CN113199745B

CN113199745B - 3D printer and 3D printing system for printing orthopedic helmet

Info

Publication number: CN113199745B
Application number: CN202110096105.1A
Authority: CN
Inventors: 沈斌; 石昭明; 刘瑶
Original assignee: Jiaxing Jiachuangzhi Medical Equipment Co ltd
Current assignee: Jiaxing Jiachuangzhi Medical Equipment Co ltd
Priority date: 2021-01-25
Filing date: 2021-01-25
Publication date: 2022-05-17
Anticipated expiration: 2041-01-25
Also published as: CN113199745A

Abstract

The invention relates to a 3D printer and a 3D printing system for printing an orthopedic helmet, wherein the 3D printer comprises a rack, a printing table, a printing head, a control system and a motion system, the printing head comprises a first spray head for printing a helmet shell and a second spray head for printing a helmet lining, and the coordinate differences between the bottom of a nozzle of the second spray head and the bottom of the nozzle of the first spray head in the X-axis direction and the Y-axis direction are a and b respectively; the control system comprises a printing information receiving module, a coordinate conversion module and a motion control module, wherein the printing information receiving module is used for receiving coordinate values of all printing points of the helmet in a first XYZ coordinate system, the coordinate conversion module realizes conversion between the first XYZ coordinate system and a second XYZ coordinate system, the second XYZ coordinate system is obtained by offsetting (a, b) the origin of the first XYZ coordinate system on an XY plane, and the motion control module is used for controlling the first nozzle and the second nozzle to print according to the coordinates of all the points to be printed. The invention simplifies the manufacturing process of the 3D helmet and improves the production efficiency.

Description

3D printer and 3D printing system for printing orthopedic helmet

Technical Field

The invention belongs to the technical field of preparation of medical orthopedic products, and particularly relates to a 3D printer and a 3D printing system for printing an orthopedic helmet.

Background

The incidence of balanus syndrome is high in newborns, and the closed-seam balanus syndrome usually requires the simultaneous treatment of surgery and orthopedic helmets.

When using orthopedic helmets for treatment, all bungalow syndrome treatment helmets must be individually customized because each infant patient's head has a unique geometry. The existing process for manufacturing the helmet for treating the flathead syndrome comprises the following steps: acquiring the head geometry of the infant by adopting a 3D laser scanner; using computer software, the orthopedic technician modifies the scanning to obtain an ideal geometric shape; processing the foam material according to an ideal geometric shape to obtain a male die of the helmet; thermoplastically forming a helmet blank on the male die; and (4) carrying out trimming, drilling, polishing and other treatments on the helmet blank to obtain the helmet shell. The above manufacturing method is cumbersome in steps and takes a long time.

Disclosure of Invention

In view of this, the invention provides a 3D printer and a 3D printing system for printing an orthopedic helmet, which adopt a 3D printing method to manufacture the orthopedic helmet, simplify the manufacturing process, and improve the production efficiency.

The technical scheme adopted by the invention is as follows:

in a first aspect, the invention provides a 3D printer for printing an orthopaedic helmet, the helmet comprising a shell and an inner liner removably mounted inside the shell by a male-female fit, the 3D printer comprises a frame, a printing table and a printing head which are arranged on the frame, the 3D printer also comprises a control system and a motion system, the movement system comprises a first movement module for driving the printing table to move in the X-axis direction, a second movement module for driving the printing head to move in the Y-axis direction and a third movement module for driving the printing head to move in the Z-axis direction, the printing head comprises a first spray head and a second spray head, wherein the Z-axis direction is vertical to a horizontal plane formed by an X axis and a Y axis, the first spray head is used for printing a shell and the second spray head is used for printing a lining, the first spray head comprises a first nozzle, and the second spray head comprises a second nozzle; coordinate differences between the bottom of the second nozzle and the bottom of the first nozzle in the X-axis direction and the Y-axis direction are a and b respectively;

