KR20180101094A - Three-dimensional product using polymer composite material and manufacturing robot system thereof - Google Patents

Abstract

The present invention relates to a 3D stereoscopic body utilizing a polymer composite material and a robot system for manufacturing the same. More particularly, the present invention relates to a three-dimensional solid body formed with a polymer composite material and a robot system for manufacturing the same. The robot system for manufacturing the 3D stereoscopic body according to an embodiment of the present invention comprises: a mandrel rotating about a first axis (x); a material supply device for receiving a polymer composite material including a core material, a fiber layer surrounding the core material and a coating layer, and heat-treating and discharging the supplied polymer composite material to the surface of the mandrel; and a transporting device for reciprocating the material supply device in a direction of the first axis (x) and a direction of a second axis (y) perpendicular to the first axis.

Description

TECHNICAL FIELD [0001] The present invention relates to a 3D stereoscopic body using a polymer composite material and a robot system for manufacturing the 3D stereoscopic body using the polymer composite material.

The present invention relates to a 3D stereoscopic body using a polymer composite material and a robot system for manufacturing the same, and more particularly, to a 3D stereoscopic body composed of a polymer composite material and a robot system for manufacturing the same.

Recently, a technique for manufacturing an internal reinforcement for reinforcing strength and durability using a plastic composite material has been used. Studies have been actively made on an inner skeleton manufacturing technique such as an additive manufacturing apparatus and an internal stiffener of a polymer / composite material.

3D printing and 3D molding are attracting attention because it can increase the mechanical performance while reducing the amount of raw material of lightweight composite material. Particularly, the lamination processing speed is improved and it can function as a part of the automation process.

Lamination is used in various fields such as automobiles, aircraft, electronics, consumer electronics, sporting goods, construction materials, etc. However, the sophistication of manufacturing, cost reduction, There are still many tasks to do. Particularly, it is very necessary to study the improvement of the rigidity and durability of the raw material which affects the performance of the product by 3D printing or 3D molding.

Lamination machines (3D printers, etc.) form products of desired shapes while controlling the discharge direction, angle and position of thin and long raw materials. For the sophisticated formation of the product, the raw material must be freely controllable (from input to output) by the stacking machine. Further, for the performance of the final formed product, the rigidity and durability of the raw material must be excellent. However, research and development of raw materials capable of securing rigidity and durability while resolving the above-mentioned pre-existing problems have not yet been made.

In addition, a robotic system for manufacturing 3D stereoscopic materials using raw materials having excellent rigidity and durability is also in a state of insufficient.

Korean Patent Publication No. 10-2015-0042660 (published on April 21, 2015)

A problem to be solved by the present invention is to provide a 3D stereoscopic body composed of a polymer composite material including a core material, a fibrous layer and a coating layer and a robot system for manufacturing the same.

In addition, a 3D stereoscopic manufacturing robot system using a mandrel is provided.

Also provided is a 3D stereoscopic manufacturing robot system capable of mass production of 3D stereoscopic objects.

In addition, it provides a 3D stereoscopic material that does not require an injection process to mold a 3D solid, or can reduce injection costs.

According to an aspect of the present invention, there is provided a 3D stereoscopic effect manufacturing robot system comprising: a mandrel rotating around a first axis (x); A polymer composite or a fibrous material, a polymer composite material containing a core layer containing the core material and a fiber layer surrounding the core material, and a coating layer, heat-treating the supplied polymer composite material to discharge the polymer composite material to the surface of the mandrel Feeder; And a transporting device for reciprocating the material supply device in a direction of the first axis (x) and a direction of a second axis (y) perpendicular to the first axis.

According to another aspect of the present invention, there is provided a 3D stereoscopic effect manufacturing robot system comprising: a mandrel rotating around a first axis (x); And a polymer composite material including a core material including at least one of a polymer compound and a fibrous material, a fiber layer surrounding the core material, and a coating layer, the polymer composite material being disposed on one side of the mandrel, A first material supply device for performing heat treatment and discharging to the surface of the mandrel; A second material supply device which is disposed on the other side with respect to the mandrel and receives the polymer composite material and performs heat treatment on the supplied polymer composite material and discharges the polymer composite material to the surface of the mandrel; And a transporting device for reciprocating the first and second material supply devices in the direction of the first axis (x) and the direction of the second axis (y) perpendicular to the first axis.

According to another aspect of the present invention, there is provided a 3D stereoscopic effect manufacturing robot system comprising: a mandrel rotating around a first axis (x); An oven for receiving a polymer composite material including a core material containing at least one of a polymer compound and a fiber material, a fiber layer surrounding the core material and a coating layer, and heat treating the supplied polymer composite material; A first heating unit that receives the heat-treated polymer composite material from the oven and performs heat treatment to discharge the polymer composite material to the surface of the mandrel; And reciprocally moving one side and the other side of the first heating unit in the direction of a second axis (y) perpendicular to the first axis, and the other side of the first heating unit is connected to one side of the first heating unit And a transportation device that rotates a predetermined angle based on the reference.

