CN203713074U - Desktop robot - Google Patents
Desktop robot Download PDFInfo
- Publication number
- CN203713074U CN203713074U CN201320530184.3U CN201320530184U CN203713074U CN 203713074 U CN203713074 U CN 203713074U CN 201320530184 U CN201320530184 U CN 201320530184U CN 203713074 U CN203713074 U CN 203713074U
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- guide rail
- filament
- machine people
- desktop machine
- instrument
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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
- B29C64/10—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
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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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
Abstract
The utility model provides a desktop robot. The desktop robot comprises an interchangeable tool, a tool installation part, a first electrical coupler and a second electrical coupler which are complementary, and a first tool-free mechanical coupler and a second tool-free mechanical coupler which are complementary, wherein the interchangeable tool is provided with at least one electrical component; the tool installation part is used for installing tools, and the robot is operably used for controlling relative movement between the three-dimensional tool installation part and an object; the first electrical coupler and the second electrical coupler are respectively arranged on the tool installation part and the tool so as to form electrical connection of at least one electrical component of the tool; the first tool-free mechanical coupler and the second tool-free mechanical coupler are respectively arranged on the tool installation part and the tool so as to be mechanically connected with the tool installation part and the tool. The desktop robot provided by the utility model is beneficial to improving various performances of a known 3D (three-dimensional) printer, including increasing the printing speed, reducing warping caused by shrinkage of printed goods, improving the user safety and the like.
Description
Technical field
The utility model relates generally to a kind of robot tool, for example desk-top manufacturing machine people, and especially but not exclusively relate to the desktop machine people who prints for three-dimensional (3D).
Background technology
In the past, in fact Computer-aided manufacturing only has large-scale manufacturer just to afford, and small-sized enterprise can touch them by service organization.The technology of these classifications comprises that 3D scans to produce electronic model, or uses 3D printing, computer-controlled grinder, router and laser cutter etc. that electronic model is converted into prototype or finished product.But, in recent years, become the technical staff's that hope design is also manufactured a product rapidly a benefit in the reduction of the cost aspect design software and computer-aided manufacturing.Although current small business and many common amateurs can have the desktop machine people that must rise for the financial burden of 3D printing, laser cutting or route, if but can realize cost savings to make these technology more feasible, this will be favourable.
Fuse processing (FFF) is that the 3D of a type prints, and wherein material-paving stratification is built three-dimensional object by robot tool.United States Patent (USP) the 5th, described a kind of 3D printer that uses this technology for 121, No. 329, wherein filament is fed in melter, filament is melted in melter, and then when printhead moves, with the form of fluid, the extruding jet nozzle from printhead ejects.Before the final form of solidifying to limit the object that is printed, build material and can be deposited in the lower floor with its welding.3D printer need to carry out periodic calibration conventionally to guarantee that likely printhead being moved on to safely to the position in working range and the position in working range shifts out, and guarantees that output is accurately.Although the position of knowing roughly printhead and print bed is in region roughly, accurate position and orientation are because the accumulation of manufacturing tolerance changes.Distortion during transportation or " hitting " have also been upset original orientation to tool framework.On 3 axle printers, calibration has guaranteed that all parts is parallel to each other and orthogonal, and this calibration is accomplished manually conventionally.Manual calibration depends on technical staff's visual sensitivity and vision visibility.In addition, manual calibration is very consuming time, expensive and inconsistent.Sometimes, be difficult to the capable gratifying observation of moving forward into of printhead.Therefore, be understandable that, need to be useful on the improved system and method for calibration 3D printer.
Should also be understood that the various aspect of performances that need to improve known 3D printer, comprise print speed, reduce owing to printing warpage that the contraction of article causes and user security etc.Another object of the present utility model is to meet these needs, or is more usually to provide a kind of improved desktop machine people.
Utility model content
A kind of desktop machine people comprises:
Interchangeable instrument, it has at least one electrical components;
Instrument installed part, it is for erecting tools, and this robot is operationally used for being controlled at the relative motion between instrument installed part and the object in three-dimensional;
Complementary the first electric coupling part and the second electric coupling part, its respectively on instrument installed part and instrument, for being formed into the electrical connection at least one electrical components of instrument, and
Complementary first without machine tool male part and second without machine tool male part, it is respectively on instrument installed part and instrument, for mechanically fastening means installed part and instrument.
By providing according to interchangeable tools of the present utility model, desktop machine people is provided with modularization to a certain degree, and it is reconfigured easily for different objects.
Preferably, this desktop machine people comprises: for the controller of the motion of control tool installed part, and this instrument comprises the memory device of holding the tool data that characterizes this instrument, to make when making instrument be connected on instrument installed part, this controller can read tool data.By this way, desktop machine people can be reconfigured easily for carrying out different functions, arranges faster and larger operation versatility thereby provide.
Preferably, this desktop machine people is 3D printer, and this interchangeable instrument comprises printhead, and this printhead comprises the nozzle that builds material for discharging, and this at least one electrical components comprises the actuator for the opening and closing of Control Nozzle.
Preferably, this instrument comprises at least one in the following stated: with the scanner head of electrical components that is scanner form; With the laser cutter head of electrical components that is laser instrument form; With the rotary cutter head of electrical components that is the motor form that drives rotary cutting tool retainer; Be electronic grabber form electrical components be suitable for grasp robot grabber head; With the lance head of electrical components that is valve actuator form; With the power cutting head being for the electrical components of power shears drive form; Be valve actuator form electrical components vacuum robot grabber head and with the pen plotter head of electrical components that is a drive-type brake form, wherein each in these is suitable for machinery and is electrically connected on instrument installed part, and comprise and the second electric coupling part of the first electric coupling part complementation, and with the second mechanical couplings part of the first mechanical couplings part complementation, thereby by connecting the first mechanical couplings part and the second mechanical couplings part, the first electric coupling part and the second electric coupling part have also been connected simultaneously.
This probe provides the 3D scanning of physics object, creates 3D computer model.This scanner is 3D optical scanner preferably, but also can use the 3D scanner of other types of great majority, such as contact probe scanner, laser ranging scanner, MR, MRI, CT, x-ray, ultrasonic, range-finder camera, time-of-flight sensor or the optical scanner based on silhouette, structure and motion, the shape of being restored by shade, the shape of being restored by texture or chroma key.
