CN110065232B - Printing method adopting multi-coordinate system to cooperate with 3D printer - Google Patents
Printing method adopting multi-coordinate system to cooperate with 3D printer Download PDFInfo
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- CN110065232B CN110065232B CN201910457459.7A CN201910457459A CN110065232B CN 110065232 B CN110065232 B CN 110065232B CN 201910457459 A CN201910457459 A CN 201910457459A CN 110065232 B CN110065232 B CN 110065232B
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- 238000007639 printing Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 55
- 229910052742 iron Inorganic materials 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 239000007921 spray Substances 0.000 claims abstract description 26
- 238000001816 cooling Methods 0.000 claims abstract description 7
- 238000001125 extrusion Methods 0.000 claims abstract description 5
- 230000005347 demagnetization Effects 0.000 claims abstract description 3
- 230000005415 magnetization Effects 0.000 claims abstract description 3
- 230000003068 static effect Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 claims description 2
- 239000002131 composite material Substances 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000010099 solid forming Methods 0.000 abstract 1
- 238000010146 3D printing Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000012255 powdered metal Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
-
- 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
-
- 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
- B29C64/227—Driving means
- B29C64/241—Driving means for rotary motion
-
- 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
- B29C64/245—Platforms or substrates
-
- 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
- B29C64/295—Heating elements
-
- 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
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Dot-Matrix Printers And Others (AREA)
Abstract
The invention discloses a printing method adopting a multi-coordinate system collaborative 3D printer, which comprises a stepping motor, an electromagnetic chassis, a hot bed, a six-axis mechanical arm, a tray frame, an iron disc and a spray head mechanism, wherein the spray head mechanism comprises an extrusion stepping motor, a spray head, a cooling fan, a vertical adjusting mechanism and a horizontal adjusting mechanism. The electromagnetic chassis contains permanent magnet and electromagnet, and the demagnetization and magnetization are controlled by controlling the current flowing through the electromagnet. Compared with the prior art, the printing method adopting the multi-coordinate system collaborative 3D printer increases the rotational freedom degree of the chassis through the six-freedom-degree mechanical arm and the electromagnetic permanent magnet composite device, not only can realize the three-dimensional solid forming of the plane cube under the general condition, but also can flexibly convert in a Cartesian coordinate system, a cylindrical coordinate system and a spherical coordinate system, realize the improvement of the printing precision of the cambered surface and the spherical surface, and provide a new idea for printing the cambered surface and the spherical surface combination body. And the device is simple to operate and wide in application range, and creates device conditions for high-precision micro printing.
Description
Technical Field
The invention belongs to the field of 3D printing, and particularly relates to a printing method adopting a multi-coordinate system to cooperate with a 3D printer.
Background
The 3D printing technology is one of additive manufacturing technologies, which is based on STL digital models, for manufacturing three-dimensional objects by melt deposition of bondable materials such as powdered metals or plastics. Compared with the traditional material reduction manufacturing process, the 3D printing process has higher material utilization rate, and can process products with complex structures according to actual use requirements.
Most of the existing 3D printers are still built in a Cartesian coordinate system, and are characterized in that three axes are independent of each other, each axis can only do linear motion in the printing process, and macroscopic forming in the three-dimensional space of an object is completed through motion coordination among the axes. For products with a series of curved surfaces such as a cambered surface, a spherical surface and the like, the common printer prints by differentiating the curved surface into a right angle, and the printed product is not a smooth circular arc in microstructure, so that certain errors exist compared with the original design. And the smaller the printed product, the more obvious the small triangle is, and the worse the printing precision is.
The 3D printer based on cylindrical coordinate transmission positioning disclosed by the patent number CN 207747423U increases the rotation freedom degree of the forming base in the horizontal direction, and avoids printing deviation caused by the matching deviation of X and Y axes when printing a planar revolving body. However, when printing a space rotator, deviation of the extrusion nozzle in the matching of the X axis and the Z axis is unavoidable. Meanwhile, the patent is only suitable for a cylindrical coordinate system, and cannot realize the collaborative printing of a plurality of coordinate systems.
