CN111923406A - Coplanar multi-polar-axis 3D printing equipment based on Frenet coordinate system and manufacturing method - Google Patents
Coplanar multi-polar-axis 3D printing equipment based on Frenet coordinate system and manufacturing method Download PDFInfo
- Publication number
- CN111923406A CN111923406A CN202010774733.6A CN202010774733A CN111923406A CN 111923406 A CN111923406 A CN 111923406A CN 202010774733 A CN202010774733 A CN 202010774733A CN 111923406 A CN111923406 A CN 111923406A
- Authority
- CN
- China
- Prior art keywords
- printing
- coordinate system
- polar
- axis
- frenet coordinate
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
-
- 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
- B29C64/307—Handling of material to be used in additive manufacturing
- B29C64/321—Feeding
- B29C64/336—Feeding of two or more materials
-
- 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
-
- 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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Ceramic Engineering (AREA)
Abstract
The invention discloses coplanar multi-polar-axis 3D printing equipment based on a Frenet coordinate system and a manufacturing method thereof, and particularly relates to the field of civil engineering material equipment. According to the invention, through controlling the multi-printing polar shaft to work cooperatively and respectively controlling the single printing polar shaft and the printing spray head, the combined printing of the multiple printing spray heads in the same printing plane is realized, the cross collision among the multiple printing spray heads is avoided, the material selection and combination space of the D printing building is expanded, so that the intelligent cooperative printing of multiple materials is realized, the promotion of the D printing equipment of civil engineering materials is facilitated, and the method has important significance for promoting the numerical control construction technology of civil engineering.
Description
Technical Field
The invention relates to the technical field of civil engineering material equipment, in particular to coplanar multi-polar-axis 3D printing equipment based on a Frenet coordinate system and a manufacturing method thereof.
Background
Numerical control construction technology is a major challenge, and can improve productivity, reduce the influence of building environment, enlarge building possibility and improve the quality of civil engineering structures. Among numerical control construction techniques, 3D printing based on additive printing is the most advanced technique. The main focus of current 3D printing technology research is the performance of the printed material. The printing material, mainly cement-based material, is to be able to match the printing equipment parameters. The existing printing technology is mainly based on a rectangular coordinate system or an angular coordinate system, and the spatial movement of a single printing nozzle is controlled according to design requirements. The printing nozzle is mainly fixed on a 3-dimensional moving shaft, and the moving position of the printing nozzle is positioned through the movement of the 3-dimensional moving shaft. The method is free from the constraint of a 3-dimensional moving shaft, and the mechanical arm is used for controlling the printing nozzle, so that the current research and application direction is provided. The printing nozzle 6 is researched and developed to automatically run according to a design route, so that the printing precision is improved, the integral performance of a printing building is improved, the utilization rate of printing equipment is improved, and the 3D printing technology development of civil engineering is promoted.
The existing 3D printing equipment for civil engineering materials generally adopts a rectangular coordinate system, and 3 axes of x, y and z are set simultaneously to control a single printing port to print. Meanwhile, the existing printing equipment only has a single printing port in the same printing plane. In the rectangular coordinate system, when the number of the control axes exceeds 3, the control axes block each other, so that a plurality of printing ports cannot be arranged on the same printing surface. Indeed for practical projects, buildings are often composed of a variety of materials, such as cement concrete, rebar, cements, etc. Traditional civil engineering material 3D printing apparatus can't realize the function that multiple material printed simultaneously in same printing plane.
Disclosure of Invention
In order to overcome the above defects in the prior art, an embodiment of the present invention provides a coplanar multi-polar axis 3D printing apparatus and a manufacturing method based on a Frenet coordinate system, and the technical problems to be solved by the present invention are: how to solve traditional civil engineering material 3D printing apparatus can't realize the problem that multiple material prints simultaneously in same printing plane.