When a 3D stereoscopic body manufacturing robot system composed of the polymer composite material according to the present invention is used, there is an advantage that 3D stereoscopic bodies of various shapes can be produced using a mandrel.

In addition, there is an advantage that a 3D stereoscopic material can be mass-produced.

The use of the 3D solid material composed of the polymer composite material according to the present invention has an advantage that an injection process for molding a 3D solid material is unnecessary or the injection cost can be reduced.

1 is a top view of a 3D stereoscopic manufacturing robot system according to an embodiment of the present invention.
Fig. 2 is a side view of the 3D stereoscopic manufacturing robot system shown in Fig. 1. Fig.
3 is an example of a polymer composite material used in a 3D solid body manufacturing robot system according to an embodiment of the present invention.
4 is another example of a polymer composite material used in a 3D solid body manufacturing robot system according to an embodiment of the present invention.
Figure 5 shows several examples of 3D stereoscopic images.
6 is an example of a 3D solid having a truss structure.
FIG. 7 shows an example of molding a part of a 3D solid body having the truss structure shown in FIG.
8 is a side view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.
9 is a plan view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.
10 is a side view of a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention shown in FIG.
11 is a plan view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.
12 is a plan view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.
13 is a side view of a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention shown in Fig.
14 is a plan view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.

Hereinafter, a braided hybrid material manufacturing system according to the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are only examples for understanding the present invention and are not intended to limit the structure, use, and application of the present invention. The description of the embodiments of the present invention can be understood in connection with the accompanying drawings, and the attached drawings can be regarded as part of the description of the present invention.

1 is a plan view of a 3D stereoscopic manufacturing robot system according to an embodiment of the present invention, and Fig. 2 is a side view of a 3D stereoscopic manufacturing robotic system shown in Fig.

1 and 2, a 3D stereoscopic manufacturing robot system according to an embodiment of the present invention includes a material supply apparatus 100, a transportation apparatus 300, and a mandrel apparatus 500.

The material supply device 100 receives the polymer composite material 50 from the outside, heat-treats the provided polymer composite material 50, and discharges the heat-treated polymer composite material 50. Here, the material supply device 100 can discharge a predetermined amount of the heat-treated polymer composite material 50 at a constant speed.

The polymer composite material 50 provided to the material supply apparatus 100 may be a continuous strand of a polymer material or a composite material, a yarn, a polymer composite (tow) A bundle, a band, a tape, and the like. Examples of the polymer material include thermoplastics such as PLA, PE, PP, PA, ABS, PC, PET, PEI and PEEK; thermosetting resins such as epoxy, unsaturated polyester, PI, gt; thermosetting < / RTI > resins. The polymer material is not limited thereto. Here, the reinforcing fibers may be GF (glass fiber), CF (carbon fiber), NF (natural fiber), AF (aramid fiber), or the like. The composite material may be a fiber material mixed with the polymer material. The fibers may be glass fiber, carbon fiber, boron fiber, alumina fiber, silicon carbide fiber, aramid fiber, various whiskers, or a combination thereof. But is not limited thereto.

Another specific example of the polymer composite material 50 will be described with reference to Figs. 3 to 4. Fig.

FIG. 3 is an example of a polymer composite material used in a 3D stereoscopic manufacturing robot system according to an embodiment of the present invention, and FIG. 4 is a schematic view of a polymer composite material used in a 3D stereoscopic manufacturing robot system according to an embodiment of the present invention. Another example.

3 and 4, the polymer composite material 50, 50 'includes a core layer 52 and a fibrous layer 54 surrounding the core layer 52 and a coating layer 56.

The polymer composite material 50 shown in Fig. 3 has a structure in which the core layer 52 is surrounded by the fibrous layer 54 and the fibrous layer 54 is surrounded by the coating layer 56. The polymer composite material 50 Is different in that the core layer 52 is surrounded by the coating layer 56 and the coating layer 56 is surrounded by the fiber layer 54.

The core 52 in the polymer composite material 50, 50 'shown in Figs. 3 and 4 includes at least one of a polymer compound and a fiber material. The polymer compound may include at least one of a thermoplastic resin and a thermosetting resin. For example, the polymer compound may be selected from the group consisting of polylactic acid (PLA), polyethylene (PE), polypropylene (PP), polyamide (PA), acrylonitrile-butadiene- Poly (methyl methacrylate) (PMMA), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), polyetherimide PEI), polyphenylene sulfide (PPS), polyetheretherketone (PEEK), ethylene vinyl acetate (EVA), polyurethane (PU), epoxy (EP) And may include at least one of Unsaturated Polyester (UP), Polyimide (PI), and Phenolic (PF). The fiber material may include at least one of glass fiber, carbon fiber, natural fiber, aramid fiber, ceramic fiber, viscous fluid fiber, shape memory alloy fiber, optical fiber and piezoelectric fiber. When mixed with a polymer compound, the fiber material may be a reinforcing material of the polymer compound. Some fiber materials can be encapsulated. For example, the fibrous material may be coated with several layers. In this case, the fiber material may have a structure of a cable having a small diameter.

