CN111169018A - 3D printing equipment, 3D printing system and 3D printing method - Google Patents
3D printing equipment, 3D printing system and 3D printing method Download PDFInfo
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- CN111169018A CN111169018A CN201811349421.XA CN201811349421A CN111169018A CN 111169018 A CN111169018 A CN 111169018A CN 201811349421 A CN201811349421 A CN 201811349421A CN 111169018 A CN111169018 A CN 111169018A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- 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
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- 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
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- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
A3D printing apparatus, a 3D printing system and a 3D printing method, the 3D printing apparatus including: the printing device comprises a travelling mechanism, a printing mechanism, a feeding mechanism and a control mechanism, wherein the printing mechanism is arranged on the travelling mechanism, and the travelling mechanism comprises a positioning device; the printing mechanism comprises a printing nozzle, a nozzle driving and transmission device and a nozzle positioning device, wherein the nozzle positioning device is used for positioning the printing nozzle and compensating the positioning deviation of the printing nozzle. The invention adopts two-stage positioning, the first-stage positioning is controlled within a proper error range by the traveling mechanism, and the second-stage positioning is completed by the nozzle moving module and the positioning deviation compensation module of the printing mechanism, so that accurate positioning is realized. The invention integrates various technical advantages, realizes printing of a large-size structure by a small printer, realizes simultaneous multi-thread printing of various materials, realizes indoor space printing, promotes application and popularization of a 3D printing technology, and reduces comprehensive construction cost.
Description
Technical Field
The invention belongs to the technical field of 3D printing, and particularly relates to 3D printing equipment, a 3D printing system and a 3D printing method.
Background
In the 80 s of the 20 th century, 3D printing began to be researched, and then 3D printing technology was applied to fields such as high-end manufacturing, education, architectural design, medical treatment, aerospace, cultural originality and the like by means of the top technologies of a plurality of subject fields, and shows exciting development prospects. In the book of the third industrial revolution, the british journal of the economic scholars, the 3D printing technology is taken as one of the important marks of the third industrial revolution, and attention of people to 3D printing is attracted. U.S. era weekly journal lists 3D printing as the "ten fastest growing industries in the united states. Data from the Wohlers Associates Shanghai scientific and technical information institute (ISTIS) show that the market size of the 2021 global 3D printing industry will reach $ 109 billion.
In the field of 3D printing of buildings, in 1997, Joseph Pegna, an american scholars, proposed a construction method in which cement materials are accumulated layer by layer and selectively set; in 2001, Behrokh Khoshenevis professor Behrokh university of California, USA proposes a Contour process (Contour navigation), and obtains the subsidy of NASA, and the design concept, the printing process and the derivative process thereof are widely spread and practiced; in 2007, Monolite corporation, UK introduced a new architectural 3D printing technology "D-shape"; in 2008, professor Richard busshell, university of lafutigh, uk, proposed a "concrete printing" process.
At present, the most mature 3D printer, including the 3 kinds of building 3D printing processes, adopts a portal frame or a similar system to carry the spray heads. Gantry systems have 3 major problems:
1. the displacement of the spray head is limited in the frame of the portal frame, which causes that the 3D printer of the portal frame system cannot be larger than the portal frame, and the large-size portal frame has high manufacturing cost and low precision, and even for some building structures, the ultra-large portal frame system which meets the requirements can hardly be manufactured;
2. one set of portal frame system can only carry one printing nozzle, correspondingly, only one material can be printed, and the parallel printing of multiple materials and multiple processes can not be carried out, so that the construction conditions of long construction period, multiple processes and complicated kinds of construction industry can not be met;
3. in view of the working mode of the portal frame system, the printed components cannot be deeply processed, and the building industry still has a plurality of working procedures after finishing the main structure, so that the applicability of the 3D printing technology to the building construction industry is reduced.
For building 3D printing, at present, a spray head is carried on an industrial robot, and then the robot is carried on a walking mechanism such as a crawler, so that the defect that a portal frame type building 3D printer cannot print large-size structures is overcome, but the manufacturing cost of the industrial robot is very high, and a control system is complex. The gantry system adopts the guide rail and the lead screw (or belt transmission) to control the spatial (three-dimensional) position of the spray head, so that the control system is simple, high in precision and low in cost, and has a great advantage for the building industry.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides a 3D printing apparatus, a 3D printing system, and a 3D printing method, so as to solve at least some of the above problems.
