CN104527068B - Colour 3D printing robot - Google Patents
Colour 3D printing robot Download PDFInfo
- Publication number
- CN104527068B CN104527068B CN201410809982.9A CN201410809982A CN104527068B CN 104527068 B CN104527068 B CN 104527068B CN 201410809982 A CN201410809982 A CN 201410809982A CN 104527068 B CN104527068 B CN 104527068B
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- Prior art keywords
- printhead
- printing
- colour
- omni
- control circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive 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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/236—Driving means for motion in a direction within the plane of a layer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive 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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D2200/00—Machines or methods characterised by special features
- A43D2200/60—Computer aided manufacture of footwear, e.g. CAD or CAM
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
Abstract
The invention relates to the technical field of 3D printing, and specifically relates to a colour 3D printing robot. The colour 3D printing robot disclosed by the invention comprises an omni-directional mobile platform mechanism, a Z-axis lifting mechanism, an extensible 3D printing mechanism and a feedback/communication/control circuit. The colour 3D printing robot is characterized in that the Z-axis lifting mechanism is fixedly connected to the omni-directional mobile platform mechanism, the extensible 3D printing mechanism is fixedly connected to the Z-axis lifting mechanism, the feedback/communication/control circuit is installed on the omni-directional mobile platform mechanism simultaneously, and the omni-directional mobile platform mechanism is controlled to carry out a linear motion and rotate by virtue of the feedback/communication/control circuit, and the Z-axis lifting mechanism is controlled by virtue of the feedback/communication/control circuit to drive a plurality of printing heads filled with multi-colour printing materials in the extensible 3D printing mechanism to realize printing of a colour object in a three-dimensional space. The colour 3D printing robot has the characteristics of simple and compact structure, capacity of realizing the switching of the plurality of printing heads by virtue of a flexible omni-directional mobile platform and thus realizing colour 3D printing, high printing speed, natural material switching, and high reliability.
Description
Technical field
The present invention relates to 3d printing technique field and in particular to a kind of colour 3d printer device people.
Background technology
3d printer, also known as three-dimensional printer, is a kind of accumulation manufacturing technology, i.e. a kind of machine of Rapid Prototyping technique, it
Based on being a kind of mathematical model file, with special wax material, powdery metal or plastics etc. can jointing material, by print one
Layer one layer jointing material come to manufacture three-dimensional object.Three-dimensional printer is used to manufacture product, the side successively printing at this stage
Formula carrys out the technology of constructed object.
Because 3d printing technique can be used for jewelry, footwear, industrial design, building, engineering and construction (aec), automobile, aviation
Space flight, dentistry and medical industries, education, GIS-Geographic Information System, civil engineering, and many other fields.Usually Making mold,
The fields such as industrial design are used for modeling or the direct manufacture for some products, and therefore this technology is just at the beginning of 21 century
The whole industry is popularized rapidly.Little to printing food, human organ, big arriving prints whole building building, be 3d printer following
Exhibition direction.
At present, almost all of 3d printer be all monochromatic print it is impossible to implementation model real color appearance, and then
Also the demand of people cannot be met further.Although the 3d having been realized in model at present prints, and color model to be realized
Multicolour 3d prints, however it remains many problems needing to overcome.
In sum, if a kind of 3d printer that can carry out colour print can be had, certainly will be able to extend for 3d printer
Application, can bring new business opportunity for 3d printing market.
Involved by Patents have had to colored 3d printer at present, for example,
1) patent [201310719302.x] provides a kind of 3d and prints with expansible many materials nozzle system, the bottom of including
Seat, some wire feed units and driver element, a kind of each wire feed unit color material corresponding with driver element, are selected by electric magnet
Select wire feed unit and the driver element of work at present, reach printing multiple color material, realize colored 3d printing purpose.
2) patent [201410262338.4] provides a kind of 3d printer single spraying head multiple material switching device, including
Fixed mount, mair motor and shower nozzle installing rack, the upper surface circular array of fixed mount shows multiple feeding mechanisms, and each feeding mechanism divides
Do not include charging motor, active roller and return idler, correspond to a kind of color material respectively, driven even by the rotating shaft of mair motor
Extension bar rotates and to adjust position below fixed mount for the shower nozzle installing rack, that is, rotate to immediately below any feeding mechanism of needs, with
Through-hole alignment charging on fixed mount, realizes single spraying head multiple material handoff functionality.
