Dual-Robot 3D Printing Head and Workpiece Positioning
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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 with a nozzle for discharging liquid and changing position and posture, a second robot for adjusting the workpiece, a curing unit for solidifying the liquid, and a maintenance unit, where the first robot's base is fixed to a base, allowing for flexible positioning and posture adjustments to accommodate various shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
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 both the print head and the workpiece movable through robot systems. The first robot moves the print head in three-dimensional space while the second robot adjusts the workpiece position and posture dynamically during printing, enabling adaptation to complex shapes without oversimplifying the overall apparatus structure
Solution Approach 2:
The patent segments the printing system into two independent robot systems: one controlling the print head and another controlling the workpiece. This segmentation allows each robot to be optimized for its specific function while working together to achieve versatile printing on various three-dimensional shapes
2Device complexity
If only the articulated robot operates the print head, then the device complexity is reduced, but the print head cannot be brought close enough to certain regions of complex workpieces
Solution Approach 1:
The system dynamically adjusts the relative position between print head and workpiece by coordinating two robots. The first robot positions the print head while the second robot simultaneously positions the workpiece, enabling the print head to reach close to any region of complex three-dimensional shapes for high-quality printing
Solution Approach 2:
The patent adds dimensional flexibility by introducing a second degree of freedom through the workpiece-positioning robot. Instead of only moving the print head in three-dimensional space, the system also moves the workpiece, effectively increasing the accessible printing regions and enabling close proximity printing on complex geometries
3Device complexity
If the workpiece position and posture are fixed, then the control system is simplified, but suitable printing cannot be performed on three-dimensional objects with various shapes
Solution Approach 1:
The control system dynamically coordinates two independent robot systems during printing operations. The first robot controls print head movement while the second robot dynamically adjusts workpiece position and posture, enabling adaptation to various three-dimensional shapes through real-time coordinated control
Solution Approach 2:
The system employs feedback mechanisms where sensors detect the workpiece position and posture, and the control system adjusts the second robot's movements accordingly. This feedback loop ensures precise positioning of both print head and workpiece, maintaining control accuracy while enabling versatile printing on complex geometries
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
Enables suitable printing on three-dimensional objects with complex shapes by allowing the print head to be brought closer to the workpiece over a wider range, improving image quality and reducing errors in relative positions and postures.
Implementation Method 1
a curing unit that emits energy to cure or solidify the liquid discharged from the head
Data Source
AI summary
There is provided a three-dimensional object printing apparatus including a first robot supporting a head having a nozzle for discharging a liquid and changing a position and a posture of the head, a second robot supporting a three-dimensional workpiece and changing a position and a posture of the workpiece, a curing unit that emits energy to cure or solidify the liquid discharged from the head, and a maintenance unit that performs maintenance on the head. The first robot has a first base portion fixed to a base. The second robot has a second base portion fixed to the base. In a plan view of the base, a virtual line segment connecting the first base portion and the second base portion passes between the curing unit and the maintenance unit.