Multi-material direct writing multifunctional integrated working system

Abstract

The application discloses a multi-material direct writing multifunctional integrated working system, which comprises a motion platform module, a direct writing module, a grinding and cutting assembly module and a control module. The motion platform module is provided with a visual monitoring assembly. The visual monitoring assembly is used for acquiring image information of an object to be processed and sending the image information to the control module. The control module generates a processing path according to the image information and controls the motion platform module, the direct writing module and the grinding and cutting assembly module to work cooperatively, so as to realize integrated processing of three-dimensional reconstruction, direct writing processing and grinding processing of the object to be processed. The direct writing module is matched with a push rod raw material supply group through a material mixer. After at least two raw materials are mixed, the raw materials are delivered to a direct writing head. The application can reduce repeated positioning errors caused by the transfer of the object to be processed between different devices, improve the trajectory adaptation capability of complex curved surfaces or individual difference objects, and is suitable for nail repair, printing of metal, resin, ceramic and other multi-material direct writing processing scenes.

Description

Technical Field

[0001] This invention belongs to the field of additive manufacturing technology and beauty and home appliance technology, specifically relating to a multi-material direct-write multi-functional composite integrated working system. Background Technology

[0002] Direct-write processing is a method of depositing flowable materials onto a target area along a predetermined trajectory. It is applicable to various material systems, including resins, colloids, slurries, pharmaceuticals, ceramics, metals, and composites. With the increasing demand for personalized manufacturing and small-batch flexible processing, direct-write equipment is gradually being used in scenarios such as surface coating, functional material deposition additive manufacturing, fine finishing, and small object processing.

[0003] Existing direct-write equipment typically includes a motion platform, a material supply mechanism, and a direct-write head. The motion platform moves the direct-write head relative to the object to be processed to complete material deposition. However, most existing direct-write equipment is primarily designed around the material deposition process and can usually only perform a single direct-write coating or printing operation. When the object to be processed requires surface trimming before direct-write, or subsequent processing such as grinding, cutting, or assembly after direct-write, it often needs to be done separately with the help of other equipment or manually. This not only increases the processing steps but also easily leads to repeated positioning errors when the object to be processed is transferred between different devices, affecting the accuracy of subsequent processing and the overall processing efficiency.

[0004] For objects with complex curved surfaces or individual differences, existing direct-write equipment still suffers from insufficient trajectory adaptation capabilities. For example, in applications such as coating human fingernails, irregular curved surfaces, and small parts, the spatial position, surface curvature, and boundary shape of the objects to be processed often vary significantly. If the equipment operates only according to a fixed trajectory, problems such as coating over-boundary, uneven deposition thickness, localized material shortages, grinding deviations, or processing interference can easily occur. Especially in scenarios where surface trimming is required before material deposition, or where further grinding, cutting, or assembly is performed after material deposition, the lack of unified visual positioning and path planning makes it difficult to maintain a consistent coordinate reference between different processes, which can easily affect processing quality.

[0005] For functional material deposition additive manufacturing processes, existing equipment operation involves operators configuring materials offline according to experimental plans, and then installing them on the equipment for molding. This process is cumbersome, demanding, and time-consuming. Meanwhile, the need for molding multi-material and gradient materials is increasing.

[0006] Therefore, in order to address the above-mentioned technical problems, it is necessary to provide a multi-material direct-write multi-functional integrated working system.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] The purpose of this invention is to provide a multi-material direct-write multi-functional integrated working system that can solve the technical problems mentioned in the background art.

[0009] To achieve the above objectives, a specific embodiment of the present invention provides the following technical solution: A multi-material direct-write multi-functional integrated working system includes a motion platform module, a direct-write module, a grinding and cutting assembly module, and a control module. The motion platform module supports the direct-write module and the grinding and cutting assembly module, enabling relative movement of the processing components. The direct-write module mixes at least two raw materials and deposits the mixed material onto the object to be processed and / or a substrate according to a preset trajectory. The grinding and cutting assembly module performs grinding, cutting, and / or assembly processing on the object to be processed. The motion platform module is equipped with a visual monitoring component, which acquires image information of the object to be processed and sends it to the control module. The control module performs 3D reconstruction and motion planning based on the image information, generates a processing path, and controls the motion platform module, the direct-write module, and the grinding and cutting assembly module to work collaboratively, achieving integrated processing of visual positioning of the object to be processed, multi-material direct-write processing, and grinding processing.

[0010] In one or more embodiments of the present invention, the direct writing module includes a screw direct writing head and / or a pneumatic direct writing head, and a feeding assembly connected to the screw direct writing head and / or the pneumatic direct writing head; the feeding assembly is used to feed at least two mixed raw materials to the direct writing head; the control module is used to control the direct writing head to output material along the processing path according to the morphological information of the object to be processed.

[0011] In one or more embodiments of the present invention, the feeding assembly includes a material mixer and a push rod raw material supply group, wherein the input end of the material mixer is connected to the push rod raw material supply group, and the output end is connected to the screw direct writing head and / or the pneumatic direct writing head, so as to mix at least two raw materials and then deliver them to the direct writing head.

[0012] In one or more embodiments of the present invention, the material mixer includes a mixer seat and a mixer body; the push rod raw material supply group includes a dispensing rod, a glue cylinder, a dispensing piston and a linear module, wherein the linear module is used to drive the dispensing piston to push the raw material.

