CN109853958B - Reconfigurable cable driving type 3D printer - Google Patents
Reconfigurable cable driving type 3D printer Download PDFInfo
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- CN109853958B CN109853958B CN201910138948.6A CN201910138948A CN109853958B CN 109853958 B CN109853958 B CN 109853958B CN 201910138948 A CN201910138948 A CN 201910138948A CN 109853958 B CN109853958 B CN 109853958B
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Abstract
The invention discloses a reconfigurable cable driving type 3D printer which comprises a movable platform, wherein an extrusion device is arranged on the movable platform and connected with a printing spray head, the movable platform is connected with a cable driving device through a flexible cable B, the cable driving device is arranged on a tower frame, and a movable tower seat is arranged at the bottom of the tower frame. The invention solves the problems of large occupied area and small printing space of the existing 3D printer.
Description
Technical Field
The invention belongs to the technical field of 3D printing equipment, and relates to a reconfigurable cable driving type 3D printer.
Background
The 3D printing belongs to a new generation of green high-end manufacturing industry, and is called three key technologies for realizing digital manufacturing together with intelligent robots and artificial intelligence, and the technology and the industrial development thereof are important foundations of a new round of digital manufacturing wave in the world. The 3D printing building is a brand-new building mode, printing materials of the building are selected from building waste, industrial waste residues and the like, the building waste is processed through a series of technologies, the smashing and the grinding are carried out, fibers, cement, organic binders and the like are added, and the printing ink is prepared, so that the 3D printing ink is applied to a 3D printer, new building waste cannot be produced by a newly built building, the environmental pressure caused by the building waste is greatly reduced, and the urban air quality can be improved. The mainstream 3D printer in the existing market has the problems of large volume and limited printing space, and the application and popularization of the 3D printer in the building industry are limited.
Disclosure of Invention
The invention aims to provide a reconfigurable cable driving type 3D printer, which solves the problems of large occupied area and small printing space of the existing 3D printer.
The technical scheme includes that the reconfigurable cable driving type 3D printer comprises a movable platform, wherein an extrusion device is arranged on the movable platform and connected with a printing nozzle, the movable platform is connected with a cable driving device through a flexible cable B, the cable driving device is installed on a tower frame, and a movable tower base is arranged at the bottom of the tower frame.
The present invention is also characterized in that,
the movable platform is connected with the cable driving device through two flexible cables B respectively.
The cable driving device comprises a bottom plate, wherein the upper end of the bottom plate is provided with a pulley support B, the pulley support B is provided with a pulley B, and the pulley B is connected with one end of the flexible cable A; a servo motor B is further arranged on one side face of the bottom plate, a main shaft of the servo motor B is connected with a gear E, the gear E is meshed with a gear D, and the gear D is installed on the worm;
the bottom plate is provided with a supporting plate A and a supporting plate B which are parallel to each other, the supporting plate A and the supporting plate B are both vertical to the surface of the bottom plate, the supporting plate A and the supporting plate B are connected through four supporting rods A which are arranged in parallel, after the two supporting rods B respectively and sequentially penetrate through the supporting plate A and the supporting plate B, the two ends of the two supporting rods B are respectively fixed on the bottom plate through a support;
a gear box is arranged on the supporting plate A, a gear B and a gear C which are sequentially meshed are respectively arranged in the gear box, the gear A is sleeved at one end of a drum shaft A, and the other end of the drum shaft A is sleeved with a drum B;
the gear C is sleeved at one end of the winding drum shaft B, and the other end of the winding drum shaft B is sleeved with the winding drum C;
the gear B is sleeved at one end of the transmission shaft, and the other end of the transmission shaft is provided with a worm wheel which is matched with the worm;
the drum shaft A, the drum shaft B and the transmission shaft are arranged in parallel and sequentially penetrate through the support plate A and the support plate B;
the bottom plate is also provided with a cross beam, the cross beam is perpendicular to the transmission shaft, and two ends of the cross beam are respectively provided with a guide pulley A and a guide pulley B;
the winding drum B and the winding drum C are respectively connected with one end of one flexible cable B, the other ends of the two flexible cables B are connected to the movable platform, the two flexible cables B are wound around the guide pulley A and the guide pulley B respectively, the winding drum B and the guide pulley A correspond to the same flexible cable B, and the winding drum C and the guide pulley B correspond to the same flexible cable B.
