# US 12,214,554 B2 · Additive manufacturing system and method using robotic arms

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- Number: US 12,214,554 B2
- Document ID: US12214554B2
- Status: Granted
- Kind: B2
- Application number: 16/718,886
- Filed: 2019-12-18
- Published: 2021-06-24
- Granted: 2025-02-04
- Earliest claimed: 2019-12-18
- Assignees: The Boeing Company
- Applicants: The Boeing Company
- Inventors: Lisa A. Cardon
- Web page: https://patentgrep.com/patent/US12214554B2

## CPC

- B22F 12/53: Nozzles
- B29C 64/379: Handling of additively manufactured objects, e.g. using robots
- B22F 10/18: by mixing binder with metal in filament form, e.g. fused filament fabrication [FFF]
- B22F 10/66: by mechanical means
- B22F 12/37: Rotatable
- B29C 64/118: using filamentary material being melted, e.g. fused deposition modelling [FDM]
- B29C 64/209: Heads; Nozzles
- B29C 64/227: Driving means
- B29C 64/245: Platforms or substrates (support structures intended to be sacrificed after manufacture B29C64/40)
- B33Y 10/00: Processes of additive manufacturing
- B33Y 30/00: Apparatus for additive manufacturing; Details thereof or accessories therefor
- Y02P 10/25: Process efficiency
- B22F: WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER (making alloys by powder metallurgy C22C); APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B29C: SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING (making preforms B29B11/00; making laminated products by combining previously unconnected layers which become one product whose layers will remain together B32B37/00 - B32B41/00)
- B33Y: ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

An additive manufacturing system includes a first robotic arm and a print head with a nozzle. The first robotic arm is configured to hold a build part during a build process. The print head is configured to deposit source material layer by layer during the build process to construct the build part. The first robotic arm is configured to reorient the build part relative to the print head during the build process to modify an angle of a surface layer of the build part relative to the print head.

## Claims

### Claim 1

A method comprising:
controlling a first robotic arm to hold a build part suspended above a floor, wherein the build part includes an appendage that projects from a main body of the build part;
controlling a second robotic arm, that is mechanically coupled to a print head, to move the print head relative to the first robotic arm and the floor during a build process to modify an angle of the print head relative to the build part;
depositing source material layer by layer on the build part from a nozzle of the print head, both before and after the second robotic arm moves the print head to modify the angle, to construct the build part during the build process; and
controlling the first robotic arm to move the build part from a first orientation to a second orientation relative to the print head and the floor during the build process to modify an angle of a surface layer of the build part relative to the print head and the floor, wherein the second orientation is selected such that an angle defined between a downskin surface of the appendage and a gravitational force direction is less than a threshold angle to avoid forming a support underneath the downskin surface during the build process,
wherein depositing the source material comprises depositing a first amount of the source material prior to the first robotic arm moving the build part to form, upon the first amount solidifying, a first set of layers of the build part in the first orientation, and depositing a second amount of the source material after the first robotic arm moves the build part to form, upon the second amount solidifying, a second set of layers of the build part in the second orientation, wherein the first set of layers of the build part is transverse to the second set of layers of the build part.

### Claim 2 (depends on 1)

The method of claim 1, wherein the first robotic arm is configured to rotate the build part about three mutually-perpendicular axes and translate the build part along the three mutually-perpendicular axes, wherein controlling the first robotic arm to move the build part relative to the print head comprises controlling the first robotic arm to tilt the build part about at least one of the three mutually-perpendicular axes.

### Claim 3 (depends on 1)

The method of claim 1, wherein the print head is a first print head, and the method further comprises:
depositing the source material layer by layer on the build part from a nozzle of a second print head suspended above the floor to construct the build part during the build process; and
controlling a third robotic arm that is mechanically coupled to the second print head to move the second print head relative to the first robotic arm and the second robotic arm during the build process.

### Claim 4 (depends on 1)

The method of claim 1, further comprising:
mechanically coupling a finishing instrument to one or more of the second robotic arm or a third robotic arm; and
controlling the one or more of the second robotic arm or the third robotic arm to move the finishing instrument relative to the build part for the finishing instrument to engage the build part.

### Claim 5 (depends on 1)

The method of claim 1, wherein the second robotic arm is controlled to move the print head concurrently with the first robotic arm moving the build part.

### Claim 6 (depends on 1)

The method of claim 1, wherein depositing the source material comprises continuously depositing the source material on the build part from the nozzle of the print head while the first robotic arm moves the build part to modify the angle of the surface layer.

### Claim 7 (depends on 1)

The method of claim 1, wherein the first set of layers of the build part includes multiple parallel layers that are stacked one directly on top of another without any intervening layers that are not part of the first set, and the second set of layers of the build part includes multiple parallel layers that are stacked one directly on top of another without any intervening layers that are not part of the second set.