[0013] In one or more embodiments of the present invention, the grinding and cutting assembly module includes a tool Z-axis, a tool A-axis, a tool B-axis, a tool axis body, a tool table, and a tool body; the tool body is fixedly mounted on the tool table; the tool Z-axis is used to drive the tool axis body to move in the vertical direction, and the tool A-axis and tool B-axis are used to drive the tool axis body to rotate around a preset axis, so that the tool body performs grinding, cutting, and / or assembly processing on the workpiece.

[0014] In one or more embodiments of the present invention, the direct writing module further includes a Z-axis motion component, a mixing material conveying pipe, a cleaning material supply pipe, and a curing lamp; the Z-axis motion component is used to drive the direct writing head to move in the vertical direction, the cleaning material supply pipe is used to clean the material mixer and / or the direct writing head, and the curing lamp is used to cure the material after direct writing.

[0015] In one or more embodiments of the present invention, the system further includes a control air source module, the control module being electrically connected to and / or connected to the control air source module via an air circuit, the control air source module being used to provide an air source for the pneumatic direct writing head and / or the cleaning feed tube.

[0016] In one or more embodiments of the present invention, the control gas source module includes a gas storage tank, a pressure regulating valve, a control valve one, a gas pump, and a control valve two. The gas pump is connected to the gas storage tank, and the pressure regulating valve, control valve one, and control valve two are used to regulate and control the gas output.

[0017] In one or more embodiments of the present invention, the motion platform module includes a base plate, an X-axis motion component one, an X-axis motion component two and a Y-axis motion component disposed on the base plate, and the visual monitoring component is disposed on the base plate and / or disposed within the visible range of the motion platform module.

[0018] In one or more embodiments of the present invention, a housing is further included, which surrounds the motion platform module, the direct writing module, the grinding and cutting assembly module and the control air source module; the housing includes a front door, a lower rear shell, a rotating door and an upper rear shell.

[0019] In one or more embodiments of the present invention, an automatic experimental formula is set by a control module to automatically complete the molding and printing process of mixing multiple materials in different proportions, thereby realizing the verification of different material components in one go.

[0020] In one or more embodiments of the present invention, the control module automatically completes the process of switching between different proportions of mixed molding and printing of multiple materials for multi-material and gradient material models, thereby realizing the printing of special materials.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: by integrating the visual monitoring component, the direct writing module, the grinding and cutting assembly module and the motion platform module, the object to be processed can complete visual positioning, three-dimensional reconstruction, processing path generation, material deposition and grinding, cutting and / or assembly processing within the same system, reducing the repeated positioning error caused by the transfer of the object to be processed between different devices, and improving processing accuracy and processing efficiency. The visual monitoring component acquires image information of the object to be processed. The control module generates a processing path based on the image information, enabling the direct writing module and the grinding and cutting assembly module to adapt to the actual position, boundary and surface morphology of the object to be processed, thereby reducing the probability of problems such as coating over-boundary, uneven deposition thickness, local material shortage, grinding deviation or processing interference. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a multi-material direct-writing multi-functional integrated working system according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a multi-material direct-writing multi-functional integrated working system according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the motion platform module in one embodiment of the present invention; Figure 4 This is a schematic diagram of the direct-write module in one embodiment of the present invention; Figure 5 This is a partial cross-sectional view of the push rod raw material supply assembly in one embodiment of the present invention; Figure 6 This is a schematic diagram of the push rod raw material supply group in one embodiment of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the push rod raw material supply group in one embodiment of the present invention. Figure 2 ; Figure 8 for Figure 7 Sectional view at point AA; Figure 9 This is a schematic diagram of the grinding and cutting assembly module in one embodiment of the present invention; Figure 10This is a top view of the grinding and cutting assembly module in one embodiment of the present invention; Figure 11 for Figure 10 Schematic diagram of the structure at point BB; Figure 12 This is a schematic diagram of the tool body in one embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of the control gas source module in one embodiment of the present invention.

[0024] Explanation of key figure labels: 1. Motion platform module; 11. Base plate; 12. X-axis motion component one; 13. X-axis motion component two; 14. Y-axis motion component; 15. Visual monitoring component; 2. Direct writing module; 21. Screw direct writing head; 211. Direct writing screw; 212. Nozzle; 213. Base; 214. Raw material inlet; 215. Adjustable gas inlet; 216. Drive motor; 22. Pneumatic direct writing head; 23. Z-axis motion assembly; 24. Mixing material conveying pipe; 25. Material mixer; 251. Mixer seat; 252. Mixer body; 26. Push rod raw material supply group; 261. Dispensing rod; 262. Glue cartridge; 263. Dispensing piston; 264. Linear module; 27. Hand placement platform; 28. Hand fixing plate; 29. ​​Cleaning supply pipe; 210. Curing lamp; 2101. Airflow speed control valve; 3. Grinding and cutting assembly module; 31. Tool Z-axis; 32. Tool A-axis; 33. Tool B-axis; 34. Tool axis body; 35. Tool table; 36. Tool body; 4. Gas source control module; 41. Control module; 42. Gas storage tank; 43. Pressure regulating valve; 44. Control valve one; 45. Air pump; 46. Control valve two; 5. Housing; 51. Front door; 52. Lower rear housing; 53. Revolving door; 54. Upper rear housing. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0026] like Figures 1-13As shown, an embodiment of the present invention provides a multi-material direct-write multi-functional integrated working system, including a motion platform module 1, a direct-write module 2, a grinding and cutting assembly module 3, a control air source module 4, a control module 41, and a housing 5.

