BID LAMINATING METHOD AND 3D PRINTER USING FLEXIBLE ROBOT ARM

摘要

The present invention relates to a three-dimensional laminating method and a nozzle system which are based on a robot arm which is applied to a three-dimensional printer, and more specifically, to a method for forming three-dimensional bead blocks in the form of a laminate, a method for curing each of the bead blocks and the laminates, and a control method according to the method for molding the cured bead blocks and laminates. According to the present invention, three-dimensional space printer platforms consist of plural multi-joint robot arms and guides for rotating and transferring the multi-joint robot arms to form a three-dimensional printer with the three-dimensional space printer platforms in layers. The present invention is capable of forming a three-dimensional stereoscopic molded article by laminating beads on multi-joint robot arms using a bead nozzle gripper and a hardener nozzle gripper and coating a hardener on the beads. The present invention is capable of forming a three-dimensional stereoscopic molded article in a three-dimensional space by including lamination of flat surfaces in such a method and laminating and curing beads on an existing object surface and a curved surface. Furthermore, the present invention is capable of reducing times for laminating and curing members by using a central core expected according to an expectable completion shape, performing a three-dimensional stereoscopic molding process of laminating and attaching the beads, and enabling the method to be applied even to a model in which an undercut or a lower body is smaller than an upper body. The present invention is capable of performing a three-dimensional stereoscopic molding process by applying member beads used to plural multi-joint robots, thereby controlling different members, colors, and sizes.