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WO2017052124A1 - Imprimante 3d au moyen d'un robot delta - Google Patents

Imprimante 3d au moyen d'un robot delta Download PDF

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Publication number
WO2017052124A1
WO2017052124A1 PCT/KR2016/010210 KR2016010210W WO2017052124A1 WO 2017052124 A1 WO2017052124 A1 WO 2017052124A1 KR 2016010210 W KR2016010210 W KR 2016010210W WO 2017052124 A1 WO2017052124 A1 WO 2017052124A1
Authority
WO
WIPO (PCT)
Prior art keywords
end effector
wheel pulleys
wheel
lower arm
pulleys
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2016/010210
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English (en)
Korean (ko)
Inventor
임여명
이인덕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Locoop Inc
Original Assignee
Locoop Inc
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
Application filed by Locoop Inc filed Critical Locoop Inc
Publication of WO2017052124A1 publication Critical patent/WO2017052124A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • B29C67/00—Shaping techniques not covered by groups B29C39/00 - B29C65/00, B29C70/00 or B29C73/00
    • 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 following embodiments relate to a 3D printer, and more particularly to a 3D printer using a delta robot.
  • 3D printer is a 3D printing technique by the end-effector movement, as if carving an object-based method or a mass of materials by stacking the object in a two-dimensional planar form in three dimensions.
  • the cutting method which cuts and forms a shape is used.
  • the tube connected to the end effector in the conventional 3D printer is a 3D printer Since it is connected to the end effector without being fixed at any position on the image, when a 3D printing operation is performed and the end effector moves, the component of the 3D printer (eg, the end effector) is in a range of movement of the end effector. Arm or drive for moving the end effector).
  • the following embodiments propose a 3D printer which prevents wires and tubes connected to the end effector from being caught in the components of the 3D printer in the range of movement of the end effector.
  • One embodiment includes at least one holder for mounting and securing the wires and tubes connected to the end effector, thereby preventing the wires and tubes connected to the end effector from being caught in the components of the 3D printer in the range of movement of the end effector. Provide a 3D printer to prevent.
  • one embodiment provides an interior space for receiving wires and tubes at least one of an upper arm or a lower arm connected to each of a plurality of wheel pulleys connected to an end effector.
  • the 3D printer comprises a plurality of wheel pulleys operated by each of the plurality of motors; An upper arm and a lower arm connected to each of the plurality of wheel pulleys; An end effector connected to an end of a lower arm connected to each of the plurality of wheel pulleys to perform 3D printing; And supplying a filament to the processor and the end effector for driving the plurality of motors to control movement of the end effector through the plurality of wheel pulleys, upper and lower arms connected to each of the plurality of wheel pulleys.
  • a control box mounted with an extruder; And at least one holder fixed through the wires and the tubes connecting the control box and the end effector.
  • the at least one holder may be disposed on at least one of an upper arm or a lower arm connected to each of the plurality of wheel pulleys.
  • the at least one holder is an upper arm connected to each of the plurality of wheel pulleys based on an operating range of each of the plurality of wheel pulleys or an operating range of an upper arm and a lower arm connected to each of the plurality of wheel pulleys. Or on at least one of the lower arms.
  • the at least one holder may be disposed on a case frame in which the plurality of wheel pulleys and the upper arm and the lower arm connected to each of the plurality of wheel pulleys are accommodated.
  • the at least one holder may be disposed on the case frame based on an operating range of each of the plurality of wheel pulleys or an operating range of an upper arm and a lower arm connected to each of the plurality of wheel pulleys.
  • the at least one holder may be formed to be detachable on any position.
  • the processor mounted in the control box may control an operation of 3D printing of the end effector connected through the wire and the tube.
  • the 3D printer comprises a plurality of wheel pulleys operated by each of the plurality of motors; An upper arm and a lower arm connected to each of the plurality of wheel pulleys; An end effector connected to an end of a lower arm connected to each of the plurality of wheel pulleys to perform 3D printing; And supplying a filament to a processor driving the plurality of motors and the end effector for controlling movement of the end effector through the plurality of wheel pulleys, upper and lower arms connected to each of the plurality of wheel pulleys.
  • At least one of an upper arm or a lower arm connected to each of the plurality of wheel pulleys is based on an operating range of each of the plurality of wheel pulleys or an operating range of the upper arm and the lower arm connected to each of the plurality of wheel pulleys.