In order to achieve the above object, in one aspect, the present invention provides a 3D printing apparatus including: the printing device comprises a travelling mechanism, a printing mechanism, a feeding mechanism and a control mechanism, wherein the printing mechanism is arranged on the travelling mechanism, and the travelling mechanism comprises a positioning device; the printing mechanism comprises a printing nozzle, a nozzle driving and transmission device and a nozzle positioning device, wherein the nozzle positioning device is used for positioning the printing nozzle and compensating the positioning deviation of the printing nozzle.
In some embodiments, the showerhead positioning device includes a showerhead movement module and a positioning deviation compensation module, preferably, the showerhead movement module is a showerhead movement track, preferably, the showerhead movement track includes a first track, a second track, and a third track, each track being non-parallel with respect to each other, preferably, each track being orthogonal with respect to each other.
In some embodiments, one end of the first track is fixedly arranged on the walking mechanism, and the other end of the first track freely stretches and retracts; one end of the second track is mounted on the first track, and the other end of the second track is freely telescopic and can move along the first track in the height direction; the third rail is installed on the second rail, two ends of the third rail are freely telescopic and can move in the first horizontal direction along the second rail, the printing spray head is arranged on the third rail and can move in the second horizontal direction along the third rail, and preferably, the rails are connected through hinges to allow angular displacement between the rails.
In some embodiments, the positioning deviation compensation module includes a spray head position real-time measurement sub-module and a deviation compensation driving sub-module.
In some embodiments, the running mechanism further comprises a driving device, a transmission device and a running device, preferably the running device is of a rail type, a wheel type, a foot type or a crawler type, preferably the running mechanism further comprises a rotating chassis, and the printing mechanism is mounted on the rotating chassis.
In some embodiments, the feeding mechanism comprises a raw material storage container, a printing material further processing bin and a printing material conveying channel, and preferably, the printing material further processing bin and the printing material conveying channel provide continuous printing material processing and transportation for the 3D printing device.
In another aspect, the present invention further provides a 3D printing system, which includes one or more 3D printing apparatuses, and preferably, the plurality of 3D printing apparatuses perform the same or different printing operations.
In another aspect, the present invention further provides a 3D printing method using the 3D printing apparatus, including:
(1) inputting design model parameters;
(2) performing first-level positioning by using a traveling mechanism of the 3D printing equipment, and printing according to the design model parameters;
(3) and (3) performing second-level positioning on the printing nozzle by using the nozzle positioning device, wherein the step comprises the following steps of: measuring the position of the printing nozzle and calculating the position deviation d1 of the nozzle, simultaneously reconstructing a three-dimensional digital model of the entity printed by the printing nozzle to obtain the three-dimensional digital model of the printed entity, calculating the deviation d2 between the design model and the reconstructed three-dimensional digital model, comparing the position deviation d1 of the nozzle and the deviation d2 between the design model and the three-dimensional digital model with corresponding preset values respectively, and repositioning the travelling mechanism, adjusting the printing parameters or printing at the next position according to the comparison result.
In some embodiments, in step (3), if the head position deviation d1 is not within the compensation limit [ d0] of the head positioning device, printing is suspended and the travel mechanism is repositioned to ensure that the head position deviation d1 is within the compensation limit [ d0] of the head positioning device.
In some embodiments, in step (3), if the head position deviation d1 is within the compensation limit value of the head positioning device, continuing to compare the head position deviation d1 with the head position deviation threshold [ d1], simultaneously comparing the deviation d2 between the design model and the three-dimensional digital model with the deviation threshold [ d2], and entering the next working cycle after completing printing of the current position when d1 < [ d1] and d2 < [ d2 ]; if one of d1 or d2 does not satisfy the condition, the printing parameters are adjusted, and then printing is carried out according to the adjusted parameters.
In some embodiments, the printing parameter adjustment includes registration deviation compensation and/or print defect compensation.