[0027] The housing 5 surrounds the motion platform module 1, the direct writing module 2, the grinding and cutting assembly module 3, and the control air source module 4. The housing 5 includes a front door 51, a lower rear shell 52, a rotating door 53, and an upper rear shell 54.

[0028] The front door 51 is used for the operator to put in or take out the workpiece, and can also be used for equipment maintenance. The lower rear shell 52 and the upper rear shell 54 form the external protective structure of the equipment. The rotating door 53 can be set on the side or top of the shell 5 to open the maintenance space for easy material replacement, inspection of the writing head, cleaning of pipelines, or replacement of the tool body 36.

[0029] The housing 5 reduces the impact of external dust, impurities, or accidental contact with personnel on the processing, while improving the overall safety of the equipment. For applications requiring curing lamp 210 irradiation, grinding and cutting, or gas purging, the housing 5 also isolates light, debris, and airflow, improving the working environment.

[0030] The motion platform module 1 carries the machining execution component and enables relative movement between the component and the object to be processed. The direct writing module 2 deposits material onto the object to be processed and / or the surface of the printing platform according to a preset trajectory. The grinding, cutting, and assembly module 3 performs grinding, cutting, and / or assembly processing on the object to be processed. The control module 41 receives image information, performs 3D reconstruction and motion planning, generates a machining path, and controls the coordinated operation of the motion platform module 1, the direct writing module 2, and the grinding, cutting, and assembly module 3.

[0031] With the above setup, the working system in this embodiment can integrate visual positioning, 3D reconstruction, motion planning, direct-write deposition, grinding and cutting, and subsequent assembly processing into a single device. The object to be processed does not need to be repeatedly transferred between different devices, thus reducing errors caused by repeated clamping and positioning. This is particularly suitable for objects with complex curved surfaces, small surfaces, or significant individual differences, as well as for new material experiments and multi-material and gradient material printing.

[0032] This invention is not limited to a single processing scenario. The object to be processed can be human nails, nail tips, irregularly shaped curved parts, small structural components, functional material substrates, drug carriers, ceramic blanks, metal paste molding substrates, or other objects suitable for direct-write processing. In other words, this invention can be used for personalized surface treatment scenarios such as manicures, manicures, and nail removal, as well as for scenarios involving resin material printing, metal paste printing, ceramic paste printing, pharmaceutical formulation printing, gradient material printing, and post-printing surface finishing.

[0033] For example, 1~ Figure 3 As shown, the motion platform module 1 includes a base plate 11, an X-axis motion component 12, an X-axis motion component 2 13, a Y-axis motion component 14, and a vision monitoring component 15. The base plate 11 serves as the system's mounting foundation, supporting the X-axis motion component 12, X-axis motion component 2 13, Y-axis motion component 14, and related machining execution components. The X-axis motion component 12, X-axis motion component 2 13, and Y-axis motion component 14 cooperate to enable the direct writing module 2 and / or the grinding and cutting assembly module 3 to move in a planar direction relative to the workpiece, thereby meeting the material deposition and grinding / cutting requirements of different areas.

[0034] In one embodiment, the X-axis motion component 12, X-axis motion component 13, and Y-axis motion component 14 can be one or more combinations of linear guide modules, lead screw modules, synchronous belt modules, and linear motor modules. Those skilled in the art can select the specific structure based on machining accuracy, machining speed, load size, and stroke.

[0035] The visual monitoring component 15 is disposed on the substrate 11 and / or within the visible range of the motion platform module 1. The visual monitoring component 15 can be one or more of the following: a structured light vision component, an industrial camera, a depth camera, a laser contour sensor, and a multi-view vision component, and is used to acquire two-dimensional images, three-dimensional topography, boundary contours, spatial position and / or attitude information of the object to be processed.

[0036] The image information acquired by the visual monitoring component 15 is sent to the control module 41. Based on the image information, the control module 41 performs 3D reconstruction, identifies the position, boundaries, and surface morphology of the object to be processed, and generates a processing path adapted to the actual morphology of the object. The advantage of this setup is that the system does not need to rely entirely on a fixed trajectory; instead, it can adjust the path according to the actual position, size, and curvature of different objects to be processed, thereby reducing problems such as material deposition exceeding boundaries, localized missed coatings, uneven deposition thickness, and grinding misalignment.

[0037] like Figures 4-8As shown, the direct writing module 2 includes a screw direct writing head 21 and / or a pneumatic direct writing head 22, a Z-axis motion assembly 23, a mixture conveying pipe 24, a material mixer 25, a push rod raw material supply group 26, a cleaning supply pipe 29, and a curing lamp 210.

[0038] The Z-axis motion component 23 drives the direct writing head to move vertically, thereby adjusting the distance between the nozzle 212 or the pneumatic direct writing head 22 and the surface of the object to be processed. By setting the Z-axis motion component 23, the direct writing module 2 can adapt to processing surfaces of different heights and curvatures, making the material output distance more stable. For curved objects, the control module 41 can also combine the height information obtained by the vision monitoring component 15 to control the Z-axis motion component 23 to perform height compensation along the processing path. At the same time, the direct writing module can add a rotation axis as needed to meet special pose requirements.

