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 task of the invention is to create a 3D printer to produce, for example, bone substitutes or organ substitutes or other objects such as prostheses from organically compatible materials;Cable robot 3D printer (1), comprising a cable robot (1) with eight cables (2) or straps (2), wherein the cables (2) or straps (2) are detachably attached 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 the other second end (6) of the cables (2) or straps (2), which is opposite the print head (4) in each case, can be wound in the cable drum (5) in a planar, crossing-free manner wherein the cable drums (5) are arranged within a working space (7) and wherein the cable drums (5) are drivable and the drives (8) of the cable drums (5) are arranged outside or inside the working space (7), and in that at least one material feed (9) and at least one nozzle (10) are provided on the print head (4).;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) with eight cables (2) or belts (2) which are guided from a print head (4) to a respective cable drum (5),;characterized in that;the cables (2) or straps (2) are wound in the cable drum (5) in a planar crossing-free manner and, for a control circuit for detecting the desired position, the respective cable lengths, which are detected via encoders on the drives (8), are determined as measured variables and the cable forces are determined as manipulated variables of the control circuit.