Compared with the prior art, the invention has the following beneficial effects:
integrating the advantages of a mobile printer and gantry type printing, and breaking through the technical barrier of difficult positioning of the mobile printer by adopting a compensation positioning mechanism;
printing a large-size structure by using a small printer;
by arranging a plurality of devices, the cooperative printing of a plurality of materials can be realized, the structural design flexibility is improved, the comprehensive utilization efficiency of the materials is improved, the cost is reduced, and the energy conservation and environmental protection are facilitated;
by arranging a plurality of devices, multiple processes can be reasonably performed in parallel, the construction speed is further improved, and the project benefit is improved;
the 3D printing speed is further improved, the construction period is shortened, the construction cost is effectively reduced, and the comprehensive benefits of the project are improved;
in 3D printing of the building, the system can be applied to other processes after the main body structure is finished, such as floor tile paving, wall plastering, wall surface color painting and the like, so that the applicability of a 3D printing technology in the building construction industry is improved, the system can also be applied to 3D printing of other industries, and the same or similar benefits can be obtained.
Drawings
Fig. 1 is a schematic view of a 3D printing apparatus in an embodiment of the present invention;
FIG. 2 is a schematic diagram of each compensation track and compensation space according to an embodiment of the present invention;
FIG. 3 is a flow chart of adaptive closed-loop positioning compensation in an embodiment of the present invention;
FIG. 4 is a building construction automation system in an embodiment of the present invention;
FIG. 5 is a schematic wall printing diagram according to an embodiment of the present invention;
fig. 6 is a schematic view of a wall structure in an embodiment of the present invention.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
The invention integrates the advantages of a portal frame system And a travelling mechanism, makes up for the deficiencies, adopts the travelling mechanism to carry a semi-open portal frame system, combines the SLAM (Simultaneous Localization And Mapping) technology And the positioning technology to carry out positioning compensation, realizes printing of a large-size structure And multi-material printing by using a small printer, can realize multi-process parallelism, can also be applied to other processes after the completion of a main structure, improves the applicability of a 3D printing technology in various industries, further improves the 3D printing speed, shortens the construction period And reduces the cost. Meanwhile, the technology can be applied to 3D printing in industries such as construction, machinery and the like, and can obtain the same or similar benefits.
As shown in fig. 1, the 3D printing apparatus in the embodiment of the present invention includes a traveling mechanism 1, a printing mechanism 2, a feeding mechanism 3, and a control mechanism (not shown in the figure).
The travelling mechanism 1 comprises a driving device, a transmission device, a travelling device and a positioning device and is used for carrying the printing mechanism 2 and the feeding mechanism 3, wherein the driving device is used for providing power for the travelling device and can be a motor and the like. The transmission device is used for transmitting the power of the driving device to the walking device. The positioning device is used for positioning the travelling mechanism 1. The walking mechanism 1 can be of a rail type, a wheel type, a foot type, a crawler type and the like; the walking mechanism 1 can also be additionally provided with a rotating chassis, and then the printing mechanism is arranged on the rotating chassis.
The printing mechanism 2 is used for realizing accurate positioning of the printing nozzle and releasing of printing materials, and comprises the printing nozzle, a nozzle driving and transmission device and a nozzle positioning device. The spray head positioning device is used for positioning the printing spray head and compensating the positioning deviation of the printing spray head. In one embodiment, a showerhead positioning apparatus includes a showerhead movement module and a positioning deviation compensation module.
The feeding mechanism 3 comprises a raw material storage container, a printing material deep processing bin, a printing material conveying channel and the like.
The control mechanism is used for controlling the travelling mechanism 1, the printing mechanism 2 and the feeding mechanism 3 and respectively controlling the travelling, printing, feeding and other operations of the 3D printing equipment.
Based on the characteristics of different printing materials, the printing materials can be processed in real time or processed for standby in advance for a certain time length. The printing material deep processing bin and the printing material conveying channel can provide continuous processing and conveying for the printing equipment instead of traditional pulse type processing and conveying, and particularly when high-strength fast-hardening and fast-setting type printing materials are used in the building industry, continuous feeding is particularly important, because the advanced processing can cause the materials to be hardened and block the printing material conveying channel before being released.
As shown in fig. 2, the head moving module may be a head moving rail including a first rail 21, a second rail 22, and a third rail 23. Wherein, one end of the first track 21 is fixed on the chassis of the walking mechanism, and the other end is freely telescopic; one end of the second track 22 is fixed on a lead screw nut of the first track 21 or a pulley which can slide along the first track 21, and the other end is freely telescopic; the third track 23 is fixed on a lead screw nut of the second track 22 or a pulley capable of sliding along the second track 2, and two ends of the third track freely stretch out and draw back; the print head is fixed to a lead screw nut of the third rail 23 or a carriage that can slide along the third rail 23.
