CN106457664A - 一种合成复合物的方法和装置 - Google Patents

一种合成复合物的方法和装置 Download PDF

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Publication number
CN106457664A
CN106457664A CN201580024321.8A CN201580024321A CN106457664A CN 106457664 A CN106457664 A CN 106457664A CN 201580024321 A CN201580024321 A CN 201580024321A CN 106457664 A CN106457664 A CN 106457664A
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China
Prior art keywords
compound
platform
head
selectively operated
deposition
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CN201580024321.8A
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CN106457664B (zh
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詹姆斯·布鲁斯·加德纳
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Laing Orourke Australia Pty Ltd
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Laing Orourke Australia Pty Ltd
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Priority claimed from AU2014901005A external-priority patent/AU2014901005A0/en
Application filed by Laing Orourke Australia Pty Ltd filed Critical Laing Orourke Australia Pty Ltd
Priority to CN201711069503.4A priority Critical patent/CN107627595A/zh
Publication of CN106457664A publication Critical patent/CN106457664A/zh
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    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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    • B29C31/04—Feeding of the material to be moulded, e.g. into a mould cavity
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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Abstract

一种用电脑控制的装置合成一种复合物的方法及所用的装置，包括：一个盛有基本上呈液体的可硬化的第一物质的蓄液池，用来选择性固化第一物质和选择性沉积第二物质。该方法包括以下步骤：选择性一点一点沉积第二物质并选择性一点一点固化第一物质，固化的第一物质和沉积的第二物质构成复合物。

Description

一种合成复合物的方法和装置
技术领域
本实发明涉及合成一种有两种或两种以上物质构成的复合物，尤其是使用电脑控制的装置从一种基本上呈液体的可硬化的物质合成一种复合物。
背景技术
