CN104416572A - 3D printing robot based on industry manipulator - Google Patents
3D printing robot based on industry manipulator Download PDFInfo
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- CN104416572A CN104416572A CN201310376201.7A CN201310376201A CN104416572A CN 104416572 A CN104416572 A CN 104416572A CN 201310376201 A CN201310376201 A CN 201310376201A CN 104416572 A CN104416572 A CN 104416572A
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Abstract
The invention discloses a 3D printing robot based on an industry manipulator, is the combination of the conventional 3D printing technology and the industry robot and is characterized in that a printing head is mounted at the end of a multi-shaft manipulator of a robot, the printing repeated positioning accuracy is high, and the printing mode is not limited by the space. The size of the object to be printed is limited by the size of the conventional 3D printer and the printing speed is slow. The repeated positioning accuracy of the existing 3D printing robot is poor and the printing head cannot be mounted at the end of the manipulator, the robot is separated from the 3D printer for batch processing and assembling the printed pieces. The printing material is not limited, the size and shape of the printed object are not limited while the printing speed is faster than the conventional 3D printer.
Description
Technical field
The invention belongs to 3D to print and industrial robot field, relate to a kind of 3D printer device people based on industry mechanical arm, be the one combination of traditional 3D printing technique and industrial robot, the size of printed matter, shape and printed material are unrestricted.
Background technology
At present, the restriction of the article size subject printer size that 3D printer both domestic and external prints, and also print speed is slow.And existing 3D printer device people is poor due to resetting, the end that printhead cannot be installed to manipulator carries out Free Printing, and robot part separately can only use, for batch machining and the assembling of printout with 3D printer.3D printhead is arranged on the multi-spindle machining hand end of robot by the present invention, and printing type is not by space constraint, and the size and shape of printed matter is also unrestricted, and printed material is not limit, and print speed is faster than traditional 3D printer.The present invention is the perfect adaptation of 3D printing technique and industrial robot, is the important impetus promoting global new round Industrial Revolution, represents the direction of following global manufacturing development.
Summary of the invention
The present invention is a kind of 3D printer device people based on industry mechanical arm, is characterized in multi-spindle machining hand end 3D printhead being arranged on robot, prints repetitive positioning accuracy high, and printing type by space constraint, can unsettledly not print.
3D printhead is arranged on the Multi-shaft mechanical arm front end of industrial robot by the present invention, 3D is printed change along with the movement of mechanical arm, fundamentally change the printer-limited problem of traditional 3D printing type, print flexibly, the restriction of the size of printing objects also not subject printer individuality.When performing the 3D print out task of large-sized object, walking guide rail can be laid or be reclaimed in this robot voluntarily, expands print space, and guide rail moves along default grid or cube, carries out grid or three-dimensional grid picture group, completes print out task.
The industrial robot that existing 3D printer device people adopts prints requirement because its reorientation precision cannot meet 3D, can only coordinate 3D printer, the part processing of being printed by 3D and assembling.First the present invention adopts laser raster positioner for carrying out preliminary grid or cube location to the scope of activities of industrial robot, and this grid or cubical size are subject to the restriction of Multi-shaft mechanical arm working region, and this grid is local 3D print range.Adopt the high accuracy camera in 6 directions to carry out 3D rendering synthesis from multiple angle afterwards, and carry out repetitive positioning accuracy calculating and control to printhead, its precision can reach micron order.Printhead that manipulator is held can be laser, hot melt or other liquid or solid-liquid shower nozzle, and is equipped with sprayed coating adjustment spatula.
Accompanying drawing explanation
Figure 13 D printer device people schematic diagram;
Fig. 2 laser raster Primary Location printer device people pedestal schematic diagram;
The scope of activities sketch of Fig. 3 three-dimensional grid positioning printing robot;
Fig. 4 multi-angle camera printhead accurately locates sketch.
Detailed description of the invention
1. system initialization, carries out reorientation to the pedestal printing robot.
2. computer loads 3D drawing, starts print out task.
3., when printing large-sized object, system can lay guide rail automatically, carries out the printing in space one by one, and automatically merges.
4., when printed material is lower than material capacity lower limit, system automatic-prompting material is not enough.
Claims (6)
1. based on a 3D printer device people for industry mechanical arm, comprise industrial robot, be arranged on the 3D printhead of the Multi-shaft mechanical arm front end of industrial robot, laser raster positioner, multi-angle high accuracy camera and 3D rendering synthesis system.
2. a kind of 3D printer device people based on industry mechanical arm according to claim 1, it is characterized in that printhead is arranged on the Multi-shaft mechanical arm front end of industrial robot, make 3D printing effect not by traditional print space of 3D printer and the restriction of printing type.
3. a kind of 3D printer device people based on industry mechanical arm according to claim 1, it is characterized in that laser raster positioner is for carrying out preliminary grid or cube location to the scope of activities of industrial robot, this grid or cubical size are subject to the restriction of Multi-shaft mechanical arm working region, and this grid is local 3D print range.
4. a kind of 3D printer device people based on industry mechanical arm according to claim 1, it is characterized in that the high accuracy camera in employing 6 directions carries out 3D rendering synthesis from multiple angle, and repetitive positioning accuracy calculating and control are carried out to printhead, its precision can reach micron order.
5. a kind of 3D printer device people based on industry mechanical arm according to claim 1, when it is characterized in that printing large object, walking guide rail can be laid or be reclaimed in this robot voluntarily, expands print space, guide rail moves along default grid or cube, carries out grid or three-dimensional grid picture group.
