CN108248036A - The arm-type 3D printer of 360 degree of stereo rotating double-mechanicals and its Method of printing - Google Patents
The arm-type 3D printer of 360 degree of stereo rotating double-mechanicals and its Method of printing Download PDFInfo
- Publication number
- CN108248036A CN108248036A CN201810185265.1A CN201810185265A CN108248036A CN 108248036 A CN108248036 A CN 108248036A CN 201810185265 A CN201810185265 A CN 201810185265A CN 108248036 A CN108248036 A CN 108248036A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- motor
- degree
- printing
- arm
- 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.)
- Pending
Links
Classifications
-
- 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
- B33Y10/00—Processes of additive manufacturing
-
- 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
-
- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The arm-type 3D printer of 360 degree of stereo rotating double-mechanicals of one kind and its Method of printing, it is related to a kind of 3D printer and method, including print platform system, mechanical arm system, two sets of printing heads, control systems, mechanical arm system includes mechanical arm entirety chassis, multi-freedom Mechanism, and printing head is rotary printing head；Mechanical arm entirety chassis is rotatably mounted to outside print platform system；The bottom end of multi-freedom Mechanism is mounted on mechanical arm entirety chassis, and top is connect with printing head, and printing head, multi-freedom Mechanism and control system connect.Method of printing includes：A) slicing treatment is carried out to model by Slice Software, whether identification printer model has hanging part；B) mechanical arm carries out 360 degree of stereo rotatings.The high-precision 3D printing effect of the achievable unbraced structure of the present invention, has the characteristics that printing effect is high, flexibility is good, can ensure that product quality, intelligence degree are high, use easy to spread.
Description
Technical field
The present invention relates to degree arm-type 3D of stereo rotating double-mechanical of a kind of 3D printer and its Method of printing, particularly 360 to beat
Print machine and its Method of printing.
Background technology
3D printing is one of technical field that global emphasis is researched and developed at present.The starting of China's 3D printing industry is existing than later
Entering the rapid development stage, therefore 3D printing technique is with market is wide, prospect is very extensive.According to 3D printing in the world at present
The tracking of technical research field latest tendency, investigation, Analysis and summary find that main research concentrates on the drop of printing cost
Low, the enhancing of the intensity, rigidity of product, four aspects of shortening of time-write interval are printed in the raising of printing precision.
3D printing technique is that product manufacturing is come out to material by way of arriving successively stack point by point.Relative to traditional
Subtract for material manufacture, have the characteristics that with short production cycle, production process is few and production automation.From the point of view of low-carbon manufacture view,
Product needs how many material just directly to print how many material in 3D manufacturing technologies, and resource utilization is high, energy conservation and environmental protection, therefore has
Good application prospect is current international research hotspot.3D printing using successively push away it is long-pending by the way of, when printer model size
When larger, molding time is tens hours.
The patent of invention that license notification number is CN104097326B discloses a kind of fibre reinforced composites mostly certainly
By degree 3D printer and its Method of printing, the 3D printing in 3 D auto space is realized using 6DOF workbench, can be realized
Material carries out deposition with any angle and arbitrary motion track and realizes 3D printing manufacture, can install specially designed 3D thereon
Print head can carry out the 3D printing of high intensity short fiber reinforced composite, and can also install can carry out continuous resin base
Long fibre splices and the 3D printing head of braiding, so as to produce the composite material structure of continuous lod, meanwhile, Ke Yijing
3D printing technique really is controlled, realizes the controllable manufacture of fibre reinforced composites part medium-length fibre orientation, obtains certain force
The composite material parts of performance are learned, compared with traditional handicraft, and manufacture cost and time can be greatly reduced, improve production
Efficiency and economy.But there is hanging complex model still to need for the multiple degrees of freedom 3D printer and its Method of printing printing
It is more to influence print speed, production efficiency, consumptive material in this way for printing support.
Patent publication No. discloses a kind of skull bone substitute multiple degrees of freedom 3D for the patent of invention of CN106827500A and beats
Impression method, including：Three-dimensional imaging is carried out to cranium, obtains the geometric dimension initial data of cranium；Establish cranium
Threedimensional model；Threedimensional model according to cranium shape is layered, is converted into cross-section data；Select printed material；Setting is beaten
Print parameter；Carry out multiple degrees of freedom 3D printing.Along warp and weft direction printing alternate during printing, each layer is all in accordance with cranium
Contour direction printed.The present invention can realize any angle and arbitrary motion rail using Multi-freedom-degreemanipulator manipulator device
The 3D printing of mark improves the mechanical property of skull bone substitute.The present invention can accurately control each layer in print procedure of shape
Shape and Print direction improve printing precision, realize the quick manufacture of the skull bone substitute with specific mechanical property.Although it carries
High printing precision, but print speed reduces, and can not also solve that printing can not be supported.
License notification number is that the patent of invention of CN105599298B discloses one kind towards multiple degrees of freedom 3D printer
The 3D printing head mechanism control system of device people and the control method of the system, control system of the present invention include multiple degrees of freedom machine
People's central controller and 3D printing head control system two parts.The former is main to complete multiple degrees of freedom 3D printing according to job task
The cartesian space Motion trajectory of robot, and synchronously complete and the monitoring of 3D printing head status and the movement of wire feeder are advised
It draws；The latter by control process module, isolated from power conversion module, isolating difference signal conversion module, digital signal isolation module,
Stepper motor drive module, heating module and temperature collecting module are formed, and according to the control instruction that the former passes down, are completed 3D and are beaten
Print the wire vent control of head.Effectively improve the antijamming capability of 3D printing head mechanism control system.Solves current 3D printer control
The problem of integration difficulty of device processed and multiple freedom robot controlling system is greatly and integrated level is low, but can not solve it is multiple mostly oneself
The problem of being controlled by degree collision-free motion.
