3d printing device and method for manufacturing a magnetic three-dimensional structure

Abstract

A kind of 3D printing device and printing method for manufacturing magnetic three-dimensional structure belong to 3D printing magnetic material field.The present application is directed to the problem that magnetic particles are prone to sedimentation and agglomeration in polymer material matrix, affecting the magnetic uniformity of polymer material, and cannot print programmable magnetic three-dimensional structure.The device comprises: a printing platform is arranged above the through hole of the carrier plate, and the printing platform is coaxially nested inside the magnetic field generating device;The Z-direction lifting DLP light curing device is fixed on the carrier plate and is above the printing platform;The XY-direction moving direct-writing filler system is between the Z-direction lifting DLP light curing device and the printing platform;The calibration system is arranged below the through hole of the carrier plate, and the printing platform is fixed on the calibration system;The calibration system adjusts the XY movement plane of the XY-direction moving direct-writing filler system to be parallel to the printing platform, and calibrates and calibrates the Z-direction lifting DLP light curing device and the XY-direction moving direct-writing filler system.The present application can manufacture three-dimensional structure with programmable magnetic arrangement.

Description

Technical Field

[0001] This invention relates to a 3D printing apparatus and method for manufacturing magnetic three-dimensional structures, belonging to the field of 3D printing magnetic materials. Background Technology

[0002] Magnetic three-dimensional structures include magnetically controlled robots, magnetic sensors, and magnetic actuators. Among them, magnetically controlled robots have the characteristics of rapid response and can undergo shape transformation or perform complex actions under the excitation of an external magnetic field. Magnetically controlled robots have the characteristics of remote control and can solve tasks that are difficult to achieve in closed or narrow complex environments. They have high biocompatibility and can be applied in the medical field to realize treatment methods such as minimally invasive surgery, pathological analysis, and targeted drug delivery.

[0003] The versatility of magnetically controlled robots depends on their magnetic arrangement and structural design. Their magnetic direction and region, as well as their complex mechanical stiffness distribution, determine their driving force and movements under an external magnetic field. To achieve precise control of the movement and direction of magnetically controlled robots, it is necessary to manufacture a three-dimensional structure with programmable magnetic arrangement and structural design.

[0004] A common method for preparing magnetic materials is to uniformly mix magnetic particles into polymer materials such as hydrogels, silicone rubber, and photosensitive resins. In existing research, 3D printing is a research trend in the processing of magnetic materials.

[0005] In patent US20200223099A1, Kim et al. from Cambridge University proposed a method for manufacturing magnetically controlled robots using direct-write 3D printing. Specifically, this method uses pressure to drive a uniform mixture of magnetic particles and an uncured silicone rubber elastomer matrix in a print head, causing the mixture to be extruded from a nozzle. Simultaneously, a one-dimensional magnetic field generator is installed at the nozzle to induce the magnetic particles in the magnetic composite material to align with the applied magnetic field. By controlling the printing direction, a planar magnetic arrangement design can be achieved. However, this method only allows for two-dimensional programmable design of the magnetic direction, and the printed structure requires heating for curing, resulting in low printing efficiency.

[0006] In patent US20180354120A1, Diller et al. from the University of Toronto proposed a method for manufacturing magnetically controlled robots using photopolymerization 3D printing. Specifically, this method uses ultraviolet light to cure a homogeneous mixture of magnetic particles and an uncured photosensitive resin matrix from a material bath; simultaneously, a three-dimensional magnetic field generating device is installed below the material bath to achieve a three-dimensional magnetic arrangement design. However, this method lacks specific equipment for material dispensing, limiting it to printing magnetic composite materials with low viscosity. Furthermore, the magnetic particles added to the composite material are prone to sedimentation and agglomeration in the low-viscosity matrix, severely affecting the magnetic uniformity of the composite material. Therefore, only planar structures can be printed, failing to achieve true three-dimensional printing. Additionally, their three-dimensional magnetic field generating device uses a single permanent magnet, generating a three-dimensional magnetic field through the rotation of this magnet; therefore, the magnetic field distribution is uneven, preventing the printing of magnetic composite materials over a large area. Summary of the Invention

[0007] To address the problem that magnetic particles tend to settle and agglomerate in polymer matrix materials, affecting the magnetic uniformity of the polymer material and thus preventing the printing of programmable magnetic three-dimensional structures, this invention provides a 3D printing device and method for manufacturing magnetic three-dimensional structures.

[0008] The present invention discloses a 3D printing apparatus for manufacturing magnetic three-dimensional structures, comprising an XY-axis moving direct-write filler system, a printing platform, a Z-axis lifting DLP photopolymerization device, a magnetic field generating device, a calibration system, a carrier plate, and a control device.

