CN109853958A - A kind of driving 3D printer of restructural rope - Google Patents
A kind of driving 3D printer of restructural rope Download PDFInfo
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- CN109853958A CN109853958A CN201910138948.6A CN201910138948A CN109853958A CN 109853958 A CN109853958 A CN 109853958A CN 201910138948 A CN201910138948 A CN 201910138948A CN 109853958 A CN109853958 A CN 109853958A
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Abstract
The invention discloses a kind of restructural driving 3D printer of rope, including moving platform, moving platform is equipped with extrusion device, extrusion device connects printing head, moving platform is mounted on pylon by flexible cable B connecting strand driving device, rope driving device, and tower bottom is equipped with removable tower seat.The present invention solves the problems, such as to take up a large area existing for existing 3D printer, print space is small.
Description
Technical field
The invention belongs to 3D printing equipment technical fields, are related to a kind of driving 3D printer of restructural rope.
Background technique
3D printing belongs to the high-end manufacturing industry of new generation of green, with intelligent robot, artificial intelligence and referred to as realization digitlization
Three big key technologies of manufacture, this technology and its industry development are the weights that new round Digitized manufacturing tide is being risen in the whole world
Want basis.3D printing building is a kind of completely new construction method, and printed material selects construction waste, industrial residue etc., passes through
A series of technology processing, crushing is levigate, adds fiber, cement and organic bond etc., is made into " ink ", to be applied to 3D printing
On machine, at the same allow new building will not the new building waste of output, significantly reduce environmental pressure caused by construction waste, city
Air quality can also be improved.The 3D printer of mainstream has that volume is big, print space is limited currently on the market, limit
3D printer has been made in the application and popularization of building trade.
Summary of the invention
The object of the present invention is to provide a kind of restructural driving 3D printers of rope, solve existing for existing 3D printer
It takes up a large area, the problem that print space is small.
The technical scheme adopted by the invention is that a kind of driving 3D printer of restructural rope, including moving platform, moving platform
It is equipped with extrusion device, extrusion device connects printing head, and moving platform passes through flexible cable B connecting strand driving device, rope driving device
It is mounted on pylon, tower bottom is equipped with removable tower seat.
The features of the present invention also characterized in that
Moving platform passes through two flexible cable B connecting strand driving devices respectively.
Rope driving device includes bottom plate, and the upper end of bottom plate is equipped with pulley support B, and pulley support B is equipped with pulley B, pulley B
It is connect with one end of flexible cable A；It is additionally provided with servo motor B on the one side of bottom plate, gear E is connected on the main shaft of servo motor B,
Gear E is engaged with gear D, and gear D is mounted on worm screw；
Bottom plate is equipped with the support plate A and support plate B being parallel to each other, support plate A and support plate B and hangs down with the plate face of bottom plate
Directly, by four support rod A connections disposed in parallel between support plate A and support plate B, two support rod B are sequentially passed through respectively
After support plate A and support plate B, the both ends of two support rod B pass through support respectively and are fixed on bottom plate；
Support plate A is equipped with gear-box, is respectively equipped with successively meshed gears A, gear B and gear C, gear in gear-box
A is socketed in one end of spool shaft A, and the other end of spool shaft A is socketed with reel B；
Gear C is socketed in one end of spool shaft B, and the other end of spool shaft B is socketed with reel C；
Gear B is socketed in one end of transmission shaft, and the other end of transmission shaft is equipped with worm gear, and worm gear and worm screw cooperate；
It is arranged in parallel and successively between support plate A and support plate B between spool shaft A, spool shaft B and transmission shaft
It passes through；
Crossbeam is additionally provided on bottom plate, crossbeam is vertically arranged with transmission shaft, the both ends of crossbeam be separately installed with leading block A and
Leading block B；
Reel B and reel C is respectively connected with one end of a flexible cable B, and the other end of two flexible cable B is connected to moving platform
On, and two flexible cable B are bypassed from leading block A and leading block B respectively, reel B same root flexible cable corresponding with leading block A
B, reel C same root flexible cable B corresponding with leading block B.
