CN104162990B - A kind of 3D printing device and method for building based on polar coordinates positioning - Google Patents
A kind of 3D printing device and method for building based on polar coordinates positioning Download PDFInfo
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- CN104162990B CN104162990B CN201410366437.7A CN201410366437A CN104162990B CN 104162990 B CN104162990 B CN 104162990B CN 201410366437 A CN201410366437 A CN 201410366437A CN 104162990 B CN104162990 B CN 104162990B
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- orbit beam
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Abstract
3D printing device and method for building provided by the invention based on polar coordinates positioning,Circuit orbit beam level is maked somebody a mere figurehead by several supports,The print head crossbeam is slidably connected with the circuit orbit beam respectively by the center of circle of the circuit orbit beam and the both ends of the print head crossbeam,The print head crossbeam can be around the center of circle of the circuit orbit beam in rotation in surface where the circuit orbit beam,The printing head rod is mutually perpendicular to the circuit orbit beam,And one end of the printing head rod is slidably connected with the print head crossbeam,The print head is arranged in the other end of the printing head rod,The printing head rod can stretch,The print head is driven to move up and down,The print head can follow the printing head rod to move linearly along the print head crossbeam,The present invention may be implemented to position print head in the form of polar coordinate system,There is higher printing precision and efficiency compared with based on rectangular coordinate system 3D printing device and method for building.
Description
Technical field
The invention belongs to the realm of building construction more particularly to a kind of 3D printing device and methods for building.
Background technology
3D printing technique, that is, three-dimensional printing technology appears in mid-term the 1990s, actually utilizes photocuring and paper
The modes such as stacking realize the technology of rapid shaping.It is essentially identical with normal printer operation principle, and powder is housed in printer
The adhesive materials such as shape metal or plastics, after being connect with computer, by the multilayer printing type of layer upon layer, finally calculating
Blueprint on machine becomes in kind.
With the development and gradual maturation, 3D printing technique of 3D printing technique technological innovation is brought to manufacturing industry.It is working
The building trade of power intensity, as can introducing 3D printing technique carries out engineering construction production, in construction efficiency, production cost, work
Journey duration, automatic and mechanical level raising etc. can have significant improvement.
The existing 3D printing equipment suitable for construction is mainly based upon rectangular coordinate system positioning, and print head is determined
Position precision and printing effect are relatively low.
Invention content
The purpose of the present invention is to provide a kind of 3D printing device and method for building based on polar coordinates positioning, Ke Yishi
Existing polar coordinates positioning, positioning accuracy and printing effect are high.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of 3D printing device for building based on polar coordinates positioning, including circuit orbit beam, print head crossbeam, print head
Bar, print head and support, for the circuit orbit beam by the aerial setting of several support levels, the print head crossbeam is logical
The both ends for crossing the center of circle of the circuit orbit beam and the print head crossbeam are slidably connected with the circuit orbit beam respectively, described
Print head crossbeam can be around the center of circle of the circuit orbit beam in rotation in surface, the print head where the circuit orbit beam
Bar is mutually perpendicular to the circuit orbit beam, and one end of the printing head rod is slidably connected with the print head crossbeam, institute
The print head is arranged in the other end for stating printing head rod, and the printing head rod can stretch, and the print head is driven to move up and down,
The print head can follow the printing head rod along the print head cross beam movement.
Preferably, the print head crossbeam is connect with the circuit orbit beam by crossbeam sliding block, the circuit orbit beam
For c-type cavity beam, the crossbeam sliding block is the arc shaped slider to match with the c-type cavity of the circuit orbit beam, the printing
The both ends of head crossbeam are rigidly connected with the corresponding crossbeam sliding block being embedded in the c-type cavity of the circuit orbit beam respectively.
