WO2019122526A2 - Buse pour impression 3d, imprimante 3d, système d'impression et système de commande de robot - Google Patents

Buse pour impression 3d, imprimante 3d, système d'impression et système de commande de robot Download PDF

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Publication number
WO2019122526A2
WO2019122526A2 PCT/FI2018/050956 FI2018050956W WO2019122526A2 WO 2019122526 A2 WO2019122526 A2 WO 2019122526A2 FI 2018050956 W FI2018050956 W FI 2018050956W WO 2019122526 A2 WO2019122526 A2 WO 2019122526A2
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WO
WIPO (PCT)
Prior art keywords
printing
print
print material
nozzle
item
Prior art date
Application number
PCT/FI2018/050956
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English (en)
Other versions
WO2019122526A3 (fr
Inventor
Juha Leinonen
Original Assignee
Jauhe Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from FI20176144A external-priority patent/FI20176144A1/fi
Application filed by Jauhe Oy filed Critical Jauhe Oy
Publication of WO2019122526A2 publication Critical patent/WO2019122526A2/fr
Publication of WO2019122526A3 publication Critical patent/WO2019122526A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205—Means for applying layers
    • B29C64/209—Heads; Nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor

Definitions

  • the invention relates to 3D printing. More specifically, the invention re lates to 3D printing according to the preamble of an independent patent claim.
  • the invention also relates to a printer in 3D printing according to the preamble of an in dependent patent claim.
  • the invention also relates to a printing system and a control system thereof.
  • the loss of material is caused by an error in the middle of printing, in which case the erroneous/damaged item must be removed from the printer and be started a new print, usually from the very beginning, which also results in a delay in printing.
  • the positioning of a printable item can be experienced problematic. Gen erally, in 3D printers, the printable area is very narrowly defined and the positioning of the printable item with respect to existing structures is challenging. Particularly in the implementation of details, the synchronization of print material and print strength as well as a point can be difficult.
  • the object of the invention is to solve in a novel way the problems of the prior art, some of which are illustrated with regard to high quality and fast printing of a print able item.
  • these prob- lems can be solved if not completely, eased at least.
  • the nozzle according to the in vention in 3D printing is controlled by means of smart glasses, whereby means of the smart glasses are enabled to transmit information about the settings according to the driving parameters of the printing via the control system from the user to the printer.
  • the driving parameters of the printing can be transmitted on the basis of the measured properties of the online materials.
  • fluctuations in the composition resulting from the heterogeneous structure of the recycled material and thereby the quality variations of the printing can be compensated.
  • An opening dual cone nozzle is characterized in that it has a collector chamber of carrier fluid, a feeding tube of print material, and a feed chan nel for an attachment feeder of print material, characterized in that the collector cham ber of carrier fluid is delimited by a truncated conical surface, having passageways of carrier fluid symmetrically around the feeding tube of print material, oriented to align the carrier fluid as a sheath flow in focusing way to the print material flow at the printing point.
  • a trun cated conical surface which has modified as a shape of a rotational body of an expo nential function away from the nozzle in order to form an exponentially opening con- ical surface for accelerating the flux rate of the print material within the sheath flow formed by the carrier fluid.
  • the dual cone nozzle there is arranged in the channel passing through the collector chamber at least a carriage of a certain material flux through the truncated conical surface and between the fluxes of carrier fluid and print material for bringing said material to the printing point and/or its sur roundings on the surface of the printable item for attaching and/or modifying the print material for attaching and/or editing of the print material to the printable item at the printing point.
  • the flux in its conventional sense means the flow of a substance past a particular viewing point.
  • the flux of the substance is the flow of the substance/material, for example, in regard to the edge of the nozzle of the dual cone nozzle, without limiting the point of view solely to the point shown by the example.
  • the flux of the powdered ma terial of the print material may be part of the flux of the multiphase fluid from the dual cone nozzle, where, for example, the powdered material is transported to the printable item with the carrier material.
  • the carrier material may have a gaseous phase, which, according to an embodiment, may also comprise as suspended material, an adhesive material as a print material, for example, so that a two-phase fluoride also acts as the carrier, without limiting the number and/or quality of the phases present to certain states alone.
  • the carrier fluid has a gaseous phase.
  • the carrier fluid additionally has at least one phase, which is a phase in another state.
  • the flux as a part of which the flux of the print material is as such, may also include, in accordance with the exemplary embodiments, other substances, which, in the sheath flow of a carrier gas, may be included in the material flux that encounters the printed item at the time of printing and thus contributes to the structure of the printable item.
  • the illumination surrounding the printable item can also be used in a suitable wavelength range, wavelengths selected to support the solidification of the structure of the printed item.
  • the photocatalytic substance can be used as a print material as part of the structure/composition of the printable item, if applicable, even if it is itself involved in the chemical reaction in the item as it is consumed in the item itself as a result of the reaction.
