CN109228330A - A kind of 3D printing equipment and 3D printing method - Google Patents
A kind of 3D printing equipment and 3D printing method Download PDFInfo
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- CN109228330A CN109228330A CN201811309353.4A CN201811309353A CN109228330A CN 109228330 A CN109228330 A CN 109228330A CN 201811309353 A CN201811309353 A CN 201811309353A CN 109228330 A CN109228330 A CN 109228330A
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- Prior art keywords
- printing
- type body
- print head
- printing equipment
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Classifications
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- 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
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- 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
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- 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 present invention relates to a kind of 3D printing equipment, 3D printing equipment includes type body, the auxiliary body of printing, in which: the type body, for implementing 3D printing；The auxiliary body of printing is used for carrying and the mobile type body in space.The invention further relates to a kind of 3D printing methods of 3D printing equipment simultaneously, include the following steps: S100: obtaining the information of 3D printing object；S300: according to the information of the 3D printing object, implement 3D printing.Compared with prior art, the 3D printing equipment and 3D printing method in the present invention, has broken the structure of current frame-type, the type of the printable object greatly expanded.In existing 3D printing technique, big object can only be assembled again by printing respectively after dismantling, in the application can directly ground on the scene print big object, time and process is greatly saved, improves production efficiency, expands the application field of 3D printing technique.
Description
Technical field
The invention belongs to 3D printing fields, and in particular to mobile 3D printing equipment, while the invention further relates to one kind
Mobile 3D printing method.
Background technique
With universal, the 3D printing skill of the concepts such as the intelligence manufacture engineering of national strategy " made in China 2025 ", industry 4.0
Art is becoming more and more popular.3D printing technique appears in mid-term the 1990s earliest, actually utilizes photocuring
With the newest rapid molding device for the technologies such as paper layer is folded.It is essentially identical with common print working principle, and printer is provided with liquid
Body or powder etc. " printed material " after connecting with computer, are controlled by computer and " printed material " are stacked up from level to level, finally
Blueprint on computer is become in kind, this printing technique is known as 3D three-dimensional printing technology.
From the point of view of specific, 3D printing (English: 3D Printing) belongs to one kind of rapid prototyping technology, it is with digital mould
Based on type file, with adhesive materials such as powdery metal or plastics, come structure by way of successively stacking accumulation
The technology (i.e. " lamination appearance method ") of body.Past, it was often used for modeling in fields such as mold manufacture, industrial designs, now just
It is gradually available for the direct manufacture of some products, especially some high value applications (such as hip joint or tooth or some aircrafts zero
Component) have using components made of the printing of this technology, it is meant that " 3D printing " this technology is popularized.
In March, 2010, the inventor of an entitled En Likedini (Enrico Dini) have devised it is a kind of mystery
3D printer, four times faster than conventional method of this printer, and also used raw material also only has original one third to arrive
Half, it is often more important that hardly generate any waste.This is also one of advantage of 3D printing technique, can be accomplished
Almost by raw material all of not generating waste material.But at the same time, we are it also seen that current 3D printing equipment is all frame knot
Structure, print head move in frame, and printing object forms in the frame, this beats printing object, printing type etc. all by 3D
The frame of print machine limits, i.e., the spatial dimension of 3D printing object is limited by the physical space size of the frame of 3D printer.?
Under the premise of being somebody's turn to do, the object of some large volumes can only first resolve into small part 3D printing one by one, finally assemble again, which increase costs
Printing effect is also reduced, while all being had an impact to the firmness of object entirety, stability.
Based on the problem present on, the application is designed and has been studied to mobile 3D printing equipment.
Summary of the invention
For the above deficiency in the prior art, an object of the present invention is to provide a kind of transportable 3D printing dress
It is standby, break the physical space limitation of frame-type 3D printing equipment in the prior art；The second object of the present invention is to provide movement
The Method of printing of formula 3D printing equipment is different from the small space printing of traditional 3D printer, can print big object.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals.
An object of the present invention: a kind of movable type 3D printing equipment, 3D printing equipment are auxiliary including type body, printing
Body, in which: the type body, for implementing 3D printing；The auxiliary body of printing, for carrying and being beaten described in movement in space
Print main body.
