KR20160021541A - 3D printer - Google Patents

Abstract

The present invention relates to a three-dimensional printer. According to an embodiment of the present invention, the three-dimensional printer comprises: an extrusion part extruding a filament in a cavity; a carriage where the extrusion part is attached to; a moving part moving the carriage at least into x, y planes; and a processor controlling the extrusion part and the moving part. In addition, the processor calculates x, y coordinates to move so as to follow a target position when moving in the x, y planes of the carriage, and translocates the carriage based on the calculated x, y coordinates. Further, the processor accumulates errors which refer to differences between the target position and the x, y coordinates so as to compensate the x, y coordinates to move, by using a value of compensation if the accumulated errors are above a certain number. The processor also uses multiplying operation instead of division operation when calculating errors or accumulated errors. Thus, the speed in the data calculation for translocation of the moving part increases.

Description

3D printer {3D printer}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a 3D printer, and more particularly, to a 3D printer capable of improving the speed of data operation for movement of a moving part.

The 3D printer is a device that sequentially ejects predetermined materials on the basis of a three-dimensional drawing, stacks up layer layers with a fine thickness, and outputs a three-dimensional shape of a real object.

These 3D printers have been developed and used for manufacturing, and various products can be manufactured using 3D printers.

Meanwhile, various efforts have been made to improve the precision and surface finish of products made with 3D printers.

An object of the present invention is to provide a 3D printer capable of improving the speed of data operation for moving a moving part.

According to an aspect of the present invention, there is provided a 3D printer including a cavity, an extrusion portion for extruding a filament, a carriage having an extrusion portion, a moving portion for moving the carriage at least into an x, y plane, And a processor for controlling the extruding unit and the moving unit. The processor calculates x, y coordinates to be moved to follow the target position when the carriage moves in the x, y plane, , The carriage is moved and the error which is the difference between the target position and the x and y coordinates is accumulated. When the cumulative error is equal to or more than the predetermined value, the x and y coordinates to be moved are compensated using the compensation value. For error calculations, use multiplication without division.

According to an embodiment of the present invention, a 3D printer includes: a 3D printer including an extrusion portion for extruding a filament, a carriage having an extrusion portion, a moving portion for moving the carriage at least into an x, y plane, Wherein the processor calculates an x, y coordinate to be moved to follow the target position when the carriage moves in the x, y plane, and based on the computed x, y coordinates, The carriage is moved to accumulate the error which is the difference between the target position and the x and y coordinates and compensates the x and y coordinates to be moved using the compensation value when the cumulative error is equal to or larger than the predetermined value. By using the multiplication operation without using the division operation at the time of operation, it is possible to improve the speed of data operation for movement of the moving unit.

According to the moving device in the 3D printer according to the embodiment of the present invention, it is possible to move the carriage on the x, y plane by using the single arm structure. In particular, The movement of the x-axis and the y-axis can be simultaneously performed by the operation of the motor. This makes it possible to form the surface shape more smoothly at the time of producing the molding.

1 is a view illustrating a 3D printer according to an embodiment of the present invention.
Fig. 2 is a perspective view of an example of a mobile device in the 3D printer of Fig. 1;
3A to 3H are views referred to in the description of the operation of the mobile device of FIG.
4 is an internal block diagram of the 3D printer of FIG.
5 is an example of the extruding portion of Fig.
6 is another example of the extruding portion of Fig.
7 is a diagram illustrating the operation of the carriage.
Figure 8 is a location-referenced coordinate operation in operation of the carriage.

Hereinafter, the present invention will be described in detail with reference to the drawings.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

1 is a view illustrating a 3D printer according to an embodiment of the present invention.

Referring to FIG. 1, a 3D printer 100 according to an exemplary embodiment of the present invention includes a case 101 forming an outer appearance, a cavity 50 formed in the case 101 and serving as a space for forming a molding, A moving device 200 disposed in the case 101 for moving and outputting material for forming a molding, and the like. In addition, there are provided a door 105 for entering and exiting the finished sculpture to and from the outside, a window 103 formed on the door 105 so as to be able to see the inside of the cavity 50, , A display 180 for displaying the operation state of the 3D printer, and the like.