The shape of the core 52 may include not only the strand shape but also the band shape and the like. For example, the shape of the core 52 may be substantially the same as the shape of successive strands, yarns, polymeric composites, bundles, bands, tapes, and the like. The core member 220 may have unidirectionality.

For example, the core 52 may be a unidirectional strand. To this end, the core 52 may be formed by consolidating the preheated material strands. That is, the core 52 may be formed by consolidating a material strand containing at least one of a polymer compound or a fiber material at a predetermined temperature. The material strand may be wound on at least one bobbin provided with a krill unit. According to an embodiment, two or more material strands comprising different materials may be wound on one bobbin. The bobbin can align the material strands and can store the material strands. The material strand may be unwound from the bobbin, and the unwound material strand may be fed to the preheat location of the preheat unit. In the preheat position, the material strands can be preheated to a predetermined temperature. Where the predetermined temperature may be a temperature sufficient for the material strands to compress and consolidate. The material strand may be preheated to a predetermined temperature by the preheating unit and the preheated material strand may be supplied to the compression unit. The preheated material strand can be consolidated. The material strands having a predetermined temperature can be compressed and consolidated together by two or more compression units. During the preheating and consolidation process, two or more of the material strands may be joined together. As a result, the core member 52 having unidirectionality can be formed.

According to an embodiment, different material strands of constituent material may be combined with each other. In this case, the formed core 52 may comprise two or more materials.

The fibrous layer 54 in the polymeric composite material 50, 50 'shown in Figs. 3 and 4 may comprise a fibrous material. For example, the fiber layer may include at least one of glass fiber, carbon fiber, natural fiber, aramid fiber, ceramic fiber, viscous fluid fiber, shape memory alloy fiber, optical fiber and piezoelectric fiber. Some fiber materials can be encapsulated. For example, the fibrous material may be coated with several layers. In this case, the fiber material may have a cable structure having a small diameter. The fibrous material contained in the core material 52 and the fibrous material contained in the fibrous layer 54 may be substantially identical to each other but the fibrous material contained in the core material 52 and the fibrous material contained in the fibrous layer 54 are substantially different from each other .

The fibrous layer 54 may include at least one of a thermoplastic resin and a thermosetting resin. For example, the fibrous layer 54 may be formed of a material selected from the group consisting of polylactic acid, polyethylene, polypropylene, polyamide, EVIE, polymethacrylic acid methyl, polycarbonate, polyethylene terephthalate, polybutylene terephthalide, polyether imide, , Polyetherketone, ethylene vinyl acetate, polyurethane, epoxy, unsaturated polyester, polyimide, and phenolic.

The fibrous layer 54 may have a braided structure. For example, the fibrous material may be braided on the core 52 by a braiding unit. Here, the braiding unit may have a plurality of bobbins wound around the fiber material, and the bobbins may be disposed on the same circumference at predetermined intervals. When the core member 52 passes through the center of the circumference, many bobbins can rotate and move along the circumference at the same time. At this time, the fiber material can be loosened from the bobbin, and the loosened fiber material can be braided on the core material 52 to form a braided structure. The braided fiber layer 54 may have sufficient rigidity to withstand the strain or load radially exerted by the core 52.

The coating layer 56 in the polymer composite material 50, 50 'shown in FIGS. 3 and 4 may include a polymer compound. Here, the polymer compound may include a coating polymer. The coating polymer may have a rheological characteristic suitable for bonding the solid to be formed on the basis of the polymer composite material 50. That is, the coating polymer can make the solid to be formed based on the polymer composite material 50 have a suitable bonding with the adjacent material. To this end, the coating polymer may be chosen as one of the materials having suitable chemical and / or physical adhesion. For example, a coating polymer having high viscosity may be selected in the embodiment shown in FIG. 3 where the coating layer 160 is disposed on the surface of the formed polymer composite material 50. Further, the coating polymer can be selected to withstand the strong shear forces that will arise at the interface with the adjacent materials of the subsequently formed solid body.

On the other hand, if a specific texture or configuration is required for the polymer composite material 50, a gripping configuration may be formed on the surface of the polymer composite material 50. That is, the coating layer 160 may include a gripping structure. The gripping structure may be a structure that enhances mutual mechanical bonding. For example, the gripping structure can improve the bonding force between the polymer composite material 50 and the subsequent overmolding material. The coating polymer may provide "chemical" bonding, and the gripping structure may provide additional "mechanical" bonding. The gripping structure may have a specific surface texture or pattern of the polymer composite material 50 and may increase the overall contact area.