3D printing equipment in the application, changes the tower structure of traditional 3D printing equipment, has thoroughly arrived 3D and beaten
Space limitation when print.Mobile 3D printing equipment in the application, printing auxiliary body in printing can exist with type body
It is moved freely in, including translation and lifting moving, convenient for printing big object.
Preferably, the auxiliary body of printing includes: apparatus capable of fluctuating and movable fixture, in which: the apparatus capable of fluctuating,
For rising or declining the type body；The movable fixture, for carrying and moving the type body and can rise
Falling unit.The cooperation of apparatus capable of fluctuating and movable fixture is, it can be achieved that print head in space in working range in the structure
The positioning of any position.
Preferably, the apparatus capable of fluctuating includes aerial ladder formula lifting device, tower crane type lifting device, telescopic lifting dress
It one of sets or a variety of combinations.Moving up and down for type body may be implemented in these apparatus capable of fluctuating.
Preferably, including at least one support column in the aerial ladder formula lifting device and tower crane type lifting device, use
Precision when guaranteeing mobile when stability and lifting.
Preferably, the movable fixture includes wheeled mobile device, crawler travelling device, polypody mobile device
One of or a variety of combinations.These movable fixtures move in the venue for carry type body.
Preferably, three mobile foots are included at least in the polypody mobile device, stability when guaranteeing mobile.
Preferably, the shape of the type body include cylindric, prism-shaped, spherical, cone cell, it is coniform, round table-like,
One of pyramidal or a variety of combination.
Preferably, the type body includes print head, storage device and/or feed device, in which: the printing
Head is stacked for discharging；The storage device, for storing printed material；The feed device is sent for that will expect to printing
Head.Material in print head can arise directly from storage device, especially when the volume that integrally printing is equipped is larger, storage device
In can store more printing material.It is small in size when whole printing equipment, or for other reasons when, storage device can be with
It is external, it is not integrated on type body, material is sent on print head by feed device carries out printing at this time.
Preferably, the storage device is detachable storage device.
Preferably, the storage device is equipped with to load the material filling mouth of printed material.
Preferably, the print head includes Telescopic printing head, collapsible print head, swing type print head, forks arm
One of formula print head is a variety of.The mode of these print heads is that print head itself has certain mobility, for small model
The printing enclosed, type body can be fixed, rely only on the operations such as flexible/folding/swing of print head to realize printing.
Preferably, further including movement routine identification device and/or print object identification device, in which: the mobile road
Diameter identification device indicates path cue mark or indication signal in place for identification, makes to print auxiliary body in moving process
It can be accurately positioned；The print object identification device is believed by the location information of print object or performance level for identification
Breath, is that print head can be accurately positioned in print procedure.
Preferably, the movement routine identification device or print object identification device are image module, described image mould
Block includes camera, image recognition submodule and image comparison submodule, for carrying out acquisition image, identification image, image pair
Than etc. programs.
Preferably, further including print control computer, the print control computer is for controlling the free movable type
The page order of 3D printing equipment, printing progress, printing precision, printing gap, print density, printing shape, moves printing path
One of flowing mode is a variety of.
Preferably, the print control computer includes: CPU, GPU, MEM, HDD, I/O equipment and communication chip.
Preferably, the print head on the type body is in the outside for printing the vertical space where auxiliary body, the knot
When structure to implement printing, interference will not be generated with print head by printing auxiliary body, printed auxiliary body and be not necessarily to across the object in printing
Part can both complete the printing of object.
Above mobile 3D printing equipment changes the 3D printer of existing frame-type, beats using open
Print can print the big object that can not be printed in frame-type 3D printer originally, improve efficiency.
The second object of the present invention: a kind of 3D printing method of movable type 3D printing equipment includes the following steps: S100:
Obtain the information of 3D printing object；S300: according to the information of the 3D printing object, implement 3D printing.
Further, before the S300 step further include: S200: real-time distinguishing mark is in the path cue mark in place
Or indication signal, print position is moved to according to cue mark or indication signal.