  • the internal space may be selectively included.
  • the processor mounted in the control box may control an operation of 3D printing of the end effector connected through the wire and the tube.
  • One embodiment includes at least one holder for mounting and securing the wires and tubes connected to the end effector, thereby preventing the wires and tubes connected to the end effector from being caught in the components of the 3D printer in the range of movement of the end effector. It can provide a 3D printer to prevent.
  • one embodiment provides that at least one of the upper arm or the lower arm connected to each of the plurality of wheel pulleys includes an inner space for receiving the wire and the tube connected to the end effector, so that the wire and the tube connected to the end effector It is possible to provide a 3D printer which prevents pinching on the components of the 3D printer in the range of movement of the end effector.
  • FIG. 1 is a view showing a 3D printer according to an embodiment.
  • FIGS. 2A to 2B are diagrams illustrating a delta robot included in a 3D printer according to one embodiment.
  • 3 is a diagram illustrating a 3D printer in order to explain the movement of the end effector through the components of the delta robot according to one embodiment.
  • 4A to 4B are diagrams for describing a movement of an end effector according to an exemplary embodiment.
  • FIG 5 is a view showing a bed included in the 3D printer according to an embodiment.
  • FIG. 6 is a diagram illustrating a 3D printer including at least one holder, according to an exemplary embodiment.
  • 7A to 7C illustrate at least one holder according to an embodiment.
  • FIG. 8 is a diagram illustrating a 3D printer having at least one of an upper arm and a lower arm connected to each of a plurality of wheel pulleys according to an embodiment.
  • 9A to 9C illustrate at least one of an upper arm and a lower arm connected to each of a plurality of wheel pulleys including an inner space, according to an exemplary embodiment.
  • FIG. 1 is a view showing a 3D printer according to an embodiment.
  • a 3D printer 100 includes a case in which a delta robot 110, a control box 120 equipped with a processor for controlling the delta robot 110, and a delta robot 110 are accommodated. It may include a frame 130.
  • the delta robot 110 includes a plurality of motors 111, a plurality of wheel pulleys 112 operated by each of the plurality of motors 111, and an upper arm 113 connected to each of the plurality of wheel pulleys 112. And an end effector 115 connected to the distal end of the lower arm 114 connected to each of the lower arm 114 and the plurality of wheel pulleys 112 to perform 3D printing.
  • a plurality of motors 111 included in the delta robot 110 are composed of three motors, and the upper arm connected to each of the plurality of wheel pulleys 112 and the plurality of wheel pulleys 112. 113 and three lower arms 114 are illustrated, but the present invention is not limited thereto, and the plurality of lower arms 114 include a plurality of motors 111, a plurality of wheel pulleys 112, and a plurality of motors included in the delta robot 110.
  • the upper arm 113 and the lower arm 114 connected to each of the wheel pulleys 112 may be implemented in various numbers.
  • the end effector 115 may be provided with components for performing 3D printing of the additive method of forming a shape by forming a target object in a two-dimensional planar shape in three dimensions.
  • the end effector 115 is a filament supplied from an extruder (not shown in the drawing) mounted on the control box 120 (the filament is an end effector 115 through a tube by a motor included in the extruder). 3D printing) can be performed. Detailed description thereof will be omitted since it departs from the technical idea of the present invention.
  • the processor mounted on the control box 120 may control 3D printing operation of the end effector 115 through wires and tubes.
  • the wire may serve to electrically connect the end effector 115 and the control box 120
  • the tube serves as a passage for supplying the filament to the end effector 115 to perform 3D printing of the additive method.
  • the extruder mounted on the control box 120 may further include a storage unit in which the filament is stored.
  • the 3D printer 100 may further include at least one holder for fixing the wires and tubes connecting the end effector 115 and the control box 120 to each of the plurality of wheel pulleys 112.
  • At least one of the connected upper arm 113 or the lower arm 114 may include an inner space in which wires and tubes connecting the end effector 115 and the control box 120 are accommodated. Detailed description thereof will be described with reference to FIGS. 6 to 9C.
  • the end effector 115 is the upper arm 113 and the lower arm connected to each of the plurality of wheel pulleys 112 and the plurality of wheel pulleys 112 as the plurality of motors 111 are driven. (114) is activated and moves.
  • the processor mounted in the control box 120 may include the plurality of wheel pulleys 112, the upper effect 113 and the lower arm 114 connected to each of the plurality of wheel pulleys 112. In order to control the movement of the plurality of motors 111 are driven.