The polymeric composites 50 and 50 'shown in FIGS. 3 and 4 adjust the performance, such as stiffness, durability and impact, based on the physical interaction between the core 52, the fibrous layer 54 and the coating layer 56 .

Referring again to Figures 1 and 2, the material supply apparatus 100 includes a first heating unit 110 and a second heating unit 130.

The first heating unit 110 receives the polymer composite material 50 and changes the state of the polymer composite material 50 by applying heat to the polymer composite material 50 to provide the polymer composite material 50, To the mandrel apparatus 500. Here, the heat applied to the polymer composite material 50 in the first heating unit 110 is lower than the heat applied in the second heating unit 130.

The first heating unit 110 may be a pipe heater. The first heating unit 110 is formed in a straight or straight line in the second axis y direction and has a predetermined length.

The reason why the first heating unit 110 has a predetermined length in the second axial direction is attributable to the polymer composite material 50. Since the polymer composite material 50 or 50 'shown in FIG. 3 or 4 includes the core material 52, the fibrous layer 54 and the coating layer 56, it is difficult to easily bend or deform due to external force. Therefore, if the first heating unit 110 has a predetermined length in the direction of the second axis y, the polymer composite material 50, 50 'shown in FIG. 3 or 4 is not bent or deformed by an external force, The polymer composite materials 50 and 50 'can be used.

The first heating unit 110 may be mounted on the supports 310a and 310b. One side of the first heating unit 110, i.e., the side where the polymer composite material 50 is provided, may be mounted on the first support portion 310a. The side of the first heating unit 110 on which the polymer composite material 50 heated by the first heating unit 110 is discharged may be mounted on the second support part 310b.

The first support part 310a is disposed on the first transportation part 330a and is reciprocatable in the first axis x direction by driving the first transportation part 330a. A moving rail 315a may be disposed between one side of the first heating unit 110a and the first supporting unit 310a. The moving rail 315a is arranged in the direction of the second axis y and one side of the first heating unit 110 is mounted on the moving rail 315a. The first heating unit 110 is reciprocally movable in the direction of the second axis y along the moving rail 315a.

A nozzle through which the heat-treated polymer composite material 50 is discharged may be provided on the other side of the first heating unit 110, that is, on the side from which the polymer composite material 50 heated by the first heating unit 110 is discharged .

The second heating unit 130 is disposed on the other side of the first heating unit 110, that is, adjacent to the side from which the polymer composite material 50 heated by the first heating unit 110 is discharged, Heat is applied to the polymer composite material 50 discharged from the unit 110. The heat applied by the second heating unit 130 is higher than the heat applied by the first heating unit 110. [ The heat applied by the second heating unit 130 is for imparting optimum flexibility and moldability to the polymer composite material 50 and the heat applied by the first heating unit 110 is applied to the polymer composite material 50 So that the polymer composite material 50 does not greatly affect the movement of the inside of the first heating unit 110 having a predetermined length.

The second heating unit 130 may be disposed on the mandrel 510. Immediately before the polymer composite material 50 discharged from the first heating unit 110 is formed on the mandrel 510, the second heating unit 130 applies additional heat to the polymer composite material 50, The moldability of the material 50 can be increased.

The second heating unit 130 may be a hot air or a halogen heater.

The transport apparatus 300 transports the material supply apparatus 100. The transport apparatus 300 can transport the material supply apparatus 100 in at least one or more axial directions. For example, as shown in the figure, the transport apparatus 300 can transport the material supply apparatus 100 in the direction of the first axis (x) and in the direction of the second axis (y).

The transport apparatus 300 includes support portions 310a and 310b for supporting the material supply device 100 and transport portions 330a and 330b for transporting the support portions 310a and 310b in the direction of the first axis x and the second axis y, 330b and motors 350, 370 and timing belts 390 for driving the transport parts 330a, 330b.

The timing belt 370 is driven by the rotation of the first motor 350 and the first and second transport parts 330a and 330b are driven by the first and second support parts 310a, 310b in the direction of the first axis (x). The second transport part 330b reciprocally moves the second support part 310b in the second axis y direction by the second motor 370. [ The first heating unit 110 is reciprocally movable in the direction of the second axis y in conjunction with the reciprocal movement of the second support portion 310b.

The first and second motors 350 and 370 may be a servo motor or a stepping motor.

The mandrel apparatus 500 includes a mandrel 510 and a third motor 530 for rotating the mandrel 510 about the first axis x as a center axis. The mandrel 510 rotates about the first axis x by the third motor 530.

As the transport apparatus 300 transports the material supply apparatus 100 in the direction of the first axis x and / or the second axis y and the mandrel 510 of the mandrel apparatus 500 rotates, The polymer composite material 50 discharged from the first heating unit 110 of the material supply apparatus 100 may be formed in a predetermined shape predetermined on the surface of the rotating mandrel 510. [ For example, referring to FIG. 5, a 3D stereolithography 50 '', 50 'composed of a polymer composite material is formed on a mandrel 510, 510' '' ') Can be produced.