Further, the S300 step includes: S310: according to path cue mark or indication signal, print head is reduced,
Implement 3D printing on ground.The step of when step is suitable for the initial step or lower print position of 3D printing, with printing
Progress, print head can gradually rise.
Further, the S300 step includes following either step: S320: identifying the position of the 3D printing object in real time
Confidence breath or performance level information, accordingly raise the printing angle of the print head, implement 3D to the 3D printing object and beat
Print；S330: the location information or performance level information of the 3D printing object are identified in real time, accordingly stretch the print head
Depth is printed, 3D printing is implemented to the 3D printing object；S350: identify in real time the 3D printing object location information or
Performance level information rises accordingly by apparatus capable of fluctuating, or decline type body, implements to the 3D printing object
3D printing；S360: identifying the location information or performance level information of the 3D printing object in real time, accordingly by loosening or
Person exceptionally straight mobile foot is raised, or reduces type body, implements 3D printing to the 3D printing object.
Above 3D printing method is different from the mode for there was only print head lifting moving in traditional 3D printer, whole
Body printing equipment moves in place, cooperates the location technology in the flexible movement and print area of print head, greatly expands
The type and range for having filled printing object, improve the printing effect of big object, unusual object.
Compared with prior art, the invention has the following advantages: providing a kind of mobile 3D printing equipment and one
The mobile 3D printing method of kind, open free-moving printing type can print current frame-type 3D printing and be difficult to print
Big object and unusual object, avoid the trouble that assembles again of dispersion printing, improve production efficiency, expand 3D printing technique
Application field.
Detailed description of the invention
Fig. 1 is the perspective view of the 3D printing equipment in the present invention in embodiment one.
Fig. 2 is the perspective view of the 3D printing equipment in the present invention in embodiment two.
Fig. 3 is the perspective view of the 3D printing equipment in the present invention in embodiment three.
Fig. 4 is the perspective view of the 3D printing equipment in the present invention in example IV.
Fig. 5 is the perspective view of the 3D printing equipment in the present invention in embodiment five.
Fig. 6 is that the schematic diagram in print procedure is equipped in the 3D printing in example IV.
Fig. 7 is that the schematic diagram in print procedure is equipped in the 3D printing in embodiment five.
Fig. 8 is a kind of swing state schematic diagram of swing type print head in the present invention.
Fig. 9 is a kind of status diagram of slidingtype print head in the present invention.
Figure 10 is the schematic diagram in the printing place in the present invention.
Figure 11 is the schematic diagram of work of one of the present invention 3D printing equipment in printing place.
Figure 12 is the 3D printing method and step schematic diagram in the present invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
Mobile 3D printing equipment involved in the present invention, including type body, the auxiliary body of printing, the type body are used
In implementation 3D printing；The auxiliary body of printing is used for carrying and the mobile type body in space.In preferred scheme, institute
The print head stated on type body is in the outside for printing the vertical space where auxiliary body.
Wherein, the auxiliary body of printing includes: apparatus capable of fluctuating and movable fixture, the apparatus capable of fluctuating, for rising
Or the decline type body；The movable fixture, for carrying and moving the type body and apparatus capable of fluctuating.
Specific to implement in structure, the apparatus capable of fluctuating includes aerial ladder formula lifting device, tower crane type lifting device, stretches
One of formula lifting device or a variety of combinations, or in the prior art other can be realized the dress of elevating function
It sets.It wherein, include at least one support column in the aerial ladder formula lifting device and tower crane type lifting device.
Specific to implement in structure, the movable fixture includes wheeled mobile device, crawler travelling device, polypody
One of mobile device or a variety of combinations, or in the prior art other can be realized the device of locomotive function.
Wherein, three mobile foots are included at least in the polypody mobile device.
In the specific implementation structure of the application, the shape of the type body include cylindric, prism-shaped, spherical, cone cell,
One of coniform, round table-like, pyramidal or a variety of combination, or the contour structures that others may be implemented.
