WO2018072265A1 - 一种基于多轴联动控制和机器视觉测量的3d打印系统 - Google Patents

一种基于多轴联动控制和机器视觉测量的3d打印系统 Download PDF

Info

Publication number
WO2018072265A1
WO2018072265A1 PCT/CN2016/108183 CN2016108183W WO2018072265A1 WO 2018072265 A1 WO2018072265 A1 WO 2018072265A1 CN 2016108183 W CN2016108183 W CN 2016108183W WO 2018072265 A1 WO2018072265 A1 WO 2018072265A1
Authority
WO
WIPO (PCT)
Prior art keywords
printing
nozzle
cylinder
disposed
machine vision
Prior art date
Application number
PCT/CN2016/108183
Other languages
English (en)
French (fr)
Inventor
李俊
谢银辉
林锦新
李风煜
Original Assignee
泉州装备制造研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 泉州装备制造研究所 filed Critical 泉州装备制造研究所
Priority to US15/738,138 priority Critical patent/US20190047227A1/en
Priority to DE112016007358.5T priority patent/DE112016007358T5/de
Publication of WO2018072265A1 publication Critical patent/WO2018072265A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/28—Bones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205—Means for applying layers
    • B29C64/209—Heads; Nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • 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
    • 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
    • B33Y70/00—Materials specially adapted for additive manufacturing
    • B33Y70/10—Composites of different types of material, e.g. mixtures of ceramics and polymers or mixtures of metals and biomaterials
    • 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
    • B33Y80/00—Products made by additive manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/3094—Designing or manufacturing processes
    • A61F2002/30985—Designing or manufacturing processes using three dimensional printing [3DP]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/227—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
    • B29K2995/00—Properties of moulding materials, reinforcements, fillers, preformed parts or moulds
    • B29K2995/0037—Other properties
    • B29K2995/0056—Biocompatible, e.g. biopolymers or bioelastomers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00—Other particular articles
    • B29L2031/753—Medical equipment; Accessories therefor
    • B29L2031/7532—Artificial members, protheses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes

Definitions

  • the present invention relates to a 3D printing system based on multi-axis linkage control and machine vision measurement, and belongs to the field of 3D printing.
  • This method has a problem that the amount of bone taken is limited and the shape that satisfies the demand cannot be obtained.
  • the repair of large bone defects has always been a clinical orthopedic problem.
  • tissue engineering has provided new ideas for the repair of bone defects.
  • Artificial bones are expected to replace traditional autologous or allogeneic bones to avoid secondary trauma.
  • a 3D printed individualized in vitro bone is disclosed, the steps of which are: (1) collecting three-dimensional scanning information data of the body part of the patient, and analyzing its structural characteristics; Introduce the 3D scan data of the patient's body part into the computer, and accurately restore the 3D image of the scanned part of the patient; (3) Analyze the above three-dimensional image, obtain the reverse data of the scanned part, and reconstruct the 3D model; (4) 3D The model is stored or converted into a format file; (5) The three-dimensional model of the missing function part obtained above is designed by computer reference human body big data to design a corresponding three-dimensional model of the in vitro bone assisting device; (6) the designed in vitro bone model is in the detection software Performing the comparison test to improve and optimize the design scheme and model; (7) Using the above-mentioned designed in vitro bone assist device and the three-dimensional model of the patient's body part to perform auxiliary dynamic simulation using a computer; (8) Saving the above three
  • the biological 3D printing forming system comprises a spraying device, a three-dimensional moving mechanism, a forming station and a control system, wherein the spraying device adopts a rotary multi-head spraying device, which is arranged on the Z1 axis moving mechanism in the three-dimensional moving mechanism and moves with the Z1 axis.
  • the block slides up and down; the forming table is mounted on the X-axis motion slider in the three-dimensional motion mechanism; and the control and data processing system is a motor that is coupled to the control rotary multi-head spray device and the three-dimensional motion mechanism.
  • the rotary disc type multi-nozzle spraying device comprises a control turntable motor, a beam, a motor shaft, a connecting tube, a turntable, a nut, a syringe piston barrel, a syringe needle, a sleeve, a slot type photoelectric switch and a slot type photoelectric barrier cover;
  • the beam is fixedly mounted on the Z1 axis motion slider;
  • the control dial motor is fixedly mounted on the beam by screws, and the motor shaft is facing downward;
  • the sleeve is an externally threaded sleeve, and the motor shaft is screwed to one end of the sleeve
  • the syringe cylinder can be inserted into the syringe cylinder, and the syringe piston body is injected with the material solution, and is connected with the internal and external threads of the turntable, and the connection is sealed by a sealing ring to prevent air leakage;
  • the gas solution is supplied by the air pump to the material solution in the syringe cylinder Extrusion from the needle of the syringe;
  • the trough-type photoelectric switch is fixedly connected under the beam, and the trough-type photoelectric barrier is fixedly attached to the upper surface of the turntable, and controls the rotation of the turntable motor to drive the turntable to rotate, that is, the groove type photoelectric switch
  • the occlusion rotates into the signal of the slot photoelectric switch, stopping the rotation of the turret, that is, the syringe needle reaches the designated position.
  • the 3D printing method for preparing artificial bone there are mainly a photo-solid molding method, a layered solid manufacturing method, a fused deposition manufacturing method, a selective laser sintering method, and an inkjet stacked additive forming method.
  • the materials used in the photo-solid molding method are photosensitive resins and the like, and their biocompatibility and degradability are not good after being implanted into the body, and even cause toxic side reactions.
  • the layered solid manufacturing method requires a material such as hydroxyapatite to be formed into a thin layer which can be curled, and then a layer of sheets is bonded together by a hot pressing mechanism, from the perspective of materials science. This method is difficult to achieve.
  • the printing material used in the fused deposition manufacturing method needs to be subjected to spinning treatment, and has a certain strength, so that the material is greatly restricted, and it is difficult to process complicated shapes.
  • the laser system used in the selective laser sintering method is very expensive, and the maintenance cost is high, resulting in high processing cost, and it is difficult to remove the unsintered hydroxyapatite powder.
  • the inkjet stacked additive forming method can directly bond the bio-compatible aqueous solution with the hydroxyapatite powder, thereby avoiding the stringent requirements of the above method for printing conditions and temperature environment.
  • the nozzle structure and the head driving mechanism are relatively complicated, and the printing precision is difficult to control.
  • the ends of the nozzles in the authorization bulletin number CN 103948456 B are in the same plane, and the same movement is performed.
  • the working ⁇ nozzle occupies a large space and is not suitable for 3D printing technology problems on the inner surface of the porous structure.
  • a 3D printing system based on multi-axis linkage control and machine vision measurement comprising a frame, a workbench for placing an artificial bone support, a printing device disposed above the workbench, and a material conveying for conveying the printing material a device, an image capture camera, a drive mechanism for adjusting the orientation of the printing device, and a control system, the printing device, the material conveying device, the image capture device, and the drive mechanism are all connected to the control system, and the work table is connected to the rack
  • the six-degree-of-freedom parallel platform, the driving mechanism is a six-axis robot arm, and the printing device is connected to the six-axis robot arm.
  • the printing device comprises a mounting bracket, a motor, a cylinder, a rotating flange and a plurality of nozzle mechanisms
  • the mounting bracket is connected to the six-axis robot arm
  • the motor is arranged on the mounting bracket
  • the rotating flange is connected to the motor
  • a plurality of nozzle mechanisms are evenly arranged on the rotary flange in the circumferential direction
  • the plurality of nozzle mechanisms are connected to the mounting frame in such a manner as to be axially movable along the rotary flange
  • the cylinder is disposed on the mounting bracket and the cylinder is
  • the piston rod is provided with a driving end for driving the movement of the nozzle mechanism, and a reset mechanism for returning the head mechanism is provided between the nozzle mechanism and the rotating flange.
  • the mounting bracket includes a shield, a first mounting plate, and a second mounting plate, a first mounting plate and a second mounting
  • the plate is disposed at two ends of the shield in the axial direction
  • the motor is fixed on the first mounting plate
  • a working hole for the nozzle mechanism is extended on the second mounting plate
  • the reset mechanism is a first spring
  • one end of the first spring is connected to the rotating flange
  • the other end is connected to the upper end of the nozzle mechanism, on the second mounting plate
  • There is also a mounting post further comprising a second connecting rod and a guiding cylinder, one end of the second connecting rod is hinged on the mounting post, and the other end is hinged on the guiding cylinder
  • the sprinkler mechanism is slidably disposed in the guiding cylinder.
  • the nozzle mechanism includes a barrel and a moving piston disposed in a cavity of the barrel, and the moving piston divides the inner cavity of the barrel into a first chamber and a second chamber, and a printing nozzle is disposed on the barrel
  • the printing nozzle is in communication with the second chamber, and the air inlet is provided on the cylinder, one end of the air inlet is connected with the first chamber, and the other end is connected with the air source, and the feeding port is provided, and one end of the feeding port
  • the second chamber is in communication with the other end in communication with the material delivery device.
  • the second chamber is provided with a piston stop, and the piston stop is disposed above the feed port.
  • the nozzle mechanism has five nozzles, and the print nozzles of the five nozzle mechanisms have diameters of 120 um, 100 u m, 80 um, 50 um, and 30 um, respectively.
  • the material conveying device comprises an air compressor and a material storage cylinder, wherein an air outlet end of the air compressor is connected to an intake end of the material storage cylinder, and a discharge end of the material storage cylinder and the feed port pass through the feed pipe Connected, an electric valve is arranged on the delivery pipe.
  • the rack includes a bottom frame, a top frame, and a first side frame and a second side frame disposed between the bottom frame and the top frame, wherein the six-axis mechanical arm is disposed on the top frame, the six free The degree parallel platform is disposed on the chassis, and the six-axis robot arm and the six-degree-of-freedom parallel platform are both connected to the control system.
  • the image acquisition camera is disposed on the first side frame and/or the second side frame.
  • the artificial bone support is placed on the six-degree-of-freedom parallel platform, and the position of the printing device is controlled by the six-axis mechanical arm, through the cooperation of the six-degree-of-freedom parallel platform and the six-axis mechanical arm.
  • the precise control of the spatial position of the printing nozzle of the printing device is realized, and the three-dimensional patterned printing of the complex and fine artificial bone surface and the inner surface of the porous structure is realized, and the invention has the advantages of simple structure and improved printing precision.
  • the invention adopts 3D printing technology based on inkjet stacked additive forming method, and nanometer
  • the hydroxyapatite solution is used as a printing material, and the three-dimensional multi-angle printing of the material space pattern is realized by the motion redundancy of the robot arm, and the three-dimensional pattern high-precision printing of the complex micro-artificial bone surface and the inner surface of the porous structure is realized, through the six-axis machine.
  • the precise mechanical motion control and droplet forming and diffusion control of the arm and the six-degree-of-freedom parallel platform enable the printing accuracy of the system to reach the print plane resolution ⁇ 200 ⁇ , and the interlayer resolution ⁇ 2 ⁇ .
  • FIG. 3 is a schematic structural view of a printing apparatus according to the present invention.
  • FIG. 4 is a schematic structural view of a printing apparatus according to the present invention (the first mounting board and the shield are not shown);
  • FIG. 5 is an enlarged view of the crucible in FIG. 4;
  • FIG. 6 is a schematic structural view of a printing nozzle in the present invention.
  • a 3D printing system based on multi-axis linkage control and machine vision measurement includes a frame 10, a table for placing an artificial bone support, and a printing device 40 disposed above the table.
  • a material conveying device for conveying the printing material
  • an image capturing camera 50 for capturing the orientation of the printing device 40
  • a control system 70 controls the coordination of the various devices.
  • the table is a six-degree-of-freedom parallel platform 30 connected to the frame 10.
  • the drive mechanism is a six-axis robot arm 20, and the printing device 40 is coupled to the six-axis robot arm 20.
  • the control system 70 can employ a control and data processing system in the "Automatically Controlled Rotary Pneumatic Multi-Nozzle Bio 3D Printing Forming System and Method" of the authorization number CN 103948456 B, which includes a computer and a controller.
