公开(公告)号：US20160254669A1

公开(公告)日：2016-09-01

申请号：US15153892

申请日：2016-05-13

Applicant: ABB Technology AG

Inventor： Biao Zhang ,  Remus Boca ,  Jeremy Newkirk ,  Thomas A. Fuhlbrigge ,  George Q. Zhang ,  Xiongzi Li

IPC: H02J3/36 ,  H02M5/458

CPC classification number: H02J3/36 ,  B29C64/106 ,  B29C64/20 ,  B33Y30/00 ,  G05B2219/39156 ,  G05B2219/49023 ,  H02M5/458

Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot that holds the platform on which the 3D part is built on. The system uses the dexterity of the 6 DOF robot to move and rotate the platform relative to the 3D printing head, which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head can be fixed relative to robot base, or moved in the X-Y plane with 2 or 3 DOF, or held by another robot or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.

Abstract translation: 机器人3D打印系统具有六自由度（DOF）机器人，其保持建立3D部件的平台。 该系统使用6自由度机器人的灵活性来移动和旋转相对于3D打印头的平台，3D打印头将材料沉积在平台上。 该系统允许使用简单的打印头直接在3D中构建零件，并沿重力方向沉积材料。 3D打印头可以相对于机器人底座固定，或者在X-Y平面上用2或3 DOF移动，或由另一个机器人或机器人保持。 可以校准机器人运动，以提高高精度3D部件打印的精度和效率。

公开(公告)号：US20150209960A1

公开(公告)日：2015-07-30

申请号：US14420100

申请日：2013-07-23

Applicant: ABB TECHNOLOGY AG

Inventor： Xiongzi Li ,  Oyvind A. Landsnes ,  Thomas A. Fuhlbrigge ,  Steinar Riveland ,  Carlos Martinez ,  Christoffer Apneseth

IPC: B25J9/16 ,  G06F17/50

CPC classification number: B25J9/1671 ,  G05B2219/35343 ,  G05B2219/45065 ,  G06F17/5009 ,  Y10S901/43

Abstract: A system for tuning robot trajectory to obtain optimal material thickness on an object includes at least one robot adapted to dispense material, a controller connected to the robot to control movement of the robot and to dispense material in relation to the object. A tuner is connected to the controller to iteratively simulate dispensing of the material on the object based on movement of the robot, and to adjust dispensing of the material and movement of the robot to obtain a desired material thickness on the object based on the iterative simulations. A related method to optimize dispensing material on an object includes simulating a path trajectory of a material dispensing robot in relation to an object is also disclosed.

Abstract translation: 用于调整机器人轨迹以在物体上获得最佳材料厚度的系统包括至少一个适于分配材料的机器人，连接到机器人的控制器以控制机器人的运动并且相对于物体分配材料。 调谐器连接到控制器以基于机器人的运动迭代地模拟物体上的材料的分配，并且基于迭代模拟来调整材料的分配和机器人的移动以获得物体上的期望的材料厚度 。 还公开了一种用于优化物体上的分配材料的相关方法，包括模拟材料分配机器人相对于物体的路径轨迹。