Meanwhile, in the 3D printer described in the present specification, a first method in which a thermoplastic material (ABS, polyamide) made of a filament wire is melted in a nozzle to solidify the material in a thin film form and then laminate the material, a polymer material or a metal powder, A second method in which a laser is used to sinter the parts to be formed using a laser, and a photo-curing resin in a liquid state is placed in a chamber and the resin is cured by using laser light, ultraviolet light, digital light illumination A fourth method for curing a resin using ultraviolet rays at the same time of jetting a photo-curable liquid resin using an inkjet printhead, a method for cutting a material coated with an adhesive to a desired cross section by using a laser beam, And a fifth system in which the resin is laminated and formed.

In the present invention, a method of melting a thermoplastic material (ABS, polyamide) made of filament wires in a first method in a nozzle to solidify the same in a thin film form and then laminating it is described.

According to the first method, a step of post-curing is unnecessary, a product production time is shortened, a product having various colors can be produced, lightness and manufacturing cost are reduced.

Thus, according to an embodiment of the present invention, the mobile device 200 can move the attached carriage 280 into at least the x, y plane. On the other hand, the carriage 280 is provided with an extruding portion (300 in Fig. 2 or 3) for outputting filaments.

Then, as the carriage 280 to be attached moves into the x, y plane by the moving device 200, the heated filaments are sequentially stacked on the plate (115 in Fig. 2) in the cavity. Thereby, the user can create the desired sculpture.

On the other hand, as the thermoplastic resin, ABS, PLA and the like can be used for the filament.

On the other hand, the mobile device 200 will be described in more detail with reference to FIG. 2 and subsequent figures.

Fig. 2 is a perspective view of an example of a mobile device in the 3D printer of Fig. 1;

Referring to the drawings, the mobile device 200 includes a support base 113, a plate 115 disposed on the support base 113, a plate 115 disposed on one side of the support base 113 and extending in a direction intersecting the support base 113, A first guide portion 116a and a second guide portion 116b extending in the direction of the first guide portion 116a and an elevation shaft 117 between the second guide portion 116a and the second guide portion 116b.

The moving device 200 includes a first guide portion 116a, a second guide portion 116b and a drive motor 251 for driving the z axis, which is disposed above the elevation shaft 117, A steel plate 252 may be provided. The drive motor 251 is disposed on the lift plate 252 and the first guide portion 116a, the second guide portion 116b, and the elevation shaft 117 are rotated by the operation of the drive motor 251 Accordingly, the drive motor 251 and the lift plate 252 can move in the z-axis direction.

On the other hand, the drive motor 251 for driving the z-axis and the lift plate 252 may be referred to as a second moving unit 220 for moving the z-axis in the moving apparatus 200.

On the other hand, on the upper side of the drive motor 251 and the lift plate 252, a frame 215 extending in the y-axis direction and a frame 215 extending in the x- an arm 225 is disposed.

The moving device 200 includes driving motors 212 and 214 disposed at both ends of the frame 215 on the frame 215 and timing pulleys 211 and 213 connected to the motors 212 and 214, Respectively.

On the other hand, the mobile device 200 includes idlers 216a, 216b, 216c, and 216d disposed on the arm 225 in regions where the arm 225 and the frame 215 cross each other, The carriage 280 extends through the idlers 216e, 216f and 216g disposed at both ends of the carriage 225 and the plurality of idlers 216a to 216g and the timing pulleys 211 and 213, And a timing belt 217 for transmitting the driving force of the first and second cams 212 and 214.

The timing belt 217 includes a first timing pulley 211 attached to the first drive motor 212, idlers 216a, 216f and 216d, a second timing pulley (not shown) attached to the second drive motor 214, 213, idlers 216c, 216g, 216b, and a first timing pulley 211 attached to the first drive motor 212. [

The moving direction and the moving speed of the timing belt 217 and the like are determined in accordance with the rotational direction and the rotational speed of the first driving motor 212 and the second driving motor 214. Accordingly, The arm 225 can move in the y axis direction and the carriage 280 mounted on the arm 225 can move in the x axis direction.

More specifically, in the mobile device 200 of FIG. 2, when the first drive motor 212 and the second drive motor 214 rotate in the same direction, the arm 225 in the mobile device 200 moves in the y- The moving device 200 of Fig. 2 moves to the carriage 200 disposed in the arm 225 in the moving device 200 if the direction of rotation of the first driving motor 212 and the second driving motor 214 is reversed. (280) moves along the x-axis. This will be described later with reference to Figs. 3A to 3H.

