310436612 A CN201310436612 A CN 201310436612A CN 103465475 A CN103465475 A CN 103465475A
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China
Prior art keywords
mechanical arm
polyhedron
arm action
calculus
actuating
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Pending
Application number
CN2013104366120A
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Chinese (zh)
Inventor
杨卫民
杨华光
秦柳
焦志伟
丁玉梅
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Beijing University of Chemical Technology
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Beijing University of Chemical Technology
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Publication date
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Priority to CN2013104366120A priority Critical patent/CN103465475A/en
Publication of CN103465475A publication Critical patent/CN103465475A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a calculus 3D (three Dimensional) constructing method and device. The calculus 3D constructing method mainly comprises the steps: carrying out unit partitioning on large and complex product moulds into small limited polyhedron units by using a mathematical calculus idea, respectively manufacturing the small limited polyhedron units and storing the small limited polyhedron units in a classifying manner, combining the small limited polyhedron units into a large product by a mechanical arm action executing mechanism under the control of a data processing system, and spraying a hot melting polymer on the surfaces of the small limited polyhedron units in the forming process so as to obtain products integrated into a whole. The calculus 3D constructing device mainly comprises an engine base, the mechanical arm action executing mechanism, a multi-freedom-degree bulb connecting device, a hot melting nozzle device, a manipulator executing end and the data processing system, wherein the machine base and the mechanical arm action executing mechanism commonly form a movement main body which is capable of rotating by 360 DEG, and the mechanical arm action executing mechanism is capable of reciprocating on the machine base horizontally. By adopting the method and the device provided by the invention, the processing and manufacturing time can be greatly shortened, the processing cost is lowered, and the labor intensity of an operator is lightened.

Description

A kind of calculus 3D method of construction and device
Technical field
The present invention relates to a kind of calculus 3D method of construction and device, relate in particular to a kind of large complicated plastic products 3D printing shaping method and device.
Technical background
At present, it is a kind ofly to take the mathematical model file as basis that 3D prints, but uses the jointing materials such as powdery metal or plastics, carrys out the technology of constructed object by the mode of successively printing.Mostly existing 3D printer is to utilize the modes such as hot melt nozzle, laser beam, photocuring that metal dust, plastic or other material are successively piled up to cohere, and the moulding that finally superposes, produce entity products.With the traditional manufacture car, mill, the machining mode such as plane, mill compares, and has labour intensity low, speed is fast, the advantages such as low price.But current 3D printing technique is substantially all the little goods of processing and manufacturing, or assembling integral body by first processing finding.During for the plastic products of machining large size, especially complex-shaped goods, product volume and weight are large, surface texture is complicated, and manufacture difficulty is large, efficiency is low, processing cost is high and machining accuracy is low.
Summary of the invention
The objective of the invention is for the existing deficiency of prior art, design a kind of calculus 3D method of construction and device, provide a kind of robot device that overcomes above shortcoming, the large scale plastic product of machining high-precision, production efficiency and the processing cost of raising the part with complicated structure.
The technical solution used in the present invention is: a kind of calculus 3D method of construction, mainly the thought according to mathematical differential and integration (being calculus), first by large-scale, complicated goods moulding is also carried out unit and is divided into the small unit of limited polyhedron, the small unit of polyhedron is manufactured respectively and stored classifiedly, one or more mechanical arm action actuating mechanisms become massive article by the small unit combination of polyhedron under the control of data handling system, the raw material of 3D moulding is not melt but the small unit of polyhedron, in the process of moulding at the surface spraying hot-melt polymer of the small unit of polyhedron, in order to obtain set all-in-one-piece goods.
Adopt the shaped device of above-mentioned a kind of calculus 3D method of construction mainly to comprise support, mechanical arm action actuating mechanism, multiple degrees of freedom ball head connecting device, hot melt spray nozzle device, manipulator actuating station, data handling system, support and mechanical arm action actuating mechanism form moving person jointly, can realize 360 ° of rotations, the mechanical arm action actuating mechanism can be done round horizontal movement on support.
A kind of calculus 3D of the present invention constructing device, the support slide rail is fixedly mounted on ground, the mechanical arm supporting base is connected with the support slide rail, under the driving of guide rail screw mandrel drive motors, can move back and forth along track, realize the fast moving of manipulator on a large scale, for producing massive article, provide possibility.