  • the dosage among of the print material and the printing sub stances may be controlled, in addition to their dosages, by means of a control center of the printing system.
  • the print material is fed from a feeding tube of the material.
  • other print mate rials that participate in the formation of a printable item can also be fed from other parts from a channel system of the dual cone nozzle used, if applicable.
  • a photo conductor in a feed channel of an attachment feeder for providing laser light at the printing point.
  • a channel in a feed channel of the attachment feeder for guiding the adhesive and/or the catalyst chemical to the printing point.
  • an open ing dual cone nozzle for 3D printing comprising a channel in the structure of the nozzle for supplying print material flux to the nozzle and for getting it through to the powder-like material in an attachment material flux, surrounding of which is provided a channel system of shielding gas flow for focusing sheath flow, in which channel system of shielding gas flow has a plurality of channels for supplying the print mate rial flux annularly surrounding subchannel groups at radial distances from the channel for supplying the print material flux, wherein the channel system of shielding gas flow is arranged to be connected to the subchannel groups to set the flow value of the shielding gas flowing through each subchannel between open and closed values to provide a focusing effect on the print material flux, within which there is a channel for feeding laser light and/or glue to the printable item.
  • the dual cone nozzle according to one embodiment of the invention is provided for use in 3D printing, in which the print material flux has glue for attaching the pow dered print material to the printable item.
  • the dual cone nozzle according to one embodiment of the invention is provided for use in 3D printing, in which the print material flux has a laser beam for attaching the powdered print material to the printable item.
  • the dual cone nozzle according to one embodiment of the invention is provided for use in 3D printing in a printing system as its system element, wherein the printing system further comprises spectrometry means for detecting changes in the composi tion of the print material as an excitation to a response for compensating a change in composition in order to maintain the composition of the printable item with a prede termined pattern, changing the characteristics of the laser beam by feedback, in ac cordance with the rules of the feedback.
  • the printing system has a print material source, a laser source and/or an ad hesive source for supplying the print material for feeding a dual cone nozzle accord ing to an embodiment of the invention, a shielding gas source and a control unit for controlling the shielding gas flow and/or feeding of the print material, and a connec tion to smart glasses in the control center for use material streams to the print mate rials, glue matter for controlling control valves and/or guiding the laser light under the control of the control unit under its control (and) user-controlled via control unit.
  • the printing system according to the embodiment of the invention may have at least one dual cone nozzle according to an embodiment of the invention as a system element of the 3D printing system.
  • the printing system may have another nozzle as a system element of the 3D printing system.
  • said nozzle is an opening nozzle.
  • the glasses used as smart glasses in the user-accessible interface are, according to the invention, known VR/AR glasses (Virtual Reality / Augmented Reality glasses), which, however, stand out for their user interface which utilizes neural networks as appropriate for learning guidance.
  • the neuron networks may also be layered, whereby it is possible to produce self-di rected structures that regulate learning, both within layers and between neurons of different layers.
  • SOM neuronal networks and/or their var iants, such as KSOM networks and/or their stabilized forms for providing self-di rected properties of the network for adjusting the parameters in printing may be used to describe the parameter space.
  • the networks may also be divided into groups of the same level of neurons, whereby each group of neurons may communicate with other level neurons in the optimization of control parameters for a particular composition of print material.
  • the materials used to form the item to be printed, as part of its structure, such as glue matters and/or binders, used to attach the actual powdery print material to the printable item, either as print material as such, in con nection with other print material, or when laser is used to attach the print material to the printable item as additives to the printable material as thermal additives and/or photocatalytically, may be included in the print materials.
  • a printer or a 3D printing system using such a printer can be installed in an industrial robot. It can thus be controlled by means of Virtual VR (virtual reality) or augmented reality glasses (also referred to as "Smart glasses”).
  • Virtual VR virtual reality
  • augmented reality glasses also referred to as “Smart glasses”
  • the system comprises: Learning artifi cial intelligence, connection with smart glasses, a printing nozzle/machine vision setup, and a controllable machine, e.g. an industrial robot, which can be numerically controlled, for example.
  • the printing system enables versatile use of different mate rials in 3D printing, and the printable item does not have the size or position re striction as such, provided that the printer unit is mounted on a mobile platform.
  • a printing nozzle, pulse laser, and a machine vision suitable for print material installed in a 6-axis industrial robot which comprises at least: a 3D scanner (laser scanner or an equivalent tomog raphy unit for surface determination and/or distance measurement), a thermal camera and/or a spectral camera, can be used to print powder-like materials.
  • the image and measurement data created by the machine vision system are transferred to the smart glasses for display, in which case the user has access to the printing control parame ters.
  • the virtual 3D model of the printable item is positioned via smart glasses at the location where the item is desired to be printed.