On the other hand, the drive motors 212 and 214 for driving the x and y axes, the frame 215, the arm 225, the carriage 280, the idlers 216a to 216g, the timing pulleys 211 and 213, 217 and the like may be referred to as a first moving unit 210 which is responsible for x and y axis movement in the mobile device 200. At this time, it may not be included in the first moving unit 210.

The first moving part 210 includes a frame 215 extending in a first direction and a frame 215 extending in a second direction intersecting the frame 215 and the carriage 280 is disposed First and second driving motors 212 and 214 disposed on the frame 215 and spaced from each other; timing pulleys 211 and 213 connected to the first and second driving motors 212 and 214; A plurality of timing pulleys 216a to 216g disposed on the timing belt 225 and timing belts 270 extending through the timing pulleys 211 and 213 and 216a to 216g.

On the other hand, when the first and second driving motors 212 and 214 rotate in the same direction, the first moving unit 210 moves the arm in the first direction, and the first and second driving motors 212 and 214 are opposite The carriage 280 on the arm moves in the second direction

 On the other hand, when any one of the first and second driving motors 212 and 214 is operated, the first moving unit 210 moves the carriage 280 in the second direction while moving the arm in the first direction.

On the other hand, by the operation of the drive motor 251, the frame 215, the arm 225, the carriage 280, etc. as well as the drive motor 251 and the lift plate 252 can move in the z- .

On the other hand, the extrusion portion 300 is attached to the carriage 280 disposed on the arm 225. On the other hand, it is also possible that a bracket (not shown) is connected between the carriage 280 and the extrusion portion 300, unlike the drawing.

On the other hand, unlike the drawing, the second drive unit 220 can move the plate 115 in the z-axis direction without moving the drive motor 251 and the lift plate 252.

In the meantime, according to the mobile device 200 according to the embodiment of the present invention, the carriage 280 can be moved on the x, y plane by using the single arm 225 structure, The x-axis and y-axis movements can be simultaneously performed by the operation of at least one of the drive motors. This makes it possible to form the surface shape more smoothly at the time of producing the molding.

3A to 3H are views referred to in the description of the operation of the mobile device of FIG.

3A and 3B illustrate that the carriage 280 moves in the x-axis direction.

First, FIG. 3A illustrates that the carriage 280 advances when the first drive motor 212 rotates clockwise and the second drive motor 214 rotates left. That is, the carriage 280 is moved in the opposite direction to the frame 215. [

FIG. 3B illustrates that the carriage 280 is reversed when the first drive motor 212 makes a left turn and the second drive motor 214 makes a right turn. That is, it is illustrated that the carriage 280 moves in the direction of the frame 215.

Next, FIGS. 3C to 3D illustrate movement of the arm 225 in the y-axis.

First, FIG. 3C illustrates that the arm 225 moves to the left when the first drive motor 212 and the second drive motor 214 make a right turn. That is, it is illustrated that the arm 225 moves in the direction of the first drive motor 212.

FIG. 3D illustrates that the arm 225 moves to the right when the first drive motor 212 and the second drive motor 214 make a left turn. That is, the arm 225 is moved in the direction of the second drive motor 214. [

Next, FIGS. 3E to 3H illustrate that the carriage 280 is moved in the x-axis and the arm 225 is moved in the y-axis.

First, FIG. 3E illustrates that the carriage 280 moves in the upper right direction when the first drive motor 212 makes a left turn and the second drive motor 214 stops. That is, the arm 225 is moved to the right side, and the carriage 280 is moved backward. As a result, the carriage 280 moves in the direction of approximately 45 degrees.

Next, Fig. 3F illustrates that the carriage 280 moves in the lower right direction when the first driving motor 212 is stopped and the second driving motor 214 is turned to the left. That is, the arm 225 is moved to the right side, and the carriage 280 is advanced. As a result, the carriage 280 moves in the direction of approximately 135 degrees.

3G illustrates that the carriage 280 moves in the lower left direction when the first drive motor 212 makes a right turn and the second drive motor 214 stops. That is, the arm 225 moves to the left side, and the carriage 280 moves forward. As a result, the carriage 280 moves in the direction of approximately 225 degrees.