Optionally, be understandable that, carry out the ability of other task in order further to expand desktop machine people, also use interchangeably the tool heads without electrical components, this tool heads can comprise, for example, and for the blade of ethene cutting.
Preferably cartesian coordinate robot of this robot, but other robot configuration, for example cylindrical robot, polar robot, triangle robot and articulated robot arm are also used in Move tool installed part within the scope of three-dimensional manipulating.
Preferably, this robot comprises:
At least one the X guide rail extending along the first trunnion axis, instrument installed part is connected to along this X guide rail and moves;
A pair of vertical Z guide rail substantially, each in Z guide rail is connected to the opposite end of X guide rail to raise and reduce X guide rail; And
The printing bed of level substantially, this printing bed is keeping object and is being connected to along Y guide rail moving, and this Y guide rail is along the second trunnion axis extension perpendicular to the first trunnion axis substantially.
Preferably, this at least one X guide rail comprises two X guide rails that are parallel to the first trunnion axis extension, and two X guide rails of instrument installed part and this all engage.
Preferably, this instrument installed part comprises that filament receives fixture, and fusible filament receives fixture by filament and is directed into printhead.Preferably this filament receives fixture and clamps fusible filament and be received in one end of Bowden pipe (Bowden tube) wherein.
The first mechanical couplings part and the second mechanical couplings part are the male parts without instrument, can without instrument in the situation that, connect fast, and can comprise complementary parts, for example, jut and complementary recess, in the time that this jut and complementary recess are connected, its substantially rigid ground combination tool and instrument installed part, and the motion in all frees degree between isolating tool installed part and tool heads.This jut can be flexible, is clasped so that provide.
Preferably, this first mechanical couplings part and the second mechanical couplings part comprise for by tool holding to the clamping device on instrument installed part.Preferably, this clamping device comprises screw rod, and the first mechanical couplings part comprises be fixed to the wheel rotating together with screw rod, and the second mechanical couplings part comprises and the internal thread hole of screw rod complementation.Optionally, can use other clamping device, for example cam or spring.Preferably, this screw rod is outstanding from the interface of instrument installed part, and this wheel be arranged on instrument installed part with the right side of this interface phase on.Preferably, this screw rod extends between two X guide rails.Preferably, this first mechanical couplings part is also included in the recess in instrument installed part, and the second mechanical couplings part also comprises the jut that is complementary type with recess.
Preferably, the first electric coupling part and the second electric coupling part are at least one electric parts power supply, but they also can be used to transfer control signal.
Preferably, one in the first electric coupling part and the second electric coupling part comprises one group of connector pinout with the axle that is parallel to substantially screw rod, and another in the first electric coupling part and the second electric coupling part comprises one group of contact for joining connector pin.Preferably, each in these pins has stretching structure, and top is spring-biased to the position of extension, for example so-called " pogo pin ".
According to another aspect, the utility model provides a kind of desktop machine people, and this desktop machine people comprises:
Print head assembly, it comprises the nozzle that builds material for discharging;
Cartesian coordinate robot, it is operationally positioned at print head assembly any position within the scope of three-dimensional manipulating, this cartesian coordinate robot comprises: at least one guide rail extending along the first trunnion axis, and this print head assembly is connected to along at least one guide rail and moves; And keeping the printing bed of the level substantially that builds material;
Pivoting device, it is printhead support assembly submissively, to make the contact of printing between bed and nozzle apply moment of torsion around pivoting device to print head assembly;
Bearing surface, this bearing surface is on print head assembly, butt retainer, with restriction print head assembly around pivoting device rotation in a first direction, but allows print head assembly rotation in the second direction contrary with first direction around pivoting device when being applied on print head assembly when moment of torsion;
Displacement transducer, it is installed on print head assembly, and the output that provides instruction bearing surface to be shifted away from retainer, and
Controller, it is calibrated robot in response to the output from displacement transducer.
Preferably, this at least one guide rail comprises the first guide rail and the second guide rail, and this first guide rail and the second guide rail extend parallel to each other along the first trunnion axis,
Pivoting device is included in the linear bearing that is supporting print head assembly on the first guide rail, and this first guide rail offset nozzle, to make the contact of printing between bed and nozzle apply moment of torsion round linear bearing to print head assembly; And
This retainer comprises the second guide rail, and the second guide rail butt bearing surface rotation around the first guide rail with restriction print head assembly.
Displacement transducer can be the form of circuit, and in the time that bearing surface butt retainer, this circuit is closed, and this circuit disconnects in the time that bearing surface is separated from retainer.Preferably, the second guide rail is the electric conductor being connected in circuit, and bearing surface is arranged on the electric contact piece being connected in circuit.Optionally, can adopt the displacement transducer of other type.
Preferably, deviation of gravity center first guide rail of print head assembly, makes gravity tend to keep bearing surface to be resisted against on the second guide rail.Selectively, elastic device can be set to force bearing surface to be resisted against on the second guide rail, for example, for the polytetrafluoroethylene (PTFE) moulded springs of low friction.
Preferably, the first guide rail and the second guide rail are to be parallel to the X guide rail that the first trunnion axis extends, and cartesian coordinate robot also comprises a pair of vertical Z guide rail substantially, each in Z guide rail is connected to the opposite end of an X guide rail and the 2nd X guide rail to raise and reduce an X guide rail and the 2nd X guide rail; And wherein, printing bed is connected to along Y guide rail and moves, this Y guide rail is along the second trunnion axis extension perpendicular to the first trunnion axis substantially.
Preferably, corresponding Z actuator is arranged for the opposite end that raises and reduce an X guide rail and the 2nd X guide rail, and this controller calibrates to change the inclination angle of an X guide rail and the 2nd X guide rail to robot by the difference operation of Z actuator.
Preferably, this 3D printer also comprises: be usually located at the framing component of the below of printing bed, this framing component has the datum plane that is parallel to the extension of Y guide rail, prints bed and comprises leg, this leg mutually cooperates and prints bed for supporting with Y guide rail, and is sliding engaged to datum plane.
Preferably, Y guide rail is arranged near an edge printing bed, and this leg is arranged near of the opposite edges of printing bed.
In aspect another, the utility model provides a kind of 3D printer for FFF, and this 3D printer comprises interchangeable filament box, and this interchangeable filament box has:
Spool, filament can be wound around round this spool;
Wheel hub, its center that roughly extends through spool is for supporting this spool, to make this spool with respect to this wheel hub rotation;
Non-volatile memory devices, it is installed on wheel hub for the relevant data of storage filament, and
Communication interface, it is on wheel hub, for allow to carry out data transmission between non-volatile memory devices and controller.