Disclosure of Invention
Aiming at the defect that a common 3D printer can only work in a single coordinate system, the invention provides a printing method adopting a multi-coordinate system to cooperate with the 3D printer, which not only can effectively avoid equipment errors of a cambered surface of a product during printing, but also can realize arbitrary switching of the multi-coordinate system, further improve the accuracy of 3D printing and further widen the application range of the 3D printer in the field of microstructures.
On the basis of simplicity and easiness in control of an original Cartesian 3D printer, the space freedom degree of the chassis is increased by using the magnetic attraction device and the six-axis mechanical arm device, the cylindrical coordinate axis or the spherical coordinate center is customized according to printing requirements for printing, 3D printing precision of cambered surfaces and spherical surfaces of products can be effectively improved, and high-precision printing requirements of complex products (comprising more than one of spherical surfaces, cambered surfaces and non-curved surfaces) are completed.
The structural scheme of the invention is as follows: a printing method adopting a multi-coordinate system cooperative 3D printer, wherein the multi-coordinate system cooperative 3D printer comprises a stepping motor, an electromagnetic chassis, a hot bed, a six-axis mechanical arm, a tray frame, an iron disc and a spray head mechanism, and the spray head mechanism comprises an extrusion stepping motor, a spray head, a cooling fan, a vertical adjusting mechanism and a horizontal adjusting mechanism.
According to the printing method adopting the multi-coordinate system collaborative 3D printer, the permanent magnet and the electromagnet are arranged in the electromagnetic chassis, the demagnetization and magnetization are controlled by controlling the current flowing through the electromagnet, the permanent magnet can ensure that continuous current is not required to be provided for the electromagnetic chassis during printing, energy is saved, and reliability can be ensured. The hot bed adopts an aluminum plate with strong binding capacity with printing materials. The iron disc adopts an iron metal product which is sensitive to magnetism and easy to magnetize.
The invention relates to a printing method adopting a multi-coordinate system to cooperate with a 3D printer, wherein a tray frame is arranged on a frame; the six-axis mechanical arm is fixedly connected with the stepping motor, and the space position and the space angle of the stepping motor are controlled; the stepping motor is fixedly connected with the iron disc; the electromagnetic chassis is fixedly connected with the hot bed, and no relative movement exists. The installation mode of the spray head mechanism is basically consistent with the installation mode of the spray head part of the existing 3D printer, the extrusion stepping motor is fixedly connected with the frame, the cooling fan and the spray head keep a relatively static installation relation, the vertical adjusting mechanism is installed on the frame of the printer, and the horizontal adjusting mechanism adopts a triple mechanical arm mechanism in the example of the invention.
The invention relates to a printing method adopting a multi-coordinate system to cooperate with a 3D printer, which comprises the following working modes: when printing a common plane assembly (without arc shape), a common Cartesian 3D printing algorithm is adopted. The six-axis mechanical arm does not work, the electromagnetic chassis is arranged on the tray frame, and the electromagnetic chassis is kept horizontal. The nozzle mechanism prints the product according to a predetermined program.
When printing the planar arc assembly, the six-axis mechanical arm plays a role on the basis of the original Cartesian coordinate system, and when printing a common structure (without arc shape), the six-axis mechanical arm is kept static, the electromagnet is not electrified, and the electromagnet is adsorbed on an iron disc fixedly connected with the stepping motor and kept static. The system maintains the relative positional memory of the spray head and the thermal bed while printing the arcuate portion of the assembly; the six-axis mechanical arm drives the electromagnetic chassis and the hot bed and places the electromagnetic chassis and the hot bed on the tray frame; then the electromagnetic chassis is electrified to perform a magnetic release operation, and the electromagnetic chassis is separated from the iron disc; the common rotation center of the stepping motor and the iron disc is moved to a position coincident with the rotation center of the arc-shaped object to be printed by a six-axis mechanical arm; the electromagnetic chassis is powered off, so that the iron disc is attracted with the electromagnetic chassis, and then the hot bed is moved to the position which is just memorized; the spray head is kept static in the horizontal direction at the arc edge position, and the hot bed and the electromagnetic chassis rotate along with the rotation of the stepping motor; when the non-cambered surface is required to be printed again, the motor stops rotating, and the spray head moves, so that the printing work of the product can be completed.
