CN111032316B - 用于分散式自动化增材制造的方法和装置 - Google Patents

用于分散式自动化增材制造的方法和装置 Download PDF

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CN111032316B
CN111032316B CN201880038231.8A CN201880038231A CN111032316B CN 111032316 B CN111032316 B CN 111032316B CN 201880038231 A CN201880038231 A CN 201880038231A CN 111032316 B CN111032316 B CN 111032316B
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additive manufacturing
printing
printed
cleaning
resin container
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CN111032316A (zh
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许贝特斯·特奥多鲁斯·彼得鲁斯·万艾斯布勒克
苏乌诺·波义尔
古普塔·哈许
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Structo Pte Ltd
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    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04Cleaning involving contact with liquid
    • B08B3/10Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29C64/00Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
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    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
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    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
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Abstract

一种装置,包括;控制器,其被布置为接收用于要打印的物品的数据;子装置,其包括:被布置成提供用于打印所述物品的材料的树脂源;辐射源,其被布置成引导辐射以用于所述物品的所述打印;多个站,所述站包括在其内打印所述物品的打印罐、用于清洁所打印的物品的至少一个清洁站、以及被布置成至少部分地完成所打印的物品的固化的固化站;构建表面,所述物品被布置成在所述构建表面上被打印;其中控制器被布置成使所述构建表面和所述多个站相对于彼此移动。

Description

用于分散式自动化增材制造的方法和装置
技术领域
本发明涉及一种用于自动化增材制造的分散化且同时集中预处理工作的方法,以及一种能够增材制造的装置,其具有集成的和自动化的后处理以促进所述方法。
背景技术
在现有技术中,通常的做法是,增材制造工艺(包括但不限于立体光刻(SLA)工艺)通常包括三个阶段(即,设计和预处理、3D打印和后处理),其中每个阶段需要大量的人工参与、努力和贡献。
