CABLE ROBOT 3D PRINTER AND METHOD FOR DETECTING THE POSITION AND FOR CHANGING THE POSITION OF THE PRINT HEAD OF A CABLE ROBOT 3D PRINTER

摘要

The aim of the invention is to create a 3D printer in order to, for example, produce bone replacement or organ replacement or other objects such as prostheses of biocompatible materials, wherein the cable robot 3D printer (1) comprises a cable robot (1) having eight cables (2) or strips (2), wherein the cables (2) or strips (2) are detachably fastened at a first end (3) to a print head (4) and are guided from the print head (4) to a respective cable drum (5), and wherein the other second end (6) of the cables (2) or strips (2), which is in each case opposite the print head (4), can be wound in a planar and non-crossing manner in the cable drum (5), the cable drums (5) being arranged within a working space (7), and wherein the cable drums (5) can be driven and the drives (8) of the cable drums (5) are arranged outside or within the working chamber (7), and wherein at least one material supply (9) and at least one nozzle (10) are provided on the print head (4). The invention also relates to a method for detecting the position and for changing the position of the print head (4) of a cable robot 3D printer (1) comprising a cable robot (1) having eight cables (2) or strips (2) which are guided from a print head (4) to a respective cable drum (5), characterized in that the cables (2) or strips (2) are wound in a planar and non-crossing manner in the cable drum (5) and that, for a control circuit for detecting the desired position, the respective cable lengths, which are detected by means of encoders at the drives (8), are used as measurement variables and the cable forces are determined as control variables of the control circuit.