CN206403893U - A kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology - Google Patents
A kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology Download PDFInfo
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- CN206403893U CN206403893U CN201621135013.0U CN201621135013U CN206403893U CN 206403893 U CN206403893 U CN 206403893U CN 201621135013 U CN201621135013 U CN 201621135013U CN 206403893 U CN206403893 U CN 206403893U
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Abstract
The utility model is related to a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology, including frame, workbench to place artificial bone scaffold, it is arranged on the printing equipment above workbench, device for transporting objects to convey printed material, IMAQ camera, drive mechanism and control system to adjust printing equipment orientation, printing equipment, device for transporting objects, image collecting device and drive mechanism are connected to control system, workbench is the Six Degree-of-Freedom Parallel Platform being connected in the frame, drive mechanism is six shaft mechanical arms, printing equipment is connected on six shaft mechanical arms.When using, artificial bone scaffold is placed on Six Degree-of-Freedom Parallel Platform, the position of printing equipment is controlled by six shaft mechanical arms, pass through the cooperation of Six Degree-of-Freedom Parallel Platform and six shaft mechanical arms, the accurate control to the printing nozzle locus of printing equipment is realized, the three dimensional patterned printing of complicated fine artificial bone surface and loose structure interior surface is realized.
Description
Technical field
The utility model is related to a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology, belongs to 3D printing
Field.
Background technology
With the increasingly raising of living standard, people focus more on to health care.But because some diseases, traffic thing
Therefore waiting causes skeleton major injury, because being limited by technical merit, it is difficult to repair at this stage, therefore many patients lose
Self care ability, this all brings serious influence to patient and its family.The current master for this problem of bone defects
Wanting method is repaired by autologous tissue transplantation, allograft, using alternative materials.These current methods are present
Larger drawback, such as two operations, take bone amount limit, spread disease, osteogenic activity it is low.Autologous bone be from patient body its
His position, obtains some bones, then uses the position of needs, and this mode, which exists, takes bone amount limited, and can not be expired
The problems such as shape of sufficient demand.Bulk bone defect healing is always clinical orthopaedicses problem, and organizational engineering develops into Cranial defect
Repair and provide new approaches, artificial bone is expected to the traditional autologous or homogeneous allogenic bone of substitution, it is to avoid patient's secondary insult.
Artificial bone supporting material and preparation also become study hotspot.Such as the A of CN 105287055, entitled " a kind of 3D is beaten
In the Chinese invention patent application of the external bone of print individuation ", a kind of external bone of 3D printing individuation is disclosed, its step is：
(1) the 3-D scanning information data of body area is collected, its design feature is analyzed；(2) by the three-dimensional of body area
Scan data imports computer, and precise restoration obtains the 3-D view at patient scan position；(3) the above-mentioned graphics of analyzing anatomical
Picture, obtains the reverse data of scanned position, and reconstruction obtains its threedimensional model；(4) threedimensional model is stored or is converted into form text
Part；(5) afunction position obtained above threedimensional model is designed into corresponding body by computer with reference to human body big data
Dermoskeleton servicing unit threedimensional model；(6) detection is compared in inspection software in designed external bone model, to design side
Case, model are improved with being optimized；(7) the above-mentioned external bone servicing unit designed and body area threedimensional model are transported
Auxiliary dynamic analog is carried out with computer；(8) above-mentioned threedimensional model is saved as into formatted file for transmission, storage is browsed,
Check, modification and processing；(9) the external bone auxiliary transposition of 3D printing, quickly realizes mock-up.