Preferably, this spool has central shaft and comprises two parts, and each part comprises cylindrical portion and end flanges;
In the time that two parts of spool are fixed together, between two parts of spool, form inner annular channel, and
This wheel hub comprises from cylinderical surface projection and is received at least one circumferential rib in circular passage.
Preferably, FFF3D printer has axle, and this axle has stiff end and relative free end and detent mechanism, and this free end is suitable for being received in wheel hub for supporting wheel hub, this detent mechanism in free end for wheel hub is coupled on axle.Preferably, this detent mechanism comprises: the relative opening in free end, these holes be configured to for the respective openings registration of wheel hub; Spring, this spring is used for forcing pin to reach opening from hole.
Preferably, this non-volatile memory devices comprises EEPROM, and the relevant data of filament comprise the data that limit with lower at least one: filament material, filament color, filament diameter and thread-length.
Preferably, communication interface comprises electric coupling part.Alternatively, can provide wireless communication interface.Preferably, printed circuit board (PCB) is installed on wheel hub, and non-volatile memory devices is installed on printed circuit board (PCB), and electric coupling part comprises and is installed on printed circuit board (PCB) one of pin connector who is installed to one group of electric contact piece in robot for engaging.
Preferably, this robot also comprises that filament feeder is so that filament is fed into printhead, and this filament feeder comprises:
Driven wheel, it is meshed with driven gear;
Corresponding friction pulley, it is rotatably fastened on driven wheel and driven gear, thus filament is clamped between friction pulley.
According on the other hand, the utility model provides a kind of 3D printer for FFF, and this 3D printer comprises:
Interchangeable printhead, it has the melter being communicated with nozzle for discharging fluid structure material;
Print bed, it is for supporting object to be printed; Translation mechanism, it is for providing at the printhead of the three-dimensional of the X-axis along mutually orthogonal, Y-axis and Z axis and printing the relative motion between bed; And
Filament feeder, filament is fed into printhead by it, and this filament feeder comprises:
Driven wheel, it is meshed with driven gear;
Corresponding friction pulley, it is rotatably secured on driven wheel and driven gear, thus filament is clamped between friction pulley.
Preferably, this driven gear is flexibly setovered towards driven wheel for the filament between clamping friction wheel.Preferably, this driven gear be installed in by the arm of pivotal support in case towards with rotate away from driven wheel.
Preferably, this filament feeder also comprises the encoder of the feedback signal for instruction filament translational speed is provided.Preferably, this encoder comprises and the co-operating rotary encoder of idle pulley that supports filament.
Preferably, this filament feeder also comprises filament sensors, and this filament sensors is arranged on along filament path by the position of feeder, to provide instruction to have or do not exist the signal of filament in this position.
Filament path between idle pulley and friction pulley can be bending.
Filament feeder provides the accurate feed speed control under the high capacity of corresponding high print speed.
In aspect another, the utility model provides a kind of method of the FFF3D of control printer, and the method comprises the door and heating element heater interlocking that make in housing, unless so that door is closed, otherwise heating element heater is prevented from operating.
Preferably, the method also comprises in the time that door is closed by user automatically pins door with breech lock, and has fallen to being opened with permission door lower than threshold temperature latch once internal temperature.
Preferably, latch comprises printing bed is moved to butt breech lock place.
This interlocked and unlocked provides improved user security.
Aspect another, the utility model provides the 3D printer for FFF, this 3D printer comprises at least two filament feeders, and each filament feeder is configured to for filament is guided in melter, and melter carries out feeding to the one or more fluid dispensing nozzles on printhead.
By controlling by this way two filament feeders, can realize the bumpless transfer from a kind of filament to another kind of filament, and wherein use the structure material of different colours, the variation of color can provide on the whole object being printed.
Brief description of the drawings
Referring now to accompanying drawing and by example, preferred form of the present utility model is described, wherein:
Fig. 1 is according to the desktop machine people's who prints for 3D of the present utility model perspective view;
Fig. 2 is the perspective view of the cartesian coordinate robot of the desktop machine people in Fig. 1;
Fig. 3 and Fig. 4 are respectively front perspective view and the rear views of the instrument installed part of the desktop machine people in Fig. 1;
Fig. 5 is the perspective view of the printhead of the desktop machine people in Fig. 1;
Fig. 6 is the profile of the print head assembly of the desktop machine people in Fig. 1;
Fig. 7 is the perspective view of the downside of the printing bed of the desktop machine people in Fig. 1;
Fig. 8 is the decomposition diagram of wall assembly and filament box;
Fig. 9 is wall assembly in Fig. 8 and the profile of filament box; And
Figure 10 is the perspective schematic view of the filament feeder of the desktop machine people in Fig. 1.
Detailed description of the invention
With reference to figure 1 and Fig. 2, desktop machine people 10 is applicable to carry out on the table fuse processing, and this desktop machine people 10 can comprise the housing 13 for keeping rectangular co-ordinate X-Y-Z translation mechanism 11.Housing 13 has door 14, and this 14 is opened substantially and build front portion and the top of chamber 75.Be attached on a wall of housing 13 is wall assembly 65.Print head assembly 15 is by translation mechanism 11 mobile object (not shown) that prints within the scope of three-dimensional manipulating, and this object comprises the structure material being supported on printing bed 16.
Print head assembly 15 comprises instrument installed part 17, and printhead 18 can be attached on instrument installed part 17.By simply printhead 18 being attached on instrument installed part 17, printhead 18 can with other printhead exchange, or with other as " plug and play head " exchange.Thus, when printhead 18 completes mechanical connection, printhead 18 completes electrical connection, thereby provides electric power for the operation of the valve actuator on printhead 18, heating element heater and fan.