[0009] A printing platform is installed above the through-hole of the carrier plate, and the printing platform is coaxially nested inside the magnetic field generating device; the Z-axis lifting DLP photopolymerization device is fixed on the carrier plate and located above the printing platform;

[0010] The XY-axis moving direct-write filler system is fixed to the carrier plate by the filler bracket and is located between the Z-axis lifting DLP photopolymerization unit and the printing platform;

[0011] A calibration system is installed below the through-hole of the carrier plate, and the printing platform is fixed on the calibration system. The calibration system is aligned with the axis of the Z-axis lifting DLP photopolymerization device. The calibration system is used to adjust the XY motion plane of the XY-axis moving direct-write filler system to be parallel to the printing platform, and to calibrate and standardize the Z-axis lifting DLP photopolymerization device and the XY-axis moving direct-write filler system according to the preset projection pattern of the Z-axis lifting DLP photopolymerization device.

[0012] The control device is used to obtain the target pattern of the current printing layer and control the XY-axis movement of the direct-write filler system to distribute the magnetic composite material to the target area of ​​the printing platform according to the shape of the target pattern. The control device is also used to control the magnetic field generating device to generate a magnetic field in the same direction according to the magnetic direction of the target pattern, and control the Z-axis lifting DLP curing device to cure the magnetic composite material in the target area to complete single-layer printing. The control device is also used to control the printing platform to generate Z-axis displacement to achieve layer-by-layer printing to obtain a magnetic three-dimensional structure.

[0013] The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to the present invention includes an X-axis moving direct-write filler system comprising an X-axis moving module, a Y-axis moving module, a printing nozzle, a connecting pipe, a flow control system, and an air pump.

[0014] The Y-axis moving module is fixed on the filler support, the X-axis moving module is mounted on the slider of the Y-axis moving module, the print head is mounted on the slider of the X-axis moving module, and the print head is connected to the flow control system through a connecting pipe. The flow control system is connected to the air pump. The air pump is used to generate air pressure to drive the magnetic composite material to be extruded from the print head.

[0015] The control device controls the air pressure range of the flow control system and generates the print head movement trajectory according to the target pattern of the current printing layer, so that the magnetic composite material is extruded from the print head and distributed to the target area of ​​the printing platform.

[0016] According to the 3D printing apparatus for manufacturing magnetic three-dimensional structures of the present invention, the printing platform includes a printing plane and a platform support, the platform support is fixed on the upper surface of the calibration system, and the printing plane is fixed on the platform support.

[0017] The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to the present invention includes a Z-axis lifting DLP photopolymerization device comprising a DLP device, an optical lens, a Z-axis lifting moving module, and a lifting support.

[0018] The lifting bracket is fixed on the carrier plate, the Z-axis lifting and moving module is fixedly connected to the lifting bracket, the DLP device is installed on the slider of the Z-axis lifting and moving module, and the optical lens is connected to the lower surface of the DLP device.

[0019] The control device controls the DLP device to form an exposure pattern according to the target pattern. The exposure pattern is focused onto the printing plane through an optical lens to cure the magnetic composite material in the target area.

[0020] The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to the present invention includes a calibration system comprising a CCD camera, an adjustment platform, a Z-axis calibration moving module, and a calibration support.

[0021] The Z-axis calibration moving module is fixed to the lower surface of the carrier plate by a calibration bracket. The adjustment platform is fixedly connected to the Z-axis calibration moving module by a slider. The CCD camera is mounted on the adjustment platform, and the axis of the CCD camera coincides with that of the DLP device and the optical lens.

[0022] The platform support is fixed on the adjustment platform;

[0023] The control device controls the adjustment platform to make the printing plane parallel to the XY motion plane of the print head;

[0024] The control device controls the CCD camera to acquire the preset projection pattern of the Z-axis lifting DLP curing device, and controls the Z-axis lifting moving module to move according to the clarity of the preset projection pattern, so as to focus the preset projection pattern on the printing plane; and through the CCD camera, the relative position of the printing nozzle and the projection area of ​​the Z-axis lifting DLP curing device is calibrated.

[0025] According to the 3D printing apparatus for manufacturing magnetic three-dimensional structures of the present invention, the axes of the printing platform, the Z-axis lifting DLP photopolymerization device, and the calibration system are aligned.

[0026] The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to the present invention includes a control device comprising a printing logic layer 7-1 and a motion planning layer 7-2.

[0027] Print logic layer 7-1 is electrically connected to the flow control system, DLP device, magnetic field generating device and CCD camera;

[0028] The motion planning layer 7-2 is electrically connected to the X-axis motion module, Y-axis motion module, Z-axis lifting motion module, and Z-axis calibration motion module.

[0029] The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to the present invention further includes an electrical control hardware interface layer 7-3 for providing an electrical interface for external electrical equipment.