第一阶段设计和预处理包括计算机辅助设计(CAD)和计算机辅助制造(CAM)步骤,它们是数字文件准备的组成部分。所述第一CAD步骤设计和优化用于增材制造工艺的数字3D文件。所述第二CAM步骤准备3D模型以便在打算使用的特定3D机器上打印,并且包括费力且耗时的工序,诸如优化所述3D模型朝向(XYZ放置和旋转)、放置在特定机器的可建造体积内、将模型分割或裁剪为多个部分、以及生成牺牲支撑结构以便于所述模型的打印。数字文件准备是3D打印的整个过程的关键且通常费力的步骤,并且对于高度复杂的(一个或多个)3D对象的打印,需要不断增加的专业程度。在一些行业中,例如在牙科领域中,必须以特定的方式打印诸如牙冠和牙桥的(一个或多个)复杂3D对象,并且如何准备数字文件确定了最终是否成功并准确地打印所述(一个或多个)3D对象。虽然3D打印作为制造过程可以提供对这些行业中的现有制造过程的改进,但是文件准备是3D打印的用户需要执行的必要但无附加值的活动。此外,预处理任务通常需要(a)昂贵且复杂的软件程序,以及(b)具有工程背景或其它所需领域知识的熟练或有经验的用户,其通常精通制造方法的过程。例如,在数字牙科中,用于获得(一个或多个)个性化牙科对象的典型工作流程具有数周而不是数天的周转时间,从而延迟了对患者的牙科治疗,并且需要多次咨询或就诊。传统的数字牙科工作流程由三个阶段组成:(a)临床扫描,(b)基于软件的文件处理,和(c)所需器具的制作或制造(参见图1)。通常,临床医生将从捕获患者牙齿、牙龈和咬合的3D扫描数据开始,随后将其发送到外部实验室或设施,在那里进行进一步处理。所述临床医生也可选择在物理印模中捕获患者的解剖结构(例如使用藻酸盐),其可被物理地递送到外部实验室以进行3D扫描。印模也可用于浇注石头或石膏模型(印模的负像),该模型也可以在诊所或外部实验室中进行3D扫描。
在实验室中,扫描数据(来自口内扫描或来自3D扫描印模或模型)将被处理成关于患者口腔解剖结构的虚拟模型。通过使用该虚拟模型,可以用CAD软件设计期望的部件或器具(例如,牙冠)。一旦CAD过程完成,则可以输出期望的部件或器具的虚拟设计,通常以STL格式或捕获3D数字数据的另一格式进行输出。随后将该数据导入到打印准备软件中,其中用户可以确定期望的位置、朝向、可选的与可用打印空间内的其他对象的嵌套、以及可选地生成牺牲支撑结构。然后,可以以可打印格式输出所得到的打印设置,该可打印格式可以采取诸如g码的机器码的形式,或者采取在沿着所述打印设置的变化高度处拍摄的截面图像(被称为切片图像,通常用于DLP、SLA或MSLA3D打印过程中)的形式。所述CAD软件和打印准备软件有时可以是来自单个供应商的相同程序的特征。
然后,可以将所导出的可打印数据加载到3D打印机上,在该打印机中,可以用通常是感光聚合物的期望材料将所述对象制作成物理对象。在3D打印之后,所述对象经受后处理工序,其是非常耗时的和无附加值的过程,例如用溶剂洗涤所述3D打印对象、用附加的光曝光以用于最终固化。在后处理工序完成之后,3D对象可以从外部设施物理地发送并且被递送回所述诊所,在那里它可以最终被植入患者的解剖结构中或被赋予患者的解剖结构之上。
在另一当前临床实践中,临床医生或他/她的工作人员将在诊所现场进行每个所需的过程,其通常被称为“诊疗椅边打印”(参见图2)。然而,由于空间和资金的限制,临床医生通常将利用紧凑的机器来执行每个制作步骤。通常,用于该目的机器是Formlabs、Asiga、Bego打印机、以及相应的小/便宜的超声波清洁装置和光固化装置。此外,由于在诊疗椅边打印中涉及大量工序,因此对于大多数临床医生来说,这不是理想的工作流程,因为它需要CAD和打印软件的深入知识、机器的操作和各种化学品的处理,这些都超出了临床环境中通常期望的工作的范围。然而,由于可按小时测量的周转时间的益处以及在单次就诊中对患者的当日应用,为此目的采用紧凑的3D打印装置存在积极的趋势。
发明内容
在第一方面,本发明提供了一种装置,包括:控制器,其被布置为接收用于要打印的物品的数据;子装置,其包括被布置成提供用于打印所述物品的材料的树脂源;辐射源,其被布置成引导辐射以用于所述物品的所述打印;多个站,所述站包括用于在其内打印所述物品的打印罐、用于清洁所打印的物品的至少一个清洁站和布置成至少部分地完成所打印的物品的固化的固化站;构建表面,所述物品被布置成在所述构建表面上以被打印;其中控制器被布置成使所述构建表面和所述多个站相对于彼此移动。