With reference to orthogonal XYZ coordinate system, instrument installed part 17 can slide along parallel X guide rail 12a, 12b, thereby instrument installed part 17 and printhead 18 are moved along the X-axis of translation mechanism 11.Instrument installed part 17 is fixed on the belt 27 being driven by turning motor 26, thereby instrument installed part 17 is moved back and forth along X-axis.It is upper that the opposite end of X guide rail 12a, 12b is fixed on balladeur train 20a, 20b, and balladeur train 20a, 20b slide along corresponding vertical Z guide rail 19a, 19b substantially.Revolving actuator 21 rotates each in two Z screw rods 22 to raise and reduce balladeur train 20a, 20b and attached X guide rail 12a, 12b.Print the X guide rail 12a in plane or the XY plane that bed 16 is arranged on level substantially, the below of 12b, and be connected to along Y guide rail 23 and move, this Y guide rail 23 extends along the Y-axis perpendicular to X-axis.Base framework member 24 is important structural details in translation mechanism 11, because it is not only supporting Z guide rail 19a, 19b but also is supporting Y guide rail 23.Framing component 24 is positioned to be printed bed 16 below and is fixed on housing 13, and this framing component 24 also comprises and is parallel to the smooth datum plane 25 that Y guide rail 23 extends.Therefore, the XZ displacement of instrument installed part 17 provides the three-dimensional manipulating scope that is supported on the printing bed 16 on it with respect to printing object in conjunction with the Y displacement of printing bed 16.
As shown in Figure 3 and Figure 4, instrument installed part 17 comprises hole and concave surface 31, and linear bearing 30 is arranged in hole for receiving lower X guide rail 12b, and concave surface 31 is for X guide rail 12a on butt.Being arranged between linear bearing 30 and concave surface 31 is to extend through opening 28 and fixture 29, and the downlink of belt 27 freely extends through opening 28 by this, and fixture 29 is fastened to instrument installed part 17 on the uplink of belt 27.Pinch wheels 32 can be fixed to rotation together with screw rod 33, and screw rod 33 is extending between two X guide rail 12a, 12b and giving prominence to from the interface 34 of the instrument installed part 17 between two X guide rail 12a, 12b.Wheel 32 is arranged in a side 35 relative with interface 34 of instrument installed part 17.Recess 36 in interface 34 receives fixture 37 with the filament with centre bore 38 and aims at.Fusible filament (not shown) can arrive printhead 18 through hole 38.Filament reception fixture 37 clamps one end of Bowden pipe (not shown), and fusible filament is received in Bowden pipe.Electric coupling part 39 on interface 34 can comprise one group of connector pinout 40 with the axle that is parallel to substantially screw rod 33.The surface of recess 36 can be to be also trapezoidal pyramid form, to contribute to correct align printhead 18.Guide rail 12a and electric contact piece 43 are connected electrically in displacement transducer circuit (not shown) and effectively form switch.Contact 43 can be installed into from concave surface 31 outstanding, and has the outside abutment surface for butt X guide rail 12a.Guide rail 12a conducts electricity, and contact 43 also conducts electricity, and the circuit that therefore they connect provides the bearing surface of instruction contact 43 away from the output of the displacement of X guide rail 12a.In the time disconnecting with electrically contacting of X guide rail 12a, this circuit provides and has opened circuit.Connector 41,42 can be installed on rear side 35 and be electrically connected to electric coupling part 39, contact 43 and be connected to cable (not shown) for transmitting power signal and the signal of telecommunication of self-controller (not shown).
Printhead 18 is shown in Fig. 5 and Fig. 6, and wherein Fig. 6 illustrates that printhead 18 is installed in the cross-sectional view on instrument installed part 17.The main body 45 of printhead 18 is keeping fan 46 in the opening of side thereon and is side-prominent for distributing the nozzle 47 that builds material from main body 45.The jut 49 being formed in main body 45 is complementary types of recess 36, and jut 49 is received and is positioned in recess 36.Internal thread hole 48 and screw rod 33 complementations.Electric coupling part 51 comprises one group of contact 52 for butt connector pinout 40, and connector pinout 40 is so-called " pogo pin " preferably, and it has telescopic structure, and top is spring-biased to the position of extension.Passage 50 be positioned for filament receiver hole 38 registrations so that guiding filament enter in the melter 53 of being heated by resistive element 54.The opening and closing of actuator 55 control valve (not shown)s, flow to nozzle 47 to allow to build material from melter 53.The center of gravity 56 of print head assembly 15 is offset from lower X guide rail 12b, makes gravity apply around lower X guide rail 12b the moment of torsion that trends towards keeping in touch X guide rail 12a on part 43 butts.But if nozzle 47 butt horizontal surfaces, the power F producing so will apply contrary moment of torsion contact 43 is moved apart to the second guide rail 12a, and this displacement is indicated in consequent power breakdown.
With reference to Fig. 1, Fig. 2 and Fig. 7, print bed 16 and be positioned on framing component 24 and its uppermost reference surface 25, and be supported on Y guide rail 23.More specifically, bearing assembly 58 is being fixed to and is printing on bed 16 near one of them edge 59 of printing bed 16, and is slidably engaged with Y guide rail and moves back and forth on Y guide rail.Printing bed 16 can be coupled on a wherein line of belt 60 by fixture, and belt 60 is parallel to guide rail 23 and extends, and is driven by rotating driver 161.Near the edge 61 on 59 opposites, edge, close to the mid point at edge 61, leg 62 can be given prominence to from the downside 63 of printing bed 16.Leg 62 is supported on the reference surface 25 that is parallel to Y guide rail 23, and in the motion process of printing bed 16, it slides along Y guide rail 23.Leg 62 can be made into or comprise low-friction material, as polytetrafluoroethylene (PTFE).
Fig. 8 shows the structure of wall assembly 65 and filament box 66, and in use filament box 66 is partly arranged on wall assembly 65.Wall assembly 65 comprises two housings 67,68, and these two housings link together to seal and drive and electronic room 69, and these two housings have also defined open type spool chamber 70.Housing 68 has wall 73, and wall 73 has defined the inner side that builds chamber 75.Housing 67 has outer wall 72, is provided with for filament box 66 is passed to the opening 71 that enters into spool chamber 70 on outer wall 72.Axle 88 can cantilever mode be formed on housing 68, make its free end 89 stretch into spool chamber 70.
Filament box 66 can comprise spool 78, and filament (not shown) is wound on this spool 78, and this spool 78 is formed by the reel unit 79,80 being bearing on wheel hub 81.Each in parts 79,80 can comprise corresponding cylindrical portion 79a, the 80a with corresponding end flanges 79b, 80b one.Wheel hub 81 substantially extends through spool 78 center and is fixed, and spool 78 rotates around wheel hub 81.Wheel hub 81 comprises columnar surperficial 82 and from columnar surperficial 82 outstanding circumferential rib 83.Relative hole 95 be arranged in free end 89 and be arranged for wheel hub 81 in corresponding opening 94 carry out registration.Tripping spring 93 forces pin 96 to stretch into opening 94 from hole 95.