[0030] This invention also provides a 3D printing method for magnetic three-dimensional structures, implemented based on the aforementioned 3D printing apparatus for manufacturing magnetic three-dimensional structures, including,

[0031] 1. Set printing parameters to convert the design model of the magnetic 3D structure into a computer layered pattern, and then obtain the target pattern of the current printing layer from the layered pattern.

[0032] 2: Calibration and calibration of the printing plane (2-1) two-dimensional pitch angle, printing nozzle (1-3) motion plane and Z-axis lifting DLP light curing device (3) projection area;

[0033] 3. Fill the printing nozzle (1-3) with magnetic composite material, and control the X-axis moving module (1-1) and Y-axis moving module (1-2) according to the target pattern to distribute the magnetic composite material in the printing nozzle (1-3) to the target area of ​​the printing platform (2);

[0034] 4: Control magnetic field generating device (4) Generates a three-dimensional uniform magnetic field in the same direction according to the magnetization direction of the target area, and induces the magnetic particles in the magnetic composite material to turn to the same direction.

[0035] 5. Control the Z-axis lifting DLP photocuring device (3) to project the target pattern onto the printing platform (2) to cure the magnetic composite material;

[0036] Six: Control the printing platform (2) to move down by the thickness of one printing layer, repeat steps two to four, and complete the 3D printing of the magnetic three-dimensional structure.

[0037] According to the 3D printing method of the magnetic three-dimensional structure of the present invention, the method of generating a uniform three-dimensional magnetic field in the same direction according to the magnetization direction of the target region by the magnetic field generating device includes:

[0038] The magnetization direction of the target region is decomposed into the magnetic vector in the plane of the Halebeck array and the magnetic vector normal to the plane of the Halebeck array. The magnetic vector in the plane is generated by combining the Halebeck array, and the magnetic vector normal to the plane is generated by energizing the electromagnetic solenoid coaxially nested inside the Halebeck array. A three-dimensional uniform magnetic field in the same direction is generated by vector superposition.

[0039] Alternatively, the magnetic direction of the target region can be decomposed into magnetic vector components x, y, and z. The x, y, and z components are generated by energizing three-dimensional Helmholtz-like coils arranged along the x, y, and z axes, respectively, and then a three-dimensional uniform magnetic field in the same direction is generated by vector superposition.

[0040] The beneficial effects of the present invention are as follows: The present invention first distributes magnetic materials to the target area by means of direct writing filler, then applies an external magnetic field to induce the magnetic particles in the material to turn, and then performs ultraviolet curing, which can manufacture a three-dimensional structure with programmable magnetic arrangement.

[0041] In this invention, DLP photopolymerization cures the area of ​​the pre-distributed magnetic composite material in the form of a surface to create a magnetic three-dimensional structure. This method solves the problem that magnetic particles are prone to sedimentation and agglomeration in the composite matrix, and can realize the printing of programmable magnetic arrangement three-dimensional structures, improving the multifunctionality and control precision of the magnetic three-dimensional structure.

[0042] Simultaneously, this invention can generate an external magnetic field through a magnetic field generating device based on the magnetic arrangement design of the magnetic three-dimensional structure, inducing the magnetic particles in the magnetic composite material to orient, and manufacturing a programmable magnetic arrangement three-dimensional structure by 3D printing. The magnetic three-dimensional structure printed by this invention can respond to local control of intensity and direction in a controlled magnetic field, and can perform complex actions such as swimming, crawling, rolling, capturing, and releasing. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the overall structure of the 3D printing device for manufacturing magnetic three-dimensional structures as described in this invention;

[0044] Figure 2 This is a schematic diagram of the XY-axis moving direct-write packing system;

[0045] Figure 3 This is a schematic diagram of the printing platform;

[0046] Figure 4 This is a schematic diagram of the Z-axis lifting DLP photopolymerization device;

[0047] Figure 5 This is a schematic diagram of the calibration system;

[0048] Figure 6 This is a control block diagram of the control device;

[0049] Figure 7 This is a schematic diagram of the overall structure of the 3D printing device in Specific Implementation Method 2. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0052] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0053] Specific Implementation Method 1: Combination Figures 1 to 7 As shown, a first aspect of the present invention provides a 3D printing apparatus for manufacturing magnetic three-dimensional structures, comprising: an XY-axis moving direct-write filler system 1, a printing platform 2, a Z-axis lifting DLP photopolymerization device 3, a magnetic field generating device 4, a calibration system 5, a carrier plate 6, and a control device 7.

[0054] A printing platform 2 is installed above the through hole of the carrier plate 6, and the printing platform 2 is coaxially nested inside the magnetic field generating device 4; the Z-axis lifting DLP photocuring device 3 is fixed on the carrier plate 6 and is located above the printing platform 2.