Patent authorization number is that the patent of CN206030554U discloses a kind of multiple degrees of freedom 3D printing robot, and patent discloses
Number multiple degrees of freedom 3D printing robot is disclosed for the patent of invention of CN106217888A, print head is installed on by serial mechanism
Moving platform, one end of the identical parallel institution of three groups of structures be connected respectively one group of linear transmission mechanism, other end respectively with
Moving platform is rotatablely connected, and the linear transmission mechanism that three groups of parallel institutions are connected respectively is straight to linear transmission mechanism, Y-direction for X
Line transmission mechanism and Z-direction linear transmission mechanism, X is to linear transmission mechanism, Y-direction linear transmission mechanism and Z-direction linear transmission mechanism
Moving platform can be driven to realize that X is translated to, Y-direction and Z-direction, serial mechanism can drive print head realize around the Z-axis direction rotation, around
The rotation of X axis its can solve it is unstable using printout surface quality existing for existing unidirectional 3D printer printing or repairing entity
It is fixed, repair efficiency is poor, entity mechanical property has the problem of directionality, print head can be carried out according to solid modelling five oneself
By the adjustment for spending direction effectively to avoid interfering, repair efficiency is improved.But it can not realize that multigroup multiple degrees of freedom is carried out at the same time
Printing；Complete feedback control can not be realized using stepper motor, lead to printer low precision；It is complicated simultaneously.
License bulletin discloses multiple degrees of freedom 3D printing robot for the patent of invention of CN205573038U, including machine
Frame, the rack are connect by supporting rod with upper cover of rack, the upper cover of rack be hexagon, 6 apexes of upper cover of rack
Hook hinge is respectively equipped with, each hook hinge corresponds to 1 telescoping mechanism, and one end of telescoping mechanism connect with hook hinge, stretches
The other end of contracting mechanism is connect by spherical hinge with effector；The effector is hexagon, and spherical hinge is located at effector respectively
Six apexes；Hot melt chamber is equipped with below the effector, hot melt chamber has print head；The rack is equipped with printing heat
Bed.Although it can realize that print head makees six-freedom motion in space, increase printing flexibility, improve printing effect,
It is connected and hexagon suspension type parallel arm using hinge arrangement, there are gap, the parallel connections of hexagon suspension type for hinge arrangement connection
Arm, which is easily swung, causes error, control is caused not to be very precisely, printer is second-rate.
Patent authorization number is that the patent of CN205905431U discloses a kind of mechanical arm type 3D printer, patent publication No.
Patent of invention for CN105965897A discloses a kind of mechanical arm type 3D printer, including mechanical driving part, part time job
Platform part, swingable nozzle part, sliding equipment and pedestal.Mechanical driving part include master arm, slave arm, link mechanism,
Rotary joint, crank, motor A, belt A, motor B, belt B and execution end seat.Part time job platform part includes workbench, connects
Joint chair and motor E.Swingable showerhead point includes steering engine and nozzle.The 3D printer of the present invention includes hanging part in printing
During part, used swingable nozzle part can automatically adjust the swing angle of nozzle according to the feature of hanging part, realize
Without the high-precision 3D printing effect of support construction, have without support construction, flexible flexibility is strong, printing precision is high, product
Small, the advantages of printing effect is high.But its part print job platform drives the rotary motion for realizing workbench using motor,
When printing large object and with 90 degree of hanging component is more than or equal to, the angle that workbench needs rotate also is greater than
In 90 degree, and require rotation speed it is fast, worktable rotary amplitude it is big, it is fireballing due to, cause rotary table
On large object vibrations it is bigger, influence printing precision or even easily come off.
The 3D printer of mainstream has ink jet type, fusion sediment formula, laser to burn the molding manufacture such as clean formula currently on the market.
Wherein, it is pushed away in a manner of product is manufactured and is most widely used by melting.But this molding mode, which can not print some, to be carried
The part of hanging part, thus need artificially to add support construction below the hanging part of part, otherwise printed material will
It is suspended in aerial and product can not be pushed away.Therefore, using the 3D printer of Fused Deposition Modeling molding mode, deficiency below generally existing
Place：
1) it needs to add support construction in print procedure, causes the Product Precision printed poor；
2) needed in print procedure add support construction, after need artificial treatment, therefore feed consumption is more, the degree of automation is low,
Efficiency is low；
3) the nozzle direction of motion of printer is single, and the port of extruded material is parallel with workbench, and flexibility is poor；
4) most of 3D printers of commercial type be single nozzle, printing it is less efficient；
5) existing 3D printer, which is all an exposure in air, prints, and easily by environment temperature, the influence of environment dust makes production
Product easily generate deformation；
6) complicated using the fixed planer type structure of frame, volume is heavy.
Invention content
The technical problem to be solved by the present invention is to：There is provided a kind of arm-type 3D printer of 360 degree of stereo rotating double-mechanicals and its
Method of printing, with solve existing for existing 3D printer the hanging model of printing need support, Product Precision is poor, feed consumption is more, automatically
The shortcoming that change degree is low, efficiency is low, flexibility is poor.
Solving the technical solution of above-mentioned technical problem is：A kind of 360 degree of arm-type 3D printers of stereo rotating double-mechanical, including
Print platform system, mechanical arm system, printing head, control system, the mechanical arm system include mechanical arm entirety chassis,
Two multi-freedom Mechanisms, the multi-freedom Mechanism is at least 6DOF mechanical arm system, described
Printing head has two sets, which is rotary printing head；Mechanical arm entirety chassis can 360 degree rotation be mounted on printing
Outside plateform system；The bottom end of two multi-freedom Mechanisms respectively can 360 degree rotation be mounted on mechanical arm entirety chassis,
The top of two multi-freedom Mechanisms connect respectively with printing head, printing head, multi-freedom Mechanism
Input terminal is connect respectively with the output terminal of control system.
The present invention further technical solution be：It is electric that the multi-freedom Mechanism includes the first motor~4th
Machine and mechanical arm pedestal hinged successively, first mechanical arm, second mechanical arm, third mechanical arm, last joint, it is described
Mechanical arm pedestal can 360 degree rotation be mounted on mechanical arm entirety chassis on, last joint is connect with printing head；First motor
Output terminal is connect with first mechanical arm, and the output terminal of the second motor is connect with second mechanical arm, the output terminal of third motor and
Three-mechanical arm connects, and the output terminal of the 4th motor is connect with last joint；First motor, the second motor, third motor, the 4th motor
Input terminal connect respectively with the output terminal of control system.
The present invention further technical solution be：The printing head includes nozzle and steering engine, nozzle and steering engine
Output terminal connect, steering engine be mounted on multi-freedom Mechanism last joint on, and the input terminal of steering engine respectively with control
System connects.
The present invention further technical solution be：The printer has further included vacuum fuselage environmental system, and described is true
Empty fuselage environmental system includes vacuum pump, vacuum fuselage ring, sensor assembly, and the vacuum fuselage ring is mounted on printing
Plateform system, mechanical arm system, outside printing head, vacuum pump is mounted on vacuum fuselage ring, and sensor assembly is mounted on true
In empty fuselage ring, the output terminal of sensor assembly and the input terminal of control system connect, the output terminal and vacuum of control system
The input terminal connection of pump.