Next, FIG. 3H illustrates that the carriage 280 moves in the upper left direction when the first drive motor 212 stops and the second drive motor 214 makes a right turn. That is, the arm 225 moves to the left side, and the carriage 280 moves backward. As a result, the carriage 280 moves in the direction of about 315 degrees.

In the meantime, according to the mobile device 200 according to the embodiment of the present invention, the carriage 280 can be moved on the x, y plane by using the structure of the single arm 225, The x-axis and y-axis movements can be simultaneously performed by the operation of at least one of the two drive motors, such as 3h. This makes it possible to form the surface shape more smoothly at the time of producing the molding.

4 is an internal block diagram of the 3D printer of FIG.

Referring to the drawings, the 3D printer 50 includes an external device interface unit 130, a network interface unit 120, a memory 140, a processor 170, a display 180, a power supply unit 195, (200), and an extrusion unit (300).

The input unit 110 transmits a signal input by the user to the processor 170. To this end, an operation button or the like may be provided. For example, the power-on signal, the start signal by the start button, the pause signal by the pause button, and the like may be transmitted to the processor 170 by the power-on button.

The network interface unit 120 provides an interface for connecting the 3D printer 50 to a network by a wire / wireless data communication method. For example, the network interface unit 120 provides an interface connectable to a mobile terminal, a PC, and the like, and thus can exchange data with a mobile terminal, a PC, or the like. In addition, data can be exchanged with an external server (not shown) via a network. On the other hand, various data communication methods such as Bluetooth, WiFi Direct, WiFi, DLNA and APiX are available as the wireless data communication method.

For example, through the network interface unit 120, a 3D graphic image for 3D sculpture creation can be received from a PC or a mobile terminal connected to a wire or wirelessly.

The external device interface unit 130 provides an interface for exchanging data with an external device via input terminals such as USB and HDMI. For example, a 3D graphic image for 3D sculpture creation can be received from a USB storage device, which is an external device, via a USB terminal.

The memory 140 may store a program for each signal processing and control within the processor 170 and may also store signal processed video, audio, or data signals.

In addition, the memory 140 may perform a function for temporarily storing video, audio, or data signals input from the external device interface unit 130.

The processor 170 can control each unit in the 3D printer 50. [

The processor 170 is connected to the mobile device 200 and the extruder (not shown) to generate a 3D sculpture based on the 3D graphic image input from the network interface unit 120 or the external device interface unit 130 300 can be controlled.

Specifically, the processor 170 may control the first drive motor 212 and the second drive motor 214 such that the mobile device 200 is moved in the x and y axes, as in Figures 3A-3H . That is, the first driving motor 212 and the second driving motor 214 in the first moving unit 210 can be controlled.

For example, the processor 170 may rotate the first and second driving motors 212 and 214 in the same direction to move the arm 225 in the first direction, and the first and second driving motors 212 and 214 212 and 214 rotate in the opposite direction so that the carriage 280 on the arm 225 can move in the second direction.

As another example, the processor 170 may operate either the first and second drive motors 212 and 214 to move the carriage 280 in the second direction while moving the arm 225 in the first direction .

On the other hand, the processor 170 calculates x and y coordinates to be moved so as to follow the target position when the carriage 280 moves in the x and y planes, and calculates the coordinates of the carriage 280 based on the calculated x, And compensates the x and y coordinates to be moved using the compensation value when the cumulative error is greater than or equal to a predetermined value and compensates the x and y coordinates to be moved. Use the multiplication operation without using the hour and division operations. At this time, in the error calculation or in the cumulative error calculation, the variable used may be a floating variable, in particular, a floating point variable.

As described above, by using the multiplication operation without using a division operation having a large amount of computation during data operation, it is possible to improve the speed of data operation for movement of the movement unit 210. Particularly, when the error operation or the cumulative error operation is used, the variable used becomes more effective when it is a floating variable, in particular, a floating point variable.

The processor 170 can also control the driving motor 251 in the second moving part 220 so that the moving device 200 is moved in the z axis.

On the other hand, the processor 170 can control the filament moving speed and the like in the extruder 300. Specifically, the filament moving part 310, the heating part 320, and the cooling part 330 in the extrusion part 300 can be controlled.