The tower is built by a plurality of tower sections which are sequentially connected from bottom to top, a bearing platform is arranged at the top of the tower, the bearing platform is arranged at the upper part of the tower section which is positioned at the top of the tower, pulley supports A are respectively and symmetrically arranged at two ends of the bearing platform, a pulley A is arranged on each pulley support A, the two pulleys A are connected through a flexible cable A, and one end of the flexible cable A is connected to a cable driving device;
the tower further comprises a servo motor A, the servo motor A is arranged on one side of a tower section located at the bottom of the tower and is connected with a reduction gearbox, an output shaft of the reduction gearbox is connected with a winding drum A, and the winding drum A is connected with the other end of the flexible cable A.
The tower sections comprise a cubic frame-shaped base body, two opposite ends of one side surface of the base body are respectively provided with a linear guide rail, the linear guide rails on each tower section on the tower are sequentially spliced to form two linear guide rails, the two linear guide rails are respectively provided with a linear sliding block in a matching way, and the linear sliding blocks are connected with the cable driving device;
the upper end face of the base body is provided with a tower section protruding part, the lower end face of the base body is provided with a tower section sunken part, and the upper side and the lower side of the left end and the right end of the base body are respectively provided with an ear-shaped protrusion; when two adjacent base members are connected, the tower section concave part at the bottom of the last base member is correspondingly clamped on the tower section convex part at the top of the next base member, the tower section convex part is adapted to the shape of the tower section concave part, and when the two adjacent base members are fixed, the two adjacent base members are fixed by penetrating bolts into lug-shaped bulges on the two adjacent base members.
The device has the advantages that the cable driving device and the reconfigurable tower structure are adopted, force is transmitted by means of the plurality of parallel flexible cables, cable transmission is adopted in the vertical direction, and the control of the position and posture of the printing nozzle is realized, namely the printing nozzle is controlled to realize the movement of any space track through the coordinated retraction and transmission of the plurality of flexible cables so as to realize the 3D printing function. Compared with a common parallel arm 3D printer, the printer has the characteristics of reconfigurability, high flexibility, large working interval, small inertia, small volume, high response speed, high-speed performance and the like.
Drawings
FIG. 1 is a schematic diagram of the construction of a reconfigurable cable drive type 3D printer of the present invention;
FIG. 2 is a schematic structural view of a tower in a reconfigurable cable drive type 3D printer of the present invention;
FIG. 3 is a schematic structural diagram of a cable drive arrangement in a reconfigurable cable drive type 3D printer of the present invention;
FIG. 4 is a top perspective view of a tower section of a reconfigurable cable driven 3D printer of the present invention;
FIG. 5 is a bottom perspective view of a tower section of a reconfigurable cable driven 3D printer of the present invention;
FIG. 6 is a schematic structural diagram of a movable tower of the reconfigurable cable drive type 3D printer according to the invention.
In the figure, 1, a tower, 1-1, a pulley support A, 1-2, a bearing table, 1-3, a winding drum A, 1-4, a servo motor A, 1-5, a reduction gearbox, 1-6, a pulley A, 1-7 and a flexible cable A are arranged;
2. a rope driving device, 2-1, a pulley B, 2-2, a pulley support B, 2-3, a reel B, 2-4, a bottom plate, 2-5, a guide pulley A, 2-6, a reel shaft A, 2-7, a gear A, 2-8, a transmission shaft, 2-9, a gear B, 2-10, a bearing seat, 2-11, a reel shaft B, 2-12, a gear C, 2-13, a gear box body, 2-14, a support plate A, 2-15, a guide pulley B, 2-16, a cross beam, 2-17, a support plate B, 2-18, a support rod A, 2-19, a reel C, 2-20, a support rod B, 2-21, 2-22, a half shell A, 2-23, a worm wheel, 2-24, a worm, 2-25, gear D, 2-26, half shell B, 2-27, gear E, 2-28, servo motor B;
3. the tower section comprises 3-1 parts of a base body, 3-2 parts of a linear guide rail, 3-3 parts of a tower section sunken part, 3-4 parts of an ear-shaped bulge and 3-5 parts of a tower section bulge;
4. the device comprises a movable tower seat, 4-1 parts of a tower seat body, 4-2 parts of a hand wheel, 4-3 parts of a screw rod, 4-4 parts of a supporting steel foot, 4-5 parts of a universal wheel and 4-6 parts of a guide cylinder;
5. the flexible cable B, 6, a printing spray head, 7, a movable platform and 8, an extruding device.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a reconfigurable cable driving type 3D printer, which is structurally shown in figure 1 and comprises a movable platform 7, wherein an extrusion device 8 is arranged on the movable platform 7, the extrusion device 8 is connected with a printing spray head 6, the movable platform 7 is respectively connected with four cable driving devices 2, the movable platform 7 is connected with each cable driving device 2 through two flexible cables B5, each cable driving device 2 is arranged on a tower frame 1, and the bottom of the tower frame 1 is provided with a movable tower base 4.
