This disclosure is directed to multi-nozzle extruders used in three-dimensional object printers and, more particularly, to the formation of structural features in fill-in areas to support a surface.
Three-dimensional printing, also known as additive manufacturing, is a process of making a three-dimensional solid object from a digital model of virtually any shape. Many three-dimensional printing technologies use an additive process in which an additive manufacturing device forms successive layers of the part on top of previously deposited layers. Some of these technologies use extruders that soften or melt extrusion material, such as ABS plastic, into thermoplastic material and then emit the thermoplastic material in a predetermined pattern. The printer typically operates the extruder to form successive layers of the thermoplastic material that form a three-dimensional printed object with a variety of shapes and structures. After each layer of the three-dimensional printed object is formed, the thermoplastic material cools and hardens to bond the layer to an underlying layer of the three-dimensional printed object. This additive manufacturing method is distinguishable from traditional object-forming techniques, which mostly rely on the removal of material from a work piece by a subtractive process, such as cutting or drilling.
Many existing three-dimensional printers use a single extruder that extrudes material through a single nozzle. The extruder moves in a predetermined path to extrude the build material onto selected locations of a support member or previously deposited swaths of extruded material of the three-dimensional printed object based on model data for the three-dimensional printed object. The model data is processed into cross-sectional layers for the object to be manufactured with each layer corresponding approximately to the thickness of a single swath of extruded material. Using an extruder having only a single nozzle to extrude the build material often requires considerable time to form a three-dimensional printed object. Additionally, an extruder with a larger nozzle diameter can form a three-dimensional printed object more quickly but loses the ability to emit build material in finer shapes for higher detailed features while nozzles with narrower diameters can form detailed structures but require more time to build the three-dimensional object.
To address the limitations of single nozzle extruders, multi-nozzle extruders have been developed. In these multi-nozzle extruders, the nozzles are formed in a common faceplate and the materials extruded through the nozzles can come from one or more manifolds. In extruders having a single manifold, all of the nozzles extrude the same material, but the fluid path from the manifold to each nozzle can include a valve that is operated to open and close the nozzles selectively. This ability enables the shape of the swath of thermoplastic material extruder from the nozzles to be varied by changing the number of nozzles extruding material and which ones are extruding material. In extruders having different manifolds, each nozzle can extrude a different material with the fluid path from one of the manifolds to its corresponding nozzle including a valve that can be operated to open and close the nozzle selectively. This ability enables the composition of the material in a swath to vary as well as the shape of the swath of thermoplastic material extruder from the nozzles to be varied. Again, these variations are achieved by changing the number of nozzles extruding material and which ones are extruding material. These multi-nozzle extruders enable different materials to be extruded from different nozzles and used to form an object without having to coordinate the movement of different extruder bodies. These different materials can enhance the ability of the additive manufacturing system to produce objects with different colors, physical properties, and configurations. Additionally, by changing the number of nozzles extruding material, the size of the swaths produced can be altered to provide narrow swaths in areas where precise feature formation is required, such as object edges, and to provide broader swaths to quickly form areas of an object, such as its interior regions.
In these multi-nozzle extruders having their nozzles in a common faceplate, the movement of the faceplate with reference to the build platform as well as the orientation of the faceplate with respect to the axes of the platform are critical to the formation of a swath. As used in this document, a “swath” refers to the extrusion of material from any opened nozzle in a multi-nozzle extruder as an aggregate as long as at least one nozzle remains open and material is extruded from any opened nozzle. That is, even if multiple nozzles are opened, but not all of the emitted extrusions contact one another, the discrete extrusions constitute a swath. A contiguous swath is one in which all of the extrusions from multiple nozzles are in contiguous contact across the swath in a cross-process direction.