[0055] The XY-axis moving direct writing filler system 1 is fixed on the carrier plate 6 by the filler brackets 1-6 and is located between the Z-axis lifting DLP photocuring device 3 and the printing platform 2;

[0056] A calibration system 5 is installed below the through hole of the carrier plate 6, and the printing platform 2 is fixed on the calibration system 5. The calibration system 5 is aligned with the axis of the Z-axis lifting DLP photocuring device 3. The calibration system 5 is used to adjust the XY motion plane of the XY-axis moving direct writing filler system 1 to be parallel with the printing platform 2, and to calibrate and standardize the Z-axis lifting DLP photocuring device 3 and the XY-axis moving direct writing filler system 1 according to the preset projection pattern of the Z-axis lifting DLP photocuring device 3.

[0057] The control device 7 is used to obtain the target pattern of the current printing layer, and control the XY-axis movement of the direct writing filler system 1 to distribute the magnetic composite material to the target area of ​​the printing platform 2 according to the shape of the target pattern; the control device 7 is also used to control the magnetic field generating device 4 to generate a magnetic field in the same direction according to the magnetic direction of the target pattern, and control the Z-axis lifting and lowering DLP curing device 3 to cure the magnetic composite material in the target area to complete single-layer printing; the control device 7 is also used to control the printing platform 2 to generate Z-axis displacement to achieve layer-by-layer printing to obtain a magnetic three-dimensional structure.

[0058] In this embodiment, through holes are provided on the carrier plate 6 at the positions corresponding to the printing platform 2 and the calibration system 5. The printing platform 2 is fixedly installed on the upper part of the carrier plate 6 corresponding to the through hole, and the calibration system 5 is fixedly installed on the lower part of the carrier plate 6 corresponding to the through hole. The two are fixedly connected in the through hole.

[0059] Furthermore, combined with Figure 1 and Figure 2 As shown, the XY-axis moving direct-write filler system 1 includes an X-axis moving module 1-1, a Y-axis moving module 1-2, a print head 1-3, a connecting pipe 1-4, a flow control system 1-5, and an air pump.

[0060] The Y-axis moving module 1-2 is fixed on the filler support 1-6. The X-axis moving module 1-1 is mounted on the slider of the Y-axis moving module 1-2. The print head 1-3 is mounted on the slider of the X-axis moving module 1-1. The print head 1-3 is connected to the flow control system 1-5 through the connecting pipe 1-4. The flow control system 1-5 is connected to the air pump. The air pump is used to generate a pneumatic driving source to extrude the magnetic composite material from the print head 1-3.

[0061] The control device 7 controls the air pressure range of the flow control system 1-5 and generates the movement trajectory of the print head 1-3 according to the target pattern of the current printing layer, so that the magnetic composite material is extruded from the print head 1-3 and distributed to the target area of ​​the printing platform 2.

[0062] Furthermore, combining Figure 1 and Figure 3 As shown, the printing platform 2 includes a printing plane 2-1 and a platform support 2-2. The platform support 2-2 is fixed on the upper surface of the calibration system 5, and the printing plane 2-1 is fixed on the platform support 2-2.

[0063] Furthermore, combining Figure 1 and Figure 4 As shown, the Z-axis lifting DLP photopolymerization device 3 includes a DLP device 3-1, an optical lens 3-2, a Z-axis lifting moving module 3-3, and a lifting bracket 3-4.

[0064] The lifting bracket 3-4 is fixed on the carrier plate 6. The Z-axis lifting and moving module 3-3 and the lifting bracket 3-4 are fixedly connected. The DLP device 3-1 is installed on the slider of the Z-axis lifting and moving module 3-3. The lower surface of the DLP device 3-1 is connected to the optical lens 3-2.

[0065] The control device 7 controls the DLP device 3-1 to form an exposure pattern according to the target pattern. The exposure pattern is converged onto the printing plane 2-1 through the optical lens 3-2 to achieve the curing of the magnetic composite material in the target area.

[0066] Furthermore, combining Figure 1 and Figure 5 As shown, the calibration system 5 includes a CCD camera 5-1, an adjustment platform 5-2, a Z-axis calibration moving module 5-3, and a calibration bracket 5-4.

[0067] Z-axis calibration moving module 5-3 is fixed to the lower surface of carrier plate 6 via calibration bracket 5-4. Adjustment platform 5-2 is fixedly connected to Z-axis calibration moving module 5-3 via slider. CCD camera 5-1 is mounted on adjustment platform 5-2. The axis of CCD camera 5-1 coincides with that of DLP device 3-1 and optical lens 3-2.

[0068] Platform bracket 2-2 is fixed on adjustment platform 5-2;

[0069] Control device 7 controls adjustment platform 5-2 to adjust printing plane 2-1 to be parallel to the XY motion plane of print head 1-3;

[0070] The control device 7 controls the CCD camera 5-1 to acquire the preset projection pattern of the Z-axis lifting DLP curing device 3, and controls the Z-axis lifting moving module 3-3 to move according to the clarity of the preset projection pattern, so as to focus the preset projection pattern on the printing plane 2-1; and through the CCD camera 5-1, the relative position of the printing nozzle 1-3 and the projection area of ​​the Z-axis lifting DLP curing device 3 is calibrated.

