CN111844743A - Device and method for realizing 3D printing by using magnetic control flexible catheter robot - Google Patents
Device and method for realizing 3D printing by using magnetic control flexible catheter robot Download PDFInfo
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- CN111844743A CN111844743A CN202010575461.7A CN202010575461A CN111844743A CN 111844743 A CN111844743 A CN 111844743A CN 202010575461 A CN202010575461 A CN 202010575461A CN 111844743 A CN111844743 A CN 111844743A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- 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
- B29C64/00—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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- 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
- B29C64/00—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
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- 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
- B29C64/00—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
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The invention discloses a device and a method for realizing 3D printing by using a magnetic control flexible catheter robot, and belongs to the field of additive manufacturing. The invention adopts a special superposed external magnetic field, after the superposed external magnetic field is accurately superposed in a standard way, the superposed magnetic field is provided with a zero magnetic field point at the geometric center, a radiation gradient field is arranged near the zero magnetic field point on the plane of the geometric center, and the free ends of the magnetic conduits arranged in the superposed external magnetic field point are all repelled in the radiation direction of the superposed external magnetic field point, so that the free ends of the magnetic conduits are limited in the area, therefore, the universal digital control method can be used for controlling the movement of the zero magnetic field point, the movement of the free ends of the magnetic conduits can be controlled without a complex external magnetic field control mode, and the invasive printing system which has stable working point, is easy to control and can be digitally controlled is provided.
Description
Technical Field
The invention belongs to the field of additive manufacturing, and particularly relates to a device and a method for realizing 3D printing by using a magnetic control flexible catheter robot.
Background
Additive Manufacturing technology (Additive Manufacturing) is defined as "a process of joining materials through 3D model data to fabricate an object, typically layer by layer". This approach is widely applicable to a variety of classes of materials including metals, ceramics, polymers, composites, and biomaterials, among others. Although it can be said that additive manufacturing has been a means of processing materials in the last 20 years, it has not started to become an important commercial manufacturing technique until recently. In the last decades, printing technology has evolved from two-dimensional (2D) printing to a three-dimensional manufacturing process, with successive layers of material being defined to obtain a 3D shape. The rapid prototyping and manufacturing in industry is enabled by the production of 3D structures with complex geometries, and also in the production of personalized consumer products in the home and in the medical field.
The existing 3D printing technology industry continues to expand technical lines and implementation methods, and is roughly divided into extrusion molding, powder molding, and photo-polymerization printing according to the implementation method. As for the extrusion molding technology, a melting molding (FDM) and a Direct Ink Writing (DIW) are typical, and the two printing methods have the common characteristics that a printing head is moved by a motor, the target point is positioned by the position movement of the printing head, and then a material is extruded at the corresponding position, so that the purpose of printing and molding in a three-dimensional space is realized; for the powder forming technology, typically selective laser sintering technology (SLS), the printing method selectively sinters and forms the powder by moving and scanning the laser; as the photopolymerization printing, a Stereolithography (SLA) technique is representative, which performs photopolymerization on a photosensitive material by regional light projection to cure and mold the material.
For the extrusion molding printing method, the inherent rigid structure of the extrusion molding printing method enables the printing space to be limited by the moving space of the motor, and the printing space must be an open space; the same problem remains with the powder molding technique and the light projection technique, which are difficult to form a material in a semi-enclosed space due to the disturbance of the light path. In short, how to overcome the space limitation of 3D printing and realize that 3D printing in a non-open space becomes a new requirement for 3D printing, is of particular significance in the medical field.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a device and a method for realizing 3D printing by using a magnetic control flexible conduit robot, and aims to solve the technical problem that the existing 3D printing technology is limited by an open space and cannot well perform 3D printing in a non-open or semi-open space.