A kind of non-volatile memory devices is installed on circuit board 186 as EEPROM86, and circuit board 186 is installed on wheel hub 81 then.The data that EEPROM86 storage filament is relevant, comprise filament material type, fusing point, lot number, date of manufacture, filament color, filament diameter and thread-length etc.
Communication interface 87 on axle 88 allows to carry out transfer of data between EEPROM86 and the controller of robot 10.Communication interface 87 comprises the printed circuit board (PCB) 100 being installed on wheel hub 81.One group of pogo pin 187 is arranged on printed circuit board (PCB) 100 for contacting one group of contact (not shown) on circuit board 186.
As shown in Figure 9, in the time that being fixed together, two parts 79a, 80a of spool 78 form inner annular channel 84 between them, and circumferential rib 83 is received within circumferential passageway 84, rotate and limit the axially-movable of spool 78 along axis 85 with supporting reel 78.The free end 89 of cavity 90 receiving axes 88 in the rear side of wheel hub 81 is with location and supporting wheel hub 81 and spool 78.Button 92 is mounted for carrying out axially-movable in the hole 98 of free end 89, and for operating the switch 103 being arranged on printed circuit board (PCB) 100.Switch 103 transmits a signal to controller to start the heater for melter 53.
For being shown in Figure 10 and generally comprising the friction pulley 107,108 that rotates and grasp a pair of reverse rotation of the opposite side of filament 106 around parallel substantially axle to the filament feeder 105 of printhead 18 feeding filaments 106.Rotarily actuate 111 worm screw 113 is rotated to rotate worm gear 114 around axle 112, wheel 107 is fixed on worm gear 114 by driving shaft 115.Driven wheel 109 is also fixed on driving shaft 115, and engage with driven gear 110 for by torque transfer to wheel 108.Driven gear 110 is installed on the arm 116 being supported by pivot 117, for towards with rotate away from driven wheel 109.Spring (not shown) bias voltage driven gear 110 towards driven wheel 109 for clamping the filament 106 between friction pulley 107,108.
Rotary encoder 120 can cooperate mutually with the idle pulley 121 of the input side support filament 106 at feeder 105, for the feedback signal of the movement velocity that represents filament 106 is provided.Rotary encoder 120 can be included in the circumferential isolated salient angle 122 on idle pulley 121, and salient angle 122 engages the rotary encoder of microswitch 123 or other known type, for example light, magnetic or capacitive character rotary encoder.By this feedback signal is provided, guarantee correct and accurate operation, can detect mistakes such as skidding between filament 106 and friction pulley 107,108 simultaneously.
Filament feeder 105 promotes filament 106 towards printhead 18 on outbound course 125.Filament sensors 124 can be arranged on passes through the position of feeder 105, the position of more specifically departing from friction pulley 107,108 on outbound course 125 along filament path.Filament sensors 124 can comprise microswitch, and this microswitch reaches in filament path and represents that to provide filament exists or non-existent signal in this position.When pack new filament in machine time, filament sensors 124 allows controller to determine the position of filament ends.
Filament path between idle pulley 121 and friction pulley 107,108 can be bending.Displacement in order to ensure the filament being produced by feeder 105 is reproduced at printhead 18 places, and filament 106 is limited in Bowden pipe (not shown).
In operation, according to will carrying out of task, as scanning, ethene cutting, route, laser cutting and pen are drawn, first user can select one to be fixed to instrument installed part 17 from numerous interchangeable heads.But, for the ease of the object of following explanation, should understand, according to the requirement of 3 D-printing task, as built material and required print speed printing speed or resolution ratio, user selects a printhead 18 by being perhaps from numerous different printheads.In both cases, the attached of instrument installed part 17 is identical, and by rotating clip bearing up pulley 32, printhead 18 is clamped simultaneously and be electrically connected to robot 10.A kind of non-volatile memory device (not shown) can be arranged in printhead 18 for storage printhead data.For example, this non-volatile memory device can be identified diameter and the position of nozzle, thereby to after instrument installed part 17, user does not need to input accordingly because of the result of the selection of printhead 18 at exact connect ion, and need to before starting to print, not calibrate manually or automatically.
In a similar fashion, user can be according to the interchangeable filament box 66 of 3 D-printing task choosing.By filament box 66 being inserted by opening 71 and in two are separated by one of orientation of 180 degree, wheel hub 81 being pushed through to free end 89, filament box 66 is easy to install.By data relevant filament are stored in EEPROM86, controller can for example confirm that spool 78 holds enough filaments and complete print out task, and confirm other operating parameter of the compatibility of filament and printhead 18 and corresponding adjustment, for example feed speed and melt temperature.This point, as the situation of non-volatile memory device on printhead 18, also provide one " plug and play " functional, to allow quick-setting and to start operation, and do not had to introduce and postpone and possible mistake because of the prompting user input data relevant to filament.
The operation of robot 10 is controlled by electronic controller (not shown), and this controller is according to other assemblies of predefined programme-control printhead 18 and translation mechanism 11 and this system.Fastening printhead 18 and close door 14 after, controller can be carried out alignment routine.In this routine, controller is in response to carrying out calibration machine people from the output of displacement transducer circuit so that the original position of Z axis to be set.This alignment routine can be included in a position in XY plane, or multiple positions in XY plane reduce printheads 18 and contact and print bed 16.If calibrated in multiple positions, controller can determine in whole printing bed 16 whether have any parallelism error, thereby in the time printing, can carry out object compensation to these errors.Each in the actuator 21 of two rotations causes corresponding in Z screw rod 22 to be rotated, thereby by controlling independently revolving actuator 21, provides the differential rotation between screw rod 22.Angle of inclination between guide rail 12a, 12b and printing bed 16 can change to carry out this compensation.
In the time receiving the signal being produced by the startup of switch 103, controller drives the heater for melter 53.Controller waits for that melter 53 reaches the correct temperature of the specific filament 106 using, then drive filament feeder 105 on outbound course 125, to promote filament 106, until output switch 124 is activated, this activation shows that the end of filament 106 has left friction pulley 107,108.The end that friction pulley 107, the 108 predefined anglecs of rotation have defined filament 106 must move to from output switch 124 distance of melter 53, and controller drives filament feeder 105 to drive end to starting to print preparing in melter 53.