  • the case frame 130 may accommodate the delta robot 110 to form an object to be 3D printed therein.
  • the target object may be disposed on the bed 131 attached to the bottom of the case frame 130 by a magnet.
  • the 3D printer 100 uses a delta robot 110 including a plurality of wheel pulleys 112 instead of providing a rail, thereby preventing layer shifting and precision of 3D printing. Can be kept constant and prices can be lowered. Detailed description of the 3D printer 100 using the delta robot 110 including a plurality of wheel pulleys 112 will be described below.
  • FIGS. 2A to 2B are diagrams illustrating a delta robot included in a 3D printer according to one embodiment.
  • any one of a plurality of motors 210 included in the delta robot and a component connected to the motor 210 wheel pulley 220, upper arm 230, and lower
  • the delta robot will be described based on the arm 240, the following description will be directed to a plurality of motors included in the delta robot and components connected to each of the plurality of motors (a plurality of wheel pulleys and a plurality of wheel pulleys, respectively).
  • the motor 210 is connected through the wheel pulley 220 and the timing belt 211 fixed by the wheel pulley fixing part 221, so that the motor 210 may have a torque greater than that of the motor 210. It can withstand greater torque.
  • a processor mounted in a control box moves the end effector (not shown) more precisely through the upper arm 230 and the lower arm 240 connected to the wheel pulley 220. As a result, the resolution of the target object on which 3D printing is completed can be increased.
  • the motor 210 is torque so as to withstand the weight of the wheel pulley 220 connected to the timing belt 211, the upper arm 230 and the lower arm 240 and the end effector connected to the wheel pulley 220.
  • Small step motors can be used.
  • both ends of the timing belt fixing device 222 may be connected to the wheel pulley 220. Can be secured (omitting lower arm 240 so that timing belt fastening device 222 is shown).
  • the timing belt fixing device 222 may include a fixing portion in which irregularities are repeated, such that the grooved timing belt 211 is fixed to the fixing portion. Therefore, the strength of the timing belt 211 wound on the wheel pulley 220 by the timing belt fixing device 222 may be adjusted.
  • the wheel pulley 220 may include a protruding portion 223 used in auto calibration of the 3D printer (on the drawing, the wheel pulley fixing portion 221 is omitted so that the protruding portion 223 is shown). Therefore, while the processor drives the motor 210 to raise the upper arm 230 and the lower arm 240 connected to the wheel pulley 220, the switch in which the protruding portion 223 is included in the 3D printer (switch is shown in FIG. Auto calibration may be performed based on the driving angle of the motor 210 at the point of contact with the protruding portion 223 on the wheel pulley fixing part 221 shown in 2a.
  • the processor drives the motor 210 to raise the upper arm 230 and lower arm 240 connected to the wheel pulley 220 while the protrusion 223 contacts the switch included in the 3D printer.
  • the auto-calibration can be performed by storing the driving angle of the motor 210 at the time point at which it is set and setting the initial coordinates of the end effector.
  • the processor may perform 3D printing to attach the object to a bed (not shown) included in the 3D printer based on the auto calibration performed as described above. For example, the processor measures the height of any three points on the bed, calculates the equation associated with the plane of the bed, and then uses the angle and inclination of the ideal plane estimated by auto calibration and the plane of the bed to form. 3D coordinate conversion equation can be derived. Accordingly, the processor may perform 3D printing by applying the derived three-dimensional coordinate transformation equation to attach the object to the bed.
  • the processor may control the movement of the end effector connected to the end of the lower arm through the plurality of motors, the plurality of wheel pulleys, the upper arm connected to each of the plurality of wheel pulleys, and the lower arm having the structure as described above. . Detailed description thereof will be described below.
  • FIG. 3 is a diagram illustrating a 3D printer in order to explain the movement of the end effector through the components of the delta robot according to one embodiment.
  • a plurality of wheel pulleys 310 and upper arm 320 and lower arm 330 connected to each of the plurality of wheel pulleys 310 among the components of the delta robot and the end are described. Only the effector 340 is shown and demonstrated.
  • a volume of a target object formed by 3D printing in a 3D printer may be set according to product skeleton dimensions of the 3D printer. Therefore, the range of movement of the end effector 340 that determines the volume of the object may be set according to the product skeleton dimension of the 3D printer.