As shown in fig. 2, the tower frame 1 is constructed by a plurality of tower sections 3 connected in sequence from bottom to top, and the number of the tower sections 3 can be properly adjusted according to the size of a workpiece, so that reconfigurability is realized.
The tower frame 1 comprises a bearing table 1-2, the bearing table 1-2 is arranged on the upper portion of a tower section 3 positioned at the top of the tower frame 1, pulley supports A1-1 are symmetrically arranged at two ends of the bearing table 1-2 respectively, a pulley A1-6 is arranged on each pulley support A1-1, the two pulleys A1-6 are connected through a flexible cable A1-7, and one end of a flexible cable A1-7 is connected to a cable driving device 2;
the tower frame 1 further comprises a servo motor A1-4, the servo motor A1-4 is arranged on one side of the tower section 3 located at the bottom of the tower frame 1, the servo motor A1-4 is connected with a reduction gearbox 1-5, an output shaft of the reduction gearbox 1-5 is connected with a winding drum A1-3, and the winding drum A1-3 is connected with the other end of a flexible cable A1-7.
As shown in FIG. 3, the cable driving device 2 comprises a bottom plate 2-4, the upper end of the bottom plate 2-4 is provided with a pulley support B2-2, the pulley support B2-2 is provided with a pulley B2-1, and the pulley B2-1 is connected with one end of a flexible cable A1-7; a servo motor B2-28 is further arranged on one side face of the bottom plate 2-4, a main shaft of the servo motor B2-28 is connected with a gear E2-27, the gear E2-27 is meshed with a gear D2-25, and the gear D2-25 is installed on a worm 2-24;
the bottom plate 2-4 is provided with a supporting plate A2-14 and a supporting plate B2-17 which are parallel to each other, the supporting plate A2-14 and the supporting plate B2-17 are both vertical to the plate surface of the bottom plate 2-4, the supporting plate A2-14 and the supporting plate B2-17 are connected through four supporting rods A2-18 which are parallel to each other, after the two supporting rods B2-20 respectively penetrate through the supporting plate A2-14 and the supporting plate B2-17 in sequence, two ends of the two supporting rods B2-20 are respectively fixed on the bottom plate 2-4 through four supports 2-21;
the supporting plate A2-14 is provided with gear boxes 2-13, the gear boxes 2-13 are respectively internally provided with a gear A2-7, a gear B2-9 and a gear C2-12 which are meshed in sequence, the gear A2-7 is sleeved at one end of a winding drum shaft A2-6, and the other end of the winding drum shaft A2-6 is sleeved with a winding drum B2-3;
the gear C2-12 is sleeved at one end of a winding drum shaft B2-11, and the other end of the winding drum shaft B2-11 is sleeved with a winding drum C2-19;
the gear B2-9 is sleeved at one end of the transmission shaft 2-8, the other end of the transmission shaft 2-8 is provided with a worm wheel 2-23, and the worm wheel 2-23 is matched with the worm 2-24; the worm wheel 2-23 and the worm 2-24 are wrapped in a box body formed by splicing a half shell A2-22 and a half shell B2-26, and the half shell A2-22 and the half shell B2-26 are fixed in the bottom plate 2-4 through bolts.
