CN114986873A - DIW conformal printing system and method based on multi-axis mechanical arm - Google Patents
DIW conformal printing system and method based on multi-axis mechanical arm Download PDFInfo
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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
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
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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
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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
- B29C64/205—Means for applying layers
- B29C64/209—Heads; Nozzles
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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
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- 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
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a DIW conformal printing system and method based on a multi-axis mechanical arm, which comprises the following steps: the automatic dispensing machine comprises a main controller, a boss substrate, six mechanical arms, a 3D scanner, a dispensing needle cylinder, a pneumatic dispensing machine and a display; the main controller is connected with the pneumatic dispenser; the boss substrate is used for performing system conformal printing demonstration after dispensing and spraying; the six-axis mechanical arm is connected with the main controller and the 3D scanner; the 3D scanner is connected with the main controller; the dispensing needle cylinder is connected with a pneumatic dispensing machine; the display is connected with the main controller. The invention solves the limitation problem of the traditional DIW printer mainly aiming at the printing of a plane substrate, and simultaneously improves the portability of the system and enriches the application scene of the DIW printing system by applying the mechanical arm.
Description
Technical Field
The invention relates to the technical field of additive manufacturing, in particular to a DIW conformal printing system and method based on a multi-axis mechanical arm.
Background
The invention belongs to the field of additive manufacturing, and forms a DIW printing system based on a multi-axis mechanical arm by utilizing the characteristics of wide motion range and high flexibility of the multi-axis mechanical arm and combining the wide adaptability of an ink Direct-writing technology (DIW for short in English) to viscoelastic ink, so as to realize flexible conformal printing of surface patterning with a complex structure.
As an emerging electronic technology, flexible electronics has wide application prospects in the fields of medical treatment, information and energy due to unique flexibility and ductility. As with conventional manufacturing processes, manufacturing processes and equipment systems have become key to the development of flexible electronics. The DIW is used as a novel flexible 3D printing technology, viscoelastic ink is extruded from a needle cylinder through an extrusion method, and material deposition is realized on a printing substrate. Because of its suitability for printing with different viscoelastic inks, DIW is becoming the mainstream approach for the manufacture of flexible sensors and flexible electronic systems. However, the current DIW printing technology generally realizes X, Y, Z parallel movements in three directions by controlling the syringe filled with ink through a motor based on a cartesian coordinate system. Because of the simple three-axis motion, DIW printers are currently only suitable for patterned spraying of planar substrates, and simple planar stacked three-dimensional structures. This also greatly limits the possibilities of DIW printers to print structured substrates, constraining further development and application of this technology.
Meanwhile, the multi-axis mechanical arm is widely applied to the industrial manufacturing field and is mainly used for metal processing, structure assembly, material carrying and other scenes. The application of manpower can be greatly reduced due to high precision and flexibility, and efficient production of a workshop assembly line is realized. At present multiaxis arm is miniaturized gradually, and the application scene is also more various. Through installing tongs, camera to the arm end, the arm can realize that the meticulous of object snatchs, operates, even interacts with the people. However, the application of the multi-axis mechanical arm can be further developed at present, so that the advantages of the dexterity and the accuracy are further applied.
Therefore, aiming at the problems in the existing DIW printing technology, the invention designs and develops a DIW flexible printing system based on a multi-axis mechanical arm by utilizing the advantage of the dexterity of the multi-axis mechanical arm, and can spray customized patterns on the surface of a complex structure to realize conformal printing of the complex surface. The method greatly enriches the application scenes of DIW printing, and is expected to be applied to the fields of manufacturing of curved surface flexible systems, man-machine interfaces, medical rehabilitation and the like.
In the technical scheme of realizing DIW printing at the present stage, a needle cylinder filled with viscoelastic ink is mostly arranged at the tail end of a Z-axis motion platform. And the Z-axis motion platform is arranged on a portal frame system with X, Y-axis two freedom degrees of motion, so that X, Y, Z-axis horizontal movement in three directions is realized. Meanwhile, the upper end of the needle cylinder is connected with a pneumatic dispensing system to provide enough pressure for extruding ink or push a needle cylinder piston to move through mechanical movement. And the control system is utilized to cooperatively control the dispensing system and the motion platform, so that the needle head of the needle cylinder is controlled to move above the base position of the designated plane, ink is extruded out and moves according to a self-set motion mode driven by the digital model, and the printing of patterns in different shapes is realized. At present, the DIW printing system based on three-axis movement of a cartesian coordinate system is most widely applied.