In the application, the type body includes print head, storage device and/or feed device, in which: the printing
Head is stacked for discharging；The storage device, for storing printed material；The feed device is sent for that will expect to printing
Head.In order to facilitate charging, the storage device is detachable storage device, alternatively, the storage device is equipped with for dress
Carry the material filling mouth of printed material.
In the specific implementation structure of print head, the print head includes Telescopic printing head, collapsible print head, swing
One of arm-type print head of formula print head, fork-shaped is a variety of, or it is in the prior art other can be in a certain range
The print head structure of interior movement.
It further include movement routine identification device and/or print object identification dress on mobile 3D printing equipment in the application
It sets and/or print control computer, in which: the movement routine identification device indicates the path instruction in place for identification
Label or indication signal；The print object identification device, for identification by the location information of print object or performance level
Information.Specifically, the movement routine identification device or print object identification device are image module, described image module includes
Camera, image recognition submodule and image comparison submodule；The print control computer is for controlling described move freely
Formula 3D printing equipment page order, printing path, printing progress, printing precision, printing gap, print density, printing shape,
One of move mode is a variety of.In a kind of enforceable scheme, the print control computer include: CPU, GPU,
MEM, HDD, I/O equipment and communication chip.The print control computer may be the processing that control function may be implemented in other
Device.
It elaborates below in conjunction with attached drawing to the specific embodiment in the application.
Embodiment one
As shown in Figure 1, mobile 3D printing equipment, including type body 2, the auxiliary body 1 of printing, in which: the type body 2 is
Cylindrical-shaped structure, the side of the columned type body 2 are extended with print head 21, and print head 21 is equipped with beating for discharging
Print mouth.The auxiliary body 1 of the printing includes apparatus capable of fluctuating and movable fixture, and in present embodiment, apparatus capable of fluctuating is tower crane type liter
Falling unit 12, movable fixture are the wheeled mobile device 11 set on 12 bottom of tower crane type lifting device.The tower crane type liter
Falling unit 12 passes through the middle part of type body 2 and can make the oscilaltion on tower crane type lifting device 12 of type body 2.
Lifting etc. can be rolled for cord-traction type lifting, rack and pinion engagement by going up and down driving method, be specifically as follows:
(1) cylinder of tower crane type lifting device 12 plays guiding role, and type body 2 is hung in tower crane type lifting device 12 by rope
On, and the lifting of the folding and unfolding realization type body 2 by the ropewinder control rope in tower crane type lifting device 12；(2) tower crane
The cylinder of formula lifting device 12 is equipped with rack gear, and type body 2 is equipped with the gear of the motor control engaged, and gear is positive and negative
The lifting of type body 2 may be implemented in rotation.It is of course also possible in the prior art suitable for other liftings of tower crane type structure
Mode.
Wheeled mobile device 11 is the idler wheel of conventional process control, may be implemented to move.
Embodiment two
As shown in Fig. 2, mobile 3D printing equipment, including type body 2, the auxiliary body 1 of printing, in which: the type body 2 is
Triangle column structure, the side of the columnar type body 2 of the triangle are extended with the print head 21 of controllable extensible, set on print head 21
There is the printing mouth 211 for discharging.The stretch mode of print head 21 is telescopic mode in the prior art.
The auxiliary body 1 of the printing includes apparatus capable of fluctuating and movable fixture, and in present embodiment, apparatus capable of fluctuating is aerial ladder formula
Lifting device, three of them terraced body are located on three angles of type body 2, guarantee stability when lifting.Movable fixture
For set on the wheeled mobile device 11 of terraced body bottom.
Wheeled mobile device 11 is the idler wheel of conventional process control, may be implemented to move.
Embodiment three
As shown in figure 3, mobile 3D printing equipment, including type body 2, the auxiliary body 1 of printing, in which: the type body 2 is
Cuboidal columnar structure, the side of the type body 2 of the cuboidal columnar are extended with print head 21, and print head 21 is equipped with for discharging
Printing mouth 211, also, the printing mouth 211 can move in the sliding slot on print head 21, and move mode can be rack-and-pinion
The telescopic moving of engagement movement or telescopic rod control, realizes the adjustment of printing 211 position of mouth.