  • a 3D scanner is used to match the location of the printing area and the smart glasses relative to the location of the print nozzle in a printer of the printing system or a corresponding printer unit.
  • the positioning information is transferred from the smart glasses through an artificial in telligence of a robot to a machine vision system, which by the means of a neural network can execute iterations to refine the location’s accuracy level in case there are more accuracy levels available in the system.
  • An accuracy level refers to a magnify ing glass kind of focusing on a particular detail of a printable item.
  • the virtual counterpart of an item can be rotated by using smart glasses, by means of the user interface, and mark the locations of specific details on the item by using the macro recording function, whereby the printing system remembers, based on the re cording, what kind of detail should be placed in each detailed location.
  • accuracy levels can also be used to further refine the shape and/or structure of a detail.
  • a print area can be scanned with a 3D scanner at the print head of the robot, and precisely position the virtual model of the printable item relative to existing surfaces during printing at the desired location.
  • So-called.“3d-mold” is obtained from the virtual model of the printable item for learning artificial intelligence of the robot.
  • an item is print, e.g. by blowing the powdered material, by means of inert gas needed in the flow, through the print nozzle, into a printing area that corresponds the inside of the virtual mold at the same loca tion, and at the same time the material is melted to solid with a pulse laser in the real world in the print area at the point where the virtual mold should be printed.
  • the material melt formed by a laser is filmed throughout the printing process with all sensors and/or cameras of the machine vision system. Based on the spatial data ob tained from the 3D scanner, the parameters for "moving" the flux of material melt within the virtual mold are obtained in the same way as in the real world.
  • the spectral camera measurement data provides information on the composition/ele ment distribution of the material melt.
  • the user of the printing system may have a manual a pen-type controller (“stylus”), for example, for enabling the user to remotely control the system.
  • the stylus may have accelerometers and/or gyroscopes as a MEMS implemen tation for use as position sensors, whereby stylus movements can be controlled and by using them to remotely control printing.
  • the user can switch on the remote control at a selectable point in the user interface of the smart glasses, for example, either temporarily or holding it, so that the orientation of the print material flux in the print able item can be influenced by using the stylus.
  • the print nozzle thus follows the movements of the stylus under certain conditions, so that the user can so-called manually perform even the entire print.
  • the terms may be pre-set via the interface menu.
  • a virtual control panel with the necessary controls for adjusting the printing system can be formed in the display of the smart glasses.
  • Figure 1D illustrates an example of an alternative symmetrical cross-section of a noz zle surface according to an embodiment of the invention
  • Figures 2A-2C illustrate examples of alternative ways of implementing a 3D printing nozzle according to an embodiment of the invention
  • Figure 2D illustrates an example of material flows fed to a 3D nozzle and their feeder according to an embodiment of the invention in the examples of Figures 2A-2C, 2E,
  • Fig. 2E illustrates an example of an embodiment of the nozzle material flows by means of an S-IF-R arrangement according to an embodiment of the invention ac cording to the embodiment of Fig. 2D;
  • Figures 3A-3B illustrate an example of a 3D printing method according to an embod iment of the invention
  • Figure 4 illustrates an example of a 3D printing system and some of its system ele- ments
  • Figure 5 illustrates an example of a smart glass view with a user interface
  • Figure 6 illustrates an example of a detail according to an embodiment of the inven tion
  • Figure 7 illustrates an example of a printing stylus according to an embodiment of the invention.
  • Figure 1A illustrates an opening dual cone nozzle.
  • Figures 1B and 1C the nozzle is illustrated in another direction.
  • Figures 1B and 1C also show the feed symmetry of the nozzle according to an embodiment of the invention for the nozzle body S.
  • the number 1 illustrates an opening of the cone section.
  • Figure 1D illustrates a curved conical surface in an alternative embodiment of the invention in the implementation of nozzle S.
  • the curved surface may have a cross-section of a rotational body formed by a mathematical function, a surface of a rotation body formed by means of an ex ponential function according to a variant of an embodiment, whereby the velocity of the material flow can be accelerated by the exponential surface.
  • some of the holes may be partitioned to transport a suitable chemical separately from the inert gas in order to feed the chemical through the nozzle holes in printing in connection with the print material, whereby, by suitable selection of the chemical, it can be used as a catalyst and/or adhesive or the like primer to strengthen the material layers of the printable item structure.
  • An example of compartmentalization of the nozzle S is illustrated in Figure 2E.
  • hard eners that cure under laser light can be used, in the same way as dental tooth filling can be hardened by suitable light.
  • the material supply holes in the feed channel of the substances at the nozzle are shaped into quadrangles, whereby the mixing of the flow can thus be improved by producing turbulence and thus improving the mutual mixing of the substances.
  • a turbulent nozzle to refer to an increased mixing property com pared to a normal circular/elliptical hole nozzle.