The processor 170 receives the sensed temperature from the first temperature sensing unit 325 that senses the temperature of the heating unit 320 and senses the second temperature sensed by the cooling unit 330, It is possible to receive the sensed temperature from the sensor 335.

The processor 170 may control the heating unit 320 and the cooling unit 330 based on the first temperature sensing unit 325 and the second temperature sensing unit 335. [

For example, the processor 170 controls the heating unit 320 to rise to the target heating temperature, and controls the cooling unit 330 to be lowered to the target cooling temperature.

On the other hand, when the temperature of the cooling section 330 is equal to or higher than the target cooling temperature, the processor 170 can temporarily lower the target heating temperature.

On the other hand, the processor 170 can stop the operation of the filament moving unit 310 when the temperature of the second temperature sensing unit 335 is higher than a predetermined value.

At least one of the heating unit 320 and the cooling unit 330 may be provided so that the difference between the temperature of the first temperature sensing unit 325 and the temperature of the second temperature sensing unit 335 is within a predetermined range, .

The display 180 may display information relating to the operation of the 3D printer 100. For this image display, the display 180 may be implemented as a PDP, an LCD, an OLED, or the like.

The power supply unit 195 can supply power necessary for the operation of each component under the control of the processor 170. [ In particular, it is possible to supply power to a processor 170, which may be implemented as a system on chip (SOC), a display 180 for information display, and the like. To this end, the power supply unit 195 may include a converter that receives the AC power and converts the DC power into a DC power, and a dc / dc converter that converts the level of the DC power.

5 is an example of the extruding portion of Fig.

Referring to the drawings, an extruder 300 attached to a carriage 280 includes a filament moving part 310 for moving a filament to be introduced downward, a filament moving part 310 for moving a filament moving part 310, A nozzle 340 for outputting the heated filament into the cavity 50 and a heating unit 320 for heating the filament such that the heat generated by the heating unit 320 is blocked by the filament moving unit 310 or near the filament moving unit 310. [ And a cooling unit 330 for cooling the unit 310.

The extruder 300 includes a first temperature sensing unit 325 for sensing the temperature of the heating unit 320 and a second temperature sensing unit 335 for sensing the temperature of the cooling unit 330. [ As shown in FIG.

The filament moving unit 310 includes a driving motor 312 and a gear 314 operated by the driving motor 312 so as to move the filament 10 to be introduced in a downward direction, ). The rotation of the gear 314 causes the filament 10 in the solid state on the movement path 350 to move in the downward direction.

On the other hand, the heating unit 320 heats the filament transferred by the filament moving unit 310. To this end, the fitting portion 320 may include a heater (not shown) and a heater driving portion (not shown). Meanwhile, a first temperature sensing unit 325 for sensing the temperature of the heating unit 320 may be provided in the heating unit 320. The sensed temperature is communicated to the processor 170.

On the other hand, the nozzle 340 outputs the filament heated in the heating part 320 into the cavity 50. Particularly, as described above, it is possible to generate a molding of a predetermined shape in accordance with the movement of the carriage 280 along the x- and y-axes.

On the other hand, the operation speed of the filament moving part 310 and the like are also important for supplying the filament quickly, but cooling of the filament moved by the operation of the filament moving part 310 is also an important factor.

It is preferable that the cooling unit 330 is provided so that heat is not transmitted to the filament moving unit 310 or the vicinity thereof by heating of the heating unit 320.

The cooling unit 330 may include a heat radiating member 334 contacting the filament moving unit 310 and a cooling fan 332 for cooling the heat radiating member.

The cooling fan 332 operates by driving the processor 170 and the air flow path by the operation of the cooling fan 332 can be formed in the direction of the heat radiation member 334. The heat radiating member 334 may include a heat radiating plate.

The cooling unit 330 may further include a base unit 337 contacting the heating unit 320. The base portion 337 may be disposed on the upper portion of the heating portion 320 and on the heat radiating member 334 and the cooling fan 332.

On the other hand, the base portion 337 can be formed of a metal material having high thermal conductivity. For example, it may be formed of an aluminum material.

A second temperature sensing unit 335 senses the temperature of the cooling unit 330. The second temperature sensing unit 335 senses the temperature of the cooling unit 330. The second temperature sensing unit 335 senses the temperature of the cooling unit 330, (Not shown).