The auxiliary body 1 of the printing includes apparatus capable of fluctuating and movable fixture, and in present embodiment, apparatus capable of fluctuating is by cylinder
Or the pantograph lifting device of hydraulic cylinder control, four telescopic shafts are located on four angles of type body 2, guarantee lifting
When stability.Movable fixture is the wheeled mobile device 11 set on telescopic shaft bottom.
Wheeled mobile device 11 is the idler wheel of conventional process control, may be implemented to move.
Example IV
As shown in figure 4, mobile 3D printing equipment, including type body 2, the auxiliary body 1 of printing, in which: the type body 2 is
Cylindrical-shaped structure, the side of the columned type body 2 are extended with print head 21, and print head 21 is equipped with beating for discharging
Print mouth.The auxiliary body 1 of the printing includes apparatus capable of fluctuating and movable fixture, and in present embodiment, apparatus capable of fluctuating is single axle liter
Falling unit, movable fixture are the crawler travelling device 3 set on the single axle lifting device bottom, specifically, symmetrically to set
The track structure of meter, mounting platform 31 is equipped between two caterpillar belt structures, and single axle lifting device is set to the mounting platform 31
On.In present embodiment, single axle lifting device passes through the middle part of type body 2 and type body 2 can be made to go up and down in single axle
Oscilaltion on device.
Going up and down driving method can be cylinder/Driven by Hydraulic Cylinder lifting, rack and pinion engagement lifting, screw rod lifting etc..Tool
Body can be with are as follows: (1) its telescopic shaft of cylinder/Driven by Hydraulic Cylinder on mounting platform 31 is flexible, realizes the lifting of type body 2；(2)
Single shaft is equipped with rack gear, and type body 2 is equipped with the gear of the motor control engaged, and gear positive and negative rotation may be implemented to beat
Print the lifting of main body 2；(3) uniaxial inside is equipped with rotatable screw rod, is threadedly engaged between screw rod and type body 2, and uniaxial
Inside is equipped with the guide rod through type body 2, prevents its turnover, in this way, type body 2 can rise up and down when screw rod rotation
Drop.It is of course also possible to be suitable for other up-down modes of single-shaft configuration in the prior art.
Fig. 6 is that the schematic diagram in print procedure is equipped in the 3D printing in example IV, it can be seen from the figure that 3D printing
In by the side of printing object 1, print head thereon is in by the top implementation printing behaviour of printing object 1 equipment
Make, when necessary, 3D printing equipment can move under the drive of crawler travelling device 3 around by printing object 1, convenient
Search out most suitable print position.
Embodiment five
As shown in figure 5, mobile 3D printing equipment, including type body 2, the auxiliary body 1 of printing, in which: type body 2 is ball
The type body of shape, the side of the spherical type body 2 are extended with the print head 21 of controllable extensible, and print head 21, which is equipped with, to be used
In the printing mouth 211 of discharging.The stretch mode of print head 21 is telescopic mode in the prior art.
The auxiliary body 1 of the printing includes apparatus capable of fluctuating and movable fixture, in present embodiment, apparatus capable of fluctuating and removable
Dynamic device is integrated in polypody mobile device 4, has multiple mechanical joints in the polypody mobile device 4, spirit may be implemented
Movement and rise and fall living.
Fig. 7 is that the schematic diagram in print procedure is equipped in the 3D printing in embodiment five, it can be seen from the figure that 3D printing
In by the side of printing object 2 91, print head thereon is in by the top implementation printing behaviour of printing object 2 91 equipment
Make, this has very big land occupation by printing object 2 91, therefore 3D printing equipment can be under the drive of polypody mobile device 4
It is mobile around printing object 2 91, while carrying out 3D printing operation.
In addition, Fig. 8 is a kind of swing state schematic diagram of swing type print head in the present invention, print head 21 therein is rotated
On type body 2, is adjusted by the position that print head may be implemented in controllable print heads rotatable 2, be convenient for positioning printing position
It sets.Fig. 9 is a kind of status diagram of slidingtype print head in the present invention, 21 sets of the print head printing masters in slide bar type therein
On body 2, and print head 21 can slide on type body 2, such as by way of rail wheel, gear engagement, may be implemented to beat
The position adjustment for printing head, is convenient for positioning printing position.Both the above structure can also be incorporated in the equipment of the 3D printing in the application
On.