To achieve the above object, according to one aspect of the present invention, there is provided an apparatus for implementing 3D printing using a magnetically controlled soft catheter robot, comprising: the device comprises a motion control mechanism, a magnetic field control module, a magnetic control hose robot and a feeding module;
the motion control mechanism is connected with the magnetic field control module; the magnetic control hose robot is connected with the feeding module;
the magnetic field control module is used for generating an external superposition static magnetic field, so that the geometric center of the static magnetic field has a zero magnetic field point, and a radiation gradient field is arranged near the zero magnetic field point on the plane where the geometric center is positioned;
the motion control mechanism is used for controlling the magnetic field control module to perform translation and rotation in the horizontal direction and up-and-down motion in the vertical direction, and the position of a zero magnetic field point changes along with the motion process;
the magnetic control hose robot is a hollow catheter, and magnetic particles are embedded in the body of the catheter to generate a directional internal magnetic field; the tail end of the first vertical sliding rail is connected to the first vertical sliding rail, the position of the first vertical sliding rail in the horizontal direction is fixed, and the first vertical sliding rail moves up and down in the vertical direction; the free end of the first vertical slide rail moves up and down along with the first vertical slide rail in the vertical direction; the magnetic field moves freely under the action of a directional inner magnetic field and a zero magnetic field point in the horizontal direction;
And the feeding module is used for providing printing materials for the magnetic control hose robot.
Furthermore, the magnetic field control module consists of a plurality of permanent magnets which are symmetrically distributed and are opposite in pairs; each permanent magnet is arranged on different linear guide rails and performs horizontal translation motion along with the slide rails; each linear guide rail is arranged on the turntable and rotates along with the turntable in the horizontal direction;
the turntable is supported by a support plate, the support plate is arranged on the second vertical slide rail, and the turntable moves up and down in the vertical direction along with the second vertical slide rail.
Furthermore, the magnetic field control module is composed of a plurality of electromagnetic coils which are symmetrically distributed and are opposite to each other in pairs.
Furthermore, a flexible filament braided tube is embedded in the magnetic control hose robot.
Furthermore, the magnetron hose robot is formed by mixing 40% of PDMS and 60% of neodymium iron boron particles and magnetizing the mixture under a 3850mT strong pulse magnetic field.
Further, the flexible filament braided tube is braided from a plurality of strands of 100 micron PLA filaments.
The invention also provides a method for realizing 3D printing by using the magnetic control soft catheter robot, which comprises the following steps:
s1, generating an external superposed static magnetic field, and enabling the center of the static magnetic field to have a zero magnetic field point;
S2, mounting the magnetic control hose robot on a slide rail in the vertical direction, so that the position of the tail end of the magnetic control hose robot in the horizontal direction is fixed and can move up and down along with the vertical slide rail in the vertical direction; the free end of the magnetic control hose robot moves up and down along with the vertical sliding rail in the vertical direction, and freely moves under the action of a directional internal magnetic field and an external superposed static magnetic field generated by the magnetic control hose robot in the horizontal direction; in an initial state, the magnetic guide pipe robot is parallel to the Z axis, and the free end of the magnetic guide pipe robot is at a zero magnetic field point;
s3, establishing a mapping relation between the tail end position of the magnetically controlled soft catheter robot and an external superposed static magnetic field;
s4, slicing the model to be printed to generate a series of single-layer printing paths;
s5, controlling an external superposed static magnetic field according to a single-layer printing path by using the established mapping relation, so that the free end of the magnetic control soft catheter robot moves according to the printing path, and simultaneously spraying printing materials to realize single-layer printing;
s6, after the single-layer printing is finished, controlling the external superposition static magnetic field and the magnetic control soft catheter robot to vertically move and enter a next-layer printing path;
s7, repeating the steps S5-S6 to realize a complete 3D printing process.
In general, the above technical solutions contemplated by the present invention can achieve the following advantageous effects compared to the prior art.
(1) The invention adopts a special superposed external magnetic field, after the superposed external magnetic field is accurately superposed in a standard way, the superposed magnetic field is provided with a zero magnetic field point at the geometric center, a radiation gradient field is arranged near the zero magnetic field point on the plane of the geometric center, and the free ends of the magnetic conduits arranged in the superposed external magnetic field point are all repelled in the radiation direction of the superposed external magnetic field point, so that the free ends of the magnetic conduits are limited in the area, therefore, the universal digital control method can be used for controlling the movement of the zero magnetic field point, the movement of the free ends of the magnetic conduits can be controlled without a complex external magnetic field control mode, and the invasive printing system which has stable working point, is easy to control and can be digitally controlled is provided.