  • number 2 illustrates a collecting chamber for a shielding gas flow (e.g., inert gas).
  • a shielding gas flow e.g., inert gas
  • the flow of material to be printed is controlled by the gas discharged from the openings 5 (depicted by the ellipses by means of holes in the conical surface) of the wall at the conical side of the chamber 2.
  • Number 3 illustrates the material feed nozzle, the material coming to the nozzle is blown out, e.g., by means of an inert gas.
  • This inert gas does not necessarily have to be the same substance as the shielding gas flow of the chamber 2, but also the catalyst and/or other material, which improves the adhesion of the material to be printed to the target, may also be used in the composi tion of the material feed 3.
  • Number 4 illustrates the end of a fiber laser. According to such a variant of an embodiment of the invention where the fiber laser is replaced by an adhesive feed, the number 4 illustrates an adhesive feed channel in Figures
  • Figures 2A-2E illustrate an embodiment of the invention in which the nozzle S is replaceable by means of the nozzle arrangement S-1F-R so that the different fluxes of materials within the shielding gas Sh can be arranged in alternative radial sequences.
  • the nozzle arrangement nozzle section S, the spacer IF and the body part R of the feed can be fixed to each other so that, the order of the fiber laser L and the material feed M, for example, can be changed the other way round in Fig. 2B, as in Fig. 2A.
  • advantage may possibly be obtained with materials requiring preheating to be able to bind to the printed item, especially if the purpose is to influence the uniform material layer formation of the printing site.
  • Figure 2C illustrates a nozzle arrangement S-IF-R with two different materials for printing, materials Ml and M2.
  • the number of materials per se is not limited to the examples shown in Figures 2A-2C, but there may be more materials as long as the nozzle arrangement S-IF-R has its own feed channel for each print material com position.
  • Ll and L2 illustrate laser light inputs that may be in the wavelength range of the optical region and/or its proximity as such. For example, the ultraviolet and infrared regions may be a question in addition to the optical area when using laser light.
  • One laser supply can also be replaced by an embodiment of the invention with an adhesive/binder feed, wherein the laser itself can be used to heat the printing site, but also, where appropriate, to modify the state of the material flows, but also, where appropriate, catalytically to provide a curing reaction at the printing site.
  • one of the lasers, L, Ll and/or L2 can be used to correct a material infiltration generated at the print site, if for some reason it not as desired by the user controlling the printing.
  • the laser can be set by the user interface to an ablation mode that can remove the material from the point to be repaired.
  • the ablation mode is a cold-ablation- based mode.
  • one of the material feeding channels Ml, M2, and/or channels Ll, L2 may be used to feed the solvent to the printing point, whereby the solvent is used to smooth out the shape offset of the printing point.
  • the channel in order to allow material feed through a channel Ll, L2, the channel should then be a channel forming the material feed channel, if applicable.
  • Figure 2D illustrates a symmetric nozzle arrangement feed with reference to Figures 1A-1C and Figs. 2A-2E for illustrating material flows with an example.
  • Figure 2C shows, for technical reasons, the cross-section of the entire nozzle channel used to illustrate a channel system, although at the end of the nozzle S would be different from the schematic example of Fig. 2C as shown in Fig. 2E, for example.
  • the power of the pulse laser L, Ll, L2 is adjusted in real time by means of the elemental distribution of the print material from the hyperspectral camera HSPK and the data produced by the thermal camera LK.
  • Artificial intelligence re trieves the settings of the material with the closest equivalent element distribution (M, Ml M2) from the Material Data Bank (Database). If printing does not meet cer tain conditions, the machine user can remotely control the printer using VR glasses and a stylus (Pen) and manually adjust the settings by adjusting the laser L power and the feed rate of material M, the position of the print nozzle S, the S-IF-R relative to the print surface, and other adjustments influencing parameters.
  • This system provides that the properties of the material to be printed need not neces sarily be known beforehand anything, but the particle size of the powder (so that the arrangement of the print nozzle or part thereof is not clogged) and the material class (ABS, nylon, aluminum, steel, etc.) from which composition the item is desired to be printed.
  • the material feed can also be implemented by a nozzle group formed by a plurality of nozzles, each having its own nozzle arrangement, so that the print nozzle does not need to be changed in the middle of printing in order to achieve optimum print output.
  • a virtual template of the print item on an existing track can be positioned position with VR Glasses and a 3D scanner below or on the side, and start printing directly to it.
  • a substrate can be used to start printing, which substrate forms a network, for example, or a similar support structure over which the item to be printed is printed unless it is directly printed on the substrate. In this case, by means of the substrate material can be saved and/or speed up printing in some cases.
  • the print nozzle and/or the corresponding nozzle arrangement can also be installed in existing machining centers as well as traditional 3D printers.