复合物一般由两种或两种以上的物质构成，这样可以同时具有这些物质的组合特性。例如，碳纤维经常被用于合成制造自行车架，这种复合材料制成的自行车架强度高质量轻。
积层制造，通常所说的3D打印是一种用于合成物体的制造技术。积层制造过程通常包括用电脑软件准备数字3D模型，由3D模型生成电脑指令根据物体的几何形状来定义一系列平行的横截面，由电脑指令指引3D打印机根据各横截面相应地合成连续的物质层，一层落一层直到合成复合物的所有层。
积层制造流程有很多种，常见的有立体光刻技术(SLA)，选择性激光烧结术(SLS)，熔丝制造(FFF)。立体光刻技术包括用光源(通常是紫外线或灯光)按照截面轮廓的要求照射盛满液体可固化光敏聚合物液槽的上表面，在光源聚焦的上表面固化一个一致高度的横截面薄片。硬化的光敏聚合物在液槽内的支撑平台上形成一层物质，合成一层后，平台在液槽内降低一个截面层的高度，然后光源聚焦第二层横截面将第二层固化在第一层之上。重复该步骤，合成各个连续的层，平台渐渐在液槽中降低直到复合物合成完毕。
立体光刻技术(SLA)相比传统技术比如注模具有很多优势。但是立体光刻技术也有一些不足。比如很多情况下使用立体光刻技术需要用复合材料合成物质，使其具有特定的物理特性比如增加强度或减小密度。以前试图通过在光敏聚合物中添加填充物来满足这个要求，填充物可以是陶瓷或金属颗粒。在固化时形成悬浮的物来合成物体。但是由于可固化的悬浮物大部分是同质的，所以合成的复合物整体具有一致的材料特性，达不到在合成的复合物特定部分具有特定所希望的特性。
因此，需要一种方法和装置可以选择性地固化液体可硬化材料，可以用两种或两种以上的材料合成复合物，是复合物的不同位置具有不同的材料特性。
发明内容
本发明的目的在于提供一种使用一个电脑控制的装置合成复合物的方法。该装置包括：一个盛有基本上呈液体的可硬化的第一物质的蓄液池，一个用来固化第一物质的活化头，和一个沉积头连接提供第二物质，活化头和沉积头可以在蓄液池中相对运动，该方法包括以下步骤：根据复合物的几何形状，计算机发出指令，装置接收指令；移动并选择性操作沉积头根据复合物的几何形状将第二物质一点一点的沉积在相应特定位置；并且移动并选择性操作活化头根据复合物的几何形状将第一物质一点一点的固化在相应特定位置；固化的第一物质和沉积的第二物质构成了复合物。
本发明还提供了一种电脑控制的装置用以合成一种复合物，该装置包括：一个盛有基本上呈液体的可硬化的第一物质的蓄液池；一个用来固化第一物质的活化头，该活化头可以相对于蓄液池移动；一个沉积头连接提供第二物质，该沉积头可以在蓄液池中相对运动；一个控制器配置为响应电脑指令根据复合物的几何形状移动和操作活化头和沉积头；该控制器移动并选择性操作活化头根据复合物的几何形状将第一物质一点一点的固化在相应特定位置，并且移动并选择性操作沉积头根据复合物的几何形状将第二物质一点一点的沉积在相应特定位置。
本发明的其他方面也有阐述。
附图说明
以下结合附图以实施例说明本发明。
图1为用于合成复合物的装置的横切图；
图2为图一装置的横切图合成另一种复合物；
图3为图一图二中的装置的另一种形态正在合成图二中的复合物；
图4A和4B是图一图二中装置另一种形态的横切图，该装置正在合成一种可替换的物质；
图5是在图1至4B中装置合成的复合物的横截图；
图6是图3中装置合成一种可替换复合物的横截图；
图7是一种可替换装置合成一种可替换复合物的横截图；
图8是另一种可替换装置合成另一种可替换复合物的横截图；
图9是另一种可替换装置合成另一种可替换复合物的横截图；
图10A和10B是另一种可替换装置合成另一种可替换物的横截图；
图11是固定板的透视图；
图12A-12E是在图11所示的固定板上合成一种可替换物的各个阶段的横截图。
具体实施方式
本实施例涉及一种方法和装置用以合成复合物，涉及选择性固化基本呈液体状的可硬化第一物质和选择性沉积第二物质在特定位置，第一物质和第二物质通过这种方法构成复合物。