Although above-mentioned patent is accepted in colored 3d printer field, or even some existing related products occur, so
And continuous improvement 3d printer capability being required with people, the deficiency of above-mentioned patent and Related product is fully aobvious
Existing, it is in particular in:
1) the wire feed unit of patent [201310719302.x] and the extension of driver element are merely only linear array, this meaning
Taste, and if necessary to extension more wire feed unit of quantity and driver element, the length of printhead will become very long, and be unfavorable for
The installation of printhead, limits the number of wire feed unit and driver element, also limit material category quantity.
2) patent [201410262338.4] needs to increase a mair motor to realize the switching of present material, increased and beats
The complexity of printing head structure, increased printer cost, reduces the reliability of printer, switches in material every time meanwhile
Cheng Zhong, tearing it is easy to during tearing, producing chip slag, fall on the work top of bottom of inevitable generating material, affect
Normal print procedure.
Content of the invention
It is an object of the invention to solving the defect that traditional 3d printer can only carry out monochromatic printing, also improve existing
Minority colour 3d printer port of printer volume is big, and printed material quantity is few, and print head structure is complicated, high cost, just easily affects
The various deficiency such as normal 3d print procedure.A kind of colour 3d printer device people is provided, realizes printer and print head structure is compact,
Printed material quantity is many, printer low cost, fireballing advantage.
To achieve the above object of the invention, the present invention adopts following technical proposals:
A kind of colour 3d printer device people, prints including omni-directional moving platform mechanism, z-axis elevating mechanism, expansible 3d
Mechanism and feedback/communication/control circuit composition it is characterised in that: be fixedly connected z-axis liter in described omni-directional moving platform mechanism
Descending mechanism, z-axis elevating mechanism is fixedly connected expansible 3d printing mechanism, described omni-directional moving platform mechanism installs simultaneously
There is feedback/communication/control circuit；
1) described omni-directional moving platform mechanism includes mobile platform pedestal, motion motor, moving wheel, and motion motor is installed
On mobile platform pedestal, end is connected with moving wheel；
2) described z-axis elevating mechanism include lifting motor, lifting moving pair moved end, lifting moving pair fixed end, printhead move
Support, lifting moving pair fixed end be fixed on the mobile platform pedestal of omni-directional moving platform mechanism, lifting moving pair moved end with
Lifting moving pair fixed end can produce z direction linear motion by lifting motor, lifting moving pair moved end is fixed with printhead and moves
Support；
3) described expansible 3d printing mechanism includes printhead linking arm, printhead and printhead position, printhead linking arm
The printhead being fixed on z-axis elevating mechanism moves on support, and on printhead linking arm, centrosymmetry is distributed some printhead positions, arbitrarily
Printhead position all can be fixedly connected printhead equipped with a certain printed material by lock, solves opening lock catch, and printhead just can be from
Arbitrarily printhead bit stripping gets off, and printhead comprises feeding motor, heating chamber, extruder head, printed material, and feeding motor connects successively
Connect heating chamber and extruder head, printed material is sent into heating chamber and carried out by extruder head extrusion after heating and melting by feeding motor
3d prints；
4) described feedback/communication/control circuit includes power supply, alignment sensor circuit, telecommunication circuit, control circuit, instead
Feedback/communication/control circuit is installed on the mobile platform pedestal of omni-directional moving platform, and power supply provides electric power for whole equipment,
Alignment sensor circuit provides position feedback for control circuit, and telecommunication circuit is provided with host computer for 3d printer device people and communicates,
Control circuit realizes the motion control arithmetic of whole equipment.
Further, described omni-directional moving platform mechanism is to be arranged symmetrically according to mobile platform base central to be separated by 90
Degree 4 omnidirectional driving wheel motions, or in rectangular layout 4 can realize simultaneously drive and turn to wheel fitness machine
Structure.
Further, described z-axis elevating mechanism is linear electric motors straight-line motion mechanism or ball-screw linear motion machine
Structure.
Further, described expansible 3d printing mechanism extrudes feed mechanism or motor gear occlusion for piston syringe-type
Feed mechanism.