6. printhead that manipulator is held can be laser, hot melt or other liquid or solid-liquid shower nozzle, and is equipped with sprayed coating adjustment spatula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310376201.7A CN104416572A (en) | 2013-08-26 | 2013-08-26 | 3D printing robot based on industry manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310376201.7A CN104416572A (en) | 2013-08-26 | 2013-08-26 | 3D printing robot based on industry manipulator |
Publications (1)
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| CN104416572A true CN104416572A (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310376201.7A Pending CN104416572A (en) | 2013-08-26 | 2013-08-26 | 3D printing robot based on industry manipulator |
Country Status (1)
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| CN (1) | CN104416572A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105242891A (en) * | 2015-10-10 | 2016-01-13 | 贵州翰凯斯智能技术有限公司 | Parameterized 3D model product personalized customization production method |
| CN105499573A (en) * | 2016-01-21 | 2016-04-20 | 鞍山德威亚激光科技有限公司 | 3D laser printing system and method based on robot |
| CN105598958A (en) * | 2016-02-17 | 2016-05-25 | 上海发那科机器人有限公司 | Constant torque robot servo drilling and milling system |
| CN105666867A (en) * | 2016-01-08 | 2016-06-15 | 浙江理工大学 | Three-dimensional printer and control method |
| CN105931504A (en) * | 2016-06-22 | 2016-09-07 | 安徽中科镭泰激光科技有限公司 | Intelligent processing factory |
| CN105965899A (en) * | 2016-07-29 | 2016-09-28 | 安庆建金智能科技有限公司 | Magnetic suspension 3D printing pen |
| WO2016161925A1 (en) * | 2015-04-09 | 2016-10-13 | 郭永志 | Three-dimensional printing device actuated by mechanical arm and processing machine |
| CN106313513A (en) * | 2016-09-19 | 2017-01-11 | 四川大学 | Intelligent robot assisting rapid modeling and 3D printing device |
| CN107283831A (en) * | 2017-07-21 | 2017-10-24 | 中国科学院半导体研究所 | The intelligent increasing material manufacturing device and method of large-scale steel truss |
| 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 |
| CN108044117A (en) * | 2017-12-08 | 2018-05-18 | 中山市天隆燃具电器有限公司 | A kind of large size steel truss intelligence increasing material manufacturing device and method |
| US10377125B2 (en) | 2016-12-09 | 2019-08-13 | Caterpillar Inc. | Control systems and methods to optimize machine placement for additive construction operations |
| US10399325B2 (en) | 2016-12-13 | 2019-09-03 | Caterpillar Inc. | Systems and methods for preparing a worksite for additive construction |
| CN112113375A (en) * | 2020-10-15 | 2020-12-22 | 北华大学 | 3D snow carving printing robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016161925A1 (en) * | 2015-04-09 | 2016-10-13 | 郭永志 | Three-dimensional printing device actuated by mechanical arm and processing machine |
| US11642686B2 (en) | 2015-06-11 | 2023-05-09 | Effusiontech Ip Pty. Ltd. | Apparatus and a method for forming 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 |
| 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 |
| CN105242891A (en) * | 2015-10-10 | 2016-01-13 | 贵州翰凯斯智能技术有限公司 | Parameterized 3D model product personalized customization production method |
| CN105666867A (en) * | 2016-01-08 | 2016-06-15 | 浙江理工大学 | Three-dimensional printer and control method |
| CN105666867B (en) * | 2016-01-08 | 2017-12-29 | 浙江理工大学 | A kind of three-dimensional printer and control method |
| CN105499573A (en) * | 2016-01-21 | 2016-04-20 | 鞍山德威亚激光科技有限公司 | 3D laser printing system and method based on robot |
| CN105598958A (en) * | 2016-02-17 | 2016-05-25 | 上海发那科机器人有限公司 | Constant torque robot servo drilling and milling system |
| CN105931504A (en) * | 2016-06-22 | 2016-09-07 | 安徽中科镭泰激光科技有限公司 | Intelligent processing factory |
| CN105965899A (en) * | 2016-07-29 | 2016-09-28 | 安庆建金智能科技有限公司 | Magnetic suspension 3D printing pen |
| CN106313513B (en) * | 2016-09-19 | 2018-05-25 | 四川大学 | A kind of intelligent robot auxiliary rapid modeling and 3D printing device |
| CN106313513A (en) * | 2016-09-19 | 2017-01-11 | 四川大学 | Intelligent robot assisting rapid modeling and 3D printing device |
| US10377125B2 (en) | 2016-12-09 | 2019-08-13 | Caterpillar Inc. | Control systems and methods to optimize machine placement for additive construction operations |
| US10399325B2 (en) | 2016-12-13 | 2019-09-03 | Caterpillar Inc. | Systems and methods for preparing a worksite for additive construction |
| CN107283831A (en) * | 2017-07-21 | 2017-10-24 | 中国科学院半导体研究所 | The intelligent increasing material manufacturing device and method of large-scale steel truss |
| CN108044117A (en) * | 2017-12-08 | 2018-05-18 | 中山市天隆燃具电器有限公司 | A kind of large size steel truss intelligence increasing material manufacturing device and method |
| CN112113375A (en) * | 2020-10-15 | 2020-12-22 | 北华大学 | 3D snow carving printing robot |
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Application publication date: 20150318 |