The present invention further technical solution be：The control system includes multi-degree-of-freemechanical mechanical arm controller, true
Empty pump control module, nozzle control module, the output terminal of multi-degree-of-freemechanical mechanical arm controller respectively with the first motor, the second electricity
The input terminal connection of machine, third motor, the 4th motor, the input terminal of vacuum pump control module and the output terminal of sensor assembly connect
It connects, the output terminal of vacuum pump control module and the input terminal of vacuum pump connect；The output terminal of nozzle control module respectively with nozzle,
The input terminal connection of steering engine.
The present invention further technical solution be：The vacuum pump control module include vacuum pump control circuit, after
Electrical appliance module, the input terminal of vacuum pump control circuit and the output terminal of sensor assembly connect, the output of vacuum pump control circuit
End is connected by the input terminal of relay module and vacuum pump.
The present invention further technical solution be：The print platform system includes the smooth printing of plate face and puts down
Platform.
The present invention another technical solution be：A kind of Method of printing of the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals,
The Method of printing includes the following steps：
A) slicing treatment is carried out to model by Slice Software, whether identification printer model has hanging part, if without suspending part
Position performs step b), step c), step e), if there is hanging part, performs step b), step d), step e)；
B) mechanical arm carries out 360 degree of stereo rotatings；
C) model does not have a hanging part, the nozzle of double mechanical arms or is printed from below to up simultaneously, good between nozzle
The nozzle of fusion or a mechanical arm prints above, and the nozzle of another mechanical arm is printed in lower section；
D) model has a hanging part, and the nozzle of the nozzle of double mechanical arms or a mechanical arm prints above, another machinery
The nozzle of arm is printed in lower section or is printed from below to up simultaneously, is supported without printing；
E) nozzle on double mechanical arms carries out fusion transformation angle or each different angle of printer model, passes through mechanical arm integral bottom
Disk makees horizontal 360-degree arbitrary motion.
9. the Method of printing of the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 8, special
Sign is：Step b) includes following process：
B-1) mechanical arm action is using the first motor, the second motor, third motor as origin, establishes space coordinate, the first electricity
Machine, the second motor, third motor are respectively as the coordinate system of origin（X0, y0, z0）、（X1, y1, z1）、（X2, y2, z2）；
B-2) nozzle is obtained by coordinate transform to exist（X0, y0, z0）Coordinate is in coordinate system（x,y,z,1）, wherein coordinate（x,y,
z,1）For angle expression formula；
Wherein、、, L1, L2, L3 represent first mechanical arm respectively（2203）Angle, second mechanical arm with coordinate x0
（2205）Angle, third mechanical arm with coordinate x1（2207）Angle, first mechanical arm with coordinate x2（2203）Length, second
Mechanical arm（2205）Length, third mechanical arm（2207）Length；
B-3) coordinates（x,y,z,1）It is transformed to corresponding PWM (dx, dy, dz) again, carries out being precisely controlled motor, by by mould
Type resolves into the action command of mechanical arm, it is made not hit model, not mutual striker arm, so as to be precisely controlled nozzle following vertical
The arbitrary motion of body space：
Wherein, T represents that the ranks of corresponding determinant expressions exchange；
D α represent first mechanical arm（2203）With the differential of coordinate x0 angles；
D β represent second mechanical arm（2205）With the differential of coordinate x1 angles；
D γ represent third mechanical arm（2207）With the differential of coordinate x2 angles.
Due to using the above structure and method, the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals of the present invention and its beat
Impression method compared with prior art, has the advantages that：
It is printed 1. can realize without support：
Since the present invention includes print platform system, mechanical arm system, printing head, control system, wherein, mechanical arm system packet
Include mechanical arm entirety chassis, two multi-freedom Mechanisms, multi-freedom Mechanism is at least 6DOF mechanical arm
System, the printing head have two sets, which is rotary printing head；It mechanical arm entirety chassis can 360 degree of rotations
Turn to be mounted on outside print platform system；The bottom end of two multi-freedom Mechanisms respectively can 360 degree rotation be mounted on machinery
On arm entirety chassis, the top of two multi-freedom Mechanisms is connect respectively with printing head, printing head, multiple degrees of freedom
The input terminal of mechanical arm system is connect respectively with the output terminal of control system.The present invention is in print procedure, and printing is comprising hanging
During the part at position, can multi-freedom Mechanism, rotary printing head be automatically adjusted according to the feature of hanging part
Angle realizes the high-precision 3D printing effect of unbraced structure.
2. Product Precision is high：
Due to the high-precision 3D printing effect of the achievable unbraced structure of the present invention, woth no need to add below the hanging part of part
Add support construction, be improved the Product Precision printed.It is all fed back between each degree of freedom using servo motor
Control, in addition optimization algorithm, makes its positioning accuracy high.Print platform is stablized, and object does not have vibrations in print procedure, and raising is beaten
Print precision.
3. printing effect is high：
Since the present invention includes print platform system, mechanical arm system, printing head, control system, wherein, mechanical arm system packet
Include mechanical arm entirety chassis, two multi-freedom Mechanisms, multi-freedom Mechanism is at least 6DOF mechanical arm
System, and printing head has two sets.Therefore, the achievable two fully automated at least 6DOF mechanical arms of the present invention are beaten simultaneously
Print, printing effect are higher.Further, since the printing head of the present invention is rotary printing head, printing includes hanging part
Part when, the high-precision 3D printing effect of unbraced structure is realized, so as to can further improve printing effect.
4. reliability is high：
Although the mechanical arm system of the present invention employs two multi-freedom Mechanisms, wherein multi-freedom Mechanism
It is at least 6DOF mechanical arm system, but the invention can ensure that will not be mutually done between two multi-freedom Mechanisms
It relates to, this is because the present invention, by model decomposition into the action command of mechanical arm, makes it by using completely new algorithm and controller
Model is not hit, not mutual striker arm, so as to be precisely controlled nozzle arbitrary motion in solid space.Therefore, it is of the invention can
It is higher by property.
5. flexibility is good：
Due to the present invention printing head have two sets, the printing head be rotary printing head, the nozzle movement side of printer
To for any direction, flexibility is preferable.