  • the product skeleton dimension of the 3D printer is a relative position between the plurality of wheel pulleys 310 (distance between the central axis of each of the plurality of wheel pulleys 310), the size of the end effector 340 and the plurality of It may be a parameter determined based on the length of the upper arm 320 and the lower arm 330 connected to each of the wheel pulleys 310.
  • a processor mounted in a control box may include a relative position between a plurality of wheel pulleys 310, an size of an end effector 340, and an upper arm connected to each of the plurality of wheel pulleys 310.
  • the movement of the end effector 340 may be controlled based on the length of the 320 and the lower arm 330.
  • the processor may include a plurality of motors 350 for operating each of the plurality of wheel pulleys 310, relative positions between the plurality of wheel pulleys 310, sizes of the end effector 340, and a plurality of wheels.
  • the processor may include a plurality of motors 350 for operating each of the plurality of wheel pulleys 310, relative positions between the plurality of wheel pulleys 310, sizes of the end effector 340, and a plurality of wheels.
  • the processor not only controls the movement of the end effector 340 based on the product skeleton dimension of the 3D printer, but also the upper arm connected to each of the plurality of wheel pulleys 310 and the plurality of wheel pulleys 310.
  • the movement of the end effector 340 may be controlled by further considering the limiting elements of the 320 and the lower arm 330.
  • the processor may include an operating range of each of the plurality of wheel pulleys 310 (operation range of each of the plurality of wheel pulleys 310 reflecting an obstacle to motion according to the physical structure of each of the plurality of wheel pulleys 310). ) And an upper or lower limit of an operating angle of the upper arm 320 and the lower arm 330 connected to each of the plurality of wheel pulleys 310 (the physical structure and upper arm 320 of each of the plurality of wheel pulleys 310). And an upper limit or an upper limit of an operating angle of the upper arm 320 and the lower arm 330 in which the limiting element according to the physical structure of the lower arm 330 is reflected) may control the movement of the end effector 340. .
  • the processor may simultaneously drive the plurality of motors 350 based on a relative driving angle ratio between each of the plurality of motors 350 to control the movement of the end effector 340.
  • a plurality of motors responsible for the movement of a conventional robot arm are driven sequentially at very short time intervals. For example, when the A motor and the B motor are driven at a rotation ratio of 1: 2, the A motor and the B motor may be driven in such a manner that after the A motor rotates once, the B motor rotates two times.
  • the processor included in the 3D printer simultaneously drives the plurality of motors 350 based on a relative driving angle ratio between each of the plurality of motors 350, thereby providing an end effector 340. It can control the movement more precisely.
  • the processor may include a plurality of motors 350 as well as a motor included in an extruder mounted on a control box (eg, a motor responsible for feeding filaments included in the extruder). Motors 350 may be driven simultaneously based on a relative driving angle ratio between each of the plurality of motors 350.
  • the processor may determine the A motor, B motor, By calculating the r value, which is the relative drive angle ratio between the C motor and the D motor, the A motor, the B motor, the C motor, and the D motor can be driven simultaneously in accordance with the r value.
  • the processor may adaptively move or move the end effector 340 based on the distance between the start and destination points of the end effector 340 according to the movement of the end effector 340 or the direction in which the end effector 340 moves. You can control the speed. Detailed description thereof will be described with reference to FIGS. 4A and 4B.
  • 4A to 4B are diagrams for describing a movement of an end effector according to an exemplary embodiment.
  • a processor mounted in a control box is based on distances 420 and 430 between a starting point and a destination point of the end effector 410 according to the movement of the end effector 410.
  • the end effector 410 can be moved.
  • the plurality of segments 421 and 431 may have the same distance value.
  • the processor sets the number of the plurality of segments 421 to 16. After dividing the distance 420 into 16 segments 421, the end effector 410 may be moved for each segment 421.
  • the processor determines the number of the plurality of segments 431 by 8. By setting the number of pieces, the distance 430 may be divided into eight segments 431, and then the end effector 410 may be moved for each of the plurality of segments 431.
  • the movement of the end effector 410 is adaptively controlled according to the distance 420, 430 between the starting point and the destination point of the end effector 410, so that the starting point and the destination point of the end effector 410 are controlled. If the distance 420 is long, the end effector 410 can move stably horizontally on the virtual plane, and if the distance 430 between the starting point and the destination point of the end effector 410 is short, the end The effector 410 can move at a high speed while maintaining the accuracy of 3D printing.