在第二方面,本发明提供了一种用于使用增材制造工艺打印物品的方法,所述方法包括以下步骤:
a)收集所述物品的所述3D扫描数据;
b)将所述3D数据数字地传送到集中位置;
c)在所述集中位置处准备用于控制所述物品的所述打印的数字文件;
d)将所述数字文件从所述集中位置下载到增材制造装置,并且因此;
e)打印所述物品。
本发明涉及一种方法,其中从临床医生的工作流程中去除文件准备步骤,并且代之以远程地执行该步骤。这是通过引入一种***来实现的,在该***中,临床医生可以远程上传文件(例如,口内3D扫描数据),并且还可以给出要打印的最终产品的规格和/或规格要求。在该工作流程中,所述文件然后服务于多个类似临床医生的一个或多个集中位置处通过远离所述临床医生而被处理。文件处理包括但不限于文件准备步骤(例如,添加板块或标签或所需的附加特征)、文件固定(断裂或倒置的三角形网格、扫描数据中的孔、以及数据级的其它一般缺陷)、支持生成(自动或手动)、部件排列和嵌套、以及切片成可打印文件。在软件准备阶段的各个阶段,临床医生能够提供关于(CAD)设计的器具的反馈,或者关于远程处理之后的可打印文件的状态的反馈。可以有迭代设计和准备过程,这涉及临床医生与集中式文件准备操作员或人工智能之间的一个或多个来回通信。所述临床医生可以下载最终可打印的输出文件或者甚至选择经由远程访问和因特网连接将其直接上传到3D打印机。
本发明还涉及后处理所述(一个或多个)3D打印对象的自动化,并且这通过组合、集成和自动化打印、清洁和后固化步骤中的每一个步骤以及在3D打印机本身中制作(一个或多个)特定对象可能需要的任何其它步骤(即,后处理活动)来实现。该工作流程从所述打印和后处理步骤中去除了所有的人的劳动,并且为临床医生创建了无缝的体验,其中输入(3D解剖扫描)和输出(一个或多个可植入对象)与传统的外包外部实验室工作流程相同。本发明中的自动化增材制造装置将照顾到产生(一个或多个)即用型最终对象所需的所有运动和过程。
此后,从期望的(一个或多个)3D对象或(一个或多个)器具的开始到最终完成的整个工作过程是完全自动化的,不需要或需要很少的临床医生的时间。以此方式,来自与3D打印无关的行业的临床医生能够集中于与他们的行业有关的活动,因此使得临床医生能够实现与诊疗椅边打印相关联的快速周转时间,同时保持与外包到外部设施的工作相关联的易用性,并且不需要进一步要求对形成所述工作流程的一部分的实际技术过程的深入训练和深入了解。从临床医生的角度来看,本发明中的装置不一定是3D打印机或增材制造装置,而是仅仅将定制的或解剖学上的(一个或多个)患者特定对象直接“递送”到诊所中的黑盒。
附图说明
参照示出了本发明的可能布置的附图来进一步描述本发明将是方便的。本发明的其它布置是可能的,因此,附图的特殊性不应被理解为取代本发明的前述描述的一般性。
图1示出了关于传统数字牙医的工作流程;
图2示出了关于诊疗椅边打印的工作流程;
图3示出了根据本发明的工作流程;
图4是自动化增材制造装置的转盘***的示意图;
图5是自动化增材制造装置的转盘***的示意图,其中当可移动托盘旋转时,(一个或多个)打印对象从打印树脂罐转移到清洁、洗涤或收集容器中;
图6是自动化增材制造装置的转盘***的示意性横截面图;
图7A是自动化增材制造装置的线性***的示意图,其中可移动托盘在线性方向上移动并且促进具有在构建表面上附接的(一个或多个)打印对象的线性运动装置;
图7B是自动化增材制造装置的线性***的示意图,其中在构建表面上具有附接的(一个或多个)打印部件的垂直和水平线性运动装置以双向线性方式移动;
图8A是自动化增材制造装置的单独线性致动器的示意图,所述自动化增材制造装置包括能够从打印区域中的z轴致动器取回(一个或多个)平台板或构建平台的臂。
图8B示出了单独的线性致动器的臂能够在x-y方向上延伸、缩回或移动,以从打印区域到达所述构建平台或(一个或多个)平台板,从而避免碰撞或撞击任何内部子***组件。
图9是具有机械臂机构的自动化增材制造装置的示意图。
具体实施方式