[0039] The screw-type direct-write head 21 is suitable for materials with a certain viscosity that require stable quantitative output, such as resins, colloids, slurries, and composite material slurries. The pneumatic direct-write head 22 is suitable for materials whose output is driven by air pressure, enabling point, line, or area deposition. The screw-type direct-write head 21 and the pneumatic direct-write head 22 can be used individually or in combination depending on the material characteristics and processing technology.

[0040] The screw direct writing head 21 includes a direct writing screw 211, a nozzle 212, a base 213, a raw material inlet 214, an adjustable gas inlet 215, and a drive motor 216. The drive motor 216 is connected to the direct writing screw 211 and drives the screw 211 to rotate. After the material enters the screw direct writing head 21 through the raw material inlet 214, it is output from the nozzle 212 under the push of the direct writing screw 211. The adjustable gas inlet 215 can be used to connect auxiliary gas. By adjusting the gas flow rate or pressure, the material output state can be improved, and problems such as stringing, dripping, or discontinuous discharge can be reduced.

[0041] The advantage of using the screw direct writing head 21 is that the material output can be controlled by the speed, rotation time of the drive motor 216, and structural parameters of the direct writing screw 211, making it suitable for continuous line deposition, curved surface coating, and material deposition processing with controllable thickness.

[0042] The feeding assembly includes a material mixer 25 and a push rod raw material supply group 26.

[0043] The material mixer 25 includes a mixer base 251 and a mixer body 252. The mixer base 251 is used to mount and support the mixer body 252, which is used to receive raw materials from multiple push rod raw material supply groups 26 and mix the various raw materials inside it.

[0044] The push rod raw material supply group 26 includes a dispensing rod 261, a glue cylinder 262, a dispensing piston 263, and a linear module 264. The glue cylinder 262 is used to store raw materials, the dispensing piston 263 is disposed inside the glue cylinder 262, the dispensing rod 261 cooperates with the dispensing piston 263, and the linear module 264 is used to drive the dispensing rod 261 or the dispensing piston 263 to move, thereby quantitatively pushing the raw materials in the glue cylinder 262 to the material mixer 25.

[0045] In actual operation, the push rod raw material supply group 26 can be set to multiple, such as three, four, five or more. Different colored, different components or different functions of raw materials can be loaded into multiple glue cylinders 262. The control module 41 can adjust the proportion of each raw material entering the material mixer 25 by controlling the pushing speed and pushing displacement of each linear module 264. After the different raw materials are mixed in the mixer body 252, they are conveyed to the screw direct writing head 21 and / or pneumatic direct writing head 22 via the mixture conveying pipe 24.

[0046] The advantage of this setup is that the system does not need to configure a separate direct-write head for each type of finished material. Instead, it can obtain mixed materials with different material ratios, colors, or properties by adjusting the proportions of multiple basic raw materials. This method reduces the number of material changes, improves the flexibility of material utilization, and facilitates the deposition of gradient materials, composite materials, or multi-color materials.

[0047] For example, in surface decoration processing, multi-color or gradient effects can be formed by adjusting the supply ratio of different colored raw materials; in functional material processing, performance gradients can be formed by adjusting the ratio of filler slurry and matrix material; in pharmaceutical formulation printing, personalized formulation can also be achieved by changing the ratio of different components; in ceramic or metal slurry printing, specific material properties or component distribution can be achieved by adjusting the ratio of different slurries.

[0048] The direct writing module 2 also includes a cleaning feed pipe 29. The cleaning feed pipe 29 is connected to the material mixer 25 and / or the direct writing head, and is used to clean the material mixer 25, the mixture conveying pipe 24, the screw direct writing head 21 and / or the pneumatic direct writing head 22 when material switching, processing is completed or material residue occurs.

[0049] In one embodiment, the cleaning supply pipe 29 can be connected to a cleaning liquid source or to a control air source module 4. When cleaning is required, the control module 41 controls the cleaning agent to enter the material mixer 25 and related pipelines through the cleaning supply pipe 29, carrying away residual materials; subsequently, the control air source module 4 outputs gas to purge, so that residual liquid and residual materials inside the pipeline are discharged.

[0050] An airflow regulating valve 2101 can be installed on the cleaning feed pipe 29 to adjust the gas flow rate during cleaning or purging. By adjusting the gas flow rate, material splashing caused by excessive air pressure can be avoided, as can insufficient cleaning caused by insufficient air pressure.

[0051] The advantages of this structure are that it reduces material cross-contamination and spillage during multi-material switching, and lowers the risk of material solidification, deposition, or blockage in mixers, delivery pipes, and nozzles, thereby improving the system's continuous operation capability. For materials with certain viscosity or easy-to-cure properties, such as colloids, resins, and slurries, this cleaning structure can significantly reduce the frequency of manual disassembly and maintenance.

[0052] The curing lamp 210 is mounted on the direct-write module 2 and positioned to illuminate the object to be processed. The curing lamp 210 is used to cure the material after direct writing. The curing lamp 210 can be an ultraviolet curing lamp, a visible light curing lamp, an infrared heating lamp, or other curing devices adapted to different material curing methods.

