LT6298B - 3d object printing device with at least two print heads and table interconnected via at least seven axes and method for their operation - Google Patents

Abstract

This invention description presents a device for three-dimensional object moulding by printing, which has at least two print heads and print table interconnected via at least seven axes: three axes for each print head and one axis for table. The print heads and table are controlled by control system with artificial intelligence optimising trajectories of movement of print heads and table as well as their interaction to make printing as fast as possible. Furthermore, the said artificial intelligence has a learning function that compares trajectory optimisation results with actual results of printing, analyses reasons for possible mismatches, considers these reasons and refers to them in future compilation of printing algorithms, identifies possible malfunctions, prevents them etc.

Description

The present invention relates to one of several types of three-dimensional object printing, in which the material forming the printed object is injected into the substrate in separate layers. After that, other layers are placed on the existing printed surfaces and thus, layer by layer, the object to be printed is formed. Injection of material in international literature (sometimes in this description) is called extrusion; material injectors, either by extruders or printheads. Extruders ensure proper extrusion of material at the right time. When designing a print object, it is imperative that the print media is placed exactly where it is intended in the project, which can be achieved by accurately positioning the print head or the substrate on which the print object is formed, or both. A wide variety of materials are used to form printable objects, but the most common ones today are plastics of various types with different impurities that exhibit the ability to cure at a certain temperature.

The inventors patented by S. Scott Crump in 1989 (US5121329A, June 9, 1992) are considered to have begun printing on this principle. In those days, 3D printers were extremely expensive. Nowadays, 3D printers are considered one of the fastest evolving technologies promising to change the world (Richard A. D'aveni 3-D Printing Will Change the World [online] March 2013 [Viewed 17.10.2014] <http: //hbr.orq/2013/ 03/3-d-printing-will-change-the-world />). The proliferation of three-dimensional printers to mass production, and thus the spread amongst household consumers (who can not only buy but also make them themselves), has been driven by the aforementioned S. Scott

The expiration of the Crump patent, the significant reduction in the cost of components (precise stepper motors and their controls).

Despite the aforementioned proliferation of 3D printers, one of the biggest challenges facing these device developers and manufacturers is increasing print speeds without sacrificing print accuracy. The present invention provides a method, not previously found, of increasing print speed by ensuring the accuracy of a printable object: the printer uses at least two independently movable print heads; single-axis pallet; linking these objects with seven printing axes; using artificial intelligence tools to control these objects, enabling long-term optimization of head and pallet movement trajectories and interactions between them, providing effective speed boost. Such a printer does not have sophisticated hardware, but it provides higher print speeds compared to single head printers.

Patent application CN103737934A April 23, 2014 provides a solution where two printers are equipped with two nozzles. This increases the speed at which the print object is formed, but since both guns are in the same head and cannot move in different trajectories, the efficient use of guns to achieve maximum print speeds is lost.

Literature CN203371926U 01/01/2014 discloses a 3D printer with two print heads that can move independently of one another and can move at different speeds. The present invention provides printheads that not only move in the same manner as those cited in the cited application, but also increase and optimize the print speed on the Y3 axis. Unlike the decision in this description, the cited application makes no mention of the mode of management.

CN203528092U 09.04.2014 describes a device in which two printheads are moved by a single motor using a triangular mounting structure. The inventors note that this solution is suitable for multicolor printable objects without mentioning the possible increase in speed. The two print heads are not designed to increase print speeds, but enable the printer to print objects of more than one color. The cited application does not mention anything about pallet movement and printer control.

By TJ McCue in a February 28, 2014 article (TJ McCue 500Χ Faster - New Ultra-fast 3D Printer In Works [online] 28/02/2014 [accessed 17/10/2014] {<http://www.forbes.com/sites/timccue/ 2014/02/28 / 500x-faster-new-ultra-fast-3d-printer-in-works />) provides information on trying to make an ultra-fast 3D printer.The main reasons for high-speed discovery - media form - chips ( pellets) - and the diameter of the nozzle opening is much larger than the usual printhead.