By several, sequentially connected tower section is built pylon from bottom to top, and the top of pylon is equipped with bearing platform, load-bearing
Platform is arranged in the tower section top of tower top, and the both ends of bearing platform are respectively symmetrically equipped with pulley support A, each pulley branch
Pulley A is installed on seat A, is connected between two pulley A by flexible cable A, one end of flexible cable A is connected in rope driving device；
Pylon further includes servo motor A, and servo motor A is arranged in the tower section side of tower bottom, servo motor A with
Reduction gearbox connection, the output shaft of reduction gearbox are connected with reel A, and reel A is connect with the other end of flexible cable A.
Tower section includes the frame shape matrix of cubic, and the opposite end of matrix one side is respectively equipped with linear guide, tower
The linear guide on each tower section on frame is successively spliced to form two " linear type " guide rails, divides on " linear type " guide rail described in two
It Pei He be equipped with linear slider, linear slider is connect with the rope driving device；
The upper surface of matrix is equipped with tower section protrusion, and the lower end surface of matrix is equipped with tower section recessed portion, the left and right two of matrix
The two sides up and down at end further respectively have ear shaped protrusion；When two neighboring matrix is attached, by the tower section of a upper base bottom
The shape of the corresponding tower section protrusion for being stuck in next baseline top of recessed portion, tower section protrusion and tower section recessed portion is adapted,
And two neighboring matrix it is fixed when, by ear shaped protrusion that bolt is through on two neighboring matrix, to two neighboring matrix
It is fixed.
The invention has the advantages that rope driving device and restructural pylon structure are used in the present apparatus, by more
Root parallel connection flexible cable carries out the transmitting of power, and uses Suo Chuandong in vertical direction, realizes the control of the pose of printing head, that is, passes through
The folding and unfolding of more flexible cables and unison control printing head realize the movement of any space tracking to realize 3D printing function.With
Conventional parallel arm 3D printer compares, have reconfigurability, flexible big, operation interval is big, inertia is small, small in size, response is fast,
The features such as high speed performance is good.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the restructural driving 3D printer of rope of the present invention；
Fig. 2 is the structural schematic diagram of pylon in a kind of restructural driving 3D printer of rope of the present invention；
Fig. 3 is the structural schematic diagram of rope driving device in a kind of restructural driving 3D printer of rope of the present invention；
Fig. 4 is the top perspective view of tower section in a kind of restructural driving 3D printer of rope of the present invention；
Fig. 5 is the face upwarding stereogram of tower section in a kind of restructural driving 3D printer of rope of the present invention；
Fig. 6 is the structural schematic diagram that a kind of restructural driving 3D printer of rope of the present invention moves tower seat.
In figure, 1. pylons, 1-1. pulley support A, 1-2. bearing platform, 1-3. reel A, 1-4. servo motor A, 1-5. deceleration
Case, 1-6. pulley A, 1-7. flexible cable A；
2. rope driving device, 2-1. pulley B, 2-2. pulley support B, 2-3. reel B, 2-4. bottom plate, 2-5. leading block
A, 2-6. spool shaft A, 2-7. gear A, 2-8. transmission shaft, 2-9. gear B, 2-10. bearing block, 2-11. spool shaft B, 2-12. tooth
Take turns C, 2-13. gear housing, 2-14. support plate A, 2-15. leading block B, 2-16. crossbeam, 2-17. support plate B, 2-18. branch
Strut A, 2-19. reel C, 2-20. support rod B, 2-21. support, 2-22. half shell A, 2-23. worm gear, 2-24. worm screw, 2-
25. gear D, 2-26. half shell B, 2-27. gear E, 2-28. servo motor B；
3. tower section, 3-1. matrix, 3-2. linear guide, 3-3. tower section recessed portion, 3-4. ear shaped protrusion, 3-5. tower section protrusion
Portion；
4. removable tower seat, 4-1. tower pedestal, 4-2. handwheel, 4-3. screw rod, 4-4. support steel feet, 4-5. universal wheel, 4-
6. guide cylinder；
5. flexible cable B, 6. printing heads, 7. moving platforms, 8. extrusion devices.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of restructural driving 3D printer of rope of the present invention, structure is as shown in Figure 1, including moving platform 7, on moving platform 7
Equipped with extrusion device 8, extrusion device 8 connects printing head 6, and moving platform 7 is separately connected four rope driving devices 2, and moving platform 7
It is connect between each rope driving device 2 by two flexible cable B5, each rope driving device 2 is mounted on pylon 1,1 bottom of pylon
Portion is equipped with removable tower seat 4.
