A 3D printing system based on magnetic drive

Abstract

The application relates to a 3D printing system based on magnetic driving, comprising: a forming bottom plate used for carrying a 3D printing model; a driving component used for driving the forming bottom plate to move; wherein the driving component can drive the forming bottom plate to move synchronously with the driving component in a non-contact manner, and the forming bottom plate is used for isolating the printing model in a forming chamber in the isolation box in a manner of being accommodated in the isolation box. The forming bottom plate in the forming chamber is driven in a non-contact manner, which is helpful for controlling the temperature and cleanliness in the forming chamber, and the driving component is not affected by the heat of the forming bottom plate, so that the performance of the driving component is improved.

Description

Technical Field

[0001] This invention belongs to the field of motion control technology, and in particular relates to a 3D printing system based on magnetic drive. Background Technology

[0002] 3D printing technology is a cutting-edge advanced manufacturing technology that uses 3D printers to directly print 3D CAD data into 3D models, quickly realizing various complex and personalized prototype designs. It is faster and more time-saving than traditional manufacturing methods, and has broad application prospects in industries such as aerospace, biomedicine, machinery manufacturing, and cultural and creative industries. 3D printing is a process of creating three-dimensional objects using digital files. First, computer 3D software cuts the digital model of the part into digital sheets. On a forming platform, a feeding mechanism lays down material according to the digital sheets within a specified range, while a heat source processes the contour data. The model is created by continuously stacking material. Currently, extrusion printers have the highest market share in 3D printing, with Fused Deposition Modeling (FDM) being the most representative. FDM printers stack each plane layer much like squeezing toothpaste, heating the raw material to a molten state and extruding it layer by layer from the print head onto the forming platform. Specifically, the extrusion time and trajectory are controlled by a CNC system based on the printed model. After completing one plane, the print head moves upward to print the next, repeating this extrusion process until the model is complete. FDM printers primarily use environmentally friendly PLA materials. In addition, hard ABS, highly resilient nylon, wood-grain metal, or flexible elastic materials can also be used as raw materials. Different temperatures are controlled to heat the raw material to a molten state depending on the material.

[0003] Existing technology, such as patent document with publication number CN112497731A, discloses a printing platform for an FDM 3D printer, including a base. A conveying mechanism is provided on the upper surface of the base. The upper end of the conveying mechanism passes through the upper surface of the base and extends upward and is fixedly connected to a placement mechanism. A transmission mechanism is provided between the conveying mechanism and the placement mechanism and the base. A driving mechanism is fixedly connected to the lower surface of the base. A support mechanism is provided between the conveying mechanism and the base.

[0004] Existing technology, such as patent document CN112829294A, discloses a flip-type printing platform for a 3D printer. It includes a mounting frame, a first platform component, a second platform component, a first drive assembly, a second drive assembly, and a waste collection box; the first platform component and the second platform component have identical structures, are located on the same plane, and are both mounted on the mounting frame.

[0005] Existing technology, such as patent document CN113276419A, discloses an exchangeable printing platform for an FDM 3D printer, including a base. The upper surface of the base is fixed with a transmission component, lifting components on both sides of the transmission component, and a conveying component on one side of the two lifting components. The top of the conveying component is provided with a scraper holder, and the two ends of the conveying component abut against a first chassis and a second chassis, respectively. The lifting component includes a first lifting mechanism on both sides of one end of the transmission component and a second lifting mechanism on both sides of the other end of the transmission component. The conveying component includes a support frame fixed to the upper surface of the base, a first lifting mechanism fixed inside the support frame, and a second lifting mechanism on one side of the two first lifting mechanisms.

[0006] The common feature of the aforementioned prior art is that the platform used to support the molding model and the drive structure that drives the platform's movement are rigidly connected. Due to the design of the drive structure, the platform supporting the model is inevitably connected to the outside world. For FDM printers, especially in the field of bio-3D printing applications, there are high requirements for temperature control and environmental cleanliness in the printing environment. A printing environment connected to the outside world is not conducive to temperature control or maintaining environmental cleanliness. In addition, with the drive structure rigidly connected to the molding platform, the heat from the molding platform is directly conducted to the drive structure. During long-term operation, the high temperature environment of the molding platform will have a certain impact on the performance of the drive structure. When the performance of the drive structure is affected, the movement of the molding platform is further affected. The molding platform may experience inaccurate displacement, bumping, tilting, etc., which will have a significant impact on the accuracy and precision of the molding.

[0007] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0008] The present invention aims to solve one or more technical problems existing in the prior art, including at least the problem that the molding environment connected to the outside world is not conducive to temperature control and maintaining environmental cleanliness, and the problem that the high temperature environment of the molding platform will have a certain impact on the performance of the drive structure during long-term operation.

[0009] To address the aforementioned issues, this invention proposes a magnetically driven 3D printing system, comprising: a molding base plate for supporting a 3D printed model; and a driving component for driving the molding base plate to move. The driving component can drive the molding base plate to move synchronously with the driving component in a non-contact manner, and the molding base plate isolates the printed model within a molding chamber inside an isolation box.

[0010] In the field of 3D printing technology, especially in extrusion printing, it is necessary to control not only the temperature inside the printhead to ensure the raw material is in an optimal molten state, but also the temperature of the forming plate. The purpose of controlling the forming plate temperature is to reduce the probability of warping or curling at the edges when molten raw material is extruded from the printhead onto the forming plate. Warping and curling are relatively common defects in FDM printing technology. The main reason for this defect is the significant temperature difference between the molten raw material and the forming plate as it is extruded from the printhead. The edges of the molten raw material cool and shrink preferentially, resulting in warping and curling. Therefore, temperature control of the forming environment is a relatively challenging step in 3D printing technology.