For another example B of Authorization Notice No. CN 103948456, entitled " the pneumatic many shower nozzles of rotating disc type of Automated condtrol are biological
In the Chinese invention patent of 3D printing formation system and method ", a kind of pneumatic many shower nozzles of rotating disc type of Automated condtrol are disclosed
Biological 3D printing formation system, including injection apparatus, three-dimensional motion mechanism, forming table and control system, described injection dress
Put using rotating disc type multi-nozzle injection apparatus, be arranged in three-dimensional motion mechanism on Z1 shaft movement mechanisms and with Z1 axle moving slide blocks
Slide up and down；Described forming table is arranged in three-dimensional motion mechanism on X-axis moving slide block；Described control and data processing system
System is the motor of connection control rotating disc type multi-nozzle injection apparatus and three-dimensional motion mechanism.The rotating disc type multi-nozzle injection apparatus
Including control rotary tray motor, crossbeam, motor shaft, connecting tube, rotating disk, nut, syringe piston cylinder, syringe needle, axle sleeve,
Groove type photoelectric switch and groove type photoelectric switch shelter；The crossbeam is fixedly mounted on Z1 axle moving slide blocks；The control turns
Coil motor is screwed on crossbeam, and motor shaft is down；The axle sleeve is an external thread sleeve, motor shaft and axle
Cover threaded one end connection；There is a through hole in the middle of the rotating disk, inner ring is internal thread, and rotating disk is connected with the axle sleeve other end, be interior
External screw thread connected mode；Rotary tray motor operation drive motor axle rotation is controlled, while driving dial turning motion, that is, injection is driven
Device piston barrel and syringe needle rotation；The rotating disk overhead surface installs 4 connecting tubes, and connecting tube is circumferentially evenly distributed on
On rotating disk, tracheae is connected in connecting tube, has air pump to provide gas；Below the rotating disk on 4 internal thread holes of processing, the nut
Partial outer face is processed into external screw thread, and the upper surface processing of nut reaches rhombus boss, can put into syringe piston cylinder, note
Emitter piston barrel injection material solution, and be connected together with rotating disk internal and external threads, sealed between connection by sealing ring, to prevent
Gas leakage；Gas is provided by air pump to extrude from syringe needle the material solution in syringe piston cylinder；The groove profile
Optoelectronic switch is connected in below the crossbeam, and groove type photoelectric switch shelter is connected in disk upper surface, and control rotary tray motor operation turns
Drive turntable rotation, the i.e. rotation of groove type photoelectric switch shelter to encounter the signal of groove type photoelectric switch after dynamic, stop dial movement,
I.e. syringe needle reaches the position specified.
At present in the 3D printing method for preparing artificial bone, mainly there are the solid method of forming of light, layer separated growth method, melt
Melt deposition production methods, selective laser sintering process, the ink-jet accumulation increasing material method of forming.The solid method of forming material therefor of light is photosensitive resin
Deng its biocompatibility and degradability are all bad after implanting, or even cause toxicity.It is prepared by layer separated growth method
, then will from level to level by hot pressing mechanism, it is necessary to which the materials such as hydroxyapatite to be first made to the lamelliform that can be crimped during artificial bone
Thin slice is bonded together, in terms of materialogy angle, and this method is difficult to.The printed material that Fused Deposition Modeling method is used is needed
There is certain intensity by processing of reeling off raw silk from cocoons, therefore material is very restricted, and the shape of processed complex is difficult in addition.
The laser system price that selective laser sintering process is used is very expensive, and maintenance cost is higher, causes processing cost higher, not by
The hydroxyapatite powder of sintering is difficult to remove.And ink-jet accumulation increase the material method of forming can directly by biofacies solubization solution and
Hydroxyapatite powder bonds, it is to avoid the above method is to print conditions, the rigors of temperature environment.
In current 3D printing device, it there is nozzle structure and shower nozzle drive mechanism be complex, printing precision is more difficult
The end of each shower nozzle in control, such as B of Authorization Notice No. CN 103948456 is in same plane, while being moved, in work
Shower nozzle takes larger space when making, and is not suitable for the 3D printing of loose structure interior surface.
In consideration of it, the present inventor carries out in-depth study to above mentioned problem, there is this case generation then.
Utility model content
The purpose of this utility model be to provide a kind of simple structure, can improve printing precision based on multi-shaft interlocked control
The 3D printing system of system and machine vision metrology.
In order to achieve the above object, the utility model is using such technical scheme：
A kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology, including it is frame, artificial to place
The workbench of bone support, the printing equipment being arranged on above workbench, the device for transporting objects to convey printed material, image
Gather camera, drive mechanism and control system to adjust printing equipment orientation, printing equipment, device for transporting objects, figure
As harvester and drive mechanism are connected to control system, the workbench is the six degree of freedom being connected in the frame
Parallel connection platform, the drive mechanism is six shaft mechanical arms, and the printing equipment is connected on six shaft mechanical arms.
