| 摘要 |
The invention is related to a printing system (10) for three-dimensional objects (12), comprising a control unit (14) for storing and executing a robot program and an industrial robot which is controlled by the control unit (14) and which comprises an arm with several members (16, 18, 22, 28, 38) that's tip is movable along a predetermined movement path (56, 86) according to path data of the robot program. A printing unit (30, 72) is mounted on the tip of the robot arm and is controlled by the control unit (14), which comprises at least one print nozzle (52, 74, 76, 78) for applying pointwise a respective portion (32, 34) of a print material at respective coordinates (60, 64, 88, 90) according to object data of the robot program. |