Further include storage device in type body 2 in above embodiments, send for storing printed material, and by material to beating
Print head carries out melting discharging, can be detachable structure between the storage device and type body 2, be convenient for charging, can be storage
Expect that device is equipped with material filling mouth, can directly feed.In addition, storage device can also be external in above embodiments, pass through conveying
Feedstock transportation is directly carried out melting discharging by pipeline, feed device etc. into print head, and which charging is convenient, saves printing master
The weight of body, energy saving.
It further include movement routine identification device and/or print object identification device on 3D printing equipment in above embodiments
And/or print control computer, in which: the movement routine identification device indicates the path indicateing arm in place for identification
Note or indication signal, such as identify place routing information by image, or by near field communication technology (such as RFID technique) come
Position indicative signal on identification place obtains routing information in turn；The print object identification device, is printed for identification
The location information or performance level information of object, are such as identified by image by by printing object.
Specifically, the movement routine identification device or print object identification device are image module, described image module
Including camera, image recognition submodule and image comparison submodule, camera can be set to the lower part of 3D printing equipment and beat
It prints at position, is respectively used to obtain place routing information and by printing article information；The print control computer is for controlling
The page order of the free movable type 3D printing equipment, printing path, printing progress, printing precision, printing gap, printing are close
One of degree, printing shape, move mode are a variety of.In a kind of enforceable scheme, the print control computer packet
It includes: CPU, GPU, MEM, HDD, I/O equipment and/or communication chip.Other than mechanical structure, there are also electrical for 3D printing robot
Structure and control system, CPU are equivalent to the brain of robot, are planned as a whole；GPU is connected with each camera is equivalent to robot
Eyes carry out the identification to three-dimensional world；MEM is the semiconductor devices that aiding CPU is calculated；HDD is equivalent to robot
Memory, the memory can be implanted, such as by the 3d space data of print object；I/O equipment and communication chip are to cooperate
Running, it is equivalent to the nervous system of robot, before work or in the course of work, is responsible for collecting print command, by printing pair
3d space data of elephant etc.；CPU can control the output equipment of robot in the course of work, such as movable pulley or mobile foot,
Print the discharging etc. of mouth.The print control computer may be the processing unit that control function may be implemented in other；It is existing
There are mature movement routine identification technology, object image identification technology, image contrast technology, 3D printing control technology in technology
Deng can be used in the application.
In addition, in the application, 3D printing component in type body 2, such as print head, printing mouth, melt chamber, it is existing
Conventional structure in technology.Power unit in the application is linked into power grid by electric wire to be used, or with 3D printing equipment in
Battery connection work.Cylinder, hydraulic stem, motor in the application etc. are all conventional mechanical device, switch and
Control mode is also conventional mechanical, in addition, wheeled mobile device, crawler travelling device, polypody mobile device in the application
In driving method be also routine techniques, wherein the wheel in wheeled mobile device by rotary electric machine and roll motor control, point
Not Shi Xian wheel steering and rolling, realize moving freely for equipment.
Figure 10 is the schematic diagram in the printing place in the present invention, which can be desktop, flooring, outdoor ground
Face etc. can be selected according to the size of printing object.The printing place is equipped with path cue mark or indication signal, can such as be known
Other color lump, spot, two dimensional code, bar code, staggered path lines etc., or be arranged in RFID chip on place,
Magnetic patch or LED floor lamp etc. are criss-cross grid lines 5 shown in the embodiment of Figure 10.Figure 11 is one of present invention
3D printing equipment is first placed on place by 3D printing equipment in the schematic diagram for printing the work in place, print procedure
Specific position carries out initial alignment, and then the camera in the movement routine identification device on 3D printing equipment can be moved through
According to the quantity of the quantity of the grid lines of process 5 and node in journey, in conjunction with mobile direction, realize that ground on the scene is equipped in 3D printing
Accurate positionin, and then implement 3D printing operation.