The 3 tracks are telescopic and adapt to working spaces with different scales, and the 3 tracks are not parallel to each other, namely the controlled direction can be a group of bases of a three-dimensional space; preferably, 3 tracks are chosen to be orthogonal two by two. Therefore, the printing nozzle can move freely within the effective working length of 3 tracks, and the full coverage of the whole compensatable space is realized. In one embodiment, the rails may also be connected by hinges to allow angular displacement between the rails.
The positioning deviation compensation module comprises a spray head position real-time measurement submodule and a deviation compensation driving submodule to form a positioning closed-loop system, and self-adaptive accurate positioning is realized.
The spray head position real-time measuring submodule can adopt positioning technologies such as SLAM (Simultaneous Localization and mapping), computer vision positioning (monocular positioning and binocular positioning), UWB (ultra wide band) pulse signals, ultrasonic positioning, inertial navigation positioning, Wi-Fi positioning and Bluetooth positioning.
And the deviation compensation driving submodule performs deviation compensation on the position of the printing spray head according to the deviation of the actual position of the printing spray head and the preset position, which is measured by the spray head position real-time measuring submodule, so as to ensure that the spray head position deviation d1 is within the compensation limit value of the spray head positioning device.
The travelling mechanism can realize the first-level location, can carry on the printing mechanism to realize that the printing mechanism moves in whole printing work space within range, and this is the key that small printer realized large-scale printing, but the elevation direction is excepted, for example, in building printing, when certain floor work, the removal of printing shower nozzle in this floor elevation direction is mainly controlled by printing mechanism's first track 21.
The positioning deviation compensation module can realize the accurate location of second level, carries out real-time compensation to the deviation that the precision that causes owing to first level location causes is not enough, realizes the positioning accuracy of building technical requirement scope.
The invention also provides a 3D printing system comprising the 3D printing device, wherein one or more 3D printing devices are included, and the plurality of 3D printing devices can execute the same or different printing operations.
As shown in fig. 3, the present invention also provides a printing method using the 3D printing apparatus, including:
(1) inputting the model parameters of the design.
In this step, parameters of the designed model, including geometric parameters, material parameters, device kinematic parameters, etc., such as length, width, height of each part of the model, model material type, material compactness, running gear running speed, printing material release speed, etc., may be input into the control mechanism.
(2) Printing according to parameters
In this step, a first-stage positioning is performed by using a traveling mechanism of the 3D printing apparatus, the 3D printing apparatus is positioned at a predetermined position, and then printing is started according to the input model parameters with the predetermined position as a start position. One 3D printing device may be used in this step, or a plurality of 3D printing devices may be used to print simultaneously.
(3) And performing second-stage positioning on the printing nozzle by using the nozzle positioning device, wherein the step comprises the following steps: measuring the position of a printing nozzle and calculating the deviation d1 between the actual position of the nozzle and the preset position of the printing parameters, simultaneously reconstructing a three-dimensional digital model of the printing entity by utilizing techniques such as SLAM and the like, calculating the deviation d2 between the three-dimensional digital model (the printing entity) and a design model, respectively comparing the position deviation d1 of the nozzle and the deviation d2 between the design model and the three-dimensional digital model with corresponding preset values, and performing walking mechanism repositioning, printing parameter adjustment or printing at the next position according to the comparison result.
d1 and d2 are both N-dimensional vectors, for example, d1 is (x, y, z, α, β, θ), where x, y, and z are spatial coordinates of the print head, and α, β, and θ are angles between the print head and three coordinate axes, respectively.
In this step, the real-time position of the print head may be located by using a location technology, such as SLAM technology, and then the head position deviation d1 is calculated according to the predetermined position and the actual position of the print head, or the three-dimensional reconstruction of the print entity may be performed by using SLAM technology, and then the deviation d2 between the designed model and the print entity is calculated according to the characteristic geometric parameters of the designed model and the characteristic geometric parameters corresponding to the print entity.
If the head position deviation d1 is not within the compensation limit [ d0] of the head positioning device, printing is suspended and the traveling mechanism is repositioned to ensure that the head position deviation d1 is within the compensation limit [ d0] of the head positioning device.
If the spray head position deviation d1 is within the compensation limit value of the spray head positioning device, the spray head position deviation d1 is continuously compared with a spray head position deviation threshold value [ d1], meanwhile, the deviation d2 of the design model and the printing entity is compared with a deviation threshold value [ d2], when d1 < [ d1] and d2 < [ d2], the next working cycle is started after the printing of the current position is finished, and as long as one of d1 or d2 does not meet the condition, parameter adjustment is carried out, wherein the parameter adjustment comprises positioning deviation compensation and printing defect compensation, and then the printing is carried out according to the adjusted parameters.