Before 3 D-printing, controller also operates prints bed 16 heating element heater (not shown) below, and this heating element heater is heated to by printing bed 16 optimum level adhering to for building material.This controller is by operating selectively fan (not shown) to regulate internal temperature substantially to remain on setting value from building chamber extraction air.Owing to printing the temperature of bed 16 and the rising of nozzle 47, door 14 automatically locks in the time closing has guaranteed that this access is restricted, until reached the surface temperature of a safety.In the time that print processing completes, come before butt and latch at this printing bed of translation, fan can be activated for cooling.
Only by the mode of example, each side of the present utility model is described.But should be understood that, can in the situation that not departing from scope of the present utility model, make various Revision and supplement to the utility model.
Claims (39)
1. a desktop machine people, is characterized in that, comprising:
Interchangeable instrument, the instrument of this exchange has at least one electrical components;
Instrument installed part, this instrument installed part is used for installing described instrument, and described robot is operationally used for being controlled at the relative motion between described instrument installed part and the object in three-dimensional;
Complementary the first electric coupling part and the second electric coupling part, this first electric coupling part and the second electric coupling part respectively on described instrument installed part and described instrument, for being formed into the electrical connection at least one electrical components of described instrument, and
Complementary first without machine tool male part and second without machine tool male part, this first without machine tool male part and second without machine tool male part respectively on described instrument installed part and described instrument, for mechanically connecting described instrument installed part and described instrument.
2. desktop machine people according to claim 1, it is characterized in that, also comprise the controller of the motion for controlling described instrument installed part, described instrument comprises the memory device of holding the tool data that characterizes described instrument, to make when making described instrument be connected on described instrument installed part, described controller can read described tool data.
3. desktop machine people according to claim 1, it is characterized in that, described interchangeable instrument comprises printhead, and described printhead comprises the nozzle that builds material for discharging, and described at least one electrical components comprises the actuator of the opening and closing for controlling described nozzle.
4. according to the desktop machine people described in any one in claims 1 to 3, it is characterized in that, also comprise at least one in the following stated: with the scanner head of electrical components that is scanner form; With the laser cutter head of electrical components that is laser instrument form; With the rotary cutter head of electrical components that is the motor form that drives rotary cutting tool retainer; Be electronic grabber form electrical components be suitable for grasp robot grabber head; With the lance head of electrical components that is valve actuator form; With the power cutting head being for the electrical components of power shears drive form; Be valve actuator form electrical components vacuum robot grabber head and with the pen plotter head of electrical components that is a drive-type brake form, each in these is suitable for machinery and is electrically connected on described instrument installed part, and comprise and the second electric coupling part of described the first electric coupling part complementation, and with the second mechanical couplings part of described the first mechanical couplings part complementation, by connecting described the first mechanical couplings part and described the second mechanical couplings part, described the first electric coupling part and described the second electric coupling part have also been connected simultaneously.
5. according to the desktop machine people described in any one in claims 1 to 3, it is characterized in that, described robot is cartesian coordinate robot.
6. desktop machine people according to claim 5, is characterized in that, described robot comprises:
At least one the X guide rail extending along the first trunnion axis, described instrument installed part is connected to along described X guide rail and moves;
A pair of vertical Z guide rail substantially, each in described Z guide rail is connected to the opposite end of described X guide rail to raise and reduce described X guide rail; And
The printing bed of level substantially, described printing bed is keeping structure material and is being connected to along Y guide rail moving, and described Y guide rail is along the second trunnion axis extension perpendicular to described the first trunnion axis substantially.
7. desktop machine people according to claim 6, is characterized in that, described at least one X guide rail comprises two X guide rails that are parallel to described the first trunnion axis extension, and described instrument installed part all engages with described two X guide rails.
8. desktop machine people according to claim 6, is characterized in that, described instrument installed part comprises that filament receives fixture, and fusible filament receives fixture by described filament and is directed into dismountable described printhead.
9. desktop machine people according to claim 8, is characterized in that, the described fusible filament of described filament reception fixture clamping is received in one end of Bowden pipe wherein.
10. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, described the first mechanical couplings part and described the second mechanical couplings part comprise for by described tool holding to the clamping device on described instrument installed part.
11. desktop machine people according to claim 10, it is characterized in that, described clamping device comprises screw rod, and described the first mechanical couplings part comprises be fixed to the wheel rotating together with described screw rod, and described the second mechanical couplings part comprises and the internal thread hole of described screw rod complementation.
12. desktop machine people according to claim 11, is characterized in that, described screw rod is outstanding from the interface of described instrument installed part, and described wheel be arranged on described instrument installed part with the right side of described interface phase on.
13. desktop machine people according to claim 12, is characterized in that, described screw rod extends between described two X guide rails.
14. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, described the first mechanical couplings part is also included in the recess in described instrument installed part, and described the second mechanical couplings part also comprises the jut that is complementary type with described recess.
15. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, one in described the first electric coupling part and described the second electric coupling part comprises one group of connector pinout with the axle that is parallel to substantially described screw rod, and another in described the first electric coupling part and described the second electric coupling part comprises one group of contact for engaging described connector pinout.
16. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, described instrument comprises print head assembly, and described print head assembly comprises the nozzle that builds material for discharging; And comprise:
Cartesian coordinate robot, this cartesian coordinate robot is operationally positioned at described print head assembly any position within the scope of three-dimensional manipulating, described cartesian coordinate robot comprises: at least one guide rail extending along the first trunnion axis, and described print head assembly is connected to along described at least one guide rail and moves; And keeping the printing bed of the level substantially of described structure material;
Pivoting device, this pivoting device submissively supports described print head assembly, to make the described described contact of printing between bed and described nozzle apply moment of torsion around described pivoting device to described print head assembly;
Bearing surface, this bearing surface is on described print head assembly, butt retainer to be to limit described print head assembly around the rotation in a first direction of described pivoting device when being applied on described print head assembly when described moment of torsion, but allows the rotation in the second direction contrary with described first direction around described pivoting device of described print head assembly;
Displacement transducer, this displacement transducer is installed on described print head assembly, so that the instruction output that described bearing surface is shifted away from described retainer to be provided, and
Controller, this controller is calibrated described robot in response to the output from described displacement transducer.