A kind of 3D printing method that mobile 3D printing equipment is further related in the present invention, as shown in figure 12, including walks as follows
It is rapid:
S100: obtain the information of 3D printing object: the information of 3D printing object can come from the modeling information on computer,
It can also carry out the data information produced after this 3D scanning machine scanned object, be also possible to other modes product can identified mould
Type information.
S200: real-time distinguishing mark is believed in the path cue mark or indication signal in place according to cue mark or instruction
Number be moved to print position: after 3D printing equipment is placed on place, 3D printing equipment passes through movement routine identification device
It first determines the position of its ground on the scene, suitable position, ready-to-print is then moved to according to object model information.
S300: according to the information of the 3D printing object, implement 3D printing: being moved to suitably according to object model information
Behind position, start 3D printing operation, in print procedure, in moving process real-time distinguishing mark in place path cue mark or
Indication signal, for being accurately positioned.
Wherein, step S300 includes the one or more steps in following subdivided step:
S310: according to path cue mark or indication signal, reducing print head, implements 3D printing, step hair on ground
Raw to print since ground in the 3D printing initial stage, with the progress of printing, object height increases, type body 2 and printing
Head is with rising.
S320: identifying the location information or performance level information of the 3D printing object in real time, accordingly raises described beat
The printing angle for printing head implements 3D printing to the 3D printing object；The process occurs to pass through print object in printing carries out
Identification device obtains the image of printing object, by judging printing progress with model data comparison, object height, whether having printing
Situations such as mistake, continues printing to adjust the position of print head, as in this step, when the printing angle mistake of print head
When low, the printing angle of the print head is accordingly raised.
S330: identifying the location information or performance level information of the 3D printing object in real time, corresponding described beat of stretching
The printing depth for printing head implements 3D printing to the 3D printing object；The process occurs to pass through print object in printing carries out
Identification device obtains the image of printing object, by judging printing progress with model data comparison, object height, whether having printing
Situations such as mistake, continues printing to adjust the position of print head, as in this step, when the horizontal position of print head is equipped with
When deviation, flexible print head is adjusted accordingly.
S350: identifying the location information or performance level information of the 3D printing object in real time, accordingly by can rise
Falling unit rises, or decline type body, implements 3D printing to the 3D printing object；The process occurs to carry out in printing
In, the image of printing object is obtained by print object identification device, by judging printing progress, object with model data comparison
Highly, whether there is situations such as printing mistake, to adjust the position of print head, continue printing as in this step and work as printing
Head upper and lower position deviation is larger, or when needing long distance elevating, is adjusted by apparatus capable of fluctuating.
S360: identifying the location information or performance level information of the 3D printing object in real time, accordingly by loosening
Perhaps type body is raised or reduced to exceptionally straight mobile foot, implements 3D printing to the 3D printing object；The step is applicable in
It is adjusted in the position of polypody mobile device 4.
Step in the above 3D printing method, serial number do not represent the sequencing between step, in practical print procedure
It can according to need selection wherein the step of progress.
The Method of printing in the present invention is further described below in conjunction with Figure 11, the 3D printing equipment of other different structures
It can implement with reference to this method.
S100: the 3D printing equipment of polypody receives the modeling information on computer, obtains the letter of 3D printing object
Breath, while the 3D printing equipment is loaded into printing material, power on.
S200: the 3D printing equipment is prevented on ground indoors, and ground is equipped with criss-cross grid lines 5, is made
For path cue mark.3D printing equipment identifies the grid lines 5 in real time, is moved to print position, ready-to-print according to grid lines.
The lines quantity that moving direction and process are recorded in moving process realizes positioning in real time.
S300: according to the information of the 3D printing object, implement 3D printing: being moved to suitably according to object model information
Behind position, start 3D printing operation, polypody mobile device 4 may be implemented flexible movement, in print procedure, real in moving process
When distinguishing mark in the path cue mark or indication signal in place, for being accurately positioned.
