Continuous pull three-dimensional printing

Patent metadata

Field	Value
Publication number	US-10987869-B2
Application number	US-201916458628-A
Country	US
Kind code	B2
Filing date	Jul 1, 2019
Priority date	Oct 3, 2014
Publication date	Apr 27, 2021
Grant date	Apr 27, 2021

Abstract

Described herein are three-dimensional (3D) printer systems and methods, which may provide for “continuous pull” 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.

First claim

What is claimed is:

1. A system comprising:
a robot comprising an articulated robotic arm having a range of movement with at least two degrees of freedom;
a base plate coupled to the articulated robotic arm;
a resin container positioned between a light source and an initial position of the base plate; and
one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
obtaining a plurality of layer representations of a plurality of layers of the three-dimensional object to be printed; and
causing the robot and the light source to iteratively perform operations until the plurality of layers of the three-dimensional object have been formed in a sequence, the operations comprising:
emitting, by the light source into the resin container, a light pattern to form a current layer in the sequence of the plurality of layers of the three-dimensional object, the light pattern being defined by a respective layer representation for the current layer, and
pulling, by the articulated robotic arm, the base plate away from the resin container at an angle defined by a shape of a next layer of the plurality of layers that is subsequent to the current layer in the sequence of the plurality of layers of the three-dimensional object.

2. The system of claim 1 , wherein the base plate, the resin container, and the light source are components of a 3D printer, wherein the base plate is arranged above a bottom surface of the resin container, and wherein the light source is arranged below the resin container.

3. The system of claim 1 , wherein the operations comprise:
initially positioning the base plate such that a surface of the base plate contacts resin in the resin container.

4. The system of claim 3 , wherein operating the light source and the base plate to sequentially form the plurality of layers of the three-dimensional object onto the base plate further comprises:
after forming the current layer of the three-dimensional object, forming each subsequent layer of the three-dimensional object including:
(a) moving the base plate upward by a given distance, such that the base plate pulls the current layer of the three-dimensional object upward by the given distance; and
(b) after moving the base plate upward by the given distance, operating the light source to project the light pattern to form the subsequent layer into the resin in the resin container, wherein the projection of the light pattern forms the subsequent layer in a shape of the light pattern at an interface between the current layer of the three-dimensional object and the resin in the resin container.

5. The system of claim 3 , wherein the operations comprise turning off the light source after forming each layer and then turning the light source on in order to form the next layer.

6. The system of claim 1 , wherein the resin in the resin container comprises a first liquid, and wherein the resin container further includes a second liquid having a different viscosity than the resin, such that the second liquid separates from the current layer and provides a substantially planar interface between the first liquid and the second liquid, and wherein each of the plurality of layers of the three-dimensional object is formed at the substantially planar interface between the first liquid and the second liquid.

7. The system of claim 6 , wherein the second liquid comprises glycerin.

8. The system of claim 1 , wherein operating the light source and the base plate to sequentially form the plurality of layers of the three-dimensional object onto the base plate comprises:
using a robotic device attached to the base plate from above to pull the base plate upward and away from the resin container during the formation of the plurality of layers of the three-dimensional object.

9. The system of claim 8 , wherein the articulated robotic arm has six degrees of freedom.

10. One or more non-transitory computer storage media encoded with model data describing a three-dimensional object and encoded with computer program instructions that when executed by a system comprising:
a robot, the robot comprising an articulated robotic arm having a range of movement with at least two degrees of freedom;
a base plate coupled to the articulated robotic arm;
a resin container positioned between a light source and an initial position of the base plate; and
one or more computers and one or more storage devices,
causes the one or more computers to perform operations comprising:
obtaining a plurality of layer representations of a plurality of layers of the three-dimensional object to be printed; and
causing the robot and the light source to iteratively perform operations until the plurality of layers of the three-dimensional object have been formed in a sequence, the operations comprising:
emitting, by the light source into the resin container, a light pattern to form a current layer in the sequence of the plurality of layers of the three-dimensional object, the light pattern being defined by a respective layer representation for the current layer, and
pulling, by the articulated robotic arm, the base plate away from the resin container at an angle defined by a shape of a next layer of the plurality of layers that is subsequent to the current layer in the sequence of the plurality of layers of the three-dimensional object.

11. The one or more non-transitory computer storage media of claim 10 , wherein the base plate, the resin container, and the light source are components of a 3D printer, wherein the base plate is arranged above a bottom surface of the resin container, and wherein the light source is arranged below the resin container.

12. The one or more non-transitory computer storage media of claim 10 , wherein executing the computer program instructions causes the robot to
initially position the base plate such that a surface of the base plate contacts resin in the resin container.

13. The one or more non-transitory computer storage media of claim 10 , wherein operating the light source and the base plate to sequentially form the plurality of layers of the three-dimensional object onto the base plate further comprises:
after forming the current layer of the three-dimensional object, forming each subsequent layer of the three-dimensional object including:
(a) moving the base plate upward by a given distance, such that the base plate pulls the current layer of the three-dimensional object upward by the given distance; and
(b) after moving the base plate upward by the given distance, operating the light source to project the light pattern to form the subsequent layer into the resin in the resin container, wherein the projection of the light pattern forms the subsequent layer in a shape of the light pattern at an interface between the current layer of the three-dimensional object and the resin in the resin container.

14. The medium of claim 12 , wherein the operations comprise turning off the light source after forming each layer and then turning the light source on in order to form the next layer.

15. The medium of claim 10 , wherein the resin in the resin container comprises a first liquid, and wherein the resin container further includes a second liquid having a different viscosity than the resin, such that the second liquid separates from the current layer and provides a substantially planar interface between the first liquid and the second liquid, and wherein each of the plurality of layers of the three-dimensional object is formed at the sub

Assignees

• X Dev Llc

Inventors

• Linnell Jeff
• Proto Jonathan
• Kruysman Brandon
• Moody Steven

Classifications

• B33Y10/00 Primary

  Processes of additive manufacturing · CPC title

• B29C64/393

  for controlling or regulating additive manufacturing processes · CPC title

• B33Y30/00

  Apparatus for additive manufacturing; Details thereof or accessories therefor · CPC title

• B29C64/129

  characterised by the energy source therefor, e.g. by global irradiation combined with a mask · CPC title

• G05B2219/49013

  Deposit layers, cured by scanning laser, stereo lithography SLA, prototyping · CPC title