A 3D stereoscopic manufacturing robot system according to an embodiment of the present invention can produce a 3D solid object 50 " '" having a truss structure as shown in Fig. Unlike conventional 3D stereoscopic objects, the 3D stereoscopic body 50 '' '' having the truss structure does not require an injection process or can perform an injection process only on a part of the 3D stereoscopic body 50 '' '' to reduce the injection cost There is an advantage. This is because the 3D solid object 50 "'' having the truss structure can be composed of the polymer composite material 50, 50 'shown in FIG. 3 or FIG. Since the polymer composite materials 50 and 50 'shown in FIG. 3 or 4 are excellent in rigidity, a molding formed by an injection process is formed outside the 3D solid object 50' '' 'having the truss structure You do not have to. On the other hand, even if molding is formed outside the 3D solid object 50 '' '' having the truss structure, as shown in FIG. 7, molding is performed on the entire outside of the 3D solid object 50 '' '' having the truss structure It is not necessary to form the molding 60, and the molding 60 may be formed only in a part of the exterior of the 3D solid object 50 '' '' having the truss structure.

8 is a side view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.

The 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in FIG. 8 includes a plurality of mandrel apparatuses 500 of a 3D stereoscopic material manufacturing robot system according to an embodiment of the present invention shown in FIG. 1 . That is, the 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in FIG. 8 includes a plurality of mandrel devices 500-1, 500-2, 500-3, 500-4, and 500-5 do.

The plurality of mandrel devices 500-1, 500-2, 500-3, 500-4, and 500-5 may be arranged in a line along the third axis z. In addition, the plurality of mandrel apparatuses 500-1, 500-2, 500-3, 500-4, and 500-5 are arranged in a line along the first axis (x) . Therefore, the direction in which the plurality of mandrel devices 500-1, 500-2, 500-3, 500-4, and 500-5 are arranged in a row is not limited to a specific direction.

The 3D stereoscopic material manufacturing robot system according to another embodiment of the present invention shown in FIG. 8 is a robot system in which a plurality of mandrel apparatuses 500-1 and 500-2 , 500-3, 500-4, and 500-5. Accordingly, the 3D stereoscopic manufacturing robot system according to another embodiment of the present invention shown in FIG. 8 can mass-produce 3D stereoscopic bodies composed of the polymer composite material 50 formed on the mandrel 510 surface of the mandrel apparatus 500 There is an advantage to be able to.

In particular, the 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in Fig. 8 is not limited to the 3D stereoscopic bodies 50 " and 50 " 'shown in Fig. 5, There is an advantage that mass production of a 3D solid object 50 " '" having a truss structure can be achieved.

FIG. 9 is a plan view of a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention, and FIG. 10 is a side view of a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention shown in FIG.

A 3D stereoscopic manufacturing robot system according to another embodiment of the present invention shown in Figs. 9 and 10 includes a first material supply device 100a and a second material supply device 100b. Further, a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention includes a mandrel apparatus 500 disposed between a first material supply apparatus 100a and a second material supply apparatus 100b.

Since the first material supplying apparatus 100a and the second material supplying apparatus 100b simultaneously form the polymer composite material 50 on the surface of one mandrel 510, the 3D stereogenic manufacturing robot system There is an advantage that it is possible to produce a 3D solid object more rapidly.

The first material supply device 100a includes a first heating unit 110a and the second material supply device 100b also includes a first heating unit 110b. Here, the first heating units 110a and 110b are the same as those of the first heating unit 110 shown in FIG. 1, but may be arranged so that their placement directions are opposite to each other.

A 3D stereoscopic manufacturing robot system according to another embodiment of the present invention includes a second heating unit 130. [ The second heating unit 130 is disposed between the other side of the first heating unit 110a of the first material supply device 100a and the other side of the first heating unit 110b of the second material supply device 100b To the two polymer composite materials 50 discharged from the other side of the first heating unit 110b of the first material supply device 100a and the first heating unit 110b of the second material supply device 100b Heat is applied.

A 3D stereoscopic manufacturing robot system according to another embodiment of the present invention includes a transportation device 300 '. The transport device 300 'transports the first material supply device 100a and the second material supply device 100b in the direction of the first axis x or / and the second axis y.

The transport device 300 'includes a first support portion 310a, a second support portion 310b, a third support portion 310c, and a fourth support portion 310d. The first supporting portion 310a and the second supporting portion 310b support and carry the first heating unit 110a of the first material supplying device 100a and the third supporting portion 310c and the fourth supporting portion 310d And supports and conveys the first heating unit 110b of the second material supply device 100b.