Radiant fabrication provides printers with 4 or 8 print heads for faster print speeds. Their solution is the aforementioned quantities of heads, but all heads move together in the same trajectory. (Colin Druce-McFadden Print Your Designs Faster With This High-Speed 3D Printer [Online] 19/09/2013 [Viewed 17/10/2014] <http://www.dvice.com/2013-9-19/print-vour-designs -faster-high-speed3d-printer>). In the present invention, at least two heads are capable of moving independently of each other in all directions.

Brian Krassenstein June 16, 2014 article (Brian Krassenstein 3D Systems Reveals Details of 3D Printing Assembly Line, 50Χ Faster Than Other Printers [Online] 16/06/2014 [Viewed 17/10/2014] <http://3dprint.com/6293/3d-printingassemblv-line>) published information on 3D Systems' industrial high-speed 3D printer. From the information provided, it is evident that speed is achieved by increasing the number of printheads and by forcing the tray on which the printed object is formed to move. This method differs from the present invention in that the pallet mentioned in the article moves on a conveyor principle. This is more of an industrial printer, unlike this description.

THE SUBSTANCE OF THE INVENTION

This description provides a 3D printer that delivers faster print speeds compared to single-head printers without sacrificing print accuracy and complicating printer production and operation.

At least two independently controlled printheads and a tray that are interconnected by at least seven axes (X1, Y1, Z1, Χ2, Y2, Z2, Y3, etc.) are the key design features that provide these features. These axes act as guides for moving elements (heads and pallets) to determine the direction of moving elements in the print space. The movement itself is enabled by an actuator consisting of a stepper motor, its controller, movement elements (threaded rods, pulleys, belts, etc.) and other structural units. In the case of two printheads and a tray, the X1, Y1, Z1 axes are designed to change the position of one printhead in space; axes X2, Y2, Z2 change the position of the other head; axis Y3 changes the position of the pallet.

Artificial intelligence enabling full control of the printing process is required to make the most of the mechanical design features listed above to achieve this higher print speed. One of the most important factors in printer performance is the movement of moving printheads and trays for moving print parts. The control system for the printer in this description is characterized by artificial intelligence that computes the optimum trajectories of moving parts of the print and their interactions for maximum printing speed. Artificial intelligence has the ability to learn by analyzing the response of a controlled object to control commands, evaluating the calculated optimal motion trajectories and their alternatives. By analyzing and learning the control system, it is able to adapt to the object under control and thus seek the most effective control - i.e. has adaptive properties.

The present invention comprises at least two printheads and a tray connected by at least seven axes, and means for controlling the printing process by means of artificial intelligence with adaptive properties capable of achieving maximum printing speed.

BRIEF DESCRIPTION OF THE DRAWING FIGURES

FIG. Figure 1 is an axonometric projection of a 3D printer printing system comprising printheads, a tray, directions of movement, and mechanical structures for movement and positioning; view from the printer corner.

FIG. Fig. 2 is an axonometric projection of a motion and positioning mechanical design drawing creating the movement and direction of a 3D printer pad; view from the bottom of the printer.

FIG. Figure 3 shows a system of pulleys and a belt system for moving the head in the Z axis. The said system transmits motion from the Z axis which is connected to the Z stepper motor to the axis which is not connected to the stepper motor. Axonometric projection of the drawing, fragment from above.

FIG. Figure 4 is an overall axonometric projection of a 3D printer image; side view.

PREFERRED {LIVING OPTIONS

The implementation of the invention consists of two main parts. One is a structure comprising at least two printheads and a mechanical construction of the pallet. The other is a control function designed to determine the optimal trajectory of motion, with artificial intelligence with adaptive capability.

For the sake of clarity, this description provides a description of a single printhead and its peripherals; the other print head (s) are (are) identical in construction and function. The description of the mechanical part is limited to items related to the movement of the heads and the pallet. All other elements are essentially no different from other 3D printers on the market.