The winding drum shaft A2-6, the winding drum shaft B2-11 and the transmission shaft 2-8 are arranged in parallel and sequentially penetrate through the supporting plate A2-14 and the supporting plate B2-17, and the winding drum shaft A2-6, the winding drum shaft B2-11 and the transmission shaft 2-8 are all arranged on the supporting plate A2-14 and the supporting plate B2-17 through bearing seats 2-10;
the bottom plate 2-4 is also provided with a beam 2-16, the beam 2-16 is perpendicular to the transmission shaft 2-8, and two ends of the beam 2-16 are respectively provided with a guide pulley A2-5 and a guide pulley B2-15.
The winding drum B2-3 and the winding drum C2-19 are respectively connected with one end of a flexible cable B5, the other ends of two flexible cables B5 are connected to the movable platform 7, the two flexible cables B5 respectively pass over a guide pulley A2-5 and a guide pulley B2-15, the winding drum B2-3 and the guide pulley A2-5 correspond to a flexible cable B5, and the winding drum C2-19 and the guide pulley B2-15 correspond to a flexible cable B5.
As shown in fig. 4 and 5, the tower section 3 comprises a frame-shaped matrix 3-1 in a cubic shape, two opposite ends of one side surface of the matrix 3-1 are respectively provided with a linear guide rail 3-2, the linear guide rails 3-2 on each tower section 3 on the tower frame 1 are sequentially spliced to form two 'linear' guide rails, the two 'linear' guide rails are respectively provided with a linear sliding block 3-6 in a matching way, and the linear sliding blocks 3-6 are connected with the other side surface of the bottom plate 2-4;
the upper end face of the base body 3-1 is provided with a tower section convex part 3-5, the lower end face of the base body 3-1 is provided with a tower section concave part 3-3 so as to facilitate the positioning and installation of the tower section 3, and the upper side and the lower side of the left end and the right end of the base body 3-1 are respectively provided with an ear-shaped bulge 3-4. When two adjacent matrixes 3-1 are connected, the tower section sunken part 3-3 at the bottom of the previous matrix 3-1 is correspondingly clamped on the tower section convex part 3-5 at the top of the next matrix 3-1, the tower section convex part 3-5 is matched with the tower section sunken part 3-3 in shape, and when the two adjacent matrixes 3-1 are fixed, bolts are penetrated into the lug-shaped bulges 3-4 on the two adjacent matrixes 3-1 to fix the two adjacent matrixes 3-1.
As shown in figure 6, the movable tower seat 4 comprises a cube-shaped tower seat body 4-1, universal wheels 4-5 are respectively mounted on the front side and the rear side of the bottom of the tower seat body 4-1, guide cylinders 4-6 are respectively arranged at four top corners of the tower seat body 4-1, internal threads are arranged on the inner walls of the guide cylinders 4-6, screw rods 4-3 are coaxially arranged in the guide cylinders 4-6, the screw rods 4-3 are connected with the guide cylinders 4-6 in a threaded fit mode, a hand wheel 4-2 is mounted at the upper end of each screw rod 4-3, and supporting steel feet 4-4 are mounted at the lower ends of the screw rods 4-3.
The reconfigurable cable driving type 3D printer has the working principle that when a cable driving device 2 arranged on a tower frame 1 operates, eight flexible cables B5 are driven to make retraction movement, so that a movable platform 7, a printing spray head 6 arranged on the movable platform and an extrusion device 8 are driven to move on a horizontal plane. The servo motors A1-4 drive the winding drums A1-3 to rotate through the reduction boxes 1-5, the flexible cables A1-8 are driven to retract and release, the flexible cables A1-8 drive the cable driving device 2 to move up and down, and in addition, the linear sliding blocks 3-6 are matched with the linear guide rails 3-2 to play a guiding role. Thereby realizing the adjustment of the spatial position of the printing nozzle 6. The 3D printing function is realized.
The operating principle of the cable drive 2 is: the servo motors B2-28 drive the gears E2-27 to rotate, the gears E2-27 are meshed with the gears D2-25 to drive the worms 2-24 to rotate, and the worm wheels 2-23 and the worms 2-24 are matched to rotate. The worm wheel 2-23 drives the gear B2-9 to rotate through the transmission shaft 2-8, the gear B2-9 simultaneously makes meshing motion with the gear A2-7 and the gear C2-12 to drive the drum shaft A2-6 and the drum shaft B2-11 to rotate, and therefore the drum A2-3 and the drum B2-19 are driven to rotate to complete winding and unwinding of the flexible cable B5.
