CN109610841A - A kind of cement 3D printing apparatus control method, system and printing device - Google Patents
A kind of cement 3D printing apparatus control method, system and printing device Download PDFInfo
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- CN109610841A CN109610841A CN201910054651.1A CN201910054651A CN109610841A CN 109610841 A CN109610841 A CN 109610841A CN 201910054651 A CN201910054651 A CN 201910054651A CN 109610841 A CN109610841 A CN 109610841A
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
Abstract
The present invention provides a kind of cement 3D printing apparatus control method, system and printing device, comprising: construction model is converted to construction longitude and latitude；According to the construction longitude and latitude and printing device jib-length generating device moving line；Acquisition print apparatus location information in real time；Distance of the printing head away from ground is acquired in real time and perfusion range difference is calculated according to real-time range；Judge whether the perfusion range difference reaches pre-set range difference threshold value: being, then printing device is controlled according to printing device real-time position information and advanced according to moving line；It is no, then continue to execute the cement printing in current location.The present invention can guarantee the uniformity of cement grouting, continuity, and then guarantee construction quality.
Description
Technical field
The invention belongs to cement printing technique fields, and in particular to a kind of cement 3D printing apparatus control method, system and
Printing device.
Background technique
Cement 3D printing technique is novel construction technology, there is many advantages, such as convenient and efficient.But existing 3D printing is set
Standby the degree of automation is relatively low, is constructed using manual control mostly, needs to be arranged in advance the clamping plate of construction model, then manually
3D printing equipment cement injection is controlled, this mode needs operator to have certain construction experience, and misoperation may cause
The non-uniform problem of cement grouting, influences construction quality.
Summary of the invention
For the above-mentioned deficiency of the prior art, the present invention provides a kind of cement 3D printing apparatus control method, system and beats
Printing apparatus, to solve the above technical problems.
In a first aspect, the present invention provides a kind of cement 3D printing apparatus control method, comprising:
Construction model is converted into construction longitude and latitude；
According to construction longitude and latitude and printing device jib-length generating device moving line；
Acquisition print apparatus location information in real time；
Distance of the printing head away from ground is acquired in real time and perfusion range difference is calculated according to real-time range；
Judge to be perfused whether range difference reaches pre-set range difference threshold value:
It is that printing device is then controlled according to printing device real-time position information and is advanced according to moving line；
It is no, then continue to execute the cement printing in current location.
Further, construction model is converted to construction longitude and latitude includes:
The longitude and latitude parameter of construction model is obtained according to construction model parameter and job location；
By the one-dimensional lines of construction model boil down to and the height of one-dimensional lines is marked using midpoint partitioning；
The longitude and latitude parameter of one-dimensional lines is obtained as construction longitude and latitude according to the longitude and latitude parameter of construction model.
Further, include: according to construction longitude and latitude and printing device jib-length generating device moving line
Input printing device jib-length；
Migration processing is carried out to construction longitude and latitude according to jib-length and obtains preliminary route；
The least preliminary route of distance is screened as equipment moving route.
Further, distance of the printing head away from ground is acquired in real time and perfusion range difference is calculated according to real-time range includes:
The initial spray head after printing device movement stops is acquired away from ground distance；
Perfusion spray head when printing device perfusion is acquired away from ground distance；
It calculates initial spray head and is used as perfusion range difference apart from its difference away from ground away from ground distance and perfusion spray head.
Second aspect, the present invention provide a kind of cement 3D printing apparatus control system, comprising:
Model conversion unit is configured to being converted to construction model into construction longitude and latitude；
Route Generation unit is configured to according to construction longitude and latitude and printing device jib-length generating device movement road
Line；
Station acquisition unit is configured to acquire print apparatus location information in real time；
Metrics calculation unit is configured to acquire distance of the printing head away from ground in real time and calculated according to real-time range to be perfused
Range difference；
Distance Judgment unit is configured to judge to be perfused whether range difference reaches pre-set range difference threshold value；
Motion control unit is configured to control printing device according to moving line according to printing device real-time position information
It advances；
Print execution unit is configured to continue to execute the cement printing in current location.