The print head (1) (Fig. 1) is supported by longitudinal movement bearings on two X-bars (2) which perform the function of directing the movement of the print head (1) on the X axis. The print head (1) is moved along the X axis by an X step motor (3) whose axis is rigidly connected to a serrated pulley (4) (Fig.2) on which a toothed endless rectangular (or similar) cross-sectional belt (5) is mounted. ) (Fig.1), firmly connected to the print head (1) and mounted on the opposite end of the X-rod (2) on a fixed pulley (6).

The said X-bars (2) are fastened at both ends to the X-fixing elements (7). The aforementioned X fasteners (7) are supported by longitudinal movement bearings on Y-bars (8) which are directed in the direction of movement of the Y-axis. Said Y-bars (8) are fastened at both ends to Z-fasteners (9), which can move only in the Z-axis. Said X fasteners are firmly connected to a toothed endless belt (10) of rectangular (or other) cross-section which is mounted on one end by a Z-fastener (9) fixed on the pulley (11) and on the other end by a serrated pulley (12). , which is mounted on an axle (13) which is mounted on the Z-angled fasteners (9) through the pivoting bearings and connected to a Y-step motor (14) which produces motion in the direction of the Y-axis. Said Y-step motor (14) is mounted in the Z angular bracket (9). Said axle (13) has serrated pulleys at both ends, which are driven by a serrated belt, which at the other end is driven by Z-shaped fastening elements mounted on the pulley. Two belts and four pulleys are required to ensure parallel movement of the X anchors (7) in the Y axis.

The aforementioned Z corner fasteners (9) are mounted on the Z-bars (15), (16) which are directed in the Z-axis. The movement in the Z-axis is provided by the eight (on one side) said Z-bars (15), (16), four of which (15) have a smooth surface for precise orientation in the Z-axis and the other four having a full-length thread. - Z threaded rods (16). Each corner has one threaded (16) and one simple Z-bar (15). Said Z angular fastening elements (9) are attached to the Z rods (15) by means of longitudinal movement bearings, and to the threaded Z rods (16) by means of a nut connection, which makes it possible to transform the rotational movement of the motor axis into linear motion in the Z axis. At least one of the two Z-threaded rods (16) at one of the Y-bars (8) is directly connected to the Z-stepper motor (17), while the other Z-rod is transmitted by a pulley and belt motion transmission system (18). ) (Fig.3).

Said Z stepper motor (17) (Fig. 1) is fixedly stationary and said Z rods (15) and (16) are mounted in bearings (19) (Fig. 2) by means of bearings. A rod (20) parallel to the X axis is mounted on said base fasteners (19) at the corners of the printer, and a rod (21) parallel to the Y axis is attached to this rod, to which a pallet (23) is mounted with longitudinal movement bearings. Said bar (21) parallel to the Y axis directs the pallet (23) to move in the Y axis. Said pallet (23) is firmly attached to a toothed, infinite rectangular (or other) cross-sectional belt (24) which, on one side of the printer, is mounted on a pulley (25) secured in the fastener (26) to the rod (20). 21), and on the other side of the printer, on a serrated pulley (27) mounted on a Y3 stepper motor (28). Said Y3 stepper motor (28) generates linear movement of the pallet (23) along the Y axis.

The above-mentioned motion-creating mechanical design can only effectively contribute to increasing the speed of a 3D printer by providing optimum print head and tray movement trajectories. The optimization of the trajectories must be accomplished by involving the participation of all three components (two printheads and the tray), ensuring optimum trajectories for both the movement of the components themselves and their interaction.

Artificial Intelligence is installed on the control system of the 3D printer described in this description. Artificial intelligence is understood to mean various mathematical-statistical models (e.g., fuzzy logic, artificial neural netvorks, etc.) embedded in electronic device controls. Electronic controls are understood to be the hardware component of a control system, which may be on the printer itself, on the computer controlling the printer, or on both the printer and the computer. The control system software is installed in the aforementioned electronic means: a printer or a computer, or both a printer and a computer.

