WO2017008637A1 - 三维打印装置和待补部件的修补方法 - Google Patents

三维打印装置和待补部件的修补方法 Download PDF

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Publication number
WO2017008637A1
WO2017008637A1 PCT/CN2016/087635 CN2016087635W WO2017008637A1 WO 2017008637 A1 WO2017008637 A1 WO 2017008637A1 CN 2016087635 W CN2016087635 W CN 2016087635W WO 2017008637 A1 WO2017008637 A1 WO 2017008637A1
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Prior art keywords
component
printing
dimensional
distance
assembly
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PCT/CN2016/087635
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English (en)
French (fr)
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滕华建
蒋青
李澜
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滕华建
蒋青
李澜
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Publication of WO2017008637A1 publication Critical patent/WO2017008637A1/zh

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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
    • B29C67/00—Shaping techniques not covered by groups B29C39/00 - B29C65/00, B29C70/00 or B29C73/00
    • 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

Definitions

  • This application relates to, but is not limited to, the field of three-dimensional printing device technology.
  • the three-dimensional printing technology is a kind of rapid prototyping technology.
  • the three-dimensional printer is based on a digital model file, and the target object is constructed on the printing reference surface of the pedestal by contacting the target with the nozzle by layer-by-layer spraying of the material (ie, printing the target object). ).
  • This technology enables fast, efficient, and accurate representation of digital models with short manufacturing cycles and no waste of material.
  • the embodiment of the present invention provides a three-dimensional printing apparatus capable of realizing, for example, dynamic printing in the up and down direction, so that it can be applied to industries such as medical treatment, and its practicability is remarkable.
  • An embodiment of the present invention provides a three-dimensional printing apparatus, including:
  • a printing assembly attached to the three-dimensional moving component and configured to be driven by the three-dimensional moving component to perform three-dimensional motion to print a target object;
  • a distance measuring assembly mounted on the printing assembly and performing three-dimensional movement along with the printing assembly, and the ranging assembly is configured to measure a printing position of the printing assembly and the printing assembly The distance between;
  • control processing unit that connects the ranging component, the three-dimensional motion component, and the printing component, the control processing unit being configured to detect a printing position of the printing component and the printing component according to the ranging component a distance between the three-dimensional motion component to drive the printing component to move, so that a distance between the printing component and the printing position is maintained at a preset printing distance, thereby completing the target object Print.
  • the distance measuring component is fixedly mounted on the printing component.
  • the ranging component is configured to measure the distance between the printhead and the print position of the printhead in real time.
  • the ranging component is configured to be capable of transmitting a distance between the measured printing component and a printing position of the printing component to a control processing unit.
  • the ranging component is further configured to transmit the measured distance between the printing component and the printing position of the printing component to the control processing unit in real time.
  • control processing unit is configured to control the three-dimensional motion component to move the printing component to move in real time according to a distance between the printing component and the printing position of the printing component measured by the ranging component. , so that the distance between the printing component and the printing position is maintained at a preset printing distance, thereby completing printing of the target object.
  • the ranging component is a range finder, a sensor or an optical measuring system.
  • the range finder is a laser range finder or an ultrasonic range finder.
  • the target object is a model to be printed or a component to be repaired.
  • the printing component comprises: a print head and a feeding component
  • the print head is attached to the three-dimensional motion component, and is configured to drive the print head to perform three-dimensional motion by the three-dimensional motion component, the distance measuring component is fixedly mounted on the print head, and is set as a measurement center The distance between the print head and the print position of the print head;
  • the supply assembly is coupled to the printhead and is configured to provide a material to the printhead to pass the material through the printhead to the print position.
  • the feed assembly is squeezing the material or spray material through the printhead.
  • the print head is a print head.
  • the feeding assembly comprises: a pressing device and a printing cylinder,
  • the pressurizing device is configured to apply pressure to the print cartridge to cause a material in the print cartridge to be from the printhead to a print position;
  • the print cartridge is mounted on the printhead, one end of the print cartridge is attached to the pressurizing device, and the other end is connected to the printhead.
  • the pressurizing device is an air supply pump, or a metal piezoelectric sheet, or a screw, or a screw pump (which may be, for example, a precision screw pump) that communicates with the one end of the print cartridge.
  • the three-dimensional motion component includes a power source and a transmission device
  • the power source is configured to provide power to the conveyor
  • the transfer device is configured to drive the print assembly to move in three dimensions.
  • the conveying device comprises a conveyor belt and a transmission rod
  • the conveyor belt is attached to the power source;
  • One end of the drive rod is attached to the conveyor belt and the other end is attached to the printing assembly.
  • the power source, the conveyor belt and the transmission rod each comprise three.
  • the power source is a motor, optionally a stepper motor.
  • the drive rod can be replaced with a guide rail, especially when the power source is a motor (optionally a stepper motor).
  • the three-dimensional moving component is a combined structure of a motor, a conveyor belt and a transmission rod; or a combined structure of a motor, a conveyor belt and a guide rail; or a combined structure of an electromagnetic field generator and a magnetic levitation rail.
  • the drive belt is a belt.
  • the power source is an electromagnetic field generator
  • the conveyor comprises a magnetic rail, such as a magnetic levitation rail.
  • the three-dimensional printing apparatus further includes: a mounting bracket having a base, the three-dimensional moving component, the printing component are all mounted on the mounting bracket, and the printing component and the ranging component are located Directly above the base.
  • the three-dimensional printing device is a three-dimensional printer.