As shown in Fig. 2, pylon 1 is by several, sequentially connected tower section 3 is built from bottom to top, can be according to the big of workpiece
The number of small appropriate adjustment tower section 3, to realize reconfigurability.
Pylon 1 includes bearing platform 1-2, and bearing platform 1-2 is arranged in 3 top of tower section at 1 top of pylon, bearing platform 1-2
Both ends pulley support A1-1 is respectively symmetrically installed, pulley A1-6, two pulley A1- are installed on each pulley support A1-1
It is connected between 6 by flexible cable A1-7, one end of flexible cable A1-7 is connected in rope driving device 2；
Pylon 1 further includes servo motor A1-4, and servo motor A1-4 is arranged in 3 side of tower section of 1 bottom of pylon, watches
It takes motor A1-4 to connect with reduction gearbox 1-5, the output shaft of reduction gearbox 1-5 is connected with reel A1-3, reel A1-3 and flexible cable A1-7
The other end connection.
As shown in figure 3, rope driving device 2 includes bottom plate 2-4, the upper end of bottom plate 2-4 is equipped with pulley support B2-2, pulley branch
Seat B2-2 is equipped with pulley B2-1, and pulley B2-1 is connect with one end of flexible cable A1-7；Servo is additionally provided on the one side of bottom plate 2-4
Motor B2-28 is connected with gear E2-27 on the main shaft of servo motor B 2-28, and gear E 2-27 is engaged with gear D 2-25, tooth
Wheel D 2-25 is mounted on worm screw 2-24；
Bottom plate 2-4 is equipped with the support plate A2-14 and support plate B2-17 being parallel to each other, support plate A2-14 and support plate
B2-17 is vertical with the plate face of bottom plate 2-4, passes through four supports disposed in parallel between support plate A2-14 and support plate B2-17
Bar A2-18 connection, after two support rod B2-20 sequentially pass through support plate A2-14 and support plate B2-17 respectively, two support rods
The both ends of B2-20 pass through four support 2-21 respectively and are fixed on bottom plate 2-4；
Support plate A2-14 is equipped with gear-box 2-13, is respectively equipped with successively meshed gears A2-7, tooth in gear-box 2-13
B2-9 and gear C 2-12 is taken turns, gear A 2-7 is socketed in one end of spool shaft A2-6, and the other end of spool shaft A2-6 is socketed with reel
B2-3；
Gear C 2-12 is socketed in one end of spool shaft B2-11, and the other end of spool shaft B2-11 is socketed with reel C2-19；
Gear B 2-9 is socketed in one end of transmission shaft 2-8, and the other end of transmission shaft 2-8 is equipped with worm gear 2-23, worm gear 2-
23 cooperate with worm screw 2-24；Worm gear 2-23 and worm screw 2-24 is wrapped in be made of half shell A2-22 and half shell B2-26 splicing
Cabinet in, and half shell A2-22 and half shell B2-26 are bolted in bottom plate 2-4.
It is arranged in parallel and successively from support plate A2- between spool shaft A2-6, spool shaft B2-11 and transmission shaft 2-8
It is passed through between 14 and support plate B2-17, and spool shaft A2-6, spool shaft B2-11 and transmission shaft 2-8 pass through bearing block 2-10 and pacify
On support plate A2-14 and support plate B2-17；
Crossbeam 2-16 is additionally provided on bottom plate 2-4, crossbeam 2-16 is vertically arranged with transmission shaft 2-8, the both ends point of crossbeam 2-16
Leading block A2-5 and leading block B 2-15 are not installed.
Reel B2-3 and reel C2-19 is respectively connected with one end of a flexible cable B5, the other end connection of two flexible cable B5
On moving platform 7, and two flexible cable B5 are bypassed from leading block A2-5 and leading block B2-15 respectively, reel B2-3 with lead
To pulley A2-5 corresponding a flexible cable B5, a reel C2-19 flexible cable B5 corresponding with leading block B2-15.