  • the six-axis robot arm 20 is a six-axis robot, which can complete the feeding of any angle in the space, and can be directly purchased from the market.
  • the six-degree-of-freedom parallel platform 20 can adjust the six degrees of freedom of the space pose, and can use the authorization bulletin number.
  • CN 104002299 B the structure in the name "six degrees of freedom parallel micro-platform", the specific structure will not be described in detail here.
  • a 3D printing device 40 includes a mounting bracket, a motor 403, a cylinder 404, a rotating flange 411, and a plurality of nozzle mechanisms 405.
  • the mounting bracket is coupled to the six-axis robot arm 20, and the motor 403 is disposed on the mounting bracket.
  • the rotating flange 411 is connected to the output shaft of the motor 403, and the plurality of head mechanisms 405 are evenly arranged on the rotating flange 411 in the circumferential direction, and the plurality of head mechanisms 405 are axially movable along the rotating flange 411.
  • the cylinder 404 is disposed on the mounting bracket, and the piston rod of the cylinder 404 is provided with a driving end for driving the nozzle mechanism 405 to move, and between the nozzle mechanism 405 and the rotating flange 411 is provided for the nozzle mechanism 405.
  • the output shaft of the motor 403, the cylinder 404, and the head mechanism 405 are arranged in parallel. With this configuration, the rotary flange 411 is rotated by the motor 403, and a certain nozzle mechanism 405 is rotated to a predetermined position, and then the nozzle mechanism 405 is moved in the axial direction by the cylinder 404, so that a certain nozzle mechanism 405 is extended.
  • the head mechanism 405 After the 3D printing operation is performed, the head mechanism 405 is returned to the position by the cylinder 404 and the reset mechanism, and then the rotating flange 411 is rotated by the motor 403, so that the other head mechanism 405 is rotated to correspond to the cylinder 404.
  • the position of the head mechanism 405 is driven by the air cylinder 404.
  • the head mechanism 405 in the working state is not in the same plane as the other head mechanism 405, and the other head mechanism 405 can be prevented from being applied to the artificial bone. Bracket interference.
  • the mounting bracket includes a protective cover 401, a first mounting plate 415, and a second mounting plate 402.
  • the protective cover 401 has a cylindrical shape, and the first mounting plate 415 and the second mounting plate
  • the motor 402 is fixed to the first mounting plate 415, and the output shaft of the motor 403 passes through the first mounting plate 415 and extends into the protective cover 401.
  • a working hole 414 for the nozzle mechanism 405 is extended on the second mounting plate 402. When a nozzle mechanism 405 is rotated to the corresponding working hole 414, the nozzle mechanism 405 is driven by the cylinder 404 from the working hole 414. Extend the print job.
  • the upper end of the head mechanism 405 is hinged to the rotating flange 411 via a first link 406.
  • the reset mechanism is a first spring 407.
  • One end of the first spring 407 is connected to the rotating flange 411, and the other end is connected.
  • a mounting post 408 is further disposed on the second mounting plate 402, and further includes a second link 409 and a guiding cylinder 410.
  • One end of the second link 409 is hinged on the mounting post 408, and One end is hinged to the guide cylinder 41 0, and the showerhead mechanism 405 is slidably disposed in the guide cylinder 410.
  • the piston rod of the cylinder 404 is provided with a slot 412
  • the first link 406 is correspondingly provided with a latching portion 41 3 that cooperates with the slot 412, and the piston rod of the cylinder 404 protrudes to a certain position.
  • the card slot 412 is stuck on the latching portion 413 and is driven.
  • the corresponding nozzle mechanism 405 moves axially along the guiding cylinder 410.
  • the nozzle mechanism 405 moves along the guiding cylinder 410 at the first spring 407 to realize the return of the nozzle mechanism 405.
  • a nozzle mechanism 405 of a 3D printing device includes a barrel 4050 and a moving piston 4053 disposed in a lumen of the barrel 4050.
  • the moving piston 4053 divides the lumen of the barrel 4050 into a first chamber 4051 and a
  • the second chamber 4 052 is provided with a printing nozzle 4057 on the cylinder 4050, and the printing nozzle 4057 is in communication with the second chamber 4052.
  • the cylinder 4050 is provided with an air inlet 4058, one end of the air inlet 4058 and the first cavity.
  • the chamber 4051 is in communication, and the other end is in communication with the gas source, and further includes a feed port 4059.
  • the invention adopts an inkjet stacked additive forming method, the printing material is mainly nano-hydroxyapatite, and the printing material is disposed by adding an auxiliary material such as collagen and chitin, and the printing material is sent from the feeding port 4059 into the second chamber 4052.
  • the moving piston 4053 is pushed by the air source, and the moving piston 4053 pushes the printing material out of the printing nozzle 4057, which is supplied from the air compressor 60 which will be described later.
  • the return of the mobile piston 4053 is achieved by the feed of the feed port 4059.
  • a piston block 4053 is disposed in the second chamber 4052, and a piston block 4053 is disposed above the inlet port 4059.
  • the lower end of the cylinder 4050 forms a tapered guiding portion 4055
  • the printing nozzle 4057 is disposed on the tapered guiding portion 4055
  • the feeding port 4059 is disposed on the piston stopper 4053 and the printing nozzle 4057. between.
  • the contact surface of the moving piston 4053 with the cylinder 4040 is provided with an annular groove
  • the annular groove is provided with a sealing ring 4054.
  • the head mechanism 405 is five, and the print nozzles 4057 of the five head mechanisms 405 have diameters of 120 um, 100 um, 80 um, 50 um, and 30 um, respectively.
  • the size of the print nozzle 405 7 affects the accuracy of printing and the speed of printing.
  • the print nozzle 4057 of different print nozzle diameters can be selected according to the printing requirements.
  • the present invention realizes the print nozzle 4057 by the motor 403, the rotary flange 411 and the cylinder 404. Switching, having the printing nozzle 4057 convenient to switch, can improve the printing efficiency.
  • the material conveying device includes an air compressor 60 and a material storage cylinder 61.
  • the air outlet end of the air compressor 60 communicates with the air inlet end of the material storage cylinder 61 through the air pipe 62.
  • the discharge end of the material storage cylinder 6 1 is connected to the feed port 4059 via a delivery pipe 63, and an electric valve 4060 is provided on the delivery pipe 63.
  • the frame 10 includes a chassis 12, a top frame 11, and a first side frame 13 and a second side frame 14 disposed between the chassis 12 and the top frame 11.
  • the six-axis robot arm 20 is disposed on the top frame 11, the six-degree-of-freedom parallel platform 30 is disposed on the chassis, and the six-axis robot arm 20 and the six-degree-of-freedom parallel platform 30 are both connected to the control.
  • System 70 the image pickup device 50 is provided on both the first side frame 13 and the second side frame 14.
  • the printing material is controlled to be ejected from the printing nozzle 4057 by the air compressor 60 to realize 3D printing, and the air compressor 60 generates a high pressure, which is sent from the air pipe 62 to the nozzle mechanism 405.
  • the air inlet 4058, the sealing ring 4054 prevents air from entering the printing material, and the electric valve 4060 connected to the feeding port 4059 is in a closed state, preventing the printing material from being discharged from the feeding port 4059, and moving the moving piston 4053 downward by the high pressure gas.
  • the printing material is continuously and stably ejected from the printing nozzle 4057 to achieve the purpose of 3D printing.
  • the moving piston 4053 moves to the piston stop 4056, the moving piston 4053 stops moving, while the air compressor 60 is controlled by the control system 70 to stop supplying air to the nozzle mechanism 405, and the control system 70 controls the electric valve connected to the inlet 4059.
  • 4060 is snoring, and the air compressor 60 is controlled to supply air to the material storage cylinder 61.
  • the driving printing material is driven into the nozzle mechanism 405 through the delivery pipe 63, and the moving piston 4053 is moved toward the air inlet 4058.
  • the electric valve 4060 is closed and the showerhead mechanism 405 continues the printing operation.
  • the injection speed of the printing material is controlled by controlling the pressure of the air pressure to achieve the purpose of control precision.
  • the present invention outputs a model requiring high-precision printing before 3D printing, and the model is an STL format file.
  • the multi-axis linkage control system 70 controls the six-axis robot arm 20 and the six-degree-of-freedom parallel platform 30. Synergistic movement to achieve three-dimensional patterned printing of complex and fine artificial bone surfaces and internal surfaces of porous structures.
  • the kinematics model of the six-axis robot arm 20 and the six-degree-of-freedom parallel platform 30 is established by a computer, and the motion trajectory is optimized, and the six-axis robot arm 20 and the six-degree-of-freedom parallel platform 30 are coordinated by the multi-axis linkage control system 70, and According to the overall running speed of the six-axis robot arm 20, the forming and diffusion control of the printing liquid droplets is achieved, and the six-degree-of-freedom parallel platform 30 is controlled to cooperate to complete the 3D printing of the complex surface.
  • the multi-axis linkage control method can realize high-precision printing of the three-dimensional pattern of the artificial bone surface and the inner surface of the porous structure, and improve the printing efficiency.
  • the patent adds vibration suppression control during the movement to establish the six-axis robot arm 20 and six respectively.
  • Degree of freedom parallel platform 30 The dynamic model, based on the linear quadratic optimal control method, designs the linear quadratic control model of the six-axis robot arm 20 and the six-degree-of-freedom parallel platform 30 to control the vibration generated during the operation of the system, reducing six The vibration generated by the shaft robot arm 20 and the six-degree-of-freedom parallel platform 30 during the movement, thereby reducing the printing error caused by the vibration, ensuring smooth printing and improving the printing precision.
  • the present invention mounts two high-precision image capturing cameras 50 on the first side frame 13 and the second side frame 14, and measures the actual position of the end of the printing nozzle 4057 by using a binocular stereoscopic measuring method to obtain a printing nozzle.
  • the spatial position of the end of the 405 7 is measured by comparing the actual position of the end of the printing nozzle 4057 with the theoretical position, and the actual feedback control of the end position of the printing nozzle 4057 is performed.
  • Two high-precision image pickup cameras 50 acquire two images of the end positions of the printing nozzles 4057 from different positions, and obtain the spatial position of the end of the printing nozzles 4057 by calculating the positional deviation of the end points of the printing nozzles 4057 in the two images.
  • the positional accuracy of the end of the printing nozzle 4057 acquired by the high-precision image capturing camera 50 reaches ⁇ level, and the position of the end position of the printing nozzle 4057 is controlled according to the measured position of the end of the printing nozzle 4057, and the six-axis machine is adjusted by a computer.
  • the movement of the arm 20 ensures high-precision printing.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Health & Medical Sciences (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Ceramic Engineering (AREA)
  • Civil Engineering (AREA)
  • Composite Materials (AREA)
  • Structural Engineering (AREA)
  • Transplantation (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Coating Apparatus (AREA)
  • Ink Jet (AREA)