the control system comprises a printing information receiving module, a coordinate conversion module and a motion control module, wherein the printing information receiving module is used for receiving coordinate values of each printing point of the shell and the lining in a first XYZ coordinate system, the coordinate conversion module is used for converting the first XYZ coordinate system into a second XYZ coordinate system or converting the second XYZ coordinate system into the first XYZ coordinate system, the second XYZ coordinate system is obtained by offsetting (a, b) an original point of the first XYZ coordinate system on an XY plane, and the motion control module is used for controlling the motion system to move and controlling the first nozzle and the second nozzle to print according to each point coordinate to be printed;

when the shell is printed, the coordinate conversion module controls the current coordinate system to be a first XYZ coordinate system, the motion control module controls the printing table and the first nozzle to move to each printing point of the shell according to the coordinate value of each printing point of the shell in the first XYZ coordinate system, and the shell is printed by using the first nozzle;

when the lining is printed, the coordinate conversion module controls the current coordinate system to be a second XYZ coordinate system, the motion control module controls the printing table and the first nozzle to move according to the coordinate values of all printing points of the lining in the first XYZ coordinate system, and the second nozzle is used for printing the lining;

the first head is configured to be able to print a body of the helmet shell and a concavo-convex portion fitted to the liner, and the second head is configured to be able to print a body of the liner and a concavo-convex portion fitted to the shell.

Optionally, the second nozzle is detachably connected to the first nozzle, and the relative distance between the second nozzle and the first nozzle in the Z-axis direction can be controllably adjusted.

Optionally, the second nozzle comprises a silica gel cavity and a second nozzle arranged at the lower part of the silica gel cavity, the upper part of the silica gel cavity is connected with an air source through an air pipe, and the air pipe is provided with an air flow regulating valve.

Optionally, the first nozzle comprises a feeding mechanism, a heating mechanism and a first nozzle which are connected in sequence.

Optionally, the 3D printer further comprises a curing device to facilitate curing of the printed material.

Optionally, the first motion module comprises a first motor, the second motion module comprises a second motor, and the third motion module comprises a third motor.

In a second aspect, the present invention further provides a 3D printing system for printing an orthopedic helmet, the helmet comprising a shell and an inner liner detachably mounted inside the shell by a male-female fit, the 3D printing system comprising a scanner for scanning a head of a patient to obtain contour dimension information of the orthopedic helmet, a computer for creating a 3D model of the helmet according to a scanning head model, performing a layering process on the 3D model, and determining coordinate values of respective printed dots of a shell structure and an inner liner structure of each layer after the layering process in a first XYZ coordinate system, and a 3D printer as described above.

The 3D printer for printing the orthopedic helmet can quickly prepare the orthopedic helmet in a 3D printing mode, and can directly print the orthopedic helmet comprising the shell and the lining detachably arranged on the inner side of the shell in a concave-convex matching mode by cooperatively controlling the first nozzle, the second nozzle and the printing table to move, so that the manufacturing process of the orthopedic helmet is simplified, and the production efficiency is improved. Moreover, the 3D printer can realize coordinate conversion through the control system, so that only coordinate values of the shell and the lining in the first XYZ coordinate system need to be determined, when the shell is printed, the first nozzle is positioned in the first XYZ coordinate system according to the coordinate values of printing points of the shell in the first XYZ coordinate system for shell printing, when the lining is printed, the second XYZ coordinate system is obtained through specific coordinate conversion, the first nozzle is positioned in the second XYZ coordinate system still according to the coordinate values of printing points of the lining in the first XYZ coordinate system, the second nozzle is accurately driven to each actual printing point of the lining for lining printing, and the positioning control mode of the two nozzles is effectively simplified. In addition, the helmet manufactured by the 3D printer can meet the orthopedic requirements of different development stages of the head of a patient by only replacing the lining, so that the resource is obviously saved, the manufacturing efficiency is improved, and the patient can quickly and timely obtain the orthopedic helmet matched with the new development stage of the head.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic structural view of a preferred embodiment of an orthopedic helmet;

FIG. 2 is an exploded view of FIG. 1;

FIG. 3 is one of the schematic perspective views of a preferred embodiment of a 3D printer;

FIG. 4 is a second schematic perspective view of a preferred embodiment of a 3D printer;

FIG. 5 is a third schematic perspective view of a preferred embodiment of a 3D printer;

FIG. 6 is a fourth schematic perspective view of a preferred embodiment of a 3D printer;

FIG. 7 is one of the schematic cross-sectional views of a layer of the cross-sectional pattern of the orthopedic helmet model;

FIG. 8 is a second schematic cross-sectional view of a cross-sectional pattern of a layer of the orthopedic helmet model;

FIG. 9 is a schematic cross-sectional view of a cross-sectional pattern of the housing;

FIG. 10 is a cross-sectional view of a liner cross-sectional pattern.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the nature of the present invention, well-known methods, procedures, and components have not been described in detail.