Further, model conversion unit includes:
Parameter acquisition module is configured to obtain the longitude and latitude ginseng of construction model according to construction model parameter and job location
Number；
Model compression module is configured to utilize midpoint partitioning for the one-dimensional lines of construction model boil down to and mark one-dimensional
The height of lines；
Longitude and latitude obtains module, is configured to obtain the longitude and latitude parameter of one-dimensional lines according to the longitude and latitude parameter of construction model
As construction longitude and latitude.
Further, Route Generation unit includes:
Length input module is configured to input printing device jib-length；
Migration processing module is configured to obtain just step to construction longitude and latitude progress migration processing according to jib-length
Line；
Route screening module is configured to the screening least preliminary route of distance as equipment moving route.
Further, metrics calculation unit includes:
Initial acquisition module is configured to the initial spray head after acquisition printing device movement stops away from ground distance；
Computing module is perfused, is configured to perfusion spray head when acquisition printing device perfusion away from ground distance；
Difference calculating module is configured to calculate initial spray head away from ground distance and spray head is perfused away from ground apart from the conduct filling of its difference
Infuse range difference.
The third aspect, the present invention provide a kind of cement 3D printing equipment, comprising: movable chassis, hopper, mechanical arm, spray
Head and control unit, hopper are mounted on movable chassis；Spray head is connected to hopper by hose；Mechanical arm includes vertical support
Column and horizontal boom, vertical support column are connect with horizontal boom；Vertical support column includes scalable column, rotating platform and vertical
Driving assembly, vertical pillars are installed on the rotating platform, and rotating platform is mounted on inside movable chassis, perpendicular drive component peace
Inside scalable column；Horizontal boom one end connects vertical support column, and the other end connects spray head；It is equipped in hopper and squeezes dress
It sets；Spray head is equipped with range sensor；Movable pedestal is equipped with alignment sensor, the line of alignment sensor and mechanical arm with
The side of movable pedestal is parallel；Control unit connect pressurizing unit, movable chassis, rotating platform, perpendicular drive component, away from
From sensor and alignment sensor.
Further, movable pedestal is equipped with crawler belt and servo motor, and the crawler belt connects servo electricity by transmission device
Machine.
The beneficial effects of the present invention are,
Cement 3D printing apparatus control method, system and printing device provided by the invention pass through conversion construction model ginseng
Number is simultaneously controlled according to printing device jib-length generating device moving line in conjunction with the print apparatus location information obtained in real time
Printing device is advanced according to equipment moving route；And by the way that acquisition spray head is away from ground distance in real time, automatic control equipment travel speed,
Guarantee uniformity, the continuity of cement grouting, and then guarantees construction quality.
In addition, design principle of the present invention is reliable, structure is simple, has very extensive application prospect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without creative efforts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the exemplary process diagram of cement 3D printing apparatus control method provided by the invention；
Fig. 2 is the overall structure diagram of cement 3D printing equipment provided by the invention；
Fig. 3 is the structural schematic diagram of the charging car of cement 3D printing equipment provided by the invention；
Wherein, 1, movable chassis；2, crawler belt；3, hydro-cushion support device；4, rotating platform；5, hopper；51, it feeds
Mouthful；52, discharge port；6, spray head；7, spray head discharge port；8, horizontal boom；9, vertical support column；10, charging car；101 charging caies
Feed inlet；112, charging car discharge port.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention provides a kind of cement 3D printing apparatus control method, comprising the following steps:
S1, construction model is converted to construction longitude and latitude.
The longitude and latitude parameter that construction model is obtained according to construction model parameter and job location, using midpoint partitioning by institute
It states the one-dimensional lines of construction model boil down to and marks the height of the one-dimensional lines, such as cement wall model, can will have thickness
Wall be compressed into the one-dimensional lines on the thickness midpoint of wall；Or dam model can be by dykes and dams width two if dykes and dams are wide
Equal part generates corresponding one-dimensional lines；The longitude and latitude of the one-dimensional lines is obtained according to the longitude and latitude parameter of the construction model
Parameter is as construction longitude and latitude.