(2) The magnetron catheter robot provided by the invention is similar to a continuous flexible manipulator with an internal channel, has infinite freedom degree, can break through the limitation of rigid printing, and can reach certain spaces which are difficult to enter, such as a cavity with a narrow entrance.
Drawings
Fig. 1 is a schematic structural diagram of an apparatus for implementing 3D printing by using a magnetic control flexible conduit robot according to an embodiment of the present invention;
fig. 2 is a magnetic control deflection printing principle of a device for realizing 3D printing by using a magnetic control soft catheter robot according to an embodiment of the present invention;
fig. 3 is a magnetic control deflection printing plane field distribution of a device for realizing 3D printing by using a magnetic control soft catheter robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a magnetic soft catheter in an apparatus for implementing 3D printing by using a magnetic soft catheter robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the present invention provides a device for implementing 3D printing by using a magnetic control soft catheter robot, including: the device comprises a motion control mechanism, a magnetic field control module, a magnetic control hose robot and a feeding module; the magnetic field control module is used for generating an external superposition static magnetic field, a zero magnetic field point is arranged at the geometric center of the static magnetic field, and a radiation gradient field is arranged near the zero magnetic field point on the plane of the geometric center; the motion control mechanism is used for controlling the magnetic field control module to perform translation and rotation in the horizontal direction and up-and-down motion in the vertical direction, and the position of a zero magnetic field point changes along with the motion process; the magnetic control hose robot is a hollow catheter, and magnetic particles are embedded in the body of the catheter to generate a directional internal magnetic field; the tail end of the first vertical sliding rail is connected to the first vertical sliding rail, the position of the first vertical sliding rail in the horizontal direction is fixed, and the first vertical sliding rail moves up and down in the vertical direction; the free end of the first vertical slide rail moves up and down along with the first vertical slide rail in the vertical direction; as shown in fig. 2, the magnetic field is free to move under the action of the directional internal magnetic field and the zero magnetic field point in the horizontal direction; the movement of the magnetic control hose robot and the movement of the magnetic field control module in the vertical direction are kept consistent, so that the relative position of the free end of the magnetic control hose robot and a zero magnetic field point is always unchanged; the feeding module is used for providing printing materials for the magnetic control hose robot; the feeding process and the motion process of the magnetic field control module are carried out synchronously, and along with the three-dimensional motion of the free end of the magnetic control hose robot, the printing material is extruded from the free end, so that 3D printing is realized.
The printing platform of the device adopts a cylindrical coordinate system setting mode and consists of a horizontal moving shaft r, a rotating shaft theta and a vertical shaft z; in combination with the characteristics of the externally superimposed static magnetic field, as shown in fig. 3, the plane is the static magnetic field central plane, and the maximum magnetic field gradient on the spatial field is provided on the plane in all directions; and in the plane, the magnetic field gradient along the direction of the r axis is larger than that along other directions, so that the direction is selected as the r axis to establish a polar coordinate motion mode.
As a specific embodiment of the present invention, as shown in fig. 1, the tail end of a magnetron hose robot 2 is connected to a vertical slide rail 1; the magnetic field control module consists of two pairs of permanent magnets 3 which are oppositely arranged and symmetrically distributed; each permanent magnet is arranged on a different movable slide rail 4 and performs horizontal translation motion along with the slide rail; each linear guide rail is arranged on the turntable 5 and rotates along with the turntable 5 in the horizontal direction; the turntable 5 is supported by a support plate 7, which is arranged on vertical slide rails 6, and moves up and down in the vertical direction along with the vertical slide rails 6. The feeding module comprises a dispenser 10 and a feeding module; the printing material is sent into the magnetic control hose robot through the material conveying pipeline 11; the single chip microcomputer 8 controls the dispenser 10 and the vertical slide rails 6 and 7 through a lead 9.