[0071] Furthermore, combining Figure 1 As shown, the axes of the printing platform 2, the Z-axis lifting DLP curing device 3, and the calibration system 5 coincide.

[0072] Furthermore, combining Figures 1 to 6 As shown, the control device 7 includes a printing logic layer 7-1 and a motion planning layer 7-2.

[0073] The printing logic layer 7-1 is electrically connected to the flow control system 1-5, the DLP device 3-1, the magnetic field generating device 4, and the CCD camera 5-1. The printing logic layer 7-1 controls the CCD camera 5-1 to acquire images, realizes the focusing of the projected pattern of the Z-axis lifting and moving module 3-3 on the upper surface of the printing plane 2-1, and calibrates the moving plane of the printing nozzle 1-3 with the projection area of ​​the Z-axis lifting and moving DLP curing device 3. It controls the air pressure range of the flow control system 1-5 to realize the extrusion of the magnetic composite material from the printing nozzle 1-3 into the target area. It controls the magnetic field generating device 4 to generate a three-dimensional magnetic field in the same direction according to the magnetic direction of the target pattern of the current printing layer. It controls the DLP device 3-1 to realize the timing control of the exposure pattern.

[0074] The motion planning layer 7-2 is electrically connected to the X-axis moving module 1-1, the Y-axis moving module 1-2, the Z-axis lifting moving module 3-3, and the Z-axis calibration moving module 5-3. The motion planning layer 7-2 controls the Z-axis lifting moving module 3-3 to move the Z-axis lifting DLP curing device 3 along the Z-axis, focusing the projected pattern onto the printing plane 2-1. By controlling the Z-axis calibration moving module 5-3, the printing platform 2 is moved along the Z-axis, causing the printing plane 2-1 to move to different positions in the calibration, filling, magnetization, and curing printing steps. It also controls the X-axis moving module 1-1 and the Y-axis moving module 1-2 to plan and move the printing nozzle 1-3 along the XY plane, distributing the magnetic composite material to the target pattern area of ​​the current printing layer.

[0075] Furthermore, combining Figure 6As shown, the control device 7 also includes an electrical control hardware interface layer 7-3, which provides an electrical interface for external electrical devices to achieve electrical connection with them. The external electrical devices include external motor drivers, encoders, and laser displacement sensors. The electrical control hardware interface layer 7-3 can communicate bidirectionally with the external electrical devices, controlling the motor drivers and encoders to achieve stable input and output; and controlling the laser displacement sensor to measure the distance between the print head 1-3 and the printing plane 2-1.

[0076] Specific Implementation Method Two: Combination Figures 1 to 7 As shown, another aspect of the present invention provides a 3D printing method for magnetic three-dimensional structures, implemented based on the 3D printing apparatus for manufacturing magnetic three-dimensional structures described in Specific Embodiment 1, including,

[0077] 1. By setting printing parameters through slicing software, the design model of the magnetic 3D structure is converted into a computer-generated layered pattern, and then the target pattern of the current printing layer is obtained from the layered pattern; the target pattern can be subdivided into layer area patterns according to the magnetic arrangement design of the current printing layer.

[0078] 2: Calibration and calibration of the printing plane (2-1) two-dimensional pitch angle, printing nozzle (1-3) motion plane and Z-axis lifting DLP light curing device (3) projection area;

[0079] Adjust platform 5-2 to make the printing plane parallel to the XY motion plane of the direct writing filler system, observe the DLP projection pattern with the CCD camera, calibrate the DLP projector to focus on the upper surface of the printing plane, and mark the relative position of the printing nozzle and the projection area to ensure printing accuracy and resolution;

[0080] 3. Fill the printing nozzle 1-3 with magnetic composite material, and control the X-axis moving module 1-1 and Y-axis moving module 1-2 to distribute the magnetic composite material in the printing nozzle 1-3 to the target area of ​​the printing platform 2 according to the target pattern.

[0081] 4: The magnetic field generating device 4 generates a three-dimensional uniform magnetic field in the same direction according to the magnetization direction of the target area, inducing the magnetic particles in the magnetic composite material to turn to the same direction.

[0082] 5. After the magnetic particles turn to the target direction, the Z-axis lifting DLP photocuring device 3 is controlled to project the target pattern onto the printing platform 2 to cure the magnetic composite material in the target area.

[0083] Six: Control the printing platform 2 to move down by a distance equal to the thickness of one printing layer, and repeat steps two to four to complete the 3D printing of the magnetic three-dimensional structure.

[0084] If the target pattern is subdivided into layer area patterns, then each of the above processes completes the printing of one layer area pattern.