Further, described alignment sensor circuit is light emitting diode alignment sensor or laser positioning sensor,
Or alignment sensor circuit is arranged on the ceiling of 3d printer device people work, is photographic head vision sensor.
Further, any printhead position in described expansible 3d printing mechanism all can by lock be fixedly connected equipped with
The printhead of a certain printed material, solves opening lock catch, printhead just can get off from any printhead bit stripping, is carrying out 3d printing
Before object, need the printhead installing different printed materials is numbered and these printheads are correctly locked in printing
On head linking arm.
The operation principle of the present invention is summarized as follows:
First pass through software object digital model file to be printed is discrete through layering, using high flexibility, permissible
Xy moves and the omni-directional moving platform that rotate around z-axis, the z-axis motion on drive omni-directional moving platform and required beat
Print head carries out 3d printing, all plane spaces of the complete current layer model of omnibearing movable platform motion entire motion, drives and prints
Head prints "current" model layer, and then after one model layer distance of z-axis motion motion motion straight up, printer device people enter
Enter the layer model carrying out a new round to next model layer to print.Whenever need to switch printed material, only need to control comprehensive
Mobile platform rotates corresponding angle around Platform center, opens this feeding motor, simultaneously closes off the feeding electricity of other printheads
Machine.
The present invention is had compared with existing 3d printer and obviously projects substantive distinguishing features and remarkable advantage as follows:
Present invention colour 3d printer device people is simple and compact for structure, and small volume can using flexible omnibearing movable platform
To realize the switching of multiple print head, thus realize colored 3d printing, kinematic dexterity is high, and print speed is fast, and material switches nature,
Reliability is high.
Brief description
Fig. 1 is principle of the invention structural representation.
Fig. 2 is a kind of present invention omni-directional moving platform structural representation.
Fig. 3 is present invention another kind omni-directional moving platform structural representation.
Fig. 4 is a kind of present invention z-axis elevating mechanism structural representation.
Fig. 5 is present invention another kind z-axis elevating mechanism structural representation.
Fig. 6 is a kind of expansible 3d printing mechanism structural representation of the present invention.
Fig. 7 is another kind of expansible 3d printing mechanism structural representation of the present invention.
Fig. 8 is multiple print head extension schematic diagram of the present invention.
Fig. 9 is present invention colour 3d printer print procedure schematic diagram.
Figure 10 is present invention feedback/communication/control circuit schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention and embodiment are described further.
Embodiment one
Referring to Fig. 1 and Figure 10, a kind of 3d printer device people that can move freely, including omni-directional moving platform mechanism 100,
Z-axis elevating mechanism 200, expansible 3d printing mechanism 300, feedback/communication/control circuit 400, omni-directional moving platform mechanism
It is fixedly connected z-axis elevating mechanism 200 on 100, z-axis elevating mechanism 200 is fixedly connected expansible 3d printing mechanism 300, simultaneously
Feedback/communication/control circuit 400 is simultaneously installed with omni-directional moving platform mechanism 100；
Omni-directional moving platform mechanism 100 includes mobile platform pedestal 111, motion motor 112, moving wheel 113, motion electricity
Machine 112 is arranged on mobile platform pedestal 111, and end is connected with moving wheel 113.
Z-axis elevating mechanism 200 includes lifting motor 211, lifting moving pair moved end 212, lifting moving pair fixed end 213, beats
Print head moves support 214, and lifting moving pair fixed end 213 is fixed on the mobile platform pedestal 111 of omni-directional moving platform mechanism 100
On, lifting moving pair moved end 212 can produce z direction linear motion by lifting motor 211 with lifting moving pair fixed end 213, rises
It is fixed with printhead on fall moving sets moved end 212 and move support 214.
Expansible 3d printing mechanism 300 includes printhead linking arm 311, printhead 316 and printhead position 317, printhead
The printhead that linking arm 311 is fixed on z-axis elevating mechanism 200 moves on support 214, and on printhead linking arm 311, centrosymmetry divides
Cloth some printheads position 317, any printhead position 317 all can be fixedly connected equipped with a certain printed material 315 by latching 318
Printhead 316, solves opening lock catch 318, and printhead 316 just can disassemble from any printhead position 317, and printhead 316 comprises
Feeding motor 312, heating chamber 313, extruder head 314, printed material 315, feeding motor 312 is sequentially connected heating chamber 313 and squeezes
Lift one's head 314, printed material 315 is sent into heating chamber 313 and extruded by extruder head 314 after heating and melting by feeding motor 312
Carry out 3d printing.