In order to achieve the purpose, the invention provides the following technical scheme: a printing device based on a Frenet coordinate system and provided with coplanar multi-polar shafts D comprises a high-rigidity cylindrical prism framework, wherein a driving motor is fixedly arranged at the center of the bottom end of the high-rigidity cylindrical prism framework, a central shaft rod is arranged in an inner cavity of the high-rigidity cylindrical prism framework, an output shaft of the driving motor penetrates through the high-rigidity cylindrical prism framework and is fixedly connected with the central shaft rod, a plurality of printing polar shafts are fixedly arranged on the outer wall of one end, away from the driving motor, of the central shaft rod, a feeding box is fixedly arranged on each printing polar shaft, a printing nozzle is arranged at the bottom of one end of each printing polar shaft, an electric telescopic rod is fixedly arranged between each printing nozzle and each printing polar shaft, a material pumping pump is fixedly arranged at the bottom of each feeding box, the feeding end of each material pumping pump is connected with the inner cavity of each feeding box, a feeding hose is arranged between the output end of, the driving motor, the electric telescopic rod and the material pumping pump are all electrically connected with the controller;
the printing polar axis comprises a shaft rod and a rolling bead, the rolling bead is arranged at one end of the shaft rod in a rolling mode, and one end, far away from the rolling bead, of the shaft rod is fixedly connected with the central shaft rod.
In a preferred embodiment, the high-rigidity cylindrical prism framework can be adjusted in size according to the printing target size before forming.
In a preferred embodiment, the number of usage of the printing pole shaft can be selected according to the number of types of printing materials.
In a preferred embodiment, the usage amount of the printing nozzle can be set by a controller according to the printing material variety.
In a preferred embodiment, the controller can control a single electric telescopic rod and a material pumping pump, and can also control the electric telescopic rods and the material pumping pumps of a plurality of printing polar shafts simultaneously in a coordinated mode.
A manufacturing method of a coplanar multi-polar-axis 3D printing device based on a Frenet coordinate system specifically comprises the following steps:
s1: acquiring a Frenet coordinate model in a plane of a printed object;
s2: performing motion planning based on a Frenet coordinate system, outputting an independent transverse and longitudinal motion planning track, wherein the finally output reference motion track of the printing nozzle can be directly applied by a controller, so that the motion planning result obtained under the Frenet coordinate system needs to be firstly correspondingly output in a global coordinate system and then correspondingly output in a polar coordinate system;
s3: determining the printing parameters of the printing object, and printing by the following formula:
s3.1: determining a route at any time t as S (t) according to the movement plan of the printing nozzle;
s3.2: printing coordinates-P (S (t), d (t)) and d (t)) of the nozzle in a Frenet coordinate system;
s3.3: converting the coordinate system into a global coordinate system-P (x, y) according to a polynomial of a degree;
s3.4: converting into an angular coordinate system, wherein P (r, theta), x is r · cos theta, and y is r · sin theta;
s3.5: the control system takes the polar axis and the angle as control parameters to print the same plane multi-polar axis.
In a preferred embodiment, in the step S3.2, P (S) (t), d (t)), d (t) and the distance of the nozzle distance planning route S (t) are printed for any time t.
In a preferred embodiment, x and y in step S3.3 are the abscissa and the ordinate of the print head in the global coordinate system.
In a preferred embodiment, in step S3.4, r is the polar axis and θ is the angle.
The invention has the technical effects and advantages that:
1. according to the Frenet coordinate system, multiple printing polar shafts are controlled to work cooperatively, and a single printing polar shaft and a single printing nozzle are controlled respectively, so that multiple printing nozzles are combined and printed in the same printing plane, cross collision among the multiple printing nozzles is avoided, material selection and combination space of a D printing building are expanded, multiple materials are intelligently and cooperatively printed, promotion of D printing equipment for civil engineering materials is facilitated, and the method has important significance for promotion of a civil engineering numerical control construction technology;
2. the controller is arranged to collect parameters of the multiple printing nozzles in real time, and the multiple printing nozzles are coordinated and controlled, so that the automation and the intellectualization are greatly improved; the design principle is reliable, the structure is simple, and the method has a very wide application prospect.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of a printing polar axis structure according to the present invention.
Fig. 3 is a schematic view of the structure of the feed tank of the present invention.