The 3D printing equipment in the embodiment of the invention adopts two-stage positioning, the first-stage positioning is controlled within a proper error range by the travelling mechanism, and the second-stage positioning is completed by three sprayer moving tracks of the printing mechanism and the positioning deviation compensation module, so that accurate positioning is realized.
In the following embodiments of the present invention, the application of the 3D printing apparatus is described by taking architectural 3D printing as an example, but it should be understood that the application of the 3D printing apparatus of the present invention is not limited to architectural 3D printing, and the 3D printing apparatus of the present invention can complete printing of various objects by replacing the printing mechanism and the feeding mechanism. For example, the 3D printing device of the present invention may also be used for metal 3D printing, such as wing printing.
Example 1
As shown in fig. 4, the 3D printing system in the embodiment of the present invention is a building construction automation system, and includes a rebar printing assembly, a contour printing assembly, an SCC filling assembly, a wall painting assembly, a floor tile paving assembly, a water and electricity pipeline assembly, and the like, where the assembly is a complete set of printing construction equipment for the construction process. Each assembly may include one or more 3D printing devices.
In an embodiment of the invention, 3D printing of a building is achieved using the 3D printing system of the invention. As shown in fig. 5 and 6, when the wall is printed, the 3D printing device has a rail-type traveling mechanism, so that the 3D printing device can move along the length direction of the wall, and along with the movement of the traveling mechanism, the printing nozzle also moves correspondingly, so that large-size wall printing is realized. When the printing nozzle moves along with the traveling mechanism, due to self problems of environmental conditions, equipment, control programs and the like, a small deviation larger than the building construction requirement possibly exists between the actual position of the printing nozzle and a preset position at any time, the deviation is measured by the corresponding printing nozzle position real-time measuring submodule in real time and fed back to the deviation compensation driving submodule, and self-adaptive compensation is carried out in a compensation space range by the nozzle moving track until the building construction requirement is met, so that positioning closed-loop control is formed.
For a certain printing layer of a certain wall body, the implementation steps are as follows:
1. the reinforcing steel bar printing assembly is used for printing (or installing modular reinforcing steel bars) reinforcing steel bars with certain height;
2. printing the wall contour by using a contour printing assembly as a template, wherein a contour printing method is adopted;
3. the method comprises the following steps that quick-hardening Self-Compacting Concrete (quick-hardening SCC) is poured into a contour gap by using an SCC filling assembly to form a bearing wall, and whether the quick-hardening SCC is filled or not can be selected according to requirements for a non-bearing wall;
the construction of the quick-hardening self-compacting concrete has the following advantages: self-compacting concrete is free from vibration: the noise can be reduced, the dependence of the concrete quality on the proficiency of a vibrator is reduced, the labor degree is reduced, and the building construction automation degree is favorably improved; the early strength of the quick-hardening self-compacting concrete is high: can meet the requirement of rapid and continuous construction.
4. And repeating the steps to finish the wall printing layer by layer.
After the wall body is printed, the wall body can be subjected to colored drawing by using the wall body colored drawing assembly, and the 3D printing equipment in the wall body colored drawing assembly is similar to an ordinary printer.
Preferably, before the color painting work, the wall plastering work can be performed by using the wall plastering assembly, and the 3D printing equipment in the wall plastering assembly is similar to the 3D printing equipment in the wall color painting assembly. The 3D printing equipment in the floor tile paving assembly is additionally provided with a cutter head, and floor tiles and wall tiles can be cut in a customized manner by combining the SLAM technology; the cutting and installation of water and electricity pipeline can be accomplished to 3D printing apparatus in the water and electricity pipeline assembly.
In each step, a plurality of sets of 3D printing devices can work simultaneously and in parallel.
The invention integrates various technical advantages, realizes printing of a large-size structure by a small printer, realizes simultaneous multi-thread printing of various materials, realizes spatial printing, promotes application and popularization of a 3D printing technology, and reduces the cost of a technical assembly.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A 3D printing device comprising: a traveling mechanism, a printing mechanism, a feeding mechanism, and a control mechanism, wherein the printing mechanism is mounted on the traveling mechanism, and the printing mechanism is characterized in that:
the walking mechanism comprises a positioning device; the printing mechanism comprises a printing nozzle, a nozzle driving and transmission device and a nozzle positioning device, wherein the nozzle positioning device is used for positioning the printing nozzle and compensating the positioning deviation of the printing nozzle.