[0085] Furthermore, combined with Figure 1 and Figure 7 As shown, the method by which the magnetic field generating device 4 generates a three-dimensional uniform magnetic field in the same direction according to the magnetization direction of the target area includes:

[0086] The magnetization direction of the target region is decomposed into the magnetic vector in the plane of the Halebeck array and the magnetic vector normal to the plane of the Halebeck array. The magnetic vector in the plane is generated by combining the Halebeck array, and the magnetic vector normal to the plane is generated by energizing the electromagnetic solenoid coaxially nested inside the Halebeck array. A three-dimensional uniform magnetic field in the same direction is generated by vector superposition.

[0087] Alternatively, the magnetic direction of the target region can be decomposed into magnetic vector components x, y, and z. The x, y, and z components are generated by energizing three-dimensional Helmholtz-like coils arranged along the x, y, and z axes, respectively, and then a three-dimensional uniform magnetic field in the same direction is generated by vector superposition. Specific Implementation Example 1:

[0089] An apparatus for manufacturing magnetic three-dimensional structures by integrating direct-write filler and photopolymerization 3D printing system includes an XY-axis moving direct-write filler system, a printing platform, a Z-axis lifting DLP photopolymerization device, a three-dimensional magnetic field generating device based on a permanent magnet Helbeck array, a calibration system, a carrier plate, and a three-dimensional structure and magnetization direction printing control device. The XY-axis moving direct-write filler system is mounted above the carrier plate via a bracket and is also located above the printing platform; the printing platform is coaxially nested inside the three-dimensional magnetic field generating device based on a permanent magnet Helbeck array and is also mounted above the calibration system; the calibration system is mounted below the carrier plate via a bracket; the Z-axis lifting DLP photopolymerization device is mounted above the carrier plate and is also located above the XY-axis moving direct-write filler system.

[0090] The printing method of the device:

[0091] 1. Set printing parameters using slicing software to convert the 3D design model of the magnetic structure into a computer-generated layered pattern, and then subdivide the layer pattern into layer area patterns according to the magnetic arrangement design of each printing layer.

[0092] 2. Adjust the platform to make the printing plane parallel to the XY motion plane of the direct-write filler system. Observe the DLP projection pattern with the CCD camera, calibrate the DLP projector to focus on the upper surface of the printing plane, and mark the relative position of the print head and the projection area to ensure printing accuracy and resolution.

[0093] 3. The printing platform is moved up to a suitable printing distance from the print head, and the magnetic composite material is filled into the print head. According to the layer area pattern, the magnetic composite material is distributed to the target area by moving the direct writing filler system in the XY direction.

[0094] 4. The magnetic field generating device is designed according to the magnetization direction of the region. The magnetization direction is decomposed into the magnetic vector in the plane of the Halebeck array and the magnetic vector normal to the plane of the Halebeck array. The magnetic vector in the plane is generated by combining the Halebeck array, and the magnetic vector normal to the plane is generated by energizing the electromagnetic solenoid coaxially nested inside the Halebeck array. A three-dimensional uniform magnetic field in the same direction is generated by vector superposition. The printing platform is moved down to the center plane of the magnetic field generating device, and the external magnetic field induces the magnetic particles in the magnetic composite material to turn to the same direction.

[0095] 5. After the magnetic particles turn to the target direction, the DLP photopolymerization device projects the pattern of the layer area, so that the magnetic composite material in that area is cured.

[0096] 6. Repeat steps 3-5 according to the layer area pattern sequence to complete the printing of this layer structure;

[0097] 7. Lower the printing platform by the thickness of one printing layer, and repeat steps 3-6 according to the layer pattern sequence to print layer by layer to realize the manufacturing of magnetic three-dimensional structure. Specific Implementation Example 2:

[0099] An apparatus for manufacturing magnetic three-dimensional structures by integrating direct-write filler and photopolymerization 3D printing system includes an XY-axis moving direct-write filler system, a printing platform, a Z-axis lifting DLP photopolymerization device, a three-dimensional magnetic field generating device based on a Helmholtz-like coil, a calibration system, a carrier plate, and a printing control device for the three-dimensional structure and magnetization direction. The XY-axis moving direct-write filler system is mounted above the carrier plate via a bracket, and is also located above the printing platform. The printing platform is coaxially nested inside the three-dimensional magnetic field generating device based on a Helmholtz-like coil, and is located at the center plane of the magnetic field generating device, and is also mounted above the calibration system. The calibration system is mounted below the carrier plate via a bracket. The Z-axis lifting DLP photopolymerization device is mounted above the carrier plate, and is also located above the XY-axis moving direct-write filler system. Figure 7 As shown.

[0100] The printing method of the device:

[0101] 1. Set printing parameters using slicing software to convert the 3D design model of the magnetic structure into a computer-generated layered pattern, and then subdivide the layer pattern into layer area patterns according to the magnetic arrangement design of each printing layer.