As shown in fig. 4, the flexible filament braided tube is embedded in the magnetic control hose robot to limit the radial deformation of the interior of the soft catheter robot, so that the time delay caused by energy storage and release of the body in the feeding process of the soft robot is effectively solved. In a printing system, a motion system and a feeding system need to have overall coordination, timely and effective feeding in the motion process is necessary, relaxation time caused by energy storage and release of a body of a flexible catheter robot is extremely unstable and irregular, and great difficulty is brought to the coordination of feeding and motion, so that the limitation of the internal radial deformation of the flexible catheter robot is extremely important to printing and forming, and meanwhile, the increase of the overall bending rigidity of a catheter is avoided to the maximum extent by a flexible filament braided catheter. The preparation process of the embedded flexible filament braided tube comprises the following steps: PLA filaments (100 μm) were braided into a hollow tube from 16 strands of PLA steel wires using a high speed automatic braiding machine.
The preparation process of the magnetic control hose robot main body is as follows: hard magnetic particles Nd2Fe14B (maximum particle size 50 μm) were mixed into a polydimethylsiloxane elastomer matrix in a ratio of 3: 2, wherein the elastomeric matrix comprises a copolymer in the ratio of 1: 0.1 silicone elastomer base and curing agent; the mixture was then stirred manually with a glass rod for about ten minutes until well mixed; uniformly spraying a Release agent (Easy Release) on the 1 mm central pillar and the inner surface of the mold, and drying at room temperature; thereafter, filling the 3D mold with the mixture and embedding the center post into the center of the mold; placing the mould in a vacuum box for 2 hours to remove bubbles, and then curing for 22 hours in an oven at 37 ℃; and magnetizing the cured soft robot under a 3850mT strong pulse magnetic field generated by a digital pulse magnetizing machine.
The planning process of the running path of the tail end of the magnetic control hose robot is as follows: the mapping relation between the tail end position of the magnetic control hose robot and a magnetic field is established in a three-dimensional space by measuring the tail end position of the magnetic control hose robot in the process of moving the permanent magnet, so that a mapping table of external control magnet movement and tail end movement of the magnetic control hose robot is generated, the conversion of movement control is realized by utilizing an internal algorithm of a single chip microcomputer, and then the path planning of the magnetic guide hose robot is realized.
The embodiment of the invention also provides a method for realizing 3D printing by using the magnetic control soft catheter robot, which comprises the following steps:
s1, generating an external superposed static magnetic field, and enabling the center of the static magnetic field to have a zero magnetic field point;
s2, mounting the magnetic control hose robot on a slide rail in the vertical direction, so that the position of the tail end of the magnetic control hose robot in the horizontal direction is fixed and can move up and down along with the vertical slide rail in the vertical direction; the free end of the magnetic control hose robot moves up and down along with the vertical sliding rail in the vertical direction, and freely moves under the action of a directional internal magnetic field and an external superposed static magnetic field generated by the magnetic control hose robot in the horizontal direction; in an initial state, the magnetic guide pipe robot is parallel to the Z axis, and the free end of the magnetic guide pipe robot is at a zero magnetic field point;
S3, establishing a mapping relation between the tail end position of the magnetically controlled soft catheter robot and an external superposed static magnetic field;
s4, slicing the model to be printed to generate a series of single-layer printing paths;
s5, controlling an external superposed static magnetic field according to a single-layer printing path by using the established mapping relation, so that the free end of the magnetic control soft catheter robot moves according to the printing path, and simultaneously spraying printing materials to realize single-layer printing;
s6, after the single-layer printing is finished, controlling the external superposition static magnetic field and the magnetic control soft catheter robot to vertically move and enter a next-layer printing path;
s7, repeating the steps S5-S6 to realize a complete 3D printing process.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides an utilize soft pipe robot of magnetic control to realize device that 3D printed which characterized in that includes: the device comprises a motion control mechanism, a magnetic field control module, a magnetic control hose robot and a feeding module;
the motion control mechanism is connected with the magnetic field control module; the magnetic control hose robot is connected with the feeding module;
The magnetic field control module is used for generating an external superposition static magnetic field, so that the geometric center of the static magnetic field has a zero magnetic field point, and a radiation gradient field is arranged near the zero magnetic field point on the plane where the geometric center is positioned;
the motion control mechanism is used for controlling the magnetic field control module to perform translation and rotation in the horizontal direction and up-and-down motion in the vertical direction, and the position of a zero magnetic field point changes along with the motion process;
the magnetic control hose robot is a hollow catheter, and magnetic particles are embedded in the body of the catheter to generate a directional internal magnetic field; the tail end of the first vertical sliding rail is connected to the first vertical sliding rail, the position of the first vertical sliding rail in the horizontal direction is fixed, and the first vertical sliding rail moves up and down in the vertical direction; the free end of the first vertical slide rail moves up and down along with the first vertical slide rail in the vertical direction; the magnetic field moves freely under the action of a directional inner magnetic field and a zero magnetic field point in the horizontal direction;
and the feeding module is used for providing printing materials for the magnetic control hose robot.