Within a layer of an object being formed are surface regions, transition regions, and interior regions. The interior regions of an object can be sparsely filled since they are not observable. These regions must have enough structure and rigidity that they can support transition and surface structures that need to be formed over the interior regions. Additionally, having these interior regions contribute to the overall rigidity of the object is advantageous. Finding an appropriate balance between the amount of extruded material required in these different types of regions is important in object manufacture. In manufacturing systems that form objects with a multi-nozzle extruder, the extruder can be moved along the 0°-180° (X) axis or the 90°-270° (Y) axis, as shown in
A new method of operating a multi-nozzle extruder enables interior regions to be formed sparsely in a manner that provides structural integrity previously unknown. The method includes selecting with the controller a first zig-zag pattern from a plurality of zig-zag patterns stored in a memory operatively connected to the controller, operating an actuator with the controller to move an extruder in an interior region in a first object layer, the movement of the extruder being relative to a platform supporting an object being manufactured to form swaths in the interior region in the first object layer with reference to the first zig-zag pattern while extruding swaths of thermoplastic material through a plurality of nozzles in the extruder, the swaths of thermoplastic material in the interior region of the first object layer having straight portions and angled portions in the interior region in the first object layer at a first orientation. The method continues by selecting a second zig-zag pattern from the plurality of zig-zag patterns stored in the memory, and operating the actuator with the controller to move the extruder in the interior region in a second object layer that is adjacent to the first object layer, the movement of the extruder being relative to the platform to form swaths in the interior region in the second object layer with reference to the second zig-zag pattern while extruding swaths of thermoplastic material through the plurality of nozzles in the extruder, the swaths of thermoplastic material in the interior region of the second object layer having straight portions and angled portions in the interior region in the second object layer at a second orientation, the first orientation and the second orientation being at different angles with reference to straight line movement of the extruder during swath formation.
The foregoing aspects and other features of operating a multi-nozzle extruder using zig-zag patterns to form support structures in sparsely filled interior regions with improved structural integrity in a 3D object are explained in the following description, taken in connection with the accompanying drawings.
For a general understanding of the environment for the device disclosed herein as well as the details for the device, reference is made to the drawings. In the drawings, like reference numerals designate like elements.
As used herein, the term “extrusion material” refers to a material that is typically softened or melted to form thermoplastic material to be emitted by an extruder in an additive manufacturing system. The extrusion materials include, but are not strictly limited to, both “build materials” that form permanent portions of the three-dimensional printed object and “support materials” that form temporary structures to support portions of the build material during a printing process and are then optionally removed after completion of the printing process. Examples of build materials include, but are not limited to, acrylonitrile butadiene styrene (ABS) plastic, polylactic acid (PLA), aliphatic or semi-aromatic polyamides (Nylon), plastics that include suspended carbon fiber or other aggregate materials, electrically conductive polymers, and any other form of material that can be thermally treated to produce thermoplastic material suitable for emission through an extruder. Examples of support materials include, but are not limited to, high-impact polystyrene (HIPS), polyvinyl alcohol (PVA), and other materials capable of extrusion after being thermally treated. Extrusion materials also include materials other than thermoplastic polymers, such as chocolate. In some extrusion printers, the extrusion material is supplied as continuous elongated length of material commonly known as a “filament.” This filament is provided in a solid form by one or more rollers pulling the extrusion material filament from a spool or other supply and feeding the filament into a heater that is fluidly connected to a manifold within the extruder. Although the illustrated examples use extrusion material that is supplied as filament to the heaters, other extrusion material supplies can be used, such as particulate or spherical ball extrusion materials. The heater softens or melts the extrusion material filament to form a thermoplastic material that flows into the manifold. When a valve positioned between a nozzle and the manifold is opened, a portion of the thermoplastic material flows from the manifold through the nozzle and is emitted as a stream of thermoplastic material. As used herein, the term “melt” as applied to extrusion material refers to any elevation of temperature for the extrusion material that softens or changes the phase of the extrusion material to enable extrusion of the thermoplastic material through one or more nozzles in an extruder during operation of a three-dimensional object printer. The melted extrusion material is also denoted as “thermoplastic material” in this document. As those of skill in the art recognize, certain amorphous extrusion materials do not transition to a pure liquid state during operation of the printer.
As used herein, the terms “extruder” refers to a component of a printer that melts extrusion material in a single fluid chamber and provides the melted extrusion material to a manifold connected to one or more nozzles. Some extruders include a valve assembly that can be electronically operated to enable thermoplastic material to flow through nozzles selectively. The valve assembly enables the one or more nozzles to be connected to the manifold independently to extrude the thermoplastic material. As used herein, the term “nozzle” refers to an orifice in an extruder that is fluidly connected to the manifold in an extruder and through which thermoplastic material is emitted towards a material receiving surface. During operation, the nozzle can extrude a substantially continuous linear swath of the thermoplastic material along the process path of the extruder. A controller operates the valves in the valve assembly to control which nozzles connected to the valve assembly extrude thermoplastic material. The diameter of the nozzle affects the width of the line of extruded thermoplastic material. Different extruder embodiments include nozzles having a range of orifice sizes with wider orifices producing lines having widths that are greater than the widths of lines produced by narrower orifices.
As used herein, the term “manifold” refers to a cavity formed within a housing of an extruder that holds a supply of thermoplastic material for delivery to one or more nozzles in the extruder during a three-dimensional object printing operation. As used herein, the term “swath” refers to any pattern of the extrusion material that the extruder forms on a material receiving surface during a three-dimensional object printing operation. Common swaths include straight-line linear arrangements of extrusion material and curved swaths. In some configurations, the extruder extrudes the thermoplastic material in a continuous manner to form the swath with a contiguous mass of the extrusion material in both process and cross-process directions, while in other configurations the extruder operates in an intermittent manner to form smaller groups of thermoplastic material that are arranged along a linear or curved path. The three-dimensional object printer forms various structures using combinations of different swaths of the extrusion material. Additionally, a controller in the three-dimensional object printer uses object image data and extruder path data that correspond to different swaths of extrusion material prior to operating the extruder to form each swath of extrusion material. As described below, the controller optionally adjusts the operation of the valve assembly and the speed at which the extruder is moved to form multiple swaths of thermoplastic material through one or more nozzles during a three-dimensional printing operation.
As used herein, the term “process direction” refers to a direction of relative movement between an extruder and a material receiving surface that receives thermoplastic material extruded from one or more nozzles in the extruder. The material receiving surface is either a support member that holds a three-dimensional printed object or a surface of the partially formed three-dimensional object during an additive manufacturing process. In the illustrative embodiments described herein, one or more actuators move the extruder about the support member, but alternative system embodiments move the support member to produce the relative motion in the process direction while the extruder remains stationary. Some systems use a combination of both systems for different axes of motion.
As used herein, the term “cross process direction” refers to an axis that is perpendicular to the process direction and parallel to the extruder faceplate and the material receiving surface. The process direction and cross-process direction refer to the relative path of movement of the extruder and the surface that receives the thermoplastic material. In some configurations, the extruder includes an array of nozzles that can extend in the process direction, the cross-process direction, or both. Adjacent nozzles within the extruder are separated by a predetermined distance in the cross-process direction. In some configurations, the system rotates the extruder to adjust the cross-process direction distance that separates different nozzles in the extruder to adjust the corresponding cross-process direction distance that separates the lines of thermoplastic material that are extruded from the nozzles in the extruder as the lines form a swath.
During operation of the additive manufacturing system, an extruder moves in the process direction along both straight and curved paths relative to a surface that receives thermoplastic material during the three-dimensional object printing process. Additionally, an actuator in the system optionally rotates the extruder about the Z axis to adjust the effective cross-process distance that separates nozzles in the extruder to enable the extruder to form two or more lines of thermoplastic material with predetermined distances between each line of the thermoplastic material. The extruder moves both along the outer perimeter to form outer walls of a two-dimensional region in a layer of the printed object and within the perimeter to fill all or a portion of the two-dimensional region with the thermoplastic material.
The support member 102 is a planar member, such as a glass plate, polymer plate, or foam surface, which supports the three-dimensional printed object 140 during the manufacturing process. In the embodiment of
The support arm 112 includes a support member and one or more actuators that move the extruder 108 during printing operations. In the system 100, one or more actuators 150 move the support arm 112 and extruder 108 along the X and Y axes during the printing operation. For example, one of the actuators 150 moves the support arm 112 and the extruder 108 along the Y axis while another actuator moves the extruder 108 along the length of the support arm 112 to move along the X axis. In the system 100, the X/Y actuators 150 optionally move the extruder 108 along both the X and Y axes simultaneously along either straight or curved paths. The controller 128 controls the movements of the extruder 108 in both linear and curved paths that enable the nozzles in the extruder 108 to extrude thermoplastic material onto the support member 102 or onto previously formed layers of the object 140. The controller 128 optionally moves the extruder 108 in a rasterized motion along the X axis or Y axis, but the X/Y actuators 150 can also move the extruder 108 along arbitrary linear or curved paths in the X-Y plane.
The controller 128 is a digital logic device such as a microprocessor, microcontroller, field programmable gate array (FPGA), application specific integrated circuit (ASIC) or any other digital logic that is configured to operate the printer 100. As used in this document, the term “controller” means one or more controllers, processors, or computers configured with programmed instructions to form a plurality of tasks to achieve a function. Thus, a controller for a printer can be multiple controllers that operate the extruder, move the extruder, process the object data, and optimize the filling of regions within an object being manufactured, as well as other tasks and functions. In the printer 100, the controller 128 is operatively connected to one or more actuators that control the movement of the support member 102 and the support arm 112. The controller 128 is also operatively connected to a memory 132. In the embodiment of the printer 100, the memory 132 includes volatile data storage devices, such as random access memory (RAM) devices, and non-volatile data storage devices such as solid-state data storage devices, magnetic disks, optical disks, or any other suitable data storage devices. The memory 132 stores programmed instruction data 134 and three-dimensional (3D) object image data 136. The controller 128 executes the stored program instructions 134 to operate the components in the printer 100 to form the three-dimensional printed object 140 and print two-dimensional images on one or more surfaces of the object 140. The 3D object image data 136 includes, for example, data defining cross-sectional views of an object on a layer-by-layer basis. Each data layer represents a layer of thermoplastic material that the printer 100 forms during the three-dimensional object printing process. The extruder path control data 138 include sets of geometric data or actuator control commands that the controller 128 processes to control the path of movement of the extruder 108 using the X/Y actuators 150 and to control the orientation of the extruder 108 using the Zθ actuator 154. The controller 128 operates the actuators to move the extruder 108 above the support member 102 as noted above while the extruder extrudes thermoplastic material to form an object.
In the embodiments of
The system 100′ of
In the embodiments of
To maintain a fluid pressure of the thermoplastic material within the manifolds 216 within a predetermined range, avoid damage to the extrusion material, and control the extrusion rate through the nozzles, a slip clutch 244 is operatively connected to the drive shaft of each actuator 240 that feeds filament from a supply 110 to a heater. As used in this document, the term “slip clutch” refers to a device applies frictional force to an object to move the object up to a predetermined set point. When the range about the predetermined set point for the frictional force is exceeded, the device slips so it no longer applies the frictional force to the object. The slip clutch enables the force exerted on the filament 220 by the roller 224 to remain within the constraints on the strength of the filament no matter how frequently, how fast, or how long the actuator 240 is driven. This constant force can be maintained by either driving the actuator 240 at a speed that is higher than the fastest expected rotational speed of the filament drive roller 224 or by putting an encoder wheel 248 on the roller 224 and sensing the rate of rotation with a sensor 252. The signal generated by the sensor 252 indicates the angular rotation of the roller 224 and the controller 128 receives this signal to identify the speed of the roller 224. The controller 128 is further configured to adjust the signal provided to the actuator 240 to control the speed of the actuator. When the controller is configured to control the speed of the actuator 240, the controller 128 operates the actuator 240 so its average speed is slightly faster than the rotation of the roller 224. This operation ensures that the torque on the drive roller 224 is always a function of the slip clutch torque.