Artificial Intelligent 3D Printer Control for Maximum Printing Speed Ability to Optimize Printheads and Tray Movement Trajectories and their Interaction. The optimization results in trajectories that take the least time to move between two printheads and a substrate to print a specific object; the measure of the optimization result is the specific print time of the particular form.

When analyzing and optimizing motion trajectories, the printer's control system needs to estimate the actual head and tray speeds in different directions, both during and without printing (the print head only moves from one point to another). Maximum print speeds are achieved when both heads print simultaneously, which is another factor that the control system considers when selecting optimal trajectories.

The most common print results of repetitive printable forms are stored in a database, which shortens the optimization time for subsequent printouts.

For deeper analysis of optimization results, trajectories that are close to optimal are tested for frequently repeated shapes, comparing the optimization results of those trajectories with the actual print results; the causes are analyzed.

In addition to the optimization feature, the Artificial Intelligent 3D Printer Management System has the ability to continually learn and refine how to obtain optimal trajectories. The learning function has built-in feedback to monitor real-time print times. By monitoring actual print times and comparing them with optimization results, potential causes of misalignment are identified and evaluated and used in subsequent optimization cases.

The learning function is a precondition for the adaptive property. The control system compares the results of the trajectory optimization with the actual print results, analyzes the causes of possible misalignments, adjusts the optimization algorithm, i.e. adapts to the features of the controlled object. The occurrence of extremely large discrepancies may indicate a malfunction (wear) of the mechanical part, so the control system with artificial intelligence is able to identify some malfunctions and to prevent them.

3D printer control achieves an increase in speed when two printheads, together with a moving tray, print a specific subject faster than stand-alone, non-control printheads.

As mentioned above, the illustrative illustrations and explanations thereof are provided only to the extent necessary to disclose the subject matter of the invention. Fig. 4 shows a 3D printer with a housing (30) and devices (31) for wrapping the media.

The term "rod" referred to here provides a more accurate definition of the components of a 3D printer. Elsewhere in this description, the broader, more general term "axle", which in some cases coincides with the term "rod", is more commonly used. The term "axis" refers to both the design element of the printer and the direction of the coordinate system.

Positioning points that define the extreme points of the printhead limit the space that can be called the printhead workspace. Printhead workspace - The position in which the printhead may be located.

In order to illustrate and describe the present invention, a description of the preferred embodiment is provided above. It is not a detailed or restrictive description intended to determine the exact form or embodiment. The description above should be viewed as an illustration rather than a limitation. Obviously, many modifications and variations may be apparent to those skilled in the art. An embodiment is selected and described so that those skilled in the art will best understand the principles of the invention and their best practical application for different embodiments with different modifications suitable for a particular application or application. The scope of the invention is intended to be defined by the appended definition and its equivalents, in which all the foregoing terms have the widest possible meaning, unless otherwise stated.

Embodiments described by those skilled in the art may be made without departing from the scope of the present invention as defined in the following definition.

Claims (3)

1. A 3D object printer having: at least two printheads (1) that inject printable material to form / print a 3D object; and which can move in their working spaces on all three coordinate axes simultaneously and do not overlap their working spaces; a pallet (23) capable of moving along a single coordinate axis on which the entire object to be printed is formed; drive and positioning systems that move and accurately position printheads and trays; electronic control unit; a housing housing said printer, said at least two said printheads and a tray being interconnected by at least seven axes, each printhead having three axes that allow said heads to move freely in any direction within their working space; and wherein at least one axis is for moving and positioning a pallet that provides access to a separate point of the printable object by different heads. 2. A printer according to claim 1, characterized in that said printer control system has embedded artificial intelligence means for optimizing the movement trajectories of at least two printheads and the pallet and their interaction for maximum printing speed. 3. A printer according to claim 2, characterized in that the artificial intelligence of said printer control system has a learning / adaptive function which compares the trajectory optimization results with the actual print results, analyzes the causes of possible misalignments, takes them into account in future printing algorithms, identifies possible faults and prevents them.