Patent document CN109676746B (application number: CN201910053735.3) discloses a 3D printing device based on a mechanical arm, which includes a material cylinder, a rotating shaft, a vortex tube and a stirring assembly; the outer wall of the charging barrel is provided with a feeding pipe and a controller, and the discharging end is connected with a nozzle; the rotating shaft is arranged in the charging barrel and is connected with a transmission mechanism; the vortex tubes are connected with the rotating shaft and are provided with at least two groups; the vortex tube is connected with the air compressor through an air inlet pipeline; the vortex tube is positioned above the discharge end of the feeding pipe; a pressure stabilizing valve is arranged on the air inlet pipeline; the stirring components are connected with the rotating shaft and are provided with at least two groups.
Meanwhile, a part of DIW printers adopt a Delta parallel arm structure. The motion platform connected with the ink needle cylinder is connected with three moving shafts capable of moving vertically in parallel, so that the translation in any direction of a three-dimensional space is realized. The printing system based on the Delta mechanism has small floor area and high printing transmission efficiency, but because the printer needs to reserve a motion space for the parallel shafts, the motion range of the spray head is limited, and a large-area three-dimensional structure is difficult to print.
In summary, the conventional DIW printing system is also directed to ink direct-write printing on a planar substrate regardless of the motion mode of the cartesian coordinate system or the motion mode of the Delta parallel arm. The printing needle can move in parallel in any direction in a three-dimensional space, but the axis of the printing needle is always along the Z-axis direction, and the rotary motion of the posture of the printing needle cannot be realized, as shown in fig. 1a and 1 b.
The main problems of the prior art solutions are: (1) current DIW printing systems achieve patterned printing primarily on planar or 2.5D substrate surfaces. When the surface of a complex and bent structure is faced, the needle head cannot move to a specified point as required to carry out dispensing and spraying; (2) facing to the plane substrate with an uneven surface, the needle head of the needle cylinder cannot adjust the Z-axis distance according to the actual shape of the surface of the plane substrate, so that the needle head possibly collides with the substrate, and the printing system is damaged; (3) the existing DIW system is limited in printing range and cannot print a large-specification flexible system; (4) the shaft platform required by the motion mode occupies a large space, and the printer is usually a closed frame structure, which greatly limits the application scenarios of the DIW printing system.
Disclosure of Invention
In view of the deficiencies in the prior art, it is an object of the present invention to provide a multi-axis robotic arm based DIW conformal printing system and method.
According to the invention, the DIW conformal printing system based on the multi-axis mechanical arm comprises: the automatic dispensing machine comprises a main controller, a boss substrate, six mechanical arms, a 3D scanner, a dispensing needle cylinder, a pneumatic dispensing machine and a display;
the main controller is connected with the pneumatic dispenser; the boss substrate is used for performing system conformal printing demonstration after dispensing and spraying; the six-axis mechanical arm is connected with the main controller and the 3D scanner; the 3D scanner is connected with the main controller; the dispensing needle cylinder is connected with a pneumatic dispensing machine; the display is connected with the main controller.
Preferably, the control signal transmission between the pneumatic dispenser and the main controller is realized by switching a relay;
the main controller sends high-low level signals to trigger the opening and closing of the relay, when the relay receives the high level signals, the relay is connected with the pneumatic dispenser to work, and otherwise, the pneumatic dispenser is in a resting state.
Preferably, when the pneumatic dispenser receives a working instruction, a corresponding extrusion air pressure value is applied to the dispensing needle cylinder through the air hole; when the pneumatic dispenser receives a rest instruction, a corresponding negative pressure value is provided for the dispensing needle cylinder.
Preferably, an extrusion pressure of 0 to 6.5bar is applied to the dispensing syringe through the vent.
Preferably, the dispensing needle cylinder is connected with an air outlet of the pneumatic dispenser through a pneumatic hose of 8mm, the connected dispensing needle cylinder is placed into the stainless steel fixture, and the dispensing needle cylinder is fixed at the lower end of the shell of the 3D scanner through screws.