参考图3,本发明包括首先捕获患者的解剖结构,这可以以与临床医生在牙科诊所中通常所做的相同的方式通过口内扫描或通过创建也可以被3D扫描的物理印模来进行。随后,3D数据被发送到外部设施、数据/信息支持服务、网络门户、区域网络(本地网络或其他网络)或基于云的服务,从而使得能够从世界上的任何地方执行实际工作。所述工作还可以是部分、完全自动化或完全非自动化的(即,由人在后端操作,其可以集中在一个或多个位置,或者也可以是分布式分散的),使得外包软件过程(诸如但不限于,文件固定、支持生成(自动或手动)、部件布置、切片到可打印文件、CAD设计、数字数据的导出、可打印数据的预处理打印或导出)可以由云托管人工或机器智能、外部设施、数据/信息支持服务、网络门户或区域网络(本地网络或其他网络)有效且自动地进行。
在其中3D数据由用户经由作为接口的网络门户发出或者3D数据可以经由扫描仪(口内或其他的扫描仪)与云服务的直接连接而被上载使得用户不需要导出扫描文件并且然后经由网络浏览器将其上载到门户的实施例中,处于可能远程位置中的另一个人可接收(一个或多个)输入文件,相应地处理它并且通过相同的网络门户将其适时地返回到用户。优选地,与让用户下载文件相反,所述文件可被直接传送到连接的3D打印机。在一个替代实施例中,用户可以访问一个网络门户,通过该网络门户,另一个人和/或人工智能将处理所述文件。执行这样的任务或过程可以以自动地执行上述任务中的一些或全部的人工/机器智能的形式来执行,或者以人为努力与人工/机器智能两者的组合来执行,其中该组合的程度取决于人工智能的成熟度。
通过使设计和预处理步骤(即,上述过程)自动化,可基于使用患者解剖结构的3D扫描数据的输入来实现可打印数据的递送的快速周转时间。可以存在一个或多个中间阶段,其中要求或请求临床医生以对所建议的CAD设计或由外部外包软件处理服务生成的治疗计划的评论、决策或批准的形式提供进一步的反馈。在将可打印数据导出或递送给临床医生之后,他/她可以使用自动化增材制造装置继续或开始3D对象的3D打印,以使无缝且自动的数字牙科的过程流线化。来自基于云的服务、外部设施、数据/信息支持服务、网络门户或区域网络(本地网络或其他网络)的所导出的可打印数据可以替代地经由因特网连接、无线通信或远程访问而被直接上传到自动化增材制造装置上,从而确保整个工作流程是无缝的、放手操作的和自动化的。所述上载过程可以由同一个人或人工智能完成。
在本发明的一个实施例中,自动化增材制造装置包括垂直线性运动装置100,其能够以向上和向下的垂直线性运动沿z轴移动所附接的构建表面101,如图4和5所示。所述垂直线性运动装置可包括线性马达、滚珠丝杆、导螺杆或皮带和滑轮***(其具有步进马达或伺服马达、或任何其它线性致动器(例如,液压、气动等)或其组合、或任何其它能够以足够的精度和速度沿z轴移动所述构建表面的装置)。所述构建表面101面向容器或装置中的每一个,并且可以包括平台板,该平台板具有表面,当3D打印对象(一个或多个)被逐层打印并且随后从一系列容器和装置被转移以经历3D打印对象(一个或多个)的清洁、固化或后固化和收集的过程时,所述3D打印对象(一个或多个)110可以附着在该表面上并且垂直地移动。在自动化增材制造装置中可以使用广泛可用并且为技术人员所知的3D打印或增材制造的各种技术和方法。可以使用诸如WO2015/072921和WO2016/122408中公开的那些增材制造装置或SLA或DLP。所述平台板可以由例如钢、铝、玻璃或3D可打印聚合物可以附着的任何其它材料制成,和/或所述平台板还可以包括一种材料和另一种材料,所述另一种材料涂覆在将进行打印的表面上。所述平台板可以与打印机床部分分离或完全分离,并且还可以包括磁性释放机构或使用其它释放机构。使用诸如电磁机构等的磁性释放机构或释放机构的其它变型使得所述构建表面能够在无缝过程中拾取或附着、改变和释放不同的平台板。在一个示例中,在打印周期的开始期间,所述构建表面从包含清洁平台板的堆叠的容器或装置拾取或选择清洁平台板,并且在打印、清洁、固化或后固化的每个周期之后将每个平台板释放到收集容器或装置中。