Abstract

一种基于多轴联动控制和机器视觉测量的3D打印系统，包括机架（10）、用以放置人工骨支架的工作台、设置在工作台上方的打印装置（40）、用以输送打印材料的物料输送装置、图像采集装置（50）、用以调整打印装置（40）方位的驱动机构以及控制系统（70），打印装置（40）、物料输送装置、图像采集装置（50）以及驱动机构均连接至控制系统（70），工作台为连接在所述机架（10）上的六自由度并联平台（30），驱动机构为六轴机械臂（20），打印装置（40）连接在六轴机械臂（20）上。使用时，人工骨支架放置在六自由度并联平台（30）上，通过六轴机械臂（20）控制打印装置（40）的位置，通过六自由度并联平台（30）和六轴机械臂（20）的配合，实现对打印装置（40）的打印喷嘴空间位置的精确控制，实现复杂微细的人工骨表面及多孔结构内部表面的三维图案化打印。

Description

发明名称：一种基于多轴联动控制和机器视觉测量的 3D打印系统 技术领域
[0001] 本发明涉及一种基于多轴联动控制和机器视觉测量的 3D打印系统， 属 3D打印 领域。
背景技术
[0002] 随着生活水平的日益提高， 人们对医疗保健更加关注。 然而因为一些疾病、 交 通事故等导致人体骨骼严重损伤， 因为受技术水平的限制， 现阶段难以修复， 许多病人因此失去生活自理能力， 这给病人及其家庭都带来了严重的影响。 当 前针对骨骼缺损这一问题的主要方法是依靠自体的组织移植、 异体组织移植、 使用替代材料修复等。 目前这些方法均存在较大弊端， 如两次手术、 取骨量限 制、 传播疾病、 成骨活性低下等。 自体骨是从患者身体的其他部位， 获取一些 骨骼， 然后用到需要的部位， 这种方式存在取骨量有限， 并且无法获得满足需 求的形状等问题。 大块骨缺损修复一直是临床骨科难题， 组织工程学的发展为 骨缺损修复提供了新思路， 人工骨有望取代传统自体或同种异体骨， 避免患者 二次创伤。
[0003] 人工骨支架材料及制备也成为了研究热点。 如 CN105287055A, 名称为 "一种 3
D打印个体化体外骨"的中国发明专利申请中， 公幵了一种 3D打印个体化体外骨 ， 其步骤在于： （1) 收集患者身体部位的三维扫描信息数据， 分析其结构特点 ； (2) 将患者身体部位的三维扫描数据导入计算机， 精确还原得到患者扫描部 位的三维图像； （3) 分析解剖上述三维图像， 获得扫描部位的反向数据， 重建 得到其三维模型； （4) 将三维模型存储或转化为格式文件； （5) 将上述得到 的功能缺失部位三维模型通过计算机参考人体大数据设计出相应的体外骨辅助 装置三维模型； （6) 将设计好的体外骨模型在检测软件的进行比对检测， 对设 计方案、 模型进行完善与优化； （7) 将上述设计出的体外骨辅助装置和患者身 体部位三维模型运用计算机进行辅助动态模拟； （8) 将上述三维模型保存为格 式文件以用于传输， 存储， 浏览， 检査， 修改和加工生产； （9) 3D打印体外 骨辅助转置， 快速实现实物模型。
[0004] 再如授权公告号 CN 103948456 B , 名称为"自动化控制的转盘式气动多喷头生 物 3D打印成形系统及方法"的中国发明专利中， 公幵了一种自动化控制的转盘式 气动多喷头生物 3D打印成形系统， 包括喷射装置、 三维运动机构、 成形台以及 控制系统， 所述的喷射装置采用转盘式多喷头喷射装置， 设置在三维运动机构 中 Z1轴运动机构上而随 Z1轴运动滑块上下滑动； 所述的成形台安装在三维运动 机构中 X轴运动滑块上； 所述的控制及数据处理系统是联接控制转盘式多喷头 喷射装置和三维运动机构的电机。 所述转盘式多喷头喷射装置包括控制转盘电 机、 横梁、 电机轴、 连接管、 转盘、 螺母、 注射器活塞筒体、 注射器针头、 轴 套、 槽型光电幵关和槽型光电幵关遮挡物； 所述横梁固定安装在 Z1轴运动滑块 上； 所述控制转盘电机通过螺丝固定安装在横梁上， 电机轴朝下； 所述轴套是 一个外螺纹套筒， 电机轴与轴套一端螺纹连接； 所述转盘中间有一个通孔， 内 圈为内螺纹， 转盘与轴套另一端连接， 为内外螺纹连接方式； 控制转盘电机运 行带动电机轴旋转， 同吋带动转盘旋转运动， 即带动注射器活塞筒体和注射器 针头旋转； 所述转盘上方表面安装 4个连接管， 连接管周向均匀分布在转盘上， 连接管上连接气管， 有气泵提供气体； 所述转盘下方加工 4个内螺纹孔， 所述螺 母上部分外表面加工成外螺纹， 螺母的上表面加工达成菱形凸台， 能够装进注 射器活塞筒体， 注射器活塞筒体注入材料溶液， 并一起与转盘内外螺纹连接， 连接之间通过密封圈密封， 以防漏气； 通过气泵提供气体将注射器活塞筒体中 的材料溶液从注射器针头中挤出； 所述槽型光电幵关固连在横梁下方， 槽型光 电幵关遮挡物固连在转盘上表面， 控制转盘电机运行转动后带动转盘旋转， 即 槽型光电幵关遮挡物旋转碰到槽型光电幵关的信号， 停止转盘运动， 即注射器 针头到达指定的位置。
[0005] 目前在用于制备人工骨的 3D打印方法中， 主要有光固成型法、 分层实体制造法 、 熔融沉积制造法、 选择性激光烧结法、 喷墨堆积增材成型法。 光固成型法所 用材料是光敏树脂等， 植入体内后其生物相容性和降解性都不好， 甚至引起毒 副反应。 分层实体制造法在制备人工骨吋， 需要先将羟基磷灰石等材料制成可 以卷曲的薄层状， 然后由热压机构将一层层薄片粘结在一起， 从材料学角度看 ， 这种方法难以实现。 熔融沉积制造法使用的打印材料需要经过抽丝处理， 要 有一定的强度， 因此材料受到很大的限制， 另外不易加工复杂的形状。 选择性 激光烧结法使用的激光系统价格非常昂贵， 维护费用较高， 导致加工成本较高 ， 未被烧结的羟基磷灰石粉末难以去除。 而喷墨堆积增材成型法可以直接将生 物相溶水性溶液与羟基磷灰石粉末粘结起来， 避免了上述方法对打印条件、 温 度环境的苛刻要求。
[0006] 目前的 3D打印装置中， 存在着喷头结构和喷头驱动机构较为复杂， 打印精度较 难控制， 如授权公告号 CN 103948456 B中的各喷头的末端处于同一平面， 同吋 进行运动， 在工作吋喷头占用较大空间， 不适合于多孔结构内部表面的 3D打印 技术问题
[0007] 在 3D打印装置中， 存在着喷头结构和喷头驱动机构较为复杂， 打印精度较难控 制。
问题的解决方案
技术解决方案
[0008] 一种基于多轴联动控制和机器视觉测量的 3D打印系统,包括机架、 用以放置人 工骨支架的工作台、 设置在工作台上方的打印装置、 用以输送打印材料的物料 输送装置、 图像采集相机、 用以调整打印装置方位的驱动机构以及控制系统， 打印装置、 物料输送装置、 图像采集装置以及驱动机构均连接至控制系统， 所 述工作台为连接在所述机架上的六自由度并联平台， 所述驱动机构为六轴机械 臂， 所述打印装置连接在六轴机械臂上。