[0011] In this invention, by utilizing an isolation box and a molding base plate and drive components configured as a non-contact structure to control the entire molding environment within a relatively sealed molding chamber, at least one or more of the aforementioned technical problems can be solved. Specifically, within the molding chamber, the molding base plate and the printing nozzle are less susceptible to interference from the external environment, especially airflow interference, i.e., wind interference is avoided. When the molding base plate is directly exposed to the external environment, it may be affected by wind. Furthermore, due to the uncontrollable nature of wind, it often only blows to one side of the molding base plate. During the extrusion molding process, the model material on the wind-blown side cools down faster and experiences more complex temperature changes, thus making it more prone to warping and edge curling. However, within the molding chamber of this invention, since the molding chamber is enclosed on all sides, the impact of wind on the molding environment is minimized, thereby avoiding edge curling caused by wind.

[0012] Furthermore, in the field of extrusion 3D printing technology, the molding base plate is typically heated to further prevent model warping and edge curling. Heating the molding base plate reduces the temperature difference between its surface and the printing nozzle, or in other words, the temperature of the molten material, thereby reducing the probability of edge curling. The drawback of this approach is that heat conduction is unavoidable for the molding base plate, which is connected to the outside environment. Therefore, temperature control is relatively difficult during the heating process. For example, in existing molding base plates where the bottom is directly connected to the drive component, the molding base plate not only continuously dissipates heat to the external environment but also continuously conducts heat to the rigidly connected drive component during heating. This continuous release of heat from the molding base plate to the external environment or drive component leads to the loss of heat that should remain on the molding base plate. This overly active dynamic heat flow makes temperature control difficult, resulting in edge curling of the molten material during the molding process. Secondly, the forming base plate continuously transfers heat to the driving components. During long-term operation, the high-temperature environment of the forming platform will have a certain impact on the performance of the driving structure. When the performance of the driving structure is affected, the movement of the forming platform is further affected. The forming platform may experience inaccurate displacement, bumps, tilting, etc., which will have a significant impact on the accuracy and precision of forming.

[0013] In this invention, the molding base plate is independently configured inside the molding chamber, and the driving component drives the molding base plate in a non-contact manner. First, before molding and printing, the molding base plate inside the molding chamber is preheated to a certain extent. During preheating, the molding base plate releases a certain amount of heat into the molding chamber. Since the molding chamber uses heat-insulating material and is a relatively small space, the heat released from the molding base plate gradually decreases as the temperature inside the molding chamber rises to a certain level. At this point, setting the preset temperature of the molding base plate becomes relatively simple and stable, facilitating subsequent molding. Furthermore, the molding base plate and the driving component are connected non-contactly, and the molding chamber isolates them into two spaces (the interior space of the molding chamber and the exterior space). The heat from the molding base plate is not conducted to the driving component. That is, the driving component operates at its normal operating temperature during long-term operation, significantly improving its service life and performance compared to a driving component rigidly connected to the molding base plate, further ensuring the molding efficiency and accuracy of the molded model.

[0014] Preferably, the driving component uses a plurality of strong magnetic components to pull the molding base plate to move within the molding chamber. In this invention, the non-contact driving method between the driving component and the molding base plate utilizes magnetic force. The magnetic force can be generated by a magnetic field generator, whose magnitude and direction are controllable. This invention improves the specific configuration of the magnetic field generator on the molding base plate and the driving component, enabling the driving component to drive the molding base plate quickly, smoothly, and accurately in a non-contact manner, further ensuring the quality of the printed model.

[0015] Preferably, the strong magnetic component includes at least a first positive magnetic part, a second positive magnetic part, a third positive magnetic part, and a fourth positive magnetic part disposed on the edge of the driving component for generating a magnetic field and magnetically coupled to the negative magnetic part on the molding base plate. The strong magnetic component also includes at least a first negative magnetic part, a second negative magnetic part, a third negative magnetic part, and a fourth negative magnetic part disposed on the edge of the molding base plate for generating a magnetic field and magnetically coupled to the positive magnetic part on the driving component.

[0016] Preferably, the first positive magnetic part and the first negative magnetic part, the second positive magnetic part and the second negative magnetic part, the third positive magnetic part and the third negative magnetic part, and the fourth positive magnetic part and the fourth negative magnetic part are magnetically coupled to each other.

[0017] In this invention, both the forming base plate and the driving component are configured as rectangular plate structures. The first, second, third, and fourth positive magnetic parts are positioned at the four right angles of the rectangular driving component, with one strong positive magnetic component at each right angle. Similarly, the first, second, third, and fourth negative magnetic parts are positioned at the four right angles of the rectangular forming base plate, with one strong negative magnetic component at each right angle. The forming base plate and the driving component are non-contactly bonded at the four corners, and each of the positive and negative magnetic components attracts each other. Therefore, when the driving component moves, it can accurately pull the forming base plate. Furthermore, based on the non-contact driving mechanism of this solution, the minute vibrations generated by the mechanical drive structure (track drive, lead screw drive structure, etc.) at the bottom of the printer can be perfectly isolated, thereby avoiding the influence of minute vibrations on the printing effect and ensuring more accurate printing results when printing at the molecular level.