所述装置100还包括树脂容器,例如打印罐102,用于容纳或保持由例如感光聚合物材料的材料制成并且通过用来自辐射源103的适当波长的光照射容纳在树脂容器102或其内部容器内的感光聚合物而产生的(一个或多个)3D打印物品110。所述树脂容器102可以具有基本上半透明或透明的下壁表面,该下壁表面允许辐射从其下方穿过,随后该辐射照射到感光聚合物树脂。优选地,所述树脂容器102包括外部容器122和内部容器121,以便于快速和容易地交换材料。所述外部容器可以是刚性的和永久性的,由钢、铝或工程塑料制成,而所述内部容器可以是由不与感光聚合物反应的低成本塑料材料制成的一次性容器。所述内部容器121还可在其下底部内表面上具有涂层或薄膜,以便于在打印时释放层。所述外部容器122可以没有底壁表面,使得所述内部容器的底表面是所述感光聚合物材料和下面的辐射源103之间的唯一边界。所述内部容器121可被提供为具有密封件的预密封容器或胶囊,所述密封件可通过剥离、切割或其它破坏手段移除,或者被提供为可移除的盖或罩。所述内部容器可以被提供作为预先填充的容器或胶囊,其包含用于特定应用的适当量的所需感光聚合物。在这种实施例中,基本上半透明的底表面也可以用外部的可移除的盖子或罩、或者可通过剥离或切割而被移除的密封件覆盖,以便防止周围的或其它的辐射源通过该半透明的底表面过早地聚合所包含的感光聚合物。所述辐射装置103(如图6所示)包括具有附带光学器件的激光二极管,但是它也可以是DLP投影仪***、或者光源或其多种光源,其发射能够使所述感光聚合物材料聚合的波长的光。113是当光源103工作、将图像或其它辐射投射到树脂容器中的聚合物材料上时所示的光路。所述辐射装置103可以被装备成选择性地引导或暴露构建区域的区域或树脂容器102的底表面的区域。如图6所示,自动化增材制造装置可以被包含在小室、外壳或隔室中,以最小化来自外部因素对(一个或多个)3D对象的打印或处理中的污染或干扰。此外,所述装置的外部主体理想地应是空气密封的,并且可以包含空气过滤***,以确保来自树脂和/或溶剂的气味或蒸汽不与周围空气交换,以便促进临床环境中的清洁和安全操作。
所述装置100还包括可移动托盘104,其优选地可在旋转方向上移动或可以以其它方式移动到一组期望的位置,在该位置上,多个站可永久地或非永久地安装于其上并可围绕位于垂直线性运动装置100中的(假想)轴旋转,从而被定向到垂直移动的构建表面101的路径。所述站可以包括用于相关的上述功能的容器和/或装置。作为替代,垂直工作台可以安装在旋转圆的外部,例如安装在角落中,并且可以围绕打印机构建方形外体。对于这种布置,所述工作台不需要在机器的中心,因此旋转轴不需要与其重合。所述可移动托盘可以是刚性的并且具有足够的刚度和平坦度以便于构建板表面和树脂容器内部底部打印表面的对准。如图4和5中所示,安装在可移动托盘上的站包括树脂容器102、两个清洁容器107和111以及UV固化装置105,但是可以提供更多或更少的容器或装置。在该实施例中,包括容器或装置的多个站可以固定在空间中,而垂直线性运动装置100和构建表面101安装在可移动托盘104上,使得其可以相对于容器或装置中的每一个而被移动(优选地在旋转方向上)到期望的位置。在示例性示例中,如图4和5所示,可移动托盘104已经旋转90度的差,并且导致构建表面101被有效地从移入或在打印过程之后移出树脂容器102转移到移入或移出清洁容器111以用于洗涤。洗涤通常在诸如异丙醇等的溶剂中进行,也可以用相同或另一种溶剂或用水进行第二洗涤阶段。可移动托盘的移动可以取决于处理和制备(一个或多个)3D打印对象所需的各种顺序的洗涤或固化步骤和工序。
在另一实施例中,与如上所述的旋转方向相反,可以以线性方式布置所述可移动托盘104。在这种线性布置中,参照图7A,可动托盘104以线性方式移动并且可以是双向的,因此便于多个容器或装置朝向所述垂直线性运动装置100(z轴)的转移。在一个替代实施例中,线性可移动托盘保持静止,并且线性运动装置100被垂直和水平线性运动装置200代替,该装置在垂直于构建表面101移动的轴上移动(图7B)。所述垂直和水平线性运动装置200以双向水平方式移动,同时沿着线性托盘的不同区段转移所附接的构建表面101,并由此经历处理和制备(一个或多个)3D打印对象所需的各种顺序的洗涤或固化步骤和工序。在其他实施例中,所述自动化增材制造装置可以包括可移动托盘以及垂直和水平线性运动装置两者,以加速打印以及所述(一个或多个)3D打印对象所需的各种顺序的洗涤或固化步骤和工序。在存在垂直线性运动装置100(z轴)的情况下可移动托盘104移动的实施例中,其被视为更有利,因为这有助于垂直线性运动装置在仅沿一个轴移动的情况下易于对准。
