Automatic 3D printing equipment

Abstract

Automatic 3D printing equipment, comprising a hexapod robot with a base (1) and six articulated legs (4), each leg provided with two servomotors, so that the base can move over a printing surface that defines an X plane and an extrusion nozzle (7) attached to the base, means for supplying 3D printing material to the nozzle; and means for translating (5) the nozzle to provide the nozzle in a third dimension Z perpendicular to the XY plane a controller (3) to control the printing state and the movement of the legs (4) at all times.

Description

Automatic 3D printing equipment TECHNICAL SECTOR The present invention falls within the field of 3D printing systems, and more specifically relates to an automated 3D printing system capable of covering large distances in two dimensions (bidirectional printing) in an XY plane parallel to the ground or surface where the device of the invention is placed and a desired part is manufactured. The system allows for the production of printed parts using additive manufacturing strategies, such as FDM (Fused Deposition Modeling) technology, guaranteeing high repeatability and precision. STATE OF THE ART 3D printing has evolved significantly since its invention in the 1980s, moving from a rapid prototyping tool to a key technology in multiple industries. Its advantages in terms of customization, waste reduction, geometric complexity, and material flexibility make it an attractive solution for a wide variety of applications. This technology represented a major advance over other types of polymer manufacturing (extrusion, rotomolding, injection molding, machining, etc.) thanks to the creative freedom it offers and the complete elimination of the need for specialized tooling, equipment, or machinery. With continuous technological advancements and the expansion of its capabilities, 3D printing promises to continue transforming how we design, manufacture, and use products in the future. The 3D printing process begins with a filament of plastic, mortar, clay, or any other continuously extrudable material, which is deposited onto the part to be created following a geometry derived from a computer-designed format, such as a CAD file. This format generates an ISO code using software that transforms the CAD geometry into lines of code. The material is deposited in a viscous state through the application of heat, water, or due to its molecular structure. The material is extruded from a nozzle, bonding with the base piece and solidifying over time. Traditional 3D printing suffers from mechanical limitations due to the dimensions of the guides, which, when using mechanisms for precise movement (racks or wave screws), have restricted movement along a single axis. Furthermore, the bonds between layers are often weaker than the layers themselves, which can compromise structural integrity. The build process is inherently slower than continuous production on a flat surface. Each layer must be completed before the next can begin, thus extending the overall manufacturing time. SUMMARY OF THE INVENTION The present invention aims to solve the problems described above by facilitating the continuous manufacturing of parts. To this end, it proposes an automatic 3D printing system without dimensional restrictions in two directions of an XY plane parallel to the surface on which the part is manufactured, so that it can be applied to the construction of large parts, such as ships, civil engineering projects, aeronautical components, gardening elements, etc. More specifically, the invention comprises a hexapod robot consisting of a base and six articulated legs, where each leg is controlled by two servomotors, one for lifting the leg (Y-axis) and the other for rotating it in a plane parallel to the surface (XY), so that the robot is able to provide a first movement in two dimensions; an extrusion nozzle and means for feeding the nozzle with 3D printing material; a controller provided with control software and connections to each motor and the extrusion nozzle, to control at all times the state of the printing and the movement of the legs; and translation means associated with the base of the robot to provide the nozzle with a translational movement in a third dimension perpendicular to the first movement. The invention's equipment allows for the printing of plastic or other materials using the FDM method, in a fast and precise manner, reducing labor interaction time, while ensuring control of printing parameters. BRIEF DESCRIPTION OF THE FIGURES To aid in a better understanding of the characteristics of the invention and to complement this description, the following figures are included as an integral part thereof, the nature of which is illustrative and not limiting: Figure 1 is an isometric view of the invention where a partially manufactured piece can also be seen on a surface such as the ground. Figure 2 is a side perspective of the invention. Figure 3 is another isometric view in the opposite direction to Figure 1, with a detailed view where a particular implementation with a delta robot as a means of translation on the Z axis is more clearly observed. Figure 4 shows the means of translation on the Z axis according to another implementation. DETAILED DESCRIPTION With reference to Figures 1 and 2, the equipment of the invention comprises the following elements: - a hexapod robot consisting of a base (1) and six articulated legs (4), each leg being provided with two servo-controlled motors; wherein the robot is capable of providing a first movement in two dimensions; - an extrusion nozzle (7) and means (2) for feeding the nozzle with 3D printing material; - translation means (5) of the extrusion nozzle (7) associated with the robot base (1) to provide the nozzle with a second translational movement in a third dimension perpendicular to the first movement; - a controller (3) provided with control software and connections with each servo motor of a leg (4), the extrusion nozzle (7) and the means of translation (5) of the nozzle to control at all times the state of the printing and the movement of the legs. The robot (1, 4) is preferably made of steel, aluminum, or any other resistant material adapted to the size of the equipment and has a low weight. The controller (3), equipped with the software to control the robot's movement and the printing progress, and the feeding means for supplying printing material, such as a hopper (2), can be located on top of the base (1). In another implementation, the controller, the hopper, or both can be external, and the base can be connected to them by cables and pipes. The six articulated legs (4) rotate on an axis perpendicular to the base (1) and the ground, and can be raised to allow this rotation. Thanks to the use of two servomotors per leg, the system is closed-loop and highly precise. Each motor has an absolute encoder that provides highly accurate feedback to the controller (3), eliminating the need for elements such as accelerometers and gyroscopes. Furthermore, each leg is equipped at the end opposite the base (1) with digital feet (6) to improve adaptation and grip on the floor or surface where the part is manufactured. The movement of each leg is controlled by its corresponding servomotor. To advance, the controller ensures the position and balance of three of the legs by locking their movement, while the other three maneuver to reach the next position. Subsequently, the three legs that have advanced are supported and locked, the ones that were supported advance to the next position, and so on. The movement is managed at all times by the controller (3) following a pre-established program. This allows it to execute the path precisely and thus manufacture the desired part (8). To ensure movement along the axis perpendicular to the base surface (1) and the manufacturing surface (the Z-axis), translation means (5) are provided along this axis. These can be a simple mast and drive assembly, as shown in Figure 4, or a delta-type robot. In the case of the implementation with a delta-type robot shown in detail in Figure 3, movement is also permitted along the XY axes, albeit in a restricted manner, but with high precision. In both cases, the translation means are located below the base (1) in a central position so as not to interfere with the movement of the robot's legs and also receive commands from the controller (3). The printing parameters are entered into the control unit (3) via an interface not shown in the drawings, which may be located on the controller itself or on an external computer or mobile device. Using the corresponding software, the controller sends the movement parameters to the servomotors, generating the movement and executing the path necessary for manufacturing the part (8). The nozzle (7) may also be equipped with heaters to maintain the temperature of the material to be extruded, if necessary. It will also have all the necessary controls for operation via batteries, mains power, or diesel / gasoline generators. Once installed on the floor or surface and with the printing parameters adjusted in two dimensions, there are no limitations to printing due to the size of the equipment; printing can continue without mechanical, kinematic, or dynamic restrictions. Furthermore, it allows printing according to the geometry of the ISO code extracted from a computer design program, such as CAD. In view of this description and figures, a person skilled in the art may understand that the invention has been described according to some preferred embodiments thereof, but that multiple variations may be introduced in said preferred embodiments, without exceeding the object of the invention as claimed.