S360: identifying the location information or performance level information of the 3D printing object in real time, accordingly by loosening
Perhaps type body is raised or reduced to exceptionally straight mobile foot, implements 3D printing to the 3D printing object.It is printed in Figure 11
It is the object of the big annular base of land occupation, the pitch of the laps movement in place of 3D printing equipment is printed.
Above-described mobile 3D printing equipment and 3D printing method in the present invention, has broken current frame-type
Structure, the type of the printable object greatly expanded.In existing 3D printing technique, big object can only be by printing respectively after dismantling
Assemble again, in the application can directly ground on the scene print big object, time and process is greatly saved, improve production effect
Rate expands the application field of 3D printing technique.
Protection scope of the present invention includes but is not limited to embodiment of above, and protection scope of the present invention is with claims
Subject to, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that each fall within of the invention
Protection scope.
Claims (10)
1. a kind of 3D printing equipment, which is characterized in that including type body, the auxiliary body of printing, in which:
The type body, for implementing 3D printing；
The auxiliary body of printing is used for carrying and the mobile type body in space.
2. a kind of 3D printing equipment according to claim 1, which is characterized in that the auxiliary body of printing includes: liftable dress
It sets and movable fixture, in which:
The apparatus capable of fluctuating, for rising or declining the type body；
The movable fixture, for carrying and moving the type body and apparatus capable of fluctuating.
3. a kind of 3D printing equipment according to claim 1, which is characterized in that the shape of the type body includes cylinder
One of shape, prism-shaped, spherical, cone cell, coniform, round table-like, pyramidal or a variety of combinations.
4. a kind of 3D printing equipment according to claim 1, which is characterized in that the type body includes print head, storage
Expect device and/or feed device, in which:
The print head is stacked for discharging；
The storage device, for storing printed material；
The feed device is sent for that will expect to print head.
5. a kind of 3D printing equipment according to claim 1, which is characterized in that further include movement routine identification device and/
Or print object identification device, in which:
The movement routine identification device indicates path cue mark or indication signal in place for identification；
The print object identification device, for identification by the location information of print object or performance level information.
6. a kind of 3D printing equipment according to claim 1, which is characterized in that further include print control computer, this dozen
Print control computer be used to control the page order that the free 3D printing equips, printing path, printing progress, printing precision,
One of printing gap, print density, printing shape, move mode are a variety of.
7. a kind of 3D printing method of 3D printing equipment, which comprises the steps of:
S100: the information of 3D printing object is obtained；
S300: according to the information of the 3D printing object, implement 3D printing.
8. a kind of 3D printing method of 3D printing equipment according to claim 7, which is characterized in that the S300 step it
Before further include:
S200: real-time distinguishing mark is moved in the path cue mark or indication signal in place according to cue mark or indication signal
It moves to print position.
9. a kind of 3D printing method of 3D printing equipment according to claim 8, which is characterized in that the S300 step packet
It includes:
S310: according to path cue mark or indication signal, reducing print head, implements 3D printing on ground.
10. according to a kind of described in any item 3D printing methods of 3D printing equipment of claim 7~9, which is characterized in that described
S300 step includes following either step:
S320: the location information or performance level information of the 3D printing object are identified in real time, accordingly raises the print head
Printing angle, to the 3D printing object implement 3D printing；
S330: the location information or performance level information of the 3D printing object are identified in real time, accordingly stretch the print head
Printing depth, to the 3D printing object implement 3D printing；
S350: the location information or performance level information of the 3D printing object are identified in real time, is filled accordingly by liftable
It sets to rise, or decline type body, 3D printing is implemented to the 3D printing object；S360: the 3D printing is identified in real time
The location information of object perhaps raise or reduce accordingly by perhaps exceptionally straight mobile foot is loosened by performance level information
Type body implements 3D printing to the 3D printing object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811309353.4A CN109228330A (en) | 2018-11-05 | 2018-11-05 | A kind of 3D printing equipment and 3D printing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811309353.4A CN109228330A (en) | 2018-11-05 | 2018-11-05 | A kind of 3D printing equipment and 3D printing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114801523A (en) * | 2022-01-20 | 2022-07-29 | 陈双琴 | 3D printer control method and printer thereof |
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