When printing the spherical (space cambered surface) assembly, the system keeps the relative position memory of the spray head and the hot bed; the six-axis mechanical arm drives the electromagnetic chassis and the hot bed and places the electromagnetic chassis and the hot bed on the tray frame; then the electromagnetic chassis is electrified to perform a magnetic release operation, and the electromagnetic chassis is separated from the iron disc; the six-axis mechanical arm moves the stepping motor to the intersection point of the spherical surface curvature radius and the electromagnetic chassis, the electromagnetic chassis is powered off, so that the iron disc is attracted with the electromagnetic chassis, and then the hot bed is moved to the position which is just memorized; the six-axis mechanical arm rotates the stepping motor by a certain angle according to the requirement, the electromagnetic chassis and the hot bed rotate along with the rotation of the stepping motor, and the spherical assembly is printed more accurately.
The printing method adopting the multi-coordinate system collaborative 3D printer is not limited to the structural scheme and the implementation mode provided in the case of the invention, and other structural schemes such as a structure that a single mechanical arm is used for controlling movement at a spray head and the like belong to the invention.
Compared with the prior art, the printing method adopting the multi-coordinate system collaborative 3D printer increases the rotational freedom degree of the chassis through the six-freedom-degree mechanical arm and the electromagnetic permanent magnet composite device, not only can realize three-dimensional solid molding of a plane cube under the general condition, but also can flexibly convert in a Cartesian coordinate system, a cylindrical coordinate system and a spherical coordinate system, realizes the improvement of printing precision of an arc surface and a spherical surface, and provides a new idea for printing an arc surface and spherical surface combination body. And the device is simple to operate and wide in application range, and creates device conditions for high-precision micro printing.
Drawings
FIG. 1 is a schematic front view of an overall installation of a multi-coordinate system collaborative 3D printer of the present invention;
fig. 2 is a schematic diagram of a six-axis mechanical arm of a multi-coordinate system collaborative 3D printer.
In the figure: the device comprises a 1-six-axis mechanical arm, a 2-stepping motor, a 3-electromagnetic chassis, a 4-hot bed, a 5-cooling fan, a 6-feeding stepping motor, a 7-vertical adjusting mechanism, an 8-horizontal adjusting mechanism, a 9-spray head, a 10-iron disc, a 11-tray frame and a 12-servo motor.
Detailed Description
The invention discloses a printing method adopting a multi-coordinate system cooperative 3D printer, which is characterized in that the printing method adopts the multi-coordinate system cooperative 3D printer, as shown in figure 1, and comprises a stepping motor 2, an electromagnetic chassis 3, a hot bed 4, a six-axis mechanical arm 1, a tray frame 11, an iron disc 10 and a spray head mechanism. The spray head mechanism comprises a feeding stepping motor 6, a spray head 9, a cooling fan 5, a vertical adjusting mechanism 7 and a horizontal adjusting mechanism 8.
The six-axis mechanical arm 1 in the multi-coordinate system cooperative 3D printer is controlled to move in three dimensions by four servo motors 12 as shown in fig. 2.
The specific implementation mode of the printing method adopting the multi-coordinate system to cooperate with the 3D printer is as follows:
when printing a common plane assembly (without arc shape), a common Cartesian 3D printing algorithm is adopted. The six-axis mechanical arm 1 does not work, the electromagnetic chassis 3 is placed on the tray frame 11, and the electromagnetic chassis 3 is kept horizontal. The nozzle mechanism prints the product according to a predetermined program.
