WO2016161925A1

WO2016161925A1 - Three-dimensional printing device actuated by mechanical arm and processing machine

Info

Publication number: WO2016161925A1
Application number: PCT/CN2016/078439
Authority: WO
Inventors: 郭永志
Original assignee: 郭永志
Priority date: 2015-04-09
Filing date: 2016-04-05
Publication date: 2016-10-13
Also published as: CN204640808U

Abstract

Disclosed are a three-dimensional printing device actuated by a mechanical arm and a processing machine, which can implement three-dimensional printing by means of a printing module actuated by a mechanical arm. The three-dimensional printing device comprises a mechanical arm (1) and a three-dimensional printing module (2) arranged on the mechanical arm (1). The mechanical arm (1) is provided with at least one joint (10) so that the mechanical arm (1) can swing freely. The mechanical arm (1) can perform extending and retracting motions and swinging motions by means of the joint (10), so that the printing module (2) can perform multi-axial displacement with the mechanical arm (1) to implement the multi-axial three-dimensional printing operation, and can laminate and cure the material together in various inclination angles. It can be fitted to and arranged on the processing machine to achieve integrated processing so as to improve the convenience and the practicality in use.

Description

Three-dimensional printing device and processing machine driven by a mechanical arm

Technical field

The invention relates to a three-dimensional printing device and a processing machine which are driven by a mechanical arm, in particular to a three-dimensional printing device capable of printing a three-dimensional object, and more particularly to a device or a processing machine capable of performing three-dimensional printing by a mechanical arm urging a printing module.

Background technique

3D overlay printing technology, also known as 3D printing or Additive Manufacturing (AM), is a direct manufacturing technology based on digital model files, which is mainly read by a 3D printing device. Cross-sectional information, and by means of layer-by-layer stacking, printing an adhesive material such as metal or plastic, thereby printing the cross-section of the article to be manufactured layer by layer to directly produce the same three-dimensional shape as the model The object, the three-dimensional overlay printing technology described above is the biggest difference from the conventional technology, that is, it does not have to go through the manufacturing process of mold design and mold forming, and the manufacturing cost is greatly changed.

In the past, in the fields of mold manufacturing and industrial design, 3D printing technology was often used to make sample models, and it is gradually being used for the direct manufacture of some products, especially some customized high-value products, such as: hip joints, teeth or Aircraft parts and the like, so three-dimensional overlay printing technology has been gradually applied to various fields.

At present, the common three-dimensional laminated printing equipment adopts a plurality of sets of guide rails (or guide rods) in the form of fused deposition, direct laser sintering, and electron beam melting. Driving the three-dimensional printing module, so that the printing module can generate multi-axial displacements such as lateral, vertical, vertical or rotary along the plurality of sets of guide rails, moving the printing module to an appropriate position, and laying the material from bottom to top The layers are continuously stacked and solidified together to form a three-dimensional object.

It can be seen from the above that the current method of driving the displacement of the three-dimensional printing module by using multiple sets of guide rails has its practicability; however, the current three-dimensional laminated printing technology still has its deficiencies, for example, the materials are applied at various different tilt angles. The effect of continuous stacking and curing together cannot be accomplished by the existing three-dimensional laminated printing equipment. If the conventional three-dimensional laminated printing apparatus is redesigned to be different from the prior art, its use form can be changed. Increase the scope of its application, and different from the old method. These technical topics have not been specifically taught or revealed in the current three-dimensional layer printing technology and general knowledge.

The tool is used to control and operate the tool in a three-dimensional space to control the workpiece, and to perform numerical control of the workpiece, such as turning, milling, cutting, grinding, etc., for example, a numerical control machine tool (Computer numerical control, CNC), already in the prior art. For example, Taiwan Patent No. 87221929 "Improvement of CNC Milling Machine Tool" provides a typical embodiment.

As is known to those skilled in the art, such numerically controlled machine tools or processing tools are a well-established field in the industry. This is because in the previously disclosed case, the improvement or design of the structure of each part of the numerical control machine tool or the processing tool is included; for example, China Taiwan No. 82201161 "CNC machine tool axial radial machining head improved structure", A specific embodiment is provided in the "CNC Machine Tool Rotary Fixed Angle Splitting Workbench" patent No. 91214140.

Typically, these references show situations in the use and structural design of numerically controlled processing tools or their associated art. If the design is redesigned to control the processing tool, and the above-mentioned application situation, which is different from the prior art, it can change its use form and increase its application range, which is different from the old method. For example, in comparison with the prior art, the numerical control machine tool is provided with the function of performing three-dimensional printing of the workpiece under the action of performing machining operations such as turning, milling, cutting, and grinding on the workpiece. Moreover, with the scanning or laser operation, the formation of the three-dimensional workpiece and the function of performing the trimming work are integrated on a single machine to improve the processing efficiency and accuracy of the three-dimensional workpiece, and further improve the printing made by the old method. Due to the rough surface of the workpiece, it is necessary to displace another processing tool for rework and trimming. The trouble and time consuming will greatly increase the production cost and affect the rework accuracy. These problems are not covered in the above patent cases. Specific teaching or revealing.

