CN113733556B

CN113733556B - Multistation 3D printer

Info

Publication number: CN113733556B
Application number: CN202111096579.2A
Authority: CN
Inventors: 鄢然; 李欣飞; 夏磊
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2024-01-26
Anticipated expiration: 2041-09-18
Also published as: CN113733556A

Abstract

The invention discloses a multi-station 3D printer, which comprises a horizontally arranged printing platform, wherein a plurality of printing stations are arranged on the printing platform, each printing station is fixedly provided with a set of printing device, and the multi-station 3D printer also comprises a forming cylinder device and a guiding system, wherein the guiding system is used for guiding the forming cylinder device to be in butt joint with the printing device; the guide system is a guide system without a fixed guide rail, and the guide system without a fixed guide rail can generate a guide path according to requirements. The device has the advantages that different materials can be conveniently printed in one product, the structure is simple, the control is flexible and convenient, the powder spreading precision and convenience can be improved, and the printing efficiency and the quality precision can be improved.

Description

Multistation 3D printer

Technical Field

The invention relates to a 3D printer, in particular to a multi-station 3D printer.

Background

3D Printing (3D Printing) belongs to one of the rapid prototyping technologies, and is also called additive manufacturing; the technology is based on a digital model, and materials such as plastics, metals, ceramic powder and the like are stacked layer by utilizing a laser mode, a hot melting nozzle mode and the like to bond and mold to construct an object. In recent years, 3D printing technology is widely applied to various fields such as industrial design, jewelry, automobiles, aerospace, dental and medical industries, education and the like.

The 3D printer commonly used at present has a plurality of types such as Selective Laser Melting (SLM), selective Laser Sintering (SLS), three-dimensional powder bonding, fusion lamination Forming (FDM), and the like. Wherein the three-dimensional powder is bonded and printed, namely 3DP technology. The 3DP process is similar to the SLS process in that it is formed from a powdered material, such as ceramic powder, metal powder. Except that the material powder is not joined by sintering, but the cross-section of the part is "printed" onto the material powder by means of a spray head with an adhesive, such as silicone. The strength of the parts bonded by the adhesive is low and the parts also need post-treatment. The specific process comprises the following steps: after the last layer is bonded, the forming cylinder descends by one printing layer thickness distance, which is usually 0.013-0.1 mm, the powder feeding cylinder pushes out a plurality of powder, and the powder is pushed into the forming cylinder by the powder spreading roller to be spread. The spray head selectively sprays the adhesive build layer under computer control, pressing the formation data of a build section. The powder is sent, spread and sprayed repeatedly, and finally the bonding printing of the three-dimensional powder is completed. The part not sprayed with the binder is dry powder, plays a supporting role in the forming process, and is removed after the forming is finished.

As the manufacturing industry advances, many products need to be made with different materials in different parts to achieve different properties. However, the current 3D printers in the market basically only use a single material to print objects, so that the 3D printer has a relatively large limitation and cannot print parts composed of two materials or even multiple materials at one time. The same is true for the 3DP process.

CN105196549B discloses a parallel multi-station type 3D printer, and the invention provides a novel parallel multi-station type 3D printer suitable for a rapid prototyping technology, which comprises a computer, a bracket, a 3D printer group and a conveyor belt system. The 3D printer group is a 3D printer with a plurality of stations arranged side by side according to the requirement, and a computer is used for regulating and controlling printing tasks so as to realize parallel type assembly line printing.

The printer of the above prior art patent has the following inconveniences. 1, although printing of various materials can be realized in one product, the fixed printing assembly line guide rail is adopted for guiding, and the defects of complex structure of the assembly line guide rail, inconvenient control and scheduling and poor flexibility exist. 2, when the powder is paved before each layer of printing, the powder paving is completed by adopting a conventional powder paving roller device and a powder cylinder, and the defects of complex structure, low speed, easy corrugation on the surface after powder paving, low flatness and the like exist. The specific printing process is that a classical printing mode is adopted, namely, each layer of powder is paved, a printing head is adopted to print one time along the outline of the layer of product, and the product is obtained by printing layer by layer, so that the thickness of each layer of powder cannot be too thick due to the limitation of the effect of a printing adhesive, and each layer of powder is paved, and the printing head is adopted to print one time, so that the printing efficiency is lower; if the thickness of each layer of powder is increased to improve the printing efficiency, the printing quality and accuracy are deteriorated, so that the printing efficiency and quality accuracy cannot be both improved.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to solve the technical problems that: how to provide a multistation 3D printer that can conveniently realize printing different materials in a product, and simple structure, control is nimble convenient to further make it can improve shop's powder precision and convenience, can improve printing efficiency and quality precision.

In order to solve the technical problems, the invention adopts the following technical scheme:

the multi-station 3D printer comprises a horizontally arranged printing platform, wherein a plurality of printing stations are arranged on the printing platform, each printing station is fixedly provided with a set of printing device, and the multi-station 3D printer also comprises a forming cylinder device and a guiding system, wherein the guiding system is used for guiding the forming cylinder device to be in butt joint with the printing device; the guide system is a guide system without a fixed guide rail, and the guide system without a fixed guide rail can generate a guide path according to requirements.

Therefore, the fixed guide rail is canceled, and the fixed guide rail is generated according to the needs, so that the control is more flexible and convenient.

Further, the guide system without the fixed guide rail comprises a plurality of positioning points arranged on the surface of the printing platform, positioning guide members are arranged at the positions of the positioning points, and the positioning points are arranged in an array manner to form a two-dimensional guide point cloud array; the guiding system further comprises an automatic guiding vehicle, a point cloud detection sensor capable of being positioned with a positioning guiding member of each positioning point in an induction mode is arranged on the automatic guiding vehicle, a universal wheel system is further arranged below the automatic guiding vehicle and connected with a driving motor, and the driving motor can drive the universal wheel system to steer; the forming cylinder device is mounted on an automatic guided vehicle.