[0018] Preferably, the strong magnetic component has a positioning element with a unique mark in each magnetic part, wherein the positioning elements between magnetic parts that are magnetically coupled to each other are arranged in pairs.

[0019] Preferably, the 3D printing system further includes a control unit, which can acquire the position and orientation of the molding base plate and the driving component based on positioning elements configured within the molding base plate and the driving component. The control unit acquires the specific positions of each corner of the molding base plate and the driving component based on the positioning elements. This acquisition of the specific positions of each corner of the molding base plate and the driving component is used to determine whether the motion state of the driving component driving the molding base plate is normal. When the position information returned by the paired positioning elements is consistent, it indicates that the molding base plate and the driving component remain relatively stationary, i.e., no offset has occurred between them. When the position information returned by the paired positioning elements is inconsistent, it can be determined that the relative position of the molding base plate and the driving component has shifted. In this case, the control unit immediately controls the printing nozzle to stop extruding the molten raw material and adjusts the magnetic force of the corresponding magnet to return the driving component and the molding base plate to their correct positions. After the correction is completed, printing continues.

[0020] By configuring magnetic components in multiple parts, based on the magnetic force theorem, when parameters such as magnetic field strength remain stable, the forces at multiple points are balanced and stable, and strong magnetic fields are difficult to affect. Therefore, multi-point magnetic components can provide a good or even perfect basis for flatness measurement. When the raw material is uneven due to the distribution of internal fluid materials or stress changes during the molding process, such as warping or depression, the multi-point magnetic components not only play a role in supporting and traction transportation, but also play a role in measuring the unevenness defects of the raw material in real time. Based on the load-bearing capacity change or magnetic field change of the point magnetic components under a given output magnetic field (distance affects the magnetic field strength value, and distance is related to the unevenness deformation of the raw material), the deformation of the raw material can be accurately calculated. Compared with traditional single-position drive components, it can not only directly measure the deformation of the raw material during the molding process, but also accurately determine the position and amplitude of the deformation, which is something that traditional drive components cannot do.

[0021] The control unit can determine the specific deformation location and deformation amplitude based on multiple magnetic components. Specifically, the multiple magnetic components can be configured on the surface of the molding base plate to generate a weak magnetic field perpendicular to the surface of the molding base plate. This weak magnetic field can at least drive the metal sheet to produce a certain deformation, but when the metal sheet encounters resistance, such as bearing the molding material, the metal sheet will not be driven by the weak magnetic field. Specifically, the control unit detects the specific state of the molding material on the molding base plate through a deformation measuring device configured inside the molding chamber. The deformation measuring device uses an optical fiber, one end of which is inserted into the tail of the optical fiber ferrule; the optical fiber ferrule is located at the left end of the stainless steel tube cavity; the right end of the stainless steel tube is provided with a metal sheet. The optical fiber is inserted into the tail of the ceramic ferrule, and an epoch-forming cavity with air as the medium is constructed on one end face of the ceramic ferrule. The constructed epoch-forming cavity includes two reflective surfaces: one reflective surface is the end face of the ceramic ferrule, and the other reflective surface is the corresponding magnetostrictive material sheet. When subjected to a magnetic field, the thin sheet undergoes slight deformation along the direction of the magnetic field, thereby changing the cavity length of the Fabry-Perot cavity. The corresponding cavity length deformation is demodulated by the reflected optical signal, enabling the measurement of the slight deformation of the metal sheet. When a DC power supply is applied, a corresponding magnetic field is generated in the magnetic component. When the magnetic metal sheet is subjected to an external magnetic field, it undergoes expansion and contraction along the direction of the magnetic field. When the metal sheet deforms, the cavity length in the deformation measuring device deforms along with the metal sheet. The cavity length change of the fiber optic Fabry-Perot magnetic field sensor is transmitted to the control unit via a demodulator, thereby acquiring the cavity length change data. Through the cavity length change data, the control unit can determine the deformation location and magnitude of the metal sheet. The metal sheet only deforms when there are unevenness or warping in the molding material on the molding base plate. Therefore, the control unit can accurately determine the specific location and magnitude of warping or other such issues.

[0022] Preferably, the driving component further includes a central positive magnetic part disposed in the middle of the driving component, and the molding base plate further includes a central negative magnetic part disposed in the middle of the molding base plate. The central positive magnetic part and the central negative magnetic part are magnetically coupled, and the control unit configures positioning elements on the central positive magnetic part and the central negative magnetic part.

[0023] In this invention, the positive and negative magnetic parts are respectively positioned at the geometric center of the driving component and the molding base plate, thereby further enhancing the traction between the molding base plate and the driving component. In addition, based on the relative positions of the positioning elements at the center and the corners, the control unit can analyze and determine the rotational state of the molding base plate and the driving component.

[0024] Preferably, the bottom of the molding base plate is provided with a plurality of casters for the drive component to pull the molding base plate to move, and the top of the molding base plate is provided with a printing nozzle for coating molten raw material on the molding base plate in a layered coating manner, and the posture and movement of the printing nozzle are adjusted by the control unit.

[0025] Preferably, the driving component is driven by a multi-axis driving mechanism disposed at the bottom of the driving component, the multi-axis driving mechanism including at least a transverse axis for transverse movement, a vertical axis for vertical movement, and a rotating part for rotational movement.