图1是一个电脑控制的装置50合成一种复合物51，复合物由一个内核52和一个外壳53整体构成。装置50有一个活化头54与机械手臂55连接置于蓄液池56正上方，蓄液池至少部分填充有呈液体状可硬化的第一物质57定义一个上表面58。该活化头54和光源相连(图中没有显示)，如紫外线或灯光用来硬化可硬化的第一物质57。操作时，活化头54打开光源聚焦在蓄液池56上。沉积头59安装在活化头54相邻位置，沉积头59通过一根或多根管子60连接并提供第二物质。操作时，沉积头59一点一点挤压或喷射第二物质。平台61有至少一个表面用以支撑复合物50，并与置于蓄液池56中的第二机械手臂62连接。活化头54，沉积头55和平台61由控制器(图中未显示)响应根据内核52的几何形状或外壳52的几何形状对装置50发出电脑指令相对上表面58做相对运动，并且或者活化头54，沉积头55和平台61他们之间做相对运动。电脑指令通常根据复合物51的3D模型生成并定义复合物51的几何形状。
复合物51是根据其几何形状在其特定位置由沉积头59一点点选择性沉积第二物质和活化头54选择性固化可硬化第一物质57。通常首先将将平台61置于上表面58之上，根据内核52的几何形状移动并选择性操作沉积头59以选择性沉积第二物质在特定位置，至少沉积的第二物质紧挨着平台61。移动平台61使至少部分沉积的第二物质淹没在可硬化第一物质57中，在上表面58上方接近上表面的地方活化头54移动并选择性操作在上表面58上根据外壳53的几何形状在特定位置选择性固化可硬化的第一物质57，至少一部分固化的物质紧挨着平台61和/或沉积的第二物质。再次移动平台61，通常将平台降低入蓄液池56，根据上表面58复位沉积的第二物质和固化的第一物质。重复以上步骤，再次选择性沉积第二物质和固化第一物质57直到合成内核52和外壳53，直到完成合成复合物51。
另一个合成复合物51的选择是，首先在接近上表面58地方根据外壳53的几何形状选择性操作活化头54来固化可硬化的第一物质57，固化物质紧贴平台61，然后移动平台61将至少一部分固化物质排列在上表面58上。这样可以接下来选择性操作沉积头59将第二物质一点一点的沉积在固化的第一物质上并可能也会沉积在平台61上。
另外，活化头54包括一个投影仪(图中未显示)在上表面58上投影一个外壳53几何形状的横截面，从而根据一个投影合成整个一层外壳53。
沉积的第二物质和固化的第一物质一般有一个预知的深度通常呈粒状。当内核52或外壳53合成为一层一层时，每一层由一个或多个小粒构成。另外，活化头54包括一个投影仪(图中未显示)并在上表面36上投影物体20几何形状的横截面，从而由一个投影生成整个一层物体20。沉积头59和活化头54可以被安装在独立的机械手臂上(图中未显示)同步移动和操作。
同时活化头54通常在上表面58上方一点处操作在上表面58上固化可硬化的第一物质57，可以将活化头54淹入蓄液池56并进行选择性操作在蓄液池中固化可硬化物质57。进行操作时，在活化头54的一端形成一层氧气来防止固化的第一物质粘着活化头54。
另外，蓄液池56可以有一个透光的基座(图中未显示)，如一个透明的部分，活化头54包括一个投影仪(图中未显示)安装在基座之下。装置50可以在基座上生成一层氧气以防止硬化的第一物质粘连基座。平台61由机械手臂62托着悬在蓄液池中，平台的表面接住固化的可硬化第一物质57并至少在刚开始时面对基座。本实施例中，装置50合成外壳53是通过投影仪透过基座根据外壳53几何形状投影外壳的横截面，固化相应于横截面的一层可硬化的第一物质57。第一层外壳53附着在平台61上接下来的各层附着在之前的层面上。平台逐渐从蓄液池56中抽出使合成的各层从基座上移开。沉积头59和机械手臂55可以安装在蓄液池5中以接近平台61并固化第一物质。
第一物质57和第二物质通常由不同成分组成，使得内核52和外壳53具有不同的特性。举例来说，可以用导体材料构成内核52并用绝缘体构成外壳53，这样可以不使用电线使电流穿过复合物51并保证安全。同样，在沉积过程中装置50可以调节第二物质的组成以影响复合物51的特性。比如，如果内核52由一种泡沫材料合成，比如聚氨酯泡沫，泡沫材料中气泡的数量可以由装置50在沉积过程中进行调整，从而使内核52的不同部分具有不同密度，影响复合物51整体的重量分布和强度。
图2系是装置50合成另一种复合物65包括支架66和可替换的外壳67。支架66是一个复杂的结构，由支撑物组成的网络构成，是沉积头59用硬质材料合成，如金属(或金属含量很高的物质)，以加强复合物65的结构。支架66和外壳67通常是由装置50用一层一层的连续平面合成，开始时第一层挨着平台61接下来的各层一层落一层在平台61上堆高。这个渐进的合成支架66和外壳67的过程可以使活化头54接触到复杂的支架66的每个部分，支架66由外壳67包裹。