[0009] 所述打印装置包括安装架、 电机、 气缸、 旋转法兰以及多个喷头机构， 安装架 连接在所述六轴机械臂上， 电机设置在安装架上， 旋转法兰连接在电机的输出 轴上， 多个喷头机构沿周向均匀地布设在旋转法兰上， 多个喷头机构以可沿旋 转法兰轴向移动的方式连接在安装架上， 气缸设置在安装架上且气缸的活塞杆 上设有用以驱动喷头机构移动的驱动端， 在喷头机构与旋转法兰之间设有用以 使喷头机构回位的复位机构。
[0010] 所述安装架包括防护罩、 第一安装板以及第二安装板， 第一安装板和第二安装 板分设在防护罩沿轴向的两端， 所述电机固定在第一安装板上， 在第二安装板 上设有供所述喷头机构伸出的工作孔， 所述喷头机构的上端通过第一连杆铰接 在所述旋转法兰上， 所述复位机构为第一弹簧， 第一弹簧的一端连接在旋转法 兰上， 另一端连接在所述喷头机构的上端， 在第二安装板上还设有安装柱， 还 包括第二连杆和导向筒， 第二连杆的一端铰接在安装柱上， 另一端铰接在导向 筒上， 所述喷头机构可滑动地穿设在导向筒中。
[0011] 所述喷头机构包括筒体和设置在筒体的内腔的移动活塞， 移动活塞将筒体的内 腔分隔成第一腔室和第二腔室， 在筒体上设有打印喷嘴， 打印喷嘴与第二腔室 连通， 在筒体上设有进气口， 进气口的一端与第一腔室连通， 另一端与气源连 通， 还包括进料口， 进料口的一端与第二腔室连通， 另一端与所述物料输送装 置连通。
[0012] 所述第二腔室内设有活塞挡块， 活塞挡块设置在所述进料口的上方。
[0013] 所述喷头机构为 5个， 5个所述喷头机构的打印喷嘴的直径分别为 120um、 100u m、 80um、 50um、 30um。
[0014] 所述物料输送装置包括空压机和材料存储缸， 空压机的出气端与材料存储缸的 进气端连通， 材料存储缸的出料端与所述进料口通过输料管连接， 在所述输料 管上设有电动阀门。
[0015] 所述机架包括底架、 顶架以及设置在底架与顶架之间的第一侧架和第二侧架， 所述六轴机械臂设置在顶架上， 所述六自由度并联平台设置在底架上， 所述六 轴机械臂和所述六自由度并联平台均连接至所述控制系统。
[0016] 所述图像采集相机设置在第一侧架和 /或第二侧架上。
发明的有益效果
有益效果
[0017] 采用本发明的技术方案， 使用吋， 人工骨支架放置在六自由度并联平台上， 通 过六轴机械臂控制打印装置的位置， 通过六自由度并联平台和六轴机械臂的配 合， 实现对打印装置的打印喷嘴空间位置的精确控制， 实现复杂微细的人工骨 表面及多孔结构内部表面的三维图案化打印， 本发明具有结构简易、 能够提高 打印精度的优点。 本发明采用基于喷墨堆积增材成型法的 3D打印技术， 以纳米 羟基磷灰石溶液作为打印材料， 利用机械臂的运动冗余来实现材料空间图案三 维多角度打印， 实现复杂微细的人工骨表面及多孔结构内部表面的三维图案化 高精度打印， 通过六轴机械臂及六自由度并联平台的精密机械运动控制及液滴 成形及扩散控制， 使系统的打印精度达到打印平面分辨率≤200μηι， 层间分辨率 ≤2μηι。
对附图的简要说明
附图说明
[0018] 图 1本发明的结构示意图；
[0019] 图 2为本发明的控制原理图；
[0020] 图 3为本发明中打印装置的结构示意图；
[0021] 图 4为本发明中打印装置的结构示意图 （图中第一安装板和防护罩未示出） ；
[0022] 图 5为图 4中 Α处的放大图；
[0023] 图 6为本发明中打印喷嘴的结构示意图。
实施该发明的最佳实施例
本发明的最佳实施方式
[0024] 参照图 1至图 6， 一种基于多轴联动控制和机器视觉测量的 3D打印系统,包括机 架 10、 用以放置人工骨支架的工作台、 设置在工作台上方的打印装置 40、 用以 输送打印材料的物料输送装置、 图像采集相机 50、 用以调整打印装置 40方位的 驱动机构以及控制系统 70， 打印装置 40、 物料输送装置、 图像采集装置 50以及 驱动机构均连接至控制系统 70， 通过控制系统 70控制各装置协调工作。 所述工 作台为连接在所述机架 10上的六自由度并联平台 30， 所述驱动机构为六轴机械 臂 20， 所述打印装置 40连接在六轴机械臂 20上。 控制系统 70可以采用授权公告 号 CN 103948456 B , 名称为 "自动化控制的转盘式气动多喷头生物 3D打印成形 系统及方法"中的控制及数据处理系统， 该控制系统 70包括计算机和控制器。 六 轴机械臂 20为六轴机械手， 能够完成空间任意角度的送料， 可以直接从市面上 购买， 六自由度并联平台 20可以对空间位姿进行六个自由度的调整， 其可以采 用授权公告号 CN 104002299 B， 名称为 "六自由度并联微平台"中的结构， 具体 构这里不再详述。 [0025] 一种 3D打印装置 40,包括安装架、 电机 403、 气缸 404、 旋转法兰 411以及多个喷 头机构 405， 安装架连接在所述六轴机械臂 20上， 电机 403设置在安装架上， 旋 转法兰 411连接在电机 403的输出轴上， 多个喷头机构 405沿周向均匀地布设在旋 转法兰 411上， 多个喷头机构 405以可沿旋转法兰 411轴向移动的方式连接在安装 架上， 气缸 404设置在安装架上且气缸 404的活塞杆上设有用以驱动喷头机构 405 移动的驱动端， 在喷头机构 405与旋转法兰 411之间设有用以使喷头机构 405回位 的复位机构。 在实施例中， 电机 403的输出轴、 气缸 404以及喷头机构 405三者平 行设置。 采用这种结构， 通过电机 403带动旋转法兰 411转动， 并使得某一喷头 机构 405转动至预定的位置， 之后通过气缸 404带动喷头机构 405沿轴向移动， 使 得某一喷头机构 405伸出， 进行 3D打印作业， 该喷头机构 405作业完毕会后， 通 过气缸 404和复位机构使得该喷头机构回位， 之后通过电机 403带动旋转法兰 411 转动， 使得另一喷头机构 405转动至与气缸 404对应的位置， 通过气缸 404驱动该 喷头机构 405伸出， 如此本发明在进行 3D打印作业吋， 处于作业状态的喷头机构 405与其它喷头机构 405不处于同一平面， 能够避免其它喷头机构 405对人工骨支 架的干扰。
[0026] 作为本发明的一种优选方式， 所述安装架包括防护罩 401、 第一安装板 415以及 第二安装板 402， 防护罩 401呈筒状， 第一安装板 415和第二安装板 402分别固定 在防护罩 401沿轴向的两端， 所述电机 403固定在第一安装板 415上， 电机 403的 输出轴穿过第一安装板 415并伸入到防护罩 401内。 在第二安装板 402上设有供所 述喷头机构 405伸出的工作孔 414， 当某一喷头机构 405转动至对应该工作孔 414 处， 通过气缸 404带动该喷头机构 405从该工作孔 414伸出进行打印作业。 所述喷 头机构 405的上端通过第一连杆 406铰接在所述旋转法兰 411上， 所述复位机构为 第一弹簧 407， 第一弹簧 407的一端连接在旋转法兰 411上， 另一端连接在所述喷 头机构 405的上端， 在第二安装板 402上还设有安装柱 408， 还包括第二连杆 409 和导向筒 410， 第二连杆 409的一端铰接在安装柱 408上， 另一端铰接在导向筒 41 0上， 所述喷头机构 405可滑动地穿设在导向筒 410中。 优选地， 在气缸 404的活 塞杆上设有卡槽 412， 在所述第一连杆 406上对应设有与卡槽 412配合的卡持部 41 3， 气缸 404的活塞杆伸出至一定位置吋， 该卡槽 412卡靠在卡持部 413上并带动 相应的喷头机构 405沿着导向筒 410轴向移动， 当卡槽 412离幵卡持部 413， 喷头 机构 405则在第一弹簧 407作用沿着导向筒 410移动， 实现喷头机构 405的回位。