The first support portion 310a supports one side of the first heating unit 110a of the first material supply device 100a and the second support portion 310b supports the other side of the first heating unit 110a of the first material supply device 100a, (110a). A moving rail may be disposed between one side of the first supporting unit 310a and the first heating unit 110a. One side of the first heating unit 110a is reciprocable along the moving rail in the direction of the second axis y.

The third support portion 310c supports one side of the first heating unit 110b of the second material supply device 100b and the fourth support portion 310d supports the one side of the first heating unit 110b of the second material supply device 100b, (110b). A moving rail may be disposed between one side of the third supporting unit 310c and the first heating unit 110b. One side of the first heating unit 110b is reciprocally movable along the movement rail in the direction of the second axis y.

The transport device 300 'includes a first transport portion 330a, a second transport portion 330b, and a third transport portion 330c. The first support part 310a is disposed on the first transport part 330a and the first support part 310a is supported by the first transport part 330a in the first axis x and / . The third support portion 310c is disposed on the second transportation portion 330b and the third support portion 310c is supported by the second transportation portion 330b in the direction of the first axis x or / . The third transporting part 330c is disposed between the first transporting part 330a and the second transporting part 330b and the second supporting part 310b and the fourth supporting part 310d are disposed on the third transporting part 330c. . The second support portion 310b and the fourth support portion 310d are independently moved in the first axis x or / and the second axis y by the third transport portion 330c.

The transport apparatus 300 'includes a plurality of motors 350a, 350b, 370a, and 370b for driving the first to third transport units 330a, 330b, and 330c. The plurality of motors 350a, 350b, 370a, and 370b may be a servo motor or a stepping motor.

The 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in Fig. 10 includes the 3D stereoscopic bodies 50 " and 50 " 'shown in Fig. 5 as well as the truss structure Can be produced more rapidly than a 3D stereoscopic manufacturing robot system according to the embodiment shown in Fig.

11 is a plan view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.

The 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in Fig. 11 is a system in which a mandrel apparatus 500 of a 3D stereoscopic manufacturing robotic system according to another embodiment of the present invention shown in Fig. Respectively. That is, the 3D stereoscopic manufacturing robot system according to another embodiment of the present invention shown in FIG. 11 includes a plurality of mandrel apparatuses 500-1, 500-2, and 500-3.

The plurality of mandrel devices 500-1, 500-2, and 500-3 may be arranged in a line along the first axis (x) direction. In addition, the plurality of mandrel apparatuses 500-1, 500-2, and 500-3 may be arranged in a line along the third axis z, unlike that shown in Fig. Therefore, the direction in which the plurality of mandrel devices 500-1, 500-2, 500-3 are arranged in a row is not limited to a specific direction.

The 3D stereoscopic material manufacturing robot system according to another embodiment of the present invention shown in Fig. 11 is a system in which the first and second material supply devices 100a and 100b move in the first axis (x) The polymer composite material 50 is formed on the substrate 500-1, 500-2, 500-3. Therefore, the 3D stereoscopic effect manufacturing robot system according to still another embodiment of the present invention shown in FIG. 11 is a 3D stereoscopic body manufacturing robot system in which a 3D stereoscopic body composed of the polymer composite material 50 formed on the mandrel 510 surface of the mandrel apparatus 500 is mass- There is an advantage to be able to produce.

In particular, the 3D stereoscopic effect manufacturing robot system according to still another embodiment of the present invention shown in Fig. 11 is not limited to the 3D stereoscopic bodies 50 " and 50 " 'shown in Fig. 5, There is an advantage that mass production of a 3D solid object 50 " '" having a truss structure can be achieved.

Fig. 12 is a plan view of a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention, and Fig. 13 is a side view of a 3D stereoscopic manufacturing robot system according to still another embodiment of the present invention shown in Fig.

12 to 13, a 3D stereoscopic manufacturing robot system according to another embodiment of the present invention includes a material supply apparatus 100 ', a transportation apparatus 300' ', and a mandrel apparatus 500 .

The material supply device 100 'includes a first heating device 110', a second heating device 130, and an oven 150.

The first heating device 110 'heat-treats the polymer composite material 50 provided from the oven 150 and discharges it to the surface of the mandrel 510 of the mandrel apparatus 500.

The first heating device 110 'may be a pipe heater formed in a straight or straight line in one direction.

Can be rotated by a predetermined angle based on one side of the first heating device 110 ', that is, the side from which the polymer composite material 50 is supplied from the oven 150. Here, the first heating device 110 'may maintain a perpendicular to the third axis z when rotating at a predetermined angle.

One side of the first heating device 110 'is mounted on the moving rail 315a and is reciprocating in the direction of the second axis y.

The second heating device 130 may be the same as the second heating device 130 shown in FIG. In addition, the second heating device 130 may move with the movement of the other side of the first heating device 110 ', that is, the side on which the polymer composite material 50 is discharged.