[0053] After direct writing is completed, the control module 41 controls the curing lamp 210 to irradiate the material according to a preset time, preset power, or preset path, so that the deposited material is cured or shaped. For processing technologies that require layered deposition, the curing lamp 210 can perform short-term curing after each layer of material is deposited, and then proceed with the next layer deposition.

[0054] By setting up the curing lamp 210, material deposition and curing can be completed in the same equipment, reducing the transfer of the object to be processed, improving molding efficiency, and reducing the risk of uncured material flowing, deforming or contaminating during the transfer process.

[0055] like Figures 9-12 As shown, the grinding and cutting assembly module 3 includes a tool Z-axis 31, a tool A-axis 32, a tool B-axis 33, a tool axis body 34, a tool table 35, and a tool body 36.

[0056] The tool body 36 is fixedly mounted on the tool table 35. The tool body 36 can be selected as a grinding head, cutting tool, drill bit, chuck head, assembly head, polishing head, magnetic molding part or other machining tool according to different machining needs. The tool table 35 is used to install and fix the tool body 36, and can also be used to hold multiple different types of tool bodies 36 so that the tool spindle body 34 can be automatically changed according to the machining steps.

[0057] Tool Z-axis 31, tool A-axis 32, and tool B-axis 33 are respectively driven to move the tool spindle body 34 in the vertical direction and / or rotate around a preset axis. The tool spindle body 34 drives the tool table 35 and the tool body 36 to move relative to the workpiece, thereby completing the grinding, cutting, and / or assembly processing.

[0058] Specifically, the tool Z-axis 31 can be used to drive the tool axis body 34 to rise and fall, thereby adjusting the contact depth or working distance between the tool body 36 and the workpiece. The tool A-axis 32 and tool B-axis 33 can be used to drive the tool axis body 34 to rotate around different axes, allowing the tool body 36 to obtain different working angles. Through the coordination of Z-axis movement and A-axis and B-axis attitude adjustments, the tool body 36 can better adapt to the curved surface contours and local boundaries of the workpiece.

[0059] In a further embodiment, the grinding and cutting assembly module 3 can also be used in conjunction with a force control structure or a force feedback sensor to maintain a preset contact force on the tool body 36 during grinding, cutting, or assembly. This reduces damage to the workpiece caused by excessive contact force and also avoids inadequate grinding or cutting due to insufficient contact force.

[0060] The advantage of this setup is that grinding, cutting, or assembly processes can be performed directly within the same coordinate system used for visual positioning and direct-write machining, without requiring the object to be processed to be moved again or manual realignment. The control module 41 can control the movement path of the tool body 36 based on the boundary and shape information obtained by the visual monitoring component 15, thereby making the grinding position, cutting depth, and assembly position more accurate.

[0061] like Figure 13 As shown, the control gas source module 4 includes a control module 41, a gas storage tank 42, a pressure regulating valve 43, a control valve 1 44, a gas pump 45, and a control valve 2 46.

[0062] Air pump 45 is connected to air tank 42 and is used to supply compressed gas to air tank 42. Air tank 42 is used to store gas and stabilize gas pressure. Pressure regulating valve 43 is used to regulate the output gas pressure. Control valve one 44 and control valve two 46 are used to control the on / off or switching of different gas paths, so that gas can be delivered to pneumatic direct writing head 22, adjustable gas inlet 215, cleaning supply pipe 29 or other components that require gas drive.

[0063] The control module 41 is electrically connected to and / or has a gas supply connection with the control gas source module 4. The control module 41 can control the working status of the air pump 45, pressure regulating valve 43, control valve one 44, and control valve two 46 according to the processing stage. For example, during the pneumatic direct writing process, the control module 41 controls the gas to enter the pneumatic direct writing head 22 at a set pressure to achieve material output; during the cleaning process, the control module 41 controls the gas to enter the cleaning supply pipe 29 to achieve pipe purging; during the screw direct writing process, the control module 41 can also provide auxiliary gas through the adjustable gas inlet 215 to improve the output quality.

[0064] This structure provides a stable air source for pneumatic direct writing, auxiliary material discharge, and cleaning and purging, making the material output and maintenance process of the system more controllable.

[0065] In this embodiment, the object to be processed is human fingernails. To facilitate the positioning of the human hand, the direct writing module 2 also includes a hand placement platform 27 and a hand fixing plate 28. The hand placement platform 27 is used to support the customer's palm or fingers, and the hand fixing plate 28 is used to hold or limit the hand, so that the hand remains stable during visual scanning, direct writing application, curing and polishing.

[0066] It should be noted that human nail art is only one specific application scenario of this invention and does not limit the invention to human nail processing. This invention can also be used for direct writing processing of nail tips, irregularly shaped curved parts, small structural parts, functional material substrates, drug carriers, ceramic blanks, metal slurry molding substrates, additive manufacturing, and other similar objects.

[0067] Solid color nail art can include the following steps: The first step is for the user to select a style.

[0068] Customers can select their desired nail art style via voice, touchscreen, or mobile app, such as solid color, single-color gradient, or other preset styles. The control module 41 receives the user's selection information and retrieves the corresponding color formula, number of coats, curing time, and processing path parameters.