Preferably, the main controller is connected with a relay pin equipped on the pneumatic dispenser through an RS-232 interface, and is used for transmitting dispensing signals.
Preferably, six arms are connected through bluetooth and main control unit and are carried out real-time communication, the terminal ring flange bolt of six arms is connected fixedly with the 3D scanner screw.
Preferably, the 3D scanner is connected to the main controller through an HDMI interface, and is configured to transmit scan data.
Preferably, the display is connected with the main controller by using an HDMI data line, and is used for displaying scanning data and operating the mechanical arm.
According to the DIW conformal printing method based on the multi-axis mechanical arm, the following steps are executed:
step 1: carrying out dead-angle-free scanning on a boss substrate to be printed through a six-axis mechanical arm and a 3D scanner, returning scanning data to a main controller for three-dimensional modeling, and displaying a three-dimensional model on a display;
step 2: drawing a dispensing graph according to requirements based on the built three-dimensional model, and generating a planned motion instruction;
and step 3: transmitting the motion instruction to the six-axis mechanical arm through Bluetooth, and operating the six-axis mechanical arm to carry the dispensing needle head to move to the upper surface of the boss substrate for spraying according to the specified track; meanwhile, the main controller sends out a dispensing instruction to communicate with an air source connected with the dispensing needle cylinder, so that the cooperative operation of the six-axis mechanical arm and the pneumatic dispenser in the spraying process is realized;
and 4, step 4: and extruding ink when the needle head is positioned at the dispensing designated point, closing the needle head in time after the needle head leaves a set track, and carrying the dispensing needle cylinder by the six-axis mechanical arm to return to the initial position after printing is finished so as to finish a printing process.
Compared with the prior art, the invention has the following beneficial effects:
(1) compared with the existing DIW printer, the desktop type six-axis mechanical arm is adopted as the motion module, the printable freedom degree of the printer is greatly enriched due to the application of the six-axis mechanical arm, the mechanical arm even can carry a printing needle to go deep into the complex substrate structure, the problem that the existing DIW printer is mainly limited by printing on a plane substrate is solved, meanwhile, due to the application of the mechanical arm, the transportability of the system is improved, and the application scene of the DIW printing system is enriched;
(2) aiming at the problem of DIW motion control, the invention introduces a three-dimensional scanning module, establishes a three-dimensional model of a substrate under a multi-degree-of-freedom mechanical arm base coordinate system through substrate model accurate data returned by a scanner, does not need to match and align the substrate model under the traditional scanner coordinate system to a DIW device coordinate system, is convenient for the design of subsequent customized printed patterns and the generation of control codes, and simplifies the difficulty of system motion control;
(3) aiming at the problem of system coordination control, the invention develops an interactive graphical interface system which can effectively cooperate with different modules, has high user friendliness and is convenient for different user groups to use.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1a is a schematic diagram of a motion mode of a Cartesian coordinate system, and FIG. 1b is a schematic diagram of a motion mode of a Delta parallel arm;
FIG. 2 is a schematic view of the printing system in its entirety and its components;
FIG. 3 is a side working view of the printing system;
FIG. 4 is a schematic illustration of customized conformal print pattern output;
FIG. 5 is a diagram illustrating the operation of the system;
in the figure, 1 — master controller; 2-boss base; 3-six mechanical arms; 4-3D scanner; 5-dispensing needle cylinder; 6-pneumatic glue dispenser; 7-display.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
the invention mainly solves the technical problems that:
(1) the existing DIW printing system has the problems of single motion mode and low degree of freedom; (2) the prior DIW printing system can not carry out dispensing spraying on a complex surface, thereby realizing the problem of conformal printing; (3) the prior printing system has the defects of small needle motion range, incapability of rotationally adjusting the posture and incapability of realizing printing of large-volume flexible devices.