[0026] Preferably, the multi-axis drive mechanism is disposed outside the bottom end of the isolation box, the drive component is disposed between the multi-axis drive mechanism and the isolation box, and the drive component and the isolation box are supported by a fixing frame. Attached Figure Description

[0027] Figure 1 This is a partial structural diagram of the printing system of the present invention;

[0028] Figure 2 This is a simplified schematic diagram of the overall structure of the printing system of the present invention;

[0029] Figure 3 This is a schematic diagram of the driving mechanism of the driving component and the molding base plate of the present invention.

[0030] List of reference numerals

[0031] 100: Molding base plate; 101: Isolation box; 102: Molding chamber; 103: Fixing frame; 104: Printing nozzle; 200: Driving component; 201a: First positive magnetic part; 201b: First negative magnetic part; 202a: Second positive magnetic part; 202b: Second negative magnetic part; 203a: Third positive magnetic part; 203b: Third negative magnetic part; 204a: Fourth positive magnetic part; 204b: Fourth negative magnetic part; 205a: Central positive magnetic part; 205b: Central negative magnetic part; 120: Positioning element; 300: Multi-axis drive mechanism; 301: Horizontal axis; 302: Vertical axis; 303: Rotating part. Detailed Implementation

[0032] Any orientation specified in this application is provided for the convenience of the reader only and does not constitute a limitation on this application. In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the invention.

[0033] These and other features and advantages of the invention will be more fully understood through the following description of one or more embodiments of the invention in conjunction with the accompanying drawings.

[0034] In the field of 3D printing technology, especially in extrusion printing, it is necessary not only to control the temperature inside the print head 104 to ensure the raw material is in an optimal molten state, but also to control the temperature of the forming plate 100. The purpose of temperature control for the forming plate 100 is to reduce the probability of warping or curling at the edges when molten raw material is extruded from the print head 104 onto the forming plate 100 for molding. Warping and curling of the molded model are relatively common defects in FDM printing technology. The main reason for this defect is that when the molten raw material is extruded from the print head 104 onto the forming plate 100, there is a significant temperature difference. The edges of the molten raw material cool and shrink preferentially, resulting in warping and curling. Therefore, temperature control of the molding environment is a relatively challenging step in the field of 3D printing technology.

[0035] Furthermore, in the field of extrusion 3D printing technology, the molding base plate 100 is typically heated to further prevent model warping and edge curling. Heating the molding base plate 100 reduces the temperature difference between its surface and the printing nozzle 104, or the temperature of the molten raw material, thereby reducing the probability of edge curling. The drawback of this approach is that heat conduction is unavoidable for the molding base plate 100, which is connected to the outside. Therefore, temperature control is relatively difficult during the heating process. For example, in existing molding base plates, the bottom is directly connected to the drive component 200. During heating, the molding base plate 100 not only continuously dissipates heat to the external environment but also continuously conducts heat to the rigidly connected drive component 200. This continuous heat release from the molding base plate 100 to the external environment or drive component 200 leads to the loss of heat that should remain on the molding base plate 100. This overly active dynamic heat flow makes temperature control difficult, resulting in edge curling of the molten material during the molding process. Secondly, the forming base plate 100 continuously transfers heat to the driving component 200. During long-term operation, the high temperature environment of the forming platform will have a certain impact on the performance of the driving structure. When the performance of the driving structure is affected, the movement of the forming platform is further affected. The forming platform may experience inaccurate displacement, bumping, tilting, etc., which will have a significant impact on the accuracy and precision of forming.

[0036] To address the aforementioned technical problems, this application proposes one or more embodiments as follows.

[0037] Example 1

[0038] Figure 1 The diagram illustrates the overall structure of a magnetically driven 3D printing system proposed in this embodiment. The system includes: a molding base plate 100 for supporting a 3D printing model; and a driving component 200 for driving the molding base plate 100 to move. The driving component 200 can drive the molding base plate 100 to move synchronously with the driving component 200 in a non-contact manner. The molding base plate 100 isolates the printing model within a molding chamber 102 in an isolation box 101.

[0039] In this invention, such as Figure 2As shown, by utilizing the isolation box 101 and the molding base plate 100 and drive component 200 configured as a non-contact structure, the entire molding environment is controlled within the relatively sealed molding chamber 102, which can at least solve one or more of the aforementioned technical problems. Specifically, within the molding chamber 102, the molding base plate 100 and the printing nozzle 104 are less susceptible to interference from the external environment, especially airflow interference, i.e., wind interference is avoided. When the molding base plate 100 is directly exposed to the external environment, it may be affected by wind. Furthermore, due to the uncontrollability of wind, it often only blows to one side of the molding base plate 100. During the extrusion molding process, the model material on the wind-blown side cools down faster and the temperature changes more complex, thus making it easier to cause model warping and edge curling. However, within the molding chamber 102 of the present invention, since the molding chamber 102 is sealed on all sides, the impact of wind on the molding environment is minimized, thereby avoiding edge curling caused by wind.

[0040] In the present invention, the molding base plate 100 is independently disposed inside the molding chamber 102, and the driving component 200 drives the molding base plate 100 in a non-contact manner. First, before molding and printing, the molding base plate 100 in the molding chamber 102 is preheated to a certain extent. During the preheating process, the molding base plate 100 releases a certain amount of heat into the space of the molding chamber 102. Since the molding chamber 102 is made of heat-insulating material and is a relatively small space, when the temperature inside the molding chamber 102 rises to a certain level, the heat released by the molding base plate 100 into the molding chamber 102 will gradually decrease. At this time, it is relatively simple and stable to preset the temperature of the molding base plate 100, which is convenient for subsequent molding. Furthermore, the molding base plate 100 is connected to the drive component 200 in a non-contact manner, and the molding chamber 102 isolates them into two spaces (the indoor space of the molding chamber 102 and the outdoor space). The heat from the molding base plate 100 will not be conducted to the drive component 200. That is, the drive component 200 is kept at the normal operating temperature during long-term operation. Its service life and performance can be significantly improved compared to the drive component 200 which is rigidly connected to the molding base plate 100, further ensuring the molding efficiency and molding accuracy of the molding model.