[0102] 2. Adjust the platform to make the printing plane parallel to the XY motion plane of the direct writing filler system. Observe the DLP projection pattern with the CCD camera, calibrate the DLP projector to focus on the upper surface of the printing plane, and mark the relative position of the print head and the projection area to ensure printing accuracy and resolution. Move the print head down to a suitable printing distance from the printing platform.

[0103] 3. Fill the print head with magnetic composite material and distribute the magnetic composite material to the entire printing layer through the XY-axis moving direct-write filler system;

[0104] 4. The magnetic field generating device is designed according to the magnetic direction of the layer region of the printed layer. The magnetic direction is decomposed into magnetic vector x component, y component and z component. It is generated by energizing three-dimensional Helmholtz-like coils arranged along the x axis, y axis and z axis. The three-dimensional uniform magnetic field in the same direction is generated by vector superposition, which induces the magnetic particles in the magnetic composite material to turn to the same direction.

[0105] 5. After the magnetic particles turn to the target direction, the DLP photopolymerization device projects the pattern of the layer area, so that the magnetic composite material in that area is cured.

[0106] 6. Repeat steps 4-5 according to the magnetic direction sequence of the layer region of the printed layer to complete the printing of the layer structure;

[0107] 7. Lower the printing platform by the thickness of one printing layer, and repeat steps 3-6 according to the layer pattern sequence to print layer by layer to realize the manufacturing of magnetic three-dimensional structure.

[0108] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A 3D printing device for manufacturing magnetic three-dimensional structures, characterized in that... It includes an XY-axis moving direct-write filler system (1), a printing platform (2), a Z-axis lifting DLP photopolymerization unit (3), a magnetic field generating device (4), a calibration system (5), a carrier plate (6), and a control device (7). A printing platform (2) is set above the through hole of the carrier plate (6), and the printing platform (2) is coaxially nested inside the magnetic field generating device (4); the Z-axis lifting DLP photocuring device (3) is fixed on the carrier plate (6) and is located above the printing platform (2); The XY-axis moving direct writing filler system (1) is fixed on the carrier plate (6) by the filler bracket (1-6) and is located between the Z-axis lifting DLP photocuring device (3) and the printing platform (2); A calibration system (5) is installed below the through hole of the carrier plate (6), and the printing platform (2) is fixed on the calibration system (5). The axis of the calibration system (5) coincides with that of the Z-axis lifting DLP photocuring device (3). The calibration system (5) is used to adjust the XY motion plane of the XY direction moving direct writing filler system (1) to be parallel to the printing platform (2), and to calibrate and standardize the Z-direction lifting DLP photocuring device (3) and the XY direction moving direct writing filler system (1) according to the preset projection pattern of the Z-direction lifting DLP photocuring device (3); The control device (7) is used to obtain the target pattern of the current printing layer and control the XY direction movement of the direct writing filler system (1) to distribute the magnetic composite material to the target area of ​​the printing platform (2) according to the shape of the target pattern; the control device (7) is also used to control the magnetic field generating device (4) to generate a magnetic field in the same direction according to the magnetic direction of the target pattern, and control the Z direction lifting DLP photocuring device (3) to cure the magnetic composite material in the target area to complete the single-layer printing; the control device (7) is also used to control the printing platform (2) to generate Z direction displacement to achieve layer-by-layer printing to obtain a magnetic three-dimensional structure; The XY-axis moving direct-write filling system (1) includes an X-axis moving module (1-1), a Y-axis moving module (1-2), a printhead (1-3), a connecting pipe (1-4), a flow control system (1-5), and an air pump. The Y-axis moving module (1-2) is fixed on the filler support (1-6), the X-axis moving module (1-1) is mounted on the slider of the Y-axis moving module (1-2), the print head (1-3) is mounted on the slider of the X-axis moving module (1-1), and the print head (1-3) is connected to the flow control system (1-5) through the connecting pipe (1-4). The flow control system (1-5) is connected to the air pump. The air pump is used to generate a pneumatic driving source to extrude the magnetic composite material from the print head (1-3). The control device (7) controls the air pressure range of the flow control system (1-5) and generates the movement trajectory of the printing nozzle (1-3) according to the target pattern of the current printing layer, so that the magnetic composite material is extruded from the printing nozzle (1-3) and distributed to the target area of ​​the printing platform (2). The printing platform (2) includes a printing plane (2-1) and a platform support (2-2). The platform support (2-2) is fixed on the upper surface of the calibration system (5), and the printing plane (2-1) is fixed on the platform support (2-2). The Z-axis lifting DLP photopolymerization device (3) includes a DLP device (3-1), an optical lens (3-2), a Z-axis lifting moving module (3-3), and a lifting bracket (3-4). The lifting bracket (3-4) is fixed on the carrier plate (6), the Z-axis lifting moving module (3-3) and the lifting bracket (3-4) are fixedly connected, the DLP device (3-1) is installed on the slider of the Z-axis lifting moving module (3-3), and the lower surface of the DLP device (3-1) is connected to the optical lens (3-2). The control device (7) controls the DLP device (3-1) to form an exposure pattern according to the target pattern. The exposure pattern is focused onto the printing plane (2-1) through the optical lens (3-2) to achieve curing of the magnetic composite material in the target area. The calibration system (5) includes a CCD camera (5-1), an adjustment platform (5-2), a Z-axis calibration moving module (5-3), and a calibration bracket (5-4). The Z-axis calibration moving module (5-3) is fixed to the lower surface of the carrier plate (6) by the calibration bracket (5-4). The adjustment platform (5-2) is fixedly connected to the Z-axis calibration moving module (5-3) by the slider. The CCD camera (5-1) is mounted on the adjustment platform (5-2). The axis of the CCD camera (5-1) coincides with that of the DLP device (3-1) and the optical lens (3-2). The platform support (2-2) is fixed on the adjustment platform (5-2); The control device (7) controls the adjustment platform (5-2) to adjust the printing plane (2-1) to be parallel to the XY motion plane of the printing nozzle (1-3); The control device (7) controls the CCD camera (5-1) to acquire the preset projection pattern of the Z-axis lifting DLP curing device (3), and controls the Z-axis lifting moving module (3-3) to move according to the clarity of the preset projection pattern, so as to focus the preset projection pattern on the printing plane (2-1); and through the CCD camera (5-1), the relative position of the printing nozzle (1-3) and the projection area of ​​the Z-axis lifting DLP curing device (3) is calibrated.