As a kind of preferred embodiment of the present utility model, the printing equipment includes mounting bracket, motor, cylinder, rotary process
Blue and multiple shower head mechanisms, mounting bracket is connected on the six shaft mechanicals arm, and motor is arranged on mounting bracket, and rotary flange connects
It is connected on the output shaft of motor, multiple shower head mechanisms are circumferentially equably laid on rotary flange, multiple shower head mechanisms are with can
It is connected to along the mode that rotary flange is moved axially on mounting bracket, cylinder is arranged on mounting bracket and the piston rod of cylinder is provided with
To the drive end for driving shower head mechanism to move, it is provided between shower head mechanism and rotary flange to make shower head mechanism return
Resetting-mechanism.
As a kind of preferred embodiment of the present utility model, the mounting bracket includes protective cover, the first installing plate and second
Installing plate, the first installing plate and the second installing plate set up the two ends in protective cover vertically separately, and the motor is fixed on the first installation
On plate, the working hole stretched out for the shower head mechanism is provided with the second installing plate, the upper end of the shower head mechanism passes through first
Rod hinge connection is on the rotary flange, and the resetting-mechanism is the first spring, and one end of the first spring is connected to rotary flange
On, the other end is connected to the upper end of the shower head mechanism, is additionally provided with mounting post on the second installing plate, in addition to second connecting rod and
Guide cylinder, one end of second connecting rod is hinged in mounting post, and the other end is hinged on guide cylinder, and the shower head mechanism is slideably
It is located in guide cylinder.
As a kind of preferred embodiment of the present utility model, the shower head mechanism includes cylinder and is arranged on the inner chamber of cylinder
The inner chamber of cylinder is separated into first chamber and second chamber by mobile piston, mobile piston, and printing nozzle is provided with cylinder, is beaten
Print nozzle is connected with second chamber, and air inlet is provided with cylinder, and one end of air inlet is connected with first chamber, the other end and gas
Source is connected, in addition to charging aperture, and one end of charging aperture is connected with second chamber, and the other end is connected with the device for transporting objects.
As a kind of preferred embodiment of the present utility model, pistons stops are provided with the second chamber, pistons stops are set
In the top of the charging aperture.
As a kind of preferred embodiment of the present utility model, the shower head mechanism is 5, the printing of 5 shower head mechanisms
The diameter of nozzle is respectively 120um, 100um, 80um, 50um, 30um.
As a kind of preferred embodiment of the present utility model, the device for transporting objects includes air compressor machine and material storage cylinder,
The outlet side of air compressor machine is connected with the inlet end of material storage cylinder, and the discharge end of material storage cylinder passes through conveying with the charging aperture
Pipe is connected, and electrically operated valve is provided with the conveying pipeline.
As a kind of preferred embodiment of the present utility model, the frame includes underframe, upper frame and is arranged on underframe and top
The first side frame and the second side frame between frame, the six shaft mechanicals arm are arranged on upper frame, and the Six Degree-of-Freedom Parallel Platform is set
Put on underframe, the six shaft mechanicals arm and the Six Degree-of-Freedom Parallel Platform are connected to the control system.
As a kind of preferred embodiment of the present utility model, described image collection camera is arranged on the first side frame and/or second
On side frame.
The technical solution of the utility model is used, in use, artificial bone scaffold is placed on Six Degree-of-Freedom Parallel Platform, is led to
The position that six shaft mechanical arms control printing equipment is crossed, passes through the cooperation of Six Degree-of-Freedom Parallel Platform and six shaft mechanical arms, realization pair
The accurate control of the printing nozzle locus of printing equipment, realizes table inside complicated fine artificial bone surface and loose structure
The three dimensional patterned printing in face, the utility model has the advantages that simple structure, can improve printing precision.The utility model is adopted
The 3D printing technique for increasing the material method of forming with being accumulated based on ink-jet, using nanometer hydroxyapatite solution as printed material, utilizes machine
The motion redundancy of tool arm realizes the three-dimensional multi-angle printing of material space pattern, realizes complicated fine artificial bone surface and porous
The three dimensional patterned high-precision printing on inside configuration surface, passes through six shaft mechanical arms and the precision optical machinery of Six Degree-of-Freedom Parallel Platform
Motion control and drop forming and diffusion control, make the printing precision of system reach printing flat resolution≤200 μm, interlayer point
Resolution≤2 μm.