[0041] Preferably, the driving component 200 pulls the molding base plate 100 within the molding chamber 102 by means of a plurality of strong magnetic components. In this invention, the non-contact driving method between the driving component 200 and the molding base plate 100 utilizes magnetic force. The magnetic force can be generated by a magnetic field generator, and the magnitude and direction of the magnetic force generated by the magnetic field generator are controllable. In this invention, improvements are made to the specific configuration of the magnetic field generator on the molding base plate 100 and the driving component 200, thereby enabling the driving component 200 to drive the molding base plate 100 quickly, smoothly, and accurately in a non-contact structure, further ensuring the quality of the printed model.

[0042] Preferably, the strong magnetic component includes at least a first positive magnetic portion 201a, a second positive magnetic portion 202a, a third positive magnetic portion 203a, and a fourth positive magnetic portion 204a disposed on the edge of the driving component 200. The strong magnetic component also includes at least a first negative magnetic portion 201b, a second negative magnetic portion 202b, a third negative magnetic portion 203b, and a fourth negative magnetic portion 204b disposed on the edge of the molding base plate 100. The first positive magnetic portion 201a and the first negative magnetic portion 201b, the second positive magnetic portion 202a and the second negative magnetic portion 202b, the third positive magnetic portion 203a and the third negative magnetic portion 203b, and the fourth positive magnetic portion 204a and the fourth negative magnetic portion 204b are magnetically coupled to each other. In a physical sense, positive and negative magnetism have clear meanings. In this application, the magnetic parts, whether positive or negative, have positive and negative poles in a physical sense. The specific naming method of the positive and negative magnetic parts in this application is based on the direction of the magnetic field of the magnetic parts, or on the position of the positive and negative poles of the magnetic field. The positive and negative in the positive and negative magnetic parts of this application do not involve the positive and negative of the magnetic field. In this application, the magnetic parts are named according to the principle that the positive magnetic parts and the negative magnetic parts attract each other through the positive pole of the positive magnetic parts and the negative pole of the negative magnetic parts.

[0043] Specifically, the strong magnetic component is configured as follows. The strong magnetic component according to the present invention includes a housing, a plurality of intermediate magnetic poles, a plurality of short magnetic poles, and a plurality of coil groups. The housing has an annular cross-section and an inner side. The intermediate magnetic poles are disposed on the inner side of the housing and arranged at equal intervals along the inner periphery of the annular cross-section. The short magnetic poles are disposed on the inner side of the housing and evenly distributed between the intermediate magnetic poles, wherein a first distance is between two adjacent short magnetic poles, and a second distance is between each intermediate magnetic pole and an adjacent short magnetic pole, the first distance and the second distance being equal. The coil groups are respectively disposed corresponding to the intermediate magnetic poles and located between the intermediate magnetic poles and the short magnetic poles. The shell is essentially a hollow cylinder. The shell, intermediate magnetic poles, and short magnetic poles are made of magnetically conductive material. The shell and at least one of the intermediate magnetic poles or short magnetic poles are integrally formed. When the number of intermediate magnetic poles is three, the angle between any two of the intermediate magnetic poles and the center point of the annular cross-section of the shell is 120 degrees, and the angle between two adjacent short magnetic poles and the center point of the annular cross-section of the shell is 5 degrees, 10 degrees, 12 degrees, or 15 degrees. The number of short magnetic poles is 69, 33, 27, or 21. Each coil group has multiple coils positioned between each intermediate magnetic pole and short magnetic pole. According to the invention, the intermediate magnetic poles of the strong magnetic component are located inside the shell and arranged at equal intervals along the inner periphery of the annular cross-section of the shell. The short magnetic poles are evenly distributed between the intermediate magnetic poles, with a first spacing between adjacent short magnetic poles and a second spacing between each intermediate magnetic pole and an adjacent short magnetic pole, wherein the first spacing and the second spacing are equal. This allows the strong magnetic component to have an inter-pole magnetic pole structure, and the short magnetic pole design can reduce the magnetic resistance effect of the air between the two intermediate magnetic poles and improve the magnetic force attenuation of the strong magnetic component, so that the magnetic field lines generated by the coil group corresponding to the intermediate magnetic pole can be effectively extended, making the distribution of magnetic field lines denser and more uniform.

[0044] In this invention, such as Figure 3 As shown, both the molding base plate 100 and the driving component 200 are configured as rectangular plate structures. The first positive magnetic part 201a, the second positive magnetic part 202a, the third positive magnetic part 203a, and the fourth positive magnetic part 204a are positioned at the four right angles of the rectangular driving component 200, with one positive magnetic component at each right angle. Similarly, the first negative magnetic part 201b, the second negative magnetic part 202b, the third negative magnetic part 203b, and the fourth negative magnetic part 204b are positioned at the four right angles of the rectangular molding base plate 100, with one negative magnetic component at each right angle. The molding base plate 100 and the driving component 200 are non-contactly bonded at the four corners, and each positive and negative magnetic component attracts each other. Therefore, when the driving component 200 moves, it can accurately pull the molding base plate 100 to move.