Preferably, further include beam driving mechanism in the above-mentioned 3D printing device for building positioned based on polar coordinates,
The beam driving mechanism is set on the crossbeam sliding block, and the beam driving mechanism includes the first driving motor, the first biography
Motivation structure and the first pair of rollers, the crossbeam sliding block are embedded in the c-type cavity of the circuit orbit beam, first idler wheel
It pair is in contact with the inner wall of the c-type cavity of the circuit orbit beam, first driving motor is through the first transmission mechanism band
The dynamic first pair of rollers rotation so that the crossbeam sliding block is moved along the circuit orbit beam.
Preferably, further include beam driving mechanism in the above-mentioned 3D printing device for building positioned based on polar coordinates,
The beam driving mechanism includes third driving motor and first support, and the first support is fixedly installed on the circular rail
The top of road beam, the third driving motor are set in the first support corresponding with the center of circle of circuit orbit beam
Position, the output section of the third driving motor are connect with the central part of the print head crossbeam, and electricity is driven by the third
Print head crossbeam described in the rotational movement of machine is around the center of circle of the circuit orbit beam in plane where the circuit orbit beam
Interior rotation.
Preferably, the printing head rod is connect with the print head crossbeam by printing head rod sliding block, and the print head is horizontal
Beam is i-shaped beams, and the bottom plate of the print head crossbeam is equipped with c-opening chamber, and the opening direction of c-opening chamber is directed away from
The direction of circuit orbit beam, the printing head rod sliding block is the rectangular cunning to match with the c-opening chamber of the print head crossbeam
Block, described one end printed on head rod far from print head are rigidly connected with the printing head rod sliding block.
Preferably, further include printing head rod driving in the above-mentioned 3D printing device for building positioned based on polar coordinates
Mechanism, the printing head rod driving mechanism include the second driving motor, the second transmission mechanism and the second pair of rollers, the printing
Head rod driving mechanism is set on the printing head rod sliding block, and the printing head rod sliding block is embedded at the C of the print head crossbeam
In type atrium, second pair of rollers is in contact with the inner wall of the c-opening chamber of the print head crossbeam, second driving
Motor drives second pair of rollers to rotate through second transmission mechanism so that the printing head rod sliding block is along the printing
Head cross beam movement.
Preferably, further include printing head rod driving in the above-mentioned 3D printing device for building positioned based on polar coordinates
Mechanism, the printing head rod driving mechanism include：Screw pair, the 4th driving motor, Yi Ji are formed by leading screw and nut
Two holders, the nut are rigidly connected with the printing head rod, and the leading screw is set to the printing by the second support
The oblique upper of the head crossbeam and leading screw is parallel with the print head crossbeam, the 4th driving motor drives the leading screw turn
Dynamic, the leading screw drives the printing head rod along the print head cross beam movement through the nut.
Preferably, described to support the surrounding for being uniformly distributed in the circuit orbit beam, and the support is angularly disposed, it is described
One end far from circuit orbit beam in support is inclined outwardly, and the support and vertical angle are 5-15 degree.
Preferably, further include horizontally disposed bottom in the above-mentioned 3D printing device for building positioned based on polar coordinates
Seat, the lower end of the support are rigidly connected with the pedestal, and the upper end of the support is rigidly connected with the circuit orbit beam.
Preferably, the pedestal is rounded, and the axis coaxle of the circuit orbit beam and the pedestal is arranged.
Preferably, the pedestal is rectangular, line and institute of the center of circle of the circuit orbit beam with the center of the pedestal
Plane where stating circuit orbit beam is perpendicular.
Preferably, the quantity of the support is three or more, and is uniformly distributed in the circuit orbit beam and pedestal
Surrounding.
Preferably, the quantity of the support is three, and is uniformly distributed in the surrounding of the circuit orbit beam and pedestal.