Furthermore, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The invention provides a 3D printer for printing an orthopedic helmet, referring to figures 1-2 and 7, the helmet comprises a shell 1 and a lining 2 detachably mounted on the inner side of the shell through concave-convex fit, referring to figures 3-6, the 3D printer comprises a frame 3, a printing table 4 and a printing head 5 mounted on the frame 3, the 3D printer further comprises a control system and a motion system, the motion system comprises a first motion module 6 driving the printing table 4 to move in an X-axis direction, a second motion module 7 driving the printing head 5 to move in a Y-axis direction and a third motion module 8 driving the printing head 5 to move in a Z-axis direction, wherein the Z-axis direction is perpendicular to a horizontal plane formed by the X-axis and the Y-axis, the printing head comprises a first spray head 510 for printing the shell 1 and a second spray head 520 for printing the lining 2, the first showerhead 510 includes first nozzles 513, and the second showerhead 520 includes second nozzles 522; coordinate differences between the bottom of the second nozzle 522 in the X-axis direction and the Y-axis direction and the bottom of the first nozzle 513 in the X-axis direction and the Y-axis direction are a and b, respectively;

the control system comprises a printing information receiving module, a coordinate conversion module and a motion control module, wherein the printing information receiving module is used for receiving coordinate values of each printing point of the shell 1 and the lining 2 in a first XYZ coordinate system, the coordinate conversion module is used for converting the first XYZ coordinate system into a second XYZ coordinate system or converting the second XYZ coordinate system into a first XYZ coordinate system, the second XYZ coordinate system is obtained by offsetting (a, b) the origin of the first XYZ coordinate system on an XY plane, and the motion control module is used for controlling the motion system to move and controlling the first nozzle 510 and the second nozzle 520 to print according to each coordinate of the printing points;

when the shell 1 is printed, the coordinate conversion module controls the current coordinate system to be a first XYZ coordinate system, the motion control module controls the printing table 4 and the first nozzle 510 to move to each printing point of the shell 1 according to the coordinate value of each printing point of the shell 1 in the first XYZ coordinate system, and the shell is printed by using the first nozzle 510;

when the liner 2 is printed, the coordinate conversion module controls the current coordinate system to be a second XYZ coordinate system, the motion control module controls the printing table 4 and the first nozzle 510 to move according to the coordinate values of each printing point of the liner in the first XYZ coordinate system, and the second nozzle 520 is used for printing the liner;

the first head 510 is configured to be able to print the body of the helmet shell 1 and the concave-convex portion fitted to the liner 2, and the second head 520 is configured to be able to print the body of the liner 2 and the concave-convex portion fitted to the shell 1.

Specifically, firstly, the orthopedic helmet is designed to comprise a shell 1 and an inner liner 2 which is detachably mounted on the inner side of the shell in a concave-convex fit manner, the inner liners 2 with different inner contour sizes can be configured through the shell 1, only the inner liner 2 needs to be replaced and the shell 1 does not need to be replaced in the head development process of a patient, the orthopedic helmets with different inner contour sizes which are matched with different stages of the head development of the patient can be obtained, a complete orthopedic helmet does not need to be manufactured in different stages of the head development of the patient, resources are remarkably saved, and the manufacturing efficiency can be improved due to the fact that only the inner liner needs to be manufactured again, so that the orthopedic helmet matched with the new stage of the head development can be obtained by the patient more quickly and timely.