2. The 3D printing apparatus according to claim 1, wherein the nozzle positioning device comprises a nozzle moving module and a positioning deviation compensation module, preferably the nozzle moving module is a nozzle moving track, preferably the nozzle moving track comprises a first track, a second track and a third track, each track is non-parallel between each two, preferably each track is orthogonal to each other.
3. The 3D printing device according to claim 2, wherein one end of the first rail is fixedly arranged on the travelling mechanism, and the other end of the first rail is freely telescopic; one end of the second track is mounted on the first track, and the other end of the second track is freely telescopic and can move along the first track in the height direction; the third rail is installed on the second rail, two ends of the third rail are freely telescopic and can move in the first horizontal direction along the second rail, the printing spray head is arranged on the third rail and can move in the second horizontal direction along the third rail, and preferably, the rails are connected through hinges to allow angular displacement between the rails.
4. The 3D printing apparatus of claim 2, wherein the positional deviation compensation module includes a jet position real-time measurement sub-module and a deviation compensation drive sub-module.
5. The 3D printing apparatus according to claim 1, wherein the walking mechanism further comprises a drive, a transmission, and a walking device, preferably the walking device is of a rail type, a wheel type, a foot type, or a crawler type, preferably the walking mechanism further comprises a rotating chassis on which the printing mechanism is mounted.
6. The 3D printing device according to claim 1, wherein the feeding mechanism comprises a raw material storage container, a printing material further processing bin and a printing material transport channel, preferably the printing material further processing bin and the printing material transport channel provide continuous printing material processing and transport for the 3D printing device.
7. A3D printing system comprising one or more 3D printing devices according to any of claims 1-6, preferably wherein the plurality of 3D printing devices perform the same or different printing operations.
8. A 3D printing method using the 3D printing apparatus of any one of claims 1-6, comprising:
(1) inputting design model parameters;
(2) performing first-level positioning by using a traveling mechanism of the 3D printing equipment, and printing according to the design model parameters;
(3) and (3) performing second-level positioning on the printing nozzle by using the nozzle positioning device, wherein the step comprises the following steps of: measuring the actual position of the printing nozzle and calculating the deviation d1 between the actual position and the designed position of the nozzle, simultaneously reconstructing a three-dimensional digital model of the entity printed by the printing nozzle to obtain a three-dimensional digital model of the printed entity, calculating the deviation d2 between the designed model and the reconstructed three-dimensional digital model, comparing the position deviation d1 of the nozzle and the deviation d2 between the designed model and the three-dimensional digital model with corresponding preset values respectively, and performing the repositioning of the travelling mechanism, the adjustment of printing parameters or the printing at the next position according to the comparison result.
9. The 3D printing method according to claim 8, wherein in step (3), if the head position deviation D1 is not within the compensation limit [ D0] of the head positioning device, printing is suspended and the traveling mechanism is repositioned to ensure that the head position deviation D1 is within the compensation limit [ D0] of the head positioning device.
10. The 3D printing method as claimed in claim 8, wherein, in the step (3), if the head position deviation D1 is within the compensation limit value of the head positioning device, the head position deviation D1 is continuously compared with the head position deviation threshold [ D1], and simultaneously the deviation D2 between the design model and the three-dimensional digital model is compared with the deviation threshold [ D2], and when D1 < [ D1] and D2 < [ D2], the next duty cycle is entered after the printing of the current position is completed; and if one of d1 or d2 does not meet the condition, performing printing parameter adjustment, and then performing printing according to the adjusted parameters, wherein the printing parameter adjustment preferably comprises positioning deviation compensation and/or printing defect compensation.
Priority Applications (1)
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| CN111923405A (en) * | 2020-08-04 | 2020-11-13 | 砼易测(西安)智能科技有限公司 | Intelligent 3D printing equipment based on three-dimensional reconstruction technology and manufacturing method |
| CN111958751A (en) * | 2020-08-24 | 2020-11-20 | 芜湖匠铸三维科技有限公司 | Movable additive building equipment and using method thereof |
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| CN111169018B (en) | 2021-03-19 |
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