2. The device for realizing 3D printing by using the magnetically controlled soft catheter robot as claimed in claim 1, wherein the magnetic field control module is composed of a plurality of permanent magnets which are symmetrically distributed and are opposite to each other in pairs; each permanent magnet is arranged on different linear guide rails and performs horizontal translation motion along with the slide rails; each linear guide rail is arranged on the turntable and rotates along with the turntable in the horizontal direction;
The turntable is supported by a support plate, the support plate is arranged on the second vertical slide rail, and the turntable moves up and down in the vertical direction along with the second vertical slide rail.
3. The device for realizing 3D printing by using the magnetically controlled flexible conduit robot as claimed in claim 1, wherein the magnetic field control module is composed of a plurality of electromagnetic coils which are symmetrically distributed and are opposite to each other in pairs.
4. The device for realizing 3D printing by using the magnetically controlled soft catheter robot as claimed in any one of claims 1 to 3, wherein the magnetically controlled soft catheter robot is embedded with a flexible filament braided tube.
5. The device of claim 4, wherein the magnetron flexible conduit robot is made of 40% PDMS and 60% Nd-Fe-B particles mixed and magnetized under 3850mT strong pulse magnetic field.
6. The device for realizing 3D printing by using the magnetically controlled soft catheter robot as claimed in claim 4, wherein the flexible filament braided tube is braided by a plurality of strands of 100 micron PLA filaments.
7. A method for realizing 3D printing by using a magnetic control soft catheter robot is characterized by comprising the following steps:
s1, generating an external superposed static magnetic field, and enabling the center of the static magnetic field to have a zero magnetic field point;
S2, mounting the magnetic control hose robot on a slide rail in the vertical direction, so that the position of the tail end of the magnetic control hose robot in the horizontal direction is fixed and can move up and down along with the vertical slide rail in the vertical direction; the free end of the magnetic control hose robot moves up and down along with the vertical sliding rail in the vertical direction, and freely moves under the action of a directional internal magnetic field and an external superposed static magnetic field generated by the magnetic control hose robot in the horizontal direction; in an initial state, the magnetic guide pipe robot is parallel to the Z axis, and the free end of the magnetic guide pipe robot is at a zero magnetic field point;
s3, establishing a mapping relation between the tail end position of the magnetically controlled soft catheter robot and an external superposed static magnetic field;
s4, slicing the model to be printed to generate a series of single-layer printing paths;
s5, controlling an external superposed static magnetic field according to a single-layer printing path by using the established mapping relation, so that the free end of the magnetic control soft catheter robot moves according to the printing path, and simultaneously spraying printing materials to realize single-layer printing;
s6, after the single-layer printing is finished, controlling the external superposition static magnetic field and the magnetic control soft catheter robot to vertically move and enter a next-layer printing path;
s7, repeating the steps S5-S6 to realize a complete 3D printing process.
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| CN113001966A (en) * | 2021-02-18 | 2021-06-22 | 杭州捷诺飞生物科技股份有限公司 | 3D printing method and 3D printing equipment |
| CN115403888A (en) * | 2022-09-16 | 2022-11-29 | 合肥工业大学 | Preparation method and application of novel 4D printing ink |
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