[0027] 一种 3D打印装置的喷头机构 405， 包括筒体 4050和设置在筒体 4050的内腔的移 动活塞 4053， 移动活塞 4053将筒体 4050的内腔分隔成第一腔室 4051和第二腔室 4 052， 在筒体 4050上设有打印喷嘴 4057， 打印喷嘴 4057与第二腔室 4052连通， 在 筒体 4050上设有进气口 4058， 进气口 4058的一端与第一腔室 4051连通， 另一端 与气源连通， 还包括进料口 4059， 进料口 4059的一端与第二腔室 4052连通， 另 一端与所述物料输送装置连通。 本发明采用喷墨堆积增材成型法， 打印材料主 要为纳米羟基磷灰石， 加入胶原、 甲壳素等辅料配置打印材料， 打印材料从进 料口 4059送入第二腔室 4052中。 通过气源推动移动活塞 4053， 移动活塞 4053将 打印材料从打印喷嘴 4057中压出， 气源由下面将要介绍到的空压机 60提供。 移 动活塞 4053的回位则依靠进料口 4059的补料实现。
[0028] 作为本发明的一种优选方式， 所述第二腔室 4052内设有活塞挡块 4053， 活塞挡 块 4053设置在所述进料口 4059的上方。 优选地， 所述筒体 4050的下端形成锥形 引导部 4055， 所述打印喷嘴 4057设置在锥形引导部 4055上， 所述进料口 4059设 置在活塞挡块 4053与所述打印喷嘴 4057之间。 优选地， 所述移动活塞 4053与所 述筒体 4040的接触面设有环形凹槽， 环形凹槽中设有密封圈 4054。
[0029] 作为本发明的一种优选方式， 所述喷头机构 405为 5个， 5个所述喷头机构 405的 打印喷嘴 4057的直径分别为 120um、 100um、 80um、 50um、 30um。 打印喷嘴 405 7的直径大小影响打印的精度及打印的速度， 可以根据打印的要求选择不同打印 喷嘴直径的打印喷嘴 4057， 本发明通过电机 403、 旋转法兰 411以及气缸 404来实 现打印喷嘴 4057的切换， 具有打印喷嘴 4057切换方便， 能够提高打印效率的效 果。
[0030] 作为本发明的一种优选方式， 所述物料输送装置包括空压机 60和材料存储缸 61 ， 空压机 60的出气端与材料存储缸 61的进气端通过输气管 62连通， 材料存储缸 6 1的出料端与所述进料口 4059通过输料管 63连接， 在所述输料管 63上设有电动阀 门 4060。 采用这种结构， 通过气压将材料存储缸 61内的打印材料输送至喷头机 构 405中。 [0031] 作为本发明的一种优选方式， 所述机架 10包括底架 12、 顶架 11以及设置在底架 12与顶架 11之间的第一侧架 13和第二侧架 14， 所述六轴机械臂 20设置在顶架 11 上， 所述六自由度并联平台 30设置在底架上， 所述六轴机械臂 20和所述六自由 度并联平台 30均连接至所述控制系统 70。 作为在实施例中， 第一侧架 13和第二 侧架 14上均设有图像采集装置 50。
[0032] 采用本发明的技术方案， 通过空压机 60控制打印材料从打印喷嘴 4057中喷出， 实现 3D打印， 打印吋， 空压机 60产生高压， 由输气管 62输送到喷头机构 405的进 气口 4058， 密封圈 4054防止空气进入打印材料， 同吋与进料口 4059相连的电动 阀门 4060处于关闭状态， 防止打印材料由进料口 4059排出， 由高压气体驱动移 动活塞 4053向下运动， 使打印材料从打印喷嘴 4057中连续稳定喷出， 达到 3D打 印的目的。 当移动活塞 4053运动至活塞挡块 4056处吋， 移动活塞 4053停止运动 ， 同吋由控制系统 70控制空压机 60停止向喷头机构 405送气， 控制系统 70控制与 进料口 4059相连的电动阀门 4060打幵， 并控制空压机 60往材料存储缸 61送气， 驱动打印材料通过输料管 63进入喷头机构 405， 移动活塞 4053向进气口 4058方向 运动， 当打印材料充满喷头机构 405吋， 关闭电动阀门 4060， 喷头机构 405继续 打印工作。 打印过程中， 通过控制气压的大小控制打印材料的喷射速度， 达到 控制精度的目的。
[0033] 本发明在 3D打印前计算机输出需要高精度打印的模型， 模型为 STL格式文件， 进行打印路径规划后， 采用多轴联动控制系统 70控制六轴机械臂 20和六自由度 并联平台 30协同运动， 实现复杂微细的人工骨表面及多孔结构内部表面的三维 图案化打印。 通过计算机建立六轴机械臂 20和六自由度并联平台 30的运动学模 型， 对运动轨迹进行优化， 通过多轴联动控制系统 70完成六轴机械臂 20和六自 由度并联平台 30协同运动， 并根据六轴机械臂 20的整体的运行速度， 达到打印 液滴的成形及扩散控制， 并控制六自由度并联平台 30协同完成复杂表面的 3D打 印。 多轴联动的控制方式可以实现人工骨表面及多孔结构内部表面的三维图案 化的高精度打印， 并提高打印的效率。 更进一步地， 由于六轴机械臂 20和六自 由度并联平台 30在运动过程中存在振动， 产生误差影响打印精度， 本专利在运 动过程中加入振动抑制控制， 分别建立六轴机械臂 20和六自由度并联平台 30的 动力学模型， 采用基于线性二次型最优控制的方法， 设计六轴机械臂 20和六自 由度并联平台 30的线性二次控制模型， 对系统运行过程中产生的振动进行控制 ， 减小六轴机械臂 20和六自由度并联平台 30在运动过程中产生的振动， 从而减 小因振动产生的打印误差， 保证打印的平稳进行， 提高打印的精度。 本发明在 第一侧架 13和第二侧架 14上均安装两个高精度的图像采集相机 50， 采用双目立 体视觉的测量方法对打印喷嘴 4057末端的实吋位置进行测量， 得到打印喷嘴 405 7末端的空间位置， 将测量所得的打印喷嘴 4057末端实吋位置对比其理论位置， 进行打印喷嘴 4057末端位置的实吋反馈控制。 两个高精度的图像采集相机 50从 不同的位置获取打印喷嘴 4057末端位置的两幅图像， 通过计算两幅图像中打印 喷嘴 4057末端点的位置偏差， 获取打印喷嘴 4057末端的空间位置。 高精度的图 像采集相机 50获取的打印喷嘴 4057末端的空间位置精度达到 μηι级， 根据测量的 打印喷嘴 4057末端实吋位置对打印喷嘴 4057末端位置进行实吋反馈控制， 并通 过计算机调整六轴机械臂 20的运动， 保证高精度的打印。