  • 5g networks can be used to place an artificial intelligence on a server ( Figure 4), where the printer equipment on the field/site does not need to have a very high computing capacity per se, and the equipment can be controlled remotely in real time e.g. by a robotic arm or multicopters on top of a moving platform and similar moving devices.
  • Figure 3A illustrates printing per se.
  • the elemental composition thereof can be determined by sensors Al and/or A2. Binding types may also be determined, where appropriate, from the material, on the basis of information the driving parameters of the laser L, Ll, L2, such as power, pulse length relative to the time between pulses, pulse rise time, and/or fluency can be controlled.
  • Compara tor means can be used to compare the quantities at different stages of the feed given by the spectroscopic means Spe.
  • the vapor pressure and viscosity for example, of the material as molten, and possibly also if there is a risk of material degradation at a certain temperature in a manner which is unfavorable for printing, whereby information about laser usage can be optimized for the material to be printed.
  • variables, such as pressure, temperature, resonance frequencies describ ing the state of the nozzle can be adjusted, and thus to keep the nozzle working in unclogged manner for as long as possible. If necessary, the direction of the material flux can be changed from the set, according to the monitoring.
  • Monitoring is controlled by a neural network by means of artificial intelligence, whereby the adjustment of the parameters can be implemented, as aplitiste, according to the characteristics of the artificial intelligence algorithm, by using external and/or internal feedback data by utilizing information of measuring and comparing variables describing the state.
  • Figure 3B illustrates a printing method according to an embodiment of the invention.
  • the item (ITEM) wanted to be printed is selected.
  • the selection may be scan ning from the memory of the printing system, from the server ( Figure 4), or it may also be scanned for alternatively by tomography, for example, (Tomo, Figure 4) using a tomography file from a real item.
  • the Tomography file can be stored in the database and/or sent to the server for storing, distribution and/or editing as appropriate.
  • the materials for printing are selected, and checked the print geome try of printing.
  • Artificial Intelligence may recommend printing an item in a particular position and/or based on the coordinates of a particular coordinate system if it finds that printing is preferable to executed according to one printing geometry rather than another print geometry.
  • the artificial intelligence can be arranged so that it simulates parallel printing geometries and pro vides for the user the fastest printing geometry for selection as a recommendation.
  • the recommendation may be the most accurate print geometry, for ex ample.
  • the printing system also pro vides a possibility to perform simulations of printing, whereby the necessary move ments through the robotics (Robo, Fig.
  • Printing as such can proceed as shown in Figure 3A, whereby artificial intelligence monitors printing and, if necessary, transmits tracking information from printing to the user.
  • the information may be visual, text-based, coded and/or in parameter-form, so that the user is depicted of the progress of the printing by using the interface provided by the smart glasses ( Figure 5).
  • the artificial intelligence can notify the user of the deviation, which can either reject the notification or take control of printing.
  • the user in terface can be used to indicate the points to be repaired, from which material is either removed or added as needed.
  • the smart glasses may include cameras for monitoring the user's hands, fingers, and/or user-operated stylus and/or eye movements and blinking of the user, for example. In this case, corrective actions can be applied, for example, from the menu structure, to a selected part of the item to be printed.
  • the implementation can also be interactive so that a certain range of parameters is shown, as indicated by the user.
  • at least one of its cameras is used in conjunction with tomography means.
  • the printing is entirely recorded, whereupon the user can store the printing event as such, or, as appropriate, corrected to the database in memory for later use.
  • printing can be recorded as a macro so that the user can give it a suitable name, Vase XXX, for example.
  • the user when the user wishes to print a second, next, item, such as a newly printed vase, which is in accordance with Vase XXX, the user can retrieve a print macro from the database by executing which the user is able to print a similar vase based on the movements contained in the macro and the nozzle control inform tion.
  • the macro may, where appropriate, comprise data in accordance with the movements, but it may also be adapted to a different material according to an embodiment, whereby artificial intelligence can make a new simulation to optimize the print run.
  • Figure 4 illustrates an example of a printing system according to an embodiment of the invention.
  • the printing system has a control center, a plurality of microprocessors implemented in mR, for example wherein at least one of the microprocessors has a memory (illustrated with a box memory) in which the algorithms and control data necessary for maintaining artificial intelligence can be stored in memory.
  • the control center of the control system, the artificial intelligence working with it, and the associated algorithms and/or the software and drivers necessary for operating the apparatus and the measurement data collection and processing routines are arranged on a computer-readable media from which they can be loaded with a microprocessor.
  • the memory may, where appropriate, be short-term for the needs of microprocessor functions and/or, where applicable, long-term for storing data and/or operating pa rameters.
  • the user interface KL operates under the control center, which is locally arranged to work with one of the print system printers.
  • the user interface has VR/AR means for controlling smart glasses to implement interaction between the control cen ter and the user to control printing.
