Dual-Robot 3D Printing Head and Workpiece Coordination
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Solution Overview
Problem
Conventional three-dimensional object printing apparatuses face challenges in printing on complex shapes due to fixed positions and postures of printing objects, limiting the ability to bring the print head close enough for suitable printing.
Innovation Solution
A three-dimensional object printing apparatus featuring a first robot that supports a liquid discharge head with a nozzle and a second robot that supports the workpiece, allowing both to move and change position and posture independently within an imaging range, enabling the head to be brought closer to the workpiece over a wider range of shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed position and posture of the printing object is used, then the apparatus structure is simplified, but the ability to print on complex three-dimensional shapes is limited
Solution Approach 1:
The patent applies dynamics by making the workpiece holder movable and rotatable instead of fixed. The second robot arm enables the workpiece holder to change its position and orientation dynamically, allowing the print head to access various surfaces of three-dimensional objects with complex shapes while maintaining a relatively simple overall apparatus structure.
2Manufacturing precision
If only the print head position is changed, then the apparatus structure is simplified, but the print head cannot be brought close enough to certain regions of complex shapes
Solution Approach 1:
The system uses dynamic coordination between two robot arms - the first robot arm moves the print head, while the second robot arm simultaneously adjusts the workpiece holder position and orientation. This dynamic collaboration enables the print head to reach close to all regions of complex three-dimensional shapes, ensuring high printing quality without requiring an overly complex single-robot system.
Solution Approach 2:
The workpiece holder acts as an intermediary between the workpiece and the print head. By making the holder movable and rotatable via the second robot arm, the system can position the workpiece optimally for printing on complex shapes, effectively mediating the interaction between the fixed print head and the varying workpiece geometry.
3Adaptability or versatility
If the workpiece is moved during printing, then printing on various shapes is enabled, but vibration and position errors may increase
Solution Approach 1:
The patent employs dynamic coordination control where the movements of the first robot arm (print head) and second robot arm (workpiece holder) are precisely synchronized. This dynamic control ensures that even though the workpiece holder moves to accommodate various shapes, the relative positioning between print head and workpiece surface remains accurate, minimizing vibration and position errors while maintaining versatility.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration allows for suitable printing on three-dimensional objects with various shapes by independently moving the head and workpiece, reducing errors in relative positions and postures, and improving image quality by minimizing vibration and meandering of the print path.
Implementation Method 1
an imaging device 7a fixed to a base 2 and imaging an object located inside an imaging range
Implementation Method 2
a first robot 3 supporting a head 5a having a nozzle N for discharging a liquid
Data Source
AI summary
There is provided a three-dimensional object printing apparatus including an imaging device fixed to a base and imaging an object located inside an imaging range, a first robot supporting a head having a nozzle for discharging a liquid and changing a position and a posture of the head, and a second robot supporting a three-dimensional workpiece and changes a position and a posture of the workpiece. The three-dimensional object printing apparatus performs a material feeding step of causing the second robot to move the workpiece from an outside to an inside of the imaging range, and a printing step of causing the head to discharge the liquid to the workpiece while at least one of the first robot and the second robot relatively moves the head and the workpiece inside the imaging range.