A kind of calculus 3D of the present invention constructing device, the mechanical arm action actuating mechanism has one or more, the mechanical arm front end is manipulator actuating station, manipulator actuating station comprises the multiple degrees of freedom ball head connecting device, hot melt nozzle and fixture, the multiple degrees of freedom ball head connecting device is connected with fixture, for clamping the small unit of polyhedron, there is the hot melt nozzle upper end that the multiple degrees of freedom ball head connecting device is connected with fixture, be used for to the small unit of polyhedron spraying hot-melt adhesive, the mechanical arm action actuating mechanism comprises mechanical arm action actuating mechanism and lower mechanical arm action actuating mechanism, by upper mechanical arm drive motors and lower mechanical arm drive motors, driven respectively, upper and lower mechanical arm action actuating mechanism can rotate and move up and down in perpendicular around vertical direction, on, the Union Movement of lower mechanical arm action executing structure and support slide rail can realize the motion of manipulator in perpendicular, thereby reach the effect of " lamination increases material ".
A kind of calculus 3D of the present invention constructing device, data handling system is being controlled and is being gone up the mechanical arm action actuating mechanism, lower mechanical arm action actuating mechanism completes accurate location; Data handling system is being controlled the manipulator actuating station clamping small unit of polyhedron or spraying binder or the mortise and tenon splicing small unit of polyhedron; Data handling system is controlled the automatically grinding reparation that manipulator is realized product surface.
The invention has the beneficial effects as follows:
(1) the present invention's a kind of calculus 3D method of construction and device, the method of cutting apart the recombinant moulding by this first unit, break the whole up into parts, produce the large complicated goods of 1:1, break large complicated goods and be difficult to the limitation that 3D manufactures moulding, reduced the difficulty of the whole processing of large complicated goods, greatly shortened the processing and manufacturing time, reduced processing cost, alleviated operating personnel's labour intensity.
(2) the present invention's a kind of calculus 3D method of construction and device, adopt the novel 3D Method of printing that the hot melt nozzle is bonding by the small unit of polyhedron and tenon connection combines, and not only improved the combination precision, and can increase the intensity of goods; And just can reach the required apparent mass of goods through simply polishing and filling up.
The accompanying drawing explanation
Fig. 1 is a kind of calculus 3D of the present invention constructing device structural representation.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is a kind of calculus 3D of the present invention constructing device work schematic diagram.
Fig. 5 is the schematic diagram of the goods of a kind of calculus 3D of the present invention constructing device processing.
Fig. 6 is the manipulator actuating station partial enlarged drawing of a kind of calculus 3D of the present invention constructing device.
Fig. 7 is the small cell schematics of polyhedron of a kind of calculus 3D of the present invention constructing device.
In figure, 1-material storing box, 2-data handling system, the upper mechanical arm action actuating mechanism of 3-, 4-manipulator actuating station, 5-workbench, the small unit of 6-polyhedron, mechanical arm action actuating mechanism under 7-, mechanical arm drive motors under 8-, the upper mechanical arm drive motors of 9-, 10-guide rail screw mandrel drive motors, 11-mechanical arm supporting base, 12-support slide rail, 13-part goods, the complete goods of 14-, 15-multiple degrees of freedom ball head connecting device, 16-hot melt nozzle, 17-fixture.
The specific embodiment
Now by reference to the accompanying drawings patent of the present invention is described in detail as follows:
The present invention's a kind of calculus 3D method of construction and device, as Fig. 1, shown in Fig. 4 and Fig. 5, at first by the moulding on computers of the goods of preprocessing and be input to data handling system 2, upper mechanical arm action actuating mechanism 3 and lower mechanical arm action actuating mechanism 7 are under the control of data handling system 2, the six prism junior units of take in the small unit of gripping polyhedron 6(figure from material storing box 1 respectively are example), then first by hot melt spray nozzle device 16, carry out the spraying and adhesive bonding agent equably of the small cell surface of polyhedron on manipulator, then the mortise and tenon splicing is on workbench, the design sketch that the part goods complete figure as shown in Figure 4, continue the 3D printing and just can obtain last goods.
A kind of calculus 3D of the present invention constructing device, as shown in Figure 1, this test platform comprises material storing box 1, data handling system 2, upper mechanical arm action actuating mechanism 3, manipulator actuating station 4, workbench 5, the small unit 6 of polyhedron, lower mechanical arm action actuating mechanism 7, lower mechanical arm drive motors 8, upper mechanical arm drive motors 9, guide rail screw mandrel drive motors 10, mechanical arm supporting seat 11, support slide rail 12, multiple degrees of freedom ball head connecting device 15, hot melt spray nozzle device 16, fixture 17, upper mechanical arm action actuating mechanism 3 and lower mechanical arm action actuating mechanism 7 and the common formation testing stand of manipulator actuating station 4 moving person, mechanical arm supporting seat 11 can be done the reciprocating motion of horizontal direction on support slide rail 12, and can realize the rotation in the perpendicular inner plane, upper mechanical arm action executing structure 3 drives and controls by upper mechanical arm drive motors 9 and lower mechanical arm drive motors 8 respectively with lower mechanical arm action executing structure 7, realize the motion of mechanical arm in the vertical direction.
A kind of calculus 3D of the present invention constructing device, as Fig. 3, shown in Fig. 4 and Fig. 5, mechanical arm supporting base 11, upper mechanical arm action executing structure 3, lower mechanical arm action executing structure 7 forms the main body of this manipulator motion, mechanical arm supporting base 11 is connected with support slide rail 12, lower mechanical arm action actuating mechanism 7 is arranged on mechanical arm supporting seat 11, drive and control by lower mechanical arm drive motors 8, can in perpendicular, be swung, upper mechanical arm action actuating mechanism 3 is arranged on the end of lower mechanical arm action actuating mechanism 7, by upper mechanical arm drive motors 9, drive, upper mechanical arm action actuating mechanism 3 and lower mechanical arm action actuating mechanism 7 can be realized the 360 ° motions of manipulator in perpendicular with the Union Movement of support slide rail 12, thereby realize the effect of " lamination increases material ".
A kind of calculus 3D of the present invention constructing device, as shown in Figure 6, manipulator actuating station 4 is comprised of multiple degrees of freedom ball head connecting device 15, hot melt spray nozzle device 16 and fixture 17, can realize meticulous adjustment among a small circle, make this 3D printing equipment more accurate, and hot melt spray nozzle device 16 can make the small cell surface of polyhedron fill adhesive.
A kind of calculus 3D of the present invention constructing device, data handling system 2 is being controlled and is being gone up mechanical arm action actuating mechanism 3, lower mechanical arm action actuating mechanism 7 completes accurate location; Data handling system 2 is being controlled the fixture 17 clamping small unit 6 of polyhedron, spraying binder, the mortise and tenon splicing small unit 6 of polyhedron of manipulator actuating station 4; Data handling system 2 is controlled the automatically grinding reparation that manipulator is realized product surface.
A kind of calculus 3D of the present invention constructing device, as shown in Figure 7, the six prism junior units of take in the small unit of polyhedron 6(figure are example) prior neat 1 li of the material storing box that is deposited in, the small unit 6 of this polyhedron changes according to the variation of the size of the final complete goods 14 of required processing and quality requirement, as shown in Figure 7, the small unit 6 of polyhedron is divided into two classes, wherein the upper bottom surface of a class has the small cylinder of protrusion, another kind of upper bottom surface has the small cylinder of matrix, pass through tenon connection to facilitate between them, side makes it bonding by the upper uniform adhesive of hot melt spray nozzle device 4 spraying.

Claims (4)

1. a calculus 3D method of construction, it is characterized in that: first by large-scale, complicated goods moulding and be divided into the small unit of limited polyhedron, the small unit of polyhedron is manufactured respectively and stored classifiedly, one or more mechanical arm action actuating mechanisms become massive article by the small unit combination of polyhedron under the control of data handling system, the raw material of 3D moulding is the small unit of polyhedron, and the small unit of polyhedron is its surface spraying hot-melt polymer in the process of moulding.
2. adopt the device of a kind of calculus 3D method of construction claimed in claim 1, it is characterized in that: mainly comprise support, the mechanical arm action actuating mechanism, the multiple degrees of freedom ball head connecting device, the hot melt spray nozzle device, manipulator actuating station, data handling system, the mechanical arm action actuating mechanism has one or more, the mechanical arm front end is manipulator actuating station, manipulator actuating station comprises the multiple degrees of freedom ball head connecting device, hot melt nozzle and fixture, the multiple degrees of freedom ball head connecting device is connected with fixture, there is the hot melt nozzle upper end that the multiple degrees of freedom ball head connecting device is connected with fixture, support and mechanical arm action actuating mechanism form moving person jointly, can realize 360 ° of rotations, the mechanical arm action actuating mechanism can be done round horizontal movement on support, the support slide rail is fixedly mounted on ground, the mechanical arm supporting base is connected with the support slide rail, the mechanical arm supporting base moves back and forth along track under the driving of guide rail screw mandrel drive motors, the mechanical arm action actuating mechanism comprises mechanical arm action actuating mechanism and lower mechanical arm action actuating mechanism, by upper mechanical arm drive motors and lower mechanical arm drive motors, driven respectively, upper and lower mechanical arm action actuating mechanism can rotate and move up and down in perpendicular around vertical direction, and the Union Movement of upper mechanical arm action executing structure, lower mechanical arm action executing structure and support slide rail can realize the motion of manipulator in perpendicular.
3. a kind of calculus 3D constructing device according to claim 2, it is characterized in that: the small unit of polyhedron is six prisms.
4. a kind of calculus 3D constructing device according to claim 2 is characterized in that: data handling system is being controlled the manipulator actuating station clamping small unit of polyhedron or spraying binder or the mortise and tenon splicing small unit of polyhedron.
CN2013104366120A 2013-09-24 2013-09-24 Calculus 3D (three Dimensional) constructing method and device Pending CN103465475A (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104226988A (en) * 2014-08-25 2014-12-24 深圳光韵达光电科技股份有限公司 3D printing manufacturing method for large-size part
CN104589466A (en) * 2015-02-12 2015-05-06 王思涵 Mechanical clay molding method and device
CN105965897A (en) * 2016-06-29 2016-09-28 桂林电子科技大学 Mechanical-arm-type 3D printer
CN107160104A (en) * 2017-06-05 2017-09-15 哈尔滨工程大学 A kind of method that ship model is processed with 3D printing
CN107709612A (en) * 2015-06-11 2018-02-16 易福仁科技私人有限公司 For forming the apparatus and method of 3D objects
CN108724197A (en) * 2018-08-10 2018-11-02 陈雨彤 A kind of remote control heap building blocks programmable robot
US20190016059A1 (en) * 2017-07-13 2019-01-17 General Electric Company Additive manufacturing methods and related components
CN110193936A (en) * 2018-11-06 2019-09-03 西安理工大学 A kind of more material face exposure 3D printers
KR102206946B1 (en) * 2019-08-29 2021-01-25 주식회사 본시스템즈 Modular additive manufacturing device
KR20210026072A (en) * 2019-08-29 2021-03-10 주식회사 창림 Management system for modular additive manufacturing device

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DE3904230A1 (en) * 1989-02-13 1990-08-16 Heikki Metsae Ketelae Design K Production of a physical object without conventional tools
CN1307949A (en) * 2000-12-15 2001-08-15 清华大学 Presplit fast prototype making process
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104226988A (en) * 2014-08-25 2014-12-24 深圳光韵达光电科技股份有限公司 3D printing manufacturing method for large-size part
CN104589466A (en) * 2015-02-12 2015-05-06 王思涵 Mechanical clay molding method and device
CN107709612A (en) * 2015-06-11 2018-02-16 易福仁科技私人有限公司 For forming the apparatus and method of 3D objects
CN107709612B (en) * 2015-06-11 2020-05-05 易福仁科技私人有限公司 Apparatus and method for forming 3D objects
CN105965897A (en) * 2016-06-29 2016-09-28 桂林电子科技大学 Mechanical-arm-type 3D printer
CN105965897B (en) * 2016-06-29 2018-08-14 桂林电子科技大学 A kind of mechanical arm type 3D printer
CN107160104A (en) * 2017-06-05 2017-09-15 哈尔滨工程大学 A kind of method that ship model is processed with 3D printing
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CN108724197A (en) * 2018-08-10 2018-11-02 陈雨彤 A kind of remote control heap building blocks programmable robot
CN110193936A (en) * 2018-11-06 2019-09-03 西安理工大学 A kind of more material face exposure 3D printers
CN110193936B (en) * 2018-11-06 2021-02-12 西安理工大学 Multi-material-surface exposure 3D printer
KR102206946B1 (en) * 2019-08-29 2021-01-25 주식회사 본시스템즈 Modular additive manufacturing device
KR20210026072A (en) * 2019-08-29 2021-03-10 주식회사 창림 Management system for modular additive manufacturing device
KR102235830B1 (en) * 2019-08-29 2021-04-05 주식회사 창림 Management system for modular additive manufacturing device

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