The 3D printing method for building based on coordinate setting that the invention also discloses a kind of, using as described above based on pole
The 3D printing device for building of coordinate setting establishes two-dimentional polar coordinate system, circular rail in the plane where the circuit orbit beam
Pole of the center of circle of road beam as polar coordinate system planar draws a ray as polar axis in circuit orbit beam institute from pole,
The two-dimensional coordinate ties up to vertical direction and extends to form three-dimensional cylinder coordinate system, and the print head is in the three-dimensional cylinder coordinate system
Interior circular cylindrical coordinate be (ρ, φ, z), wherein ρ indicate print head plane where circuit orbit beam subpoint to pole away from
From φ indicates that angle of the print head between the subpoint and polar axis of plane where circuit orbit beam, z indicate that print head leaves circle
The distance of plane where shape track girder, by the rotary motion of print head crossbeam and printing head rod along the straight line of print head crossbeam
Movement can realize comprehensive positioning of the print head in circuit orbit beam projected area, can be real by printing the flexible of head rod
Existing print head moves up and down.
3D printing device and method for building provided by the invention based on polar coordinates positioning, will by several supports
Circuit orbit beam level is aerial, the print head crossbeam pass through the center of circle of the circuit orbit beam and the print head crossbeam two
End is slidably connected with the circuit orbit beam respectively, and the print head crossbeam can be around the center of circle of the circuit orbit beam described
Rotation in surface where circuit orbit beam, the printing head rod is mutually perpendicular to the circuit orbit beam, and the print head
One end of bar is slidably connected with the print head crossbeam, and the print head, the printing is arranged in the other end of the printing head rod
Head rod can stretch, and the print head is driven to move up and down, and the print head can follow the printing head rod to be beaten along described
Print head crossbeam moves linearly, that is to say, that by the rotary motion and printing head rod of print head crossbeam along print head crossbeam
Linear motion can realize comprehensive positioning of the print head in circuit orbit beam projected area, by the flexible energy for printing head rod
Enough realize that print head moves up and down, the present invention may be implemented print head to be positioned in the form of polar coordinate system, and based on straight
Angular coordinate is that 3D printing device and method for building are compared, and the present invention mainly has the following advantages：
1. print head movement locus can be true circle, and no longer be approximate polygon, therefore positioning accuracy and fixed
Position effect is more increased.
2. when processing, building cross section profile can be completed once, so as to shorten the process-cycle, promote printing effect.
3. the calculating of print head movement locus is more convenient, the distance of plane where leaving circuit orbit beam in addition to print head
Outside, need to only calculate print head with the vertical central axis line of circuit orbit beam at a distance from and the angle of rotation, the print head and
The distance of the vertical central axis line of circuit orbit beam is less than the radius of circuit orbit beam, thus calculating control is relatively simple, reduces
Production cost has significant economic effect.
Description of the drawings
The 3D printing device and method for building based on polar coordinates positioning of the present invention is given by embodiment below and attached drawing
Go out.
Fig. 1 is the structural schematic diagram for the 3D printing device for building of the embodiment of the present invention 1 positioned based on polar coordinates；
Fig. 2 is the schematic top plan view of Fig. 1；
Fig. 3 is circuit orbit beam, print head crossbeam and the structural schematic diagram for printing head rod in the embodiment of the present invention 1；
Fig. 4 is the a-a schematic cross-sectional views of Fig. 3；
Fig. 5 is the b-b schematic cross-sectional views of Fig. 4；
Fig. 6 is the c-c schematic cross-sectional views of Fig. 4；
Fig. 7 is the assembling schematic diagram of 1 middle cross beam sliding block of the embodiment of the present invention, circuit orbit beam and beam driving mechanism；
Fig. 8 is the structural schematic diagram of the one side opposite with circuit orbit beam on 1 middle cross beam sliding block of the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of 2 middle cross beam driving mechanism of the embodiment of the present invention；
Figure 10 is the overlooking structure diagram that head rod driving mechanism is printed in the embodiment of the present invention 3；
Figure 11 is the side structure schematic view that head rod driving mechanism is printed in the embodiment of the present invention 3.