  • An embodiment of the present invention further provides a repairing method for a component to be repaired, the method comprising:
  • the distance measuring component in the three-dimensional printing apparatus measures a distance between the printing component and a printing position of the printing component, and transmits the measured distance to the control processing unit;
  • the control processing unit controls the three-dimensional motion component to move the printing component according to the distance, so that a distance between the printing component and the printing position is maintained as a preset printing in the information model. Distance to complete the printing of the target object.
  • the information model is a digital model.
  • the information model is an outline digital model of the component to be complemented in a complete state.
  • the control processing unit drives the three-dimensional motion component to drive the printing component to move according to the digital model by constructing the contour digital model in the complete state of the component to be supplemented, and to wait for the component to be supplemented.
  • the patching position is repaired so that the contour of the component to be repaired is finally the same as the contour of the digital model, thereby completing the patching of the component to be complemented.
  • the ranging component in the three-dimensional printing device measures the distance between the printing component and the printing position of the printing component in real time, and transmits the measured distance to the control processing unit in real time.
  • the control processing unit controls the three-dimensional motion component to move the printing component in real time according to the distance, so that the distance between the printing component and the printing position is maintained as a preset in the information model.
  • the printing distance is set to complete the printing of the target object.
  • the component to be supplemented is placed on the base of the three-dimensional printing device.
  • the component to be supplemented is a bone
  • the movement of the component to be supplemented in a direction perpendicular to the first plane is a fretting of the bone in a direction perpendicular to the first plane caused by the beating of the artery and breathing.
  • the movement on the first plane is a lateral movement; the movement in a direction perpendicular to the first plane is a longitudinal movement.
  • the above method can be carried out using the three-dimensional printing apparatus described in any of the above embodiments.
  • the three-dimensional printing device is used to repair the to-be-compensated position of the component to be repaired, and the longitudinal movement of the component to be replenished is ensured during the repairing process, and the three-dimensional motion component adjusts the printing according to the distance between the printing component measured by the distance measuring component and the printing position of the printing component.
  • the position of the assembly is such that the distance between the printing assembly and the printing position is maintained at a predetermined printing distance to achieve printing position of the printing unit at the position to be replenished of the component to be replenished.
  • An embodiment of the present invention also provides a bone repair material prepared by the repair method of the component to be repaired according to any of the embodiments herein.
  • the distance measuring component can be fixedly mounted on the printing component and carried out with the printing component to perform three-dimensional movement with the three-dimensional moving component, and the distance measuring component measures the printing position of the printing component and the printing component in real time.
  • the distance between the three-dimensional motion component and the position of the printing component is adjusted in real time, so that the distance requirement of the three-dimensional printing is satisfied between the printing component and the printing position, and dynamic printing is realized, and the printing reference plane is not limited to the upper and lower directions. Static situation.
  • the control processing unit drives the three-dimensional moving component to drive the printing component to move according to the digital model by constructing the contour digital model of the component to be repaired in a complete state, and to be in the position to be compensated of the component. Repair is performed so that the outline of the part is finally the same as the outline of the digital model, thereby completing the repair of the part to be complemented.
  • the distance measuring component transmits the detected distance to the control processing unit, and the control processing unit adjusts and drives the three-dimensional motion component to drive the printing component according to the detected distance.
  • the movement is adjusted so that the distance between the printing component and the printing position at the position to be compensated is adjusted to always satisfy the three-dimensional printing distance requirement, thereby completing dynamic printing in the up and down direction to achieve repairing of the to-be-compensated part of the component to be replenished.
  • the method is particularly suitable for the field of bone repair and medical treatment, which can directly repair the bones, and avoids the problem that the existing three-dimensional printing device cannot be accurately three-dimensionally printed due to the up and down displacement of the bone with the artery, the breathing, and the like, and the application range is wider.
  • FIG. 1 is a schematic structural diagram of a three-dimensional printing apparatus according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of a method for repairing a component to be repaired according to an embodiment of the present invention
  • 1 laser range finder 21 print heads, 22 air supply pumps, 23 print cylinders, 31 drive rods, 32 stepper motors, 33 belts, 4 pedestals.
  • the three-dimensional printing apparatus includes: a three-dimensional motion component; a printing component for printing a target object, attached to the three-dimensional motion component, and the three-dimensional motion component is used to drive the printing component to perform three-dimensional motion; a distance measuring assembly that is detachably or non-detachably fixedly mounted on the printing assembly and that moves three-dimensionally with the printing assembly, and the distance measuring assembly is used to measure the distance between the printing assembly and the printing position of the printing assembly; A unit (not shown) that connects the ranging component, the three-dimensional motion component, and the printing component.
  • the ranging component can be arranged to communicate the distance between the measured printing component and the printing position of the printing component to the control processing unit.
  • the ranging component is configured to measure the distance between the printhead and the print position of the printhead in real time and communicate the measured distance to the control processing unit in real time.
  • the control processing unit processes the information according to the distance feedback between the printing component measured by the ranging component and the printing position of the printing component, and correspondingly issues processing information to control the three-dimensional motion component to drive the printing component to move, so that the printing component and the printing position The distance between them satisfies the printing requirements to finally complete the printing of the target object.
  • the control processing unit is configured to control the movement of the three-dimensional motion component to drive the printing component in real time according to the distance between the printing component measured by the ranging component and the printing position of the printing component, so as to be between the printing component and the printing position. The distance is kept at a preset printing distance to complete the printing of the target object.
  • the target object may be a model to be printed or a component to be patched.
  • the ranging component may include a range finder, and the range finder may be a laser range finder 1 or an ultrasonic range finder, etc., and the object of the present application may be achieved, and the object of the invention is not deviated from the design idea of the embodiment of the present invention. This is not described here, but it should be within the scope of protection of this application.