17. desktop machine people according to claim 16, is characterized in that, described at least one guide rail comprises the first guide rail and the second guide rail, and described the first guide rail and the second guide rail extend parallel to each other along described the first trunnion axis; Described pivoting device is included in the linear bearing that is supporting described print head assembly on described the first guide rail, described the first guide rail departs from described nozzle, to make the described described contact of printing between bed and described nozzle apply moment of torsion round described linear bearing to described print head assembly; And described retainer comprises described the second guide rail, described the second guide rail butt described bearing surface to limit the rotation of described print head assembly around described the first guide rail.
18. desktop machine people according to claim 16, it is characterized in that, described displacement transducer comprises circuit, in the time that described bearing surface butt described retainer described in circuit be closed, in the time that described bearing surface is separated from described retainer described in circuit disconnect.
19. desktop machine people according to claim 18, is characterized in that, described the second guide rail is the electric conductor being connected in described circuit, and described bearing surface is arranged on the electric contact piece being connected in described circuit.
20. according to claim 17 to the desktop machine people described in any one in 19, it is characterized in that, the first guide rail described in the deviation of gravity center of described print head assembly, to make gravity tend to keep described bearing surface to be resisted against on the second guide rail.
21. desktop machine people according to claim 17, it is characterized in that, described the first guide rail and described the second guide rail are to be parallel to the X guide rail that the first trunnion axis extends, and described cartesian coordinate robot also comprises a pair of vertical Z guide rail substantially, each in described Z guide rail is connected to the opposite end of a described X guide rail and described the 2nd X guide rail to raise and reduce a described X guide rail and described the 2nd X guide rail; Described printing bed is connected to along Y guide rail and moves, and described Y guide rail is along the second trunnion axis extension perpendicular to described the first trunnion axis substantially.
22. desktop machine people according to claim 21, it is characterized in that, corresponding Z actuator is arranged for the opposite end that raises and reduce a described X guide rail and described the 2nd X guide rail, and described controller calibrates to change the inclination angle of a described X guide rail and described the 2nd X guide rail to described robot by the difference operation of described Z actuator.
23. according to the desktop machine people described in claim 21 or 22, it is characterized in that, also comprise: the framing component that is positioned at substantially described below of printing bed, described framing component has the datum plane that is parallel to described Y guide rail extension, described printing bed comprises leg, described leg cooperates for supporting described printing bed mutually with described Y guide rail, and is sliding engaged to described datum plane.
24. according to the desktop machine people described in claim 21 or 22, it is characterized in that, described Y guide rail is arranged near a described edge printing bed, and described leg is arranged near of the described opposite edges of printing bed.
25. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, comprises interchangeable filament box, and described interchangeable filament box has:
Spool, filament can be wound around round described spool;
Wheel hub, this wheel hub extends through the center of described spool substantially for supporting described spool, and described spool is rotated with respect to described wheel hub;
Non-volatile memory devices, this non-volatile memory devices is installed on described wheel hub for the relevant data of storage filament, and
Communication interface, this communication interface, on described wheel hub, is carried out data transmission for allowing between described non-volatile memory devices and described controller.
26. desktop machine people according to claim 25, is characterized in that, described spool has central shaft and comprises two parts, and each part comprises cylindrical portion and end flanges;
In the time that described two parts of described spool are fixed together, between described two parts of described spool, form inner annular channel, and
Described wheel hub comprises from described cylinderical surface projection and is received at least one circumferential rib in described circular passage.
27. desktop machine people according to claim 26, it is characterized in that, also comprise axle, described axle has stiff end and relative free end and detent mechanism, described free end is suitable for being received in described wheel hub for supporting described wheel hub, described detent mechanism in described free end for described wheel hub is coupled on described axle.
28. desktop machine people according to claim 27, is characterized in that, described detent mechanism comprises: the relative opening in described free end, described hole be configured to for the respective openings registration of described wheel hub; Spring, described spring is used for forcing described pin to reach described opening from described hole.
29. desktop machine people according to claim 26, it is characterized in that, described non-volatile memory devices comprises EEPROM, and the relevant data of described filament comprise the data that limit with lower at least one: filament material, filament color, filament diameter and thread-length.
30. desktop machine people according to claim 26, is characterized in that, described communication interface comprises electric coupling part.
31. desktop machine people according to claim 26, it is characterized in that, printed circuit board (PCB) is installed on described wheel hub, and described non-volatile memory devices is installed on described printed circuit board (PCB), and described electric coupling part comprises and is installed on described printed circuit board (PCB) one of pin connector who is installed to one group of electric contact piece in described robot for engaging.
32. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, also comprises that filament feeder is so that filament is fed into printhead, and described filament feeder comprises:
Driven wheel, this driven wheel is meshed with driven gear;
Corresponding friction pulley, this friction pulley can be fastened on described driven wheel and described driven gear rotatably, and described filament is clamped between described friction pulley.
33. desktop machine people according to claim 32, is characterized in that, described driven gear is flexibly setovered for clamping the filament between described friction wheel towards described driven wheel.
34. desktop machine people according to claim 32, is characterized in that, described driven gear be installed in by the arm of pivotal support in case towards with rotate away from described driven wheel.
35. according to the desktop machine people described in any one in claim 33 to 34, it is characterized in that, described filament feeder also comprises the encoder of the feedback signal for the described filament translational speed of instruction is provided.
36. desktop machine people according to claim 35, is characterized in that, described encoder comprises and the co-operating rotary encoder of idle pulley that supports described filament.
37. according to the desktop machine people described in any one in claim 33 to 34, it is characterized in that, described filament feeder also comprises filament sensors, described filament sensors is arranged on along filament path by the position of described feeder, to provide instruction to have or do not exist the signal of filament in described position.
38. according to the desktop machine people described in claim 37, it is characterized in that, described idle pulley is supporting described filament at the input of described feeder, and described friction pulley is supporting described filament at the output of described filament feeder, and described filament path between described idle pulley and described friction pulley is bending.