Brief description of the drawings
Fig. 1 structural representations of the present utility model；
Fig. 2 is the control principle drawing in the utility model；
Fig. 3 is the structural representation of printing equipment in the utility model；
Fig. 4 is the structural representation of printing equipment in the utility model (the first installing plate and protective cover are not shown in figure)；
Fig. 5 is the enlarged drawing at A in Fig. 4；
Fig. 6 is the structural representation of printing nozzle in the utility model；
In figure：
10- frame 11- upper frames
12- underframe the first side frames of 13-
The shaft mechanical arms of the second side frames of 14- 20- six
30- Six Degree-of-Freedom Parallel Platform 40- printing equipments
401- protective covers the second installing plates of 402-
403- motor 404- cylinders
405- shower head mechanism 406- first connecting rods
407- the first spring 408- mounting posts
409- second connecting rod 410- guide cylinders
411- rotary flange 412- necks
413- holding sections 414- working holes
415- the first installing plate 4050- cylinders
4051- first chamber 4052- second chambers
4053- moves piston 4054- sealing rings
4055- cone shaped pilot 4056- pistons stops
4057- printing nozzle 4058- air inlets
4059- charging aperture 4060- electrically operated valves
50- figures gather camera 60- air compressor machines
61- material storage cylinder 62- appendixs
63- conveying pipeline 70- control systems
Embodiment
In order to which the technical solution of the utility model is explained further, it is described in detail below in conjunction with the accompanying drawings.
Referring to figs. 1 to Fig. 6, a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology, including frame
10th, to place the workbench of artificial bone scaffold, the printing equipment being arranged on above workbench 40, to convey printed material
Device for transporting objects, IMAQ camera 50, drive mechanism and control system 70 to adjust the orientation of printing equipment 40, beat
Printing equipment puts 40, device for transporting objects, image collecting device 50 and drive mechanism and is connected to control system 70, by controlling system
Each device co-ordination of the control of system 70.The workbench is the Six Degree-of-Freedom Parallel Platform 30 being connected in the frame 10, institute
Drive mechanism is stated for six shaft mechanical arms 20, the printing equipment 40 is connected on six shaft mechanical arms 20.Control system 70 can be adopted
With the B of Authorization Notice No. CN 103948456, entitled " the biological 3D printing shaping of the pneumatic many shower nozzles of rotating disc type of Automated condtrol
Control and data handling system in system and method ", the control system 70 include computer and controller.Six shaft mechanical arms 20
For six axis robot, space feeding at any angle can be completed, can be directly from buying on the market, Six Degree-of-Freedom Parallel Platform
20 can carry out the adjustment of six-freedom degree to spatial pose, and it can use the B of Authorization Notice No. CN 104002299, title
For the structure in " six-freedom parallel microfluidic platform ", I will not elaborate for concrete structure.
As a kind of preferred embodiment of the present utility model, the printing equipment 40 includes mounting bracket, motor 403, cylinder
404th, rotary flange 411 and multiple shower head mechanisms 405, mounting bracket are connected on the six shaft mechanicals arm 20, and motor 403 is set
On mounting bracket, rotary flange 411 is connected on the output shaft of motor 403, and multiple shower head mechanisms 405 are circumferentially equably laid
On rotary flange 411, multiple shower head mechanisms 405 are connected on mounting bracket in the way of it can be moved axially along rotary flange 411,
Cylinder 404 is arranged on mounting bracket and the piston rod of cylinder 404 is provided with drive end to drive shower head mechanism 405 to move,
It is provided between shower head mechanism 405 and rotary flange 411 to make the resetting-mechanism of the return of shower head mechanism 405.In embodiment,
Output shaft, cylinder 404 and the three of shower head mechanism 405 of motor 403 be arranged in parallel.Using this structure, pass through the band of motor 403
Dynamic rotary flange 411 is rotated, and causes a certain shower head mechanism 405 to turn to predetermined position, is driven spray by cylinder 404 afterwards
Head mechanism 405 is axially moveable so that a certain shower head mechanism 405 stretches out, and carries out 3D printing operation, the operation of shower head mechanism 405
Finish after the meeting, the shower head mechanism return is caused by cylinder 404 and resetting-mechanism, rotary flange is driven by motor 403 afterwards
411 rotate so that another shower head mechanism 405 turn to the corresponding position of cylinder 404, pass through cylinder 404 drive the shower nozzle machine
Structure 405 stretches out, and such the utility model is when carrying out 3D printing operation, shower head mechanism 405 and other sprays in job state
Head mechanism 405 is not at same plane, can avoid interference of other shower head mechanisms 405 to artificial bone scaffold.