在另一个实施例中,所述打印、洗涤、固化和后固化容器可以以垂直线性方式排被布置。在本实施例中,单独的线性致动器300在z方向上垂直移动(如图8A和8B所示),并且可以是线性马达、滚珠丝杆、或皮带和滑轮***(具有步进或伺服马达、或任何其它线性致动器(例如液压或气动等)、或其组合、或能够以足够的精度和速度沿z轴移动所述构建表面或一个或多个平台板的任何其它装置)的形式。所述单独的线性致动器包括臂301,其能够从打印区域中的z轴致动器取回所述(一个或多个)平台板或构建平台。所述臂301能够在x-y方向上延伸、缩回或移动,以从打印区域到达构建平台或(一个或多个)平台板,从而避免碰撞或撞击任何内部子***组件。所述(一个或多个)平台板或构建表面可以用电磁装置、能够实现这种效果的任何其它装置或如在先前发明人的专利申请中公开的装置而被快速固定和释放。所述构建表面可包括一个或多个平台板。随后,所述臂将垂直移动到下一个或多个容器,其可以是(一个或多个)洗涤容器、固化和/或后固化容器(如图8B所示)。在完成打印、清洁和后固化的整个过程之后,所述臂将移动到分配区域,在该分配区域,所完成的包含打印部件的构建平台或(一个或多个)平台板可以被弹出和/或收集。这种实施例的优点尤其是实现紧凑的占地面积,这有时在牙科医生的办公室中是很宝贵的,并且提供固定的打印站,其由于固定的对准而有助于机器的稳定性和可重复性。
所述UV固化装置105包括具有至少一个或优选多个光发射器的容器,该光发射器可以是二极管或其它类型的灯泡,发射能够聚合正被打印的感光聚合物材料的波长。所述装置105还可以包括热或红外辐射的发射器,以便增加放置在所述装置中的物品的温度,特别是在洗涤处理之后。所述UV固化装置可以具有基本上半透明或透明的下表面,该下表面允许辐射从下方穿过,随后照射到所述装置中包含的物品。所述装置105可进一步包括外部容器和内部容器106,以便于快速和容易地清洁内壁。所述外部容器可以没有底表面,使得所述内部容器的底表面是所述感光聚合物和下面的辐射源之间的唯一边界。
所述清洁容器107和111中的每一个包括用于容纳酒精或其它清洁溶液的容器。该容器可以由外部容器和内部容器108或112组成,以便于快速和容易地交换酒精或其它清洁溶液。所述清洁容器可以或可以不配备有超声波装置或其它使清洁溶液加重(aggravating)的装置,以确保更彻底和更快地清洁置于清洁容器或其内部容器内的任何物品。所述内部容器108或112可被提供为具有密封件的预密封容器,所述密封件可通过剥离、切割或其它破坏手段而被移除。所述内部容器可以被提供为预先填充的容器或胶囊,其包含用于特定应用的适当量的所需感光聚合物。另外,在打印过程期间,用户可以经由外部显示器120与所述自动化增材制造装置的界面交互,该外部显示器可以是LCD或OLED类型的显示器并且可以具有触摸屏控制的功能。所述外部显示器包括操作***,该操作***帮助从外包的软件处理上载可打印数据,并且可以将关于(一个或多个)打印对象的打印和处理过程更新给用户。用户还可以经由所述外部显示器在自动化增材制造机器的操作***中设置指令。还可以有内部电子***和操作***,其调节该外部显示器(UI)以及实际的内部移动部件和辐射或投影***。
现在参见图9,所述自动化增材制造装置可包括铰接臂,所述铰接臂400可包括相对于位于所述臂的端部处的端部执行器的6个自由度。所述端部执行器可以是构建表面,所述铰接臂为所述构建表面提供若干自由度。例如,所述铰接臂可以提供具有高达6个自由度的所述构建表面的移动,这其中可包括沿3个主轴的平移和围绕所述3个主轴的旋转。因此,在一个实施例中,所述铰接臂可以是具有新型快速释放机构等的6轴机器人臂,其将可移除的构建表面或(一个或多个)平台板401转移至围绕所述机器人臂布置的不同区段。这些区段中的每一个可以包括用于执行VAT的区域/罐402、洗涤区域403、后固化404和/或取回405、或制造所打印的(一个或多个)3D对象所需的其他3D处理工序的区域。所述臂可以是具有多个轴的机器人臂,其允许在不同区段的放置或布置中的总自由度,这其中包括更多的运动度以促进3D打印过程中的层释放,例如旋转运动分量,以允许剥离动作以更渐进的方式从树脂容器的内部底壁上的打印表面移除所打印的层。