On the basis of the orthopedic helmet comprising the shell 1 and the detachable lining 2, the invention provides a 3D printer capable of printing on the orthopedic helmet for the first time, the 3D printer comprises a frame 3, a printing table 4 and a printing head 5 which are installed on the frame, the 3D printer further comprises a control system and a motion system, the motion system comprises a first motion module 6 for driving the printing table 4 to move on an X axis, a second motion module 7 for driving the printing head 5 to move on a Y axis, and a third motion module 8 for driving the printing head 5 to move on a Z axis, the printing head 5 comprises a first spray head 510 and a second spray head 520, and the coordinate differences between the bottom of the second spray head 522 and the bottom of the first spray head 513 on the X axis and the Y axis are a and b respectively. The first motion module 6, the second motion module 7, and the third motion module 8 may each include at least one motor, whereby the print head 5 and the print table 4 may realize relative motion in three directions of XYZ through the first motion module 6, the second motion module 7, and the third motion module 8, thereby realizing 3D printing.

The first nozzle 510 and the second nozzle 520 are driven by a second motion module 7 and a third motion module 8 in the Y direction and the Z direction, respectively, the control system controls the motion system through the motion control module to move the first nozzle 510/the second nozzle 520 to the corresponding printing point, because there is a situation that in the Y direction or the Z direction, the two nozzles are matched by one motor, and the positioning of the two nozzles needs to be completed by the driving of the motor, the present invention directly associates the motor with the position of the first nozzle 510, drives the first nozzle 510 to a specific position through the specific motion of the motor (for example, controls the motor to rotate for a plurality of angles, drives the first nozzle to move for a specific distance/to a specific position in the Y direction or the Z direction), so as to directly position the first nozzle 510 or indirectly position the second nozzle 520, in accordance with the present invention, the control system further comprises a print information receiving module for receiving coordinate values of the printed points of the shell 1 and the lining 2 of the orthopedic helmet in the first XYZ coordinate system, and the control system further comprises a coordinate conversion module for converting the current coordinate system from the first XYZ coordinate system to the second XYZ coordinate system or from the second XYZ coordinate system to the first XYZ coordinate system, if necessary.

Specifically, when printing the housing 1, the coordinate conversion module of the control system controls the current coordinate system to be the first XYZ coordinate system (that is, the origin of the first XYZ coordinate system is used as the reference point), the motion control module moves the predetermined point of the printing table 4 to the corresponding X coordinate value according to the coordinate value of each printing point of the housing 1 in the first XYZ coordinate system, moves the bottom of the first nozzle 513 of the first head 510 to the corresponding Y and Z coordinate values, and the nozzle 513 of the first head 510 ejects the housing material to perform printing.

When the liner 2 is printed, the coordinate conversion module controls the current coordinate system to be in the second XYZ coordinate system (that is, the origin of the second XYZ coordinate system is used as a reference point), the motion control module still refers to the coordinate values of each printed point of the liner in the first XYZ coordinate system, moves the predetermined point of the printing table 4 to the corresponding X coordinate value, and moves the bottom of the nozzle 513 of the first nozzle 510 to the corresponding Y and Z coordinate values, and in the process, the Z coordinates of the bottom of the first nozzle 513 and the bottom of the second nozzle 522 are the same, so that the second nozzle 520 is positioned at each printed point of the liner, and the nozzle 522 of the second nozzle 520 ejects the liner material to perform printing. For example, if the coordinate value of the printing point of the inner liner in the first XYZ coordinate system is (80,30,10), and a is 10, b is 5, the coordinate conversion module obtains the second XYZ coordinate system by offsetting the origin of the first XYZ coordinate system by a distance (10,5,0), and the origin (0 ', 0 ', 0 ') of the second XYZ coordinate system corresponds to the coordinate (10,5,0) of the first coordinate system, and then when the inner liner is printed, the coordinate conversion module controls the current coordinate system in the second XYZ coordinate system, the motion control module controls the printing table and the first nozzle to move to (80 ', 30 ', 10 ') of the second XYZ coordinate system according to the coordinate value (80,30,10) of the printing point of the inner liner in the first XYZ coordinate system (i.e., 80 ' of the printing table to the X-axis and (30 ', 10 ') of the first nozzle to the YZ-plane), then the print table and the first head actually reach (80+10,30+5,10) at a position corresponding to the first XYZ coordinate system, taking into account that the first head is offset (10,5,0) with respect to the second head, that is to say that the print table and the second head have also reached (80,30,10) a coordinate position lining the print spot in the first XYZ coordinate system, at which point the nozzles of the second head can be made to eject lining material for printing.