In figure, 1- circuit orbits beam, 2- print heads crossbeam, 3- printings head rod, 4- print heads, 5- supports, 6- pedestals, 7- are built
Build object, 8- crossbeams sliding block, the first driving motors of 9-, the first pairs of rollers of 10-, 11- printings head rod sliding block, the second pairs of rollers of 12-,
13- thirds driving motor, 14- first supports, 15- leading screws, 16- nuts, the 4th driving motors of 17-, 18- second supports, 19- connect
Fitting.
Specific implementation mode
The 3D printing device and method for building based on polar coordinates positioning of the present invention will be made below further detailed
Description.To make the purpose of the present invention, feature be clearer and more comprehensible, the specific implementation mode of the present invention is made into one below in conjunction with the accompanying drawings
The explanation of step.It should be noted that attached drawing is all made of very simplified form and uses non-accurate ratio, only to it is convenient,
Lucidly aid in illustrating the purpose of the embodiment of the present invention.
It please refers to Fig.1 to Fig. 8, present embodiment discloses a kind of 3D printing device for building based on polar coordinates positioning, packets
Circuit orbit beam 1, print head crossbeam 2, printing head rod 3, print head 4 and support 5 are included, the circuit orbit beam 1 is by several
The horizontal aerial setting of the support 5, the center of circle and print head cross of the print head crossbeam 2 by the circuit orbit beam 1
The both ends of beam 2 are slidably connected with the circuit orbit beam 1 respectively, and the print head crossbeam 2 can be around the circuit orbit beam 1
The center of circle is mutually perpendicular in 1 place rotation in surface of the circuit orbit beam, the printing head rod 3 with the circuit orbit beam 1, and
And one end of the printing head rod 3 is slidably connected with the print head crossbeam 2, described in the other end setting of the printing head rod 3
Print head 4, the printing head rod 3 can stretch, and the print head 4 is driven to move up and down, such as can be in the printing head rod 3
It is equipped with the telescoping mechanism for driving the print head 4 to move up and down.The telescoping mechanism is this field conventional technical means,
Therefore details are not described herein.The print head 4 can follow the printing head rod 3 to be moved along the print head crossbeam 2.Using upper
The 3D printing device for building for stating structure, by the rotary motion and printing head rod 3 of print head crossbeam 2 along print head crossbeam 2
Linear motion can realize comprehensive positioning of the print head 4 in 1 projected area of circuit orbit beam, by printing stretching for head rod 3
Contracting can realize moving up and down for print head 4, therefore the 3D printing device for building can be based on polar coordinate system form to printing
First 4 are positioned, compared with based on rectangular coordinate system 3D printing device and method for building, on the one hand, 4 movement locus of print head
It can be true circle, and no longer be approximate polygon, therefore positioning accuracy and locating effect are more increased.On the other hand, add
Working hour, 7 cross section profile of building can be completed once, so as to shorten the process-cycle, promote printing effect.In another aspect, printing
The calculating of first 4 movement locus is more convenient, other than print head 4 leaves the distance of 1 place plane of circuit orbit beam, only needs to calculate
Print head 4 is at a distance from the vertical central axis line of circuit orbit beam 1 and the angle of rotation, the print head 4 and circuit orbit
The distance of the vertical central axis line of beam 1 is less than the radius of circuit orbit beam 1, thus calculating control is relatively simple, reduces and is produced into
This, has significant economic effect.
Preferably, the print head crossbeam 2 is connect with the circuit orbit beam 1 by crossbeam sliding block 8, the circuit orbit
Beam 1 is c-type cavity beam, and the crossbeam sliding block 8 is the arc shaped slider to match with the c-type cavity of the circuit orbit beam 1, described
The both ends of print head crossbeam 2 are rigid with the corresponding crossbeam sliding block 8 being embedded in the c-type cavity of the circuit orbit beam 1 respectively
Connection.