The reference signs are: 1 high rigidity cylinder prism skeleton, 2 driving motor, 3 central axostylus axostyles, 4 print polar axis, 41 axostylus axostyles, 42 roll pearl, 5 feed tanks, 6 print shower nozzle, 7 electric telescopic handle, 8 pump, 9 feeding hose, 10 controllers.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides coplanar multi-pole shaft 3D printing equipment based on a Frenet coordinate system, which comprises a high-rigidity cylindrical prism framework 1, wherein a driving motor 2 is fixedly arranged at the center of the bottom end of the high-rigidity cylindrical prism framework 1, a central shaft rod 3 is arranged in the inner cavity of the high-rigidity cylindrical prism framework 1, an output shaft of the driving motor 2 penetrates through the high-rigidity cylindrical prism framework 1 and is fixedly connected with the central shaft rod 3, a plurality of printing pole shafts 4 are fixedly arranged on the outer wall of one end, away from the driving motor 2, of the central shaft rod 3, a feeding box 5 is fixedly arranged on each printing pole shaft 4, a printing nozzle 6 is arranged at the bottom of one end of each printing pole shaft 4, an electric telescopic rod 7 is fixedly arranged between each printing nozzle 6 and each printing pole shaft 4, a material pumping pump 8 is fixedly arranged at the bottom of each feeding box 5, and the feeding end of each material pumping pump, a feeding hose 9 is arranged between the output end of the pumping pump 8 and the printing nozzle 6, a controller 10 is fixedly installed on the outer wall of the high-rigidity cylindrical prism framework 1, and the driving motor 2, the electric telescopic rod 7 and the pumping pump 8 are electrically connected with the controller 10;
the printing pole shaft 4 comprises a shaft rod 41 and a rolling bead 42, the rolling bead 42 is arranged at one end of the shaft rod 41 in a rolling mode, and one end, far away from the rolling bead 42, of the shaft rod 41 is fixedly connected with the central shaft rod 3.
The high-rigidity cylindrical prism framework 1 can be adjusted in size before forming according to the size of a printing target, the usage amount of the printing polar shafts 4 can be selected according to the variety and the number of printing materials, the usage amount of the printing spray heads 6 can be set by a controller 10 according to the variety of the printing materials, and the controller 10 can control a single electric telescopic rod 7 and a pumping pump 8 and can also cooperatively control the electric telescopic rods 7 and the pumping pumps 8 of a plurality of printing polar shafts 4.
A manufacturing method of a coplanar multi-polar-axis 3D printing device based on a Frenet coordinate system specifically comprises the following steps:
s1: acquiring a Frenet coordinate model in a plane of a printed object;
s2: performing motion planning based on a Frenet coordinate system, outputting an independent transverse and longitudinal motion planning track, wherein the reference motion track of the printing spray head 6 which is finally output can be directly applied by the controller 10, so that the motion planning result obtained under the Frenet coordinate system needs to be firstly correspondingly output in a global coordinate system and then correspondingly output in a polar coordinate system;
s3: determining the printing parameters of the printing object, and printing by the following formula:
s3.1: determining a route at any time t as S (t) according to the movement plan of the printing nozzle 6;
s3.2: the coordinates-P (S (t), d (t)), d (t), P (S (t), d (t)) and d (t)) of the printing nozzle 6 in the Frenet coordinate system are the distances from the printing nozzle 6 to the planning route S (t) at any time t;
s3.3: converting the polynomial into a global coordinate system-P (x, y) according to a multiple polynomial, wherein x and y are an abscissa and an ordinate of the printing nozzle 6 in the global coordinate system;
s3.4: converting into an angular coordinate system, wherein P (r, theta) is defined as r · cos theta, y is defined as r · sin theta, r is a polar axis, and theta is an angle;
s3.5: the control system takes the polar axis and the angle as control parameters to print the same plane multi-polar axis.
As shown in fig. 1 to 3, the embodiment specifically is as follows: an object to be printed is placed in an inner cavity of a high-rigidity cylindrical prism framework 1, a controller 10 constructs an in-plane Frenet coordinate model in the high-rigidity cylindrical prism framework 1, motion planning is carried out based on a Frenet coordinate system, an independent transverse and longitudinal motion planning track is output, printing parameters of the printed object are determined, an obtained motion planning result in the Frenet coordinate system is correspondingly output in a global coordinate system at first and then in a polar coordinate system, a driving motor 2 drives a central shaft rod 3 to rotate according to motion planning of a printing nozzle 6, so that an angle of a printing polar shaft 4 in the inner cavity of the high-rigidity cylindrical prism framework 1 is driven to rotate, a rolling ball 42 can reduce friction force between the shaft rod 41 and the inner wall of the high-rigidity cylindrical prism framework 1 during the period, smoothness in the angle rotating process is guaranteed, P (r, theta) is converted into an angular coordinate system, x is r.cos theta, the angle of the printing polar shaft 4 is rotated by y ═ r · sin θ, so as to change the printing angle of the printing nozzle 6, and the controller 10 can control the length extension of the corresponding electric telescopic rods 7 on the corresponding number of printing polar shafts 4 according to the requirement, so as to drive the change of the longitudinal position of the printing nozzle 6, and the coordinates-P(s) (t), d (t), P (s (t), d (t)), and d (t)) of the printing nozzle 6 in the Frenet coordinate system are the distances from the printing nozzle 6 to the planning route s (t) at any time t.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (9)
1. The utility model provides a coplanar multipole axle 3D printing apparatus based on Frenet coordinate system which characterized in that: the printing device comprises a high-rigidity cylindrical prism framework (1), wherein a driving motor (2) is fixedly arranged at the center of the bottom end of the high-rigidity cylindrical prism framework (1), a central shaft rod (3) is arranged in the inner cavity of the high-rigidity cylindrical prism framework (1), an output shaft of the driving motor (2) penetrates through the high-rigidity cylindrical prism framework (1) and is fixedly connected with the central shaft rod (3), a plurality of printing polar shafts (4) are fixedly arranged on the outer wall of one end, away from the driving motor (2), of the central shaft rod (3), a feeding box (5) is fixedly arranged on each printing polar shaft (4), a printing nozzle (6) is arranged at the bottom of one end of each printing polar shaft (4), an electric telescopic rod (7) is fixedly arranged between each printing nozzle (6) and each printing polar shaft (4), a material pumping pump (8) is fixedly arranged at the bottom of each feeding box (5), and the feeding end of each material pumping pump (8), a feeding hose (9) is arranged between the output end of the pumping pump (8) and the printing nozzle (6), a controller (10) is fixedly installed on the outer wall of the high-rigidity cylindrical prism framework (1), and the driving motor (2), the electric telescopic rod (7) and the pumping pump (8) are electrically connected with the controller (10);
the printing polar shaft (4) comprises a shaft rod (41) and rolling beads (42), the rolling beads (42) are arranged at one end of the shaft rod (41) in a rolling mode, and one end, far away from the rolling beads (42), of the shaft rod (41) is fixedly connected with the central shaft rod (3).
2. The Frenet coordinate system-based coplanar multi-polar axis 3D printing apparatus as recited in claim 1, wherein: the high-rigidity cylindrical prism framework (1) can be adjusted in size before forming according to the size of a printing target.
3. The Frenet coordinate system-based coplanar multi-polar axis 3D printing apparatus as recited in claim 1, wherein: the number of usage of the printing polar shaft (4) can be selected according to the number of types of printing materials.
4. The Frenet coordinate system-based coplanar multi-polar axis 3D printing apparatus as recited in claim 1, wherein: the usage amount of the printing spray head (6) can be set by a controller (10) according to the printing material variety.
5. The Frenet coordinate system-based coplanar multi-polar axis 3D printing apparatus as recited in claim 1, wherein: the controller (10) can control a single electric telescopic rod (7) and the material pumping pump (8), and can also cooperatively control the electric telescopic rods (7) and the material pumping pumps (8) of the printing polar shafts (4).
6. A method of manufacturing a co-planar multi-polar axis 3D printing device based on the Frenet coordinate system, as claimed in claims 1-6, characterized by: the manufacturing method specifically comprises the following steps:
s1: acquiring a Frenet coordinate model in a plane of a printed object;
s2: performing motion planning based on a Frenet coordinate system, outputting a single transverse and longitudinal motion planning track, wherein the reference motion track of the finally output printing spray head (6) can be directly applied by a controller (10), so that the motion planning result obtained under the Frenet coordinate system needs to be firstly correspondingly output in a global coordinate system and then correspondingly output in a polar coordinate system;
s3: determining the printing parameters of the printing object, and printing by the following formula:
s3.1: determining a route at any time t as S (t) according to the movement plan of the printing nozzle (6);
s3.2: coordinates-P (S (t), d (t)) and d (t)) of the printing nozzle (6) in a Frenet coordinate system;
s3.3: converting the coordinate system into a global coordinate system-P (x, y) according to a polynomial of a degree;
s3.4: converting into an angular coordinate system, wherein P (r, theta), x is r · cos theta, and y is r · sin theta;
s3.5: the control system takes the polar axis and the angle as control parameters to print the same plane multi-polar axis.
7. The method for manufacturing the coplanar multi-polar-axis 3D printing device based on the Frenet coordinate system as claimed in claim 6, wherein: in the step S3.2, P (S), (t), d (t)) and d (t) are distances from the printing nozzle (6) to the planning route S (t) at any time t.
8. The method for manufacturing the coplanar multi-polar-axis 3D printing device based on the Frenet coordinate system as claimed in claim 6, wherein: and in the step S3.3, x and y are an abscissa and an ordinate of the printing nozzle (6) in the global coordinate system.
9. The method for manufacturing the coplanar multi-polar-axis 3D printing device based on the Frenet coordinate system as claimed in claim 6, wherein: in step S3.4, r is the polar axis and θ is the angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010774733.6A CN111923406A (en) | 2020-08-04 | 2020-08-04 | Coplanar multi-polar-axis 3D printing equipment based on Frenet coordinate system and manufacturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010774733.6A CN111923406A (en) | 2020-08-04 | 2020-08-04 | Coplanar multi-polar-axis 3D printing equipment based on Frenet coordinate system and manufacturing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111923406A true CN111923406A (en) | 2020-11-13 |
Family
ID=73306743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010774733.6A Pending CN111923406A (en) | 2020-08-04 | 2020-08-04 | Coplanar multi-polar-axis 3D printing equipment based on Frenet coordinate system and manufacturing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111923406A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112519215A (en) * | 2020-12-17 | 2021-03-19 | 阜阳科技工程学校 | 3D printer and control method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102662351A (en) * | 2012-03-18 | 2012-09-12 | 山东理工大学 | Three-axis linkage contour error compensation control method for cylinder cam machining |
| CN103760816A (en) * | 2013-12-30 | 2014-04-30 | 哈尔滨工业大学深圳研究生院 | Servo system contour control method based on task polar coordinate system |
| CN105172148A (en) * | 2015-10-23 | 2015-12-23 | 康子纯 | Improved cylindrical surface laminated and overlaid 3D printing process |
| CN105599301A (en) * | 2016-01-12 | 2016-05-25 | 无锡职业技术学院 | 3D printer based on cylindrical coordinate type multi-nozzle printing |
| CN205736042U (en) * | 2016-06-06 | 2016-11-30 | 大连交通大学 | Pellet type polar coordinate surface of revolution 3D printing equipment |
| CN106707967A (en) * | 2016-12-08 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Method and device for estimating three-dimensional contour error based on proximate standard expansion |
| CN106873522A (en) * | 2017-02-13 | 2017-06-20 | 武汉理工大学 | A kind of numerical control turning cutter path planing method of non-axis symmetry sweeping surface |
| US20170232680A1 (en) * | 2014-08-28 | 2017-08-17 | Simen Svale SKOGSRUD | 3d printer |