2. The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to claim 1, characterized in that, The axes of the printing platform (2), the Z-axis lifting DLP photocuring device (3), and the calibration system (5) are aligned.

3. The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to claim 2, characterized in that, The control device (7) includes a printing logic layer (7-1) and a motion planning layer (7-2). The printed logic layer (7-1) is electrically connected to the flow control system (1-5), the DLP device (3-1), the magnetic field generating device (4), and the CCD camera (5-1); The motion planning layer (7-2) is electrically connected to the X-axis motion module (1-1), the Y-axis motion module (1-2), the Z-axis lifting motion module (3-3), and the Z-axis calibration motion module (5-3).

4. The 3D printing apparatus for manufacturing magnetic three-dimensional structures according to claim 3, characterized in that, The control device (7) also includes an electrical control hardware interface layer (7-3) for providing electrical interfaces for external electrical equipment.

5. A 3D printing method for a magnetic three-dimensional structure, implemented based on the 3D printing apparatus for manufacturing magnetic three-dimensional structures as described in claim 1, characterized in that... include, 1. Set printing parameters to convert the design model of the magnetic 3D structure into a computer layered pattern, and then obtain the target pattern of the current printing layer from the layered pattern. 2: Calibration and calibration of the printing plane (2-1) two-dimensional pitch angle, printing nozzle (1-3) motion plane and Z-axis lifting DLP light curing device (3) projection area; 3. Fill the printing nozzle (1-3) with magnetic composite material, and control the X-axis moving module (1-1) and Y-axis moving module (1-2) according to the target pattern to distribute the magnetic composite material in the printing nozzle (1-3) to the target area of ​​the printing platform (2); 4: Control magnetic field generating device (4) Generates a three-dimensional uniform magnetic field in the same direction according to the magnetization direction of the target area, and induces the magnetic particles in the magnetic composite material to turn to the same direction.

5. Control the Z-axis lifting DLP photocuring device (3) to project the target pattern onto the printing platform (2) to cure the magnetic composite material; Six: Control the printing platform (2) to move down by the thickness of one printing layer, repeat steps two to four, and complete the 3D printing of the magnetic three-dimensional structure.

6. The 3D printing method for magnetic three-dimensional structures according to claim 5, characterized in that, The method by which the magnetic field generating device (4) generates a three-dimensional uniform magnetic field in the same direction according to the magnetization direction of the target area includes: The magnetization direction of the target region is decomposed into the magnetic vector in the plane of the Halebeck array and the magnetic vector normal to the plane of the Halebeck array. The magnetic vector in the plane is generated by combining the Halebeck array, and the magnetic vector normal to the plane is generated by energizing the electromagnetic solenoid coaxially nested inside the Halebeck array. A three-dimensional uniform magnetic field in the same direction is generated by vector superposition. Alternatively, the magnetic direction of the target region can be decomposed into magnetic vector components x, y, and z. The x, y, and z components are generated by energizing three-dimensional Helmholtz-like coils arranged along the x, y, and z axes, respectively, and then a three-dimensional uniform magnetic field in the same direction is generated by vector superposition.

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