Feedback/communication/control circuit 400 includes power supply 411, alignment sensor circuit 412, telecommunication circuit 413, controls electricity
Road 414, feedback/communication/control circuit 400 is installed on the mobile platform pedestal 111 of omni-directional moving platform 100, power supply 411
There is provided electric power for whole equipment, alignment sensor circuit 412 passes through telecommunication circuit 413 provides position feedback for control circuit, leads to
Letter circuit 413 is provided with host computer for 3d printer device people and communicates, and the motor control that control circuit 414 realizes whole equipment is calculated
Method.
Embodiment two
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 2, in the present embodiment, omni-directional moving platform mechanism 100 is according to mobile platform pedestal 111 center pair
Claim to arrange 4 omnidirectional driving wheel motions being mutually 90 degree, control the rotating speed of 4 moving wheels 113 by motion motor 112
Realize the all-around mobile of omni-directional moving platform.
Embodiment three
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 3, in the present embodiment, omni-directional moving platform mechanism 100 also should include being capable of 113 turns of moving wheel
To steer motor 121, omni-directional moving platform mechanism 100 is can according in rectangular layout 4 of mobile platform pedestal 111
Realize the wheel motion driving and turning to simultaneously, 4 moving wheels 113 are controlled by steer motor 121 and motion motor 112
Turn to the all-around mobile realizing omni-directional moving platform with rotating speed.
Example IV
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 4, in the present embodiment, z-axis elevating mechanism 200 is ball screw framework, and lifting moving pair moved end 212 is
Movement nut 222, lifting moving pair fixed end is leading screw 223, and lifting motor 211 is electric rotating machine 221.
Embodiment five
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 5, in the present embodiment, z-axis elevating mechanism 200 is linear electric motors mechanism, and lifting moving pair moved end 212 is
Linear motor rotor 232, lifting moving pair fixed end is linear motor stator electric 233, and lifting motor 211 is linear electric motors 231.
Embodiment six
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 6, in the present embodiment, expansible 3d printing mechanism also should include rotating threaded shaft 321, extrudes nut 322,
Extrusion piston 323, feeding motor 312 is sequentially connected rotating threaded shaft 321, extrudes nut 322, extrusion piston 323, expansible 3d beats
Printing mechanism 300 extrudes feed mechanism for piston syringe-type, and printed material 315 is pre-added in heating chamber 313, by feeding electricity
Machine 312 is rotated leading screw 321 and rotates, and promotes extruding nut 322, final promotes extrusion piston 323 by the printing material after heating
Material 315 carries out 3d printing through extruder head 314 extrusion.
Embodiment seven
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 7, in the present embodiment, expansible 3d printing mechanism also should include grinding gear 331, feeding motor 312
Connect grinding gear 331, expansible 3d printing mechanism 300 is engaged feed mechanism for motor gear, printed material 315 is not pulverized and added
It is in thread when hot, drive grinding gear 331 to rotate by feeding motor 312, smash and promote printed material 315 warp after heating
Cross extruder head 314 extrusion and carry out 3d printing.
Embodiment eight
The present embodiment is essentially identical with the technical scheme of embodiment one, is particular in that:
Referring to Fig. 8 and Fig. 9, any printhead 316 can be connected in opposed print heads linking arm 311 by latching 318
On the symmetrical some printhead positions 317 of the heart, such as Fig. 8 (a), it is also possible to carry out to printhead 316 when any needs
Expand, such as Fig. 8 (b) is it is also possible to by the relative position distribution between the different printhead 316 of adjustment, optimize 3d printer device people
Structure, improve printing effect, such as Fig. 8 (c), print procedure is summarized as follows: control all-around mobile to put down by control circuit 414
Platform mechanism 100 drive printhead x moves to precalculated position to start to print, and after the completion of printing, rotates omni-directional moving platform mechanism
100, it is switched to printhead y, proceeds 3d and print, switch printhead z afterwards, can also continue if there are extending other printheads
Switch over, be implemented without the automatic switchover that printhead 316 realized by any additional control motor, simplify printer arrangement, fall
Low cost, increases reliability.Simultaneously
These are only the specific embodiment of the present invention, but the technical characteristic of the present invention is not limited thereto.Any with this
Bright basis, for realizing essentially identical technique effect, done ground simple change, equivalent or modification etc., is all covered by
Among protection scope of the present invention.