Specifically, the second temperature sensing unit 335 may be disposed on the base unit 337. Then, the sensed temperature is transmitted to the processor 170.

The processor 170 controls the heating unit 320 to rise to a target heating temperature based on the temperature sensed by the first temperature sensing unit 325 and controls the temperature sensed by the second temperature sensing unit 335 The cooling unit 330 can be controlled to be lowered to the target cooling temperature.

Specifically, the processor 170 controls the operation time of the heater (not shown) such that the heating portion 320 is raised to the target heating temperature. Then, based on the temperature sensed by the second temperature sensing unit 335, the operation time, the rotation speed, and the like of the cooling fan 332 are controlled so that the cooling unit 330 is lowered to the target cooling temperature.

The processor 170 controls the heating unit 320 to maintain the target heating temperature based on the first temperature and the second temperature that are continuously sensed and controls so that each of the units 330 maintains the target cooling temperature or below do.

The processor 170 may temporarily disable the heater (not shown) temporarily when the heating unit 320 maintains the target heating temperature. For example, when the target heating temperature is maintained for the first period, the heater (not shown) may be temporarily not operated.

On the other hand, the processor 170 may temporarily stop the operation of the cooling fan 332 when the cooling unit 330 holds the target cooling temperature for the second period.

On the other hand, when the temperature of the cooling section 330 is equal to or higher than the target cooling temperature, the processor 170 can temporarily lower the target heating temperature.

Alternatively, the processor 170 may stop the operation of the filament moving unit 310 when the temperature of the cooling unit 330 is higher than or equal to the target cooling temperature for a predetermined time or longer. When the temperature of the cooling unit 330 is again equal to or lower than the target cooling temperature after a predetermined time, it is possible to control the operation of the filament moving unit 310 to operate.

The processor 170 determines whether the difference between the temperature of the first temperature sensing unit 325 and the temperature of the second temperature sensing unit 335 is within a predetermined range At least one of the heating unit 320 and the cooling unit 330 can be controlled.

As a result, the first and second temperature sensing units 325 and 335, which sense the temperature of the heating unit 320 and the temperature sensing unit 335, respectively, And the cooling unit 33, it is possible to stably improve the output speed of the filament. Therefore, when the 3D printer 100 is used to generate the sculpture, the generation time can be shortened.

6 is another example of the extruding portion of Fig.

FIG. 6 is similar to the extrusion unit 300 of FIG. 5, except that the bridges 336a and 336b are further provided in the cooling unit 300. FIG.

More specifically, bridges 336a and 336b are further provided between the base 337 and the cooling fan 332 and the heat radiating member 334 so that the base 337 and the cooling fan 332 and the radiating member 334 Are separated from each other without being in contact with each other.

The second temperature sensing unit 335 is disposed in the base unit 337. The processor 170 includes a first temperature sensing unit 325 sensing the temperature of the heating unit 320, And a second temperature sensing unit 335 that senses the temperature of the cooling unit 330 to control the heating unit 320 and the cooling unit 33, respectively. Therefore, the output speed of the filament can be stably improved. Therefore, when the 3D printer 100 is used to generate the sculpture, the generation time can be shortened. The heat of the heating portion 320 is further blocked by the bridges 336a and 336b by the filament moving portion 310 or the like.

FIG. 7 is a view illustrating the operation of the carriage, and FIG. 8 is a positional reference drawing of a coordinate operation in the operation of the carriage.

First, FIG. 7 illustrates a line movement method according to the Bresenham Algorithm.

The carriage 280 is movable in the x, y plane. Can be moved radially in the x, y plane, especially as in the figure.

On the other hand, when the first and second driving motors 212 and 214 are stepping motors, the movement of the carriage 280 is performed by the operation of the first and second driving motors 212 and 214, , ≪ / RTI > and discontinuous line movement.

Fig. 8 illustrates an enlarged view of path 1 as an example of carriage 280 movement. That is, as shown in the figure, the combination of the first direction movement and the second direction movement enables movement to the target point.

The processor 170 calculates the x, y coordinates to move to follow the target position when the carriage 280 moves in the x, y plane.

That is, in the case of moving the carriage 280 in the 3D printer, a coordinate calculation such as Equation 1 can be used for x, y, coordinates in Fig.