S2, according to the construction longitude and latitude and printing device jib-length generating device moving line.
Input printing device jib-length；Migration processing is carried out to the construction longitude and latitude according to the jib-length to obtain
Preliminary route；The screening least preliminary route of distance is as equipment moving route, if the least preliminary route of distance is impassable,
The route for then selecting distance time few, and so on.
S3, in real time acquisition print apparatus location information.
The location information of printing device, installation site sensing are obtained by the position sensor being mounted on movable pedestal
When device, guarantee that position sensor is parallel with the side of movable pedestal with the line of mechanical arm, transports position sensor and equipment
The distance of dynamic route is equal to mechanical arm at a distance from equipment moving route, at the same input position sensor to mechanical arm basic point away from
Length from, mechanical arm horizontal boom, and pass through and rotation sensor is installed on mechanical arm rotating platform obtains mechanical arm rotation
Angle (is set as initial position, i.e., 0 °) when will be parallel with chassis side.Distance, machine by position sensor to mechanical arm basic point
The length and mechanical arm rotating platform angle of tool arm horizontal boom, it has been found that in the case where position sensor longitude and latitude
Know the location information of spray head.
S4, in real time acquisition distance of the printing head away from ground simultaneously calculate perfusion range difference according to real-time range.
The initial spray head after printing device movement stops is acquired away from ground distance；Acquire perfusion spray head when printing device perfusion
Away from ground distance；It calculates initial spray head and is used as perfusion range difference apart from its difference away from ground away from ground distance and perfusion spray head.
S5, judge to be perfused whether range difference reaches pre-set range difference threshold value: being, then according to the real-time position of printing device
Confidence breath control printing device is advanced according to moving line；It is no, then continue to execute the cement printing in current location.
Range difference threshold value can be configured according to practice of construction situation.
Based on the above method, the present invention provides a kind of cement 3D printing apparatus control system, and the system is by cement 3D printing
The control unit of equipment carries, and system includes:
Model conversion unit is configured to being converted to construction model into construction longitude and latitude；
Route Generation unit is configured to according to construction longitude and latitude and printing device jib-length generating device movement road
Line；
Station acquisition unit is configured to acquire print apparatus location information in real time；
Metrics calculation unit is configured to acquire distance of the printing head away from ground in real time and calculated according to real-time range to be perfused
Range difference；
Distance Judgment unit is configured to judge to be perfused whether range difference reaches pre-set range difference threshold value；
Motion control unit is configured to control printing device according to moving line according to printing device real-time position information
It advances；
Print execution unit is configured to continue to execute the cement printing in current location.
Optionally, in a kind of embodiment of the application, model conversion unit includes:
Parameter acquisition module is configured to obtain the longitude and latitude ginseng of construction model according to construction model parameter and job location
Number；
Model compression module is configured to utilize midpoint partitioning for the one-dimensional lines of construction model boil down to and mark one-dimensional
The height of lines；
Longitude and latitude obtains module, is configured to obtain the longitude and latitude parameter of one-dimensional lines according to the longitude and latitude parameter of construction model
As construction longitude and latitude.
Optionally, in a kind of embodiment of the application, Route Generation unit includes:
Length input module is configured to input printing device jib-length；
Migration processing module is configured to obtain just step to construction longitude and latitude progress migration processing according to jib-length
Line；
Route screening module is configured to the screening least preliminary route of distance as equipment moving route.
Optionally, in a kind of embodiment of the application, metrics calculation unit includes:
Initial acquisition module is configured to the initial spray head after acquisition printing device movement stops away from ground distance；
Computing module is perfused, is configured to perfusion spray head when acquisition printing device perfusion away from ground distance；
Difference calculating module is configured to calculate initial spray head away from ground distance and spray head is perfused away from ground apart from the conduct filling of its difference
Infuse range difference.