39. according to the desktop machine people described in any one in claims 1 to 3 and 6 to 9, it is characterized in that, comprise at least two filament feeders, each filament feeder is configured to for filament is guided in melter, and described melter carries out feeding to the one or more fluid dispensing nozzles on printhead.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320530184.3U CN203713074U (en) | 2013-08-28 | 2013-08-28 | Desktop robot |
| PCT/CN2014/085405 WO2015027938A1 (en) | 2013-08-28 | 2014-08-28 | Desktop robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320530184.3U CN203713074U (en) | 2013-08-28 | 2013-08-28 | Desktop robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203713074U true CN203713074U (en) | 2014-07-16 |
Family
ID=51152266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320530184.3U Expired - Fee Related CN203713074U (en) | 2013-08-28 | 2013-08-28 | Desktop robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN203713074U (en) |
| WO (1) | WO2015027938A1 (en) |
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| WO2015027938A1 (en) * | 2013-08-28 | 2015-03-05 | CEL Technology Limited | Desktop robot |
| WO2016072870A1 (en) * | 2014-11-03 | 2016-05-12 | Tomasiak Rafał | System for identification of a printing material of 3d printer |
| CN105599305A (en) * | 2016-02-01 | 2016-05-25 | 合肥中加激光技术有限公司 | FDM (Frequency-Division Multiplexing) three-dimensional printing material monitoring device |
| CN106166840A (en) * | 2015-05-19 | 2016-11-30 | 施乐公司 | Go-cart is built by the direct labelling installed under guide rail and flexible top wheel pollutes stalwartness for guide rail |
| CN110497206A (en) * | 2019-07-03 | 2019-11-26 | 吴国烘 | A kind of circuit board molding processing machine |
| CN113439019A (en) * | 2019-02-12 | 2021-09-24 | 埃森提姆公司 | Filament buffer |
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| KR101872628B1 (en) | 2014-01-16 | 2018-06-28 | 휴렛-팩커드 디벨롭먼트 컴퍼니, 엘.피. | Generating a three-dimensional object |
| US10220564B2 (en) | 2014-01-16 | 2019-03-05 | Hewlett-Packard Development Company, L.P. | Generating three-dimensional objects |
| JP6570542B2 (en) | 2014-01-16 | 2019-09-04 | ヒューレット−パッカード デベロップメント カンパニー エル．ピー．Ｈｅｗｌｅｔｔ‐Ｐａｃｋａｒｄ Ｄｅｖｅｌｏｐｍｅｎｔ Ｃｏｍｐａｎｙ， Ｌ．Ｐ． | 3D object generation |
| US9757900B2 (en) | 2015-05-20 | 2017-09-12 | Xerox Corporation | Pin-actuated printhead |
| WO2017086908A1 (en) * | 2015-11-16 | 2017-05-26 | Hewlett-Packard Development Company, L.P. | Correction of filament parameters |
| US10456968B2 (en) | 2015-12-08 | 2019-10-29 | Xerox Corporation | Three-dimensional object printer with multi-nozzle extruders and dispensers for multi-nozzle extruders and printheads |
| US10442174B2 (en) | 2015-12-08 | 2019-10-15 | Xerox Corporation | Material feeder for engineering polymer ejection system for additive manufacturing applications |
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| US10335991B2 (en) | 2015-12-08 | 2019-07-02 | Xerox Corporation | System and method for operation of multi-nozzle extrusion printheads in three-dimensional object printers |
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| CN108189396A (en) * | 2016-06-20 | 2018-06-22 | 海宁酷彩数码科技有限公司 | A kind of elevating mechanism of improved 3D printer |
| DE102016222728A1 (en) * | 2016-11-18 | 2018-05-24 | MTU Aero Engines AG | Device for moving and supplying electrical energy to a component |
| US11192308B2 (en) * | 2018-03-16 | 2021-12-07 | International Business Machines Corporation | Printer filament feed monitoring |
| US11040487B2 (en) | 2019-03-27 | 2021-06-22 | Xerox Corporation | Method for operating an extruder in a three-dimensional (3D) object printer to improve layer formation |
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| US6953239B2 (en) * | 2003-06-13 | 2005-10-11 | Hewlett-Packard Development Company, L.P. | Printer system and printing method |
| US9238329B2 (en) * | 2010-12-22 | 2016-01-19 | Stratasys, Inc. | Voice coil mechanism for use in additive manufacturing system |
| CN103158259A (en) * | 2013-03-27 | 2013-06-19 | 陈明辉 | Multi-printing-head third-dimensional (3D) printer technology of rotary platform |
| CN103231517B (en) * | 2013-05-08 | 2015-09-09 | 磐纹科技（上海）有限公司 | A kind of extrusion device being applied in the 3D printer of fuse accumulation technology |
| CN203713074U (en) * | 2013-08-28 | 2014-07-16 | 熙尔科技有限公司 | Desktop robot |
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2013
- 2013-08-28 CN CN201320530184.3U patent/CN203713074U/en not_active Expired - Fee Related
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- 2014-08-28 WO PCT/CN2014/085405 patent/WO2015027938A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2015027938A1 (en) * | 2013-08-28 | 2015-03-05 | CEL Technology Limited | Desktop robot |
| WO2016072870A1 (en) * | 2014-11-03 | 2016-05-12 | Tomasiak Rafał | System for identification of a printing material of 3d printer |
| CN106166840A (en) * | 2015-05-19 | 2016-11-30 | 施乐公司 | Go-cart is built by the direct labelling installed under guide rail and flexible top wheel pollutes stalwartness for guide rail |
| CN106166840B (en) * | 2015-05-19 | 2019-12-17 | 施乐公司 | A remove shallow for three-dimensional object printing system |
| CN105599305A (en) * | 2016-02-01 | 2016-05-25 | 合肥中加激光技术有限公司 | FDM (Frequency-Division Multiplexing) three-dimensional printing material monitoring device |
| CN113439019A (en) * | 2019-02-12 | 2021-09-24 | 埃森提姆公司 | Filament buffer |
| CN113439019B (en) * | 2019-02-12 | 2023-07-25 | 埃森提姆公司 | Filament buffer |
| US11826959B2 (en) | 2019-02-12 | 2023-11-28 | Essentium Ipco, Llc | Filament buffer |
| CN110497206A (en) * | 2019-07-03 | 2019-11-26 | 吴国烘 | A kind of circuit board molding processing machine |
| CN110497206B (en) * | 2019-07-03 | 2022-07-01 | 江门市创轩五金电子有限公司 | Circuit board forming processing machine |
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| WO2015027938A1 (en) | 2015-03-05 |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Guangzhou hi tech electronic technology Co., Ltd. Assignor: Xi Er Science and Technology Ltd. Contract record no.: 2016990000375 Denomination of utility model: Table type robot mechanism Granted publication date: 20140716 License type: Exclusive License Record date: 20160905 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CU03 | Correction of utility model patent gazette |
Correction item: License Type Correct: exclusive license False: Exclusive license Number: 40 Volume: 32 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |