3D Printing – James Sherwood Page, Autodesk Inc
Abstract for “Material deposition system with four or more axles”
An extruder that can be used to deposit one or more materials and has at least one nozzle is included in a system for fabricating an object. The nozzle is attached to the movable supports via a connector. This connector can be actuated relative to the support to alter the angle between the deposition surface and the nozzle’s axis. A controller is also included that can calculate a correction factor to the path of thenozzle when there is an acute angle between the nozzle and the deposition surface. The correction factor for moving towards the acute angle will be different from the one for moving away from it. The correction factor eliminates thickness differences in the deposited material due to variations in angle between the nozzle and the deposition surfaces.
Background for “Material deposition system with four or more axles”
“This specification refers to 3D printing (3D) or additive manufacturing (FDM).
FDM with extruded filament polymer has been rapidly developed and can be used to quickly create three-dimensional objects. FDM printing involves forcing a solid material through a heated nozzle that has a smaller diameter than the original feedstock. The filament is either liquefied prior to or during the passage through the constriction of the nozzle. Material extruded at a cross-section approximately equal to that of the exit of the nozzle will be caused by the feed pressure. This application also mentions stereolithography (SLA), selective laser sintering, stereolithography (SLS), direct metal lasersintering(DMLS), and material jetting processes like ObJet.
“This specification refers to 3D printing and additive manufacturing, such FDM.”
According to one aspect, a system to fabricate an object comprises: an extruder that can deposition one or more materials, with at least one nozzle attached to the support via a connector. The connector is actuatable relative the support to move the extruder’s nozzle direction. The correction factor eliminates thickness differences in the deposited material due to variations in the angle between the nozzle’s axis and the surface.
“Implements according to this aspect can include one or more the following features. The connector can be set up to allow the nozzle to move relative to the support. An extruder may include a softening area located upstream from an actuation point. The softening zones are designed to improve flexibility for feedstock materials passing through the zone. You can set the softening zone to heat the feedstock material that passes through it. You can have extruders equipped with forming rollers to flatten the material. The connector can be included in the nozzle. The connector can also be included in the nozzle. The system can be set up to move the support and nozzle relative the object to be fabricated along three orthogonal directions to provide three degrees of freedom. The connector can be used to attach the nozzle to the support via rotation about the first axis. This will allow the controller to rotate the base during deposition to provide a fifth degree relative freedom between the connector and object. The system can be set up to move thenozzle relative to an object that is being constructed along three orthogonal directions to provide three degrees relative freedom. A multi-link coupler can be attached to the connector to allow it to rotate around a first axis which is transversely to the nozzle. The nozzle can then be attached to this multi-link coupler to rotate around a second transversely to the first to provide two additional degrees relative freedom. When the nozzle moves away from the acute angle, the correction factor can cause the nozzle’s path to be further from the surface of an object. When the nozzle moves toward the acute angle, the correction factor may cause the nozzle’s path to be closer to the object’s surface. The controller can adjust the correction factor to cause the path of nozzle closer to the object’s surface if the angle of the nozzle is greater than the acute angle. If the angle of the nozzle is greater, the controller may apply the correction factor to cause the path to move toward the object’s surface. The controller can change the angle of the nozzle’s orientation to avoid contact by determining if the nozzle is in contact with any part of the system or object. An extruder may include a feedstock canal through which feedstock material passes during deposition. The feedstock channel provides a curve between the extruder’s nozzle and the rotating nozzle and is where the controller can adjust the volume flow rate of feedstock material based on the curvature in the feedstock channels.
According to another aspect, instructions stored on a non-transitory computer readable medium contain instructions that can be executed by one or several computers. These instructions control a 3D printer and create a 3D object. The extruder includes a nozzle with a nozzle. A connector is attached to the support via a connector which is actuatable relative the support. This allows the connector to move the nozzle’s angular orientation relative to the support. This allows for the deposition of deposition material. These operations involve applying a correction coefficient to a path of nozzle. The correction factor is calculated based on an angle formed between nozzle and deposition surface. This correction factor is different from the correction factors for the extruder moving away from the acute angles. The connector allows the extruder to be actuatable relative to the movable support to change the orientation of the connection so that the nozzle moves along the path to deposit material. The correction factor also removes variations in thickness of the material during deposition of nozzle.
“According to another aspect, an additive manufacturing process that is more resistant to delamination involves using a material deposit system. One or more first material segments are made from a first material and each secondary material segment is made from a second material. The second locking portion’s shape is determined by the first locking parts so that they form an interlocking unit with the first. Each of the first and second material segments may contain a continuous material. These continuous materials can be used to make components that are comparable in resistance to breakage or delamination.
“Implements according to this aspect can include one or more the following features. Continuous fibers can be included in the first or second materials. Composite materials, such as fibers, can be included in the materials. A thermoplastic can be used as the matrix material. The length of the fibers is not limited. It can also be concrete, or another hardening mineral compound that is similar to cement. The matrix material may also be thermoset in some cases. You can deposit the first and second materials using an orifice-shaped nozzle. Sometimes, the first and the second materials can be made of the same material. A continuous material can be used to form the first and second material segments. The second material segment can be formed by a continuous material (i.e. Restarting the deposition process after cutting fibers can provide several benefits, including increased speed and reliability as well as greater part strength. There are two types of interlocking parts: the first can have gaps and the second can have tabs. The tabs can be made by pushing the second material through the gaps. Sometimes, there may be gaps that are both narrow and wider. In these cases, the second material can then be forced into the wider area to create a physical interlock between first and second interlocking portions. The first segment can be made up of one or several first material layers. Secondary material segments can be made up of one or multiple secondary material layers. The interlock prevents delamination of second material layers. Material layers can be either curved or non-planar. The material deposition system has at least two translational, and one rotational degrees freedom (i.e. “Axes of motion” between the component being constructed and the material deposit system.
“The accompanying drawings and description below detail one or more implementations for the subject matter. The claims, drawings, and description will reveal other features, aspects, or advantages of the invention.
Referring to FIG. 1. An example FDM 3D printing machine 100 has an extruder (or 3D printer) 102, a control 104, and a link 106 that connects the extruder/102 to controller 104. The extruder nozzle number 108 is included in the 3D printer 102. FDM 100 can create 3D products like item 120. One or more processors, memory or hard drives can be included in the controller 104. Input devices, such as touch screen, mouse or voice input, are also possible. The controller 104 may be used as an internet server, device, computer, processor or phone. Sometimes, the extruder 101 and controller 104 are combined into one 3D printing device.
Referring to FIG. “Referring now to FIG. 2a, a nozzle 200 is shown depositing material, such as FDM system 100, on a sloped surface 204. It moves in a downward-sloping direction along the part surface. You can use the nozzle 200 with an FDM system. Or it could be from another material deposition system like a welding tip, electrode, adhesive material system, material solidification, material curing systems, material pumps, or combinations thereof. The nozzle 200 has been shown to be constrained in order to keep its vertical orientation. The nozzle 200 is able to move along the coordinates x,y and z during deposition, but cannot change the angle at the material it deposits. FIG. 2a shows the FDM system. 2a can be called a 3-axis FDM-system. The U.S. patent application Ser. No. No. 14/663,393, filed March. 19, 2015, entitled SYSTEMS & METHODS IMPROVED 3-D PRINTING. This document is hereby included by reference in its entirety.
“FIG. 2b shows the nozzle 200 constrained to the vertical orientation. It deposits material 202 on the sloped surface 204 with an upward motion along the surface 204. The nozzle 200 is seen moving uphill in this instance, relative to the part surface. 2a . The nozzle 200 may be used with an FDM system. It can also be a nozzle from a material-deposition system like a welding tip, electrode, adhesive material, material solidification, material curing, or material pump, or any combination thereof.
“As shown at FIGS. 2a and 2b, the distance between nozzle 200 an part surface 204 can vary depending on whether the 200 is moving upward or downward. This allows for the thickness of the deposited material to be the same regardless of whether it travels horizontally or vertically.
“For example, if you want to correct the position or path 200 of the nozzle, one way is to compute a first nominal path, or set of positions, for the 200. This path can be independent of the direction or slope of the 200’s path. A second path can then be created by changing the vertical position values in accordance with the slope of nozzle 200. The slope of the path can be described as the vertical distance traveled over an interval divided horizontally or as the rate of instantaneous, vertical motion divided horizontally.
“FIGS. “FIGS. For example, an FDM system that allows rotation of the nozzle can have additional axes.
Referring to FIG. 3a shows a nozzle 300 depositing material 302 on a surface, with the nozzle axis parallel to a local surface (304). The nozzle 300 can deposit material 302 in the same direction as it travels along the given path. This means that the path of the nozzle can be identical in both directions to deposit material of the desired thickness.
Referring to FIG. 3b, the nozzle 300 is shown depositing material 302 on a sloped surface in an arrangement such that the nozzle’s axis is not perpendicular with the surface 304. FIG. 3b may have one or more movable angles motion degrees of freedom, or actuation, so that the angle of the nozzle axis 306 relative to vertical can be altered or changed along a path. FIG. 3b may have an acute angle 308 between the axis of its surface and that on the other side (the?acute angles side?). FIG. 3b shows the nozzle 300 moving toward the side of the acute angle side, as it deposits material on the local surface 304.”
Referring to FIG. 3c The nozzle 300 is shown with the same configuration as in FIG. 3b is the same orientation as FIG. 3b is shown moving away from an acute angle, whereas it was depositing material on the same sloped surface. To deposit material with a desired thickness, the nozzle 300 must take a different route while moving towards the acute angle side. 3b, as opposed to moving away form the acute angle side in FIG. 3c . When the nozzle is moving toward the acute angle, the path 300 takes can be closer to the surface. 3b, and the path may be further away from the surface when the nozzle 300 is moving away from the acute angle. 3c to deposit the same material in both cases.
A nominal path is a path that a nozzle should follow to deposit material in a particular direction. It may have an axis that is perpendicular with the surface. You can adjust a nominal path to accommodate a non-perpendicular angle between nozzle and local surface, while still depositing material with the same thickness. This is done by moving the nozzle away from the surface in those areas that are affected by the acute angle. In areas where it moves towards the surface, the path can be moved closer to the surface.
“Referring to FIG. 3d is a nozzle with an orientation angle?1 between a surface 314 and a nozzle direction 312. Angle?2 is the angle between the surface 314 (or a plane perpendicularly to the nozzle direction) and the plane. The angle between the tip of the nozzle and a part surface at a particular location can be represented by?2. The nozzle has two dimensions: a tip outer diameter Do, and a inner diameter Di. A nozzle exit orifice can be represented by the nozzle tip inner diameter Di. A series of position points can represent a nominal path for thenozzle to follow. At each point along this nominal path, there can be a distance (ho) between the local surface, and the center of nozzle exit orifice. Ho can be measured perpendicularly to the local surface.
“FIG. 3e is the nozzle 310 in FIG. 3d is moving towards the side that forms the acute angle?1. Similar to FIG. 3d . The nozzle 310 can deposit material with the same thickness as a perpendicular to the surface nozzle (see FIG. 3a ) A change can be made to adjust the travel path so that the distance between the surface (or the center of the exit orifice of the nozzle), h1, and the surface, 310 with angle?1 is less than the original distance. One example way to accomplish this adjustment can be by making the following calculation: adjustment1=(Di/2)*sin(?2). You can find the new point by using this formula: adjustment1=(Di/2)*sin(?2). With knowledge of?2, ho and h1, you can calculate the corresponding xy,z coordinates. Because the material thickness is determined largely by the nozzle orifice’s inside edge, the path can be shorter than the nominal one.
“FIG. 3f is the nozzle 310 in FIG. 3d travels in the opposite direction to acute angle?1. Again,?2 is the same as in FIG. 3d . 3d. 3a ) A change can be made to your travel path so that the distance between the surface (not shown here but see FIG. One example way to accomplish this adjustment can be by making the following calculation: adjustment2=(Do/2)*sin(?2). You can find the new point by using this formula: adjustment2=(Do/2)*sin(?2). With knowledge of?2, ho and h2, you can calculate the corresponding xy,z coordinates, or any other suitable coordinates. Because the nominal path is not as far from the surface as the actual path, the path can be longer than the path. The material thickness will depend on how thick the material is at the outside edge.
“Other calculations are possible to make the appropriate adjustments based upon?2, ho, or h1. Some cases may require adjustments to nozzle geometry, type and properties of the material, or surface properties. These can be used for determining the adjustments required.
Referring to FIG. A cross-section is shown of the example part 400. Part 400 can be made using a 5-axis FDM or another material deposition system that has a nozzle that can alter the angular orientation of the part. Part 400 may contain multiple layers 402 or more of the deposited material. Sometimes, these layers 402 may be non-planar and have the tendency to separate or delaminate at layer interfaces.
“FIG. “FIG. Except that the FIG. 4 layer 502 is missing, it shows a cross section of a part 500. 5, are held together to prevent or minimize splitting at layer interfaces. Layers 502 can contain structural members 506 that are deposited using a nozzle 504 and then solidified. You can make structural members 506 in many different types, each with its own unique features that combine to create an interlocking effect.
“For example, layers can begin with the innermost layers before proceeding to the outermost. A nth layer can have one or more gaps that are the same width as the first. A second layer (n+1) can then be deposited with gaps with a second width. These gaps can be smaller than the first width, and can be aligned to the gap(s). With sufficient material and pressure, a subsequent layer (n+1 layer) can be placed over or outside the n+1 layers. The material of the second layer will flow through the gap between the n+1 and n+1 layers and into the gap in nth layer. The gap(s) between the nth layer and the n+1 layer can be filled by the n+2 material. The N+2 layer material can be used to form a physical interlocking with other layers if the gaps in the Nth layer are greater than those in the N+1 layer. A locking feature 508 is the n+2 layer material flowing into gaps in other layers. The gaps between layers can have different widths and locking features. This allows for each layer to be interlocked sequentially. This construction can eliminate layer separation and delamination. This or another similar construction can create part 500 with one or more flat, concave or convex portions.
“In certain cases, it is possible to create layer interlocking using different layers with gaps of the same width, or combinations of single gap-layers and layers with locking mechanisms (i.e. without stacking multiple layers with aligned holes). The nozzle 504 can be positioned in different orientations to form layers 502 with associated gaps and locking features. The nozzle and its corresponding nozzle-axis can be kept vertical in some cases. This is similar to a 3-axis FDM system (x,y/z). The nozzle may be perpendicular or parallel to the local surface of the part during deposition. The nozzle may have a variable angle relative to the local surface in some cases to allow for certain features, such as the formation of the base of a vertical walls next to a baseplate. FIG. 5 shows an example. FIG. 5 illustrates the nozzle 504 finishing a section of vertical walls next to a baseplate. The nozzle 504 is positioned at a non-perpendicular angle from the part surface in order to avoid hitting the baseplate or any other parts of the FDM system. Alternately, the angle of the nozzle can be altered from a perpendicular to a nonperpendicular position, or in certain cases from a first to second non-perpendicular angles, to avoid contact with a previously deposited part of the object being manufactured. The nozzle’s coverage area may be increased by changing its angular orientation to avoid contact with FDM systems or objects being manufactured in some cases. The nozzle could be adjusted to deposit materials in tighter spaces by changing its angle of orientation to avoid contact. Referring to FIG. FIG. 5 shows an example of how the nozzle 504 could deposit material closer to the intersection of the object and base by rotating in a clockwise motion.
Locking features can be made with the nozzle perpendicular or perpendicularly to the local surface. To create an interlocking structure, layers and structural members can be made with overhangs 510 that are adjacent to the locking features of other layers. Interference members 512 may be used to improve interlocking between layers in certain cases.
A compact, angularly adjustable distal end is useful for a 5-axis FDM or other material deposition system that can change the angular orientation relative the part. It is desirable to place one of the angular articulate axes as close as possible to the tip. The point at which material is dispersed? It can be difficult to get solid feedstock filaments to bend around sharp ends before they are pushed out of the tip using conventional feedstock dispensing methods.
“Referring FIGS. A 600 articulating material dispensing device is shown in FIGS. 6a and 6b. FIG. 6a shows the articulating material dispenser system 600 in a vertical (non-vertical) configuration. 6b shows the articulating material dispenser system 600 in an articulated configuration (flexed).
“As seen, flexible strips 602 can be included in the material dispensing device 600 to form the sides and ends of a material channel 604. Multiple flexible strips 602 can be included in a leaf spring structure. This allows the width of 604 to be maintained over the entire range of articulation. To control flow and create an exit orifice, a nozzle 606 can also be used at the distal end 600 of the material dispensing device 600. To control articulation, pushrods and other actuators can be pulled or pushed on the material dispensing device 608 using cables 608 as well as pushrods. Flexible sleeves 602 can sometimes be used to keep the flexible strips 602 in their place. The heating elements 610 can either heat the material passing through the flexible section of the system, or the nozzle itself. The flexible section of the system can be heated to liquefy the material and allow it to flow more freely around corners when the 600 is articulated. Flexible strips 602 can be used for shifting in the nozzle’s axial direction or along the length of the curve to allow for articulation (see FIG. 6b ). To create the curvature as shown by the changing lengths and widths of the flexible strips 602, more feedstock material may be required to ensure continuous material flow. In cases of curvatures in the feedstock channels, the extrusion ratio or volume flow of material per meter may need to increase.
“In certain cases, a material driving system, such as a wheel, can be found proximal the articulating segment. A material drive system, such as the wheel, can also be found distal to an articulating section. If the feedstock material has been softened or liquefied to improve passage through the articulating sections, it can be cooled by cooling zones before being driven by a driven wheel.
“The exit orifice position with respect to degree of articulation and direction of articulation can be described so that for a given amount of articulation (i.e. The position of the exit orifice of the nozzle can be determined with very little error for a given amount of bending.
“Referring FIGS. 7a and 7b, an alternative implementation of the articulating material dispensing device 700 is shown. FIGS. 700 shows the system 700. 7a and 7b are similar to the system 700 shown in FIGS. 6a and 7b are similar to FIGS. However, the material dispensing channel may be lined or defined with a coil spring 702 or set of material rings 702 within the articulating part of the system. A coil spring can be used for the definition of the material dispensing channel. It can also allow the channel to remain relatively constant during articulation. Flexible sleeves 704 can be used to surround the coil spring, and guide or constrain its form. To control the level of articulation 700, cables 706, pushrods and linkages, hydraulic actuators as well as inflatable bladders, musclewires, and other devices can be used.
FIG. 7b shows the system 700 with four cables for articulation (one hidden behind other components). The system 700 can be articulated in multiple directions, i.e. Multiple degrees of freedom. A net system can be combined with a 3-axis Gantry system to create 5 (or five) axes for motion. This includes motion of the material. It is possible to add translation and rotation axes to create 6, 7, 8 or more axes and allow for the fabrication of many different part shapes.
“A nozzle 708 is located at the distal end 700 of the system 700. It controls material flow and creates an exit orifice. The nozzle 708 shows heating elements 710. However, they can be placed in the articulating or proximal sections. FIG. FIG. FIG.
“Referring FIGS. “Referring to FIGS. 8a-8d, a material guidance system 800 can be used in an articulated material dispensing device such as the one shown in FIGS. 7a and 7b are used to guide the feedstock material. FIG. FIG. 8a shows an 802 coil spring cross-section. FIG. FIG. 8b is a cross-section of the same coil spring 802 but with contoured rollers 804 that can be threaded onto it and which can rotate around the spring so material passing through the spring’s center might contact them.
“FIG. 8c is a top view showing the 800 material guide system of FIG. 8b and FIG. 8b and FIG. FIGS. 8a-8d shows the material guide system 800. 8a-8d allows a material dispensing device to bend (articulate) and add minimal resistance to the material’s feed motion.
Referring to FIG. 9 shows a material dispensing device 900 with two degrees of freedom. The first rotational degree allows the system rotate around an axis aligned with the input feedstock. FIG. 9. A nozzle can rotate around an axis perpendicular the first rotational degrees of freedom. If you wind up, continuous rotation of the first degree of freedom is possible. You can eliminate the feedstock. You can include either one or both the cooling and heating zones. Heating zone 902 can soften the feedstock so that it reduces wind-up (i.e. It allows for arbitrary angular displacement of the distal portion relative to the proximal. Any adverse effects from local twisting can be mitigated by the continual feeding of material through the nozzle. The material then leaves the nozzle and new feedstock material arrives, which is heated to allow it to absorb any additional twisting. The cooling zone 904 allows the material to solidify once again before being fed into the nozzle. To control the flow of feedstock into the nozzle, a final drive wheel 906 is possible. You can heat the material again to soften or liquefy it in the nozzle. To help the feedstock enter the heating zone 902, a drive wheel 908 may be used.
“Some feedstock materials can be pinched or formed into flattened or ridged sections in order to make it easier to go around corners. Referring to FIGS. 10a-10c is a material deposition device 1000 that changes the cross-section shape of the feedstock to allow it to turn tight corners more easily.
“FIG. 10a shows a cylindrical feedstock 1002 being passed through rollers 1004, which can squeeze it into a ribbon section 1006 and transform it to a narrow rectangle or other cross-section shape 1006 so the feedstock can bend around corners more easily. An exit hole 1010 can be provided by a nozzle 1008 An opening 1012 can be created on the nozzle 1008 to receive the reshaped feedstock. It can be rectangular or circular. You can make the exit orifice 1010 any shape you like, such as a circular one. To soften the feedstock and allow for more flexibility in its shape, it can be heated prior to entering the feed rollers. You can either cool the feedstock as it passes through the rollers, or you can let it cool down after it has passed through the rollers. This will ensure that the feedstock solidifies before entering the nozzle. To improve the operation, additional elements can be added to the material dispensing device 1000, such as guides.
“FIG. “FIG. 10a shows rollers 1014, which are another version of the forming rollers 1004 in FIG. The resulting reshaped feedstock may have a constant cross-section along its length. This allows for a constant feedstock motion that results in a steady material flow rate from a nozzle. To soften the feedstock material, a heating zone 1016 can also be placed at the upstream position relative the rollers 1014. FIG. FIG.
“In certain cases, additional features such as reciprocating linear feeder dogs can be used to drive the feedstock. FIGS. FIGS. 11a and 11b illustrate aspects of an articulating material dispenser system 1100 that uses the reciprocating linear feeder dog mechanism.”
Referring to FIG. “Referring to FIG. 11a, the articulating material dispenser system 1100 has an adjustable portion that creates articulated. The system also includes reciprocating drive dogs 112, which are flexible members with asymmetric teeth. They drive material feedstock when they move in one direction (towards the distal end of the nozzle). They can slide backwards along the feedstock, without inducing motion in it to cause the reverse portion. Feed dog teeth 1104 can be used to bite into the feedstock, creating a positive interlock in the forward portion. Alternately, the teeth 1104 may interlock with any pre-existing indentations, serrations or other features of the feedstock.
The reciprocation motion can move at a constant speed or have different speeds for forward and reverse. This allows more than one feeddog to be working on the feedstock at a time. You can have more than one feed dog 1102, such as a pair or group of feed dogs on either side of the feedstock. This ensures that at all times there is at least one feeddog on each side. You can coordinate the motions of all the different feed dogs so that each feed dog’s motion can be reciprocal. However, the net motion to the feedstock can be continuous forward motion or any other desired motion profile. Reverse feed dogs can also be used to reverse the motion of feed stock. All feed dogs can be pulled at once, which could create reverse feedstock motion.
“Even though FIG. FIG. 11a depicts an articulating material dispenser system. However, the linear and reciprocating feed dog systems described here can also be used in non-articulating systems (e.g. Straight material dispensing systems may offer advantages, such as higher drive force and a more consistent feed drive ratio with less variation in feedrate or between different material feedstocks.
“FIG. “FIG. 11a . This is an isometric view showing a section of a sheet metal feed dog. Flexible teeth are formed from the sheet metal in the feed dog. Flexible teeth are useful because they can grab the feedstock and slide in the opposite direction. You can drive the feedstock around bends with a feed dog made from thin, flexible sheet of metal like the one in FIG. 11 a.”
“FIG. 12 illustrates a different method of creating a 5-axis material deposition systems. FIG. 1200 shows an alternative system. Twelve can have three linear motion axes. For example, X, Y, and Z. 12 can have three linear motion axes. For example, X, Y, and Z. This allows for angular articulation. A non-vertical rotational axis, in this case, a horizontal one, is located near the exit orifice. This allows the nozzle to fit within tight spaces and still articulate, such as to deposit material inside cavities. A part 1202 can also be rotated around a second rotational direction, such as?. You can do this by placing the part 1202 onto a 1204 rotatable base that can be rotated during deposition. Combination of the XYZZ,? Combination of the X,Y,Z,? Figure. 12 allows full 5-axis motion, without any of the complications associated with articulating two rotational axes.
“Referring to FIGS. “Referring now to FIGS. 13a and 13b, is a material dispensing device 1300 with a rotating nozzle. This shows how feedstock from a feedstock channel 1302 may be softened or liquefied in the liquefaction area 1304 before reaching the nozzle rotational axis. To drive the feedstock through, a drive wheel 1306 is possible. The feedstock material flows sideways through the nozzle through a jog parallel to the nozzle rotation direction. It then flows out of the nozzle. A jog that coincides with the nozzle rotational axis can enable the nozzle to articulate in a variety of motion, while still maintaining a continuous, leak-free flow path.
“Referring FIGS. 14a and 14b show a material dispensing device 1400 equipped with a nozzle 1402 that can rotate around two rotational axes. A material drive system is also included in the system 1400 (e.g. 1404 a?c is used to adjust the range of motion for the nozzle rotation. Optional first rotation axis 1406 can be shown in vertical orientation. If this degree of freedom exists, the nozzle can rotate around this vertical axis. The second rotational direction 1408 can be perpendicular or in/out of the first axis. Feedstock material 1410 can be fed by a drivewheel 1404 c to nozzle 1402 with an exit orifice. FIG. FIG. 14a shows a side-view of the system 1400 at a fully articulated position. FIG. 14b is a side-view of the system 1400 from a vertical (non-articulated) position.
“Here, feedstock 1410 follows an offset path so it can wrap around drive wheel 1404c. The drive wheel 1404c can then be centered on second rotational axis 1408 The drive wheel should be centered on the second rotating axis. This allows the nozzle to rotate around the second axis in the same place. The drive wheel can be driven using a belt 1404a above by keeping it in the same place. The feedstock wrapped around the drive wheel allows for the feedstock to be bent around corners when the nozzle has an articulated position. This configuration can allow for a larger radius of curvature than if the feedstock was to travel axially between the nozzle and the upper part of the dispensing device. Because the feedstock material can be directed through the dispensing system to align itself with the nozzle’s axis, it can exit thenozzle in line with it. An idler bearing is able to maintain the pressure between the drive wheel and the feedstock. Spring loaded idler bearing 1412 can apply a constant force to pinch feedstock between it and the drive wheels. Attach the idler bearing to the dispensing device’s nozzle section. This will allow the nozzle to rotate about the second axis and the idler bearing to rotate with it. The idler bearing is constantly pinching the feedstock to drive wheel at the point where the feedstock enters into the body of nozzle. This can aid in allowing the feedstock around the bend. A drive belt can be used to drive the drive wheel. This can be done by using a motor or another actuator located near the drive wheel. An additional drive belt and pulley may be required to control the articulation 1402 of the nozzle 1402 around the second rotation axis. You can coordinate the drive wheel motion with the rotation of nozzle around the second axis to ensure that feedstock is not accidentally fed or retract when the nozzle rotates around the second.
“FIGS. 15a-15e are another example of the multi-axis material deposition method. Referring to FIG. FIG. 15a shows an isometric view showing a multi-axis material deposit system 14002. The material deposition nozzle 14004 can be rotated with respect to a base 14006 around a rotation axis 1422. The nozzle 14004 can feed material 14008, which can be a filament. The base 14006 is able to move along the x,y, and z axes. It can also be used as a support for the nozzle 14004. To transfer feed forces, a feed drive belt 14010 is used in order to feed material 14008. To transfer positioning forces to rotate the nozzle 1404, a nozzle positioning belt 14012 is available.
Referring to FIG. 15b, visible is the path of material 14008 from nozzle 14004. For clarity, the hatching has been omitted. Material drive wheels 14014 and 14008 can be driven by pinch rollers 14016. A positioning drive belt 14012 can drive an alignment pulley 14018.
“FIG. 15c is an isometric section of system 14002, with the section plane passing through the nozzle rotation axis 1402. A positioning pulley 14018, connected to nozzle 14004 by positioning drive belt 14012, is driven so that nozzle 14004 rotates about axis 14022. The drive wheel 14014 is connected with a material pulley 14020, which is driven by belt 14010. This allows material 14018 to rotate around axis 14022 when belt 14010 is moving (see FIG. 15b) is fed through the nozzle 14004.
“FIG. 15d is a frontal view of system 14002, in which the nozzle 14004 rotates with respect to base 14006. FIG. FIG. 15e is an isometric view showing system 14002, with base 14006 removed to make it easier to see the other components.
“Referring to FIG. 16 is another example of a material dispensing device 1600 with multiple rotational degrees. A center coupler 1602 links a main body 1604 with a nozzle 1606. You can use additional linkage parts between your main body, the coupler, and the coupler. However they are not shown here for clarity.
“As you can see, there are four rotational axes. There are two horizontal parallel rotation axes in the page’s plane and two horizontal parallel rotation axes in the page’s plane. The other two horizontal parallel rotation axes are projected in and out of that plane. Multiple parallel axes allow for rotation to be restricted, such as 45 degrees at one axis. This can help avoid instability and lock-up situations. To control the rotation relative to the base, the nozzle can be controlled using pushrods, cables or other actuators. To create predictable, deterministic motion, simple push/pull inputs via actuators or cables, you can connect elastomeric, springy or compliant members to the base, coupler, and nozzle. To further restrict motion in certain cases, additional linkages may be required. For example, linkages or gears may be used to limit the angular rotation around parallel axes.
“Referring to FIGS. “Referring now to FIGS. 17-24, additional implementations for the interlocking feature similar to those discussed above in FIG. 5, are described. FIG. FIG. 17a is an isometric view showing an element 16002 made from a continuous material 16004. An interlocking feature 16006 can be found in element 16002. Interlocking features 16006 may have a neck 16008 or one or more locking zones 16010. FIG. FIG. 17b shows a top view of element 16002, and FIG. You can see interlocking features 16006 and neck 16008 as well as locking areas 16010.
“Element 16002 can also be made by deposition of material 16004 so that element 16002 remains continuous. It does not contain any breaks. Material 16004 can have continuous fibers. You can create interlocking features 16006 by forcing continuous material in a cavity or previously deposited material. 21a and 21b There are many ways to structure interlocking features 16006. The exact packaging or path of continuous materials 16004 can differ greatly. However, it can form neck 16008 as well as locking areas 16010 without regard for specific packing arrangements. This is similar to how a length or rope that has been pushed into a box will assume the net shape of the box, regardless of its specific coil or route. Material 16004 may be made of a thermoplastic, thermoset, fibers, or a combination of metal, composite, living cells, a biomaterial, or any combination thereof.
Referring to FIG. 18 shows a layer of elements 16002 that has been deposited adjacent to each other. You can join elements 16002 (all can be formed continuously) or you can separate them. Layer 17002 is a planar array made up of elements 16002 but it can also be non-planar, curved, or irregular. In areas that elements 16002 do not touch, gaps 17004 or 17006 are left. Gaps of 17004 may be greater than gaps of 17006.
“FIGS. 19a-19c are isometric views of element 18002, which is similar to element 16002 in FIGS. 17a-c can be of a different shape or in a different orientation. Element 18002 may have interlocking elements 18006 that are similar to interlocking feature 16006. FIG. FIG. 20 shows a layer 19002 composed of elements 18002 placed next to each other. Although layer 19002 may look similar to layer 17022, it can also be formed in an alternative orientation. It can be placed on top of layer 17022 (see FIG. 21a ).”
“FIGS. 21a and 21b depict an incomplete part that has two layers. This is a layer in a partially constructed part. In detail, FIG. FIG. 21a shows a frontal view of part 20002, which includes layers 17002 and 19002. Layers 17002 and 19002 contain interlocking features 16006 (and 18006), respectively. By pushing interlocking features 18006 into gaps in layer 17002, their shapes can be defined. FIG. FIG. 21b shows an isometric view for part 20002.
“Referring to FIGS. Figure 22a and 22b show a part made with three interlocking layers. In more detail, FIG. FIG. 22a is a frontal view of part 21002. Part 21002 contains layers 17002, 19002 as well as a third layer, 21004. Layer 21004 may be the same layer as layer 17002, but it has a different pattern. Layer 21004 has locking features that pass through narrow gaps in layer 19002 to fill in larger gaps in layers 17002. These narrow gaps may be similar to the gaps in FIG. 18. These gaps are not evident in the figure. Gaps 17004 can have larger gaps. The interlocking feature layer 21004 can be used to create an interlocking feature between layers. This can prevent them from being separated by using the form of layer 19002’s narrow gaps and filling in the larger gap in layer 16002. Physical interference is more effective than chemical bonds at preventing layers from separating. Material with strong fibers can be oriented transversely to layers in interlocking feature. Part 21002’s strength can therefore be closer to isotropic that a normal part without interlocking feature or transverse fibers.
“FIG. 23a is a frontal view of part 22002, which includes four interlocking layers (layers 17002, 19002, and 21004), as well as a fourth layer (22004). Although layer 22004 may look the same as layer 19002, it can be moved to make the part fit correctly and have the right arrangement of gaps or locking features. Part 22002 is a set of four layers that may be repeated. No additional layer shapes or states are required to continue building the part. Layer 22004 may have a fifth layer that is identical in shape and position (shift) as layer 17002. To achieve the desired thickness, sets of four layers can be repeated indefinitely. FIG. FIG. 23b is an isometric view showing part 22002.”
“Referring to FIGS. 24a and 24b are shown parts that have twelve interlocking layers. FIG. FIG. 24a is a front view showing a part 23002 composed of three parts 22002. These are each four interlocking layer and are arranged in such a way that part 23002 contains twelve interlocking layers. FIG. FIG.
All layers in all the above implementations can be made from a single continuous material, fiber, or bundle of fibers. Sometimes, each layer or element may be made from separate materials, fibers, or bundles.
“Implementations can be made using digital electronic circuitry or computer software, firmware or hardware. The subject matter of this specification can be implemented using an additive manufacturing system. This uses one or more computer program instructions encoded onto a computer-readable media for execution by, and to control, the operation of data processing apparatus. A computer-readable medium may be a manufactured product such as a hard drive or optical disc that is sold through retail channels or embedded systems. You can acquire the computer-readable medium separately and then encode it with one or more computer program instructions. This could be done by delivering the one or several modules over a wired network or wireless network. A machine-readable storage medium, a machine readable storage substrate, a storage device or combination thereof can all be used as the computer-readable medium.
“Data processing apparatus” is a broad term. “Data processing apparatus” refers to all devices, machines, and apparatus for processing data. It can include a programmable processor, computer, multiple processors, or computers. In addition to hardware, the apparatus may include code that creates an execution environment. This code could be processor firmware, protocol stacks, database management systems, operating systems, runtime environments, or any combination thereof. The apparatus can also use different computing model infrastructures such as web services and distributed computing.
Computer programs can also be called software, script, code, program, software or software. They can be written in any programming language, whether compiled or interpreted, and can be deployed as standalone programs, modules, components, subroutines, or any other form that is suitable for use within a computing environment. A computer program is not always associated with a file within a file system. You can store a program in any part of a file, including data or programs (e.g. one or more scripts in a markup languages document), or in multiple files that are coordinated (e.g. files that contain one or more modules, subprograms or parts of code). You can deploy a computer program to run on one computer, or on multiple computers located at the same site.
“Processors that are suitable for execution of computer programs include both general and specific purpose microprocessors and any one or several processors of any type of digital computer. A processor can receive instructions and data from either a read-only or random access memory, or both. A processor is responsible for performing instructions. There are also one or more memory devices that store instructions and data. A computer will typically include one or more mass storage devices to store data. These devices are not required for a computer. A computer can also be embedded in other devices, such as a mobile phone, a personal assistant (PDA), a video or audio player on a mobile device, or a portable storage device (e.g. a USB flash drive) to store program instructions and data. All forms of non-volatile memory and media are suitable for the storage of computer program instructions and data. These include flash memory devices (e.g. EPROM, EEEPROM, and flash memory), magnetic disks (e.g. internal hard drives or removable disks), magneto-optical disks, CD-ROM and DVDROM disks. Special purpose logic circuitry can be added to the processor or integrated into the memory.
To allow interaction with the user, the implementations of this specification can use a computer that has a display device (e.g. a CRT (cathode-ray tube) monitor or an LCD (liquid crystal display monitor) monitor) for displaying information to users and a keyboard and a point device (e.g. a mouse, trackball) by which they can input data to the computer. You can also use other devices to interact with the user. For example, feedback can be visual, auditory, tactile, or audio. Input from the user can come in any form including speech, acoustic and tactile.
Implementations of the subject matter can be made using a computing system that has a back-end component (e.g. as a dataserver) or a middleware component (e.g. an application server). A front-end component is a client computer with a graphical user interface, or a Web browser, through which a user can interact and interact with the implementation of the subject material described in this specification. You can also use any combination of back-end, middleware or front-end components. Any form of digital data communication can connect the components of this system, such as a communication network. A local area network (?LAN?) is one example of a communication network. A wide area network (?) and a local area network are two examples of communication networks. A wide area network (?WAN) is also possible.
“The computing system may include both clients and servers. Client and server are usually separated and interact via a communication network. Computer programs on each computer create a client-server relationship.
“This specification does not contain any details about implementation. However, they should not be taken to limit the scope of the invention. Some features described in this specification can be combined in one implementation. However, features described in the contexts of one implementation can be combined in other implementations or in any subcombination. Even though features are described as acting in specific combinations, even if they were initially claimed as such, some features can be removed from the combination. The claimed combination could also be directed to a variation or subcombination of a subcombination.
“Similarly, even though operations are shown in particular order in drawings, it should not be taken to mean that they must be done in that order or in sequential order. Multitasking and parallel processing can be beneficial in certain situations. Separation of system components in the above implementations should not be interpreted as requiring them to be separated in all implementations. It should be understood, however, that the program components and systems described can be combined into a single product or packaged into multiple products.
“Thus, specific implementations of the invention were described. The following claims cover other implementations.
Summary for “Material deposition system with four or more axles”
“This specification refers to 3D printing (3D) or additive manufacturing (FDM).
FDM with extruded filament polymer has been rapidly developed and can be used to quickly create three-dimensional objects. FDM printing involves forcing a solid material through a heated nozzle that has a smaller diameter than the original feedstock. The filament is either liquefied prior to or during the passage through the constriction of the nozzle. Material extruded at a cross-section approximately equal to that of the exit of the nozzle will be caused by the feed pressure. This application also mentions stereolithography (SLA), selective laser sintering, stereolithography (SLS), direct metal lasersintering(DMLS), and material jetting processes like ObJet.
“This specification refers to 3D printing and additive manufacturing, such FDM.”
According to one aspect, a system to fabricate an object comprises: an extruder that can deposition one or more materials, with at least one nozzle attached to the support via a connector. The connector is actuatable relative the support to move the extruder’s nozzle direction. The correction factor eliminates thickness differences in the deposited material due to variations in the angle between the nozzle’s axis and the surface.
“Implements according to this aspect can include one or more the following features. The connector can be set up to allow the nozzle to move relative to the support. An extruder may include a softening area located upstream from an actuation point. The softening zones are designed to improve flexibility for feedstock materials passing through the zone. You can set the softening zone to heat the feedstock material that passes through it. You can have extruders equipped with forming rollers to flatten the material. The connector can be included in the nozzle. The connector can also be included in the nozzle. The system can be set up to move the support and nozzle relative the object to be fabricated along three orthogonal directions to provide three degrees of freedom. The connector can be used to attach the nozzle to the support via rotation about the first axis. This will allow the controller to rotate the base during deposition to provide a fifth degree relative freedom between the connector and object. The system can be set up to move thenozzle relative to an object that is being constructed along three orthogonal directions to provide three degrees relative freedom. A multi-link coupler can be attached to the connector to allow it to rotate around a first axis which is transversely to the nozzle. The nozzle can then be attached to this multi-link coupler to rotate around a second transversely to the first to provide two additional degrees relative freedom. When the nozzle moves away from the acute angle, the correction factor can cause the nozzle’s path to be further from the surface of an object. When the nozzle moves toward the acute angle, the correction factor may cause the nozzle’s path to be closer to the object’s surface. The controller can adjust the correction factor to cause the path of nozzle closer to the object’s surface if the angle of the nozzle is greater than the acute angle. If the angle of the nozzle is greater, the controller may apply the correction factor to cause the path to move toward the object’s surface. The controller can change the angle of the nozzle’s orientation to avoid contact by determining if the nozzle is in contact with any part of the system or object. An extruder may include a feedstock canal through which feedstock material passes during deposition. The feedstock channel provides a curve between the extruder’s nozzle and the rotating nozzle and is where the controller can adjust the volume flow rate of feedstock material based on the curvature in the feedstock channels.
According to another aspect, instructions stored on a non-transitory computer readable medium contain instructions that can be executed by one or several computers. These instructions control a 3D printer and create a 3D object. The extruder includes a nozzle with a nozzle. A connector is attached to the support via a connector which is actuatable relative the support. This allows the connector to move the nozzle’s angular orientation relative to the support. This allows for the deposition of deposition material. These operations involve applying a correction coefficient to a path of nozzle. The correction factor is calculated based on an angle formed between nozzle and deposition surface. This correction factor is different from the correction factors for the extruder moving away from the acute angles. The connector allows the extruder to be actuatable relative to the movable support to change the orientation of the connection so that the nozzle moves along the path to deposit material. The correction factor also removes variations in thickness of the material during deposition of nozzle.
“According to another aspect, an additive manufacturing process that is more resistant to delamination involves using a material deposit system. One or more first material segments are made from a first material and each secondary material segment is made from a second material. The second locking portion’s shape is determined by the first locking parts so that they form an interlocking unit with the first. Each of the first and second material segments may contain a continuous material. These continuous materials can be used to make components that are comparable in resistance to breakage or delamination.
“Implements according to this aspect can include one or more the following features. Continuous fibers can be included in the first or second materials. Composite materials, such as fibers, can be included in the materials. A thermoplastic can be used as the matrix material. The length of the fibers is not limited. It can also be concrete, or another hardening mineral compound that is similar to cement. The matrix material may also be thermoset in some cases. You can deposit the first and second materials using an orifice-shaped nozzle. Sometimes, the first and the second materials can be made of the same material. A continuous material can be used to form the first and second material segments. The second material segment can be formed by a continuous material (i.e. Restarting the deposition process after cutting fibers can provide several benefits, including increased speed and reliability as well as greater part strength. There are two types of interlocking parts: the first can have gaps and the second can have tabs. The tabs can be made by pushing the second material through the gaps. Sometimes, there may be gaps that are both narrow and wider. In these cases, the second material can then be forced into the wider area to create a physical interlock between first and second interlocking portions. The first segment can be made up of one or several first material layers. Secondary material segments can be made up of one or multiple secondary material layers. The interlock prevents delamination of second material layers. Material layers can be either curved or non-planar. The material deposition system has at least two translational, and one rotational degrees freedom (i.e. “Axes of motion” between the component being constructed and the material deposit system.
“The accompanying drawings and description below detail one or more implementations for the subject matter. The claims, drawings, and description will reveal other features, aspects, or advantages of the invention.
Referring to FIG. 1. An example FDM 3D printing machine 100 has an extruder (or 3D printer) 102, a control 104, and a link 106 that connects the extruder/102 to controller 104. The extruder nozzle number 108 is included in the 3D printer 102. FDM 100 can create 3D products like item 120. One or more processors, memory or hard drives can be included in the controller 104. Input devices, such as touch screen, mouse or voice input, are also possible. The controller 104 may be used as an internet server, device, computer, processor or phone. Sometimes, the extruder 101 and controller 104 are combined into one 3D printing device.
Referring to FIG. “Referring now to FIG. 2a, a nozzle 200 is shown depositing material, such as FDM system 100, on a sloped surface 204. It moves in a downward-sloping direction along the part surface. You can use the nozzle 200 with an FDM system. Or it could be from another material deposition system like a welding tip, electrode, adhesive material system, material solidification, material curing systems, material pumps, or combinations thereof. The nozzle 200 has been shown to be constrained in order to keep its vertical orientation. The nozzle 200 is able to move along the coordinates x,y and z during deposition, but cannot change the angle at the material it deposits. FIG. 2a shows the FDM system. 2a can be called a 3-axis FDM-system. The U.S. patent application Ser. No. No. 14/663,393, filed March. 19, 2015, entitled SYSTEMS & METHODS IMPROVED 3-D PRINTING. This document is hereby included by reference in its entirety.
“FIG. 2b shows the nozzle 200 constrained to the vertical orientation. It deposits material 202 on the sloped surface 204 with an upward motion along the surface 204. The nozzle 200 is seen moving uphill in this instance, relative to the part surface. 2a . The nozzle 200 may be used with an FDM system. It can also be a nozzle from a material-deposition system like a welding tip, electrode, adhesive material, material solidification, material curing, or material pump, or any combination thereof.
“As shown at FIGS. 2a and 2b, the distance between nozzle 200 an part surface 204 can vary depending on whether the 200 is moving upward or downward. This allows for the thickness of the deposited material to be the same regardless of whether it travels horizontally or vertically.
“For example, if you want to correct the position or path 200 of the nozzle, one way is to compute a first nominal path, or set of positions, for the 200. This path can be independent of the direction or slope of the 200’s path. A second path can then be created by changing the vertical position values in accordance with the slope of nozzle 200. The slope of the path can be described as the vertical distance traveled over an interval divided horizontally or as the rate of instantaneous, vertical motion divided horizontally.
“FIGS. “FIGS. For example, an FDM system that allows rotation of the nozzle can have additional axes.
Referring to FIG. 3a shows a nozzle 300 depositing material 302 on a surface, with the nozzle axis parallel to a local surface (304). The nozzle 300 can deposit material 302 in the same direction as it travels along the given path. This means that the path of the nozzle can be identical in both directions to deposit material of the desired thickness.
Referring to FIG. 3b, the nozzle 300 is shown depositing material 302 on a sloped surface in an arrangement such that the nozzle’s axis is not perpendicular with the surface 304. FIG. 3b may have one or more movable angles motion degrees of freedom, or actuation, so that the angle of the nozzle axis 306 relative to vertical can be altered or changed along a path. FIG. 3b may have an acute angle 308 between the axis of its surface and that on the other side (the?acute angles side?). FIG. 3b shows the nozzle 300 moving toward the side of the acute angle side, as it deposits material on the local surface 304.”
Referring to FIG. 3c The nozzle 300 is shown with the same configuration as in FIG. 3b is the same orientation as FIG. 3b is shown moving away from an acute angle, whereas it was depositing material on the same sloped surface. To deposit material with a desired thickness, the nozzle 300 must take a different route while moving towards the acute angle side. 3b, as opposed to moving away form the acute angle side in FIG. 3c . When the nozzle is moving toward the acute angle, the path 300 takes can be closer to the surface. 3b, and the path may be further away from the surface when the nozzle 300 is moving away from the acute angle. 3c to deposit the same material in both cases.
A nominal path is a path that a nozzle should follow to deposit material in a particular direction. It may have an axis that is perpendicular with the surface. You can adjust a nominal path to accommodate a non-perpendicular angle between nozzle and local surface, while still depositing material with the same thickness. This is done by moving the nozzle away from the surface in those areas that are affected by the acute angle. In areas where it moves towards the surface, the path can be moved closer to the surface.
“Referring to FIG. 3d is a nozzle with an orientation angle?1 between a surface 314 and a nozzle direction 312. Angle?2 is the angle between the surface 314 (or a plane perpendicularly to the nozzle direction) and the plane. The angle between the tip of the nozzle and a part surface at a particular location can be represented by?2. The nozzle has two dimensions: a tip outer diameter Do, and a inner diameter Di. A nozzle exit orifice can be represented by the nozzle tip inner diameter Di. A series of position points can represent a nominal path for thenozzle to follow. At each point along this nominal path, there can be a distance (ho) between the local surface, and the center of nozzle exit orifice. Ho can be measured perpendicularly to the local surface.
“FIG. 3e is the nozzle 310 in FIG. 3d is moving towards the side that forms the acute angle?1. Similar to FIG. 3d . The nozzle 310 can deposit material with the same thickness as a perpendicular to the surface nozzle (see FIG. 3a ) A change can be made to adjust the travel path so that the distance between the surface (or the center of the exit orifice of the nozzle), h1, and the surface, 310 with angle?1 is less than the original distance. One example way to accomplish this adjustment can be by making the following calculation: adjustment1=(Di/2)*sin(?2). You can find the new point by using this formula: adjustment1=(Di/2)*sin(?2). With knowledge of?2, ho and h1, you can calculate the corresponding xy,z coordinates. Because the material thickness is determined largely by the nozzle orifice’s inside edge, the path can be shorter than the nominal one.
“FIG. 3f is the nozzle 310 in FIG. 3d travels in the opposite direction to acute angle?1. Again,?2 is the same as in FIG. 3d . 3d. 3a ) A change can be made to your travel path so that the distance between the surface (not shown here but see FIG. One example way to accomplish this adjustment can be by making the following calculation: adjustment2=(Do/2)*sin(?2). You can find the new point by using this formula: adjustment2=(Do/2)*sin(?2). With knowledge of?2, ho and h2, you can calculate the corresponding xy,z coordinates, or any other suitable coordinates. Because the nominal path is not as far from the surface as the actual path, the path can be longer than the path. The material thickness will depend on how thick the material is at the outside edge.
“Other calculations are possible to make the appropriate adjustments based upon?2, ho, or h1. Some cases may require adjustments to nozzle geometry, type and properties of the material, or surface properties. These can be used for determining the adjustments required.
Referring to FIG. A cross-section is shown of the example part 400. Part 400 can be made using a 5-axis FDM or another material deposition system that has a nozzle that can alter the angular orientation of the part. Part 400 may contain multiple layers 402 or more of the deposited material. Sometimes, these layers 402 may be non-planar and have the tendency to separate or delaminate at layer interfaces.
“FIG. “FIG. Except that the FIG. 4 layer 502 is missing, it shows a cross section of a part 500. 5, are held together to prevent or minimize splitting at layer interfaces. Layers 502 can contain structural members 506 that are deposited using a nozzle 504 and then solidified. You can make structural members 506 in many different types, each with its own unique features that combine to create an interlocking effect.
“For example, layers can begin with the innermost layers before proceeding to the outermost. A nth layer can have one or more gaps that are the same width as the first. A second layer (n+1) can then be deposited with gaps with a second width. These gaps can be smaller than the first width, and can be aligned to the gap(s). With sufficient material and pressure, a subsequent layer (n+1 layer) can be placed over or outside the n+1 layers. The material of the second layer will flow through the gap between the n+1 and n+1 layers and into the gap in nth layer. The gap(s) between the nth layer and the n+1 layer can be filled by the n+2 material. The N+2 layer material can be used to form a physical interlocking with other layers if the gaps in the Nth layer are greater than those in the N+1 layer. A locking feature 508 is the n+2 layer material flowing into gaps in other layers. The gaps between layers can have different widths and locking features. This allows for each layer to be interlocked sequentially. This construction can eliminate layer separation and delamination. This or another similar construction can create part 500 with one or more flat, concave or convex portions.
“In certain cases, it is possible to create layer interlocking using different layers with gaps of the same width, or combinations of single gap-layers and layers with locking mechanisms (i.e. without stacking multiple layers with aligned holes). The nozzle 504 can be positioned in different orientations to form layers 502 with associated gaps and locking features. The nozzle and its corresponding nozzle-axis can be kept vertical in some cases. This is similar to a 3-axis FDM system (x,y/z). The nozzle may be perpendicular or parallel to the local surface of the part during deposition. The nozzle may have a variable angle relative to the local surface in some cases to allow for certain features, such as the formation of the base of a vertical walls next to a baseplate. FIG. 5 shows an example. FIG. 5 illustrates the nozzle 504 finishing a section of vertical walls next to a baseplate. The nozzle 504 is positioned at a non-perpendicular angle from the part surface in order to avoid hitting the baseplate or any other parts of the FDM system. Alternately, the angle of the nozzle can be altered from a perpendicular to a nonperpendicular position, or in certain cases from a first to second non-perpendicular angles, to avoid contact with a previously deposited part of the object being manufactured. The nozzle’s coverage area may be increased by changing its angular orientation to avoid contact with FDM systems or objects being manufactured in some cases. The nozzle could be adjusted to deposit materials in tighter spaces by changing its angle of orientation to avoid contact. Referring to FIG. FIG. 5 shows an example of how the nozzle 504 could deposit material closer to the intersection of the object and base by rotating in a clockwise motion.
Locking features can be made with the nozzle perpendicular or perpendicularly to the local surface. To create an interlocking structure, layers and structural members can be made with overhangs 510 that are adjacent to the locking features of other layers. Interference members 512 may be used to improve interlocking between layers in certain cases.
A compact, angularly adjustable distal end is useful for a 5-axis FDM or other material deposition system that can change the angular orientation relative the part. It is desirable to place one of the angular articulate axes as close as possible to the tip. The point at which material is dispersed? It can be difficult to get solid feedstock filaments to bend around sharp ends before they are pushed out of the tip using conventional feedstock dispensing methods.
“Referring FIGS. A 600 articulating material dispensing device is shown in FIGS. 6a and 6b. FIG. 6a shows the articulating material dispenser system 600 in a vertical (non-vertical) configuration. 6b shows the articulating material dispenser system 600 in an articulated configuration (flexed).
“As seen, flexible strips 602 can be included in the material dispensing device 600 to form the sides and ends of a material channel 604. Multiple flexible strips 602 can be included in a leaf spring structure. This allows the width of 604 to be maintained over the entire range of articulation. To control flow and create an exit orifice, a nozzle 606 can also be used at the distal end 600 of the material dispensing device 600. To control articulation, pushrods and other actuators can be pulled or pushed on the material dispensing device 608 using cables 608 as well as pushrods. Flexible sleeves 602 can sometimes be used to keep the flexible strips 602 in their place. The heating elements 610 can either heat the material passing through the flexible section of the system, or the nozzle itself. The flexible section of the system can be heated to liquefy the material and allow it to flow more freely around corners when the 600 is articulated. Flexible strips 602 can be used for shifting in the nozzle’s axial direction or along the length of the curve to allow for articulation (see FIG. 6b ). To create the curvature as shown by the changing lengths and widths of the flexible strips 602, more feedstock material may be required to ensure continuous material flow. In cases of curvatures in the feedstock channels, the extrusion ratio or volume flow of material per meter may need to increase.
“In certain cases, a material driving system, such as a wheel, can be found proximal the articulating segment. A material drive system, such as the wheel, can also be found distal to an articulating section. If the feedstock material has been softened or liquefied to improve passage through the articulating sections, it can be cooled by cooling zones before being driven by a driven wheel.
“The exit orifice position with respect to degree of articulation and direction of articulation can be described so that for a given amount of articulation (i.e. The position of the exit orifice of the nozzle can be determined with very little error for a given amount of bending.
“Referring FIGS. 7a and 7b, an alternative implementation of the articulating material dispensing device 700 is shown. FIGS. 700 shows the system 700. 7a and 7b are similar to the system 700 shown in FIGS. 6a and 7b are similar to FIGS. However, the material dispensing channel may be lined or defined with a coil spring 702 or set of material rings 702 within the articulating part of the system. A coil spring can be used for the definition of the material dispensing channel. It can also allow the channel to remain relatively constant during articulation. Flexible sleeves 704 can be used to surround the coil spring, and guide or constrain its form. To control the level of articulation 700, cables 706, pushrods and linkages, hydraulic actuators as well as inflatable bladders, musclewires, and other devices can be used.
FIG. 7b shows the system 700 with four cables for articulation (one hidden behind other components). The system 700 can be articulated in multiple directions, i.e. Multiple degrees of freedom. A net system can be combined with a 3-axis Gantry system to create 5 (or five) axes for motion. This includes motion of the material. It is possible to add translation and rotation axes to create 6, 7, 8 or more axes and allow for the fabrication of many different part shapes.
“A nozzle 708 is located at the distal end 700 of the system 700. It controls material flow and creates an exit orifice. The nozzle 708 shows heating elements 710. However, they can be placed in the articulating or proximal sections. FIG. FIG. FIG.
“Referring FIGS. “Referring to FIGS. 8a-8d, a material guidance system 800 can be used in an articulated material dispensing device such as the one shown in FIGS. 7a and 7b are used to guide the feedstock material. FIG. FIG. 8a shows an 802 coil spring cross-section. FIG. FIG. 8b is a cross-section of the same coil spring 802 but with contoured rollers 804 that can be threaded onto it and which can rotate around the spring so material passing through the spring’s center might contact them.
“FIG. 8c is a top view showing the 800 material guide system of FIG. 8b and FIG. 8b and FIG. FIGS. 8a-8d shows the material guide system 800. 8a-8d allows a material dispensing device to bend (articulate) and add minimal resistance to the material’s feed motion.
Referring to FIG. 9 shows a material dispensing device 900 with two degrees of freedom. The first rotational degree allows the system rotate around an axis aligned with the input feedstock. FIG. 9. A nozzle can rotate around an axis perpendicular the first rotational degrees of freedom. If you wind up, continuous rotation of the first degree of freedom is possible. You can eliminate the feedstock. You can include either one or both the cooling and heating zones. Heating zone 902 can soften the feedstock so that it reduces wind-up (i.e. It allows for arbitrary angular displacement of the distal portion relative to the proximal. Any adverse effects from local twisting can be mitigated by the continual feeding of material through the nozzle. The material then leaves the nozzle and new feedstock material arrives, which is heated to allow it to absorb any additional twisting. The cooling zone 904 allows the material to solidify once again before being fed into the nozzle. To control the flow of feedstock into the nozzle, a final drive wheel 906 is possible. You can heat the material again to soften or liquefy it in the nozzle. To help the feedstock enter the heating zone 902, a drive wheel 908 may be used.
“Some feedstock materials can be pinched or formed into flattened or ridged sections in order to make it easier to go around corners. Referring to FIGS. 10a-10c is a material deposition device 1000 that changes the cross-section shape of the feedstock to allow it to turn tight corners more easily.
“FIG. 10a shows a cylindrical feedstock 1002 being passed through rollers 1004, which can squeeze it into a ribbon section 1006 and transform it to a narrow rectangle or other cross-section shape 1006 so the feedstock can bend around corners more easily. An exit hole 1010 can be provided by a nozzle 1008 An opening 1012 can be created on the nozzle 1008 to receive the reshaped feedstock. It can be rectangular or circular. You can make the exit orifice 1010 any shape you like, such as a circular one. To soften the feedstock and allow for more flexibility in its shape, it can be heated prior to entering the feed rollers. You can either cool the feedstock as it passes through the rollers, or you can let it cool down after it has passed through the rollers. This will ensure that the feedstock solidifies before entering the nozzle. To improve the operation, additional elements can be added to the material dispensing device 1000, such as guides.
“FIG. “FIG. 10a shows rollers 1014, which are another version of the forming rollers 1004 in FIG. The resulting reshaped feedstock may have a constant cross-section along its length. This allows for a constant feedstock motion that results in a steady material flow rate from a nozzle. To soften the feedstock material, a heating zone 1016 can also be placed at the upstream position relative the rollers 1014. FIG. FIG.
“In certain cases, additional features such as reciprocating linear feeder dogs can be used to drive the feedstock. FIGS. FIGS. 11a and 11b illustrate aspects of an articulating material dispenser system 1100 that uses the reciprocating linear feeder dog mechanism.”
Referring to FIG. “Referring to FIG. 11a, the articulating material dispenser system 1100 has an adjustable portion that creates articulated. The system also includes reciprocating drive dogs 112, which are flexible members with asymmetric teeth. They drive material feedstock when they move in one direction (towards the distal end of the nozzle). They can slide backwards along the feedstock, without inducing motion in it to cause the reverse portion. Feed dog teeth 1104 can be used to bite into the feedstock, creating a positive interlock in the forward portion. Alternately, the teeth 1104 may interlock with any pre-existing indentations, serrations or other features of the feedstock.
The reciprocation motion can move at a constant speed or have different speeds for forward and reverse. This allows more than one feeddog to be working on the feedstock at a time. You can have more than one feed dog 1102, such as a pair or group of feed dogs on either side of the feedstock. This ensures that at all times there is at least one feeddog on each side. You can coordinate the motions of all the different feed dogs so that each feed dog’s motion can be reciprocal. However, the net motion to the feedstock can be continuous forward motion or any other desired motion profile. Reverse feed dogs can also be used to reverse the motion of feed stock. All feed dogs can be pulled at once, which could create reverse feedstock motion.
“Even though FIG. FIG. 11a depicts an articulating material dispenser system. However, the linear and reciprocating feed dog systems described here can also be used in non-articulating systems (e.g. Straight material dispensing systems may offer advantages, such as higher drive force and a more consistent feed drive ratio with less variation in feedrate or between different material feedstocks.
“FIG. “FIG. 11a . This is an isometric view showing a section of a sheet metal feed dog. Flexible teeth are formed from the sheet metal in the feed dog. Flexible teeth are useful because they can grab the feedstock and slide in the opposite direction. You can drive the feedstock around bends with a feed dog made from thin, flexible sheet of metal like the one in FIG. 11 a.”
“FIG. 12 illustrates a different method of creating a 5-axis material deposition systems. FIG. 1200 shows an alternative system. Twelve can have three linear motion axes. For example, X, Y, and Z. 12 can have three linear motion axes. For example, X, Y, and Z. This allows for angular articulation. A non-vertical rotational axis, in this case, a horizontal one, is located near the exit orifice. This allows the nozzle to fit within tight spaces and still articulate, such as to deposit material inside cavities. A part 1202 can also be rotated around a second rotational direction, such as?. You can do this by placing the part 1202 onto a 1204 rotatable base that can be rotated during deposition. Combination of the XYZZ,? Combination of the X,Y,Z,? Figure. 12 allows full 5-axis motion, without any of the complications associated with articulating two rotational axes.
“Referring to FIGS. “Referring now to FIGS. 13a and 13b, is a material dispensing device 1300 with a rotating nozzle. This shows how feedstock from a feedstock channel 1302 may be softened or liquefied in the liquefaction area 1304 before reaching the nozzle rotational axis. To drive the feedstock through, a drive wheel 1306 is possible. The feedstock material flows sideways through the nozzle through a jog parallel to the nozzle rotation direction. It then flows out of the nozzle. A jog that coincides with the nozzle rotational axis can enable the nozzle to articulate in a variety of motion, while still maintaining a continuous, leak-free flow path.
“Referring FIGS. 14a and 14b show a material dispensing device 1400 equipped with a nozzle 1402 that can rotate around two rotational axes. A material drive system is also included in the system 1400 (e.g. 1404 a?c is used to adjust the range of motion for the nozzle rotation. Optional first rotation axis 1406 can be shown in vertical orientation. If this degree of freedom exists, the nozzle can rotate around this vertical axis. The second rotational direction 1408 can be perpendicular or in/out of the first axis. Feedstock material 1410 can be fed by a drivewheel 1404 c to nozzle 1402 with an exit orifice. FIG. FIG. 14a shows a side-view of the system 1400 at a fully articulated position. FIG. 14b is a side-view of the system 1400 from a vertical (non-articulated) position.
“Here, feedstock 1410 follows an offset path so it can wrap around drive wheel 1404c. The drive wheel 1404c can then be centered on second rotational axis 1408 The drive wheel should be centered on the second rotating axis. This allows the nozzle to rotate around the second axis in the same place. The drive wheel can be driven using a belt 1404a above by keeping it in the same place. The feedstock wrapped around the drive wheel allows for the feedstock to be bent around corners when the nozzle has an articulated position. This configuration can allow for a larger radius of curvature than if the feedstock was to travel axially between the nozzle and the upper part of the dispensing device. Because the feedstock material can be directed through the dispensing system to align itself with the nozzle’s axis, it can exit thenozzle in line with it. An idler bearing is able to maintain the pressure between the drive wheel and the feedstock. Spring loaded idler bearing 1412 can apply a constant force to pinch feedstock between it and the drive wheels. Attach the idler bearing to the dispensing device’s nozzle section. This will allow the nozzle to rotate about the second axis and the idler bearing to rotate with it. The idler bearing is constantly pinching the feedstock to drive wheel at the point where the feedstock enters into the body of nozzle. This can aid in allowing the feedstock around the bend. A drive belt can be used to drive the drive wheel. This can be done by using a motor or another actuator located near the drive wheel. An additional drive belt and pulley may be required to control the articulation 1402 of the nozzle 1402 around the second rotation axis. You can coordinate the drive wheel motion with the rotation of nozzle around the second axis to ensure that feedstock is not accidentally fed or retract when the nozzle rotates around the second.
“FIGS. 15a-15e are another example of the multi-axis material deposition method. Referring to FIG. FIG. 15a shows an isometric view showing a multi-axis material deposit system 14002. The material deposition nozzle 14004 can be rotated with respect to a base 14006 around a rotation axis 1422. The nozzle 14004 can feed material 14008, which can be a filament. The base 14006 is able to move along the x,y, and z axes. It can also be used as a support for the nozzle 14004. To transfer feed forces, a feed drive belt 14010 is used in order to feed material 14008. To transfer positioning forces to rotate the nozzle 1404, a nozzle positioning belt 14012 is available.
Referring to FIG. 15b, visible is the path of material 14008 from nozzle 14004. For clarity, the hatching has been omitted. Material drive wheels 14014 and 14008 can be driven by pinch rollers 14016. A positioning drive belt 14012 can drive an alignment pulley 14018.
“FIG. 15c is an isometric section of system 14002, with the section plane passing through the nozzle rotation axis 1402. A positioning pulley 14018, connected to nozzle 14004 by positioning drive belt 14012, is driven so that nozzle 14004 rotates about axis 14022. The drive wheel 14014 is connected with a material pulley 14020, which is driven by belt 14010. This allows material 14018 to rotate around axis 14022 when belt 14010 is moving (see FIG. 15b) is fed through the nozzle 14004.
“FIG. 15d is a frontal view of system 14002, in which the nozzle 14004 rotates with respect to base 14006. FIG. FIG. 15e is an isometric view showing system 14002, with base 14006 removed to make it easier to see the other components.
“Referring to FIG. 16 is another example of a material dispensing device 1600 with multiple rotational degrees. A center coupler 1602 links a main body 1604 with a nozzle 1606. You can use additional linkage parts between your main body, the coupler, and the coupler. However they are not shown here for clarity.
“As you can see, there are four rotational axes. There are two horizontal parallel rotation axes in the page’s plane and two horizontal parallel rotation axes in the page’s plane. The other two horizontal parallel rotation axes are projected in and out of that plane. Multiple parallel axes allow for rotation to be restricted, such as 45 degrees at one axis. This can help avoid instability and lock-up situations. To control the rotation relative to the base, the nozzle can be controlled using pushrods, cables or other actuators. To create predictable, deterministic motion, simple push/pull inputs via actuators or cables, you can connect elastomeric, springy or compliant members to the base, coupler, and nozzle. To further restrict motion in certain cases, additional linkages may be required. For example, linkages or gears may be used to limit the angular rotation around parallel axes.
“Referring to FIGS. “Referring now to FIGS. 17-24, additional implementations for the interlocking feature similar to those discussed above in FIG. 5, are described. FIG. FIG. 17a is an isometric view showing an element 16002 made from a continuous material 16004. An interlocking feature 16006 can be found in element 16002. Interlocking features 16006 may have a neck 16008 or one or more locking zones 16010. FIG. FIG. 17b shows a top view of element 16002, and FIG. You can see interlocking features 16006 and neck 16008 as well as locking areas 16010.
“Element 16002 can also be made by deposition of material 16004 so that element 16002 remains continuous. It does not contain any breaks. Material 16004 can have continuous fibers. You can create interlocking features 16006 by forcing continuous material in a cavity or previously deposited material. 21a and 21b There are many ways to structure interlocking features 16006. The exact packaging or path of continuous materials 16004 can differ greatly. However, it can form neck 16008 as well as locking areas 16010 without regard for specific packing arrangements. This is similar to how a length or rope that has been pushed into a box will assume the net shape of the box, regardless of its specific coil or route. Material 16004 may be made of a thermoplastic, thermoset, fibers, or a combination of metal, composite, living cells, a biomaterial, or any combination thereof.
Referring to FIG. 18 shows a layer of elements 16002 that has been deposited adjacent to each other. You can join elements 16002 (all can be formed continuously) or you can separate them. Layer 17002 is a planar array made up of elements 16002 but it can also be non-planar, curved, or irregular. In areas that elements 16002 do not touch, gaps 17004 or 17006 are left. Gaps of 17004 may be greater than gaps of 17006.
“FIGS. 19a-19c are isometric views of element 18002, which is similar to element 16002 in FIGS. 17a-c can be of a different shape or in a different orientation. Element 18002 may have interlocking elements 18006 that are similar to interlocking feature 16006. FIG. FIG. 20 shows a layer 19002 composed of elements 18002 placed next to each other. Although layer 19002 may look similar to layer 17022, it can also be formed in an alternative orientation. It can be placed on top of layer 17022 (see FIG. 21a ).”
“FIGS. 21a and 21b depict an incomplete part that has two layers. This is a layer in a partially constructed part. In detail, FIG. FIG. 21a shows a frontal view of part 20002, which includes layers 17002 and 19002. Layers 17002 and 19002 contain interlocking features 16006 (and 18006), respectively. By pushing interlocking features 18006 into gaps in layer 17002, their shapes can be defined. FIG. FIG. 21b shows an isometric view for part 20002.
“Referring to FIGS. Figure 22a and 22b show a part made with three interlocking layers. In more detail, FIG. FIG. 22a is a frontal view of part 21002. Part 21002 contains layers 17002, 19002 as well as a third layer, 21004. Layer 21004 may be the same layer as layer 17002, but it has a different pattern. Layer 21004 has locking features that pass through narrow gaps in layer 19002 to fill in larger gaps in layers 17002. These narrow gaps may be similar to the gaps in FIG. 18. These gaps are not evident in the figure. Gaps 17004 can have larger gaps. The interlocking feature layer 21004 can be used to create an interlocking feature between layers. This can prevent them from being separated by using the form of layer 19002’s narrow gaps and filling in the larger gap in layer 16002. Physical interference is more effective than chemical bonds at preventing layers from separating. Material with strong fibers can be oriented transversely to layers in interlocking feature. Part 21002’s strength can therefore be closer to isotropic that a normal part without interlocking feature or transverse fibers.
“FIG. 23a is a frontal view of part 22002, which includes four interlocking layers (layers 17002, 19002, and 21004), as well as a fourth layer (22004). Although layer 22004 may look the same as layer 19002, it can be moved to make the part fit correctly and have the right arrangement of gaps or locking features. Part 22002 is a set of four layers that may be repeated. No additional layer shapes or states are required to continue building the part. Layer 22004 may have a fifth layer that is identical in shape and position (shift) as layer 17002. To achieve the desired thickness, sets of four layers can be repeated indefinitely. FIG. FIG. 23b is an isometric view showing part 22002.”
“Referring to FIGS. 24a and 24b are shown parts that have twelve interlocking layers. FIG. FIG. 24a is a front view showing a part 23002 composed of three parts 22002. These are each four interlocking layer and are arranged in such a way that part 23002 contains twelve interlocking layers. FIG. FIG.
All layers in all the above implementations can be made from a single continuous material, fiber, or bundle of fibers. Sometimes, each layer or element may be made from separate materials, fibers, or bundles.
“Implementations can be made using digital electronic circuitry or computer software, firmware or hardware. The subject matter of this specification can be implemented using an additive manufacturing system. This uses one or more computer program instructions encoded onto a computer-readable media for execution by, and to control, the operation of data processing apparatus. A computer-readable medium may be a manufactured product such as a hard drive or optical disc that is sold through retail channels or embedded systems. You can acquire the computer-readable medium separately and then encode it with one or more computer program instructions. This could be done by delivering the one or several modules over a wired network or wireless network. A machine-readable storage medium, a machine readable storage substrate, a storage device or combination thereof can all be used as the computer-readable medium.
“Data processing apparatus” is a broad term. “Data processing apparatus” refers to all devices, machines, and apparatus for processing data. It can include a programmable processor, computer, multiple processors, or computers. In addition to hardware, the apparatus may include code that creates an execution environment. This code could be processor firmware, protocol stacks, database management systems, operating systems, runtime environments, or any combination thereof. The apparatus can also use different computing model infrastructures such as web services and distributed computing.
Computer programs can also be called software, script, code, program, software or software. They can be written in any programming language, whether compiled or interpreted, and can be deployed as standalone programs, modules, components, subroutines, or any other form that is suitable for use within a computing environment. A computer program is not always associated with a file within a file system. You can store a program in any part of a file, including data or programs (e.g. one or more scripts in a markup languages document), or in multiple files that are coordinated (e.g. files that contain one or more modules, subprograms or parts of code). You can deploy a computer program to run on one computer, or on multiple computers located at the same site.
“Processors that are suitable for execution of computer programs include both general and specific purpose microprocessors and any one or several processors of any type of digital computer. A processor can receive instructions and data from either a read-only or random access memory, or both. A processor is responsible for performing instructions. There are also one or more memory devices that store instructions and data. A computer will typically include one or more mass storage devices to store data. These devices are not required for a computer. A computer can also be embedded in other devices, such as a mobile phone, a personal assistant (PDA), a video or audio player on a mobile device, or a portable storage device (e.g. a USB flash drive) to store program instructions and data. All forms of non-volatile memory and media are suitable for the storage of computer program instructions and data. These include flash memory devices (e.g. EPROM, EEEPROM, and flash memory), magnetic disks (e.g. internal hard drives or removable disks), magneto-optical disks, CD-ROM and DVDROM disks. Special purpose logic circuitry can be added to the processor or integrated into the memory.
To allow interaction with the user, the implementations of this specification can use a computer that has a display device (e.g. a CRT (cathode-ray tube) monitor or an LCD (liquid crystal display monitor) monitor) for displaying information to users and a keyboard and a point device (e.g. a mouse, trackball) by which they can input data to the computer. You can also use other devices to interact with the user. For example, feedback can be visual, auditory, tactile, or audio. Input from the user can come in any form including speech, acoustic and tactile.
Implementations of the subject matter can be made using a computing system that has a back-end component (e.g. as a dataserver) or a middleware component (e.g. an application server). A front-end component is a client computer with a graphical user interface, or a Web browser, through which a user can interact and interact with the implementation of the subject material described in this specification. You can also use any combination of back-end, middleware or front-end components. Any form of digital data communication can connect the components of this system, such as a communication network. A local area network (?LAN?) is one example of a communication network. A wide area network (?) and a local area network are two examples of communication networks. A wide area network (?WAN) is also possible.
“The computing system may include both clients and servers. Client and server are usually separated and interact via a communication network. Computer programs on each computer create a client-server relationship.
“This specification does not contain any details about implementation. However, they should not be taken to limit the scope of the invention. Some features described in this specification can be combined in one implementation. However, features described in the contexts of one implementation can be combined in other implementations or in any subcombination. Even though features are described as acting in specific combinations, even if they were initially claimed as such, some features can be removed from the combination. The claimed combination could also be directed to a variation or subcombination of a subcombination.
“Similarly, even though operations are shown in particular order in drawings, it should not be taken to mean that they must be done in that order or in sequential order. Multitasking and parallel processing can be beneficial in certain situations. Separation of system components in the above implementations should not be interpreted as requiring them to be separated in all implementations. It should be understood, however, that the program components and systems described can be combined into a single product or packaged into multiple products.
“Thus, specific implementations of the invention were described. The following claims cover other implementations.
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