When the tower frame 1 needs to move for azimuth adjustment, the hand wheel 4-2 is rotated, the screw rod 4-3 drives the supporting steel foot 4-4 to rise, the height of the tower seat body 4-1 is reduced, and the universal wheel 4-5 lands. The tower 2 can then be pushed directly to move in a plane. When the tower 1 moves to a designated position, the hand wheel 4-2 is rotated, so that the screw rod 4-3 drives the supporting steel foot 4-4 to descend, and the height of the tower seat body 4-1 is raised until the universal wheel 4-5 is lifted off the ground. The position of the tower 2 is adjusted.
The scientific principle of the reconfigurable cable-driven 3D printer is that the 3D printer provided by the invention is essentially a cable-driven parallel robot, namely, the condition of force vector closure is followed, and when the reconfigurable cable-driven 3D printer is in a balanced state and has no action, the flexible cable still bears the action of tension due to the dead weight of the end effector. In this case, the configuration of the flexible cable must be considered comprehensively, and the structure must be designed reasonably, so that the printing nozzle at the tail end can have better movement.
Assuming that n rigid bodies (including a frame) are in total in the invention, if the rigid bodies are connected by m kinematic pairs, and each kinematic pair has fi degrees of freedom, the degree of freedom of the device is calculated as follows:
in the formula: d-degree of freedom of the mechanism;
n-total number of components (including rack);
m is the number of kinematic pairs;
fithe ith kinematic pair has relative freedom
It can be basically determined by solving the calculation formula of the spatial degrees of freedom that the three-degree-of-freedom cable-driven 3D printer, if driven by rigid rods, requires at least 3 rods, so that the end effector has three spatial degrees of freedom. However, because the flexible cable can only bear the tensioned pulling force, the force closure requirement can be met by redundant driving force. In order to meet the requirement of the 3D printer on n-degree-of-freedom movement, n +1 driving forces are necessary, namely n +1 flexible cables are needed. If the number of the driving flexible cables is used for classification, the driving flexible cables can be divided into three types:
A. a fully position-constrained type;
B. under other conditions such as considering the influence of gravity, the number of the flexible cables is less than the number of the standard values;
C. and the number of the flexible cables is excessive and is in an over-complete position constraint type with a standard value.
By resolving a spatial degree of freedom calculation formula of the reconfigurable cable driven type 3D printer, the three-degree-of-freedom printer can be determined, if cable driving is adopted, at least 4 cables are needed, the printing spray head 6 can have spatial 3 degrees of freedom, and the position and posture of the printing spray head 6 in the reconfigurable cable driven type 3D printer provided by the invention are controlled by the constraint of a flexible cable B5 and the up-and-down movement of a movable platform 7. The flexible cable B5 shows certain particularity when driving the rigid body, and the tail end of the actuator is required to keep translational motion and cannot rotate relatively, so that the reconfigurable cable driving type 3D printer provided by the invention realizes posture change by 8 flexible cables B5 and 1 movable platform 7, and can realize that the motion of the rigid body in X, Y, Z three directions can be determined through the analysis of the degrees of freedom and the motion type.