[0069] The second step is hand positioning.

[0070] The customer places their palm on the hand placement table 27, with their fingers inserted into the preset processing area. The hand fixing plate 28 presses down, limiting and fixing the hand or fingers. This structure reduces hand movement during processing, improving visual recognition accuracy and subsequent coating stability.

[0071] The third step is visual scanning and path planning.

[0072] The visual monitoring component 15 scans the hand structure and nail area. The visual monitoring component 15 can acquire the three-dimensional shape of the fingers and nails using structured light vision. The control module 41 completes three-dimensional reconstruction based on the image information acquired by the visual monitoring component 15, identifies the nail boundary, nail surface curvature, nail surface height, and nail spatial posture, and generates an application path accordingly.

[0073] Through visual reconstruction and trajectory planning, the system can automatically adjust the application path according to the differences in nail width, length, curvature and position of different customers, avoiding problems such as exceeding the boundary, missing the coating or uneven coating thickness when applying according to a fixed trajectory.

[0074] The fourth step is the proportioning and mixing of raw materials.

[0075] According to the color formula selected by the user, the control module 41 controls the operation of multiple linear modules 264 in the push rod raw material supply group 26. Each linear module 264 drives the dispensing piston 263 in the corresponding glue cylinder 262 to move, so that nail art raw materials of different colors or different components enter the material mixer 25 according to the set ratio.

[0076] The material mixer 25 can be gas-assisted for mixing, and the gas flow rate can be adjusted by the airflow speed control valve 2101. Multiple raw materials are mixed while flowing in the material mixer 25 and the mixture conveying pipe 24, and then conveyed to the screw direct writing head 21 through the mixture conveying pipe 24.

[0077] This method can use a small amount of basic raw materials to mix a variety of colors, reducing the need for storing and replacing large amounts of individual color gels in traditional nail art, and increasing the range of color choices and the degree of automation.

[0078] Step 5: Nail additive construction.

[0079] Based on the 3D reconstruction results obtained in the third step, the control module determines whether the current nail shape needs to be thickened, shaped, or lengthened. If so, the control module generates an additive manufacturing path.

[0080] At this point, the control module controls a channel in the push rod raw material supply group to supply transparent or translucent resin material (such as photopolymer buildable adhesive) for construction to the material mixer, which is then conveyed to the screw direct writing head via the mixture delivery pipe. The control module controls the screw direct writing head to deposit the buildable material layer by layer on the nail surface according to the additive path, and performs height compensation by controlling the Z-axis motion component to maintain a constant working distance between the nozzle and the deposited surface.

[0081] After each layer of material is deposited, the control module controls the curing lamp to pre-cur it for a short time to fix the shape of the current layer, and then the next layer is deposited, thereby forming a reinforced layer with a predetermined curvature and thickness on the nail surface, or forming an extension layer of a predetermined length at the nail tip.

[0082] After construction is completed, the control module can control the curing lamp to perform an overall curing of the additive part to improve the structural strength.

[0083] Through this step, the system can automatically strengthen or extend the nails based on the individual differences of the customer's nails, forming a smooth and full base, providing a good foundation for subsequent color application.

[0084] When the user does not require additive construction, the control module can skip this step and proceed directly to the subsequent color coating process.

[0085] Step 6: Automatic application.

[0086] The control module 41 controls the motion platform module 1, the Z-axis motion component 23, and the screw direct writing head 21 to work together to move the nozzle 212 along the planned nail application path. The drive motor 216 drives the direct writing screw 211 to rotate, stably outputting the mixed nail art material from the nozzle 212 to the nail surface.

[0087] During the coating process, the control module 41 can control the Z-axis motion component 23 to perform height compensation based on the curvature of the nail surface, so that the nozzle 212 maintains a suitable distance from the nail surface, thereby improving the consistency of the coating thickness. For the four fingers other than the thumb, the coating can be completed sequentially after a single fixation.

[0088] Step 7: Curing process.

[0089] After the coating is applied, the control module 41 controls the curing lamp 210 to irradiate and cure the nail surface material. The curing time and curing power can be preset according to the material type. By completing the curing process in the same device, material flow or pattern deformation caused by customer hand movement can be reduced.

[0090] Step 8: Thumb processing.

[0091] After the four fingers are processed, the hand-fixing plate 28 is raised, and the customer adjusts their hand posture or places their thumb in the corresponding processing area. Then, the steps of visual scanning, path planning, material application, and curing are repeated to complete the thumb nail art.

[0092] Through the above process, the system can complete continuous operations from hand fixation, visual scanning, color matching, automatic application to curing, reducing reliance on human experience and improving the consistency of nail art patterns and coating quality.

[0093] When a user selects a multi-color nail art or a gradient nail art, the control module 41 can control multiple push rod raw material supply groups 26 to change the material supply ratio based on the color information corresponding to different nails, different areas, or different path segments.

[0094] In one implementation, the system can first apply the first color and then switch to apply the second color. When switching colors, the control module 41 can initiate a cleaning process to reduce the risk of color bleeding between different colors.

[0095] In one embodiment, the control module 41 can change the pushing speed of each push rod raw material supply group 26 in real time during continuous application, so that the proportion of different raw materials entering the material mixer 25 gradually changes, thereby forming a gradient color or transition color effect on the nail surface.