  • the laser range finder can be placed vertically down and includes a laser emitter and laser receiver for use with the camera. Additionally, a device that can effectively sense and measure the distance between the printing assembly and the printing position of the printing assembly can be used as a ranging component, such as a sensor or optical measurement system.
  • the printing assembly includes a printhead 21 and a supply assembly coupled to the printhead 21.
  • the print head 21 is attached to a three-dimensional motion assembly that drives the print head 21 for three-dimensional motion.
  • a distance measuring assembly can be attached to the printhead 21 for measuring the distance between the print head 21 and the print position of the print head 21.
  • the feed assembly can be extruded or sprayed through the printhead.
  • the printhead 21 can be a printhead. In addition, the print head 21 can be disposed vertically downward.
  • the distance measuring assembly reflects the distance between the print head 21 and the print position of the print head 21 by measuring the distance between it and the print position of the print head 21.
  • the supply assembly may include: a pressurizing device; and a print cartridge 23 mounted on the printhead 21, one end of the print cartridge 23 attached to the pressurizing device and the other end to the print head 21.
  • the pressing device can be used to apply pressure to the print cartridge 23 to eject or extrude the material in the print cartridge 23 from the printhead 21 to the printing position.
  • the pressurizing device is an air supply pump 22 that is in gaseous communication with the print cartridge 23.
  • the air supply pump 22 supplies air to the printing cylinder 23 to eject or extrude the material in the printing cylinder 23 from the printing head 21.
  • the air supply pump 22 is in communication with the print cartridge 23 through the air tube.
  • a device that can effectively apply pressure to the print cartridge 23 to eject or extrude the material in the print cartridge 23 from the print head 21 can be used as the pressurizing device.
  • a screw can be used as a pressing device to push the material from the printing cylinder 23 toward the printing head 21, and for example, a screw pump (such as a screw pump, which can be a precision screw pump) or a metal piezoelectric piece can be used as a pressurization.
  • the device is not deviated from the design idea of the embodiment of the present invention and will not be described herein, but it should be within the scope of protection of the present application.
  • the three-dimensional motion assembly can include a power source and a conveyor.
  • the power source can provide power to the conveyor and the conveyor drives the printer assembly to move in three dimensions.
  • the three-dimensional moving component is a combined structure of a power source and a transmission.
  • the power source can be a motor, optionally a stepper motor 32;
  • the conveyor can include a transmission rod 31 and a conveyor belt, optionally a belt 33, alternatively a timing belt.
  • the belt 33 is attached to the stepping motor 32 to obtain power to move.
  • One end of the transmission rod 31 is attached to the belt 33, and the other end is attached to the printing assembly, specifically to the print head 21, and three-dimensionally moves the transmission rod 31 and the printing assembly as the belt 33 moves.
  • the stepping motor 32, the belt 33, and the transmission rod 31 may each include three.
  • a guide rail may be used in place of the transmission rod 31 of the above-described conveyor.
  • the conveying device includes a conveyor belt (optionally a belt) and a guide rail.
  • the three-dimensional printing apparatus further includes: a mounting frame having a base 4 , the three-dimensional moving component and the printing component are all mounted on the mounting frame, and the printing component and the distance measuring component are located directly above the base 4 ; That is, the printing reference surface of the susceptor 4 is the printing support surface of the model to be printed or the component to be complemented.
  • the printing reference surface of the pedestal 4 may be a flat surface, may be a curved surface, or may be other non-flat surfaces, etc., and the object of the present application may be achieved, and the purpose of the application is not deviated from the design idea of the present application, and will not be described herein again. It should be within the scope of protection of this application.
  • the three-dimensional printing device is a three-dimensional printer.
  • the transmission can include magnetic A force rail, such as a magnetic levitation rail, drives the three-dimensional movement of the printing assembly by the magnetically-guided rail.
  • the embodiment of the invention further provides a repairing method for the component to be repaired, and the three-dimensional printing device provided by any of the above embodiments may be used to repair the component to be supplemented. As shown in FIG. 2, the method includes:
  • Step 102 Establish an information model corresponding to the complete state of the position to be compensated in the control processing unit;
  • Step 104 placing the component to be supplemented on the support surface while limiting the movement of the component to be repaired on the first plane;
  • Step 106 Repair the to-be-compensated position of the component to be repaired by using the printing component in the three-dimensional printing device according to the information model;
  • Step 108 in the repairing process, the distance measuring component measures the distance between the printing component and the printing position of the printing component in real time, and transmits the measured distance to the control processing unit;
  • Step 110 The control processing unit controls the three-dimensional motion component to drive the printing component to move according to the distance between the printing component measured by the ranging component and the printing position of the printing component, to adjust the position of the printing component, and between the printing component and the printing position.
  • the distance is maintained as a predetermined printing distance in the information model to achieve a printing position at which the printing unit prints the material at the position to be replenished of the component to be replenished.
  • the movement on the first plane may be a lateral movement.
  • the component to be replenished moves in the process of repairing the to-be-compensated position of the component to be replenished by the three-dimensional printing device.
  • the repairing method of the component to be repaired provided by the embodiment of the present invention can realize dynamic printing and repairing in, for example, the vertical direction (ie, the up and down direction) during the repairing process of the component to be repaired, so that the three-dimensional printer can be applied to the component repairing and construction with vibration and the like.
  • the vertical direction ie, the up and down direction
  • the three-dimensional printer can be applied to the component repairing and construction with vibration and the like.
  • the information model can be a digital model.
  • the information model may be an outline digital model of the component to be complemented in a complete state.
  • the control processing unit drives the three-dimensional motion component to drive the printing component to move according to the digital model by constructing the contour digital model in the complete state of the component to be supplemented, and to wait for the component to be supplemented.