6. it can ensure product quality：
Since the invention also includes there is vacuum fuselage environmental system, which includes vacuum pump, vacuum fuselage
Frame, sensor assembly, vacuum fuselage ring is outside print platform system, mechanical arm system, printing head, vacuum pump peace
On vacuum fuselage ring, sensor assembly is mounted in vacuum fuselage ring, and output terminal and the control of sensor assembly are
The input terminal connection of system, the output terminal of control system and the input terminal of vacuum pump connect.Vacuum pump work is controlled by control system
Make, by sensor assembly feedback signal, vacuum fuselage environmental system is made to reach vacuum state.The printer in vacuum environment
Product can avoid product from generating deformation not by environment temperature, the influence of environment dust, ensure that product quality.
7. intelligence degree is high：
Printing is run simultaneously since multiple mechanical arms can be achieved in the present invention, be can also be achieved nozzle and is rotated automatically, intelligence degree
Height reduces labour.
8. save human resources, energy-saving consumption：
Since the achievable nozzle of the present invention rotates automatically, realize the high-precision 3D printing of unbraced structure and commonly beat on the market
Print does not need to the operation of artificial removal's support after the printing, save the material of printing support section, saved human resources.
9. it is simple in structure, it is at low cost：
The structure of the present invention is using fairly simple, and production cost is relatively low, use easy to spread.
In the following, it to the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals of the present invention and its beats in conjunction with the accompanying drawings and embodiments
The technical characteristic of impression method is further described.
Description of the drawings
Fig. 1：The structure diagram of 360 degree of arm-type 3D printers of stereo rotating double-mechanical of the present invention described in embodiment one,
Fig. 2：360 degree of arm-type 3D printers of stereo rotating double-mechanical of the present invention described in embodiment three are printed with symmetrical hanging part
The structure diagram of model,
Fig. 3：360 degree of arm-type 3D printers of stereo rotating double-mechanical of the present invention described in example IV are printed with asymmetric hanging mould
The structure diagram of type,
Each label declaration in figure is as follows：
1- print platform systems,
2- mechanical arm systems,
21- mechanical arm entirety chassis,
22- multi-freedom Mechanisms,
2201- mechanical arm pedestals, the first motors of 2202-, 2203- first mechanical arms,
The second motors of 2204-, 2205- second mechanical arms, 2206- third motors,
2207- third mechanical arms, the 4th motors of 2208-, 2209- ends joint,
3- printing heads,
31- nozzles, 32- steering engines,
4- vacuum fuselage environmental systems,
41- vacuum pumps, 42- vacuum fuselage rings, 43- sensor assemblies,
5- control systems,
51- multi-degree-of-freemechanical mechanical arm controllers,
52- vacuum pump control modules, 521- vacuum pump control circuits, 522- relay module, 53- nozzle control modules,
6- printer models.
Specific embodiment
Embodiment one
A kind of 360 degree of arm-type 3D printers of stereo rotating double-mechanical, including print platform system 1, mechanical arm system 2, printing spray
First 3, vacuum fuselage environmental system 4, control system 5, wherein：
The print platform system 1 includes print platform, the print platform using the smooth tablet of plate face, with ensure by
It is hot uniform；
The mechanical arm system 2 includes 21, two, mechanical arm entirety chassis multi-freedom Mechanism 22, it is described mostly from
It is 6DOF mechanical arm system by degree mechanical arm system 22, the printing head 3 has two sets, which is rotary
Printing head；Mechanical arm entirety chassis 21 be mounted on print platform system 1 outside, and the bottom on mechanical arm entirety chassis 21 pass through it is whole
Body chassis shaft is connect with the output terminal of electric rotating machine one, realizes the 360 degree rotation on mechanical arm entirety chassis；Two multiple degrees of freedoms
The bottom end of mechanical arm system 22 can be mounted on mechanical arm entirety chassis 21 to 360 degree rotation respectively, two multi freedom degree mechanicals
The top of arm system 22 is connect respectively with printing head 3, printing head 3, multi-freedom Mechanism 22 input terminal difference
It is connect with the output terminal of control system 5.
The multi-freedom Mechanism 22 includes the motor of the first motor~the 4th and hinged successively
Mechanical arm pedestal 2201, first mechanical arm 2203, second mechanical arm 2205, third mechanical arm 2207, last joint 2209, it is described
Mechanical arm pedestal 2201 is mounted on mechanical arm entirety chassis 21, and mechanical arm pedestal 2201 passes through base shaft and electric rotating machine
Two output terminal connection, realizes the 360 degree rotation of mechanical arm pedestal 2201, last joint 2209 is connect with printing head 3；First electricity
The output terminal of machine 2202 is connect with first mechanical arm 2203, and the output terminal of the second motor 2204 is connect with second mechanical arm 2205,
The output terminal of third motor 2206 is connect with third mechanical arm 2207, and the output terminal of the 4th motor 2208 connects with last joint 2209
It connects；First motor 2202, the second motor 2204, third motor 2206, the 4th motor 2208 and electric rotating machine one, electric rotating machine
Output terminal of two input terminal respectively with control system 5 is connect.During printing, the first motor 2202 drives entire mechanical arm rotation fortune
It is dynamic；Second motor 2204 drives 2205 stretching motion of second mechanical arm；Third motor 2206 drives third mechanical arm 2207 to stretch
Contracting movement；4th motor 2208 drives last joint 2209 to make stretching motion；
The printing head 3 includes nozzle 31 and steering engine 32, and nozzle 31 is connect with the output terminal of steering engine 32, and steering engine 32 is pacified respectively
On the last joint 2213 of multi-freedom Mechanism, and the input terminal of steering engine 32 is connect respectively with control system 5.
The vacuum fuselage environmental system 4 includes vacuum pump 41, vacuum fuselage ring 42, sensor assembly 43, described
Vacuum fuselage ring 42 be mounted on print platform system 1, mechanical arm system 2, outside printing head 3, vacuum pump 41 is mounted on true
On empty fuselage ring 42, sensor assembly 43 is mounted in vacuum fuselage ring 42, the output terminal of sensor assembly 43 and control
The input terminal connection of system 5, the output terminal of control system 5 are connect with the input terminal of vacuum pump 41.