[0045] Preferably, the strong magnetic component has a positioning element 120 with a unique mark in each magnetic part, wherein the positioning elements 120 between magnetic parts that are magnetically coupled to each other are arranged in pairs.

[0046] Preferably, the 3D printing system further includes a control unit, which is capable of obtaining the position and orientation of the molding base plate 100 and the driving component 200 based on the positioning element 120 disposed in the molding base plate 100 and the driving component 200. The control unit obtains the specific positions of each corner of the forming base plate 100 and the driving component 200 based on the positioning elements 120. This information is used to determine whether the movement of the driving component 200 driving the forming base plate 100 is normal. When the position information returned by the paired positioning elements 120 is consistent, it indicates that the forming base plate 100 and the driving component 200 remain relatively stationary, meaning there is no offset between them. When the position information returned by the paired positioning elements 120 is inconsistent, it can be determined that the relative positions of the forming base plate 100 and the driving component 200 have shifted. In this case, the control unit immediately controls the print head 104 to stop extruding the molten raw material and adjusts the magnetic force of the corresponding magnet to return the driving component 200 and the forming base plate 100 to their correct positions. After the correction is complete, printing resumes.

[0047] Preferably, the driving component 200 further includes a central positive magnetic part 205a disposed in the middle of the driving component 200, and the molding base plate 100 further includes a central negative magnetic part 205b disposed in the middle of the molding base plate 100. The central positive magnetic part 205a and the central negative magnetic part 205b are magnetically coupled, and the control unit configures a positioning element 120 on the central positive magnetic part 205a and the central negative magnetic part 205b.

[0048] In this invention, the positive magnetic part 205a and the negative magnetic part 205b are respectively arranged at the geometric center positions of the driving component 200 and the molding base plate 100, thereby further enhancing the traction force between the molding base plate 100 and the driving component 200. In addition, based on the relative positions of the positioning element 120 at the center position and the positioning element 120 at the corner position, the control unit can analyze and determine the rotation state of the molding base plate 100 and the driving component 200.

[0049] Preferably, the bottom of the molding base plate 100 is provided with a plurality of casters for the drive component 200 to pull the molding base plate 100 to move, and the top of the molding base plate 100 is provided with a printing nozzle 104 for coating molten raw material onto the molding base plate 100 in a layered coating manner, and the posture and movement of the printing nozzle 104 are adjusted by the control unit.

[0050] Specifically, the present invention also relates to a printhead 104 for 3D bioprinting. The printhead 104 is capable of connecting to a mechanical interface component of a 3D bioprinter. The 3D bioprinting printhead 104 also includes a printhead 104 processing element and a communication interface component capable of connecting to a communication interface component of the 3D bioprinter. The print processing element of the printhead 104 can be arranged to store information about features associated with at least one printhead 104. Features associated with at least one replaceable printhead 104 may include information related to the actuator type, such as the printing technology of the replaceable printhead 104. This information may define the replaceable printhead 104 as a pneumatic extrusion printhead, a high-temperature extrusion printhead, or a bioelectrojet printhead. Features associated with at least one replaceable printhead 104 may include information related to the sensor technology of the printhead 104, which may define the printhead 104 as a camera printhead, a probe printhead, and / or a 3D scanning printhead. The printhead 104 processing element can be arranged to at least partially control operations such as extrusion control and / or extruded material temperature control and / or extruded material viscosity control and / or gas supply control. The printhead 104 processing element can be arranged to at least partially control the operation of the printhead 104 based on information obtained by sensors arranged at or integrated within the printhead 104 and / or information received via a communication interface component. The printhead 104 processing element can be arranged to at least partially control the operation based on information related to material properties such as viscosity and / or temperature and / or information related to the nozzle diameter used for extrusion. The print processing element of the printhead 104 can be arranged to at least partially monitor operations such as: monitoring extruded material temperature and / or extruded material level and / or extruded material viscosity and / or ambient light and / or exhaust gas; and the print processing element is arranged to perform data collection and report the monitoring of the operation via the communication interface component, or the print processing element is arranged to perform error detection and report said errors via the communication interface component.

[0051] Preferably, the driving component 200 is driven by a multi-axis driving mechanism 300 disposed at the bottom of the driving component 200. The multi-axis driving mechanism 300 includes at least a transverse axis 301 for transverse movement, a vertical axis 302 for vertical movement, and a rotating part 303 for rotational movement.

[0052] Specifically, the driving component 200 is configured as a regular rectangular plate structure. The rotating part 303, the horizontal shaft 301, and the vertical shaft 302 that drive the driving component 200 are sequentially installed at the bottom of the driving component 200. More specifically, the driving component 200 is mounted on the rotating part 303, which includes a rotating seat and a bearing installed in the rotating seat. The rotating seat has a rotating groove corresponding to the bearing, and a rotating shaft is provided at a position opposite to the rotating groove. The bearing is sleeved on the rotating shaft and is fixedly rotatably connected. A driven gear with an annular structure is fixedly installed at the lower end of the bearing. A driving gear is provided at a position opposite to the driven gear. The driving gear is rotatably mounted on the rotating seat at the side end of the bearing. The driving gear and the driven gear are meshed and connected for transmission. The lower end of the driving gear is connected for transmission to a stepper motor, which is fixedly mounted on the rotating seat at the lower end of the driving gear. The lower end of the rotating seat is equipped with the horizontal shaft 301 and the vertical shaft 302. Both the horizontal shaft 301 and the vertical shaft 302 are provided with a slide, a base and a drive motor, the difference being that they are in different directions. The upper end of the slide is fixedly connected to the rotating seat, and the lower end of the slide is slidably mounted on the base. The drive motor is fixedly mounted on the base at a position opposite to the slide on one side. The slide is provided with a threaded groove, and the threaded groove is provided with a threaded head for threaded connection. The threaded head is connected to the drive motor through a guide rod.