List of references
[1] Zhu Jianhua, Wang Xiaoxiao, Ye Qun. the academician of the Chinese Academy of Sciences and Chinese Academy of Engineering chooses Chinese ten big Progress ＆ New Products Wuhan and makes " 3d the biggest in the world
Printer " is selected in [n]. the Changjiang River Daily, 2012-01-18.
Claims (6)
1. a kind of colour 3d printer device people, including omni-directional moving platform mechanism (100), z-axis elevating mechanism (200), can expand
Exhibition 3d printing mechanism (300) and feedback/communication/control circuit (400) it is characterised in that: described omni-directional moving platform mechanism
(100) it is fixedly connected z-axis elevating mechanism (200) on, z-axis elevating mechanism (200) is fixedly connected expansible 3d printing mechanism
(300), described omni-directional moving platform mechanism (100) is simultaneously installed with feedback/communication/control circuit (400)；
1) described omni-directional moving platform mechanism (100) includes mobile platform pedestal (111), motion motor (112), moving wheel
(113), motion motor (112) is arranged on mobile platform pedestal (111), and outfan is connected with moving wheel (113)；
2) described z-axis elevating mechanism (200) inclusion lifting motor (211), lifting moving pair moved end (212), lifting moving are secondary fixed
Support (214) is moved at end (213), printhead, and lifting moving pair fixed end (213) is fixed on omni-directional moving platform mechanism (100)
On mobile platform pedestal (111), lifting moving pair moved end (212) is mated with lifting moving pair fixed end (213) and is passed through lifting electricity
The driving of machine (211) produces z direction linear motion, lifting moving pair moved end (212) is fixed with printhead and moves support (214)；
3) described expansible 3d printing mechanism (300) includes printhead linking arm (311), printhead (316), printhead position
(317), printhead linking arm (311) is fixed on the dynamic support (214) of printhead of z-axis elevating mechanism (200), and printhead connects
The upper centrosymmetry of arm (311) is distributed some printhead positions (317), and each printhead position (317) is upper to fixedly mount a printhead
(316)；Printhead (316) comprises feeding motor (312), heating chamber (313), extruder head (314), printed material (315)；Feeding
Motor (312) is sequentially connected heating chamber (313) and extruder head (314), and printed material (315) is sent into and added by feeding motor (312)
Hot chamber (313) is passed through extruder head (314) extrusion after heating and melting and is carried out 3d printing；
4) described feedback/communication/control circuit (400) includes power supply (411), alignment sensor circuit (412), telecommunication circuit
(413) and control circuit (414), feedback/communication/control circuit (400) is installed on the shifting of omni-directional moving platform mechanism (100)
On moving platform pedestal (111), power supply (411) provides electric power for whole equipment, and alignment sensor circuit (412) is control circuit
(414) provide position feedback, telecommunication circuit (413) is provided with host computer for 3d printer device people and communicates, and control circuit (414) is real
The motion control arithmetic of existing whole equipment.
2. according to claim 1 colour 3d printer device people it is characterised in that: described omni-directional moving platform mechanism
(100) it is to be centrosymmetrically arranged, according to mobile platform pedestal (111), 4 omnidirectional driving wheel motions being separated by 90 degree, or
Person's 4 wheel motions that can realize driving simultaneously and turn in rectangular layout.
3. according to claim 1 colour 3d printer device people it is characterised in that: described z-axis elevating mechanism (200) is straight
Line motor straight-line motion mechanism or ball-screw straight-line motion mechanism.
4. according to claim 1 colour 3d printer device people it is characterised in that: described expansible 3d printing mechanism
(300) feed mechanism or motor gear occlusion feed mechanism are extruded for piston syringe-type.
5. according to claim 1 colour 3d printer device people it is characterised in that: described alignment sensor circuit (412)
For light emitting diode alignment sensor or laser positioning sensor, or alignment sensor circuit (412) is arranged on 3d and prints
On the ceiling of robot work, it is photographic head vision sensor.