Through the mode, the positioning of the two spray heads by one motor can be realized, a special motor is not required to be configured for each spray head to drive the positioning, the structure of the 3D printer of the orthopedic helmet with the printable shell and the lining is simplified, and the production cost is effectively reduced. And moreover, only one conversion needs to be carried out on the coordinate system, the coordinate values of all printing points of the lining in the first XYZ coordinate system can be directly utilized to help realize the positioning of the second spray head when the lining is printed, and compared with the method that the coordinate values of all printing points of the lining in the first XYZ coordinate system are not converted, the offset distance (a, b,0) between the bottom of the nozzle of the first spray head and the bottom of the nozzle of the second spray head is respectively added to the coordinate values of all the printing points of the lining in the first XYZ coordinate system to position the first spray head and indirectly position the second spray head, the complicated calculation process (which needs to be carried out on all the printing points of the lining) is avoided, and the calculation pressure of a control system or a computer is obviously reduced.

Further, referring to fig. 6-9, before the 3D printing of the shell and liner materials is performed, the 3D model of the orthopedic helmet may be layered to obtain a cross-sectional pattern of each layer, where the cross-sectional pattern includes a shell cross-sectional pattern and a liner cross-sectional pattern (but the layer corresponding to the head top portion of the 3D model of the orthopedic helmet includes only the shell cross-sectional pattern 100), the shell cross-sectional pattern 100 may include lines corresponding to the shell body structure 101 and the convex structures 102, the liner cross-sectional pattern 200 may include lines corresponding to the liner body structure 201 and the concave structures 202 joining the convex structures 102, and the lines corresponding to the convex structures 102 and the lines corresponding to the concave structures 202 match. As will be understood by those skilled in the art, the cross-sectional pattern of the shell may also include lines corresponding to the body structure of the shell and the recessed structures, and the cross-sectional pattern of the lining may include lines corresponding to the body structure of the lining and the raised structures, and the lines of the recessed structures and the raised structures need to be matched to enable the finally printed shell and lining to be matched in a concave-convex manner.

Planning a first printing path (i.e. planning a printing sequence of each printing point) of the first nozzle at a corresponding layer according to the shell cross-sectional pattern 100, where the first printing path includes printing paths for the body structure 101 and the protrusion structure 102 constituting the layer of the shell 1, respectively, and the first printing path may further specifically include printing paths for the

outer wall structures

111 and 112 of the body structure 101 and the filling structure 113 located between the outer wall structure 111 and the inner wall structure 112.

And planning a second printing path (namely planning the printing sequence of each printing point) of the second spray head on the corresponding layer according to the lining section pattern 200, wherein the second printing path comprises a printing path for forming a lining body structure 201 and a concave structure 202 of the lining 2 on the layer.

In the specific implementation printing process, the helmet is printed layer by layer from bottom to top by using the first spray head and the second spray head, wherein after the first spray head and the second spray head print the same layer together, the first spray head and the second spray head print the next layer again until the helmet is printed.

In one embodiment, the second spray head 520 is detachably connected to the first spray head 510, and the relative distance between the second spray head 520 and the first spray head 510 in the Z-axis direction can be controllably adjusted.

So that the second nozzle 520 is detachably coupled to the first nozzle 510, the second nozzle 520 can be detached when only a single-layered structure needs to be 3D printed; maintenance and replacement of second nozzle 520 is also facilitated. The relative distance between the second nozzle 520 and the first nozzle 510 in the Z-axis direction can be controlled and adjusted, so that when the first nozzle 510 performs printing, the second nozzle 520 can be controlled to be lifted for a certain distance, and the second nozzle 520 is prevented from interfering with the normal printing of the first nozzle 510; conversely, when the second nozzle 520 performs printing, the first nozzle 510 can be controlled to be lifted for a certain distance, so as to avoid interference of the first nozzle 510 on normal printing of the second nozzle 520.