  • the VR/AR devices can comprise smart glasses, as well as, in connection with such, a series of cameras for detecting movements and/or blink of the user's eye, interpreting it for artificial intelligence as targeting commands, and/or selecting selection functions in a menu structure presented to the user by means of smart glasses.
  • pointing and/or selection means other parts of the body of the user, such as fingers, hands, arms, can also be used as pointing and/or selection means.
  • a pencil pointer may also be used as a pointing and/or selection means for controlling the printing.
  • Figure 4 also illustrates embodiments of the invention in which the user interface is decentralized from the control center over the LAN.
  • the proximity user interface KLL can, where applicable, be similar to the user interface KL.
  • the control center communicates via a communi cation means (Communications) with a server that can, where appropriate, maintain local area network connections for providing close-up access.
  • the server may also be connected to another data network, one example of which is the Internet shown in the figure, without being limited thereto.
  • the user may be at home and a printable item at an industrial plant, even in another city, countiy, or continent.
  • the server and data networks can be utilized in such a way that the printing system has a self diagnostic circuit IDP for monitoring the operation of the printing system and its ma terial flows, so that print materials, and other possible needs of logistics, hardware maintenance, spare parts and/or orders management can be automated.
  • the software controlling the operation of the self-diagnostic circuit is arranged to be updated in conjunction with other printing-related software. In this case, the printing system is as ready to use as possible for printing.
  • the printing system according to the example of Figure 4 shows a printer with a dashed line.
  • the server may comprise, as appropriate, algorithms of artificial intelligence in the control center, whereby spreading of the calculation between the server and the printer may also be used. These can be downloaded from a computer-readable media, as appropriate, and updated as necessary when reading the information and/or algo rithms from said media.
  • the Spe and/or Tomography unit Tomo may, for example, be external to the printer itself, but may be attached to the printer under the control of the control center. It is also noted in the user interface KL that it need not necessarily belong to the printer, but KL may be external to the printer as appropriate.
  • smart glasses can be worn by the user but wired or wirelessly connected to the printer con trol center, for example, through a server.
  • the server is drawn, through communication means in connection with the control center in Figure 4.
  • the control center can control the spectroscopic means Spe, Tomography unit Tomo, the dispensing of the starting materials Sh, F, M, the position and/or the state of the nozzle arrangement S-IF-R relative to the print ing point, the laser F, Fl, F2, the servo (Servo) robotics (Robo ) to control the move ment of the item to be printed, depending on the need that may occur during printing, including rotations.
  • the spectroscopic means Spe Tomography unit Tomo
  • the dispensing of the starting materials Sh, F, M the position and/or the state of the nozzle arrangement S-IF-R relative to the print ing point
  • the laser F, Fl, F2 the servo robotics (Robo )
  • the silhouette of the printable item which is curved at the top of the Robo box, is illustrated to be capable of being moved horizontally and/or vertically and also rotated (illustrated by curved arrows), it will be apparent a person skilled in the art that the corresponding move ments can also be achieved on a coordinate perpendicular to the plane of the paper.
  • Figure 5 illustrates the user interface implemented with smart glasses, KF, CFF, KFE.
  • Two left-hand silhouettes of the vase are illustrated in the left-hand lens of the smart glasses (at the top left of Figure 5). These are shown drawn in parallel, with a selection frame around the right one, as well as an arrow pointing to the selection which illus trates that the features of that silhouette are in the right-hand lens of the smart glass, where text and parameters are shown with a horizontal line within the boxes.
  • the arrow is intended to illustrate that a particular parameter is selected for the right-hand silhouette. This may be, for example, a pattern of the printable item, and the left-hand silhouette of the left lens may be an image of the printable item of the current print progress. In the upper right comer, the selection is changed when the arrow on the left lens indicates the left-hand silhouette.
  • the right-hand lens menu line has changed to another box, pointing to another text/parameter line.
  • the selection was directed to a line through which a new menu was opened, illustrating the possibilities for the user to rotate and/or move a printable item at a particular stage of printing, in connection with macro recording, for exam ple, as such, but not limited thereto.
  • a user has access to observe element distribution of the printing point of the item to be printed in which (on the right in the top pane) there are three peaks depicted to illustrate the obtained information with spectrometry means.
  • the accumulation of material, for example, on a surface of the printed item is illustrated in the lower box.
  • the possibility of looking at a spectrum of a printable item at a rotational point, as the spectrum changes ac cording to the point, for example, according to an embodiment is illustrated with straight arrows illustrating moving and/or with curved arrows illustrating rotating.
  • Fig. 6 illustrates Spectroscopy means Spe comprising in the illustrated example at least one of the following: a connection to a control center, a hyperspectral camera HSPK, a comparator Compa for comparing spectra, a thermal camera LK.
  • a connection to a control center a hyperspectral camera HSPK
  • a comparator Compa for comparing spectra a thermal camera LK.