As a kind of preferred embodiment of the present utility model, the mounting bracket include protective cover 401, the first installing plate 415 with
And second installing plate 402, protective cover 401 is cylindrical in shape, and the first installing plate 415 and the second installing plate 402 are separately fixed at protective cover
401 two ends vertically, the motor 403 is fixed on the first installing plate 415, and the output shaft of motor 403 is installed through first
Plate 415 is simultaneously extend into protective cover 401.The working hole stretched out for the shower head mechanism 405 is provided with the second installing plate 402
414, when a certain shower head mechanism 405 is turned to should pass through cylinder 404 and drive the shower head mechanism 405 from this at working hole 414
Working hole 414, which stretches out, carries out print job.The upper end of the shower head mechanism 405 is hinged on the rotation by first connecting rod 406
On flange 411, the resetting-mechanism is the first spring 407, and one end of the first spring 407 is connected on rotary flange 411, another
End is connected to the upper end of the shower head mechanism 405, and mounting post 408, in addition to second connecting rod are additionally provided with the second installing plate 402
409 and guide cylinder 410, one end of second connecting rod 409 is hinged in mounting post 408, and the other end is hinged on guide cylinder 410, institute
Shower head mechanism 405 is stated slideably to be located in guide cylinder 410.Preferably, neck 412 is provided with the piston rod of cylinder 404,
The holding section 413 coordinated with neck 412 is correspondingly provided with the first connecting rod 406, the piston rod of cylinder 404 is extend out to necessarily
During position, the neck 412 card leans against on holding section 413 and drives corresponding shower head mechanism 405 axially to be moved along guide cylinder 410
Dynamic, when neck 412 leaves holding section 413, shower head mechanism 405 is then acted in the first spring 407 and moved along guide cylinder 410, real
The return of existing shower head mechanism 405.
As a kind of preferred embodiment of the present utility model, the shower head mechanism 405 includes cylinder 4050 and is arranged on cylinder
The inner chamber of cylinder 4050 is separated into first chamber 4051 and second by the mobile piston 4053 of 4050 inner chamber, mobile piston 4053
Chamber 4052, is provided with printing nozzle 4057, printing nozzle 4057 is connected with second chamber 4052, in cylinder on cylinder 4050
4050 are provided with air inlet 4058, and one end of air inlet 4058 is connected with first chamber 4051, and the other end is connected with source of the gas, is also wrapped
Charging aperture 4059 is included, one end of charging aperture 4059 is connected with second chamber 4052, and the other end is connected with the device for transporting objects.
The utility model increases the material method of forming using ink-jet accumulation, and printed material is mainly nanometer hydroxyapatite, adds collagen, chitin
Printed material is configured Deng auxiliary material, printed material is from the feeding second chamber 4052 of charging aperture 4059.Mobile live is promoted by source of the gas
Plug 4053, mobile piston 4053 extrudes printed material from printing nozzle 4057, and source of the gas is by the pneumatics that will be described below
Machine 60 is provided.The return of mobile piston 4053 is then realized by the feed supplement of charging aperture 4059.
As a kind of preferred embodiment of the present utility model, pistons stops 4053, piston are provided with the second chamber 4052
Block 4053 is arranged on the top of the charging aperture 4059.Preferably, the lower end of the cylinder 4050 forms cone shaped pilot
4055, the printing nozzle 4057 is arranged on cone shaped pilot 4055, and the charging aperture 4059 is arranged on pistons stops 4053
Between the printing nozzle 4057.Preferably, the contact surface of the mobile piston 4053 and the cylinder 4040 is provided with annular
Sealing ring 4054 is provided with groove, annular groove.