In a specific embodiment, the second nozzle 520 includes a silica gel chamber 521 and a second nozzle 522 disposed at a lower portion of the silica gel chamber 521, an air source is connected to an upper portion of the silica gel chamber 521 through an air pipe, and an air flow regulating valve is disposed on the air pipe.

When the inner liner of the orthopedic helmet is made of silica gel, the silica gel can be supplied to the second nozzle 522 through the arrangement, and the gas pressure in the silica gel cavity 521 can be adjusted through the arrangement of the gas pipe, the gas source and the gas flow regulating valve, so that the silica gel flow at the second nozzle 522 can be regulated, and the expected printing speed and printing effect can be realized conveniently.

In a specific embodiment, the first spray head 510 comprises a feeding mechanism 511, a heating mechanism 512 and a first spray nozzle 513 which are connected in sequence.

Considering the requirements of rigidity and light weight of the orthopedic helmet shell, the orthopedic helmet shell needs to have certain rigidity to achieve the orthopedic purpose, and is not too heavy to bring excessive pressure to the neck of a patient, plastic such as PLA consumables are mostly used to manufacture the orthopedic helmet shell, the plastic is thermoplastic, the 3D printer provided by the invention sends rigid thermoplastic material into the heating mechanism 512 through the feeding mechanism 511 in the first nozzle 510 of the printing head 5, the heating mechanism heats the plastic material to melt and soften, the plastic material can be extruded through the first nozzle 513, and the extruded plastic material is solidified to form the helmet shell.

In a specific embodiment, the 3D printer further comprises a curing device to facilitate curing of the printing material.

In order to facilitate curing of the printing material, making the 3D printer comprise a curing device may facilitate curing of the printing material. The curing device may be selected according to the printing material, for example, when the printing material is a thermosetting material, the curing device may be a heating device such as an infrared heating lamp.

In a particular embodiment, the first motion module includes a first motor, the second motion module includes a second motor, and the third motion module includes a third motor.

The motor can be selected as a stepping motor or a servo motor. The stepping motor converts the electric pulse into the angular displacement or the linear displacement, and the angular displacement or the linear displacement can be controlled by controlling the number of the pulses, so that the accurate positioning is achieved, and the accuracy of the positioning of the spray head is guaranteed. The servo motor converts the voltage signal into torque and rotating speed to drive a control object, so that the control speed and position precision are very accurate.

In a specific embodiment, the shape of the frame 3 of the 3D printer on six sides is square or rectangular, which facilitates the standardized manufacture of the frame skeleton, and makes the structure of the 3D printer compact and reduces the occupied space.

The frame 3 has two

bottom sides

301 and 302 extending in the Y-axis direction and parallel to each other on the bottom surface. The 3D printer further comprises a print table carrying frame 1000, and the print table 4 is arranged on the print table carrying frame 1000. In the print table carriage frame 1000, two

bottom sides

1001 and 1002 extending in the X-axis direction and parallel to each other are fixedly connected to the two

bottom sides

301 and 302 of the frame 3 by a fixing member. The printing table bearing frame 1000 further comprises two

bottom edges

1003 and 1004 which extend along the Y-axis direction and are parallel to each other, wherein a motor is arranged in the middle of the bottom edge 1003 extending along the Y-axis direction, the motor is provided with a rotating shaft, a first belt pulley is sleeved on the rotating shaft, a rotating shaft and a second belt pulley are also arranged in the middle of the bottom edge 1004 extending along the Y-axis direction, and the two belt pulleys are consistent in height in the Z-axis direction. The print table 4 has a substantially square or rectangular shape, and the length of the print table 4 in the X-axis direction is smaller than the length of any one of the bases of the print table support frame 1000 extending in the X-axis direction. The bottom surface (the surface not bearing the printed matter) of the printing table 4 is provided with a fixing piece 401, the fixing piece 401 comprises a first fixing head 411 and a second fixing head 412, the two fixing

heads

411 and 412 are arranged close to each other, the connecting line of the two fixing heads is parallel to the X-axis direction, one end of the belt is fixedly connected with the first fixing head 411, then the belt extends to the second belt pulley, rotates around the belt pulley for a half circle and then continues to the first belt pulley, and the belt extends to the second fixing head 412 after a half circle and is fixedly connected with the second fixing head 412. When a first motor in the first motion module 6 moves, the rotating shaft of the motor rotates to drive the belt pulley to rotate and drive the belt to move, and the movement of the belt pulls the movement of the printing table 4, so that the printing table 4 moves back and forth along the X-axis direction.