The oven 150 is a device for heat-treating the polymer composite material 50 supplied to the material supply device 100 '. The oven 150 is particularly useful in the 3D stereoscopic manufacturing robotic system shown in Figures 12 and 13. [ This is because, unlike the previous embodiments, the first heating unit 110 'of the present embodiment rotates a predetermined angle with respect to one side, because the circular polymer composite material 50 has a large rigidity . When the circular polymer composite material 50 is directly supplied to the first heating unit 110 ', the first heating unit 110' rotates at a predetermined angle due to the rigidity of the circular polymer composite material 50 it's difficult.

The transport device 300 " includes a first support 310a and a second support 310b.

The first support 310a supports one side of the first heating unit 110 '. A moving rail 315a may be disposed between one side of the first supporting unit 310a and the first heating unit 110 '. The movable rail 315a is disposed in the second axis (y) direction. One side of the first heating unit 110 'is mounted on the movable rail 315a and moves forward or backward in the direction of the second axis y.

The second support base 310b is disposed on the transportation part 330 and is reciprocatable to the first axis x by driving the transportation part 330. [ The second support base 310b supports the other side of the first heating unit 110 '. The other side of the first heating unit 110 'moves in the direction of the first axis (x) in association with the movement of the second support base 310b in the direction of the first axis (x).

The transportation device 300 '' includes a first motor 350 that reciprocates the transportation part 330 in the first axis (x) direction. The transport device 300 '' may also include a second motor 370 that reciprocates the second support 310b in the direction of the second axis y.

The mandrel apparatus 500 includes a mandrel 510 and a third motor 530. Since the mandrel apparatus 500 is the same as the mandrel apparatus 500 described with reference to FIG. 1, a detailed description thereof will be omitted.

The 3D stereoscopic manufacturing robot system shown in Figs. 12 and 13 is not limited to the 3D stereoscopic bodies 50 '' and 50 '' 'shown in Fig. 5 but also the 3D stereoscopic bodies 50' '' shown in Fig. ').

14 is a plan view of a 3D solid body manufacturing robot system according to another embodiment of the present invention.

The 3D stereoscopic effect manufacturing robot system according to still another embodiment of the present invention shown in FIG. 14 includes a plurality of mandrel apparatuses 500 of a 3D stereoscopic material manufacturing robot system according to another embodiment of the present invention shown in FIG. 13 do. That is, the 3D stereoscopic effect manufacturing robot system according to still another embodiment of the present invention shown in Fig. 14 includes a plurality of mandrel devices 500-1, 500-2, and 500-3.

The plurality of mandrel devices 500-1, 500-2, and 500-3 may be arranged in a line along the first axis (x) direction. Further, the plurality of mandrel apparatuses 500-1, 500-2, and 500-3 may be arranged in a line along the third axis z, unlike that shown in Fig. Therefore, the direction in which the plurality of mandrel devices 500-1, 500-2, 500-3 are arranged in a row is not limited to a specific direction.

The 3D stereoscopic material manufacturing robot system according to another embodiment of the present invention shown in FIG. 14 includes a plurality of mandrel devices 500-1, 500 (500-1, 500-2) in which the material supply device 100 ' -2, and 500 - 3, the polymer composite material 50 is formed. Therefore, the 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in FIG. 14 is a 3D stereoscopic body manufacturing robot system in which a 3D stereoscopic body composed of the polymer composite material 50 formed on the mandrel 510 surface of the mandrel apparatus 500 is mass- There is an advantage to be able to produce.

In particular, the 3D stereoscopic effect manufacturing robot system according to another embodiment of the present invention shown in Fig. 8 is not limited to the 3D stereoscopic bodies 50 " and 50 " 'shown in Fig. 5, There is an advantage that mass production of a 3D solid object 50 " '" having a truss structure can be achieved.

While the foregoing description and accompanying drawings illustrate possible embodiments of the invention, the scope of the invention is defined only by the appended claims. That is, various additions, modifications and substitutions may be made without departing from the scope of the present invention as set forth in the appended claims, and may be embodied in other specific forms, structures, arrangements, It can be implemented together. In addition, it will be apparent to those skilled in the art that various changes in form and detail may be made therein without departing from the basic principles of the invention, which will be apparent to those skilled in the art.

50 ... ... Polymer composite materials
100 ... material supply device
110 ... ... The first heating unit
130 ... ... The second heating unit
150 ... ... Oven
300 ... ... Transportation device
500 ... ... Mandrel device

Claims (18)