As a kind of preferred embodiment of the present utility model, the shower head mechanism 405 is 5,5 shower head mechanisms 405
The diameter of printing nozzle 4057 be respectively 120um, 100um, 80um, 50um, 30um.The diameter shadow of printing nozzle 4057
The precision of printing and the speed of printing are rung, the printing nozzle of different printing nozzle diameters can be selected according to the requirement of printing
4057, the utility model realizes the switching of printing nozzle 4057 by motor 403, rotary flange 411 and cylinder 404, tool
There is the easy switching of printing nozzle 4057, it is possible to increase the effect of printing effect
As a kind of preferred embodiment of the present utility model, the device for transporting objects includes air compressor machine 60 and material storage cylinder
61, the outlet side of air compressor machine 60 is connected with the inlet end of material storage cylinder 61 by appendix 62, the discharging of material storage cylinder 61
End is connected with the charging aperture 4059 by conveying pipeline 63, and electrically operated valve 4060 is provided with the conveying pipeline 63.Using this
Printed material in material storage cylinder 61, is delivered in shower head mechanism 405 by structure by air pressure.
As a kind of preferred embodiment of the present utility model, the frame 10 includes underframe 12, upper frame 11 and is arranged on bottom
The first side frame 13 and the second side frame 14 between frame 12 and upper frame 11, the six shaft mechanicals arm 20 is arranged on upper frame 11, described
Six Degree-of-Freedom Parallel Platform 30 is arranged on underframe, and the six shaft mechanicals arm 20 and the Six Degree-of-Freedom Parallel Platform 30 are all connected with
To the control system 70.As in embodiment, image collecting device 50 is equipped with the first side frame 13 and the second side frame 14.
Using the technical solution of the utility model, printed material is controlled to be sprayed from printing nozzle 4057 by air compressor machine 60
Go out, realize 3D printing, during printing, air compressor machine 60 produces high pressure, and the air inlet of shower head mechanism 405 is transported to by appendix 62
4058, sealing ring 4054 prevents air from entering printed material, is closed while the electrically operated valve 4060 being connected with charging aperture 4059 is in
Closed state, prevents printed material from being discharged by charging aperture 4059, is moved downward by drive of high-pressure gas movement piston 4053, makes printing
Material continuous-stable from printing nozzle 4057 sprays, and reaches the purpose of 3D printing.When mobile piston 4053 moves to piston gear
When at block 4056, the mobile stop motion of piston 4053, while controlling air compressor machine 60 to stop to shower head mechanism 405 from control system 70
Supply gas, control system 70 controls the electrically operated valve 4060 being connected with charging aperture 4059 to open, and controls air compressor machine 60 to be deposited toward material
Storage cylinder 61 is supplied gas, and driving printed material moves piston 4053 to the side of air inlet 4058 by the entrance shower head mechanism 405 of conveying pipeline 63
To motion, when printed material is full of shower head mechanism 405, electrically operated valve 4060 is closed, shower head mechanism 405 continues print job.
In print procedure, by controlling the size of air pressure to control the jet velocity of printed material, the purpose of control accuracy is reached.