Two sides of the frame 3 are symmetrically arranged, two sides are provided with second motion modules 8, and a support frame 9 extending along the Y-axis direction is arranged between the two sides. Specifically, the bottom of each of the two side surfaces of the rack 3 is provided with a second motor, the rotating shaft of each second motor is connected with a

lead screw

801 and 802 extending along the Z-axis direction through a coupling, and the two

lead screws

801 and 802 are respectively provided with a transmission nut. The two drive nuts are connected to both ends of the support frame 9, respectively, and the print head 5 is mounted on the support frame 9. When the two second motors rotate at the same rotating speed respectively, the two transmission nuts can be driven to move upwards or downwards along the Z-axis direction on the two

screw rods

801 and 802 at the same speed, so that the supporting frame 9 is driven to lift in the Z-axis direction, and the printing head 5 can move back and forth along the Z-axis direction.

A guide sleeve 901 is attached to the support frame 9, and the print head 5 is connected to the support frame 9 via the guide sleeve 901 such that the print head 5 is movable in the Y-axis direction but not movable in the X-or Z-axis direction with respect to the support frame 9. The support frame 9 comprises two sides parallel to the Z axis, one of the two sides is provided with a third motor in the middle, the motor is provided with a rotating shaft, a third belt pulley is sleeved on the rotating shaft, the other side is provided with a rotating shaft and a fourth belt pulley is sleeved on the rotating shaft, and the two belt pulleys are consistent in length in the X axis direction. The printing head 5 comprises a back plate, a third fixing head 501 and a fourth fixing head 502 are arranged on the back plate, the two fixing

heads

501 and 502 are arranged close to each other, the connecting line of the two fixing heads is parallel to the Y-axis direction, one end of a belt is fixedly connected with the third fixing head 501, the belt extends to a fourth belt pulley and rotates around the belt pulley for a half circle and then continues to extend to the third belt pulley, and the belt extends to the fourth fixing head 502 and is fixedly connected with the fourth fixing head 502 after rotating for a half circle. When a third motor in the third motion module 7 moves, the rotating shaft of the motor rotates to drive the belt pulley to rotate and drive the belt to move, and the movement of the belt pulls the movement of the printing head 5, so that the printing head 5 moves back and forth along the Y-axis direction.

In order to enable the heating means 512 in the first nozzle 510 to soften the hard plastics material sufficiently when the shell of the orthopaedic helmet is made of plastics, the feed means 511 is provided in the form of an elongate wire, which receives the elongate hard plastics material, so that the plastics material entering the heating means 512 is of a relatively small diameter and is easily softened sufficiently. The heating temperature of the heating mechanism is adjustable, and the adjusting factors comprise the melting point, the heating rate and the like of the plastic material which is specifically used. As will be understood by those skilled in the art, after the 3D printer is powered on, printing is not started until the temperature of the heating mechanism reaches the preset working temperature, otherwise, the plastic material may not be normally extruded from the first nozzle due to insufficient softening, and the printing effect may be affected.

The first nozzle 510 further includes a first gear 503 and a fourth motor, the second gear 504 is sleeved on a rotating shaft of the fourth motor, the first gear 503 is engaged with the second gear 504, the first gear 503 and a feeding wheel (not shown in the figure) are sleeved on a feeding rod extending along the X-axis direction, the feeding wheel and an auxiliary wheel matched with the feeding wheel directly contact with the plastic material sent from the feeding mechanism 511 and drive the plastic material to enter the heating mechanism 512 through friction force, the feeding rod is erected on a supporting body 514, the supporting body 514 and the fourth motor are supported by a supporting table 515, and the supporting table 515 is fixed relative to the guide sleeve 901.