Preferably, it asks emphasis refering to Fig. 7 and Fig. 8, and please refers to Fig. 1 to Fig. 6, positioned based on polar coordinates above-mentioned
3D printing device for building in, further include beam driving mechanism, the beam driving mechanism is set on the crossbeam sliding block,
The beam driving mechanism includes the first driving motor 9, the first transmission mechanism (not shown) and the first pair of rollers 10, the cross
Beam sliding block 8 is embedded in the c-type cavity of the circuit orbit beam 1, the C of first pair of rollers 10 and the circuit orbit beam 1
The inner wall of type cavity is in contact, and first driving motor 9 drives 10 turns of first pair of rollers through first transmission mechanism
It is dynamic so that the crossbeam sliding block 8 is moved along the circuit orbit beam 1.
Preferably, the printing head rod 3 is connect with the print head crossbeam 2 by printing head rod sliding block 11, the printing
Head crossbeam 2 is i-shaped beams, which includes bottom plate, top plate and intermediate plate, and the bottom plate and top plate are arranged in parallel, institute
The middle part that intermediate plate is vertically installed in the bottom plate and top plate is stated, the bottom plate of the print head crossbeam 2 is equipped with c-opening chamber, c-type
The opening direction of atrium is directed away from the direction of circuit orbit beam 1, and the printing head rod sliding block 11 is and print head cross
The square slider that the c-opening chamber of beam 2 matches, described one end printed far from print head 4 on head rod 3 and the printing head rod
Sliding block 11 is rigidly connected.
Preferably, further include printing head rod driving in the above-mentioned 3D printing device for building positioned based on polar coordinates
Mechanism, driving structure of the printing head rod driving mechanism as printing head rod 3, the structure type and support 5 and print head
The driving structure form of crossbeam 2 is identical.Specifically, seeing Fig. 7 and Fig. 8, the printing head rod driving mechanism includes the second drive
Dynamic motor (the first driving motor 9 being equivalent in Fig. 7-8), the second transmission mechanism and the second pair of rollers 12 (are equivalent to Fig. 7-8
In the first pair of rollers 10), the printing head rod driving mechanism is set to the printing head rod sliding block 11 and (is equivalent in Fig. 7-8
Crossbeam sliding block 8) on, the printing head rod sliding block 11 is embedded at the c-opening intracavitary of the print head crossbeam 2, described second
Pair of rollers 12 is in contact with the inner wall of the c-opening chamber of the print head crossbeam 2, and second driving motor is passed through described second
Motivation structure drives second pair of rollers 12 to rotate so that the printing head rod sliding block 11 is moved along the print head crossbeam 2.
In order to support 5 circuit orbit beam 1, the support 5 is more smoothly supported to be uniformly distributed in the circuit orbit beam 1
Surrounding, and the support is 5 angularly disposed, and one end far from circuit orbit beam 1 is inclined outwardly in the support 5, the support 5
Angle with the axis of the circuit orbit beam 1 is 5-15 degree, i.e., the described support 5 and vertical angle are 5-15 degree.It is above-mentioned to incline
The support 5 of rake angle can be that circuit orbit beam 1 provides more firm support 5, avoid because of 1 run-off the straight of circuit orbit beam
And the positioning accuracy of print head 4 is reduced, to improve printing precision and efficiency.
Preferably, further include horizontally disposed bottom in the above-mentioned 3D printing device for building positioned based on polar coordinates
Seat 6, lower end and the pedestal 6 of the support 5 are rigidly connected, and upper end and 1 rigidity of the circuit orbit beam of the support 5 connect
It connects.By the way that pedestal 6 is arranged, can lower end that is more accurate and easily fixing each support 5, improve 3D printing dress for building
The installation speed and installation accuracy set.
Preferably, the pedestal 6 is rounded, and the circuit orbit beam 1 and the axis coaxle of the pedestal 6 are arranged, i.e. institute
It states the center of circle of circuit orbit beam 1 and the line in the center of circle of the pedestal 6 and the plane where the circuit orbit beam 1 is perpendicular.