[0096] The advantage of this method is that the system can expand the range of colors by mixing raw materials in real time, without the need to set up a separate glue tube or direct writing head for each color, making it suitable for realizing multiple colors, gradient colors and personalized patterns.

[0097] In this embodiment, the object to be processed can also be human fingernails. The nail trimming or removal process may include the following steps: The first step is hand positioning.

[0098] The customer places their hand on the hand placement table 27, and the hand fixing plate 28 presses down and fixes the hand, keeping the fingers and nails stable.

[0099] The second step is visual scanning.

[0100] The visual monitoring component 15 scans the hands and nails, and the control module 41 completes three-dimensional reconstruction based on the scan information, identifying the nail boundary, nail height, areas that need to be filed, and skin areas that need to be avoided.

[0101] The third step is to apply a protective coating.

[0102] The control module 41 controls the pneumatic direct writing head 22 to apply protective gel at the nail filing boundary, forming a filing contour working area. The protective gel can be used to mark the filing boundary and also to shield and protect non-filament areas, thereby reducing the probability of the filing tool accidentally injuring the nail edge or surrounding skin.

[0103] The fourth step is to automatically switch to the grinding tools.

[0104] The tool spindle body 34 automatically replaces the corresponding tool body 36 from the tool table 35. The tool body 36 can be a roughing grinding head, a fine grinding head, a polishing head, or a de-armoring grinding head. Depending on the different grinding stages, the tool spindle body 34 can be replaced with different tool bodies 36 multiple times.

[0105] The fifth step is to refine the trajectory.

[0106] The control module 41 controls the movement of the tool's Z-axis 31, A-axis 32, and B-axis 33 based on the 3D reconstruction results and the grinding boundary, causing the tool body 36 to grind or remove armor according to the planned path. If the system is equipped with a force control structure, the control module 41 can also adjust the downward pressure of the tool body 36 based on contact force feedback to reduce over-grinding.

[0107] Step 6: Debris removal.

[0108] During manicure, the hand rest 27 or the air path in the system can blow air into the processing area to remove debris generated during the filing process from the nail surface and guide it to the collection area. Timely cleaning of the debris prevents it from obstructing the visual monitoring component 15 and also improves the processing environment.

[0109] Step 7: Remove the protective adhesive.

[0110] After the nail polish is filed or removed, the customer or operator removes the protective gel, completing the nail polish filing or removal process.

[0111] Through the above process, the nail trimming or removal procedure is combined with visual positioning, protective glue application, and automatic tool changing, which can improve the accuracy of the trimming boundary control and reduce the risks caused by the instability of manual operation.

[0112] After nail art, multi-color coating, multi-material printing, or processing is completed, the system can perform a cleaning process. The cleaning process includes: First, the control module 41 controls the cleaning supply pipe 29 to supply cleaning agent to the material mixer 25, the mixture delivery pipe 24 and / or the direct writing head, so that the cleaning agent enters the entire adhesive application channel; Secondly, the control module 41 is used to control the gas supply module 4 to supply gas, so that the gas enters the adhesive channel from the tail of the material mixer 25 or the corresponding air inlet position, and pushes the cleaning agent to flush the inner wall of the channel and the residual material. Then, drain the cleaning solution containing residual materials; Finally, continue to blow air into the adhesive application channel by controlling the air source module 4 to dry the inside of the channel.

[0113] The cleaning process described above can reduce the risk of color bleeding during color changes and minimize cross-contamination when switching between different materials. For materials that are prone to solidification, deposition, or have high viscosity, the cleaning process can also reduce the risk of clogging and improve the continuous operation capability of the equipment.

[0114] In one implementation, real-time printing of a single material or gradient printing can also be achieved. During this process, the pusher raw material supply group 26 supplies materials to the material mixer 25 according to the corresponding formula and proportion. The material mixer 25 is ventilated, and the raw materials are conveyed and mixed simultaneously within the mixer 25. The mixture is then conveyed to the screw direct-write head 21 through the mixture delivery pipe 24, and printing is performed according to the slicing information motion plan. During gradient material printing, the pusher raw material supply group 26 adjusts the supply ratio in real-time according to the corresponding formula to achieve different material compositions in different parts of the same model.

[0115] During the printing process, the push rod raw material supply group 26 supplies the corresponding material according to the material of different parts of the model and the slicing software trajectory. When there are multiple material switching requirements, a cleaning operation is performed in the middle of the material switching.

[0116] Printing can be combined with grinding, cutting and assembly module 3 to carry out additive and subtractive manufacturing processes.

[0117] Compared with the prior art, the present invention has at least the following beneficial effects: This invention integrates the visual monitoring component 15, the direct writing module 2, the grinding and cutting assembly module 3, and the motion platform module 1, enabling the object to be processed to complete visual positioning, processing path generation, material deposition, and grinding, cutting, and / or assembly within the same system. This reduces repetitive positioning errors caused by transferring the object to be processed between different devices, thereby improving processing accuracy and efficiency.

[0118] The present invention acquires image information of the object to be processed through the visual monitoring component 15, and the control module 41 generates a processing path based on the image information, so that the direct writing module 2 and the grinding and cutting assembly module 3 can adapt to the actual position, boundary and surface morphology of the object to be processed, thereby reducing the probability of problems such as coating over-boundary, uneven deposition thickness, local material shortage, grinding deviation or processing interference.