Claims

权利要求书
[权利要求 1] 一种基于多轴联动控制和机器视觉测量的 3D打印系统,包括机架、 用 以放置人工骨支架的工作台、 设置在工作台上方的打印装置、 用以输 送打印材料的物料输送装置、 图像采集相机、 用以调整打印装置方位 的驱动机构以及控制系统， 打印装置、 物料输送装置、 图像采集装置 以及驱动机构均连接至控制系统， 其特征在于： 所述工作台为连接在 所述机架上的六自由度并联平台， 所述驱动机构为六轴机械臂， 所述 打印装置连接在六轴机械臂上。
[权利要求 2] 如权利要求 1所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述打印装置包括安装架、 电机、 气缸、 旋转法 兰以及多个喷头机构， 安装架连接在所述六轴机械臂上， 电机设置在 安装架上， 旋转法兰连接在电机的输出轴上， 多个喷头机构沿周向均 匀地布设在旋转法兰上， 多个喷头机构以可沿旋转法兰轴向移动的方 式连接在安装架上， 气缸设置在安装架上且气缸的活塞杆上设有用以 驱动喷头机构移动的驱动端， 在喷头机构与旋转法兰之间设有用以使 喷头机构回位的复位机构。
[权利要求 3] 如权利要求 2所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述安装架包括防护罩、 第一安装板以及第二安 装板， 第一安装板和第二安装板分设在防护罩沿轴向的两端， 所述电 机固定在第一安装板上， 在第二安装板上设有供所述喷头机构伸出的 工作孔， 所述喷头机构的上端通过第一连杆铰接在所述旋转法兰上， 所述复位机构为第一弹簧， 第一弹簧的一端连接在旋转法兰上， 另一 端连接在所述喷头机构的上端， 在第二安装板上还设有安装柱， 还包 括第二连杆和导向筒， 第二连杆的一端铰接在安装柱上， 另一端铰接 在导向筒上， 所述喷头机构可滑动地穿设在导向筒中。
[权利要求 4] 如权利要求 3所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述喷头机构包括筒体和设置在筒体的内腔的移 动活塞， 移动活塞将筒体的内腔分隔成第一腔室和第二腔室， 在筒体 上设有打印喷嘴， 打印喷嘴与第二腔室连通， 在筒体上设有进气口， 进气口的一端与第一腔室连通， 另一端与气源连通， 还包括进料口， 进料口的一端与第二腔室连通， 另一端与所述物料输送装置连通。 如权利要求 4所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述第二腔室内设有活塞挡块， 活塞挡块设置在 所述进料口的上方。
如权利要求 5所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述喷头机构为 5个， 5个所述喷头机构的打印喷 嘴的直径分别为 120um、 100um、 80um、 50um、 30um。
如权利要求 6所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述物料输送装置包括空压机和材料存储缸， 空 压机的出气端与材料存储缸的进气端连通， 材料存储缸的出料端与所 述进料口通过输料管连接， 在所述输料管上设有电动阀门。
如权利要求 1所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述机架包括底架、 顶架以及设置在底架与顶架 之间的第一侧架和第二侧架， 所述六轴机械臂设置在顶架上， 所述六 自由度并联平台设置在底架上， 所述六轴机械臂和所述六自由度并联 平台均连接至所述控制系统。
如权利要求 8所述的一种基于多轴联动控制和机器视觉测量的 3D打印 系统,其特征在于： 所述图像采集相机设置在第一侧架和 /或第二侧架 上。
PCT/CN2016/108183 2016-10-19 2016-12-01 一种基于多轴联动控制和机器视觉测量的3d打印系统 WO2018072265A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US15/738,138 US20190047227A1 (en) 2016-10-19 2016-12-01 3D printing system based on multi-shaft linkage control and machine visual measurement
DE112016007358.5T DE112016007358T5 (de) 2016-10-19 2016-12-01 3D-Drucksystem auf der Basis der mehrachsigen Gelenksteuerung und der maschinellen Sichtmessung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610908576.7A CN106264796B (zh) 2016-10-19 2016-10-19 一种基于多轴联动控制和机器视觉测量的3d打印系统
CN201610908576.7 2016-10-19

Publications (1)

Publication Number Publication Date
WO2018072265A1 true WO2018072265A1 (zh) 2018-04-26

Family

ID=57719740

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/108183 WO2018072265A1 (zh) 2016-10-19 2016-12-01 一种基于多轴联动控制和机器视觉测量的3d打印系统

Country Status (4)

Country Link
US (1) US20190047227A1 (zh)
CN (1) CN106264796B (zh)
DE (1) DE112016007358T5 (zh)
WO (1) WO2018072265A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110076986A (zh) * 2019-04-25 2019-08-02 宁波汉克三维科技有限公司 一种打印效果好的3d打印机
WO2020084263A1 (fr) 2018-10-25 2020-04-30 Poietis Systeme de bio-impression robotise
CN112124682A (zh) * 2020-09-03 2020-12-25 苏州搏技光电技术有限公司 一种加速度计测试设备
CN113021887A (zh) * 2021-03-10 2021-06-25 扬州工业职业技术学院 适用于工业机器人手臂的3d打印喷头及其使用方法

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG11201908903QA (en) * 2017-04-04 2019-10-30 Massachusetts Inst Technology Additive manufacturing in gel-supported environment
CN106945267A (zh) * 2017-05-17 2017-07-14 泉州玉环模具有限公司 三维打印成形设备及个性化鞋底打印系统和打印方法
JP7365239B2 (ja) * 2017-05-25 2023-10-19 ティーディービーティー アイピー インコーポレイティド デュアルアーム機構を備える無菌プリンタシステム
CN107553910A (zh) * 2017-10-29 2018-01-09 南京中高知识产权股份有限公司 同步3d建模功能的打印系统及其工作方法
CN107718544A (zh) * 2017-10-29 2018-02-23 南京中高知识产权股份有限公司 带有视觉功能的3d打印装置及其工作方法
CN107597478A (zh) * 2017-11-06 2018-01-19 济南大学 义齿饰面瓷涂覆机器人及涂覆方法
CN107901421A (zh) * 2017-11-13 2018-04-13 南京中高知识产权股份有限公司 自助3d打印共享平台及其工作方法
CN107914388A (zh) * 2017-11-13 2018-04-17 南京中高知识产权股份有限公司 集成建模及3d打印功能的一体机及其工作方法
CN107932914A (zh) * 2017-11-13 2018-04-20 南京中高知识产权股份有限公司 无线3d打印机及其工作方法
CN107901420A (zh) * 2017-11-13 2018-04-13 南京中高知识产权股份有限公司 共享3d打印平台及3d共享打印方法
CN107696477B (zh) * 2017-11-16 2019-01-25 同济大学 一种大尺度机器人3d打印设备与工艺
CN108891025B (zh) * 2018-06-06 2020-10-02 北京航空航天大学 一种智能化的多源同步定向三维打印装置
CN112351889B (zh) * 2018-08-30 2023-02-17 惠普发展公司，有限责任合伙企业 喷射器主体
CN109367001B (zh) * 2018-10-18 2020-10-27 西安理工大学 基于四自由度并联机构的圆柱形6d打印系统
CN109601571A (zh) * 2018-12-29 2019-04-12 湖北问天软件系统有限公司 蛋糕3d打印机
US11167483B2 (en) * 2019-04-10 2021-11-09 Northrop Grumman Systems Corporation Methods and apparatus for fabrication of 3D integrated composite structures
US11117319B2 (en) * 2019-04-10 2021-09-14 Northrop Grumman Systems Corporation Printing machine for fabricating 3D integrated composite structures and having a multiple extruder module
US11167484B2 (en) * 2019-04-10 2021-11-09 Northrop Grumman Systems Corporation Printing machine for fabricating 3D integrated composite structures and having a rotatable extruder module
CN110103476B (zh) * 2019-05-24 2024-05-28 硅湖职业技术学院 基于mes系统的全自动工业化3d打印工作平台
CN110053258B (zh) * 2019-05-27 2020-08-14 安徽伟迈信息技术有限公司 一种3d打印机及其使用方法
CN110076996B (zh) * 2019-05-29 2020-09-18 浙江大学 一种基于双目结构光实时监测3d打印的装置
CN110414403A (zh) * 2019-07-22 2019-11-05 广东工业大学 一种基于机器视觉的3d打印过程监控方法
CN110421845A (zh) * 2019-08-06 2019-11-08 岭南师范学院 一种基于并行机构的高精度sla激光3d打印机
CN110421846B (zh) * 2019-08-12 2024-06-04 南京大学 一种基于多级坐标系统的嵌套式3d打印机及打印方法
CN113674299A (zh) * 2020-05-13 2021-11-19 中国科学院福建物质结构研究所 一种3d打印方法和装置
WO2021226891A1 (zh) * 2020-05-13 2021-11-18 中国科学院福建物质结构研究所 基于多轴联动控制和机器视觉反馈测量的3d打印装置及方法
CN111923405A (zh) * 2020-08-04 2020-11-13 砼易测(西安)智能科技有限公司 一种基于三维重建技术的智能3d打印设备及制造方法
CN112518073A (zh) * 2020-10-27 2021-03-19 青岛科技大学 一种电弧熔丝金属打印机自动换丝装置
CN112374119B (zh) * 2020-11-05 2021-12-28 泉州装备制造研究所 一种自适应机场物流系统
CN112793155B (zh) * 2020-12-18 2022-06-24 华南理工大学 一种并联机械臂3d打印软骨修复装置及方法
US20220234291A1 (en) * 2021-01-22 2022-07-28 Formlabs, Inc. Material dispensing pump for additive fabrication
CN112917921A (zh) * 2021-01-26 2021-06-08 贵州航天天马机电科技有限公司 一种3d打印光敏树脂零件缺陷修复系统
CN113001974B (zh) * 2021-03-15 2023-02-28 深圳市创想三维科技股份有限公司 一种3d打印机的按压式双喷头组件及3d打印机
CN113172886A (zh) * 2021-05-18 2021-07-27 青岛科技大学 智能微控打印设备及智能微控打印方法
JP7308240B2 (ja) * 2021-06-24 2023-07-13 株式会社Nba ３ｄプリンタ
CN113386239B (zh) * 2021-07-07 2022-11-18 河北工业大学 多材料3d打印方法及基于该方法的微流挤出式打印机
CN113442428B (zh) * 2021-07-30 2022-10-11 北京航空航天大学 一种高精度3d打印装置及其打印方法
CN113837225B (zh) * 2021-08-25 2024-07-09 佛山市灵觉科技有限公司 一种基于深度学习的缺陷检测3d打印装置及方法
CN114407358A (zh) * 2021-12-24 2022-04-29 上海工程技术大学 一种多自由度连续复合纤维材料3d打印机
CN114889122A (zh) * 2022-04-06 2022-08-12 哈尔滨工业大学 一种基于微液滴发生器阵列的3d打印装置
CN114801182A (zh) * 2022-04-27 2022-07-29 西安增材制造国家研究院有限公司 基于Stewart并联机构平台的3D打印系统控制方法
CN114851559B (zh) * 2022-05-06 2023-06-30 江南大学 自由度冗余加工系统、轮廓线高精度加工方法及工件
CN115782422B (zh) * 2023-02-06 2023-05-30 季华实验室 Oled基板微调用的高精度六自由度微动台