Based on above-mentioned control method and control system, the present embodiment also provides a kind of cement 3D printing equipment, comprising: removable
Dynamic chassis 1, hopper 5, mechanical arm, spray head 6 and control unit, hopper 5 are mounted on movable chassis 1, and movable pedestal is equipped with
Crawler belt and servo motor, the crawler belt connect servo motor by transmission device；Hopper includes feed inlet 51, discharge port 52, into
Material mouth 51 is connected to the discharge port 102 of charging car by feeding tube；Discharge port 52 is equipped with the hose of connection spray head 6；Pressurizing unit packet
The stripper plate and hydraulic cylinder being oppositely arranged in hopper 5 are included, stripper plate is connect by hydraulic transmission assembly with hydraulic cylinder.It is removable
Chassis 1 includes chassis, hydro-cushion support device 3, crawler belt 2 and servo motor, wherein hydro-cushion support device 3 and crawler belt 2
Chassis is all disposed in the following, servo motor is arranged in chassis and by transmission device connecting band track 2；Spray head 6 passes through with hopper 1
Hose connection；Mechanical arm includes vertical support column 9 and horizontal boom 8, and vertical support column 9 is connect with horizontal boom 8；Vertical support
Column 9 includes that scalable column, rotating platform 4 and perpendicular drive component, vertical pillars are mounted on rotating platform 4, rotating platform 4
It is mounted on inside movable chassis 1, perpendicular drive component is mounted on inside scalable column；The vertical branch of horizontal boom one end connection
Dagger, the other end connect spray head 6；Pressurizing unit is equipped in hopper 5；Spray head 6 is equipped with range sensor；On movable pedestal 1
Equipped with alignment sensor, alignment sensor is parallel with the side of movable pedestal 1 with the line of mechanical arm；Control unit connection is squeezed
Pressure device, movable chassis 1, rotating platform 4 and perpendicular drive component.
Although by reference to attached drawing and combining the mode of preferred embodiment to the present invention have been described in detail, the present invention
It is not limited to this.Without departing from the spirit and substance of the premise in the present invention, those of ordinary skill in the art can be to the present invention
Embodiment carry out various equivalent modifications or substitutions, and these modifications or substitutions all should in covering scope of the invention/appoint
What those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, answer
It is included within the scope of the present invention.Therefore, protection scope of the present invention is answered described is with scope of protection of the claims
It is quasi-.
Claims (10)
1. a kind of cement 3D printing apparatus control method characterized by comprising
Construction model is converted into construction longitude and latitude；
According to the construction longitude and latitude and printing device jib-length generating device moving line；
Acquisition print apparatus location information in real time；
Distance of the printing head away from ground is acquired in real time and perfusion range difference is calculated according to real-time range；
Judge whether the perfusion range difference reaches pre-set range difference threshold value:
It is that printing device is then controlled according to printing device real-time position information and is advanced according to moving line；
It is no, then continue to execute the cement printing in current location.
2. cement 3D printing apparatus control method according to claim 1, which is characterized in that described to convert construction model
Include: for construction longitude and latitude
The longitude and latitude parameter of construction model is obtained according to construction model parameter and job location；
By the one-dimensional lines of the construction model boil down to and the height of the one-dimensional lines is marked using midpoint partitioning；
The longitude and latitude parameter of the one-dimensional lines is obtained as construction longitude and latitude according to the longitude and latitude parameter of the construction model.
3. cement 3D printing apparatus control method according to claim 1, which is characterized in that described according to construction longitude and latitude
Include: with printing device jib-length generating device moving line
Input printing device jib-length；
Migration processing is carried out to the construction longitude and latitude according to the jib-length and obtains preliminary route；
The least preliminary route of distance is screened as equipment moving route.