That is, the x and y coordinates can be calculated using the coordinates (x0, y0) and (x1, y1) as shown in the equation (1).

At this time, ww and hh may correspond to the x coordinate to be moved and the y coordinate to be moved.

On the other hand, by using the Bresensham algorithm, it is possible to cancel the error in finding the slope.

On the other hand, the processor 170 calculates the x and y coordinates to be moved to follow the target position, moves the carriage 280 based on the calculated x and y coordinates, and calculates the difference between the target position and the x, y coordinates When the cumulative error is greater than or equal to a predetermined value, the x and y coordinates to be moved are compensated using the compensation value.

At this time, a division operation can be used as shown in Equation (2).

However, when the cumulative error is calculated using Equation (2), the amount of data calculation becomes large. On the other hand, when the variable (hh or ww) used in the cumulative error calculation is a floating variable, particularly a floating point variable, the data operation amount becomes significant.

Accordingly, in the embodiment of the present invention, the multiplication operation is used without using the division operation in order to reduce the amount of data operation during error calculation or cumulative error calculation.

That is, as shown in Equation 3, both sides are multiplied by ww.

According to this, Equation (3) is rearranged as Equation (4).

That is, when the processor 170 uses an operation expression such as Equation (4) and a multiplication operation without using a division operation in the cumulative error operation, the data operation amount is significantly reduced as compared with the expression (2). Particularly, in the cumulative error calculation, when the variable (hh or ww) used is a floating variable, particularly a floating point variable, it becomes more effective.

Meanwhile, the operation method of the 3D printer of the present invention can be implemented as a code readable by a processor on a recording medium readable by a processor included in the 3D printer. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored. Examples of the recording medium that can be read by the processor include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet . In addition, the processor-readable recording medium may be distributed over network-connected computer systems so that code readable by the processor in a distributed fashion can be stored and executed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention.

Claims (10)

An extruding portion for extruding the filament into the cavity;
A carriage to which the extrusion part is attached;
A moving unit that moves the carriage at least into an x, y plane; And
And a processor for controlling the extruding unit and the moving unit,
The processor comprising:
Calculating x and y coordinates to be moved so as to follow the target position when the carriage moves in the x and y planes, moving the carriage based on the calculated x and y coordinates,
Wherein the error correction unit accumulates an error that is a difference between the target position and the x and y coordinates and compensates the x and y coordinates to be moved using the compensation value when the accumulated error is equal to or greater than a predetermined value,
Wherein the multiplication operation is performed during the error operation or during the cumulative error operation without using a division operation. The method according to claim 1,
The moving unit includes:
And a first and a second drive motor for moving the carriage into an x, y plane of the carriage,
Wherein the first and second driving motors are stepping motors. The method according to claim 1,
Wherein the variable used during the error calculation or during the cumulative error calculation is a floating variable. 3. The method of claim 2,
The moving unit includes:
Wherein when the first and second driving motors rotate in the same direction, the carriage is moved in the first direction, and when the first and second driving motors rotate in opposite directions, To the 3D printer. 3. The method of claim 2,
The moving unit includes:
Wherein the carriage is moved in the first direction while the carriage is moved in the second direction when either one of the first and second driving motors is operated. The method according to claim 1,
The extrusion portion
A filament moving part for moving the filament to be introduced in a downward direction;
A heating unit for heating the filament moved by the filament moving unit;
A nozzle for outputting the heated filament into the cavity;
And a cooling unit for cooling the filament moving unit such that heat generated by the heating unit is blocked by the filament moving unit. The method according to claim 6,
The cooling unit includes:
A heat dissipating member contacting the filament moving part;
A heat dissipation fan for cooling the heat dissipation member; And
And a base portion contacting the heating portion. 8. The method of claim 7,
The cooling unit includes:
And a bridge disposed between the base and the cooling fan or the heat dissipation member. The method according to claim 6,
The filament moving unit includes:
A gear for feeding the filament; And
And a motor for driving the gear. The method according to claim 1,
The moving unit
A frame extending in a first direction;
An arm extending in a second direction intersecting the first direction on the frame, the carriage being disposed;
First and second drive motors disposed on the frame and spaced apart from each other;
A timing pulley coupled to the drive motor;
A plurality of idlers disposed on the arms; And
And a timing belt extending through the timing pulley and the plurality of idlers.

Images