When printing the planar arc-shaped assembly, the six-axis mechanical arm 1 plays a role on the basis of the original Cartesian coordinate system, and when printing a common structure (without arc shape), the six-axis mechanical arm 1 is kept static, the electromagnet is not electrified, and the permanent magnet is adsorbed on an iron disc 10 fixedly connected with a motor and is kept static. The system maintains a memory of the relative positions of the nozzle 9 and the thermal bed 4 while printing the arcuate portion of the assembly; the six-axis mechanical arm 1 drives the electromagnetic chassis 3 and the hot bed 4 and places the electromagnetic chassis 3 and the hot bed 4 on the tray frame 11; then the electromagnetic chassis 3 is electrified to perform a magnetic release operation, and the electromagnetic chassis 3 is separated from the iron disc 10; the common rotation center of the stepping motor 2 and the iron disc 10 is moved to a position coincident with the rotation center of an arc-shaped object to be printed by the six-axis mechanical arm 1; the electromagnetic chassis 3 is powered off, so that the iron disc 10 is attracted with the electromagnetic chassis 3, and then the hot bed 4 is moved to the position just memorized; the spray head 9 is kept static in the horizontal direction at the arc edge position, and the hot bed 4 and the electromagnetic chassis 3 rotate along with the rotation of the stepping motor 2; when the non-cambered surface is required to be printed again, the stepping motor 2 stops rotating, and the spray head 9 moves, so that the printing work of the product can be completed.
When printing the spherical (space cambered surface) combination, the system keeps the relative position memory of the spray head 9 and the hot bed 4; the six-axis mechanical arm 1 drives the electromagnetic chassis 3 and the hot bed 4 and places the electromagnetic chassis 3 and the hot bed 4 on the tray frame 11; then the electromagnetic chassis 3 is electrified to perform a magnetic release operation, and the electromagnetic chassis 3 is separated from the iron disc 10; the six-axis mechanical arm 1 moves the stepping motor 2 to the intersection point of the spherical surface curvature radius and the electromagnetic chassis 3, the electromagnetic chassis 3 is powered off, the iron disc 10 is attracted with the electromagnetic chassis 3, and then the hot bed 4 is moved to the position which is just memorized; the six-axis mechanical arm 1 rotates the stepping motor 2 by a certain angle according to the requirement, the electromagnetic chassis 3 and the hot bed 4 rotate along with the rotation of the stepping motor 2, and the spherical assembly is printed more accurately.
The above description is of the specific equipment and process of the present invention, and is described with reference to the drawings. The invention is not limited to the specific apparatus and processes described above, any modifications or substitutions to the relevant apparatus based on the above description, and any local adjustments to the relevant process based on the above description are within the scope of the invention.
Claims (1)
1. A printing method adopting a multi-coordinate system to cooperate with a 3D printer is characterized in that: the multi-coordinate system collaborative 3D printer comprises a stepping motor, an electromagnetic chassis, a hot bed, a six-axis mechanical arm, a tray frame, an iron disc and a nozzle mechanism, wherein the nozzle mechanism comprises an extrusion stepping motor, a nozzle, a cooling fan, a vertical adjusting mechanism and a horizontal adjusting mechanism; the electromagnetic chassis is internally provided with a permanent magnet and an electromagnet, demagnetization and magnetization are controlled by controlling current flowing through the electromagnet, the hot bed is an aluminum plate with strong binding capacity with printing materials, and the iron disc is an iron metal product which is sensitive to magnetism and easy to magnetize; the tray frame is arranged on the frame; the six-axis mechanical arm is fixedly connected with the stepping motor, and the space position and the space angle of the stepping motor are controlled; the stepping motor is fixedly connected with the iron disc; the electromagnetic chassis is fixedly connected with the hot bed; the extruding stepper motor is fixedly connected with the frame, the cooling fan and the spray head keep a relatively static installation relationship, the vertical adjusting mechanism is arranged on the frame of the printer, and the horizontal adjusting mechanism adopts a triple mechanical arm mechanism; the printing method comprises the following steps: when printing a planar arc-shaped assembly, the six-axis mechanical arm plays a role on the basis of the original Cartesian coordinate system, and when printing a common arc-free structure, the six-axis mechanical arm is kept static, the electromagnet is not