A mandrel rotating about a first axis (x);
A polymer composite or a fibrous material, a polymer composite material containing a core layer containing the core material and a fiber layer surrounding the core material, and a coating layer, heat-treating the supplied polymer composite material to discharge the polymer composite material to the surface of the mandrel Feeder; And
A transportation device for reciprocating the material supply device in a direction of the first axis (x) and a direction of a second axis (y) perpendicular to the first axis;
And a 3D stereoscopic manufacturing robot system.
The apparatus according to claim 1,
A first heating unit for heat-treating the polymer composite material; And
A second heating unit disposed on the mandrel and heat-treating the polymer composite material discharged from the first heating unit;
And a 3D stereoscopic manufacturing robot system.
The method according to claim 1,
Wherein the material supply device includes a first heating unit that performs heat treatment of the polymer composite material supplied to one side and discharges the polymer composite material to the other side,
The transportation device comprises:
A first support portion for supporting one side of the first heating unit;
A second supporting portion for supporting the other side of the first heating unit;
A first transport unit reciprocating the first support unit in the first axis direction;
A second transport part for reciprocating the second support part in the first axis direction; And
A plurality of motors for driving the first transportation portion and the second transportation portion and reciprocating the first support portion and the second support portion in the second axial direction;
And a 3D stereoscopic manufacturing robot system.
The method of claim 3,
Further comprising a movable rail disposed between the first support portion and one side of the first heating unit and disposed in the second axial direction,
Wherein one side of the first heating unit moves along the moving rail.
The method according to claim 1,
Wherein the mandrel is plural,
The plurality of mandrels are arranged in a line in a uniaxial direction,
And the material supply device moves in the uniaxial direction to form the polymer composite material on the surfaces of the plurality of mandrels.
6. The method of claim 5,
Wherein the uniaxial direction is a first axis direction, or a third axis direction perpendicular to the first axis and the second axis.
A mandrel rotating about a first axis (x);
And a polymer composite material including a core material including at least one of a polymer compound and a fibrous material, a fiber layer surrounding the core material, and a coating layer, the polymer composite material being disposed on one side of the mandrel, A first material supply device for performing heat treatment and discharging to the surface of the mandrel;
A second material supply device which is disposed on the other side with respect to the mandrel and receives the polymer composite material and performs heat treatment on the supplied polymer composite material and discharges the polymer composite material to the surface of the mandrel; And
A transport device for reciprocating said first and second material supply devices in a direction of said first axis (x) and a direction of a second axis (y) perpendicular to said first axis;
And a 3D stereoscopic manufacturing robot system.
8. The method of claim 7,
Wherein the first material supply device includes a first heating unit for heat-treating the polymer composite material,
Wherein the second material supply device includes a first heating unit for heat-treating the polymer composite material,
A first material supplying device for supplying heat to the polymer composite material discharged from the first heating unit, and a second material supplying device for discharging the polymer composite material discharged from the second heating unit, 2 < / RTI > heating unit.
8. The method of claim 7,
Wherein the mandrel is plural,
The plurality of mandrels are arranged in a line in a uniaxial direction,
Wherein the first and second material supply devices move in the uniaxial direction to form the polymer composite material on the surfaces of the plurality of mandrels.
10. The method of claim 9,
Wherein the uniaxial direction is a first axis direction, or a third axis direction perpendicular to the first axis and the second axis.
A mandrel rotating about a first axis (x);
An oven for receiving a polymer composite material including a core material containing at least one of a polymer compound and a fiber material, a fiber layer surrounding the core material and a coating layer, and heat treating the supplied polymer composite material;
A first heating unit that receives the heat-treated polymer composite material from the oven and performs heat treatment to discharge the polymer composite material to the surface of the mandrel; And
Wherein one side and the other side of the first heating unit are reciprocally moved in a direction of a second axis (y) perpendicular to the first axis, and the other side of the first heating unit is connected to one side of the first heating unit To a predetermined angle;
And a 3D stereoscopic manufacturing robot system.
12. The method of claim 11,
And a second heating unit disposed on the mandrel to heat-treat the polymer composite material discharged from the first heating unit.
12. The method of claim 11,
Wherein the mandrel is plural,
The plurality of mandrels are arranged in a line in a uniaxial direction,
Wherein the polymer composite material is formed on a surface of the plurality of mandrels while the plurality of mandrels are moved in the one axial direction.
14. The method of claim 13,
Wherein the uniaxial direction is a first axis direction, or a third axis direction perpendicular to the first axis and the second axis.
15. The method according to any one of claims 1 to 14,
Wherein the fibrous layer surrounds the core material and the coating layer surrounds the fibrous layer.
15. The method according to any one of claims 1 to 14,
Wherein the coating layer surrounds the core material, and the fibrous layer surrounds the coating layer.
14. A 3D solid body, manufactured by the 3D solid body manufacturing robot system according to any one of claims 1 to 14, having a truss structure.
18. The method of claim 17,
The polymer compound may be selected from the group consisting of polylactic acid (PLA), polyethylene (PE), polypropylene (PP), polyamide (PA), acrylonitrile-butadiene- (PMMA), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), polyetherimide (PEI), polyetherimide (PPS), polyetheretherketone (PEEK), ethylene vinyl acetate (EVA), polyurethane (PU), epoxy (EP), unsaturated polyester (UP), polyimide (PI), and phenolics (PF).

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