  • the processor may adjust the movement speed of the end effector 410 based on the direction in which the end effector 410 moves. For example, the processor decreases the speed of movement of the end effector 410 just before point 440 at which the end effector 410 should turn, but immediately after the end effector 410 turns (450). The speed of movement of the end effector 410 may be increased.
  • the processor is configured based on the distance between the starting point and the destination point of the end effector 410 according to the movement of the end effector 410 described above with reference to FIG. 4A as well as the direction in which the end effector 410 moves.
  • the movement speed of the effector 410 may be adjusted. For example, as shown in FIG. 4A, when the distance 420 between the starting point and the destination point of the end effector 410 according to the movement of the end effector 410 is long, the processor may determine the end effector 410. If the movement speed is increased and the distance 430 between the starting point and the destination point of the end effector 410 according to the movement of the end effector 410 is short, the processor may decrease the movement speed of the end effector 410. have.
  • FIG 5 is a view showing a bed included in the 3D printer according to an embodiment.
  • the bed 510 may be attached to the bottom of the case frame 520 in which the delta robot is accommodated, with a magnet 511. Therefore, since the object to be completed 3D printing by the delta robot is disposed on the bed 510, the entire bed 510 can be stably detached from the 3D printer.
  • FIG. 6 is a diagram illustrating a 3D printer including at least one holder, according to an exemplary embodiment.
  • the 3D printer 600 has a structure as described above with reference to FIGS. 1 to 5, and wires and tubes connecting the control box 610 and the end effector 620. At least one holder 630 is fixed to the mounting by 611.
  • the at least one holder 630 includes a fixing part 631 for fixing the wires and the tube 611 to be fixed, and an attachment part 632 for attaching the at least one holder 630 to an arbitrary position. It can be formed to.
  • the fixing portion 631 may be formed in the form of a closed curve, C-shaped, U-shaped or tongs
  • the attachment portion 632 is formed of the C-shaped, U-shaped or tongs, magnet or repetition It may be formed to include an adhesive component usable. Therefore, at least one holder 630 may be formed to be detachable on any position.
  • At least one holder 630 is illustrated as being disposed on any one of the lower arms connected to each of the plurality of wheel pulleys, the holder 630 may be disposed on each of the lower arms connected to each of the plurality of wheel pulleys.
  • the at least one holder 630 is not limited thereto, but is disposed on an upper arm (one of the upper arms or each of the upper arms) connected to each of the plurality of wheel pulleys, or a case in which a delta robot is stored. It may be arranged on a frame. Detailed description thereof will be described with reference to FIGS. 7A to 7C.
  • the at least one holder 630 is based on the operating range of each of the plurality of wheel pulleys or the operating range of the upper and lower arms connected to each of the plurality of wheel pulleys (based on the range of movement of the end effector). ), Or may be disposed on at least one of an upper arm or a lower arm connected to each of the plurality of wheel pulleys, or may be disposed on a case frame.
  • the 3D printer 600 is In the process of performing 3D printing (even in the process of auto calibration), wires and tubes 611 fixed by at least one holder 630 are connected to each of the plurality of wheel pulleys or the plurality of wheel pulleys. Stuck in the upper arm and the lower arm can be prevented.
  • the at least one holder 630 is not only arranged based on the operating range of each of the plurality of wheel pulleys or the operating range of the upper arm and the lower arm connected to each of the plurality of wheel pulleys, but also the 3D printer 600. It may be arranged according to the position of the component of the.
  • 7A to 7C illustrate at least one holder according to an embodiment.
  • At least one holder 710 may be disposed on a lower arm 711 connected to each of the plurality of wheel pulleys. At this time, the at least one holder 710 is based on the operating range of each of the plurality of wheel pulleys or the operating range of the upper arm 712 and the lower arm 711 connected to each of the plurality of wheel pulleys, It may be placed at various locations on the lower arm 711 connected to each of the wheel pulleys.
  • At least one holder 720 may be disposed on an upper arm 721 connected to each of the plurality of wheel pulleys. At least one holder 720 includes a plurality of wheel pulleys based on an operating range of each of the plurality of wheel pulleys or an operating range of the upper arm 721 and the lower arm 722 connected to each of the plurality of wheel pulleys. It may be disposed at various locations on the upper arm 721 connected to each.