In view of this, the present inventors have made years of experience in the production, manufacture, and design of three-dimensional laminated printing apparatuses and related products, and have further developed the present invention to overcome the above-mentioned shortcomings in the background art.

Summary of the invention

The main object of the present invention is to provide a three-dimensional printing device that is driven by a mechanical arm, and relates to a printing device capable of urging a printing module with a mechanical arm to implement a three-dimensional printing operation, thereby increasing the current three-dimensional laminated printing technology. Application scope and practicality.

In order to achieve the above object, the invention relates to a three-dimensional printing device driven by a mechanical arm, comprising a mechanical arm and a three-dimensional printing module disposed on the mechanical arm, the mechanical arm being provided with at least one joint.

Furthermore, the present invention provides a method for integrally integrating a three-dimensional printing device driven by a mechanical arm on a processing machine, so that the three-dimensional printing device and the processing machine integrate the processed object through a single control platform and a common parameter. To improve processing efficiency, reduce errors and improve processing reliability.

According to the above main structural features, the mechanical arm includes at least one first axial pivoting member and at least one second axial pivoting member pivotally connected to each other, and the first axial pivoting member and the second axial pivoting member At least one third axial direction pivotally connected to each other a pivoting member; the printing module is disposed on one of the first axial pivoting member, the second axial pivoting member and the third axial pivoting member, and the printing module is aligned with the first axial direction The pivoting member, the second axial pivoting member and the third axial pivoting member are multi-axially displaced.

According to the above main structural features, the second axial pivoting member can be pivoted between the first axial pivoting member and the third axial pivoting member.

According to the above main structural features, the second axial pivoting member can be configured in a multi-segment configuration, and the segments are pivotally connected to each other.

According to the above main structural features, the first axial pivoting member can be pivoted on the body, and the printing module is disposed on the third axial pivoting member.

According to the above main structural features, the printing module is disposed at the extreme end of the robot arm.

According to the above main structural features, the three-dimensional printing device that is driven by the robot arm is integrated and installed on an operable machine of the data processing machine, so as to facilitate the integration processing through the unique shared parameters of the processing tool to achieve the improvement. Processing efficiency and the effect of reducing the error of the displacement process.

By virtue of the above, the robot arm can perform expansion, swing, and rotation operations through the joint, so that the printing module can perform multi-axial displacement with the robot arm to implement multi-axis three-dimensional printing work, and can be various The printing materials are continuously stacked and solidified at different inclination angles, thereby improving the convenience and practicability of use.

In order to clarify and fully disclose the present invention, and to illustrate the preferred embodiments, the detailed description will be described in detail as follows:

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

Figure 1 is a perspective view of a preferred embodiment of the present invention.

Fig. 2 is an exploded perspective view of Fig. 1;

Fig. 3 is a perspective view showing a state of use of Fig. 1.

Fig. 4 is a perspective view showing another use state of Fig. 1.

FIG. 5 is a perspective view of the present invention in which the embodiment shown in FIG. 1 is integrally disposed on a data processing machine.

Figure 6 is a schematic view showing the state of printing processing of the embodiment shown in Figure 5 of the present invention.

DESCRIPTION OF REFERENCE NUMERALS: 1-mechanical arm; 10-joint; 11-first axial pivoting member; 12, 13, 14-second axial pivoting member; 15-third axial pivoting member; Seat; 2-printing module; 3-processing table; 4-three-dimensional object; 5-data processing machine.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to FIG. 1 to FIG. 3, there is shown a drawing of a preferred embodiment of the present invention. The three-dimensional printing apparatus of the present invention, which is driven by a mechanical arm, includes a robot arm 1 and a mechanical arm. A three-dimensional printing module 2 on the first arm, the robot arm 1 is provided with at least one joint 10.

In a more specific implementation, the mechanical arm 1 can include at least one first axial pivoting member 11 , at least one second

axial pivoting member

12 , 13 , 14 and at least a third axial pivot that are pivotally connected to each other. a rotating member 15, the second

axial pivoting member

12, 13, 14 is pivoted between the first axial pivoting member 11 and the third axial pivoting member 15, and the joints 10 are respectively formed on Between each of the pivot members (i.e., the first axial pivot member 11 or the second

axial pivot member

12, 13, 14 or the third axial pivot member 15).

It is also shown that the second

axial pivoting members

12, 13, 14 can be formed by at least one long body arm being coupled, that is, the second

axial pivoting members

12, 13, 14 can be set as a single A segment or a plurality of segments are coupled, and each of the second

axial pivoting members

12, 13, 14 is pivotally connected by the joint 10. Of course, in a possible embodiment, the second

axial pivoting members

12, 13 are still available. Between the four, a third axial pivoting member 15 is additionally provided to make the displacement regulation of the orientation of the printing module 2 more flexible.

The printing module 2 can be set as a three-dimensional printing module having processing capabilities such as fused deposition, direct laser sintering or electron beam melting; and the first axial pivoting member 11 can be The pivot module is disposed on the body 16 , and the printing module 2 is disposed on the third axial pivoting member 15 at the end of the mechanical arm 1 , so that the printing module 2 follows the first axial pivoting member 11 . The combination of the second axial pivoting

members

12, 13, 14 and the third axial pivoting member 15 can produce multiple axial displacements such as lateral, longitudinal, vertical, oblique, and rotational.

Referring to FIG. 4, the seat body 16 can be disposed on a processing table 3, and the mechanical arm 1 can be operated by the joint 10 to expand and contract or swing or rotate, so that the printing module 2 can follow the mechanical arm. 1 Perform multi-axial displacement such as lateral, longitudinal, vertical and oblique directions to implement multi-axis three-dimensional printing operations, and thus can be used in a variety of different tilt angles The material is continuously stacked and solidified together, and the three-dimensional object 4 is stacked on the processing table 3.

As shown in FIG. 5 and FIG. 6, the processing table 3 and the robot arm 1 thereon are integrated on a data processing machine 5 so that the three-dimensional printing module 2 and the data processing machine 5 can pass the The single control platform on the data processing machine 5 and the common parameters can be used to integrally control the three-dimensional printing module 2, so as to facilitate integration of various molding processes for the processed three-dimensional object 4 (ie, integrated device scanning and printing on a single data processing machine) Forming, cutting, milling laser engraving or laser cutting and other processing modules for multi-component forming) to achieve processing efficiency and reduce machining errors.

Accordingly, in addition to the use of the robotic arm to drive the printing module 2 to implement three-dimensional printing, to increase the application range of the current three-dimensional overlay printing technology, and thus can be integrated with traditional processing tools such as data processing machines to achieve the feeding and forming. In addition to finishing and finishing, it can meet the new functions of the same machine, greatly improving the convenience and practicality of product processing.

The above description is intended to be illustrative, and not restrictive, and many modifications, variations, and equivalents may be made without departing from the scope of the appended claims. It falls within the scope of protection of the present invention.

Claims

A three-dimensional printing device driven by a mechanical arm, comprising a mechanical arm and a three-dimensional printing module disposed on the mechanical arm, the mechanical arm being provided with at least one joint.
The three-dimensional printing device driven by a mechanical arm according to claim 1, wherein the mechanical arm comprises at least one first axial pivoting member and at least one second axial pivoting member that are pivotally connected to each other.
The three-dimensional printing device driven by a robot arm according to claim 2, wherein the mechanical arm comprises at least a third axial pivoting member, the third axial pivoting member and the first axial pivoting member; At least one of the second axial pivot members is pivotally coupled to each other.
The three-dimensional printing apparatus actuated by a robot arm according to claim 3, wherein the second axial pivoting member is pivoted between the first axial pivoting member and the third axial pivoting member.
The three-dimensional printing device driven by a robot arm according to claim 4, wherein the second axial pivoting member is provided in a plurality of segments, and the segments are pivotally coupled together.
A three-dimensional printing apparatus driven by a robot arm according to claim 1 or 2, wherein the printing module is provided at an extreme end of the robot arm.
A three-dimensional printing apparatus driven by a robot arm according to claim 3 or 4 or 5, wherein the printing module is provided at the extreme end of the robot arm.
The three-dimensional printing device driven by a robot arm according to claim 7, wherein the first axial pivoting member is pivoted on the body, and the printing module is disposed on the third axial pivoting member.
A processing machine for urging a three-dimensional printing device with a mechanical arm, comprising: a data processing machine and a mechanical arm integrated on the data processing machine, the mechanical arm is provided with a three-dimensional printing module, the machine The arm is provided with at least one joint.
The processing machine for urging a three-dimensional printing device with a mechanical arm according to claim 9, wherein the mechanical arm comprises at least one first axial pivoting member and at least one second axial pivoting member that are pivotally connected to each other.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 10, wherein the mechanical arm includes at least one third axial pivoting member, the third axial pivoting member pivoting with the first axial direction At least one of the member and the second axial pivot member are pivotally connected to each other.
The processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 11, wherein the second axial pivoting member is pivoted between the first axial pivoting member and the third axial pivoting member .
The processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 12, wherein the second axial pivoting member is provided in a plurality of sections, and the respective sections are pivotally coupled together.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 9 or 10, wherein the printing module is provided at an extreme end of the robot arm.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 11 or 12 or 13, wherein the printing module is provided at an extreme end of the robot arm.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 15, wherein the first axial pivoting member is pivotally mounted on the body, and the printing module is disposed on the third axial pivoting member .
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 9 or 10 or 11 or 12 or 13, wherein the data processing machine is integrated with a processing module for scanning, cutting, milling laser engraving and laser cutting At least one of them.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 14, wherein at least one of processing modules for scanning, cutting, milling laser engraving, and laser cutting is integrated on the data processing machine.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 15, wherein at least one of processing modules for scanning, cutting, milling laser engraving, and laser cutting is integrated on the data processing machine.
A processing machine for urging a three-dimensional printing apparatus with a mechanical arm according to claim 16, wherein at least one of processing modules for scanning, cutting, milling laser engraving, and laser cutting is integrated on the data processing machine.