It, can by the way that the ratio and the distance between circuit orbit beam 1 and pedestal 6 of radius between circuit orbit beam 1 and pedestal 6 is arranged
Support is very easily adjusted to required angle, to improve the stability of circuit orbit beam, to promote printing effect.When
So, the pedestal 6 can also rectangular either other regular or irregular shapes, the center of circle of the circuit orbit beam 1 and institute
Line and the plane where the circuit orbit beam 1 for stating the center of pedestal 6 are perpendicular.
Preferably, the quantity of the support 5 is three or more, and is uniformly distributed in the circuit orbit beam 1 and pedestal 6
Surrounding.In the present embodiment, the quantity of the support 5 is three, and is uniformly distributed in the circuit orbit beam 1 and pedestal 6
Surrounding.The principle for determining a plane according to 3 points erects the circuit orbit beam 1 using three supports 5, can to justify
Shape track girder 1 obtains more smoothly supporting 5, and avoid the occurrence of does not cause circuit orbit beam 1 in print head because some support 5 stresses
The phenomenon that being easy to happen shake when 4 printing, is further ensured that printing precision.
Embodiment 2
Referring to Fig. 9, the present embodiment is with embodiment 1, difference lies in the structure of the beam driving mechanism is different.This reality
It applies in example, the beam driving mechanism includes third driving motor 13 and first support 14, and the fixation of the first support 14 is set
It is placed in the top of the circuit orbit beam 1, the third driving motor 13 is set in the first support 14 and the circle
The corresponding position in the center of circle of track girder 1, the central part of the output section of the third driving motor 13 and the print head crossbeam 2
It connects, circle of the print head crossbeam 2 around the circuit orbit beam 1 described in the rotational movement by the third driving motor 13
The heart is in 1 place rotation in surface of the circuit orbit beam.Certainly, the beam driving mechanism can also use other structures real
It is existing, it is not listed one by one herein.
Embodiment 3
0 and Figure 11 are please referred to Fig.1, difference lies in the printing head rods for the present embodiment and embodiment 1 and embodiment 2
The structure of driving mechanism is different.In the present embodiment, by leading screw 15 and nut 16 form screw pair, the 5th driving motor 17,
And second support 18, the nut 16 are rigidly connected with the printing head rod 3 by connector 19, the leading screw 15 passes through institute
State second support 18 be set to the print head crossbeam 2 oblique upper and the leading screw 15 it is parallel with the print head crossbeam 2,
5th driving motor 17 drives the leading screw 15 to rotate, and the leading screw 15 drives the printing head rod 3 through the nut 16
It is moved along the print head crossbeam 2.The nut and connector 19 moved in order to prevent is to third driving motor in embodiment 2
13 operation interference, the leading screw 15 are set to the oblique upper of the print head crossbeam 2, Er Feizheng by the second support 18
Top, this can be by being in that the connector of " L " is realized.Certainly, the printing head rod driving mechanism can also use other structures
It realizes, is not listed one by one herein.