As shown in Figure 4,5, tower section 3 includes the frame shape matrix 3-1 of cubic, the opposite end of matrix 3-1 one side
It is respectively equipped with linear guide 3-2, the linear guide 3-2 on each tower section 3 on pylon 1 is successively spliced to form two " linear types " and leads
Rail is respectively cooperating with the another side equipped with linear slider 3-6, linear slider 3-6 and bottom plate 2-4 on two " linear type " guide rails and connects
It connects；
The upper surface of matrix 3-1 is equipped with tower section protrusion 3-5, and the lower end surface of matrix 3-1 is equipped with tower section recessed portion 3-3,
To facilitate 3 location and installation of tower section, the two sides up and down of the left and right ends of matrix 3-1 further respectively have ear shaped protrusion 3-4.It is two neighboring
When matrix 3-1 is attached, the tower section recessed portion 3-3 of the bottom a upper matrix 3-1 is corresponded to and is stuck at the top of next matrix 3-1
The shape of tower section protrusion 3-5, tower section protrusion 3-5 and tower section recessed portion 3-3 be adapted, and two neighboring matrix 3-1 solid
Periodically, by being through bolt in the ear shaped protrusion 3-4 on two neighboring matrix 3-1, two neighboring matrix 3-1 is consolidated
It is fixed.
As shown in fig. 6, removable tower seat 4 includes the tower pedestal 4-1 of cubic, the front and rear sides of the bottom tower pedestal 4-1
It is separately installed with universal wheel 4-5, four vertex of tower pedestal 4-1 are respectively equipped with guide cylinder 4-6, and guide cylinder 4-6 inner wall is equipped with
Internal screw thread, and screw rod 4-3 is coaxially provided in guide cylinder 4-6, screw rod 4-3 is connect with guide cylinder 4-6 by being threadedly engaged, screw rod 4-
3 upper end is equipped with handwheel 4-2, and the lower end of screw rod 4-3 is equipped with support steel feet 4-4.
A kind of working principle of the restructural driving 3D printer of rope of the present invention is the rope driving dress being mounted on pylon 1
When setting 2 operating, eight flexible cable B5 is driven to do folding and unfolding campaign, to drive moving platform 7 and printing head 6 mounted thereto and squeeze
Device 8 is in horizontal plane motion out.Servo motor A 1-4 rotates by reduction gearbox 1-5 driving reel A 1-3, drives soft
Rope A 1-8 makees folding and unfolding campaign, and flexible cable A 1-8 band dynamic search driving device 2 moves up and down, in addition, linear slider 3-6 and linear guide
3-2 cooperation, play the guiding role.To realize the adjustment of 6 spatial position of printing head.Realize 3D printing function.
The working principle of rope driving device 2 are as follows: servo motor B 2-28 band moving gear E 2-27 is rotated, gear E 2-27 with
Gear D 2-25 engagement drives worm screw 2-24 rotation, and worm gear 2-23 and worm screw 2-24 cooperation rotates.Worm gear 2-23 passes through
Transmission shaft 2-8 drives gear B 2-9 rotation, and gear B 2-9 makees gear motion, band with gear A 2-7 and gear C 2-12 simultaneously
Movable reel axis A 2-6 and spool shaft B 2-11 rotation, so that driving reel A 2-3 and reel B 2-19 to rotate completes flexible cable B5's
Folding and unfolding.
When in the present invention pylon 1 to move make orientation adjustment when, rotate handwheel 4-2, make screw rod 4-3 drive support steel feet 4-
4 rise, and the height for reducing tower pedestal 4-1 makes universal wheel 4-5 land.Then pylon 2 can be pushed directly on planar to move.
When pylon 1 moves to reach designated position, handwheel 4-2 is rotated, so that screw rod 4-3 is driven support steel feet 4-4 decline, is lifted tower pedestal
The height of 4-1 is until universal wheel 4-5 is liftoff.So far, 2 position of pylon adjustment finishes.
A kind of the principles of science of the restructural driving 3D printer foundation of rope of the present invention is 3D printing provided in the present invention
Machine, be substantially rope driving parallel robot, be follow force vector closure condition, the present invention in equilibrium state attonity,
Flexible cable still can be self-possessed and the effect of under tension because end effector is undertaken.In this case, it is necessary to comprehensive consideration
The configuration of flexible cable, reasonable design structure just can make end printing spray head have preferable motion conditions.