The control system 5 includes multi-degree-of-freemechanical mechanical arm controller 51, vacuum pump control module 52, nozzle control mould
Block 53, wherein：
The output terminal of the multi-degree-of-freemechanical mechanical arm controller 51 respectively with the first motor, the second motor, third motor, the 4th
The input terminal connection of motor,
The vacuum pump control module 52 includes vacuum pump control circuit 521, relay module 522, vacuum pump control circuit
521 input terminal is connect with the output terminal of sensor assembly 43, and the output terminal of vacuum pump control circuit 521 passes through relay module
522 connect with the input terminal of vacuum pump 41.Vacuum pump work is controlled by vacuum pump control circuit 521, relay module 522
Make, by sensor assembly feedback signal, vacuum fuselage environmental system is made to reach vacuum state.
The present invention is in print procedure, can be automatic according to the feature of hanging part during part of the printing comprising hanging part
The angle of multi-freedom Mechanism, rotary printing head is adjusted, realizes the high-precision 3D printing effect of unbraced structure.
As a kind of transformation of the present embodiment one, the multi-freedom Mechanism 22 can also be 7,8,9 etc. more
The multi-freedom Mechanism of a degree of freedom.
Embodiment two
The present embodiment two with the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals print the Method of printing without hanging part model into
Row explanation.
Fig. 1 is the structure diagram of 360 degree of arm-type 3D printers of stereo rotating double-mechanical of the present invention, including print platform
System 1, mechanical arm system 2, printing head 3, vacuum fuselage environmental system 4, control system 5, the model of printing is no suspending part
Bit model.
Arm-type printing side of the 3D printer printing without hanging part model of 360 degree of stereo rotating double-mechanicals is illustrated with reference to Fig. 1
Method, the Method of printing include the following steps：
A) carries out model slicing treatment by Slice Software, and identification printer model is without hanging part；
B) mechanical arms carry out 360 degree of stereo rotating print procedures, include following step：
B-1) action of mechanical arms is using the first motor 2202, the second motor 2204, third motor 2206 as origin, is established empty
Between coordinate, the first motor 2202, the second motor 2204, third motor 2206 are respectively as the coordinate system of origin（X0, y0,
z0）、（X1, y1, z1）、（X2, y2, z2）；
B-2) obtains nozzle 3 by coordinate transform and exists（X0, y0, z0）Coordinate is in coordinate system（x,y,z,1）, wherein coordinate
（x,y,z,1）For angle expression formula；
Wherein、、, L1, L2, L3 represent the angle of first mechanical arm 2203 and coordinate x0, second mechanical arm 2205 respectively
Angle, third mechanical arm 2207 and the angle of coordinate x2, the length of first mechanical arm 2203, second mechanical arm with coordinate x1
2205 length, the length of third mechanical arm 2207；
B-3) coordinates（x,y,z,1）Corresponding PWM (dx, dy, dz) is transformed to again to carry out being precisely controlled the first motor 2202,
Two motors 2204, third motor 2206, so as to be precisely controlled printing head 3 in solid space arbitrary motion；
Wherein, T represents that the ranks of corresponding determinant expressions exchange；
D α represent first mechanical arm（2203）With the differential of coordinate x0 angles；
D β represent second mechanical arm（2205）With the differential of coordinate x1 angles；
D γ represent third mechanical arm（2207）With the differential of coordinate x2 angles；
C) models do not have hanging part, and two nozzles of double mechanical arms can be printed from below to up simultaneously, between nozzle
Good fusion, can also the nozzle of a mechanical arm print above, a nozzle is printed in lower section；
E) it is that nozzle carries out fusion transformation angle or each different angle of printer model on double mechanical arms, passes through mechanical arm entirety
360 degree of arbitrary motions of chassis level.
Embodiment three
The implementation case is printed with the printing side of symmetrical hanging part model with 360 degree of arm-type 3D printers of stereo rotating double-mechanical
Method illustrates.
360 degree of arm-type 3D printers of stereo rotating double-mechanical that Fig. 2 is the present invention are being printed with symmetrical hanging part model
Structure diagram, including print platform system 1, mechanical arm system 2, printing head 3, vacuum fuselage environmental system 4, control system
System 5.
Illustrate that 360 degree of arm-type 3D printers of stereo rotating double-mechanical are printed with beating for symmetrical hanging part model with reference to Fig. 2
Impression method, the Method of printing include the following steps：
A) carries out model slicing treatment by Slice Software, and whether identification printer model has hanging part, if there is suspending part
Position performs step b), step d), step e)；
B) mechanical arms carry out 360 degree of stereo rotating print procedures, include following step：
B-1) action of mechanical arms is using the first motor 2202, the second motor 2204, third motor 2206 as origin, is established empty
Between coordinate, the first motor 2202, the second motor 2204, third motor 2206 are respectively as the coordinate system of origin（X0, y0,
z0）、（X1, y1, z1）、（X2, y2, z2）；
B-2) obtains nozzle 3 by coordinate transform and exists（X0, y0, z0）Coordinate is in coordinate system（x,y,z,1）, wherein coordinate
（x,y,z,1）For angle expression formula；
Wherein、、, L1, L2, L3 represent the angle of first mechanical arm 2203 and coordinate x0, second mechanical arm 2205 respectively
Angle, third mechanical arm 2207 and the angle of coordinate x2, the length of first mechanical arm 2203, second mechanical arm with coordinate x1
2205 length, the length of third mechanical arm 2207；
B-3) coordinates（x,y,z,1）Corresponding PWM (dx, dy, dz) is transformed to again to carry out being precisely controlled the first motor 2202,
Two motors 2204, third motor 2206, so as to be precisely controlled 3 solid space arbitrary motion of printing head；
Wherein, T represents that the ranks of corresponding determinant expressions exchange；
D α represent first mechanical arm（2203）With the differential of coordinate x0 angles；
D β represent second mechanical arm（2205）With the differential of coordinate x1 angles；
D γ represent third mechanical arm（2207）With the differential of coordinate x2 angles；
D) models have symmetrical hanging part, and two nozzles of double mechanical arms are printed from below to up simultaneously, without printing branch
Support；
E) it is that nozzle carries out fusion transformation angle or each different angle of printer model on double mechanical arms, passes through mechanical arm entirety
360 degree of arbitrary motions of chassis level.
Example IV
The implementation case is printed with the printing of asymmetric hanging part model with 360 degree of arm-type 3D printers of stereo rotating double-mechanical
Method illustrates.
360 degree of arm-type 3D printers of stereo rotating double-mechanical that Fig. 3 is the present invention are being printed with asymmetric hanging part mould
The structure diagram of type, including print platform system 1, mechanical arm system 2, printing head 3, vacuum fuselage environmental system 4, control
System 5.