The purpose of the invention is:
(1) the high flexibility of the six-degree-of-freedom mechanical arm is utilized to improve the freedom of motion of the DIW printing system, and the dispensing needle head can still move to a specified target point in the face of a complex printing substrate; (2) the integrated 3D scanner is used for accurately modeling a rugged substrate surface, so that a needle head can autonomously plan a motion track, autonomously lift the height of the needle head from the substrate and adapt to the shape of the printed substrate surface; (3) reasonable controller hardware is designed, the cooperative work operation of the multi-axis mechanical arm, the 3D scanner and the dispensing system is coordinated, and the integrated system is ensured to realize the conformal printing of the complex surface based on the DIW working principle; (4) the integrated DIW printing system is simple in structure and has the potential of being applied to wide application scenes, such as the manufacturing of flexible systems, the field of human-computer interfaces and the field of medical rehabilitation.
The invention discloses a DIW conformal printing system based on a multi-axis mechanical arm, relates to the field of additive manufacturing, integrates a six-axis smart mechanical arm, a pneumatic dispenser, a dispensing nozzle, a 3D scanner and a cooperative control system, and comprises a set of complete hardware and software systems.
As shown in fig. 2 to fig. 4, the hardware system of the present invention is mainly divided into four parts: drive module, some glue module, scanning module and host system, the concrete connected mode is as follows: and flange plate bolts at the tail ends of the six mechanical arms 3 of the driving module are fixedly connected with screw holes of the 3D scanner 4 of the scanning module. The six-axis mechanical arm 3 is connected with the main controller 1 through the Bluetooth module to perform real-time communication. The 3D scanner 4 is connected to the main controller 1 of the main control module through an HDMI interface for transmitting scan data. The display 7 is connected to the main controller 1 using an HDMI data line for displaying scan data and operating the robot arm. The glue dispensing needle cylinder 5 of the glue dispensing module is connected with the air outlet of the pneumatic glue dispenser 6 through a pneumatic hose of 8mm, and the connected needle cylinder 5 is placed into a stainless steel clamp and fixed at the lower end of the shell of the 3D scanner through screws. Meanwhile, the main controller 1 is connected with a relay pin equipped with the pneumatic dispenser 6 through an RS-232 interface for transmitting dispensing signals. In addition, the printing system includes a semi-circular plastic boss base 2 that is not connected to other components, primarily for system conformal print demonstrations.
Six-axis mechanical arm of the driving module selects a six-degree-of-freedom desktop type mechanical arm produced by JAKA company, and the working tail end of the mechanical arm is provided with flange plates with different matching apertures and can be used for integrating different external additional equipment. The invention is connected with a high-precision desktop-level three-dimensional white light scanner (Wiiboox Reeyee), can transmit scanning data to a main control system to generate a 3D (three-dimensional) model with an error not higher than 0.1mm, and is used for subsequent 3D printing. The self-designed stainless steel clamp is mutually fixed with a screw hole of a three-dimensional scanner shell through a bolt, and the clamp is parallel to the axis of the last degree of freedom of the mechanical arm. A dispensing syringe with the model number of 30CC is put into a clamp, and a nut on the clamp is rotated to clamp the dispensing syringe. Different types of plastic seat screw stainless steel needles with the diameter size of 60-500 microns can be connected to the lower end of the dispensing needle cylinder. The air hole at the upper end of the needle cylinder is connected with the air hole on the dispenser through a rubber hose so as to receive the working air pressure provided by the dispenser.
In the dispensing module, a dispensing machine is connected with an air source capable of providing air pressure of at least 7bar, and the dispensing machine (Nordson) can adjust corresponding pressurizing air pressure according to different viscoelastic inks, so that the inks can be smoothly extruded out of a needle cylinder during pressurizing. Meanwhile, the negative pressure adsorption values of different inks are required to be set, so that the situation that the ink in the needle cylinder automatically flows out of the needle head due to gravity when the ink does not work is avoided. When the dispenser receives a working instruction, the air hole applies an extrusion air pressure value of 0-6.5bar to the needle cylinder. When the dispenser receives a rest instruction, the corresponding negative pressure value is provided for the needle cylinder pneumatically. The control signal transmission of the glue dispenser and the master control system is realized through a switch relay. The main controller sends high and low level signals to trigger the opening and closing of the relay. When the relay receives the high level signal, the relay is switched on the dispenser to work, and otherwise, the dispenser is in a resting state.