Assuming that n rigid body (including rack) is shared in the present invention, if these rigid bodies connected with m kinematic pair,
And each kinematic pair has fi freedom degree, calculates the number of degrees of freedom, of the present apparatus are as follows:
In formula: D --- the number of degrees of freedom, of mechanism；
N --- component sum (including rack)；
M --- kinematic pair number；
fi--- the relative freedom that i-th of kinematic pair has
It can be determined substantially by the resolving to spatial degrees of freedom calculation formula, the driving 3D printer of Three Degree Of Freedom rope,
If driving using rigid bar, 3 bars are at least needed, so that it may so that end effector has space three freely
Degree.But because flexible cable can only bear the pulling force being tensioned, there is redundant drive power to can be only achieved the requirement of power closure.For
Meet n freedom degree movement needs of 3D printer, it is necessary to have n+1 driving force, that is, need n+1 root flexible cable.If with driving
Flexible cable quantity is classified, and can be classified as three kinds:
A. complete position constraint type；
B. in the case where considering the other conditions such as gravity influence, flexible cable number is less than the non-fully position constraint type of standard value；
C. the excessively complete position constraint type of the extra standard value of flexible cable number.
By can be true to a kind of resolving of the restructural driving 3D printer spatial degrees of freedom calculation formula of rope of the present invention
Fixed, Three Degree Of Freedom printer at least needs 4 ropes if driving using rope, so that it may so that printing head 6 has sky
Between 3DOF, the pose of printing head 6 is by flexible cable B5 in a kind of restructural driving 3D printer of rope provided by the invention
Constraint and the up and down motion of moving platform 7 control.Flexible cable B5 can show certain particularity when driving rigid body, it is desirable that hold
Row device end keeps translation and cannot have to relatively rotate, therefore a kind of restructural driving 3D printer of rope provided by the invention
Realized by 8 flexible cable B5 and 1 moving platform 7 pose change, it can be achieved that movement of the rigid body on tri- directions X, Y, Z by with
On freedom degree and type of sports analysis can determine.
Claims (5)
1. a kind of driving 3D printer of restructural rope, it is characterised in that: including moving platform, moving platform is equipped with extrusion device,
Extrusion device connects printing head, and moving platform is mounted on pylon by flexible cable B connecting strand driving device, rope driving device, tower
Frame bottom is equipped with removable tower seat.
2. a kind of restructural driving 3D printer of rope according to claim 1, it is characterised in that: the moving platform difference
Pass through two flexible cable B connecting strand driving devices.
3. a kind of restructural driving 3D printer of rope according to claim 2, it is characterised in that: the rope driving device
Including bottom plate, the upper end of bottom plate is equipped with pulley support B, and pulley support B is equipped with pulley B, and pulley B is connect with one end of flexible cable A；
It is additionally provided with servo motor B on the one side of bottom plate, gear E is connected on the main shaft of servo motor B, gear E is engaged with gear D,
Gear D is mounted on worm screw；
Bottom plate is equipped with the support plate A and support plate B being parallel to each other, and support plate A and support plate B are vertical with the plate face of bottom plate,
By four support rod A connections disposed in parallel between support plate A and support plate B, two support rod B sequentially pass through support respectively
After plate A and support plate B, the both ends of two support rod B pass through support respectively and are fixed on bottom plate；
Support plate A is equipped with gear-box, is respectively equipped with successively meshed gears A, gear B and gear C, gear A set in gear-box
It connects in one end of spool shaft A, the other end of spool shaft A is socketed with reel B；
Gear C is socketed in one end of spool shaft B, and the other end of spool shaft B is socketed with reel C；
Gear B is socketed in one end of transmission shaft, and the other end of transmission shaft is equipped with worm gear, and worm gear and worm screw cooperate；
It is arranged in parallel and successively worn between support plate A and support plate B between spool shaft A, spool shaft B and transmission shaft
It crosses；
Crossbeam is additionally provided on bottom plate, crossbeam is vertically arranged with transmission shaft, and the both ends of crossbeam are separately installed with leading block A and guiding
Pulley B；
Reel B and reel C is respectively connected with one end of a flexible cable B, and the other end of two flexible cable B is connected on moving platform, and
Two flexible cable B are bypassed from leading block A and leading block B2 respectively, reel B same root flexible cable B corresponding with leading block A, volume
Cylinder C same root flexible cable B corresponding with leading block B.