Claims (1)
1. A reconfigurable cable-driven 3D printer, characterized in that: the device comprises a movable platform, wherein an extrusion device is arranged on the movable platform and connected with a printing nozzle, the movable platform is connected with a cable driving device through a flexible cable B, the cable driving device is arranged on a tower frame, and a movable tower base is arranged at the bottom of the tower frame;
the movable platform is connected with the cable driving device through two flexible cables B respectively;
the cable driving device comprises a bottom plate, the upper end of the bottom plate is provided with a pulley support B, the pulley support B is provided with a pulley B, and the pulley B is connected with one end of the flexible cable A; a servo motor B is further arranged on one side face of the bottom plate, a main shaft of the servo motor B is connected with a gear E, the gear E is meshed with a gear D, and the gear D is installed on the worm;
the bottom plate is provided with a supporting plate A and a supporting plate B which are parallel to each other, the supporting plate A and the supporting plate B are both vertical to the surface of the bottom plate, the supporting plate A and the supporting plate B are connected through four supporting rods A which are arranged in parallel, after the two supporting rods B respectively and sequentially penetrate through the supporting plate A and the supporting plate B, the two ends of the two supporting rods B are respectively fixed on the bottom plate through a support;
a gear box is arranged on the supporting plate A, a gear B and a gear C which are sequentially meshed are respectively arranged in the gear box, the gear A is sleeved at one end of a drum shaft A, and the other end of the drum shaft A is sleeved with a drum B;
the gear C is sleeved at one end of the winding drum shaft B, and the other end of the winding drum shaft B is sleeved with the winding drum C;
the gear B is sleeved at one end of the transmission shaft, and the other end of the transmission shaft is provided with a worm wheel which is matched with the worm;
the drum shaft A, the drum shaft B and the transmission shaft are arranged in parallel and sequentially penetrate through the support plate A and the support plate B;
the bottom plate is also provided with a cross beam, the cross beam is perpendicular to the transmission shaft, and two ends of the cross beam are respectively provided with a guide pulley A and a guide pulley B;
the winding drum B and the winding drum C are respectively connected with one end of a flexible cable B, the other ends of the two flexible cables B are connected to the movable platform, the two flexible cables B respectively pass through the guide pulley A and the guide pulley B2, the winding drum B and the guide pulley A correspond to the same flexible cable B, and the winding drum C and the guide pulley B correspond to the same flexible cable B;
the tower is built by a plurality of tower sections which are sequentially connected from bottom to top, a bearing platform is arranged at the top of the tower and is arranged at the upper part of the tower section positioned at the top of the tower, pulley supports A are symmetrically arranged at two ends of the bearing platform respectively, a pulley A is arranged on each pulley support A, the two pulleys A are connected through a flexible cable A, and one end of the flexible cable A is connected to a cable driving device;
the tower further comprises a servo motor A, the servo motor A is arranged on one side of a tower section located at the bottom of the tower and is connected with a reduction gearbox, an output shaft of the reduction gearbox is connected with a winding drum A, and the winding drum A is connected with the other end of the flexible cable A;
the tower sections comprise a cubic frame-shaped base body, two opposite ends of one side surface of the base body are respectively provided with a linear guide rail, the linear guide rails on each tower section on the tower are sequentially spliced to form two linear guide rails, the two linear guide rails are respectively provided with a linear sliding block in a matching manner, and the linear sliding blocks are connected with the cable driving device;
the upper end face of the base body is provided with a tower section protruding part, the lower end face of the base body is provided with a tower section sunken part, and the upper side and the lower side of the left end and the right end of the base body are respectively provided with an ear-shaped protrusion; when two adjacent base members are connected, the tower section concave part at the bottom of the last base member is correspondingly clamped on the tower section convex part at the top of the next base member, the tower section convex part is adapted to the shape of the tower section concave part, and when the two adjacent base members are fixed, the two adjacent base members are fixed by penetrating bolts into lug-shaped bulges on the two adjacent base members.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910138948.6A CN109853958B (en) | 2019-02-25 | 2019-02-25 | Reconfigurable cable driving type 3D printer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910138948.6A CN109853958B (en) | 2019-02-25 | 2019-02-25 | Reconfigurable cable driving type 3D printer |
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| CN109853958A CN109853958A (en) | 2019-06-07 |
| CN109853958B true CN109853958B (en) | 2021-02-12 |
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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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101602209B (en) * | 2009-07-09 | 2011-06-22 | 北京航空航天大学 | Reconfigurable cable-driven parallel manipulator and driving device thereof |
| CN104723554B (en) * | 2015-02-05 | 2017-04-19 | 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 |
| DE102016004275A1 (en) * | 2016-04-07 | 2017-10-12 | Liebherr-Werk Biberach Gmbh | Apparatus, system and method for constructing stationary structures on a work 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 |
| KR101999219B1 (en) * | 2017-08-01 | 2019-07-12 | 세종대학교산학협력단 | Hanging type 3-dimensional printing apparatus |
| CN107696675B (en) * | 2017-09-26 | 2021-03-19 | 合肥工业大学 | Parallel flexible cable driven large-space multifunctional 3D printing robot |
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