Embodiment 4
The 3D printing method for building based on coordinate setting that the invention also discloses a kind of, please refers to Fig. 1 to Figure 11,
Using as above any 3D printing device for building based on polar coordinates positioning, flat where the circuit orbit beam 1
Two-dimentional polar coordinate system is established in face, the pole of the center of circle of circuit orbit beam 1 as polar coordinate system, in 1 place plane of circuit orbit beam
Interior to draw a ray as polar axis from pole, the two-dimensional coordinate ties up to vertical direction and extends to form three-dimensional cylinder coordinate system, institute
It is (ρ, φ, z) to state circular cylindrical coordinate of the print head 4 in the three-dimensional cylinder coordinate system, wherein ρ indicates print head 4 in circular rail
The subpoint of 1 place plane of road beam to pole distance, φ indicate print head 41 place plane of circuit orbit beam subpoint
Angle between polar axis, z indicate that print head 4 leaves the distance of the plane where circuit orbit beam, pass through print head crossbeam 2
Rotary motion and printing head rod 3 can realize print head 4 in circuit orbit beam projected area along the linear motion of print head crossbeam 2
Interior comprehensive positioning can realize moving up and down for print head 4 by printing the flexible of head rod 3.It can be achieved to be based on polar coordinates
The print head 4 of system positions, and is compared compared to based on rectangular coordinate system 3D printing device and method for building, the present invention mainly have with
Lower advantage：One, 4 movement locus of print head can be true circle, and no longer be approximate polygon, therefore positioning accuracy and fixed
Position effect is more increased.When two, are processed, 7 cross section profile of building can be completed once, so as to shorten the process-cycle, promote printing
Efficiency.The calculating of three, print heads, 4 movement locus is more convenient because need to only calculate print head it is vertical with circuit orbit beam 1 in
The distance of axis and the angle of rotation, which is less than the radius of circuit orbit beam 1, thus calculates control design case more
Simply, production cost is effectively reduced, there is significant economic effect.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (14)
1. a kind of 3D printing device for building based on polar coordinates positioning, which is characterized in that horizontal including circuit orbit beam, print head
Beam, printing head rod, print head and support, the circuit orbit beam are described to beat by the aerial setting of several support levels
Head crossbeam is printed to slide with the circuit orbit beam respectively by the center of circle of the circuit orbit beam and the both ends of the print head crossbeam
Dynamic connection, the both ends of the print head crossbeam are able to move along the circuit orbit beam, and the print head crossbeam can
Around the center of circle of the circuit orbit beam in rotation in surface where the circuit orbit beam, the printing head rod and the circular rail
Road beam is mutually perpendicular to, and one end of the printing head rod is slidably connected with the print head crossbeam, and the one of the printing head rod
The print head, the printing head rod can be arranged along the print head cross beam movement, the other end of the printing head rod in end
It can stretch, the print head is driven to move up and down, the print head can follow the printing head rod along the print head
Cross beam movement.
2. the 3D printing device for building according to claim 1 based on polar coordinates positioning, which is characterized in that the printing
Head crossbeam is connect with the circuit orbit beam by crossbeam sliding block, and the circuit orbit beam is c-type cavity beam, the crossbeam sliding block
For the arc shaped slider to match with the c-type cavity of the circuit orbit beam, the both ends of the print head crossbeam respectively be embedded at
Corresponding crossbeam sliding block rigid connection in the c-type cavity of the circuit orbit beam.
3. the 3D printing device for building as claimed in claim 2 based on polar coordinates positioning, which is characterized in that further include crossbeam
Driving mechanism, the beam driving mechanism are set on the crossbeam sliding block, and the beam driving mechanism includes the first driving electricity
Machine, the first transmission mechanism and the first pair of rollers, the crossbeam sliding block are embedded in the c-type cavity of the circuit orbit beam, institute
It states the first pair of rollers to be in contact with the inner wall of the c-type cavity of the circuit orbit beam, first driving motor is through described first
Transmission mechanism drives the first pair of rollers rotation so that the crossbeam sliding block is moved along the circuit orbit beam.
4. the 3D printing device for building as claimed in claim 2 based on polar coordinates positioning, which is characterized in that further include crossbeam
Driving mechanism, the beam driving mechanism include third driving motor and first support, and the first support is fixedly installed on
The top of the circuit orbit beam, the third driving motor are set to the circle with the circuit orbit beam in the first support
The corresponding position of the heart, the output section of the third driving motor is connect with the central part of the print head crossbeam, by described
Print head crossbeam described in the rotational movement of third driving motor is around the center of circle of the circuit orbit beam in the circuit orbit
Rotation in surface where beam.
5. the 3D printing device for building according to claim 1 based on polar coordinates positioning, which is characterized in that the printing
Head rod and the print head crossbeam connects by printing head rod sliding block, and the print head crossbeam is i-shaped beams, and the printing
The bottom plate of head crossbeam is equipped with c-opening chamber, and the opening direction of c-opening chamber is directed away from the direction of circuit orbit beam, described to beat
Print head rod sliding block is the square slider to match with the c-opening chamber of the print head crossbeam, separate on the printing head rod to beat
The one end and the printing head rod sliding block for printing head are rigidly connected.