Claims

1. An automatic 3D printing system, characterized in that it comprises: - a hexapod robot with a base (1) and six articulated legs (4), each leg being provided with two servomotors, one servomotor for controlling the leg's elevation and the other for controlling its rotation about an axis perpendicular to the base, so that the base can move on a printing surface that defines an XY plane; - an extrusion nozzle (7) attached to the base and means for supplying 3D printing material to the nozzle; - translation means (5) for the extrusion nozzle to provide the nozzle with a second translational movement in a third Z dimension perpendicular to the XY plane of movement of the base; - a controller (3) equipped with control software and connections to each servomotor and to the extrusion nozzle (7), for controlling the printing status and the movement of the legs (4) at all times. 2.The automatic 3D printing equipment according to claim 1, characterized in that the translation means (5) for the nozzle comprise a mast and motor for movement along the Z-axis.

3. The automatic 3D printing equipment according to claim 1, characterized in that the translation means (5) for the nozzle are a delta-type robot for movement along the Z-axis.

4. The automatic 3D printing equipment according to any of the preceding claims, characterized in that it is constructed of steel or aluminum.

5. The automatic 3D printing equipment according to any of the preceding claims, characterized in that the extrusion nozzle (7) is equipped with heaters to maintain the temperature of the material to be extruded.

6. The automatic 3D printing equipment according to any of the preceding claims, characterized in that the controller (3) is equipped with an interface for inputting printing parameters. 7.The automatic 3D printing equipment according to any of the preceding claims, characterized in that it further comprises digital supports (6) at the ends of the articulated legs (4) opposite the base (1) to improve adaptation and grip on the surface.

8. The automatic 3D printing equipment according to any of the preceding claims, characterized in that the means for supplying 3D printing material to the nozzle include a hopper (2) in the base (1).

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