Like this, when this equipment was used, can rely on the point cloud to detect the sensor and realize detecting to the location guide member position on the setpoint everywhere to control automatic guided vehicle and go forward between different setpoint, rely on two-dimensional guidance point cloud array control planning to generate the route of traveling, make the jar device that takes shape can follow automatic guided vehicle walking on print platform and accomplish the butt joint between the different printing devices, and then realized printing different materials in different positions in a product, satisfied the performance difference demand at different positions. Meanwhile, the printing device has the advantages of flexible and changeable control, better interference avoidance and possibility of realizing more printing sequences; the number of the printing stations and the automatic guided vehicles can be arranged according to actual production requirements.

Further, the positioning guide member is an electromagnetic generator, and the point cloud detection sensor is a magnetic navigation sensor.

Thus, the electromagnetic generator can be controlled to be opened and closed by a control device such as a computer, and when in use, the electromagnetic generators passing through the path can be opened along the required running path, and the electromagnetic generators on the running path are connected in series to form the effect similar to the guiding magnetic stripe. And simultaneously, the rest electromagnetic generators are closed, and the automatic guided vehicle is guided to travel along the path by using the magnetic navigation sensor. Therefore, different driving paths can be generated better according to the requirements of the corresponding automatic guided vehicles, interference of other automatic guided vehicles is avoided better, multiple printing stations can be arranged on the printing platform, multiple automatic guided vehicles are arranged on the printing platform, more automatic guided vehicles can work together on the same printing platform to participate in printing, and efficiency is greatly improved. Meanwhile, the interference of other positioning points is shielded by the driving path, and the reliability and stability of the driving path are greatly improved.

Further, the positioning guide member is buried below the upper surface of the printing platform.

Thus, the protection can be improved and the service life can be prolonged.

Further, in everywhere setpoint, still including at least one wireless charge level, wireless charging device has been buried in wireless charge level below, automatic guided vehicle lower surface middle part still corresponds and is provided with wireless charging coil, and wireless charging coil links to each other with the battery of installing on automatic guided vehicle, the battery with driving motor links to each other.

Therefore, the automatic charging driving duration of the automatic guided vehicle can be realized, so that the automatic guided vehicle is more convenient to control the moving sequence and path of the automatic guided vehicle.

Further, at least a portion of the wireless charging station is located at a print station on the print platform.

Therefore, after the automatic guided vehicle conveniently drives into the printing station, the automatic guided vehicle is charged in the waiting time of printing, so that the charging process does not occupy working time.

Further, the automatic guided vehicle is also provided with a wireless communication control module, and the wireless communication control module is connected with the driving motor and realizes control.

Therefore, the automatic guided vehicle can be conveniently controlled to travel and advance in a remote place through wireless communication of a control device such as a computer and the like according to a planned path.

Further, a positioning sensor is further arranged on the automatic guided vehicle or the printing station, and a positioning sensor detection component is correspondingly arranged on the printing station or the automatic guided vehicle.

Therefore, when the automatic guided vehicle runs to a printing station, accurate positioning of the automatic guided vehicle can be realized by means of cooperation detection between the positioning sensor and the positioning sensor detection component, the forming cylinder device on the automatic guided vehicle and the printing device on the printing station can be accurately abutted better, and the printing quality is ensured.

Further, the positioning sensor preferably adopts a contact switch, and the positioning sensor detection member adopts a hard member which can be matched with the contact switch to realize contact detection.

The device has the advantages of simple structure, convenient implementation and reliable use.

Further, the two pairs of contact switches are respectively arranged on contact switch mounting frames which are upwards arranged on two sides of the automatic guided vehicle, and the positioning sensor detection member is a contact protrusion correspondingly formed on a pair of mounting brackets of the printing station.

In this way, accurate positioning of the automated guided vehicle at the print station can be more conveniently achieved.

Further, the universal wheel system comprises four Mecanum wheels arranged at four corners below the automatic guided vehicle, and each Mecanum wheel is respectively connected with a corresponding driving motor.

Therefore, the driving motor drives the four Mecanum wheels to rotate at different rotation speeds, so that the automatic guided vehicle can move in different directions, and the automatic guided vehicle can be better controlled to steer and run.

Further, the automatic guided vehicle comprises a bottom plate which is horizontally arranged, the Mecanum wheel and the corresponding driving motor are arranged below the bottom plate, the forming cylinder device is arranged above the middle of the bottom plate, the point cloud detection sensor is arranged below the bottom plate, the wireless charging coil is arranged below the bottom plate, and the wireless communication control module is arranged above the bottom plate.

In this way, the function of each component is better facilitated.

Further, the forming cylinder device comprises a forming cylinder which is arranged above the middle part of the automatic guiding vehicle in a hollow mode, a circle of flanging extending outwards horizontally is arranged at the upper end of the forming cylinder to form a printing plane, a bottom plate tray of the forming cylinder can be matched with the inner cavity wall of the forming cylinder in an up-down sliding mode, the forming cylinder device further comprises a lifting device which is arranged on the automatic guiding vehicle below the forming cylinder, and a telescopic arm of the lifting device is connected to the lower surface of the bottom plate tray in an upward supporting mode.

Therefore, after the lifting device upwards supports the bottom plate tray to a position above the inner cavity of the forming cylinder, powder spreading printing is started, after each layer of printing is performed, the lifting device downwards retracts for a layer of distance, and then powder spreading printing is performed in the inner cavity of the forming cylinder again, so that the bottom plate tray descends layer by layer until printing is completed. Therefore, the device has the characteristics of simple structure, convenient control, stability and reliability.

Further, the four corners of the lower end of the forming cylinder are provided with downward supporting columns, and the lower position of the flanging at the periphery of the upper end of the forming cylinder is also provided with a supporting frame which is arranged obliquely outwards and downwards.

In this way, the stability of the forming cylinder can be better ensured.

Further, a waste accommodating groove is also arranged on the printing plane at the front end of the forming cylinder.

In this way, the waste material generated during feeding can fall down to better assist the feeding.

Further, the printing station is formed by a plurality of pairs of mounting brackets which are arranged on one side of the printing platform in pairs at intervals, the whole mounting bracket is in an inverted L-shaped support arm shape, the front end of the support arm horizontally extends forwards along the direction deviating from the edge of the printing platform, and the printing device is fixed on the mounting bracket.

In this way, the installation of the printing device is more convenient, and the butt joint of the forming cylinder device and the printing device is more convenient.

Further, the printing device comprises Y-axis guide rails which are arranged on the support arm at the upper end of the mounting support along the length direction of the support arm, X-axis guide rails are vertically arranged between the two Y-axis guide rails along the horizontal direction, two ends of each X-axis guide rail are slidably matched with the Y-axis guide rails, a Y-axis motion control mechanism for controlling the X-axis guide rails to slide on the Y-axis guide rails is also arranged on each X-axis guide rail, a printing head support is slidably matched with the X-axis guide rails, an X-axis motion control mechanism for controlling the printing head support to slide on the X-axis guide rails is arranged on each printing head support, and a printing nozzle is arranged on each printing head support; the printing device also comprises a powder supply mechanism arranged above the rear end position of the mounting bracket and a powder spreading mechanism.

Thus, the X-direction and Y-direction movement control of the printing spray head is convenient to control.

Further, the Y-axis motion control mechanism is a Y-axis electric sliding table, a guide rail of the Y-axis electric sliding table forms a Y-axis guide rail on one side, the sliding table of the Y-axis electric sliding table is fixed with one end of an X-axis guide rail, the Y-axis guide rail on the other side is a linear guide rail, and the other end of the X-axis guide rail is slidably clamped and matched on the linear guide rail.

Therefore, the device has the advantages of simple structure, convenient control and reliable control precision.

Further, the X-axis motion control mechanism is an X-axis electric sliding table, the guide rail of the X-axis electric sliding table forms an X-axis guide rail, and a printing head support is arranged on the sliding table of the X-axis electric sliding table.

Further, the powder supply mechanism comprises a powder box, a discharge hole is formed in the lower portion of the powder box, a quantitative discharge mechanism is arranged at the discharge hole, a discharge shuttle groove extending forwards and downwards is connected below the quantitative discharge mechanism, and the lower end groove of the discharge shuttle groove is horizontally arranged along the width direction between two corresponding mounting brackets.

Therefore, the convenient powder supply mechanism quantitatively discharges and supplies powder according to the quantity required by each spreading, and the convenient powder discharging enters the powder spreading mechanism.

Further, the quantitative discharging mechanism comprises a metering sleeve horizontally arranged at the discharging hole, the discharging hole is vertically communicated with the metering sleeve and is connected, a metering rotating roller is coaxially arranged at the inner axis of the metering sleeve, rectangular blades extending along the axial direction are uniformly distributed on the circumferential outer surface of the metering rotating roller along the circumferential direction, the length of each rectangular blade is consistent with the length of the inner cavity of the metering sleeve, the outer side surface of each rectangular blade is rotationally attached to the wall of the inner cavity of the metering sleeve, and one end of the metering rotating roller rotatably penetrates out of the end of the metering sleeve and is connected with a metering servo motor.

Therefore, the metering rotating roller can be controlled to rotate by means of the metering servo motor, the fixed angle can be rotated every time, the powder with the fixed volume size can be scraped by the cavity between the two blades, and the powder can be discharged downwards, so that uniform and quantitative powder supply is ensured.

Further, two ends of the powder box are fixed on the side face of a vertically arranged powder box mounting plate, the lower end of the powder box mounting plate is fixed with a mounting bracket, and a metering servo motor is fixed on the side face of the other side of the powder box mounting plate.

Thus, the powder feeding mechanism is convenient to install and fix.

Further, spread powder mechanism includes a powder holding tank that arranges along the width direction level between two corresponding installing support, powder holding tank both ends are unsettled to be fixed in X axle guide rail and are close to both ends position below through ascending connecting plate, have the scraper that sets up downwards on the side of powder holding tank upper and lower link up setting and rear end (with the adjacent one end of powder case), the scraper lower extreme has the horizontally and is located the cutting edge of printing plane height, the powder holding tank once can hold the powder of at least one deck printing needs shop powder, when X axle guide rail slides to Y axle guide rail rear end, powder holding tank upper end can with ejection of compact shuttle groove lower extreme mouth butt joint.

Like this, powder holding tank slides the Y axle guide rail rear end along X axle guide rail when spreading the powder, and powder is from quantitative discharge mechanism ration ejection of compact and falls into the powder holding tank through ejection of compact shuttle groove, then along with X axle guide rail slides along Y axle guide rail forward, relies on the scraper to strickle the powder that falls down in the powder holding tank forward, realizes spreading. The scraper is adopted to spread the materials more conveniently and the powder surface is smooth, the spreading mechanism and the printing spray heads are integrally arranged on the X-axis guide rail, the printing spray heads can immediately realize printing in the spreading motion process along with the spreading mechanism, and the printing spray heads can respectively print once in the reciprocating process of one-time spreading, so that the printing quality and efficiency are improved.

Further, a front nozzle mounting plate in a forward L shape is installed and connected downwards on the side surface of the front end of the printing head support, and a first printing nozzle is installed on the horizontal part structure of the lower end of the front nozzle mounting plate.

Therefore, when the powder spreading device spreads materials along with the forward movement of the X-axis guide rail, the printing spray head can be controlled to spray the adhesive for one time in front of the X-axis guide rail according to the contour of the product layer, one-time pre-printing is realized, powder is spread on the powder spreading device and combined with the adhesive and scraped by the scraper, and then the printing spray head is controlled to print normally once in the resetting process of the X-axis guide rail. So realized once spreading twice and printed, can improve the intensity that the product takes shape, can also increase the thickness that each layer printed in order to improve printing efficiency. Meanwhile, the whole structure is simpler, and the spreading is convenient, fast and reliable.

As a better option, a nozzle vertical movement control mechanism for controlling the front nozzle mounting plate to vertically slide is further arranged on the print head bracket.

Therefore, the height of the first printing nozzle can be adjusted up and down, so that the position of the printing nozzle can be adjusted to enable the printing nozzle to be printed on the upper surface of the powder in two times in one spreading process, and the printing precision is improved better. Specifically speaking, when printing before the first printing shower nozzle moves forward the shop material along with X axle guide rail, can adjust its position downwards for first printing shower nozzle is in the position that is lower than scraper one deck powder height, and the binder jet printing is accomplished to the upper surface of last layer powder, guarantees the product contour precision of printing in this time better. Then after the printing is finished, when the first printing nozzle moves backwards along with the X-axis guide rail to reset, the first printing nozzle is adjusted upwards to return to the position horizontal to the scraper so as to realize normal printing; and the X-axis guide rail moves backwards to reset to the starting end, then the printing of the layer is finished, the bottom plate tray in the forming cylinder falls by one layer of powder distance, and the first printing nozzle is controlled to move downwards by the same distance to print the next layer, so that the cycle is circulated until the printing is finished. Therefore, the appearance quality of the whole product can be better improved, and the structure is simpler, thereby being beneficial to implementation.

Further, the vertical motion control mechanism of shower nozzle includes a vertical guide rail of vertical fixed setting in printing head support one side, and one side of front side shower nozzle mounting panel upper end slidable cooperates on vertical guide rail, and the upper end of vertical guide rail is fixed to be provided with a vertical motion control motor of shower nozzle, still includes a screw rod that sets up side by side with the vertical guide rail interval, and the vertical motion control motor of shower nozzle is connected with screw drive and can drive the screw rod rotation, and screw thread cooperation has connect a nut soon on the screw rod, and the nut is fixed in front side shower nozzle mounting panel upper end relatively.

Like this, the vertical motion control motor rotation of shower nozzle drives the screw rod and rotates, relies on vertical guide rail to pass through the front side shower nozzle mounting panel spacing to the rotation of nut, and the screw nut transmission that constitutes through screw rod and nut is vice, drives front side shower nozzle mounting panel and realizes the control of sliding from top to bottom. Therefore, the device has the characteristics of simple structure, reliable control, stable movement and high control precision.

Alternatively, the front-side head mounting plate is fixed to the front-end side of the head carriage; the printing head support is characterized in that a rear side nozzle mounting plate in a backward L shape is further mounted on the side face of the rear end of the printing head support, a second printing nozzle is structurally mounted on the horizontal part of the lower end of the rear side nozzle mounting plate, and a nozzle vertical motion control mechanism for controlling the rear side nozzle mounting plate to vertically slide is further arranged on the printing head support.

Therefore, when the X-axis guide rail moves back to the rear end of the Y-axis guide rail for feeding, the spray head vertical movement control mechanism can control the second printing spray head to rise upwards to exceed the height of the discharging shuttle groove so as to avoid interference. And then during normal printing, the second printing spray head is controlled to drop back to the printing position downwards, so that at least two times of printing can be realized in the process that the spreading mechanism moves forwards along with the X-axis guide rail to spread materials by means of the two printing spray heads of the structure. For example, during normal printing, the first printing nozzle and the second printing nozzle can be arranged at the same height level with the scraper, when the spreading device spreads forwards, the second printing nozzle at the rear can be used for realizing the first printing of the layer of powder, and when the spreading device finishes the process of resetting the layer of powder spreading backwards, the first printing nozzle at the front can be used for realizing the second printing of the layer of powder, so that the quality and the efficiency of products can be better improved by twice printing of one spreading, the product contour of the second printing can also be in the range of the area between the product contours of the front spreading and the rear spreading, the contour linking effect between the two spreading can be better improved, and the product precision can be better improved. Meanwhile, as different printing spray heads are adopted for the two-time printing, binders with different proportions can be adopted for adjustment, so that the respective performances of the printing spray heads are more targeted, for example, the binder with a normal 3D printing effect is adopted for the first time printing, and the binder with a better bonding effect between the printed powder layer and the powder layer to be paved is adopted for the second time printing, so that the final printing effect can be better improved, and the product quality is improved. In addition, for some special products, for example, products with consistent width in the front-back direction, the device can even realize the special effect of printing four times in the process of one round trip spreading, and better improve the product quality and the production efficiency.

Further, the vertical motion control mechanism of shower nozzle, including a vertical guide rail of vertical fixed setting on the printer head support, one side of rear side shower nozzle mounting panel upper end slidable cooperates on vertical guide rail, vertical guide rail's upper end is fixed to be provided with a vertical motion control motor of shower nozzle, still include a screw rod that sets up side by side with vertical guide rail interval, the vertical motion control motor of shower nozzle is connected with screw drive and can drive the screw rod rotation, screw thread cooperation has connect soon a nut on the screw rod, the nut is fixed in rear side shower nozzle mounting panel upper end relatively.

Like this, the vertical motion control motor rotation of shower nozzle drives the screw rod and rotates, relies on vertical guide rail to pass through the front side shower nozzle mounting panel spacing to the rotation of nut, and the screw nut transmission that constitutes through screw rod and nut is vice, drives rear side shower nozzle mounting panel and realizes the control of sliding from top to bottom. Therefore, the device has the characteristics of simple structure, reliable control, stable movement and high control precision.

To sum up, this device has and can conveniently realize printing different materials in a product, and simple structure, and control is nimble convenient, can improve shop's powder precision and convenience, can improve the advantage of printing efficiency and quality precision.

Drawings

Fig. 1 is a schematic structural view of a first embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the individual printing platform in fig. 1.

Fig. 3 is a schematic diagram of the structure of the individual printing apparatus in fig. 1.

Fig. 4 is a top view of fig. 3.

Fig. 5 is a schematic structural view of the separate powder feeding mechanism in fig. 1.

Fig. 6 is a side cross-sectional view of fig. 5.

Fig. 7 is a schematic structural view of the powder spreading mechanism in fig. 1.

Fig. 8 is a side cross-sectional view of fig. 7.

Fig. 9 is a front view of the single automated guided vehicle of fig. 1.

Fig. 10 is a schematic perspective view of fig. 9.

Fig. 11 is a schematic structural view of a printing apparatus in the second embodiment.

Detailed Description

The present invention will be described in further detail with reference to the following embodiments.

First embodiment: 1-10, a multi-station 3D printer comprises a horizontally arranged printing platform 1, a forming cylinder device and a guiding system, wherein a plurality of printing stations are arranged on the printing platform, each printing station is fixedly provided with a set of printing device, and the guiding system is used for guiding the forming cylinder device to be in butt joint with the printing device; the guide system is characterized in that the guide system is a guide system without a fixed guide rail, and the guide system without the fixed guide rail can generate a guide path according to requirements.

The guide system without the fixed guide rail comprises a plurality of positioning points 2 arranged on the surface of a printing platform, positioning guide members are arranged at the positions of the positioning points 2, and the positioning points are arranged in an array manner to form a two-dimensional guide point cloud array; the guiding system further comprises an automatic guiding vehicle 3, a point cloud detection sensor 4 capable of being positioned with a positioning guiding member of each positioning point in an induction mode is arranged on the automatic guiding vehicle 3, a universal wheel system is further arranged below the automatic guiding vehicle 3 and connected with a driving motor 5, and the driving motor 5 can drive the universal wheel system to steer; the forming cylinder device is mounted on an automated guided vehicle 3.

Wherein the positioning guide member is an electromagnetic generator, and the point cloud detection sensor 4 is a magnetic navigation sensor.

Wherein the positioning guide member is buried below the upper surface of the printing platform 1.

Thus, the protection can be improved and the service life can be prolonged.

Among them, in everywhere setpoint, still including at least one wireless charge level 6, wireless charge level 6 below buries wireless charging device, automatic guided vehicle lower surface middle part still corresponds and is provided with wireless charging coil 7, and wireless charging coil 7 links to each other with the battery of installing on automatic guided vehicle, the battery with driving motor 5 links to each other.

Wherein at least part of the wireless charging station 6 is positioned at a printing station on the printing platform.

The automatic guided vehicle is further provided with a wireless communication control module 8, and the wireless communication control module 8 is connected with the driving motor and controls the driving motor.

The automatic guided vehicle or the printing station is further provided with a positioning sensor 9, and the printing station or the automatic guided vehicle is correspondingly provided with a positioning sensor detection member (not shown in the figure). In operation, the registration sensor sensing member is mounted within the registration sensor sensing member mounting aperture 10 on the mounting bracket 20 of the print station.

The positioning sensor 9 preferably adopts a contact switch, and the positioning sensor detection member adopts a hard member which can be matched with the contact switch to realize contact detection.

The two pairs of contact switches are respectively arranged on contact switch mounting frames 11 arranged on two sides of the automatic guided vehicle upwards, and the positioning sensor detection member is a contact protrusion correspondingly formed on a pair of mounting brackets 20 of the printing station.

The universal wheel system comprises four Mecanum wheels 12 arranged at four corners below the automatic guided vehicle, and each Mecanum wheel 12 is respectively connected with a corresponding driving motor 5.

Therefore, the driving motor drives the four Mecanum wheels to rotate at different rotation speeds, so that the automatic guided vehicle can move in different directions, and the automatic guided vehicle can be better controlled to steer and run. Mecanum wheels are well established products, the specific structure of which is not described in detail here.

The automatic guided vehicle 3 comprises a bottom plate which is horizontally arranged, the Mecanum wheel 12 and the corresponding driving motor 5 are arranged below the bottom plate, the forming cylinder device is arranged above the middle of the bottom plate, the point cloud detection sensor 4 is arranged below the bottom plate, the wireless charging coil 7 is arranged below the bottom plate, and the wireless communication control module 8 is arranged above the bottom plate.

In this way, the function of each component is better facilitated.

The forming cylinder device comprises a forming cylinder 13 which is arranged above the middle part of the automatic guiding vehicle in a hollow mode, a circle of flanging extending outwards horizontally is arranged at the upper end of the forming cylinder to form a printing plane 14, a bottom plate tray 15 of the forming cylinder is matched with the inner cavity wall of the forming cylinder in an up-down sliding mode, the forming cylinder device further comprises a lifting device 16 which is arranged on the automatic guiding vehicle below the forming cylinder, and a telescopic arm of the lifting device 16 is supported and connected on the lower surface of the bottom plate tray in an up-down supporting mode.

The four corners of the lower end of the forming cylinder are provided with downward supporting columns 17, and a supporting frame 18 which is obliquely arranged outside and below is also arranged below the flanging of the periphery of the upper end of the forming cylinder.

In this way, the stability of the forming cylinder can be better ensured.

Wherein, a waste material accommodating groove 19 is also arranged on the printing plane of the front end of the forming cylinder.

The printing station is formed by a plurality of pairs of mounting brackets 20 which are arranged on one side of the printing platform in pairs at intervals, the mounting brackets 20 are integrally in an inverted L-shaped support arm shape, the front ends of the support arms horizontally extend forwards along the direction deviating from the edge of the printing platform, and the printing device is fixed on the mounting brackets 20.

The printing device comprises Y-axis guide rails 21 which are arranged on the support arms at the upper ends of the mounting brackets along the length direction of the support arms, X-axis guide rails 22 are vertically arranged between the two Y-axis guide rails 21 along the horizontal direction, two ends of each X-axis guide rail 22 are slidably matched with the Y-axis guide rails 21, Y-axis motion control mechanisms for controlling the X-axis guide rails to slide on the Y-axis guide rails are also arranged, a printing head bracket 23 is slidably matched with the X-axis guide rails, and X-axis motion control mechanisms for controlling the printing head bracket 23 to slide on the X-axis guide rails are arranged on the printing head bracket, and printing spray heads (only printing spray head mounting holes are shown in the figure) are arranged on the printing head bracket; the printing device also comprises a powder supply mechanism arranged above the rear end position of the mounting bracket and a powder spreading mechanism.

The Y-axis motion control mechanism is a Y-axis electric sliding table, a guide rail 24 of the Y-axis electric sliding table forms a Y-axis guide rail on one side, a sliding table 25 of the Y-axis electric sliding table is fixed with one end of an X-axis guide rail 22, the Y-axis guide rail on the other side is a linear guide rail 26, and the other end of the X-axis guide rail 22 is slidably clamped and matched on the linear guide rail 26.

Wherein, X axle motion control mechanism is X axle electric slipway, and the guide rail 27 of X axle electric slipway forms X axle guide rail, installs print head support 23 on the slipway of X axle electric slipway. The adopted electric sliding table is an existing product, comprises a motor, a guide rail, a sliding table and other components, and drives the sliding table to translate along the guide rail in a transmission mode of a screw-nut pair by the motor, and the specific structure is not described in detail herein.

Wherein, the powder feeding mechanism includes a powder case 30, and powder case 30 lower part is provided with the discharge gate, and discharge gate department is provided with quantitative discharge mechanism, and quantitative discharge mechanism below is connected with a play feed shuttle groove 31 that extends forward below, and play feed shuttle groove 31 lower extreme slot is arranged along the width direction level between two corresponding installing support.

The quantitative discharging mechanism comprises a metering sleeve horizontally arranged at a discharging hole, the discharging hole is vertically communicated with the metering sleeve 32 and is connected with the metering sleeve, a metering roller 33 is coaxially arranged at the inner axis of the metering sleeve, rectangular blades extending along the axial direction are uniformly distributed on the circumferential outer surface of the metering roller 33 along the circumferential direction, the length of each rectangular blade is consistent with the length of the inner cavity of the metering sleeve, the outer side surface of each rectangular blade is rotationally attached to the wall of the inner cavity of the metering sleeve, and one end of the metering roller 33 rotatably penetrates out of the end of the metering sleeve and is connected with a metering servo motor 34.

Wherein, the both ends of powder case 30 are fixed on the powder case mounting panel 35 side of vertical setting, and powder case mounting panel 35 lower extreme and installing support are fixed, and servo motor 34 for the measurement is fixed on powder case mounting panel opposite side.

Thus, the powder feeding mechanism is convenient to install and fix.

Wherein, shop powder mechanism includes a powder holding tank 36 that arranges along the width direction level between two corresponding installing support, powder holding tank 36 both ends are unsettled to be fixed in X axle guide rail and are close to both ends position below through ascending connecting plate 37, powder holding tank link up from top to bottom and set up and rear end (with the adjacent one end of powder case) side on have scraper 38 of setting down, scraper 38 lower extreme has the horizontally and is located the cutting edge of printing plane height, powder holding tank once can hold the powder of at least one deck printing needs shop powder, when X axle guide rail slides to Y axle guide rail rear end, powder holding tank upper end can with ejection of compact shuttle groove lower extreme slot butt joint.

Wherein, the front side of the print head bracket is downwards provided with a front side spray head mounting plate 40 in a forward L shape, and the horizontal part of the lower end of the front side spray head mounting plate 40 is structurally provided with a first print spray head (only spray head mounting holes are shown in the figure).

In this embodiment, the front-side head mounting plate 40 is fixed to the front-end side surface of the head holder 23; the rear end side of the print head bracket 23 is also provided with a rear side spray head mounting plate 41 in a backward L shape, the horizontal part structure of the lower end of the rear side spray head mounting plate 41 is provided with a second print spray head (only a print spray head mounting hole is shown in the figure), and the print head bracket 23 is also provided with a spray head vertical movement control mechanism for controlling the rear side spray head mounting plate to vertically slide.

Wherein, the vertical motion control mechanism of shower nozzle, including a vertical guide rail 42 of vertical fixed setting on the print head support, one side of rear side shower nozzle mounting panel 41 upper end slidable ground cooperates on vertical guide rail 42, the upper end of vertical guide rail 42 is fixed to be provided with a shower nozzle vertical motion control motor 43, still include a screw rod 44 that sets up with vertical guide rail interval juxtaposing, the vertical motion control motor of shower nozzle is connected with screw rod transmission and can drive the screw rod rotation, screw rod 44 is gone up the screw thread cooperation and is screwed and has been connected a nut 45, the nut is fixed in rear side shower nozzle mounting panel upper end relatively.

In addition, a computer-aided control system is also required to be installed in the implementation, and the control system performs horizontal slicing on the imported three-dimensional CAD model to separate slice data of each printing layer, and then sends the slice data to a 3D printer for printing, which is a mature prior art, so the details are not described here.

Second embodiment.

This embodiment is compared with the first embodiment. Only in the print head mounting structure of the printing apparatus, the rear head mounting plate and the second print head mounted thereon are not provided in this embodiment, but the front head mounting plate is vertically slidably provided, and the remaining structures are the same as those in the first embodiment.

Specifically, the present invention relates to a method for manufacturing a semiconductor device. Referring to fig. 11, in the present embodiment, a head vertical movement control mechanism for controlling the vertical sliding of the front-side head mounting plate 40 is further provided on the head carriage 23.

Wherein, the vertical motion control mechanism of shower nozzle includes a vertical guide rail 41 fixed in vertical setting in printing head support 23 one side, one side of front side shower nozzle mounting panel 40 upper end slidable cooperates on vertical guide rail 41, the upper end of vertical guide rail 41 is fixed to be provided with a shower nozzle vertical motion control motor 42, still include a screw 43 that sets up side by side with vertical guide rail interval, shower nozzle vertical motion control motor 42 and screw 43 transmission are connected and can drive the screw rod rotation, screw rod upper thread cooperation has connect a nut 44 soon, nut 44 relatively fixed in front side shower nozzle mounting panel 40 upper end.

The devices of the two embodiments described above, when in use, can each achieve the following modes of production.

Single material part flow production mode: this mode is directed to mass production of parts made of one material, which is large in variety and small in number. During production, the three-dimensional CAD model of the part to be printed in 3D is led into a computer system, the system allocates stations to the part according to serial numbers, for example, the parts 1, 2 and 3 … are printed at stations 1, 2 and 3 … respectively, and an automatic guided vehicle starts to print after driving into the printing station. And automatically driving out after printing is finished, waiting for subsequent processing by manpower, and driving in the next automatic guided vehicle for printing.

Secondly, a multi-material part flow production mode: the mode breaks through the limitation that the existing printer based on the 3DP (three-dimensional powder bonding) process can only print a single material, meets the new printing requirement, and can be produced in batches. During production, the three-dimensional CAD model of the part is imported into a computer, and the computer distributes different material parts of the part to different stations for placing corresponding materials. When in printing, the part is from bottom to top, for example, an automatic guided vehicle firstly prints the material A at the bottom of the station No. 1, then the material B at the middle of the station No. 2 is printed under the dispatching of a computer, and then the material C at the top of the station No. 3 is printed under the dispatching of the computer.

The computer scheduling flow during production can be as follows: performing printing station distribution on the part materials, and if the part materials are single materials, distributing one station and multiple materials according to the types of the materials; planning a path for the automatic guided vehicle through the two-dimensional point cloud array to enable the automatic guided vehicle to enter a corresponding printing station; slicing the part from bottom to top, and sending slice section data to a printing station; progressive layer by layer; when the material printing needs to be switched, planning a path through the two-dimensional point cloud array again, and driving the automatic guided vehicle into another station to continue printing.

The path planning flow during production can be as follows: detecting the position of the existing automatic guided vehicle; the position of the existing guide vehicle is avoided; judging whether the target station is idle or not; planning a path; if the path planning is successful, activating a two-dimensional point cloud array covered by the path; if the planning of the path fails, the planning automatic guided vehicle leaves the printing station, so that the automatic guided vehicle enters the super vehicle buffer area for waiting, and the path planning is performed again after the target station is idle.

Claims

1. The multi-station 3D printer comprises a horizontally arranged printing platform, wherein a plurality of printing stations are arranged on the printing platform, each printing station is fixedly provided with a set of printing device, and the multi-station 3D printer also comprises a forming cylinder device and a guiding system, wherein the guiding system is used for guiding the forming cylinder device to be in butt joint with the printing device; the guide system is a guide system without a fixed guide rail, and the guide system without the fixed guide rail can generate a guide path according to the requirement;

the guide system without the fixed guide rail comprises a plurality of positioning points arranged on the surface of the printing platform, positioning guide members are arranged at the positions of the positioning points, and the positioning points are arrayed to form a two-dimensional guide point cloud array; the guiding system further comprises an automatic guiding vehicle, a point cloud detection sensor capable of being positioned with a positioning guiding member of each positioning point in an induction mode is arranged on the automatic guiding vehicle, a universal wheel system is further arranged below the automatic guiding vehicle and connected with a driving motor, and the driving motor can drive the universal wheel system to steer; the forming cylinder device is arranged on the automatic guide vehicle; when the device is used, a driving path can be generated by means of control planning of the two-dimensional guide point cloud array, so that the forming cylinder device can walk on a printing platform along with an automatic guide vehicle and the butt joint between different printing devices can be completed;

The positioning guide member is an electromagnetic generator, and the point cloud detection sensor is a magnetic navigation sensor; when the electromagnetic generator is used, the electromagnetic generator passing through the path can be opened along the required running path, so that the electromagnetic generators on the running path are connected in series to form the effect of guiding the magnetic stripe, and after the rest electromagnetic generators are closed, the automatic guided vehicle can be guided to run along the running path by using the magnetic navigation sensor;

the automatic guided vehicle is also provided with a wireless communication control module which is connected with the driving motor and realizes control;

the automatic guide vehicle or the printing station is also provided with a positioning sensor, and the printing station or the automatic guide vehicle is correspondingly provided with a positioning sensor detection member;

the universal wheel system comprises four Mecanum wheels arranged at four corners below the automatic guided vehicle, and each Mecanum wheel is respectively connected with a corresponding driving motor.

2. The multi-station 3D printer of claim 1 wherein the positioning guide member is buried below the upper surface of the printing platform.

3. The multi-station 3D printer according to claim 1, further comprising at least one wireless charging station in each positioning point, wherein a wireless charging device is buried below the wireless charging station, a wireless charging coil is correspondingly arranged in the middle of the lower surface of the automatic guided vehicle, the wireless charging coil is connected with a storage battery arranged on the automatic guided vehicle, and the storage battery is connected with the driving motor;

At least a portion of the wireless charging station is located at a print station on the print platform.

4. A multi-station 3D printer according to claim 3, wherein the positioning sensor adopts a contact switch, and the positioning sensor detecting member adopts a hard member capable of mutually matching with the contact switch to realize contact detection;

the two pairs of contact switches are respectively arranged on contact switch mounting frames arranged upwards on two sides of the automatic guided vehicle, and the positioning sensor detection member is a contact protrusion correspondingly formed on a pair of mounting brackets of the printing station;

the automatic guided vehicle comprises a bottom plate which is horizontally arranged, wherein the Mecanum wheel and a corresponding driving motor are arranged below the bottom plate, the forming cylinder device is arranged above the middle of the bottom plate, the point cloud detection sensor is arranged below the bottom plate, the wireless charging coil is arranged below the bottom plate, and the wireless communication control module is arranged above the bottom plate.

5. The multi-station 3D printer according to claim 1, wherein the forming cylinder device comprises a forming cylinder with a fixing frame arranged above the middle part of the automatic guiding vehicle, a circle of flanging extending horizontally outwards is arranged at the upper end of the forming cylinder to form a printing plane, a bottom plate tray of the forming cylinder is matched on the inner cavity wall of the forming cylinder in a sliding manner up and down, the forming cylinder device further comprises a lifting device arranged on the automatic guiding vehicle below the forming cylinder, and a telescopic arm of the lifting device is connected to the lower surface of the bottom plate tray in an upward supporting manner;

The four corners of the lower end of the forming cylinder are provided with downward support columns, and the lower part of the flanging at the periphery of the upper end of the forming cylinder is also provided with a support frame which is obliquely arranged outside and below;

the printing plane at the front end of the forming cylinder is also provided with a waste accommodating groove.

6. The multi-station 3D printer of claim 5, wherein the printing station is formed by a plurality of pairs of mounting brackets which are arranged on one side of the printing platform in pairs at intervals, the mounting brackets are integrally in an inverted-L-shaped support arm shape, the front ends of the support arms horizontally extend forwards along the direction away from the edge of the printing platform, and the printing device is fixed on the mounting brackets;

the printing device comprises Y-axis guide rails which are arranged on the support arm at the upper end of the mounting bracket along the length direction of the support arm, X-axis guide rails are vertically arranged between the two Y-axis guide rails along the horizontal direction, two ends of each X-axis guide rail are slidably matched with the Y-axis guide rails, a Y-axis motion control mechanism for controlling the X-axis guide rails to slide on the Y-axis guide rails is also arranged on each X-axis guide rail, a printing head bracket is slidably matched with the X-axis guide rails, an X-axis motion control mechanism for controlling the printing head bracket to slide on the X-axis guide rails is arranged on each printing head bracket, and a printing nozzle is arranged on each printing head bracket; the printing device also comprises a powder supply mechanism arranged above the rear end position of the mounting bracket and a powder spreading mechanism;

The Y-axis motion control mechanism is a Y-axis electric sliding table, a guide rail of the Y-axis electric sliding table forms a Y-axis guide rail on one side, the sliding table of the Y-axis electric sliding table is fixed with one end of an X-axis guide rail, the Y-axis guide rail on the other side is a linear guide rail, and the other end of the X-axis guide rail is slidably clamped and matched on the linear guide rail;

the X-axis motion control mechanism is an X-axis electric sliding table, the guide rail of the X-axis electric sliding table forms an X-axis guide rail, and a printing head bracket is arranged on the sliding table of the X-axis electric sliding table;

the powder supply mechanism comprises a powder box, a discharge hole is formed in the lower portion of the powder box, a quantitative discharge mechanism is arranged at the discharge hole, a discharge shuttle groove extending forwards and downwards is connected below the quantitative discharge mechanism, and the lower end groove opening of the discharge shuttle groove is horizontally arranged along the width direction between two corresponding mounting brackets;

the quantitative discharging mechanism comprises a metering sleeve horizontally arranged at a discharging hole, the discharging hole is vertically communicated with the metering sleeve and is connected, a metering rotating roller is coaxially arranged at the inner axis of the metering sleeve, rectangular blades extending along the axial direction are uniformly distributed on the circumferential outer surface of the metering rotating roller along the circumferential direction, the length of each rectangular blade is consistent with the length of the inner cavity of the metering sleeve, the outer surface of each rectangular blade is rotatably attached to the wall of the inner cavity of the metering sleeve, and one end of the metering rotating roller rotatably penetrates out of the end of the metering sleeve and is connected with a metering servo motor;

The two ends of the powder box are fixed on the side face of a vertically arranged powder box mounting plate, the lower end of the powder box mounting plate is fixed with a mounting bracket, and a metering servo motor is fixed on the side face of the other side of the powder box mounting plate.

7. The multi-station 3D printer according to claim 6, wherein the powder spreading mechanism comprises a powder accommodating groove horizontally arranged along the width direction between two corresponding mounting brackets, two ends of the powder accommodating groove are suspended and fixed below two end positions of the X-axis guide rail through upward connecting plates, the powder accommodating groove is arranged in a vertically penetrating manner, a scraper arranged downwards is arranged on the side surface of the rear end, the lower end of the scraper is provided with a horizontal cutting edge positioned at the height of a printing plane, the powder accommodating groove can accommodate at least one layer of powder to be spread for printing at one time, and when the X-axis guide rail slides to the rear end of the Y-axis guide rail, the upper end of the powder accommodating groove can be in butt joint with the lower end slot of the discharging shuttle groove;

the side face of the front end of the printing head support is downwards provided with a front side nozzle mounting plate in a forward L shape, and a first printing nozzle is structurally arranged on the horizontal part of the lower end of the front side nozzle mounting plate.

8. The multi-station 3D printer of claim 7, wherein the printhead bracket is further provided with a nozzle vertical movement control mechanism for controlling the front nozzle mounting plate to vertically slide;

The vertical motion control mechanism of shower nozzle includes a vertical guide rail of vertical fixed setting in printing head support one side, and one side of front side shower nozzle mounting panel upper end slidable cooperates on vertical guide rail, and the upper end of vertical guide rail is fixed to be provided with a vertical motion control motor of shower nozzle, still includes a screw rod that sets up side by side with the vertical guide rail interval, and the vertical motion control motor of shower nozzle is connected with screw drive and can drive the screw rod rotation, and screw thread cooperation has connect soon a nut on the screw rod, and the nut is fixed in front side shower nozzle mounting panel upper end relatively.

9. The multi-station 3D printer of claim 7 wherein the front-side nozzle mounting plate is secured to the front-end side of the printhead carriage; the lateral surface of the rear end of the printing head support is also provided with a backward L-shaped rear side nozzle mounting plate, the horizontal part structure of the lower end of the rear side nozzle mounting plate is provided with a second printing nozzle, and the printing head support is also provided with a nozzle vertical motion control mechanism for controlling the rear side nozzle mounting plate to vertically slide;

the vertical motion control mechanism of shower nozzle, including a vertical guide rail of vertical fixed setting on the printer head support, one side of rear side shower nozzle mounting panel upper end slidable ground cooperation is on vertical guide rail, and the upper end of vertical guide rail is fixed to be provided with a vertical motion control motor of shower nozzle, still includes a screw rod that sets up side by side with the vertical guide rail interval, and the vertical motion control motor of shower nozzle is connected with the screw rod transmission and can drive the screw rod rotation, and screw thread cooperation connects soon on the screw rod has a nut, and the nut is fixed in rear side shower nozzle mounting panel upper end relatively.