Illustrate that 360 degree of arm-type 3D printers of stereo rotating double-mechanical are printed with asymmetric hanging part model with reference to Fig. 3
Method of printing, the Method of printing include the following steps：
A) carries out model slicing treatment by Slice Software, and whether identification printer model has hanging part, if there is suspending part
Position performs step b), step d), step e)；
B) mechanical arms carry out 360 degree of stereo rotating print procedures, include following step：
B-1) action of mechanical arms is using the first motor 2202, the second motor 2204, third motor 2206 as origin, is established empty
Between coordinate, the first motor 2202, the second motor 2204, third motor 2206 are respectively as the coordinate system of origin（X0, y0,
z0）、（X1, y1, z1）、（X2, y2, z2）；
B-2) obtains nozzle 3 by coordinate transform and exists（X0, y0, z0）Coordinate is in coordinate system（x,y,z,1）, wherein coordinate
（x,y,z,1）For angle expression formula；
Wherein、、, L1, L2, L3 represent the angle of first mechanical arm 2203 and coordinate x0, second mechanical arm 2205 respectively
Angle, third mechanical arm 2207 and the angle of coordinate x2, the length of first mechanical arm 2203, second mechanical arm with coordinate x1
2205 length, the length of third mechanical arm 2207；
B-3) coordinates（x,y,z,1）Corresponding PWM (dx, dy, dz) is transformed to again to carry out being precisely controlled the first motor 2202,
Two motors 2204, third motor 2206, so as to be precisely controlled 3 solid space arbitrary motion of printing head；
Wherein, T represents that the ranks of corresponding determinant expressions exchange；
D α represent first mechanical arm（2203）With the differential of coordinate x0 angles；
D β represent second mechanical arm（2205）With the differential of coordinate x1 angles；
D γ represent third mechanical arm（2207）With the differential of coordinate x2 angles；
D) models have an asymmetric hanging part, and the nozzle of a mechanical arm prints above in double mechanical arms, another machinery
The nozzle of arm is printed in lower section, is supported without printing；
E) it is that nozzle carries out fusion transformation angle or each different angle of printer model on double mechanical arms, passes through mechanical arm entirety
360 degree of arbitrary motions of chassis level.
Claims (9)
1. a kind of 360 degree of arm-type 3D printers of stereo rotating double-mechanical, including print platform system（1）, mechanical arm system（2）、
Printing head（3）, control system（5）, it is characterised in that：The mechanical arm system（2）Including mechanical arm entirety chassis（21）、
Two multi-freedom Mechanisms（22）, the multi-freedom Mechanism（22）It is at least 6DOF mechanical arm system
System, the printing head（3）There are two sets, the printing head（3）For rotary printing head；Mechanical arm entirety chassis（21）It can
360 degree rotation is mounted on print platform system（1）Outside；Two multi-freedom Mechanisms（22）Bottom end respectively can be 360 degree
It is rotatably mounted on mechanical arm entirety chassis（21）On, two multi-freedom Mechanisms（22）Top respectively with printing head
（3）Connection, printing head（3）, multi-freedom Mechanism（22）Input terminal respectively with control system（5）Output terminal connect
It connects.
2. the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 1, it is characterised in that：Described is more
Degree-of-freedom manipulator system（22）Including the first motor~the 4th motor and mechanical arm pedestal hinged successively
（2201）, first mechanical arm（2203）, second mechanical arm（2205）, third mechanical arm（2207）, last joint（2209）, it is described
Mechanical arm pedestal（2201）Can 360 degree rotation be mounted on mechanical arm entirety chassis（21）On, last joint（2209）With printing head
（3）Connection；First motor（2202）Output terminal and first mechanical arm（2203）Connection, the second motor（2204）Output terminal with
Second mechanical arm（2205）Connection, third motor（2206）Output terminal and third mechanical arm（2207）Connection, the 4th motor
（2208）Output terminal and last joint（2209）Connection；First motor（2202）, the second motor（2204）, third motor
（2206）, the 4th motor（2208）Input terminal respectively with control system（5）Output terminal connection.
3. the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 2, it is characterised in that：Described beats
Print nozzle（3）Including nozzle（31）And steering engine（32）, nozzle（31）With steering engine（32）Output terminal connection, steering engine（32）It is mounted on
The last joint of multi-freedom Mechanism（2213）On, and steering engine（32）Input terminal respectively with control system（5）Connection.
4. the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 3, it is characterised in that：The printer
Vacuum fuselage environmental system is further included（4）, the vacuum fuselage environmental system（4）Including vacuum pump（41）, vacuum fuselage
Frame（42）, sensor assembly（43）, the vacuum fuselage ring（42）Mounted on print platform system（1）, mechanical arm system
System（2）, printing head（3）Outside, vacuum pump（41）Mounted on vacuum fuselage ring（42）On, sensor assembly（43）Mounted on true
Empty fuselage ring（42）It is interior, sensor assembly（43）Output terminal and control system（5）Input terminal connection, control system（5）
Output terminal and vacuum pump（41）Input terminal connection.
5. the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 4, it is characterised in that：The control
System processed（5）Including multi-degree-of-freemechanical mechanical arm controller（51）, vacuum pump control module（52）, nozzle control module（53）, it is more
Degree-of-freedom manipulator controller（51）The output terminal input with the first motor, the second motor, third motor, the 4th motor respectively
End connection, vacuum pump control module（52）Input terminal and sensor assembly（43）Output terminal connection, vacuum pump control module
（52）Output terminal and vacuum pump（41）Input terminal connection；Nozzle control module（53）Output terminal respectively with nozzle（31）、
Steering engine（32）Input terminal connection.
6. the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 5, it is characterised in that：Described is true
Empty pump control module（52）Including vacuum pump control circuit（521）, relay module（522）, vacuum pump control circuit（521）'s
Input terminal and sensor assembly（43）Output terminal connection, vacuum pump control circuit（521）Output terminal pass through relay module
（522）With vacuum pump（41）Input terminal connection.
7. 360 degree of arm-type 3D printers of stereo rotating double-mechanical according to claim 1 to 6 any claim, special
Sign is：The print platform system（1）Including the smooth print platform of plate face.