在所述自动化增材制造装置中完成(一个或多个)3D打印对象的洗涤和固化或后固化的过程之后,(一个或多个)定制的患者特定3D对象被准备好作为用于患者的治疗工序的一部分而被使用或植入。
尽管本文已经描述和示出了特定实施例,但是本领域的普通技术人员将理解,在不脱离本发明的精神或本质特征的情况下,上述实施例的特征的各种修改和组合是可能的。例如,本发明可以应用于其它领域,并且不限于牙科或口腔健康应用,因此术语“(一个或多个)3D对象或(一个或多个)3D打印对象”还可以包括由不同领域的应用产生的任何(一个或多个)3D部件或(一个或多个)器具。另外,术语临床医生不仅限于医学临床医生,而且还包括在临床医生环境中工作的任何人、实验室技术人员、临床医生技术人员、护士或所述自动化增材制造装置和/或工作流程的用户。因此,上述实施例在所有方面都应被认为是说明性的,而不是限制本文所述的本发明,并且本发明的范围由所附权利要求书指示。

Claims (12)

1.一种增材制造装置,包括;
控制器,其被布置为接收用于要打印的物品的数据;
子装置,其包括被布置成提供用于打印所述物品的材料的树脂源;
辐射源,其被布置成引导辐射以用于所述物品的所述打印;
多个站,所述站包括所述物品在其内被打印的打印罐(102)、用于清洁所打印的物品的至少一个清洁站(107,111)、以及被布置成至少部分地完成所打印的物品的固化的固化站;
构建表面(101),所述物品被布置成在所述构建表面上被打印;
其中所述控制器被布置成使所述构建表面(101)和所述多个站相对于彼此移动,
其中所述增材制造装置包括铰接臂(400),所述铰接臂(400)提供所述构建表面的6个自由度的移动,包括沿3个主轴的平移和围绕所述3个主轴的旋转,使得所述铰接臂(400)允许在不同区段的放置或布置中的总自由度,并提供旋转运动分量,以允许剥离动作以更渐进的方式从所述打印罐(102)的内部底壁上的打印表面移除所打印的层。
2.根据权利要求1所述的增材制造装置,其中所述多个站还包括以下中的任一个或组合:后固化站、第二清洁站(107,111)和卸载站,其中完成打印的物品被从所述卸载站卸载。
3.根据权利要求1或2所述的增材制造装置,其中所述构建表面(101)被布置成在打印周期开始时附接到平台板。
4.根据权利要求1或2所述的增材制造装置,其中所述构建表面(101)被布置成在打印、洗涤、固化或后固化周期结束时释放平台板。
5.根据权利要求1所述的增材制造装置,其中所述打印罐(102)包括具有半透明或透明底壁表面的树脂容器。
6.根据权利要求1所述的增材制造装置,其中所述打印罐(102)包括树脂容器,所述树脂容器包括外部树脂容器(122)。
7.根据权利要求6所述的增材制造装置,其中所述打印罐(102)还包括在所述外部树脂容器(122)内的内部树脂容器(121)。
8.根据权利要求7所述的增材制造装置,其中所述内部树脂容器(121)被布置成能够选择性地从所述外部树脂容器(122)移除。
9.根据权利要求8所述的增材制造装置,其中所述内部树脂容器(121)被布置成容纳可聚合材料。
10.根据权利要求8或9所述的增材制造装置,其中所述内部树脂容器(121)包括在所述内部树脂容器(121)的底壁的内表面上的涂层。
11.根据权利要求4所述的增材制造装置,其中所述至少一个清洁站(107,111)包括内部清洁容器,所述内部清洁容器被布置成能够从所述至少一个清洁站(107,111)选择性地移除。
12.根据权利要求11所述的增材制造装置,其中所述内部清洁容器被设置成容纳用于清洁所打印的物品的清洁液。
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