| CN210190597U (en) * | 2019-05-23 | 2020-03-27 | 合肥海闻自动化设备有限公司 | Multi-station continuous printing device |
-
2020
- 2020-08-04 CN CN202010774733.6A patent/CN111923406A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102662351A (en) * | 2012-03-18 | 2012-09-12 | 山东理工大学 | Three-axis linkage contour error compensation control method for cylinder cam machining |
| CN103760816A (en) * | 2013-12-30 | 2014-04-30 | 哈尔滨工业大学深圳研究生院 | Servo system contour control method based on task polar coordinate system |
| US20170232680A1 (en) * | 2014-08-28 | 2017-08-17 | Simen Svale SKOGSRUD | 3d printer |
| CN105172148A (en) * | 2015-10-23 | 2015-12-23 | 康子纯 | Improved cylindrical surface laminated and overlaid 3D printing process |
| CN105599301A (en) * | 2016-01-12 | 2016-05-25 | 无锡职业技术学院 | 3D printer based on cylindrical coordinate type multi-nozzle printing |
| CN205736042U (en) * | 2016-06-06 | 2016-11-30 | 大连交通大学 | Pellet type polar coordinate surface of revolution 3D printing equipment |
| CN106707967A (en) * | 2016-12-08 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Method and device for estimating three-dimensional contour error based on proximate standard expansion |
| CN106873522A (en) * | 2017-02-13 | 2017-06-20 | 武汉理工大学 | A kind of numerical control turning cutter path planing method of non-axis symmetry sweeping surface |
| CN210190597U (en) * | 2019-05-23 | 2020-03-27 | 合肥海闻自动化设备有限公司 | Multi-station continuous printing device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112519215A (en) * | 2020-12-17 | 2021-03-19 | 阜阳科技工程学校 | 3D printer and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10780637B2 (en) | 3-D printer in polar coordinates | |
| CN103407290B (en) | A kind of preparation method of the stereochemical structure based on EFI print and device | |
| CN111251304B (en) | Robot control system and method | |
| CN109590139A (en) | The multi-shaft interlocked spray equipment of special-shaped structure piece surface heat barrier coating and spraying method | |
| WO2017157246A1 (en) | Intelligent wall plastering device | |
| CN106760436B (en) | A kind of method and apparatus mounting wall ceramic mosaic graphic pattern automatically using small-sized tile | |
| CN111923406A (en) | Coplanar multi-polar-axis 3D printing equipment based on Frenet coordinate system and manufacturing method | |
| CN109271689A (en) | Circular test down space envelope profiled envelope mould track Method for Accurate Calculation | |
| CN115824043A (en) | High-precision detection system and method for box bottom structure | |
| CN111169018B (en) | 3D printing equipment, 3D printing system and 3D printing method | |
| Ye et al. | A variable-scale modular 3d printing robot of building interior wall | |
| CN102616020B (en) | Two-point positioning method and system used for large-format printing | |
| CN109093624B (en) | Continuous interpolation motion control method for complex curve of mechanical arm | |
| CN106861983A (en) | Automatic spray apparatus in a kind of mobile shower nozzle three-dimensional planar | |
| CN109138149A (en) | The construction method of installation of assembled architecture PC component and its assembled architecture obtained | |
| CN206781005U (en) | A kind of double shower nozzles of the 3D printer of automatic controlled height | |
| CN111923405A (en) | Intelligent 3D printing equipment based on three-dimensional reconstruction technology and manufacturing method | |
| CN115041063A (en) | Building engineering paint vehicle agitated vessel | |
| CN205272600U (en) | Apply to two -way auxiliary material device of 3D printing apparatus | |
| CN210174419U (en) | Code spraying machine three-degree-of-freedom working platform based on raspberry group control | |
| Xu et al. | Research on motion trajector planning of industrial robot based on ROS | |
| CN207714782U (en) | Building decoration numerically controlled intelligent multi-function robot | |
| CN112433239A (en) | Positioning system and method of masonry machine | |
| CN202083935U (en) | Electrical system of piston ring internal-external simultaneous profile modeling turn-milling combined machine tool | |
| Nayana et al. | Development of Autonomous Wall Painting Robot using Raspberry Pi and Image Processing |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201113 |
|
| RJ01 | Rejection of invention patent application after publication |