The main control module comprises a set of self-developed and matched graphical upper computer system. The graphical design has a friendly man-machine interaction function and helps operators to accurately and quickly realize printing operation. The upper computer system can receive model data transmitted by the three-dimensional scanner and generate a high-precision 3D model. The two-dimensional and three-dimensional patterns can be drawn by self-definition based on the generated 3D model, and ideal customized patterns printed on a complex substrate are generated. After the pattern is customized, the upper computer can automatically generate a motion code and a dispensing control instruction required by the motion of the mechanical arm according to the spatial position of the pattern. Through clicking the download instruction and the start instruction of the GUI, the control instruction can be downloaded and transmitted to the mechanical arm and the dispensing machine, and the cooperative work of the mechanical arm and the dispensing machine is realized, so that the fact that conformal printing manufacturing can be realized even if the DIW system is in a complex substrate environment is guaranteed.
The whole hardware and software system operation structure is shown in fig. 4. The input of the system is totally three: advanced scanning of the mechanical arm, customized patterns of a user and air source input of the air pump. The input end modules of the system need to complete interaction and communication with the main control system so as to ensure the cooperative interconnection among the modules.
As shown in fig. 5, the overall operation flow of the printing system is as follows:
the three-dimensional scanning device is provided with six mechanical arms capable of rotating joints by 360 degrees, can carry out dead-angle-free scanning on a curved substrate 2 to be printed by a 3D scanner, returns scanning data to the main controller 1 to perform three-dimensional modeling, and displays a three-dimensional model on the display screen 7. The main control software system can automatically draw the dispensing graph on the complex curved surface according to the requirement of an operator based on the built three-dimensional model, and generate a planned movement instruction. Transmit the motion command for six arms through the bluetooth, control the arm according to appointed orbit, carry the point and glue syringe needle and move and carry out the spraying on basement 2. Meanwhile, the main control system sends out a dispensing instruction to communicate with an air source connected with the needle cylinder, and the coordinated operation of the mechanical arm and the dispensing system in the spraying process is realized. And extruding ink when the needle head is positioned at the dispensing designated point, closing the needle head in time after the needle head leaves a set track, and carrying the needle cylinder by the mechanical arm to return to the initial position after printing is finished so as to finish a printing process.
The invention has the main innovation that a mechanical arm system, a dispensing system, a scanning system and an upper computer main control system are highly integrated on a hardware level and a software level, and the mutual cooperative work is realized so as to complete the conformal 3D printing function based on DIW. The invention greatly expands the printing capability of the DIW printing mode, improves the printing freedom degree of the system by the application of the mechanical arm, can accurately match the movement of the dispensing system and the mechanical arm, and takes the scanning system as the visual perception function, thereby carrying out conformal printing on the surface of a complex substrate. And the invention adopts a desktop-level small-sized smart mechanical arm, greatly enriches the application scenes of the DIW printer, can be applied to the manufacture of complex flexible electronic devices, and can also be applied to the medical field for printing medicines on skin wounds of patients.
The system has the advantages that the mechanical arm system, the dispensing system, the scanning system and the main control system are highly integrated, the integrated strategy of DIW conformal printing is realized, the printing flexibility of the printing system and the complexity of printing graphs are improved, and the problem of 3D printing on a substrate with a complex structure is solved.
The invention carries out detailed device type selection aiming at different system modules, designs a specific connection mode and an operation explanation based on a specified device, and realizes normal operation and intercommunication among the modules.
The terminal high accuracy three-dimensional scanner, point glue cylinder and mounting fixture that contain of arm, point glue cylinder and three-dimensional scanner's connection is fixed, lets the arm not only can carry the scanner to encircle the basement model that the scanning needs to be printed before printing, also can carry the syringe needle and carry out some glue on the basement surface, and the design is connected to the terminal succinct outward appearance of arm, and the application of arm has been maximized.
The main control system does not have a corresponding conventional interface for communication interaction with the dispensing system, so that the invention designs a communication switch design based on a relay, the dispensing machine is in a resting state after being electrified until the relay receives a high level signal sent by the main control system, the relay is switched on, and the dispensing machine is changed to a pressurizing state.