4. a kind of restructural driving 3D printer of rope according to claim 3, it is characterised in that: the pylon is by several
A tower section sequentially connected from bottom to top is built, and the top of pylon is equipped with bearing platform, and bearing platform is arranged in tower top
The tower section top in portion, the both ends of bearing platform are respectively symmetrically equipped with pulley support A, are equipped with pulley A on each pulley support A,
It is connected between two pulley A by flexible cable A, one end of flexible cable A is connected in rope driving device；
Pylon further includes servo motor A, and servo motor A is arranged in the tower section side of tower bottom, servo motor A and deceleration
Case connection, the output shaft of reduction gearbox are connected with reel A, and reel A is connect with the other end of flexible cable A.
5. a kind of restructural driving 3D printer of rope according to claim 4, it is characterised in that: the tower section includes vertical
The frame shape matrix of cube shape, the opposite end of matrix one side are respectively equipped with linear guide, straight on each tower section on pylon
Line guide rail is successively spliced to form two " linear type " guide rails, is respectively cooperating on " linear type " guide rail described in two sliding equipped with straight line
Block, linear slider are connect with the rope driving device；
The upper surface of matrix is equipped with tower section protrusion, and the lower end surface of matrix is equipped with tower section recessed portion, the left and right ends of matrix
Upper and lower two sides further respectively have ear shaped protrusion；When two neighboring matrix is attached, the tower section of a upper base bottom is recessed
The shape of the corresponding tower section protrusion for being stuck in next baseline top in portion, tower section protrusion and tower section recessed portion is adapted, and phase
When adjacent two matrixes are fixed, by being carried out to two neighboring matrix in ear shaped protrusion that bolt is through on two neighboring matrix
It is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138948.6A CN109853958B (en) | 2019-02-25 | 2019-02-25 | Reconfigurable cable driving type 3D printer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138948.6A CN109853958B (en) | 2019-02-25 | 2019-02-25 | Reconfigurable cable driving type 3D printer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109853958A true CN109853958A (en) | 2019-06-07 |
| CN109853958B CN109853958B (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910138948.6A Expired - Fee Related CN109853958B (en) | 2019-02-25 | 2019-02-25 | Reconfigurable cable driving type 3D printer |
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| Country | Link |
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| CN (1) | CN109853958B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021108933A1 (en) * | 2019-12-05 | 2021-06-10 | Universidad Técnica Federico Santa María | Moveable robotic cell for the production of pieces and enclosures printed on site by means of a multi-axis 3d printing system, and operating method |
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| WO2017174201A1 (en) * | 2016-04-07 | 2017-10-12 | Liebherr-Werk Biberach Gmbh | Device, a system and a method for building stationary structures on a working surface |
| CN107696675A (en) * | 2017-09-26 | 2018-02-16 | 合肥工业大学 | The multi-functional 3D printing robot of large space of parallel wire driven |
| KR20190014287A (en) * | 2017-08-01 | 2019-02-12 | 세종대학교산학협력단 | Hanging type 3-dimensional printing apparatus |
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|---|---|---|---|---|
| CN101602209A (en) * | 2009-07-09 | 2009-12-16 | 北京航空航天大学 | Reconfigurable cable drives parallel robot and drive unit thereof |
| CN104723554A (en) * | 2015-02-05 | 2015-06-24 | 安徽蓝蛙电子科技有限公司 | Printing nozzle, printer and printing method |
| CN205631389U (en) * | 2016-03-04 | 2016-10-12 | 深圳达能美科技有限公司 | Large-scale triangle-shaped 3D printer convenient to dismouting |
| WO2017174201A1 (en) * | 2016-04-07 | 2017-10-12 | Liebherr-Werk Biberach Gmbh | Device, a system and a method for building stationary structures on a working surface |
| CN105781110A (en) * | 2016-04-28 | 2016-07-20 | 华南理工大学 | Plasma 3D printing equipment and method for directly printing building framework |
| KR20190014287A (en) * | 2017-08-01 | 2019-02-12 | 세종대학교산학협력단 | Hanging type 3-dimensional printing apparatus |
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| WO2021108933A1 (en) * | 2019-12-05 | 2021-06-10 | Universidad Técnica Federico Santa María | Moveable robotic cell for the production of pieces and enclosures printed on site by means of a multi-axis 3d printing system, and operating method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109853958B (en) | 2021-02-12 |
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