图3中，装置50的在另一种状态下合成另外一种有可替换支架71和外壳72的可替换的复合物70，装置50有一个可替换可转动的平台73连接第二机械手臂74，该装置可以绕至少一个轴转动，最多可以绕3个轴转动。平台73可以转动，支撑支架71和内核72在合成过程中可以相对于上表面58倾斜，并可以在倾斜的同时相对于上表面58移动。这样使活化头54在上表面58上固化可硬化第一物质57从而构成非平面的小粒或层，形成起伏或双曲线的部分。装置50将平台73置于转轴延伸平行于上表面58，活化头54可以和平台73同步操作，平台可以转动并同时移动，活化头54可以合成环状的小粒和螺旋状的小粒。
图4A和4B显示图3中装置50合成一种可替换复合物80两个阶段，包括一个支架81由沉积头59沉积第二物质得到，一个主体82由活化头54固化第一物质得到。主体82包括由多层非平面曲线层85构成，操作活化头54和相对于上表面旋转平台73合成非平面曲线层85。
在图4A中，旋转平台73使复合物80倾斜让活化头54在上表面58上选择性固化可硬化物质57，从而合成一个非平面层85。支架81的一部分淹入可硬化的物质57。图4B中是装置50的另一种工作状态，一个喷嘴83通过接在机械手臂55上的管子84接通气体。转动平台73使复合物80倾斜向上，喷嘴83用气体喷支架81覆盖可硬化物质57的部分，从而在用沉积头59沉积第二物质之前至少部分将可硬化物质57从支架81上移除，以继续合成支架81的其他部分。另外，喷嘴83连接能量源或化学制剂用以在沉积第二物质之前从支架81上非破坏性的移除液体状的第一物质57。比如，喷嘴83可以包括一个超声发射器使支架81震动来移除支架上液体状第一物质。
图5是一种由装置50合成的可替换复合物10的横截面。复合物10是多层结构，一层包裹着一层。其中内核11，外核13和外壳15是由固化的可硬化第一物质构成。内部填充物12和外部填充物14分别由沉积的第二和第三物质构成，由此沉积头59连接提供第二和第三物质。第一，第二和第三物质具有不同属性，因此可以塑造复合物10的特性以满足特定的功能和审美要求。举例来说，如果要求合成物10做为防冲击的屏障，在硬化第一物质57时可以采用坚硬的材料，如陶瓷复合材料，第二第三物质可以是低密度或高密度的聚氨酯泡沫材料。这样可以在受力经过复合物10时冲击像预想的那样被吸收。
图6是装置50合成另外一种可替换的复合物20。复合物20包括一个在平台73上的支撑结构21，瓦楞22接在由支撑结构21上伸出的小臂上，主体23连在瓦楞22上。合成复合物20首先用沉积头59将第二物质合成支撑结构21，从而使小臂和瓦楞22咬合。瓦楞22和小臂咬合。然后合成主体23，用活化头54将非平面粒状固化的可硬化第一物质排列在瓦楞22上，这样每一个瓦楞22都与主体23粘连。完成主体23后，将复合物20从蓄液池中移除，排干后移除支撑结构21，将嵌入主体23的瓦楞22暴露出来。第二物质是可熔物质，如蜡质复合物，加热复合物20以熔化并移除支撑结构21。同样的，如果第二物质是可溶物质，如石膏，可以将支撑结构21浸在适当的液体中。
图7是可替换装置30，有一个活化头31连接第一机械手臂32和一个沉积头33连接第二机械手臂34。机械手臂32，34位于蓄液池上方，蓄液池盛有液体状可硬化第一物质35构成上表面36。相对于上表面36移动并选择性操作活化头31在上表面36上选择性固化可硬化的第一物质35。沉积头33连接并提供第二物质，第二物质是成卷的纤维38，沉积头33选择性操作剪断并将纤维38插入第一物质35。
装置30合成复合物39，复合物39有多层物质37和纤维38构成。活化头31在上表面36上固化第一物质35以合成多层物质37已形成小粒。沉积头33跟随活化头31在固化不久后将剪断的纤维38喷入一个或多个小粒中，在第一物质35处于啫喱状还未硬化时。在合成过程中，插入小粒38中纤维38的密度可以由装置30进行调整，这样可以使每个小粒37的密度和硬度有所不同。另外沉积头33在沉积过程中或刚完成沉积时可以调整纤维38的特性。比如，加热合成纤维38以增加硬度，或当第一物质处于啫喱状是加热嵌入小粒中的可记忆形状的合金纤维38来调整纤维38的形状来增加纤维38和小粒之间的张力。