[0053] Preferably, the base is provided with a sliding groove, and a slider is provided at the lower end of the slide near the drive motor. The slider is embedded in the sliding groove and slidably connected.

[0054] Preferably, a disc plate is fixedly installed on the upper end of the bearing, and a post is provided at the lower end of the platform plate. The disc plate is provided with a slot corresponding to the post, and the platform plate is installed on the disc plate by inserting the post into the slot.

[0055] Preferably, the multi-axis drive mechanism 300 is disposed outside the bottom end of the isolation box 101, the drive component 200 is disposed between the multi-axis drive mechanism 300 and the isolation box 101, and the drive component 200 and the isolation box 101 are supported by the fixing frame 103.

[0056] Specifically, the printing system of this application also includes a fixing frame 103, and a forming chamber 102 is located inside the fixing frame 103. A forming base plate 100 is installed inside the forming chamber 102.

[0057] Furthermore, this solution also makes technical improvements to address the following issues: In the current field of biomaterial printing, biomaterials differ from other printing materials in that they have very high requirements for printing accuracy and the printing environment. Biomaterials involve molecular-level printing, and even slight misalignment in the printing space can lead to poor printing results. Due to the inherent characteristics of biomaterials and their primary applicable working environment (usually the environment in which they are used within living organisms), fluctuations in printing quality caused by minute deformations are often unacceptable. Secondly, the "cleanliness" of the printing environment also has a significant impact on the results of bioprinting. One aspect is the hygiene quality of the printing environment. Dust, bacteria, and debris contamination are very common in bioprinting, and at a minute level, any vibration may cause some degree of dust agitation, thereby contaminating the bioprinting material. In many cases, bioprinting materials are removed immediately after printing, as they need to be transferred to more suitable storage containers. However, with traditional bioprinting equipment, removing the printing material from the carrier platform is cumbersome. It requires opening the printing space and using tools to disconnect the bioprinting material from the carrier platform, which can easily cause contamination of the printing space, equipment damage, and material damage or contamination. It is also inconvenient to operate. The contactless drive device designed in this solution allows the carrier platform to be easily removed directly after printing. The operator only needs to remove it from the printing space, greatly ensuring the environmental stability of the printing space and ensuring the rapid removal of the printing material, making operation convenient. Furthermore, after traditional bioprinting, after removing the printing material, a lot of labor is required to readjust the carrier platform, because the removal of the material will inevitably affect the stability of the carrier platform. Taking a rectangular platform as an example, after one removal operation, the four corners are usually not at the same height, requiring manual mechanical leveling, which is very troublesome. In this solution, a preferred embodiment is provided, in which the positive magnetic part and the negative magnetic part are designed to be mating. When the two are magnetically combined, they can form a mating structure. For example, the positive magnetic part is designed as a magnet with a concave center, and the negative magnetic part is designed as a magnet with a protruding center that can match the concave center of the positive magnetic part. An elastic element is provided between the positive and negative magnetic parts. The elastic element can isolate the two magnetic parts and, in some cases, exert force on the support stage. The expansion range of the elastic element is different in different magnetic adjustment ranges of the positive and negative magnetic parts, and the expansion range can be measured. For example, using image measurement, in the process of putting the stage back after the entire stage is removed, the expansion range of each elastic element after the stage is put back is first measured, and the magnetic field strength of the corresponding positive or negative magnetic part is adjusted based on the measured expansion range so that the magnetic force generated can overcome the elastic force of the elastic element, so that each elastic element is in the same predetermined expansion range.The unfolding range of the elastic element can be its length. For example, when the elastic element is a spring, it is the elastic length of the spring; when the elastic element is a disc spring, it is the spring thickness. Disc springs are preferred, and more preferably, elastic elements made of rubber-like materials with low thermal conductivity are selected. This reduces the amount of heat conducted from the printing material, ensuring stable printing core temperature. As described above, this solution allows for simple, quick, and accurate balancing based on magnetic field control, without the need for mechanical adjustments. This convenience directly avoids printing environment contamination and unevenness issues caused by adjustment errors resulting from mechanical adjustments.

[0058] Example 2

[0059] This embodiment, based on Embodiment 1, proposes a non-rigidly connected multi-axis motion platform with magnetic drive. This platform isolates the core motion component from the linear motion device. The driving component 200 is connected to the core motion component via a magnetic material, thereby driving the core motion component to move in two or more directions. Figure 1 As shown, the magnetically driven non-rigid connection multi-axis motion platform includes: a multi-axis drive mechanism 300, a drive component 200, a forming base plate 100, an isolation box 101, and a core load assembly.

[0060] According to a preferred embodiment, the multi-axis drive mechanism 300 consists of a linear motion system with two or more axes. It can be driven by a stepper or servo motor and converted into a linear motion system by a lead screw and nut or a synchronous belt system. The guide mechanism can adopt common guide methods such as T-shaped guide rails or guide rods. The multi-axis drive mechanism 300 and the drive component 200 are rigidly connected by screws, so that the drive component 200 can realize multi-axis controlled motion.