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104002299A (zh) * 2014-05-12 2014-08-27 西安理工大学 六自由度并联微平台
CN104097326A (zh) * 2014-07-09 2014-10-15 西安交通大学 一种纤维增强复合材料多自由度3d打印机及其打印方法
KR101528850B1 (ko) * 2015-01-19 2015-06-17 강원대학교산학협력단 6자유도 3차원 프린터
CN204936224U (zh) * 2015-09-08 2016-01-06 北京理工大学珠海学院 一种机械手式彩色3d打印机
WO2016138242A1 (en) * 2015-02-25 2016-09-01 Abb Technology Ag Robotic additive manufacturing apparatuses, systems and methods
CN105922596A (zh) * 2016-06-27 2016-09-07 杭州捷诺飞生物科技有限公司 多轴机器人的多喷头生物3d打印设备及使用方法
CN106163771A (zh) * 2013-11-13 2016-11-23 Abb技术有限公司 用于机器人3d打印的方法及系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600407A (zh) * 2013-11-21 2014-02-26 福建海源三维打印高科技有限公司 一种三维打印机
CN103948456B (zh) 2014-04-22 2016-01-13 上海大学 自动化控制的转盘式气动多喷头生物3d打印成形系统及方法
CN104607639B (zh) * 2015-01-12 2016-11-02 常州先进制造技术研究所 一种用于金属3d打印的表面修复塑形装置
CN104908323A (zh) * 2015-05-27 2015-09-16 常州大学 一种六自由度三维打印设备
CN104985812A (zh) * 2015-06-18 2015-10-21 中国矿业大学 一种3d打印机用多喷头机构
CN206403893U (zh) * 2016-10-19 2017-08-15 泉州装备制造研究所 一种基于多轴联动控制和机器视觉测量的3d打印系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106163771A (zh) * 2013-11-13 2016-11-23 Abb技术有限公司 用于机器人3d打印的方法及系统
CN104002299A (zh) * 2014-05-12 2014-08-27 西安理工大学 六自由度并联微平台
CN104097326A (zh) * 2014-07-09 2014-10-15 西安交通大学 一种纤维增强复合材料多自由度3d打印机及其打印方法
KR101528850B1 (ko) * 2015-01-19 2015-06-17 강원대학교산학협력단 6자유도 3차원 프린터
WO2016138242A1 (en) * 2015-02-25 2016-09-01 Abb Technology Ag Robotic additive manufacturing apparatuses, systems and methods
CN204936224U (zh) * 2015-09-08 2016-01-06 北京理工大学珠海学院 一种机械手式彩色3d打印机
CN105922596A (zh) * 2016-06-27 2016-09-07 杭州捷诺飞生物科技有限公司 多轴机器人的多喷头生物3d打印设备及使用方法

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020084263A1 (fr) 2018-10-25 2020-04-30 Poietis Systeme de bio-impression robotise
FR3087703A1 (fr) * 2018-10-25 2020-05-01 Poietis Systeme de bio-impression robotise
JP2022505792A (ja) * 2018-10-25 2022-01-14 ポワティス ロボット化されたバイオプリンティングシステム
CN110076986A (zh) * 2019-04-25 2019-08-02 宁波汉克三维科技有限公司 一种打印效果好的3d打印机
CN110076986B (zh) * 2019-04-25 2024-05-03 宁波汉克三维科技有限公司 一种打印效果好的3d打印机
CN112124682A (zh) * 2020-09-03 2020-12-25 苏州搏技光电技术有限公司 一种加速度计测试设备
CN113021887A (zh) * 2021-03-10 2021-06-25 扬州工业职业技术学院 适用于工业机器人手臂的3d打印喷头及其使用方法
CN113021887B (zh) * 2021-03-10 2023-05-30 扬州工业职业技术学院 适用于工业机器人手臂的3d打印喷头及其使用方法

Also Published As

Publication number Publication date
DE112016007358T5 (de) 2019-07-25
CN106264796B (zh) 2018-04-06
US20190047227A1 (en) 2019-02-14
CN106264796A (zh) 2017-01-04

Similar Documents

Publication Publication Date Title
WO2018072265A1 (zh) 一种基于多轴联动控制和机器视觉测量的3d打印系统
CN108526958B (zh) 一种薄壁零件装夹装置及装夹方法
CN103948456B (zh) 自动化控制的转盘式气动多喷头生物3d打印成形系统及方法
CN206403893U (zh) 一种基于多轴联动控制和机器视觉测量的3d打印系统
CN106944827A (zh) 一种手机镜头组装设备
CN206085687U (zh) 一种3d打印装置的喷头机构
US20160068793A1 (en) Manufacturing within a single-use container
KR20200040744A (ko) 분산형 자동화 적층 제조를 위한 방법 및 디바이스
CN104224405A (zh) 复合式转盘气动多喷头生物3d打印成形系统及方法
CN109466061B (zh) 一种基于电液动力耦合喷印的多材料3d打印设备
CN110450417B (zh) 多喷头共点打印系统
CN108296751A (zh) 回流线式自校准摄像头组装设备
CN109107837A (zh) 一种陶瓷套筒自动点胶粘接设备
CN110450405B (zh) 多喷头协同生物打印方法
CN111804516A (zh) 一种自动贴片机
CN109794377A (zh) 一种适用于回转体上色物自动涂色的装置及方法
CN106619064A (zh) 一种具有定量涂抹按摩液与多种按摩方式的按摩设备
CN106217874A (zh) 一种四轴三维打印机
CN113334761A (zh) 一种挤出成型—光固化一体式的三维打印机及其打印方法
CN110450418B (zh) 多喷头打印系统
CN208005126U (zh) 回流线式自校准摄像头组装设备
CN206403894U (zh) 一种3d打印装置
CN202491163U (zh) 陶瓷管自动抛光装置
CN106378655A (zh) 一种弱刚性工件混联智能夹具装置
CN211937602U (zh) 智能涂胶机

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16919382

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 16919382

Country of ref document: EP

Kind code of ref document: A1