The controller 128 has a set point stored in memory connected to the controller that identifies the slightly higher speed of the actuator output shaft over the rotational speed of the roller 224. As used in this document, the term “set point” means a parameter value that a controller uses to operate components to keep the parameter corresponding to the set point within a predetermined range about the set point. For example, the controller 128 changes a signal that operates the actuator 240 to rotate the output shaft at a speed identified by the output signal in a predetermined range about the set point. In addition to the commanded speed for the actuator, the number of valves opened or closed in the valve assembly 204 and the torque set point for the clutch also affect the filament drive system 212 operation. The resulting rotational speed of the roller 224 is identified by the signal generated by the sensor 252. A proportional-integral-derivative (PID) controller within controller 128 identifies an error from this signal with reference to the differential set point stored in memory and adjusts the signal output by the controller to operate the actuator 240. Alternatively, the controller 128 can alter the torque level for the slip clutch or the controller 128 can both alter the torque level and adjust the signal with which the controller operates the actuator.
The slip clutch 244 can be a fixed or adjustable torque friction disc clutch, a magnetic particle clutch, a magnetic hysteresis clutch, a ferro-fluid clutch, an air pressure clutch, or permanent magnetic clutch. The clutch types that operate magnetically can have their torque set points adjusted by applying a voltage to the clutches. This feature enables the torque set point on the clutch to be changed with reference to print conditions. The term “print conditions” refers to parameters of the currently ongoing manufacturing operation that affect the amount of thermoplastic material required in the manifold for adequate formation of the object. These print conditions include the type of extrusion material being fed to the extruder, the temperature of the thermoplastic material being emitted from the extruder, the speed at which the extruder is being moved in the X-Y plane, the position of the feature being formed on the object, the angle at which the extruder is being moved relative to the platform, and the like.
In the embodiments shown in
When the controller 128 retrieves a layer of object data, it identifies the regions within the layer as solid fill regions, transition regions, and interior regions. Solid fill regions typically correspond to external surface regions, although they could also correspond to structures that need to be particularly rigid. Interior regions are typically sparsely filled regions since they are not observable and to the extent that the extrusion of build material in the region can be avoided, a cost and resource savings is achieved. Solid fill regions, however, cannot be formed directly over sparsely filled interior regions since much of the solid fill region would be unsupported and would fall into the sparsely filled region. To address this issue, transition regions are regions were extrusion material is placed at a density that is greater than a sparsely filled region, but not so great that extruded material would fall into the underlying sparsely filled area and be wasted. Transition regions increase in density in the Z-axis direction as they approach a solid fill region. Thus, the controller 128 identifies a distance between a top layer of a sparsely filled region and a position where a solid fill region is to be formed that corresponds to a number of transition regions needed to provide a top layer with sufficient support for the formation of the solid fill region at its intended position. Since the transition regions rely on the underlying sparsely filled regions for support, the sparsely filled regions need to provide adequate support structure without requiring amounts of extruded material beyond the identified fill percentage for the sparsely filled interior region.
When the controller 128 retrieves object layer data to form a layer of an object, the controller identifies solid fill regions, transition regions, and sparsely filled regions in the layer data. For sparsely filled regions, zig-zag patterns are used to guide the extruder and form support structure in these regions.
The first selected pattern, which can be the pattern in
After the second pattern is used for the formation of the swaths in the identified interior region of the current layer, the controller 128 operates the extruder in the other identified solid fill, sparsely filled, and transition regions of the current layer to finish formation of the object layer. The controller 128 then retrieves the next layer of the object and the next set of head control data to identify the various types of regions in the layer. For the interior region in the previous layer where the pattern of
Prior to discussing transition region extrusion, the advantages of the structures formed by the two patterns of
The two patterns shown in
In other embodiments, any square within a zig-zag pattern can be filled with some extrusion pattern. This extrusion pattern may be a smaller zig-zag pattern configured to provide some additional strength in a critical portion of a part. Alternatively, the extrusion pattern within a square might be some support pattern that does not necessarily provide additional structural strength, but could be useful for reducing the number of transition layers in an interior region or the quality of the transition layers to a solid surface of the part.
The controller 128 is also configured to operate the actuators to move the extruder differently at the angled portions 316 than it does at the straight portions 312. For one, the controller operates the actuators to move the extruder at the angles for the corners without rotating the extruder. To ensure a solid fill during this movement of the extruder at an angle other than 0° or 90°, the controller 128 operates the actuators 150 to slow the extruder as the opened nozzles extrude material. In an alternative embodiment, the controller 128 and the actuators 150 are configured to rotate the extruder to the optimum angle for the direction of extruder movement at the corners. In this embodiment, the movement of the extruder need not be slowed at the corners.