[0061] According to a preferred embodiment, a strong magnetic material is mounted on the driving component 200, and a corresponding strong magnetic material is also mounted on the molding base plate 100, forming a magnetic coupling between them. When the driving component 200 moves, the molding base plate 100 also moves simultaneously along its trajectory. The driving component 200 and the molding base plate 100 are separated by an isolation box 101. The isolation box 101 encloses the molding base plate 100 and its core load components to form a sealed environment with controllable temperature and air cleanliness, which is used to meet the environmental requirements of applications such as bio-3D printing.

[0062] According to a preferred embodiment, the core payload component in bio-3D printing applications is typically a petri dish, multi-well plate, or other similar equipment. Its function is to contain the bio-3D printed sample, which is usually composed of biological materials and the active cells they contain. After processing, it can be easily removed for subsequent culture and observation.

[0063] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and not intended to limit the scope of the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept.

Claims

1. A magnetically driven 3D printing system, comprising: A molding base plate (100) is used to support the 3D printed model; A driving component (200) is used to drive the molding base plate (100) to move; The driving component (200) can drive the molding base plate (100) to move synchronously with the driving component (200) in a non-contact manner. The molding base plate (100) isolates the printed model in the molding chamber (102) inside the isolation box (101) by storing it in the isolation box (101). The drive component (200) pulls the molding base plate (100) to move within the molding chamber (102) by means of a plurality of strong magnetic components. Each of the strong magnetic components is provided with a positioning element (120) with a unique mark in each magnetic part, wherein the positioning elements (120) between magnetic parts that are magnetically coupled to each other are arranged in pairs. Multiple strong magnetic components generate a weak magnetic field perpendicular to the surface of the molding base plate (100) to drive the magnetostrictive material sheet in the deformation measuring device to deform; wherein, an optical fiber is inserted into the tail of the ferrule, and an enamel cavity with air as the medium is constructed on one end face of the ferrule. The enamel cavity includes two reflective surfaces, one of which is the end face of the ferrule, and the other of which is the corresponding magnetostrictive material sheet; the 3D printing system also includes a control unit, which can obtain the position and orientation of the molding base plate (100) and the driving component (200) based on the positioning element (120) configured in the molding base plate (100) and the driving component (200). The control unit obtains the specific position of each corner of the molding base plate (100) and the driving component (200) based on the positioning element (120) to determine whether the motion state of the driving component (200) driving the molding base plate (100) to move is normal; The control unit is connected to a demodulator for demodulating optical signals and detects the specific state of the molding material on the molding base plate (100) through a deformation measuring device configured inside the molding chamber (102). When the molding material on the molding base plate (100) has unevenness or warping, the magnetostrictive material sheet deforms under the action of the weak magnetic field and changes the cavity length of the enamel cavity. The demodulator acquires the cavity length change data of the enamel cavity and transmits it to the control unit. The control unit determines the deformation position and deformation amplitude of the magnetostrictive material sheet based on the cavity length change data, and determines the specific position and amplitude of the unevenness or warping of the molding material.

2. The magnetically driven 3D printing system according to claim 1, characterized in that, The strong magnetic component includes at least a first positive magnetic part (201a), a second positive magnetic part (202a), a third positive magnetic part (203a), and a fourth positive magnetic part (204a) disposed on the edge of the driving component (200) for generating a magnetic field and magnetically coupled to the negative magnetic part on the molding base plate (100). The strong magnetic component also includes at least a first negative magnetic part (201b), a second negative magnetic part (202b), a third negative magnetic part (203b), and a fourth negative magnetic part (204b) disposed on the edge of the molding base plate (100) for generating a magnetic field and magnetically coupled to the positive magnetic part on the driving component (200).

3. The magnetically driven 3D printing system according to claim 2, characterized in that, The first positive magnetic part (201a) and the first negative magnetic part (201b), the second positive magnetic part (202a) and the second negative magnetic part (202b), the third positive magnetic part (203a) and the third negative magnetic part (203b), and the fourth positive magnetic part (204a) and the fourth negative magnetic part (204b) are magnetically coupled to each other.

4. The magnetically driven 3D printing system according to claim 3, characterized in that, The drive component (200) further includes a central positive magnetic part disposed in the middle of the drive component (200), and the molding base plate (100) further includes a central negative magnetic part disposed in the middle of the molding base plate (100). The central positive magnetic part and the central negative magnetic part are magnetically coupled, and the control unit arranges a positioning element (120) in the central positive magnetic part and the central negative magnetic part.

5. The magnetically driven 3D printing system according to claim 4, characterized in that, The bottom of the molding base plate (100) is provided with a plurality of casters for the drive component (200) to pull the molding base plate (100) to move. The top of the molding base plate (100) is provided with a printing nozzle (104) for coating molten raw material onto the molding base plate (100) in a layered coating manner. The posture and movement of the printing nozzle (104) are adjusted by the control unit.

6. The magnetically driven 3D printing system according to claim 1, characterized in that, The drive component (200) is driven by a multi-axis drive mechanism (300) disposed at the bottom of the drive component (200). The multi-axis drive mechanism (300) includes at least a transverse axis (301) for transverse movement, a vertical axis (302) for vertical movement, and a rotating part (303) for rotational movement.

7. The magnetically driven 3D printing system according to claim 6, characterized in that, The multi-axis drive mechanism (300) is disposed outside the bottom end of the isolation box (101), and the drive component (200) is disposed between the multi-axis drive mechanism (300) and the isolation box (101). The drive component (200) and the isolation box (101) are supported by a fixing frame (103).

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