  • At least one holder 730 may be disposed on a case frame 731 in which a plurality of wheel pulleys and upper and lower arms connected to each of the plurality of wheel pulleys are accommodated. Similarly, the at least one holder 730 may be located at various positions on the case frame 731 based on the operating range of each of the plurality of wheel pulleys or the operating range of the upper arm and the lower arm connected to each of the plurality of wheel pulleys. Can be arranged.
  • FIG. 8 is a diagram illustrating a 3D printer having at least one of an upper arm and a lower arm connected to each of a plurality of wheel pulleys according to an embodiment.
  • the 3D printer 800 has a structure as described above with reference to FIGS. 1 to 5, and includes an upper arm 810 or a lower arm connected to each of the plurality of wheel pulleys. At least one of the 820 may include an inner space for accommodating the wire and the tube 831 connecting the control box 830 and the end effector 840.
  • the inner space in which the wire and the tube 831 are accommodated is formed in one of the lower arms 820 connected to each of the plurality of wheel pulleys, the lower arm 820 connected to each of the plurality of wheel pulleys. ) May be formed on each.
  • At least one of the upper arm 810 or the lower arm 820 connected to each of the plurality of wheel pulleys may include an upper arm 810 connected to each of the operating range of each of the plurality of wheel pulleys or each of the plurality of wheel pulleys; Based on the operating range of the lower arm 820 (based on the range of movement of the end effector), the internal space may be selectively included.
  • the 3D printer 800 is During 3D printing (even during auto calibration), the wires and tubes 831 are connected to the upper arm 810 and the lower arm 820 connected to each of the plurality of wheel pulleys or the plurality of wheel pulleys. Jamming can be prevented.
  • the inner space in which the wires and the tube 831 are accommodated is based on the operating range of each of the plurality of wheel pulleys or the operating range of the upper arm 810 and the lower arm 820 connected to each of the plurality of wheel pulleys. Not only is selectively formed on at least one of the upper arm 810 or the lower arm 820 connected to each of the wheel pulleys, but may be selectively formed according to the position of the component of the 3D printer 800. Detailed description thereof will be described with reference to FIGS. 9A to 9C.
  • 9A to 9C illustrate at least one of an upper arm and a lower arm connected to each of a plurality of wheel pulleys including an inner space, according to an exemplary embodiment.
  • an inner space 912 in which an electric wire and a tube 911 are accommodated may be formed in an upper arm 910 connected to each of a plurality of wheel pulleys.
  • an inner space 922 in which the wires and the tube 921 are accommodated may be formed in the lower arm 920 connected to each of the plurality of wheel pulleys.
  • the inner space 932 in which the wires and the tubes 931 are accommodated may be formed in both the upper arm 930 and the lower arm 940 connected to each of the plurality of wheel pulleys.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)

Abstract

L'invention concerne une imprimante 3D comprenant : une pluralité de poulies jantes qui est actionnée par chaque moteur d'une pluralité de moteurs; un bras supérieur et un bras inférieur reliés à chaque poulie jante de la pluralité de poulies jantes; un effecteur terminal relié à une extrémité du bras inférieur relié à chaque poulie jante de la pluralité de poulies jantes pour effectuer l'impression 3D; un boîtier de commande dans lequel un processeur permettant d'entraîner la pluralité de moteurs et une extrudeuse permettant de fournir un filament à l'effecteur terminal sont montés de manière à commander le mouvement de l'effecteur terminal au moyen de la pluralité de poulies jantes, et le bras supérieur et le bras inférieur sont reliés à chaque poulie jante de la pluralité de poulies jantes; et au moins un support pour monter et fixer des fils et des tubes reliant le boîtier de commande et l'effecteur terminal.
PCT/KR2016/010210 2015-09-22 2016-09-09 Imprimante 3d au moyen d'un robot delta Ceased WO2017052124A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0133808 2015-09-22
KR1020150133808A KR20170035122A (ko) 2015-09-22 2015-09-22 델타 로봇을 이용하는 3d 프린터

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WO2017052124A1 true WO2017052124A1 (fr) 2017-03-30

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017208132A1 (de) * 2017-05-15 2018-11-15 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur additiven Herstellung dreidimensionaler Bauteile
US11230032B2 (en) * 2018-04-13 2022-01-25 Ut-Battelle, Llc Cable-driven additive manufacturing system

Citations (4)

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