  • a work file about the item to be printed t is illustrated by a 3D scanner according to a variant embodiment of the invention.
  • the scanner may be a tomography means for obtaining details that are distinguished by the resolution of the 3D scanner, depicted according to the shape of the body, in relation to the structure/shapes of the other printable part.
  • the information may be in a numerical form, on the basis of which the control unit, in connection with the actual printing, reads a work file from the database, guides the material flows fed to the nozzle, their strengths and durations, and the directions from which the material flows are directed to the print able part.
  • the material flow directions can be implemented by rotating the item and/or by moving by the means of robotics.
  • the relationship between the mate rial flow of the printable item and the nozzle can be changed by moving the printable item and/or nozzle relative to each other.
  • Small items can be printed by moving the item, and/or rotating as appropriate, but large items may require more nozzle move ment according to the intended locations of material streams to be printed, than what is the case for a small printable item.
  • a set of nozzles in the nozzle arrangement may also be used, whereby printing can be performed from different directions by a set of nozzles.
  • the printable body may be arranged to be movable, for example, in accord ance with the Cartesian coordinate system, in addition to the three directions, by ro tational symmetry by means of a holder acting on each coordinate axis.
  • the item to be printed may in some cases be of such a shape that the directing of the printable item to the print material flux according to the spherical coordinate system is mathematically easier than in the Cartesian coordinate system.
  • it may be appropriate to select the cylinder coordinate system as the print coordinate system e.g when the printable item is elongated or otherwise more suitable for the cylindrical coordinate system, such as, in the case of a rotationally symmetrical printable body, for example, and/or in the case of a nearly rotationally symmetrical body. Especially when the item is elongated.
  • the user can select from the user interface which print coordinate system he intends to use for printing.
  • the artifi cial intelligence can provide options for the selection in the form of a print time esti mate based on simulation and/or tomography based on the size of the printable item, allowing the user to select a coordinate system, for example, the fastest and/or most detailed printing coordinate system.
  • the feature of the coordinate system selection may not be relevant, but in some cases, the selection may help to decide how to optimize the print time for a particular type of special item.
  • the user can select the fastest print, for example, but also set his selection to be automatically selected, whereby the artificial intelligence generates values for the drive parameters for the item in question.
  • the print file of the item can be stored in a database in the system or in an external database in a system-readable format.
  • the printer consists of a printing system having a first nozzle arrangement S-IF-R equipped with a replaceable nozzle S as one of the nozzle arrangements of the printer.
  • said printer further comprises at least one other fixed nozzle arrangement in which the nozzle section S and the body portion R are fixedly inter connected on the material feed channel.
  • said second nozzle arrangement includes a Laser, which can also be used to melt the print material during actual print ing, but also as a pulsed ablation laser, to remove the material from the printable item to correct it, if needed, when by means of the user interface implemented by smart glass the printer is changed in the print mode to a correcting mode in order to correct the detected error.
  • the user can also take control of the entire printing and print the printable item, as applicable, if not completely, based on its own control.
  • the smart glasses are used to provide the control of the stylus controller to the printer and its material feed, but according to one variant, the hand or fingers of the user can be used as a substitute for a stylus guide.
  • the laser used for heating/defrosting the print material is replaced, as appropriate, by an adhesive feed channel and a press in order to produce an adhesive flux by means of the adhesive means formed with said means for the printable item by which the adhesive material is applied to the printable item.
  • the printer also has a laser, in which, when printing to the printer, the adhesive is cured by laser light at the printing site during printing.
  • the nozzle arrangement has such a body portion R with a constant connection to a particular type of nozzle S and a spacer IF for combinations attachable to the spacer.
  • a different nozzle S can be replaced in a standard body part, whereby standardized material feeds can be used through the body part with the same particular body part R, but by changing the nozzle S and the spacer IF, it is possible to change the material feed order in the nozzle S and/or the geometry for optimizing the material flow of the object to be printed in the print point according to Figures 2A-2D.
  • the body part R may be provided with identification means, on the basis of a signal obtained from the identification means, the control center manage to rec ognize also the nozzle S and the intermediate portion IF, where these are provided as appropriate, so that the body identification means receives the identification infor mation from the nozzle S and the intermediate part IF for transmission to the body part R for selecting print material flows for a print event and/or simulating it.
  • identification means on the basis of a signal obtained from the identification means, the control center manage to rec ognize also the nozzle S and the intermediate portion IF, where these are provided as appropriate, so that the body identification means receives the identification infor mation from the nozzle S and the intermediate part IF for transmission to the body part R for selecting print material flows for a print event and/or simulating it.
  • the apparatus with smart glasses con trolled 3D printing stylus comprises: Smart glasses, printing stylus ( Figure 7), feeding tubes/wires connecting the print stylus and its nozzles, as appropriate, to the material feeder apparatus.