  • the patching position is repaired so that the contour of the component to be repaired is finally the same as the contour of the digital model, thereby completing the patching of the component to be complemented.
  • the components to be repaired can be placed on the base 4 of the three-dimensional printing apparatus. Of course, it can also be placed on other support surfaces, and the support surface can still be repaired well due to the vibration of the external environment.
  • the component to be supplemented is a bone
  • the longitudinal movement of the component to be supplemented is a longitudinal micro-motion caused by the bones jumping and breathing, and the method realizes the clinical medicine directly repairing the bone through the three-dimensional printing device. the goal of.
  • the distance measuring component is fixedly mounted on the printing component, and performs three-dimensional movement along with the three-dimensional motion component together with the printing component, and the distance measuring component measures the printing component and the printing in real time.
  • the distance between the printing positions of the components, so as to match the position of the printing components in real time with the three-dimensional moving components, so that the distance between the printing components and the printing position can be met, and dynamic printing is not limited to the printing reference surface. The case of being stationary in the up and down direction.
  • the control processing unit drives the three-dimensional moving component to drive the printing component to move according to the digital model by constructing the contour digital model in the complete state of the component to be repaired, and to be compensated for in the component.
  • the position is repaired so that the outline of the part is finally the same as the outline of the digital model, thereby completing the repair of the part to be complemented.
  • the distance measuring component drives the three-dimensional motion component to drive the printing component to follow the detected distance, so that the printing component and the printing position at the position to be replenished are between
  • the distance is adjusted to always meet the three-dimensional printing distance requirement, thereby completing the dynamic printing in the up and down direction, thus realizing the repair of the to-be-compensated position of the component to be repaired.
  • the method is particularly suitable for the field of bone repair medical treatment, which can directly repair the bones, and avoids the problem that the existing three-dimensional printing device cannot be accurately three-dimensionally printed due to the up and down displacement of the bone with the arteries, the breathing, and the like, and the application range is wider.
  • connection may be a fixed connection or a detachable connection. Or connected integrally; may be directly connected, or may be indirectly connected through an intermediate medium, and the fixing may be a detachable fixing or a non-detachable fixing.
  • connection may be a fixed connection or a detachable connection. Or connected integrally; may be directly connected, or may be indirectly connected through an intermediate medium, and the fixing may be a detachable fixing or a non-detachable fixing.
  • specific meanings of the above terms herein may be understood on a case-by-case basis.
  • the three-dimensional printing device and the application thereof provided by the embodiments of the present invention can realize accurate dynamic three-dimensional printing through the synergistic action of the distance measuring component, the three-dimensional motion component and the printing component, and can be particularly suitable for the field of Google repair medical treatment.

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Abstract

一种三维打印装置和待补部件的修补方法。三维打印装置包括：三维运动组件；打印组件，其附接于三维运动组件，且设置为由三维运动组件带动打印组件而进行三维运动来打印目标物体；测距组件，其安装在打印组件上、并随打印组件一起进行三维运动，且测距组件用于测量打印组件与打印组件的打印位置之间的距离；以及控制处理单元，其连接测距组件、三维运动组件和打印组件，控制处理单元设置为根据测距组件测量的打印组件与打印组件的打印位置之间的距离、来控制三维运动组件带动打印组件进行的三维运动，以使打印组件与打印位置之间的距离保持为预先设定的打印距离，从而完成目标物体的打印。

Description

三维打印装置和待补部件的修补方法 技术领域
本申请涉及但不限于三维打印设备技术领域。
背景
三维打印技术是快速成形技术的一种，三维打印机以数字模型文件为基础，通过喷嘴与目标物接触逐层喷射料材的方式在基座的打印基准面上构建目标物体(即：打印目标物体)。采用该技术可以实现快速、高效、精确的展现数字模型，而且其制造周期短，也不会浪费料材。
发明概述
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
作为快速成形的三维打印技术只能进行静态打印，即：对于构建模型，必须在基座的基准面上进行打印。本申请发明人发现对于动态打印，相关的三维打印技术是有问题的。例如，基座的基准面不能上下移动。以向上逐层打印为例，打印过程中基座向上移动，则会使模型顶住喷嘴，基座向下移动，则喷嘴与模型分离。均无法完成模型上继续喷涂料材。
本发明实施方案提供了一种三维打印装置，能够实现例如上下方向上的动态打印，以使其可应用于医疗等行业，其实用性显著。
本发明实施方案提供了一种三维打印装置，包括：
三维运动组件；
打印组件，其附接于所述三维运动组件，且设置为由所述三维运动组件带动而进行三维运动来打印目标物体；
测距组件，其安装在所述打印组件上、并随所述打印组件一起进行三维运动，且所述测距组件设置为测量所述打印组件与所述打印组件的打印位置 之间的距离；以及
控制处理单元，其连接所述测距组件、所述三维运动组件和所述打印组件，所述控制处理单元设置为根据所述测距组件测量的所述打印组件与所述打印组件的打印位置之间的距离、来控制所述三维运动组件带动所述打印组件进行移动，以使所述打印组件与所述打印位置之间的距离保持为预先设定的打印距离，从而完成所述目标物体的打印。
可选地，所述测距组件固定安装在所述打印组件上。
可选地，所述测距组件设置为实时测量所述打印头与所述打印头的打印位置之间的距离。
可选地，所述测距组件设置为能够将所测量所述打印组件与所述打印组件的打印位置之间的距离传送至控制处理单元。
可选地，所述测距组件还设置为将所测量的所述打印组件与所述打印组件的打印位置之间的距离实时传送至所述控制处理单元。
可选地，所述控制处理单元设置为根据所述测距组件测量的所述打印组件与所述打印组件的打印位置之间的距离实时地控制所述三维运动组件带动所述打印组件进行移动，以使所述打印组件与所述打印位置之间的距离保持为预先设定的打印距离，从而完成所述目标物体的打印。
可选地，所述测距组件为测距仪、传感器或光学测量系统。
可选地，所述测距仪为激光测距仪或超声波测距仪。
可选地，所述目标物体为待打印模型或待补部件。
可选地，所述打印组件包括：打印头和供料组件，
所述打印头附接于所述三维运动组件，且设置为由所述三维运动组件带动所述打印头进行三维运动，所述测距组件固定安装在所述打印头上，并设置为测量所述打印头与所述打印头的打印位置之间的距离；且
所述供料组件与所述打印头相连接，且设置为向所述打印头提供料材以使所述料材通过所述打印头至所述打印位置。
可选地，所述供料组件通过所述打印头进行挤料材或喷料材。
可选地，所述打印头为打印喷头。
可选地，所述供料组件包括：加压装置和打印料筒，
所述加压装置被配置为向所述打印料筒施压以使所述打印料筒中的料材自所述打印头至打印位置；且
所述打印料筒安装在所述打印头，所述打印料筒的一端附接于所述加压装置、另一端连通所述打印头。
可选地，所述加压装置为供气泵、或金属压电片、或螺旋杆、或螺杆泵(螺杆泵例如可以是精密螺杆泵)，其与所述打印料筒的所述一端连通。
可选地，所述三维运动组件包括动力源和传送装置，
所述动力源配置为向所述传送装置提供动力；且
所述传送装置配置为带动所述打印组件三维运动。
可选地，所述传送装置包括传送带和传动杆，
所述传送带附接于所述动力源；并且
所述传动杆的一端附接于所述传送带，另一端附接于所述打印组件。
可选地，所述动力源、所述传送带和所述传动杆均包括三个。
可选地，所述动力源为电机，可选地为步进电机。
可选地，所述传动杆可以用导轨来代替，尤其是当动力源为电机(可选地为步进电机)时。
可选地，所述三维运动组件为电机、传送带和传动杆的组合结构；或者为电机、传送带和导轨的组合结构；或者为电磁场发生器与磁悬浮导轨的组合结构。
可选地，所述传动带为皮带。
可选地，所述动力源为电磁场发生器，所述传送装置包括带磁力的导轨，例如磁悬浮导轨。
可选地，所述三维打印装置还包括：具有基座的安装架，所述三维运动组件、所述打印组件均安装在所述安装架上，且所述打印组件和所述测距组件位于所述基座的正上方。
可选地，所述三维打印装置为三维打印机。
本发明实施方案还提供了一种待补部件的修补方法，所述方法包括：
在三维打印装置中的控制处理单元中建立对应的待补位置完整态的信息模型；
将待补部件置于支撑面上、同时限制所述待补部件在第一平面上的移动；
根据所述信息模型使用所述三维打印装置中的打印组件对所述待补部件的待补位置进行修补；
在修补过程中，三维打印装置中的测距组件测量所述打印组件与所述打印组件的打印位置之间的距离，并将所测量的距离传送至所述控制处理单元；
所述控制处理单元根据所述距离控制所述三维运动组件带动所述打印组件进行移动，以使所述打印组件与所述打印位置之间的距离保持为所述信息模型中预先设定的打印距离，从而完成目标物体的打印。
可选地，所述信息模型为数字模型。
可选地，所述信息模型为待补部件在完整状态下的轮廓数字模型。在三维打印装置应用于修补环境时，可通过先构建待补部件完整状态下的轮廓数字模型，使控制处理单元驱动三维运动组件带动打印组件按该数字模型运动，并在该待补部件的待补位置进行修补来使该待补部件的轮廓最终与数字模型的轮廓相同，从而完成对待补部件的修补。
可选地，在修补过程中，三维打印装置中的测距组件实时测量所述打印组件与所述打印组件的打印位置之间的距离，并将所测量的距离实时传送至所述控制处理单元；所述控制处理单元根据所述距离实时地控制所述三维运动组件带动所述打印组件进行移动，以使所述打印组件与所述打印位置之间的距离保持为所述信息模型中预先设定的打印距离，从而完成目标物体的打印。
可选地，所述待补部件置于三维打印装置的基座上。
可选地，所述待补部件为骨骼，待补部件在垂直于第一平面的方向上的移动为骨骼随动脉跳动、呼吸而产生的在垂直于第一平面的方向上的微动。
可选地，所述在第一平面上的移动为横向移动；所述垂直于第一平面的方向上的移动为纵向移动。
上述方法可利用上述任一实施方案所述的三维打印装置来进行。
采用三维打印装置对待补部件的待补位置进行修补，且保证修补过程中随待补部件纵向移动，三维运动组件根据测距组件测量的打印组件与打印组件的打印位置之间的距离来调整打印组件的位置，使打印组件与打印位置之间的距离保持为预先设定的打印距离，以实现打印组件打印料材于待补部件的待补位置处的打印位置上。
本发明实施方案还提供一种骨骼修复材料，其通过本文任一实施方案所述的待补部件的修补方法制备。
在本发明实施方案提供的三维打印装置中，测距组件可固定安装在打印组件上、并与打印组件一起随三维运动组件进行三维运动，同时测距组件实时测量打印组件与打印组件的打印位置之间的距离，从而配合三维运动组件对打印组件的位置实时调整，使打印组件和打印位置之间满足三维打印的距离要求，实现动态打印，不会局限于打印基准面必须要求在上下方向上静止的情况。
在三维打印装置应用于修补环境时，通过先构建待补部件在完整状态下的轮廓数字模型，使控制处理单元驱动三维运动组件带动打印组件按该数字模型运动，并在该部件的待补位置进行修补来使该部件的轮廓最终与数字模型的轮廓相同，从而完成对待补部件的修补。在这个修补过程中，若待补部件在上下方向上移动，测距组件会将检测到的距离传送至控制处理单元，控制处理单元根据检测到的距离调整并驱动三维运动组件带动打印组件进行随动，使打印组件与待补位置处的打印位置之间的距离进行调整以始终满足三维打印距离要求，从而完成在上下方向上的动态打印，以实现待补部件的待补位置处的修补。该方法特别适用于骨骼修复医疗领域，其可直接修补骨骼，并避免已有三维打印装置因骨骼随动脉跳动、呼吸等会出现上下移位而无法精确三维打印的问题，应用范围更广。
本发明实施方案的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显然，或者通过实施本发明实施方案而了解。本发明实 施方案的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图概述
附图用来提供对本发明实施例技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本发明实施例的技术方案，并不构成对本发明实施例技术方案的限制。
图1为本发明一个实施例所述的三维打印装置的结构示意图；
图2为本发明一个实施例所述的待补部件的修补方法的流程图；
其中，图1中附图标记与部件名称之间的对应关系为：
1激光测距仪，21打印头，22供气泵，23打印料筒，31传动杆，32步进电机，33皮带，4基座。
发明详述
下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
在下面的描述中阐述了很多具体细节以便于充分理解本发明实施例，但是，本发明实施方案还可以采用其他不同于在此描述的方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。下面结合附图描述本发明一些实施例所述的三维打印装置。
本发明实施例提供的三维打印装置，如图1所示，包括：三维运动组件；用于打印目标物体的打印组件，附接于三维运动组件，三维运动组件用于带动打印组件进行三维运动；测距组件，其可拆或非可拆地固定安装在打印组件上、并随打印组件一起进行三维运动，且测距组件用于测量打印组件与打印组件的打印位置之间的距离；控制处理单元(未示出)，连接测距组件、三维运动组件和打印组件。
测距组件可被设置为将所测量的打印组件与打印组件的打印位置之间的距离传送至控制处理单元。
在一些实施例中，测距组件设置为实时测量打印头与打印头的打印位置之间的距离，并将所测量的距离实时传送至控制处理单元。
控制处理单元根据测距组件测量的打印组件与打印组件的打印位置之间的距离反馈的信息进行处理并对应发出处理信息，来控制三维运动组件带动打印组件进行移动，使打印组件与打印位置之间的距离满足打印要求，以最终完成目标物体的打印。在一些实施例中，控制处理单元设置为根据测距组件测量的打印组件与打印组件的打印位置之间的距离实时地控制三维运动组件带动打印组件进行移动，以使打印组件与打印位置之间的距离保持为预先设定的打印距离，从而完成目标物体的打印。
目标物体可以是待打印模型或待补部件。测距组件可包括测距仪，测距仪可以为激光测距仪1，也可以是超声波测距仪等，均可实现本申请的目的，其宗旨未脱离本发明实施方案的设计思想，在此不再赘述，但应属于本申请的保护范围内。激光测距仪可竖直朝下设置，并包括相配合使用的激光发射器和激光接收器。另外，可有效地感应并测量打印组件与打印组件的打印位置之间的距离的装置均可作为测距组件，例如传感器或光学测量系统。
如图1所示，打印组件包括：打印头21和与打印头21相连接的供料组件。打印头21附接于三维运动组件，三维运动组件带动打印头21进行三维运动。测距组件可固定在打印头21上，用于测量打印头21与打印头21的打印位置之间的距离。
供料组件可通过打印头进行挤料材或喷料材。
打印头21可以是打印喷头。另外，打印头21可竖直朝下设置。
测距组件通过测量其与打印头21的打印位置之间的距离来反映打印头21与打印头21的打印位置之间的距离。
如图1所示，供料组件可包括：加压装置；和安装在打印头21上的打印料筒23，打印料筒23的一端附接于加压装置、另一端连通打印头21。加压装置可用于向打印料筒23施压以使打印料筒23中的料材自打印头21喷出或挤出至打印位置。
在本实施例中，加压装置为供气泵22，其与打印料筒23气体连通。当 料材承装于打印料筒23内时，供气泵22供气施压于打印料筒23以将打印料筒23内的料材自打印头21喷出或挤出。可选地，如图1所示，供气泵22通过气管与打印料筒23相连通。
此外，除供气泵22可作为加压装置之外，可有效施加压力于打印料筒23以将打印料筒23内的料材自打印头21喷出或挤出的装置均可作为加压装置，例如可采用螺旋杆作为加压装置将料材从打印料筒23中挤向打印头21，又例如还可采用螺杆泵(螺杆泵例如可以是精密螺杆泵)或金属压电片作为加压装置，其宗旨未脱离本发明实施方案的设计思想，在此不再赘述，但应属于本申请的保护范围内。
三维运动组件可包括动力源和传送装置。动力源可向传送装置提供动力，且传送装置带动所述打印组件三维运动。具体地，如图1所示，三维运动组件为动力源和传动装置的组合结构。动力源可为电机，可选地为步进电机32；传送装置可包括传动杆31和传送带，传送带可选地为皮带33，另可选地为同步皮带。皮带33附接于步进电机32，以获得动力而移动。传动杆31的一端附接于皮带33，另一端附接于打印组件，具体地附接于打印头21，且随着皮带33的移动而带动传动杆31和打印组件而三维运动。步进电机32、皮带33和传动杆31均可包括三个。
可以使用导轨来替代上述传送装置的传动杆31。此时，传送装置包括传送带(可选地为皮带)和导轨。
另外，如图1所示，三维打印装置还包括：具有基座4的安装架，三维运动组件、打印组件均安装在安装架上，且打印组件和测距组件位于基座4的正上方；即基座4的打印基准面为待打印模型或待补部件的打印支撑面。
基座4的打印基准面可以为平面，可以为曲面，也可以为其他非平整的面等，均可实现本申请的目的，其宗旨未脱离本申请的设计思想，在此不再赘述，但应属于本申请的保护范围内。
具体地，三维打印装置为三维打印机。
此外，除电机作为动力源之外，其他可有效提供动力的装置均可作为动力源。例如，可采用电磁场发生器作为动力源。此时，传动装置可包括带磁 力的导轨，例如磁悬浮导轨，通过这种带磁力的导轨带动所述打印组件三维运动。
本发明实施例还提供了一种待补部件的修补方法，可采用上述任一实施例提供的三维打印装置来修补待补部件。如图2所示，所述方法包括：
步骤102，在控制处理单元中建立对应待补位置完整态的信息模型；
步骤104，将待补部件置于支撑面上、同时限制待补部件在第一平面上的移动；
步骤106，根据信息模型使用三维打印装置中的打印组件对待补部件的待补位置进行修补；
步骤108，在修补过程中，测距组件实时测量打印组件与打印组件的打印位置之间的距离，并将所测量的距离传送至控制处理单元；
步骤110，控制处理单元根据测距组件测量的打印组件与打印组件的打印位置之间的距离控制三维运动组件带动打印组件进行移动，来调整打印组件的位置，使打印组件与打印位置之间的距离保持为信息模型中预先设定的打印距离，以实现打印组件打印料材于待补部件的待补位置处的打印位置上。
上述步骤104中，第一平面上的移动可以是横向移动。
可选地，保证在采用三维打印装置对待补部件的待补位置进行修补的过程中随待补部件纵向移动。
本发明实施例提供的待补部件的修补方法，能够实现待补部件修补过程中在例如纵向上(即：上下方向)的动态打印修补，使三维打印机可应用于具有震动等的部件修补、构建产品模型等场合。
信息模型可为数字模型。具体地，信息模型可为待补部件在完整状态下的轮廓数字模型。在三维打印装置应用于修补环境时，可通过先构建待补部件完整状态下的轮廓数字模型，使控制处理单元驱动三维运动组件带动打印组件按该数字模型运动，并在该待补部件的待补位置进行修补来使该待补部件的轮廓最终与数字模型的轮廓相同，从而完成对待补部件的修补。
待补部件，如：石膏件、塑料件等，可置于三维打印装置的基座4上。 当然，也可以是置于其他支撑面上，支撑面因外界环境而震动的情况下仍很好地可完成修补。
本文的一个具体实施例中，待补部件为骨骼，待补部件的纵向移动为骨骼随动脉跳动、呼吸而产生的纵向上的微动，此方法实现了临床医学上直接通过三维打印设备修复骨骼的目的。
综上所述，在本发明实施例提供的三维打印装置中，测距组件固定安装在打印组件上、并与打印组件一起随三维运动组件进行三维运动，同时测距组件实时测量打印组件与打印组件的打印位置之间的距离，从而配合三维运动组件对打印组件的位置实时调整，使打印组件和打印位置之间满足三维打印的距离要求，实现动态打印，不会局限于打印基准面必须要求在上下方向上静止的情况。
特别是在三维打印装置应用于修补环境时，通过先构建待修补部件完整状态下的轮廓数字模型，使控制处理单元驱动三维运动组件带动打印组件按该数字模型运动，并在该部件的待补位置进行修补来使该部件的轮廓最终与数字模型的轮廓相同，从而完成对待补部件的修补。在这个修补过程中，若待补部件在上下方向上移动，测距组件会根据检测到的距离驱动三维运动组件带动打印组件进行随动，使打印组件与待补位置处的打印位置之间的距离进行调整以始终满足三维打印距离要求，从而完成在上下方向上的动态打印，这样就实现了待补部件的待补位置处的修补。该方法特别适用于骨骼修复医疗领域，其可直接修补骨骼，并避免已有三维打印装置因骨骼随动脉跳动、呼吸等会出现上下移位而无法精确三维打印的问题，其应用范围更广。
在本文的描述中，术语“安装”、“相连”、“连接”、“附接”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，固定可以是可拆卸式的固定，也可以是非可拆卸式的固定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本文中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本文的至少一个实施例或示例中。在本说明书中，对上述术语的 示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
虽然本文所揭露的实施方式如上，但所述的内容仅为便于理解本文而采用的实施方式，并非用以限定本文。任何本申请所属领域内的技术人员，在不脱离本申请所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本申请的专利保护范围，仍须以所附的权利要求书所界定的范围为准。
工业实用性
本发明实施方案提供的三维打印装置及其应用，可通过测距组件、三维运动组件与打印组件的相互协同作用，实现精确的动态三维打印，可特别适用于谷歌修复医疗领域。

Claims (20)

  1. 一种三维打印装置，包括：
    三维运动组件；
    打印组件，其附接于所述三维运动组件，且设置为由所述三维运动组件带动而进行三维运动来打印目标物体；
    测距组件，其安装，可选地为固定安装在所述打印组件上、并随所述打印组件一起进行三维运动，且所述测距组件设置为测量所述打印组件与所述打印组件的打印位置之间的距离；以及
    控制处理单元，其连接所述测距组件、所述三维运动组件和所述打印组件，所述控制处理单元设置为根据所述测距组件测量的所述打印组件与所述打印组件的打印位置之间的距离、来控制所述三维运动组件带动所述打印组件进行的三维运动，以使所述打印组件与所述打印位置之间的距离保持为预先设定的打印距离，从而完成所述目标物体的打印，
    可选地，所述测量为实时测量，所述控制为实时控制。
  2. 根据权利要求1所述的三维打印装置，其中，所述测距组件设置为将所测量所述打印组件与所述打印组件的打印位置之间的距离传送至所述控制处理单元，可选地所述传送为实时传送。
  3. 根据前述权利要求任一项所述的三维打印装置，其中，所述测距组件为测距仪，可选地为激光测距仪或超声波测距仪、传感器或光学测量系统。
  4. 根据前述权利要求任一项所述的三维打印装置，其中，所述目标物体为待打印模型或待补部件。
  5. 根据前述权利要求任一项所述的三维打印装置，其中，所述打印组件包括：打印头(21)和供料组件，
    所述打印头(21)附接于所述三维运动组件，且设置为由所述三维运动组件带动所述打印头(21)进行三维运动，所述测距组件安装，尤其是固定安装在所述打印头(21)上，并设置为测量所述打印头(21)与所述打印头 (21)的打印位置之间的距离；且
    所述供料组件与所述打印头(21)相连接，且设置为向所述打印头(21)提供料材以使所述料材通过所述打印头(21)至所述打印位置，
    可选地，所述打印头为打印喷头。
  6. 根据权利要求5所述的三维打印装置，其中，所述供料组件设置为通过所述打印头进行挤料材或喷料材。
  7. 根据权利要求5或6所述的三维打印装置，其中，所述供料组件包括：加压装置和打印料筒(23)，
    所述加压装置被配置为向所述打印料筒(23)施压以使所述打印料筒(23)中的料材自所述打印头(21)至所述打印位置；且
    所述打印料筒(23)安装在所述打印头(21)上，所述打印料筒(23)的一端附接于所述加压装置(22)、另一端连通所述打印头(21)。
  8. 根据权利要求7所述的三维打印装置，其中，所述加压装置为供气泵(22)或金属压电片或螺旋杆或螺杆泵，与所述打印料筒(23)的所述一端连通。
  9. 根据前述权利要求任一项所述的三维打印装置，其中，所述三维运动组件包括动力源和传送装置，
    所述动力源配置为向所述传送装置提供动力；且
    所述传送装置配置为带动所述打印组件三维运动。
  10. 根据权利要求9所述的三维打印装置，其中，所述传送装置包括传送带和传动杆(31)，
    所述传送带附接于所述动力源；并且
    所述传动杆(31)的一端附接于所述传送带，另一端附接于所述打印组件。
  11. 根据权利要求10所述的三维打印装置，其中，所述动力源、所述传送带和所述传动杆(31)均包括三个。
  12. 根据权利要求9至11中任一项所述的三维打印装置，其中，所述动 力源为电机，可选地为步进电机(32)。
  13. 根据权利要求10至12中任一项所述的三维打印装置，其中，所述传送带为皮带(33)。
  14. 根据权利要求1-9中任一项所述的三维打印装置，其中，所述三维运动组件为：
    电机、传送带和传动杆的组合结构；或者
    电机、传送带和导轨的组合结构；或者
    电磁场发生器与磁悬浮导轨的组合结构。
  15. 根据前述权利要求中任一项所述的三维打印装置，还包括：
    具有基座(4)的安装架，所述三维运动组件、所述打印组件均安装在所述安装架上，且所述打印组件和所述测距组件位于所述基座(4)的正上方。
  16. 根据前述权利要求任一项所述的三维打印装置，其中，所述三维打印装置为三维打印机。
  17. 一种待补部件的修补方法，所述方法可选地是利用权利要求1至16中任一项所述的三维打印装置来进行的，
    所述方法包括：
    在三维打印装置中的控制处理单元中建立对应的待补部件的待补位置完整态的信息模型，所述信息模型可选地为数字模型，所述数字模型可选地为所述待补部件在完整状态下的轮廓数字模型；
    将所述待补部件置于支撑面上、同时限制待补部件在第一平面上的移动，可选地所述在第一平面上的移动为横向移动；
    根据所述信息模型使用所述三维打印装置中的打印组件对所述待补部件的待补位置进行修补；
    在修补过程中，三维打印装置中的测距组件测量所述打印组件与所述打印组件的打印位置之间的距离，并将所测量的距离传送至所述控制处理单元；
    所述控制处理单元根据所述距离控制所述三维运动组件带动所述打印组件进行移动，以使所述打印组件与所述打印位置之间的距离保持为所述信息 模型中预先设定的打印距离，从而实现打印组件打印料材于待补部件的待补位置处的打印位置上，
    可选地，所述测量为实时测量，所述传送为实时传送，并且所述控制为实时控制。
  18. 根据前述权利要求任一项所述的待补部件的修补方法，其中，将所述待补部件置于所述三维打印装置的基座(4)上。
  19. 根据前述权利要求任一项所述的待补部件的修补方法，其中，所述待补部件为骨骼，待补部件在垂直于第一平面的方向上的移动为骨骼随动脉跳动、呼吸而产生的在垂直于第一平面的方向上的微动。
  20. 一种骨骼修复材料，其通过权利要求17至19任一项所述的待补部件的修补方法制备。
PCT/CN2016/087635 2015-07-10 2016-06-29 三维打印装置和待补部件的修补方法 WO2017008637A1 (zh)

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