图8中是装置30的另一种形式合成另一种复合物40，其中，装置30的活化头31和沉积头33连接在同一个机械手臂32上。平台39在支撑结构41上，平台低于上表面36。在合成复合物40的过程中，纤维38 通过装置30和支撑机构41相连并从沉积头38上卷出。活化头31跟随沉积头33固化由可硬化第一物质35构成的小粒42，小粒中含有纤维38。这样可以是一个或连续的纤维38稳固在每个小粒42中。因为纤维38稳固在支撑结构41上，在合成小粒42时或在合成小粒42之前对纤维38施力，这样当固化小粒42时，复合物40具有张力。另外，一个附加的支撑结构(图中未显示)从平台上伸出在第一支撑结构的远端，第一支撑结构在复合物40的另一端，纤维38在沉积头和第一支撑结构之间固定并拉紧。纤维38形成纹理有助于和小粒咬合，如形成一组突起的结核。
图9是另外一种装置110具有装置50的很多特性。具有相同标号的特性具有相同功能。装置110包括两个机械手臂55，112可以相对蓄液池56运动。第二机械手臂112包括一个喷嘴113，喷嘴113连接一个真空系统(图中未显示)响应电脑指令可以将液体状的可硬化第一物质57从蓄液池56中移除。
装置110正在进一步合成一种可替换物质114，包括具有好多孔116的主体115。如上所述，主体115由活化头54选择性固化可硬化第一物质57合成。合成主体115时，第二机械手臂112选择性移除滞留在孔116中的可硬化第一物质57。这样可以让沉积头59选择性地将第二物质117沉积在孔116中。
图10A是装置50的另外一种选择，活化头54由喷嘴组170组成，喷嘴和能量源相连并可以选择性将能量源聚焦上表面58用以将可硬化第一物质的小粒171固化。喷嘴组170呈线性排列并可以绕着大体上垂直于上表面58由机械臂55确定的轴转动。当活化头54在上表面58上横向移动时，喷嘴组170和上表面58保持距离，喷嘴组170相对于活化头运动方向绕动。喷嘴组170可以选择性操作用以使最多4个小粒171同时硬化。这可能包括选择性不激活一部分喷嘴组170以在固化的小粒170之间构成小空腔172。
图10B是活化头54沿着第一方向175在上表面58上的运行轨迹并同时操作喷嘴组170中每个喷嘴，以固化可硬化第一物质57的相应部分。当活化头沿着路径移动时，喷嘴组相对于第一方向绕动这样固化的相应部分的宽度减小，这样相应部分174在固化过程中是连续光滑并宽度不同。在固化相应部分174时，喷嘴组170曝露的能量源的强度可能不同，因此提供一个稳定净曝露强度可以将固化相应部分在一个恒定的深度。比如，当喷嘴组170绕动固化了一个较薄的部分，所有喷嘴组170的曝露强度变小。相反的，当喷嘴组170沿曲线(图中未显示)运动时，在曲线外边缘的喷嘴组170曝露在比排列在曲线内侧的强度大的能量源下。另外，可选择调整喷嘴组170中的每个喷嘴形状(图中未显示)并是喷嘴组170中每个喷嘴分别绕动。
图11是和装置50连接的固定板160。固定板160被固定在平台61上，固定板上有一个或多个螺钉161和/或有凸起和/或凹陷的区域162，以使第一物质或第二物质附着在平台61上。固定板160可以从平台61上取下并永久连在固化的物质上。其他附件如螺纹柱163在固化过程中和螺钉161固定，这样可以增加固化物质内的固定长度。
图12A到12E是在装置50固化另一种可选物质164的不同阶段固定板160连接在平台61上。图12A是固定板160通过很多机械固件165连接在平台61上。图12B是多层可选物质164固化在固定板160，螺钉161和穿孔的区域162上。螺纹柱163和负载分散装置169连接在一些螺钉上。图12C是在固化的最后阶段，平台转动将可选物质倾斜嵌入固定板160中。图12D是完整的可选物质164外加一块固定板由两个附加的螺纹固定件167连接在上表面上。各个可拆除的提升固件168连接在附加螺纹固定件167上。图12E是将可选物质164连带两块固定板160，166从平台61上移除。
任何不偏离本实用新型/发明的功能和结构理的修改都将包括在权利要求书的范围中。虽然使用特定的实施例说明本发明，但是本发明不限于这些实施例并可以其他形式应用。

Claims (22)

1.一种用由电脑控制的装置合成一种复合物的方法，该装置包括：一个蓄液池，盛有基本上呈液体的可硬化的第一物质的，一个活化头，用来固化所述第一物质，和一个沉积头连接提供第二物质，所述活化头和所述沉积头可以在所述蓄液池中相对运动，该方法包括以下步骤:
根据复合物的几何形状计算机发出指令，装置接收指令；
移动并选择性操作所述沉积头根据所述复合物的几何形状将所述第二物质一点一点地沉积在一相应特定位置；并且