  • the material feeder apparatus comprises a power supply, a print material supply system as such, electronics for assembling smart glasses into the sys tem, and a fiber laser and/or adhesive or other binder delivery apparatus, as appropri ate, according to embodiments of the invention.
  • one or more electric motor-guided wire reels can also be added to the printing system in view of the functions of the stylus.
  • the wire reel may have 10 m of a suitably thin and/or non- stretchable metal twine yam.
  • Figure 7 illustrates the stylus as follows:
  • 701 illustrates an example of a manifold, which may include pipes and wires from a material feeder apparatus and a support loop 704 in the middle of the manifold with a wire reel wedge.
  • the flywheel unit 702 illustrates a handle portion with a flywheel unit in the center.
  • there are five electric motor driven flywheels not limited to the said number alone in embodiments of the invention.
  • material tubes can pass through the handle sec- tion to the nozzle, as appropriate, by way of example.
  • the flywheel unit according to an exemplary embodiment of the invention also refers to a flywheel unit having gyros or similar position sensors, which can be implemented by means of a MEMS sensor, for example.
  • MEMS accelerometers
  • 703 illustrates a nozzle section, an opening dual cone nozzle in this example, accord ing to an embodiment of the invention.
  • Example 7 As an example of use, printing by a free hand is shown:
  • a print stylus according to an embodiment of the invention is used for free printing in hand, a virtual model of the printable item can be positioned via smart glasses at the desired location.
  • the flywheels on the stylus handle section can give haptic feedback to the user according to the shape of the virtual template to be printed.
  • smart glasses can be used, as appropriate to provide feedback to the user based on the position information measured by the system sensors.
  • the stylus When the stylus is transported during printing in accordance with the virtual mold/inside and is approaching the edge of the item to be printed, then by changing the speed of the flywheels and the angle of the shaft, it is possible to start to tilt the stylus, so that the zero point of the stylus (for example from a 30mm nozzle) would not move outside the printable item.
  • the tilt can be measured with position sensors (MEMS).
  • the stylus can be used as an automatic 3d printer with at least one wire reel attached to it so that the print stylus need not necessarily be held at least completely by hand.
  • the motor part of the wire reel is hung on a hook in the ceiling of the printing site, for example, and the other end of the wire on a support loop in the print stylus manifold.
  • the height of the print (Z-axis) is adjusted by the wire reel, and, if necessary, the stylus can be obtained with pendulous motion (X, Y-axis), as appropriate, by using flywheels.
  • printing can be performed as appropriate by using four- wire reels:
  • Wire reels are mounted as far apart as possible, e.g. at ceiling line, comers in a room, and the wires are mounted on the support loops on the side of the stylus, for example. In this case, the size of the entire room will be the printing area.
  • the stylus can be tilted relative to the printing plane by means of the wires.
  • Controlling with smart glasses according to an embodiment of the invention in con trolling 3D printing can also be used, as appropriate, under the control of a non-dual cone nozzle.
  • beams and/or articulated beams and/or telescopic struc tures may also be used to change the position of the stylus relative to the item to be printed.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Spray Control Apparatus (AREA)

Abstract

L'invention concerne un système d'impression 3D pour l'impression de matériaux recyclés. La buse d'impression est montée, par exemple, sur un robot industriel à 6 axes commandé par des lunettes intelligentes et/ou une commande manuelle. Avec le système d'impression, une impression 3D peut être réalisée avec une large gamme d'options de matériau.
PCT/FI2018/050956 2017-12-21 2018-12-20 Buse pour impression 3d, imprimante 3d, système d'impression et système de commande de robot WO2019122526A2 (fr)

Applications Claiming Priority (2)

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FI20176144A FI20176144A1 (fi) 2017-05-22 2017-12-21 Suutin 3d-tulostukseen, sitä käyttävät 3d-tulostin, tulostusjärjestelmä ja ohjausjärjestelmä
FI20176144 2017-12-21

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WO2019122526A3 WO2019122526A3 (fr) 2019-09-26

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US5477026A (en) * 1994-01-27 1995-12-19 Chromalloy Gas Turbine Corporation Laser/powdered metal cladding nozzle
JP5931947B2 (ja) * 2014-03-18 2016-06-08 株式会社東芝 ノズルおよび積層造形装置
US10449560B2 (en) * 2015-02-25 2019-10-22 Technology Research Association For Future Additive Manufacturing Optical processing nozzle and optical machining apparatus
US9944016B2 (en) * 2015-07-17 2018-04-17 Lawrence Livermore National Security, Llc High performance, rapid thermal/UV curing epoxy resin for additive manufacturing of short and continuous carbon fiber epoxy composites
FR3046367A1 (fr) * 2015-12-31 2017-07-07 Nantes Ecole Centrale Dispositif de fabrication additive par projection et fusion de poudre

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