As noted above, the controller 128 alternates the use of the two patterns shown in
An example of transition region layer formation is now discussed. Other techniques or combinations of techniques can be used to achieve a supporting structure capable of resting on structure formed in sparsely filled interior regions and capable of fully supporting the solid fill layers. In the example set forth here, a plurality of different patterns is used to form the transition regions in different layers. These patterns differ from one another in type and in the number of swaths formed with the various patterns. Additionally, a pattern can be used multiple times to extend the widths of the swaths within a layer by increasing the number of open nozzles used to form a swath and by offsetting the extruder from one use in the layer to another use in the layer. Also, as the swaths get closer to one another, the extruder can be used to form bridges between swaths.
A group of transition patterns that can be used to form transition structure over the structure formed in sparsely filled interior regions is shown in
In the group of patterns shown in
The first time one of the transition patterns shown in
The controller 128 is configured with programmed instructions to select pattern 408 for moving the extruder 108 within a transition region of an object being manufactured. As noted above, this pattern is used to form an even number of swaths, namely, two, in the areas between squares in the pattern to enable widening transition swaths conforming to the pattern 408 to be formed as previously described. Once both swaths have been formed for a predetermined number of layers, the controller 128 selects the pattern 412 for extruder movement over the previously generated transition swaths. This pattern is used to form an odd number of swaths, namely, three, to enable widening transition swaths conforming to the pattern 412 to be formed in the layer. Once the three swaths have been formed, the controller 128 selects the pattern 416 for extruder movement over the previously generated transition swaths. This pattern is used to form an even number of swaths, namely, four, to enable widening transition swaths conforming to the pattern 416 to be formed in the layer. Once the three swaths have been formed, the controller 128 selects the pattern 420 for extruder movement over the previously generated transition swaths. This pattern is used to form an odd number of swaths, namely, five, to enable widening transition swaths conforming to the pattern 420 to be formed on one another. Once the five swaths have been formed, the controller 128 selects the pattern 424 for extruder movement over the previously generated transition swaths. This pattern is used to form a solid fill surface that covers the transition swaths in the transition regions and the sparsely filled swaths in the interior region. The pattern 424 can also be used to bridge open areas between swaths. Using the pattern 424 to move the extruder with all nozzles opened for each swath formed and slowing movement of the extruder over open regions between underlying swaths forms bridges between swaths. This process of bridging is typical in known 3D extrusion manufacturing and can be used to bridge openings between any layers in an object as long as the opening is not so large as to enable the bridging material to fall into the opening. An example of a sparsely filled interior region covered by material corresponding to the transition patterns 408 to 420 as described above is shown from the bottom in
The process 600 begins with the controller retrieving object layer data and extruder control data from the memory operatively connected to the controller (block 604). The controller identifies a region within the object layer as a solid fill region, a sparsely filled region, or a transition region (block 608). For an identified solid fill region, an appropriate solid fill pattern is selected and used to guide the extruder while the extruder valves are operated (block 612). For an identified sparsely filled interior region, an appropriate zig-zag pattern is selected and used to guide the extruder while the extruder valves are operated (block 616). For an identified transition region, an appropriate transition pattern is selected and used to guide the extruder while the extruder valves are operated (block 620). Once swaths have been formed in the region using the appropriate pattern for the region, the process determines whether another region is to be formed in the layer (block 624). If another region is to be formed in the layer, the region type is identified (block 608) and the appropriate pattern is selected and used to form swaths in the identified region (blocks 612, 616, or 620). If no other region is to be formed in the layer, the process determines whether another layer is to be formed (block 628). If so, then the object layer data and extruder control data is retrieved (block 604) and the regions within the layer are processed (blocks 608 to 624). When all of the object layer data has been processed (block 628), the process stops.
It will be appreciated that variants of the above-disclosed and other features and functions, or alternatives thereof, may be desirably combined into many other different systems, applications or methods. Various presently unforeseen or unanticipated alternatives, modifications, variations or improvements may be subsequently made by those skilled in the art that are also intended to be encompassed by the following claims.