6. the 3D printing device for building as claimed in claim 5 based on polar coordinates positioning, which is characterized in that further include printing
Head rod driving mechanism, the printing head rod driving mechanism include the second driving motor, the second transmission mechanism and the second pair of rollers,
The printing head rod driving mechanism is set on the printing head rod sliding block, and the printing head rod sliding block is embedded at the print head
The c-opening intracavitary of crossbeam, second pair of rollers is in contact with the inner wall of the c-opening chamber of the print head crossbeam, described
Second driving motor drives second pair of rollers to rotate through second transmission mechanism so that the printing head rod sliding block along
The print head cross beam movement.
7. the 3D printing device for building as claimed in claim 5 based on polar coordinates positioning, which is characterized in that further include printing
Head rod driving mechanism, the printing head rod driving mechanism include：Screw pair, the 4th driving electricity are formed by leading screw and nut
Machine and second support, the nut are rigidly connected with the printing head rod, and the leading screw is set to by the second support
The oblique upper of the print head crossbeam and leading screw is parallel with the print head crossbeam, the 4th driving motor drives institute
Leading screw rotation is stated, the leading screw drives the printing head rod along the print head cross beam movement through the nut.
8. the 3D printing device for building according to claim 1 based on polar coordinates positioning, which is characterized in that the support
It is uniformly distributed in the surrounding of the circuit orbit beam, and the support is angularly disposed, far from circuit orbit beam in the support
One end is inclined outwardly, and the support and the angle of the axis of the circuit orbit beam are 5-15 degree.
9. the 3D printing device for building according to claim 1 based on polar coordinates positioning, which is characterized in that further include water
The pedestal of flat setting, the lower end of the support are rigidly connected with the pedestal, the upper end of the support and the circuit orbit beam
Rigid connection.
10. the 3D printing device for building according to claim 9 based on polar coordinates positioning, which is characterized in that the bottom
Seat is rounded, and the axis coaxle of the circuit orbit beam and the pedestal is arranged.
11. the 3D printing device for building according to claim 9 based on polar coordinates positioning, which is characterized in that the bottom
Seat is rectangular, line of the center of circle of the circuit orbit beam with the center of the pedestal and the plane where the circuit orbit beam
It is perpendicular.
12. the 3D printing device for building according to claim 9 based on polar coordinates positioning, which is characterized in that the branch
The quantity of support is three or more, and is uniformly distributed in the surrounding of the circuit orbit beam and pedestal.
13. the 3D printing device for building according to claim 12 based on polar coordinates positioning, which is characterized in that the branch
The quantity of support is three, and is uniformly distributed in the surrounding of the circuit orbit beam and pedestal.
14. a kind of 3D printing method for building based on coordinate setting, which is characterized in that using arbitrary in such as claim 1-13
The 3D printing device for building based on polar coordinates positioning described in one establishes two dimension in the plane where the circuit orbit beam
Polar coordinate system, the pole of the center of circle of circuit orbit beam as polar coordinate system, planar draws one in circuit orbit beam from pole
Ray is as polar axis, and the two-dimensional coordinate ties up to vertical direction and extends to form three-dimensional cylinder coordinate system, and the print head is in institute
It is (ρ, φ, z) to state the circular cylindrical coordinate in three-dimensional cylinder coordinate system, wherein ρ indicates print head in plane where circuit orbit beam
For subpoint to the distance of pole, φ indicates angle of the print head between the subpoint and polar axis of plane where circuit orbit beam, z
Indicate that print head leaves the distance of the plane where circuit orbit beam, the rotary motion by print head crossbeam and printing head rod edge
The linear motion of print head crossbeam can realize comprehensive positioning of the print head in circuit orbit beam projected area, pass through printing
The flexible of head rod can realize moving up and down for print head.
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