The utility model computer export before 3D printing needs the model of high-precision printing, and model is STL formatted files,
Carry out after printing path planning, six shaft mechanical arms 20 and Six Degree-of-Freedom Parallel Platform 30 are controlled using multi-shaft interlocked control system 70
Cooperative motion, realizes the three dimensional patterned printing of complicated fine artificial bone surface and loose structure interior surface.By calculating
Machine sets up the kinematics model of six shaft mechanical arms 20 and Six Degree-of-Freedom Parallel Platform 30, movement locus is optimized, by many
Axle coordinated control system 70 completes six shaft mechanical arms 20 and the cooperative motion of Six Degree-of-Freedom Parallel Platform 30, and according to six shaft mechanical arms
The 20 overall speed of service, reaches the shaping and diffusion control of printed droplets, and controls Six Degree-of-Freedom Parallel Platform 30 to cooperate with
Complete the 3D printing of complex surface.Multi-shaft interlocked control mode can realize artificial bone surface and loose structure interior surface
Three dimensional patterned high-precision printing, and improve the efficiency of printing.Further, due to six shaft mechanical arms 20 and six degree of freedom
There is vibration in parallel connection platform 30, produce error influence printing precision, this patent is added in motion process to shake in motion process
It is dynamic to suppress control, the kinetic model of six shaft mechanical arms 20 and Six Degree-of-Freedom Parallel Platform 30 is set up respectively, using based on linear
The Linear Quadratic Control model of the method for Quadratic Optimal Control, six shaft mechanical arms 20 of design and Six Degree-of-Freedom Parallel Platform 30,
The vibration produced in system operation is controlled, reduces six shaft mechanical arms 20 and Six Degree-of-Freedom Parallel Platform 30 in motion
During the vibration that produces, so as to reduce because of the printing error that vibration is produced, it is ensured that the steady progress of printing, improve the essence of printing
Degree.The utility model is respectively mounted two high-precision IMAQ cameras 50 on the first side frame 13 and the second side frame 14, uses
The measuring method of binocular stereo vision is measured to the real time position of the end of printing nozzle 4057, obtains the end of printing nozzle 4057
The locus at end, its theoretical position is contrasted by the end real time position of printing nozzle 4057 obtained by measurement, carries out printing nozzle
The real-time feedback control of 4057 terminal positions.Two high-precision IMAQ cameras 50 are from different position acquisition printing nozzles
The two images of 4057 terminal positions, by calculating the position deviation of the distal point of printing nozzle 4057 in two images, acquisition is beaten
Print the locus of the end of nozzle 4057.The space bit for the end of printing nozzle 4057 that high-precision IMAQ camera 50 is obtained
Put precision and reach a μm level, the terminal position of printing nozzle 4057 is carried out according to the end real time position of printing nozzle 4057 of measurement real
When feedback control, and pass through computer adjust six shaft mechanical arms 20 motion, it is ensured that high-precision printing.
It should be noted that in the utility model, control system 70 has been introduced in the prior art, its carrying
Software function is also described in the prior art, and the utility model is by the selection of hardware and to combine control system high-precision to reach
The purpose of the printing of degree.
The utility model has been made to the shower head mechanism of 3D printing system, 3D printing device and 3D printing device to be changed
Enter, product form of the present utility model is not limited to this case diagram and embodiment, anyone carries out the appropriate of similar thinking to it
Change is modified, and all should be regarded as not departing from patent category of the present utility model.
Claims (9)
1. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology, including frame, to place artificial bone
The workbench of support, the printing equipment being arranged on above workbench, the device for transporting objects to convey printed material, image are adopted
Collect camera, drive mechanism and control system to adjust printing equipment orientation, printing equipment, device for transporting objects, image
Harvester and drive mechanism are connected to control system, it is characterised in that：The workbench is to be connected in the frame
Six Degree-of-Freedom Parallel Platform, the drive mechanism is six shaft mechanical arms, and the printing equipment is connected on six shaft mechanical arms.
2. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 1, its feature
It is：The printing equipment includes mounting bracket, motor, cylinder, rotary flange and multiple shower head mechanisms, and mounting bracket is connected to institute
State on six shaft mechanical arms, motor is arranged on mounting bracket, and rotary flange is connected on the output shaft of motor, multiple shower head mechanism edges
Circumferential to be equably laid on rotary flange, multiple shower head mechanisms are connected to installation in the way of it can be moved axially along rotary flange
On frame, cylinder is arranged on mounting bracket and the piston rod of cylinder is provided with drive end to drive shower head mechanism to move, in spray
It is provided between head mechanism and rotary flange to make the resetting-mechanism of shower head mechanism return.
3. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 2, its feature
It is：The mounting bracket includes protective cover, the first installing plate and the second installing plate, and the first installing plate and the second installing plate set up separately
At the two ends of protective cover vertically, the motor is fixed on the first installing plate, is provided with the second installing plate and is supplied the shower nozzle
The working hole that mechanism stretches out, the upper end of the shower head mechanism is hinged on the rotary flange by first connecting rod, described to reset
Mechanism is the first spring, and one end of the first spring is connected on rotary flange, and the other end is connected to the upper end of the shower head mechanism,
Mounting post, in addition to second connecting rod and guide cylinder are additionally provided with the second installing plate, one end of second connecting rod is hinged on mounting post
On, the other end is hinged on guide cylinder, and the shower head mechanism is slideably located in guide cylinder.
4. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 3, its feature
It is：The shower head mechanism includes cylinder and is arranged on the mobile piston of the inner chamber of cylinder, and mobile piston divides the inner chamber of cylinder
First chamber and second chamber are divided into, printing nozzle is provided with cylinder, printing nozzle is connected with second chamber, set on cylinder
There is air inlet, one end of air inlet is connected with first chamber, and the other end is connected with source of the gas, in addition to charging aperture, the one of charging aperture
End is connected with second chamber, and the other end is connected with the device for transporting objects.
5. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 4, its feature
It is：Pistons stops are provided with the second chamber, pistons stops are arranged on the top of the charging aperture.
6. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 5, its feature
It is：The shower head mechanism is 5, the diameter of the printing nozzle of 5 shower head mechanisms be respectively 120um, 100um, 80um,
50um、30um。
7. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 6, its feature
It is：The device for transporting objects includes air compressor machine and material storage cylinder, the outlet side of air compressor machine and the air inlet of material storage cylinder
End connection, the discharge end of material storage cylinder is connected with the charging aperture by conveying pipeline, and motor-driven valve is provided with the conveying pipeline
Door.
8. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 1, its feature
It is：The frame includes underframe, upper frame and the first side frame and the second side frame that are arranged between underframe and upper frame, described six
Shaft mechanical arm is arranged on upper frame, and the Six Degree-of-Freedom Parallel Platform is arranged on underframe, the six shaft mechanicals arm and described six
Free degree parallel connection platform is connected to the control system.
9. a kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology as claimed in claim 8, its feature
It is：Described image collection camera is arranged on the first side frame and/or the second side frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621135013.0U CN206403893U (en) | 2016-10-19 | 2016-10-19 | A kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621135013.0U CN206403893U (en) | 2016-10-19 | 2016-10-19 | A kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology |
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| CN206403893U true CN206403893U (en) | 2017-08-15 |
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| CN201621135013.0U Withdrawn - After Issue CN206403893U (en) | 2016-10-19 | 2016-10-19 | A kind of 3D printing system based on multi-shaft interlocked control and machine vision metrology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106264796A (en) * | 2016-10-19 | 2017-01-04 | 泉州装备制造研究所 | A kind of 3D print system based on multi-shaft interlocked control and machine vision metrology |
| CN109676916A (en) * | 2019-01-30 | 2019-04-26 | 江苏长江智能制造研究院有限责任公司 | A kind of 3D printing system and its working method |
| CN113021887A (en) * | 2021-03-10 | 2021-06-25 | 扬州工业职业技术学院 | 3D printing nozzle suitable for industrial robot arm and use method thereof |
| WO2021226891A1 (en) * | 2020-05-13 | 2021-11-18 | 中国科学院福建物质结构研究所 | 3d printing device and method based on multi-axis linkage control and machine visual feedback measurement |
| CN114986873A (en) * | 2022-06-21 | 2022-09-02 | 上海交通大学 | DIW conformal printing system and method based on multi-axis mechanical arm |
-
2016
- 2016-10-19 CN CN201621135013.0U patent/CN206403893U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106264796A (en) * | 2016-10-19 | 2017-01-04 | 泉州装备制造研究所 | A kind of 3D print system based on multi-shaft interlocked control and machine vision metrology |
| CN109676916A (en) * | 2019-01-30 | 2019-04-26 | 江苏长江智能制造研究院有限责任公司 | A kind of 3D printing system and its working method |
| WO2021226891A1 (en) * | 2020-05-13 | 2021-11-18 | 中国科学院福建物质结构研究所 | 3d printing device and method based on multi-axis linkage control and machine visual feedback measurement |
| CN113021887A (en) * | 2021-03-10 | 2021-06-25 | 扬州工业职业技术学院 | 3D printing nozzle suitable for industrial robot arm and use method thereof |
| CN114986873A (en) * | 2022-06-21 | 2022-09-02 | 上海交通大学 | DIW conformal printing system and method based on multi-axis mechanical arm |
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