[0119] This invention, through the coordinated arrangement of the grinding and cutting assembly module 3 and the direct writing module 2, enables the system to not only complete material deposition, but also to complete surface trimming before deposition and grinding and cutting or assembly processing after deposition under the same coordinate reference. This facilitates the formation of a continuous and integrated processing flow and improves the functional integration of the equipment.

[0120] Furthermore, by cooperating with the material mixer 25 and the push rod raw material supply group 26, at least two raw materials can be mixed and output as needed, making the system suitable for direct writing processing of materials with multiple materials, multiple colors or different proportions, thus improving material adaptability and processing flexibility.

[0121] Furthermore, by cooperating with the cleaning supply pipe 29 and the control air source module 4, the material mixer 25, the mixture conveying pipe 24 and / or the direct writing head can be cleaned or purged, reducing material residue, blockage and cross-contamination, and improving the reliability of continuous system operation.

[0122] Furthermore, by using a curing lamp 210 to cure the material after direct writing, the material deposition and curing can be completed in the same processing space, reducing the transfer process and improving molding stability.

[0123] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0124] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-material direct-writing, multi-functional integrated working system, characterized in that, It includes a motion platform module, a direct writing module, a grinding and cutting assembly module, and a control module; among which, The motion platform module is used to support the direct writing module and the grinding and cutting assembly module, and to realize the relative movement of the processing execution components; The direct writing module is used to mix at least two raw materials and deposit the mixed material onto the object to be processed according to a preset trajectory, or to perform additive manufacturing. The grinding and cutting assembly module is used to perform grinding, cutting and / or assembly processing on the workpiece. The motion platform module is equipped with a visual monitoring component, which is used to acquire image information of the object to be processed and send it to the control module. The control module is used to perform three-dimensional reconstruction and motion planning based on image information, generate processing paths, and control the motion platform module, direct writing module, and grinding and cutting assembly module to work together to achieve integrated processing of visual positioning of the object to be processed, multi-material direct writing processing, and grinding processing.

2. The multi-material direct-writing multi-functional integrated working system according to claim 1, characterized in that, The direct writing module includes a screw direct writing head and / or a pneumatic direct writing head, and a feeding assembly connected to the screw direct writing head and / or the pneumatic direct writing head; The feeding assembly is used to feed the mixed at least two raw materials to the direct write head; The control module is used to control the direct writing head to output material along the processing path based on the shape information of the object to be processed.

3. The multi-material direct-writing multi-functional integrated working system according to claim 2, characterized in that, The feeding assembly includes a material mixer and a push rod raw material supply group. The input end of the material mixer is connected to the push rod raw material supply group, and the output end is connected to the screw direct writing head and / or pneumatic direct writing head, so as to mix at least two raw materials and then deliver them to the direct writing head.

4. The multi-material direct-writing multi-functional integrated working system according to claim 3, characterized in that, The material mixer includes a mixer base and a mixer body; The push rod raw material supply group includes a dispensing rod, a glue cylinder, a dispensing piston, and a linear module. The linear module is used to drive the dispensing piston to push the raw material.

5. The multi-material direct-writing multi-functional integrated working system according to claim 1, characterized in that, The grinding and cutting assembly module includes a tool Z-axis, a tool A-axis, a tool B-axis, a tool axis body, a tool table, and a tool body; The tool body is fixedly mounted on the tool table; The tool Z-axis is used to drive the tool spindle body to move in the vertical direction, and the tool A-axis and tool B-axis are used to drive the tool spindle body to rotate around a preset axis, so that the tool body can perform grinding, cutting and / or assembly processing on the workpiece.

6. The multi-material direct-writing multi-functional integrated working system according to claim 2, characterized in that, The direct writing module also includes a Z-axis motion assembly, a mixing material conveying pipe, a cleaning material supply pipe, and a curing lamp; The Z-axis motion assembly is used to drive the direct writing head to move in the vertical direction, the cleaning feed tube is used to clean the material mixer and / or the direct writing head, and the curing lamp is used to cure the material after direct writing.

7. The multi-material direct-writing multi-functional integrated working system according to claim 2, characterized in that, The system also includes a control air source module, which is electrically connected to and / or connected to the control air source module via an air circuit. The control air source module is used to provide an air source for the pneumatic direct writing head and / or the cleaning feed tube.

8. The multi-material direct-write multi-functional integrated working system according to claim 7, characterized in that, The control gas source module includes a gas storage tank, a pressure regulating valve, a control valve one, a gas pump, and a control valve two. The gas pump is connected to the gas storage tank, and the pressure regulating valve, control valve one, and control valve two are used to regulate and control the gas output.

9. The multi-material direct-write multi-functional integrated working system according to claim 1, characterized in that, The motion platform module includes a base plate, an X-axis motion component one, an X-axis motion component two and a Y-axis motion component disposed on the base plate, and the visual monitoring component is disposed on the base plate and / or within the visible range of the motion platform module.

10. The multi-material direct-writing multi-functional integrated working system according to claim 1, characterized in that, It also includes a housing, which surrounds the motion platform module, the direct writing module, the grinding and cutting assembly module, and the control air source module. The housing includes a front door, a lower rear shell, a revolving door, and an upper rear shell.

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