8. the Method of printing of the arm-type 3D printer of a kind of 360 degree of stereo rotating double-mechanicals, which is characterized in that the Method of printing includes
Following steps：
A) slicing treatment is carried out to model by Slice Software, whether identification printer model has hanging part, if without suspending part
Position performs step b), step c), step e), if there is hanging part, performs step b), step d), step e)；
B) mechanical arm carries out 360 degree of stereo rotatings；
C) models do not have a hanging part, the nozzle of double mechanical arms or are printed from below to up simultaneously, good between nozzle
Fusion or the nozzle of a mechanical arm print above, the nozzle of another mechanical arm is printed in lower section；
D) models have a hanging part, and the nozzle of the nozzle of double mechanical arms or a mechanical arm prints above, another machine
The nozzle of tool arm is printed in lower section or is printed from below to up simultaneously, is supported without printing；
E) nozzle on double mechanical arms carries out fusion transformation angle or each different angle of printer model, passes through mechanical arm integral bottom
Disk makees horizontal 360-degree arbitrary motion.
9. the Method of printing of the arm-type 3D printer of 360 degree of stereo rotating double-mechanicals according to claim 8, feature exist
In：Step b) includes following process：
B-1) mechanical arm action is using the first motor, the second motor, third motor as origin, establishes space coordinate, the first electricity
Machine, the second motor, third motor are respectively as the coordinate system of origin（X0, y0, z0）、（X1, y1, z1）、（X2, y2, z2）；
B-2) nozzle is obtained by coordinate transform to exist（X0, y0, z0）Coordinate is in coordinate system（x,y,z,1）, wherein coordinate（x,y,
z,1）For angle expression formula；
Wherein、、, L1, L2, L3 represent first mechanical arm respectively（2203）Angle, second mechanical arm with coordinate x0
（2205）Angle, third mechanical arm with coordinate x1（2207）Angle, first mechanical arm with coordinate x2（2203）Length,
Two mechanical arms（2205）Length, third mechanical arm（2207）Length；
B-3) coordinate（x,y,z,1）It is transformed to corresponding PWM (dx, dy, dz) again, carries out being precisely controlled motor, by by model
The action command of mechanical arm is resolved into, it is made not hit model, not mutual striker arm, so as to be precisely controlled nozzle in following solids
Space arbitrary motion：
Wherein, T represents that the ranks of corresponding determinant expressions exchange；
D α represent first mechanical arm（2203）With the differential of coordinate x0 angles；
D β represent second mechanical arm（2205）With the differential of coordinate x1 angles；
D γ represent third mechanical arm（2207）With the differential of coordinate x2 angles.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131736 | 2017-03-07 | ||
| CN2017101317366 | 2017-03-07 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108248036A true CN108248036A (en) | 2018-07-06 |
Family
ID=62745814
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810185265.1A Pending CN108248036A (en) | 2017-03-07 | 2018-03-06 | The arm-type 3D printer of 360 degree of stereo rotating double-mechanicals and its Method of printing |
| CN201820307387.9U Active CN208392655U (en) | 2017-03-07 | 2018-03-06 | 360 degree of arm-type 3D printers of stereo rotating double-mechanical |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820307387.9U Active CN208392655U (en) | 2017-03-07 | 2018-03-06 | 360 degree of arm-type 3D printers of stereo rotating double-mechanical |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108248036A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621427A (en) * | 2018-05-07 | 2018-10-09 | 新沂博瑞工业设计有限公司 | A kind of multi-panel formula three-dimensional printer high up in the air |
| CN109049714A (en) * | 2018-09-26 | 2018-12-21 | 蒋青 | A kind of 3D printing method and print system |
| CN109130171A (en) * | 2018-07-28 | 2019-01-04 | 华中科技大学 | A kind of more laser flexible increasing material manufacturing system and methods of the more materials of polymer |
| CN109571939A (en) * | 2019-01-29 | 2019-04-05 | 浙江大学 | A kind of multirobot collaboration 3 D-printing method |
| CN109591285A (en) * | 2018-12-03 | 2019-04-09 | 青岛瑟克塞斯3D打印科技有限公司 | A kind of 3D printer of plurality of nozzle-type fusion technology |
| CN109600864A (en) * | 2018-11-16 | 2019-04-09 | 西安交通大学 | The six degree of freedom series connection complex-curved heating device of quartz lamp adaptation moduleization |
| CN111006369A (en) * | 2019-12-17 | 2020-04-14 | 广东美的暖通设备有限公司 | Transmission mechanism, indoor unit and air conditioner |
| CN112847732A (en) * | 2020-12-24 | 2021-05-28 | 东华理工大学 | Porcelain 3D printer with waste recycling function |
| CN113414980A (en) * | 2021-05-31 | 2021-09-21 | 青岛理工大学 | Industrial robot-based multi-purpose 3D space lattice printing system and method |
| CN114013025A (en) * | 2021-11-11 | 2022-02-08 | 常州微益数字科技有限公司 | Dental model double-light-excitation three-dimensional printing equipment and printing method thereof |
| CN114274508A (en) * | 2019-08-22 | 2022-04-05 | 浙江大学 | Biological 3D printing system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248036A (en) * | 2017-03-07 | 2018-07-06 | 桂林凯歌信息科技有限公司 | The arm-type 3D printer of 360 degree of stereo rotating double-mechanicals and its Method of printing |
| CN113211178B (en) * | 2021-05-31 | 2022-08-26 | 四川大学 | Multi-degree-of-freedom supersonic speed micro-lubricating injection device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097326A (en) * | 2014-07-09 | 2014-10-15 | 西安交通大学 | Multi-degree-of-freedom 3D printer of fiber reinforced composite material and printing method thereof |
| CN104827666A (en) * | 2015-04-30 | 2015-08-12 | 北京敏速自动控制设备有限公司 | 3D printing supporting method and system thereof |
| CN105398059A (en) * | 2015-12-17 | 2016-03-16 | 三星工作机械有限公司 | High-precision printing and grinding integrated vacuum 3D printer |
| CN105599108A (en) * | 2016-01-26 | 2016-05-25 | 江苏敦超电子科技有限公司 | Molding method and molding device for robot-based and printing-based building |
| US20160176115A1 (en) * | 2013-08-08 | 2016-06-23 | Abb Technology Ag | Printing system for three-dimensional objects |