The second nozzle 520 includes a clamping member, in addition to the silicone cavity 521 and the second nozzle 522, the clamping member includes a first clamping block 523 and a second clamping block 524, the support platform 515 of the first nozzle is fixedly connected to the first clamping block 523 of the second nozzle clamping member, the second clamping block 524 is provided with a through hole, the first clamping block 523 is provided with a threaded hole opposite to the through hole, and after a bolt (not shown) is threaded into the threaded hole through the through hole, the two clamping blocks can clamp and fix the silicone cavity 521 of the second nozzle. One surface of the second clamping block 524 facing the silicone cavity 521 is provided with a recess with a circular arc-shaped cross section, the recess can be matched with the shape of the silicone cavity 521 with a circular cross section, and two through holes are respectively arranged on two sides of the recess; one surface of the first clamping block 523 facing the silica gel cavity is provided with a recess with a circular arc-shaped section, the recess can be matched with the silica gel cavity with a circular section in shape, and two threaded holes are respectively arranged on two sides of the recess. The through hole and the threaded hole are arranged in directions parallel to the Y-axis direction.

In a second aspect, the present invention provides a 3D printing system for printing an orthopedic helmet, the helmet comprising a shell 1 and a lining 2 detachably mounted on the inner side of the shell by a male-female fit, the 3D printing system comprising a scanner for scanning the head of a patient to obtain contour dimension information of the orthopedic helmet, a computer for creating a 3D model of the helmet according to a scanning head model, performing a layering process on the 3D model, and determining coordinate values of each printed dot of the shell structure and the lining structure of each layer after the layering process in a first XYZ coordinate system, and a 3D printer as described above.

It will be understood that the embodiments described above are illustrative only and not restrictive, and that various obvious and equivalent modifications and substitutions for details described herein may be made by those skilled in the art without departing from the basic principles of the invention.

Claims

1. A3D printer for printing orthopedic helmets, the helmets include a shell and a lining detachably mounted on the inner side of the shell through concave-convex matching, the 3D printer includes a frame, a printing table and a printing head mounted on the frame, the 3D printer also has a control system and a motion system, the motion system includes a first motion module driving the printing table to move in the X-axis direction, a second motion module driving the printing head to move in the Y-axis direction, and a third motion module driving the printing head to move in the Z-axis direction, wherein the Z-axis direction is perpendicular to the horizontal plane formed by the X-axis and the Y-axis, the 3D printer is characterized in that,

the print head comprises a first nozzle for printing the shell and a second nozzle for printing the lining, the first nozzle comprises a first nozzle, and the second nozzle comprises a second nozzle; coordinate differences between the bottom of the second nozzle and the bottom of the first nozzle in the X-axis direction and the Y-axis direction are respectively a and b, and the offset distance of the bottom of the first nozzle relative to the bottom of the second nozzle in the first XYZ coordinate system is (a, b, 0);

2. The 3D printer of claim 1, wherein the second nozzle is detachably connected to the first nozzle, and a relative distance between the second nozzle and the first nozzle in the Z-axis direction is controllably adjustable.

3. The 3D printer of claim 1, wherein the second nozzle comprises a silica gel cavity and a second nozzle arranged at the lower part of the silica gel cavity, the upper part of the silica gel cavity is connected with an air source through an air pipe, and the air pipe is provided with an air flow regulating valve.

4. The 3D printer of claim 1, wherein the first nozzle comprises a feeding mechanism, a heating mechanism, and a first nozzle connected in sequence.

5. The 3D printer according to any one of claims 1-4, wherein the 3D printer further comprises a curing device to facilitate curing of the printing material.

6. The 3D printer according to any one of claims 1-4, wherein the first motion module comprises a first motor, the second motion module comprises a second motor, and the third motion module comprises a third motor.

7. A 3D printing system for printing an orthopaedic helmet, the helmet comprising a shell and a lining detachably mounted inside the shell by a male-female fit, characterized in that the 3D printing system comprises a scanner for scanning the head of a patient to obtain contour dimension information of the orthopaedic helmet, a computer for creating a 3D model of the helmet from a scanning head model, performing a layering process on the 3D model, and determining coordinate values of each printed point of the shell structure and the lining structure of each layer after the layering process in a first XYZ coordinate system, and a 3D printer according to any one of claims 1 to 6.