electrified, and the electromagnet is adsorbed on an iron disc fixedly connected with the stepping motor and kept static; the system maintains the relative positional memory of the spray head and the thermal bed while printing the arcuate portion of the assembly; the six-axis mechanical arm drives the electromagnetic chassis and the hot bed and places the electromagnetic chassis and the hot bed on the tray frame; then the electromagnetic chassis is electrified to perform a magnetic release operation, and the electromagnetic chassis is separated from the iron disc; the common rotation center of the stepping motor and the iron disc is moved to a position coincident with the rotation center of the arc-shaped object to be printed by a six-axis mechanical arm; the electromagnetic chassis is powered off, so that the iron disc is attracted with the electromagnetic chassis, and then the hot bed is moved to the position which is just memorized; the spray head is kept static in the horizontal direction at the arc edge position, and the hot bed and the electromagnetic chassis rotate along with the rotation of the stepping motor; when the non-cambered surface is required to be printed again, the motor stops rotating, and the spray head moves, so that the printing work of the product can be completed; when the space cambered surface assembly is printed, the system keeps the relative position memory of the spray head and the hot bed; the six-axis mechanical arm drives the electromagnetic chassis and the hot bed and places the electromagnetic chassis and the hot bed on the tray frame; then the electromagnetic chassis is electrified to perform a magnetic release operation, and the electromagnetic chassis is separated from the iron disc; the six-axis mechanical arm moves the stepping motor to the intersection point of the spherical surface curvature radius and the electromagnetic chassis, the electromagnetic chassis is powered off, so that the iron disc is attracted with the electromagnetic chassis, and then the hot bed is moved to the position which is just memorized; the six-axis mechanical arm rotates the stepping motor by a certain angle according to the requirement, the electromagnetic chassis and the hot bed rotate along with the rotation of the stepping motor, and the spherical assembly is printed more accurately.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910457459.7A CN110065232B (en) | 2019-05-29 | 2019-05-29 | Printing method adopting multi-coordinate system to cooperate with 3D printer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910457459.7A CN110065232B (en) | 2019-05-29 | 2019-05-29 | Printing method adopting multi-coordinate system to cooperate with 3D printer |
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| CN110065232A CN110065232A (en) | 2019-07-30 |
| CN110065232B true CN110065232B (en) | 2023-12-15 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438938A (en) * | 2020-03-14 | 2020-07-24 | 湖南大学 | Three-degree-of-freedom 3D printer forming platform |
| CN111823574A (en) * | 2020-06-22 | 2020-10-27 | 深圳市创想三维科技有限公司 | Be applied to automatic leveling sensor of 3D printer |
| CN113352604B (en) * | 2021-05-31 | 2022-08-30 | 合肥工业大学 | Six-degree-of-freedom 3D printing device and control method thereof |
| CN114851559B (en) * | 2022-05-06 | 2023-06-30 | 江南大学 | Degree-of-freedom redundant machining system, contour line high-precision machining method and workpiece |
| CN114833914B (en) * | 2022-07-01 | 2022-09-06 | 华南理工大学 | 3D printer mechanical arm for intelligent construction and use method thereof |
| CN117021574B (en) * | 2023-10-08 | 2024-01-09 | 哈尔滨理工大学 | Magnetic-guided composite material controllable long-arc line path printing system and method |
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| CN108748991A (en) * | 2018-05-02 | 2018-11-06 | 芜湖众梦电子科技有限公司 | A kind of quick arc side printing device and Method of printing of 3D printer |
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| CN109466062A (en) * | 2018-12-03 | 2019-03-15 | 中国矿业大学 | Magnetic control polar coordinates 3D printer |
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2019
- 2019-05-29 CN CN201910457459.7A patent/CN110065232B/en active Active
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|---|---|---|---|---|
| CN205736042U (en) * | 2016-06-06 | 2016-11-30 | 大连交通大学 | Pellet type polar coordinate surface of revolution 3D printing equipment |
| CN207669792U (en) * | 2017-12-26 | 2018-07-31 | 广州畅德科技有限公司 | A kind of FDM3D printer of magnetic platform hott bed |
| CN208290486U (en) * | 2018-04-28 | 2018-12-28 | 北京市工业技师学院 | A kind of arm-type 3D printer of parallel connection |
| CN108748991A (en) * | 2018-05-02 | 2018-11-06 | 芜湖众梦电子科技有限公司 | A kind of quick arc side printing device and Method of printing of 3D printer |
| CN109466062A (en) * | 2018-12-03 | 2019-03-15 | 中国矿业大学 | Magnetic control polar coordinates 3D printer |
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