移动并选择性操作所述活化头根据所述复合物的所述几何形状将所述第一物质一点一点的固化在所述相应特定位置；
固化的所述第一物质和沉积的所述第二物质构成了所述复合物。
2.权利要求1中合成一种复合物的方法，其中所述装置包括一个平台用于支撑固化后的所述第一物质和沉积的所述第二物质，该平台可以相对所述蓄液池运动；在移动和选择性操作所述沉积头和移动和选择性操作所述活化头中至少有一个步骤在该平台上合成所述第一物质或所述第二物质。
3.权利要求2中的合成一种复合物的方法，其中，所述平台可以相对所述蓄液池运动带动所述平台上的固化的所述第一物质和沉积的所述第二物质。
4.权利要求2或3中的合成一种复合物的方法，其中所述第一物质构成上表面，移动并选择性操作所述活化头进一步将所述第一物质一点一点的固化在该上表面。
5.根据权利要求4所述的合成一种复合物的方法，包括首先将所述平台移动到所述上表面以上，然后移动并选择性操作所述沉积头将所述第二物质一点一点至少贴着部分所述平台沉积。
6.根据权利要求5所述的合成一种复合物的方法，包括步骤:在移动并选择性操作所述沉积头之后，移动所述平台将沉积的所述第二物质置于所述上表面的相对位置。
7.根据权利要求6所述合成一种复合物的方法，包括步骤:在移动并选择性操作所述活化头之后，移动平台将固化的所述第一物质和沉积的所述第二物质置于所述上表面的相对位置。
8.根据权利要求1-7中任一权利要求所述合成一种复合物的方法，其中，移动并选择性操作所述沉积头和移动并选择性操作所述活化头的步骤是重复进行的。
9.根据权利要求1-8中任一权利要求所述合成一种复合物的方法，其中，移动并选择性操作所述沉积头和移动并选择性操作所述活化头的步骤是同步进行的。
10.权利要求3中所述的合成一种复合物的方法，其步骤中，移动并选择性操作所述沉积头，移动并选择性操作所述活化头，移动所述平台这三个步骤至少两个步骤是同步进行的。
11.权利要求3中合成一种复合物的方法，其中，平台可以至少绕着一个轴转动，移动所述平台包括转动平台。
12.一个用于合成一种复合物的电脑控制的装置，包括:
一个蓄液池，盛有基本上呈液体的可硬化的第一物质构成上表面；
一个活化头，用于固化第一物质，该活化头可以相对蓄液池运动；
一个沉积头，接有并提供第二物质，该沉积头可以相对蓄液池运动；
一个控制器，配置成响应电脑根据复合物几何形状发出的指令移动和操作活化头和沉积头；
所述控制器移动并选择性操作所述活化头根据所述复合物的几何形状将所述第一物质一点一点固化在特定位置，移动并选择性操作所述沉积头根据所述复合物的几何形状将所述第二物质一点一点固化在特定位置。
13.权利要求12中所述电脑控制的装置，包括一个平台用于支撑固化的所述第一物质和沉积的所述第二物质，该平台可以相对所述蓄液池运动。
14.权利要求13中所述的电脑控制的装置，其中，所述控制器配置好响应电脑指令用于移动所述平台，所述平台相对个或多个所述活化头，所述沉积头和所述上表面做相对运动。
15.权利要求13所述电脑控制的装置，其中，所述平台可以至少绕着一个轴转动，所述控制器配置为响应电脑指令旋转所述平台。
16.权利要求15所述电脑控制的装置，包括一个喷嘴接通一种气体，所述控制器配置为选择性操作所述喷嘴响应电脑指令排出所述气体。
17.权利要求12所述电脑控制的装置，其中，所述第二物质是一卷纤维状物质，所述沉积头用于排列分布这些纤维，所述控制器配置为选择性操作所述沉积头以排列分布这些纤维。
18.权利要求17所述电脑控制的装置，其中，所述沉积头用于将成卷的纤维剪成一段一段的并将这些纤维段喷出。
19.权利要求12所述的电脑控制的装置，包括一个吸嘴连接一个真空源，所述控制器配置为选择性操作该吸嘴将所述第一物质从一个或多个所述蓄液池中或所述复合物上移除。
20.权利要求12所述电脑控制的装置，所述活化头包括一组活化喷嘴，所述这组喷嘴可以至少绕一个轴转动，所述控制器配置为响应电脑指令选择性操作所述每个喷嘴并转动所述喷嘴组。
21.权利要求13所述电脑控制的装置，包括一个固定板用于可松脱地连接平台，该固定板至少有一个咬合件和所述复合物咬合。
22.权利要求21所述电脑控制的装置，至少一个所述咬合件包括螺纹紧固件。
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