4. cement 3D printing apparatus control method according to claim 1, which is characterized in that the real-time acquisition printing spray
Head the distance away from ground and according to real-time range calculate perfusion range difference include:
The initial spray head after printing device movement stops is acquired away from ground distance；
Perfusion spray head when printing device perfusion is acquired away from ground distance；
It calculates initial spray head and is used as perfusion range difference apart from its difference away from ground away from ground distance and perfusion spray head.
5. a kind of cement 3D printing apparatus control system characterized by comprising
Model conversion unit is configured to being converted to construction model into construction longitude and latitude；
Route Generation unit is configured to according to the construction longitude and latitude and printing device jib-length generating device movement road
Line；
Station acquisition unit is configured to acquire print apparatus location information in real time；
Metrics calculation unit is configured to acquire distance of the printing head away from ground in real time and calculates perfusion distance according to real-time range
Difference；
Distance Judgment unit is configured to judge whether the perfusion range difference reaches pre-set range difference threshold value；
Motion control unit is configured to control printing device according to moving line row according to printing device real-time position information
Into；
Print execution unit is configured to continue to execute the cement printing in current location.
6. cement 3D printing apparatus control system according to claim 5, which is characterized in that the model conversion unit packet
It includes:
Parameter acquisition module is configured to obtain the longitude and latitude parameter of construction model according to construction model parameter and job location；
Model compression module, being configured to will be described in the one-dimensional lines of the construction model boil down to and mark using midpoint partitioning
The height of one-dimensional lines；
Longitude and latitude obtains module, is configured to obtain the longitude and latitude of the one-dimensional lines according to the longitude and latitude parameter of the construction model
Parameter is as construction longitude and latitude.
7. cement 3D printing apparatus control system according to claim 5, which is characterized in that the Route Generation unit packet
It includes:
Length input module is configured to input printing device jib-length；
Migration processing module is configured to obtain tentatively construction longitude and latitude progress migration processing according to the jib-length
Route；
Route screening module is configured to the screening least preliminary route of distance as equipment moving route.
8. cement 3D printing apparatus control system according to claim 5, which is characterized in that the metrics calculation unit packet
It includes:
Initial acquisition module is configured to the initial spray head after acquisition printing device movement stops away from ground distance；
Computing module is perfused, is configured to perfusion spray head when acquisition printing device perfusion away from ground distance；
Difference calculating module, be configured to calculate initial spray head away from ground distance and perfusion spray head away from ground apart from its difference as perfusion away from
Deviation.
9. a kind of cement 3D printing equipment characterized by comprising movable chassis, hopper, mechanical arm, spray head and control are single
Member, the hopper are mounted on movable chassis；The spray head is connected to the hopper by hose；The mechanical arm includes hanging down
Allotment dagger and horizontal boom, the vertical support column are connect with the horizontal boom；The vertical support column includes scalable
Column, rotating platform and perpendicular drive component, the vertical pillars are mounted on the rotating platform, the rotating platform installation
Inside movable chassis, the perpendicular drive component is mounted on inside the scalable column；Described horizontal boom one end connects
Vertical support column is connect, the other end connects spray head；Pressurizing unit is equipped in the hopper；The spray head is equipped with range sensor；
The movable pedestal is equipped with alignment sensor, the side of the line and movable pedestal of the alignment sensor and mechanical arm
In parallel；Described control unit connects pressurizing unit, movable chassis, rotating platform, perpendicular drive component, range sensor and determines
Level sensor.
10. cement 3D printing equipment according to claim 9, which is characterized in that the movable pedestal be equipped with crawler belt and
Servo motor, the crawler belt connect servo motor by transmission device.
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| CN201910054651.1A CN109610841A (en) | 2019-01-21 | 2019-01-21 | A kind of cement 3D printing apparatus control method, system and printing device |
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| CN201910054651.1A CN109610841A (en) | 2019-01-21 | 2019-01-21 | A kind of cement 3D printing apparatus control method, system and printing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060590A (en) * | 2020-08-26 | 2020-12-11 | 中国建筑第八工程局有限公司 | 3D printing abandoned layer processing method and system based on multi-parameter quantization |
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