6. according to claim 1 colour 3d printer device people it is characterised in that: described expansible 3d printing mechanism
(300) any printhead position (317) in all can be fixedly connected beating equipped with a certain printed material (315) by latching (318)
Print head (316), solution opening lock catch (318), printhead (316) just can disassemble from printhead position (317), beat carrying out 3d
Before print object, need the printhead (316) installing different printed materials (315) is numbered and by these printheads
(316) correctly it is locked on the printhead position (317) of printhead linking arm (311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809982.9A CN104527068B (en) | 2014-12-24 | 2014-12-24 | Colour 3D printing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809982.9A CN104527068B (en) | 2014-12-24 | 2014-12-24 | Colour 3D printing robot |
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| CN104527068A CN104527068A (en) | 2015-04-22 |
| CN104527068B true CN104527068B (en) | 2017-01-25 |
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| CN201410809982.9A Expired - Fee Related CN104527068B (en) | 2014-12-24 | 2014-12-24 | Colour 3D printing robot |
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| CN106137457B (en) * | 2015-04-24 | 2018-01-05 | 周惠兴 | Manufacturing platform system for 3D blood vessel printing |
| CN105034391A (en) * | 2015-09-07 | 2015-11-11 | 张春剑 | 3D printer with multiple rotary disc type independent spray heads |
| CN107344238B (en) * | 2016-05-05 | 2019-01-01 | 北京梦之墨科技有限公司 | Mobile robot formula liquid metal printing equipment and method |
| CN106493951A (en) * | 2016-10-31 | 2017-03-15 | 上海电机学院 | Horizontal displacement mechanism |
| CN106393680B (en) * | 2016-10-31 | 2019-03-26 | 上海电机学院 | 3D printer |
| CN106313497A (en) * | 2016-10-31 | 2017-01-11 | 上海电机学院 | Idler wheel |
| CN106493950A (en) * | 2016-10-31 | 2017-03-15 | 上海电机学院 | Vertical displacement mechanism |
| CN106827534A (en) * | 2017-03-17 | 2017-06-13 | 黄泽 | A kind of 3D printer of many shower nozzles |
| CN109898863A (en) * | 2017-12-11 | 2019-06-18 | 立方通达实业（天津）有限公司 | A kind of 3D printing robot and control device for construction |
| CN108995209A (en) * | 2018-08-29 | 2018-12-14 | 深圳市合泰英龙科技有限公司 | A kind of full-automatic 3D insole printer |
| CN109385671A (en) * | 2018-10-26 | 2019-02-26 | 大连民族大学 | The electrospinning of electrospinning fibre jet shaper sprays turntable |
| CN109465450A (en) * | 2018-11-21 | 2019-03-15 | 中船海洋动力部件有限公司 | Wire feed formula vertically prints the 3D printer of metal material |
| CN110253880A (en) * | 2019-06-06 | 2019-09-20 | 太原理工大学 | A kind of concurrent working 3D biometric print machine |
| CN110901064A (en) * | 2019-12-19 | 2020-03-24 | 广东凯宝机器人科技有限公司 | Novel 3D printer |
| CN111015691B (en) * | 2019-12-31 | 2024-03-01 | 上海纽盾科技股份有限公司 | Auxiliary machine in data security |
| CN114407354A (en) * | 2022-03-03 | 2022-04-29 | 天津大学 | Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device |
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| JP2000280356A (en) * | 1999-03-29 | 2000-10-10 | Minolta Co Ltd | Apparatus and method for three-dimensional shaping |
| US20140363532A1 (en) * | 2013-06-10 | 2014-12-11 | Kirk W. Wolfgram | Multiple color extrusion type three dimensional printer |
| CN103407292B (en) * | 2013-07-23 | 2016-04-20 | 广东工业大学 | A kind of composite micro-nano 3 D-printing system |
| CN103358689A (en) * | 2013-08-07 | 2013-10-23 | 苏州江南嘉捷机电技术研究院有限公司 | Multi-head three-dimensional printer |
| CN203665952U (en) * | 2013-12-26 | 2014-06-25 | 广东卓耐普智能技术股份有限公司 | 3D (Three -Dimensional) printer |
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