The upper computer is characterized by comprising a series of graphical button arrangements such as data import, start, pause, download, two-dimensional three-dimensional drawing, Bluetooth communication and the like, and corresponding software working logic.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A DIW conformal printing system based on a multi-axis robotic arm, comprising: the automatic glue dispensing machine comprises a main controller (1), a boss base (2), a six-axis mechanical arm (3), a 3D scanner (4), a glue dispensing needle cylinder (5), a pneumatic glue dispensing machine (6) and a display (7);
the main controller (1) is connected with the pneumatic dispenser (6); the boss substrate (2) is used for performing system conformal printing demonstration after dispensing and spraying; the six-axis mechanical arm (3) is connected with the main controller (1), and the six-axis mechanical arm (3) is connected with the 3D scanner (4); the 3D scanner (4) is connected with the main controller (1); the dispensing needle cylinder (5) is connected with a pneumatic dispenser (6); the display (7) is connected with the main controller (1).
2. The multi-axis robotic arm-based DIW conformal printing system as claimed in claim 1, wherein control signal transmission of the pneumatic dispenser (6) with the main controller (1) is achieved through a switch relay;
the main controller (1) sends high and low level signals to trigger the opening and closing of the relay, when the relay receives the high level signals, the relay is connected with the pneumatic dispenser (6) to work, and otherwise, the pneumatic dispenser (6) is in a resting state.
3. The multi-axis robotic-based DIW conformal printing system of claim 2, wherein when the pneumatic dispenser (6) receives a work order, a corresponding extrusion air pressure value is applied to the dispensing syringe (5) through an air vent; when the pneumatic dispenser (6) receives a rest instruction, a corresponding negative pressure value is provided for the dispensing needle cylinder (5).
4. The multi-axis robotic arm-based DIW conformal printing system as claimed in claim 3, wherein an extrusion air pressure value of 0-6.5bar is applied to the dispensing syringe (5) through an air vent.
5. The multi-axis robotic arm-based DIW conformal printing system as claimed in claim 1, wherein the dispensing syringe (5) is connected with the air outlet of the pneumatic dispenser (6) through an 8mm pneumatic hose, and the connected dispensing syringe (5) is placed into a stainless steel fixture and fixed to the lower end of the housing of the 3D scanner (4) through screws.
6. The multi-axis robotic arm-based DIW conformal printing system according to claim 1, wherein the main controller (1) is connected with relay pins provided with the pneumatic dispenser (6) through an RS-232 interface for transmitting dispensing signals.
7. The multi-axis robotic arm-based DIW conformal printing system according to claim 1, wherein the six-axis robotic arm (3) is connected with the main controller (1) via Bluetooth for real-time communication, and flange bolts at the end of the six-axis robotic arm (3) are fixedly connected with screw holes of the 3D scanner (4).
8. The multi-axis robotic arm-based DIW conformal printing system according to claim 1, wherein the 3D scanner (4) is connected to the main controller (1) through an HDMI interface for transmitting scan data.
9. The multi-axis robotic-based DIW conformal printing system of claim 1, wherein the display (7) is connected to the main controller (1) using HDMI data lines for displaying scan data and operating the robotic arm.
10. A multi-axis robotic arm based DIW conformal printing method, using the multi-axis robotic arm based DIW conformal printing system of any one of claims 1-9, performing the steps of:
step 1: the method comprises the steps that a boss substrate (2) to be printed is scanned in a dead angle-free mode through a six-axis mechanical arm (3) and a 3D scanner (4), scanning data are transmitted back to a main controller (1) to be subjected to three-dimensional modeling, and a three-dimensional model is displayed on a display (7);
step 2: drawing a dispensing graph according to requirements based on the built three-dimensional model, and generating a planned motion instruction;
and step 3: the movement instruction is transmitted to the six-axis mechanical arm (3) through Bluetooth, and the six-axis mechanical arm (3) is controlled to carry the dispensing needle head to move to the upper surface of the boss substrate (2) for spraying according to the designated track; meanwhile, the main controller (1) sends out a dispensing instruction to communicate with an air source connected with the dispensing needle cylinder (5), so that the cooperative operation of the six-axis mechanical arm (3) and the pneumatic dispenser (6) in the spraying process is realized;
and 4, step 4: and extruding ink when the needle head is positioned at the dispensing designated point, closing the needle head in time after leaving the set track, and returning the six-axis mechanical arm (3) to the initial position with the dispensing needle cylinder (5) after printing is finished to finish a printing process.
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