| CN105965897A (en) * | 2016-06-29 | 2016-09-28 | 桂林电子科技大学 | Mechanical-arm-type 3D printer |
| CN208392655U (en) * | 2017-03-07 | 2019-01-18 | 桂林凯歌信息科技有限公司 | 360 degree of arm-type 3D printers of stereo rotating double-mechanical |
-
2018
- 2018-03-06 CN CN201810185265.1A patent/CN108248036A/en active Pending
- 2018-03-06 CN CN201820307387.9U patent/CN208392655U/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160176115A1 (en) * | 2013-08-08 | 2016-06-23 | Abb Technology Ag | Printing system for three-dimensional objects |
| CN104097326A (en) * | 2014-07-09 | 2014-10-15 | 西安交通大学 | Multi-degree-of-freedom 3D printer of fiber reinforced composite material and printing method thereof |
| CN104827666A (en) * | 2015-04-30 | 2015-08-12 | 北京敏速自动控制设备有限公司 | 3D printing supporting method and system thereof |
| CN105398059A (en) * | 2015-12-17 | 2016-03-16 | 三星工作机械有限公司 | High-precision printing and grinding integrated vacuum 3D printer |
| CN105599108A (en) * | 2016-01-26 | 2016-05-25 | 江苏敦超电子科技有限公司 | Molding method and molding device for robot-based and printing-based building |
| CN105965897A (en) * | 2016-06-29 | 2016-09-28 | 桂林电子科技大学 | Mechanical-arm-type 3D printer |
| CN208392655U (en) * | 2017-03-07 | 2019-01-18 | 桂林凯歌信息科技有限公司 | 360 degree of arm-type 3D printers of stereo rotating double-mechanical |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621427A (en) * | 2018-05-07 | 2018-10-09 | 新沂博瑞工业设计有限公司 | A kind of multi-panel formula three-dimensional printer high up in the air |
| CN108621427B (en) * | 2018-05-07 | 2021-08-27 | 新沂彪发生物工程研究院有限公司 | High-altitude multi-face three-dimensional printer |
| CN109130171A (en) * | 2018-07-28 | 2019-01-04 | 华中科技大学 | A kind of more laser flexible increasing material manufacturing system and methods of the more materials of polymer |
| CN109049714B (en) * | 2018-09-26 | 2021-01-22 | 蒋青 | 3D printing method and printing system |
| CN109049714A (en) * | 2018-09-26 | 2018-12-21 | 蒋青 | A kind of 3D printing method and print system |
| CN109600864B (en) * | 2018-11-16 | 2021-11-19 | 西安交通大学 | Six-freedom-degree series quartz lamp self-adaptive modular complex curved surface heating device |
| CN109600864A (en) * | 2018-11-16 | 2019-04-09 | 西安交通大学 | The six degree of freedom series connection complex-curved heating device of quartz lamp adaptation moduleization |
| CN109591285A (en) * | 2018-12-03 | 2019-04-09 | 青岛瑟克塞斯3D打印科技有限公司 | A kind of 3D printer of plurality of nozzle-type fusion technology |
| CN109571939B (en) * | 2019-01-29 | 2020-07-17 | 浙江大学 | Multi-robot cooperative three-dimensional printing method |
| CN109571939A (en) * | 2019-01-29 | 2019-04-05 | 浙江大学 | A kind of multirobot collaboration 3 D-printing method |
| CN114274508A (en) * | 2019-08-22 | 2022-04-05 | 浙江大学 | Biological 3D printing system |
| CN111006369A (en) * | 2019-12-17 | 2020-04-14 | 广东美的暖通设备有限公司 | Transmission mechanism, indoor unit and air conditioner |
| CN111006369B (en) * | 2019-12-17 | 2021-11-30 | 广东美的暖通设备有限公司 | Transmission mechanism, indoor unit and air conditioner |
| CN112847732A (en) * | 2020-12-24 | 2021-05-28 | 东华理工大学 | Porcelain 3D printer with waste recycling function |
| CN113414980A (en) * | 2021-05-31 | 2021-09-21 | 青岛理工大学 | Industrial robot-based multi-purpose 3D space lattice printing system and method |
| CN114013025A (en) * | 2021-11-11 | 2022-02-08 | 常州微益数字科技有限公司 | Dental model double-light-excitation three-dimensional printing equipment and printing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN208392655U (en) | 2019-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108248036A (en) | The arm-type 3D printer of 360 degree of stereo rotating double-mechanicals and its Method of printing | |
| Bhatt et al. | Expanding capabilities of additive manufacturing through use of robotics technologies: A survey | |
| CN105290789B (en) | A kind of increase and decrease material composite manufacturing lathe in parallel and its composite manufacturing method | |
| CN104842557B (en) | Five-freedom-degree rapid forming processing apparatus | |
| US20200031057A1 (en) | Polymer multi-material high-flexibility laser additive manufacturing system and method thereof | |
| CN106684022B (en) | It is a kind of towards flexible electronic preparation high-speed turret be arranged symmetrically mounting system | |
| CN106078710A (en) | The multi-axis robot of multitask application | |
| CN202169229U (en) | Industrial spraying robot | |
| CN103407290A (en) | Three-dimensional structure preparation method and device based on electronic jet printing | |
| CN209666271U (en) | More material 3D printing devices that stretchable electronic product is integrated | |
| CN105773961B (en) | 3D printing method | |
| CN108891025B (en) | Intelligent multi-source synchronous directional three-dimensional printing device | |
| CN105575833A (en) | Back bonding control method suitable for efficient chip transfer | |
| CN107253191A (en) | A kind of double mechanical arms system and its control method for coordinating | |
| CN109895370A (en) | Print module and the three-dimensional printing device for applying it | |
| CN105921745A (en) | Plasma cladding direct manufacturing rapid prototyping apparatus and method | |
| CN109531996B (en) | Five-axis 3d printing system based on station transformation and printing method thereof | |
| CN107458875A (en) | A kind of vision positioning feeder and its operating method | |
| CN207058563U (en) | A kind of SCARA industrial robot control systems | |
| CN114083794B (en) | 3D printing auxiliary supporting device based on adjustable airflow and printing method | |
| CN110774576A (en) | Integrated three-dimensional printing system and method for large-size complex curved surface conformal antenna | |
| CN207026966U (en) | A kind of large complicated hardware increase and decrease material manufacture device | |
| CN109351966A (en) | A kind of metal base 3D printing device of stepped hole and inclined-plane | |
| CN108788151A (en) | A kind of synchronous selective laser fusion SLM building mortions and its Method of printing | |
| CN105979714A (en) | Offline and online integrated jet-printing system of printed circuit board |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |