CN112793158A - Butt-joint type underwater 3D printer arranged in parallel from top to bottom - Google Patents

Butt-joint type underwater 3D printer arranged in parallel from top to bottom Download PDF

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Publication number
CN112793158A
CN112793158A CN202011584838.1A CN202011584838A CN112793158A CN 112793158 A CN112793158 A CN 112793158A CN 202011584838 A CN202011584838 A CN 202011584838A CN 112793158 A CN112793158 A CN 112793158A
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CN
China
Prior art keywords
cabin
power
spinning
butt
piston
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Pending
Application number
CN202011584838.1A
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Chinese (zh)
Inventor
曹更玉
展铭望
隋殿杰
王群
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Guangdong University of Petrochemical Technology
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Guangdong University of Petrochemical Technology
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Application filed by Guangdong University of Petrochemical Technology filed Critical Guangdong University of Petrochemical Technology
Priority to CN202011584838.1A priority Critical patent/CN112793158A/en
Publication of CN112793158A publication Critical patent/CN112793158A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • B29C64/227—Driving means
    • 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
    • B29C64/307—Handling of material to be used in additive manufacturing
    • B29C64/321—Feeding
    • 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
    • B29C64/364—Conditioning of environment
    • B29C64/371—Conditioning of environment using an environment other than air, e.g. inert gas
    • 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
    • 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
    • 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
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Ocean & Marine Engineering (AREA)
  • Environmental & Geological Engineering (AREA)

Abstract

The invention discloses an up-down juxtaposed butt-joint type underwater 3D printer, which comprises an advancing power device, a printing device and a control module, wherein the advancing power device is connected with the printing device; the power device comprises a first maneuvering cabin, a power material storage cabin and a power reaction cabin from right to left in sequence; a water supply device is fixedly arranged on the power reaction cabin; a first electric power pushing device is arranged in the first engine room and comprises a first electric cylinder, a first telescopic rod and a first piston; the printing device sequentially comprises a second maneuvering cabin, a spinning agent storage cabin and a spinning cabin from right to left; and a second electric power pushing device is arranged in the second motor cabin and comprises a second electric cylinder, a second telescopic rod and a second piston, and the bottom of the power device and the top of the printing device are detachably and fixedly connected through a butt joint component. The power device and the printing device can be detached and can be butted and separated in a vertical connection and loosening separation mode.

Description

Butt-joint type underwater 3D printer arranged in parallel from top to bottom
Technical Field
The invention relates to the technical field of underwater robots, in particular to an up-down juxtaposed butt-joint type underwater 3D printer.
Background
3D printing is a rapid prototyping technology based on a material accumulation method, can realize rapid construction, and creates a large amount of novel building structures which are difficult to construct and even can not be realized by the traditional building technology. 3D printing was born in the late 80 s of the 20 th century and is also called additive manufacturing and rapid prototyping. The introduction of 3D printing technology brings the construction industry into the digital field, and the possibility of building design and construction is expanded. Compared with the traditional building process, the 3D printing technology has the advantages of short construction period, concise building process, labor intensity reduction, civilized construction promotion and the like.
The invention relates to a 3D printing technology in various fields in China, but the exploration of the underwater 3D printing technology is not started yet, the invention relates to an underwater 3D printer, the 3D printer directly utilizes seawater resources, and a spinning agent in the printer is solidified when meeting seawater to form filaments to form a desired structure.
Disclosure of Invention
The invention aims to provide an up-down juxtaposed butt-joint type underwater 3D printer. The power device and the printing device can be detached and can be butted and separated in a vertical connection and separation loosening manner; because the consumption rates of the power material in the power device and the spinning material in the printing device are different, when one of the power device and the spinning material in the printing device consumes the materials firstly, the materials can be separated in a mode that the butt joint part is separated, the prepared standby power device or the prepared standby spinning material in the printing device can be connected again under water, and then the uninterrupted operation can be continued. The design efficiency is higher than original, and the mobility is stronger. Because the floating-out water surface is not required to be manually replaced, the underwater automatic replacement is adopted, the device is more concealed, and the intelligent degree is higher; the underwater printer can realize underwater 3D printing, and fills the blank of underwater 3D printing in China; the underwater 3D printer can be quickly constructed to be three-dimensional, is suitable for being built in a deep water area, is small in size and is not easy to detect by a radar.
In order to solve the technical problems, the invention adopts the following technical scheme:
an up-down juxtaposed butt-joint type underwater 3D printer comprises a forward power device, a printing device and a control module;
the power device comprises a first maneuvering cabin, a power material storage cabin and a power reaction cabin from right to left in sequence; a water supply device is fixedly arranged on the power reaction cabin;
the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; the tail part of the power reaction cabin is provided with a jet forward propeller;
a first electric power pushing device is arranged in the first engine room and comprises a first electric cylinder, a first telescopic rod and a first piston, the first piston is arranged on the left side of the first electric cylinder, the first electric cylinder is fixedly connected with the end face of the right side of the first piston through the first telescopic rod, and the end face of the left side of the first piston props against the power material in the power material storage room;
the control module is fixed on the power device;
the printing device sequentially comprises a second maneuvering cabin, a spinning agent storage cabin and a spinning cabin from right to left;
the spinning cabin is separated from the spinning agent storage cabin by a partition plate, and the spinning agent in the spinning agent storage cabin can be sprayed into the spinning cabin; the left side of the spinning cabin is provided with an opening;
a second electric power pushing device is arranged in the second motor cabin and comprises a second electric cylinder, a second telescopic rod and a second piston, the second piston is arranged on the left side of the second electric cylinder, the second electric cylinder is fixedly connected with the right end face of the second piston through the second telescopic rod, and the left end face of the second piston props against the spinning agent in the spinning agent storage cabin;
the bottom of the power device is detachably and fixedly connected with the top of the printing device through a butt joint component.
According to some embodiments of the invention, the docking component comprises: the butt joint probe and the clamp are arranged outside the bottom of the power device; the butt joint probe interface and the clamping flange are arranged outside the printing device; the shape of the butt joint probe is matched and attached with that of the interface of the butt joint probe, and the clamp holder and the clamp flange are matched with each other and can be disassembled and buckled for connection.
According to some preferred embodiments of the invention, the docking member is provided in at least two between the power unit and the printing unit to ensure the stability of the side-by-side connection.
According to some embodiments of the invention, 4 to 6 water inlet supplementary ports are uniformly arranged on the circumferential wall of the spinning cabin close to the partition plate, and the opening direction of the water inlet supplementary ports is towards the right.
According to some embodiments of the invention, the power material storage compartment comprises a power material outlet valve, the power material outlet valve is positioned on a partition between the power material storage compartment and the power reaction compartment and extends into the power reaction compartment, and the power material storage compartment is filled with power material; the spinning agent storage cabin comprises a spinning nozzle, the spinning nozzle is located on a partition plate between the spinning agent storage cabin and the spinning cabin and extends into the spinning cabin, and spinning agent is filled in the spinning agent storage cabin.
According to some embodiments of the invention, the power material outlet valve is a one-way valve.
According to some embodiments of the invention, the power material is a substance that reacts with water and produces gas and/or energy.
In a preferred embodiment, the power material is selected from a gel-like liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances. The power material in the material cabin is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or the sodium metal powder are uniformly suspended in the medium, and are sprayed into the reaction cabin through a power material outlet valve at the rear part of the material cabin to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
According to some embodiments of the invention, the spin agent is selected from carrageenan or alginate fibers or other gel-like liquids that undergo coagulation when exposed to chloride ions.
According to some embodiments of the invention, the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module.
Any range recited herein is intended to include the endpoints and any number between the endpoints and any subrange subsumed therein or defined therein.
The starting materials of the present invention are commercially available, unless otherwise specified, and the equipment used in the present invention may be any equipment conventionally used in the art or may be any equipment known in the art.
Compared with the prior art, the invention has the following beneficial effects:
the power device and the printing device can be detached and are butted and separated in a mode of clamping connection from top to bottom and loosening separation; because the spinning material in the printing device and the power material in the power device are consumed at different rates, when one of the spinning material and the power material in the power device consumes the materials firstly, the spinning material and the power material can be separated in a clamping and releasing mode, the spinning material and the power material can be connected again in a standby power device or a printing device which is prepared under water, and then the continuous operation can be continued. The design efficiency is higher than original, and the mobility is stronger. Because do not need to emerge the artifical change of surface of water, but adopt automatic change under water, more hidden, intelligent degree is higher.
Drawings
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings
FIG. 1 is a schematic cross-sectional view of an underwater printer of the present invention;
FIG. 2 is a schematic top view of the underwater printer of the present invention;
FIG. 3 is a schematic side view of the underwater printer of the present invention;
FIG. 4 is a schematic rear view of the underwater printer of the present invention;
fig. 5 is a schematic view of the docking port deployment of the power unit and printing unit of the present invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5, as one aspect of the present invention, an up-down juxtaposed docking type underwater 3D printer includes a forward power device 100, a printing device 200, and a control module 300;
the power device 100 comprises a first maneuvering cabin 110, a power material storage cabin 120 and a power reaction cabin 130 from right to left; a water supply device 140 is fixedly arranged on the power reaction cabin 130;
the power reaction cabin 130 and the power material storage cabin 120 are separated by a partition plate, and the power material 121 in the power material storage cabin 120 can enter the power reaction cabin 130; a jet forward propeller 131 is arranged at the tail part of the power reaction cabin 130;
a first electric power propulsion device 111 is arranged in the first engine compartment 110, the first electric power propulsion device 111 comprises a first electric cylinder 112, a first telescopic rod 113 and a first piston 114, the first piston 114 is arranged on the left side of the first electric cylinder 112, the first electric cylinder 112 is fixedly connected with the right end face of the first piston 114 through the first telescopic rod 113, and the left end face of the first piston 114 props against the power material 121 in the power material storage compartment 120;
the control module 300 is fixed on the power device 100;
the printing device 200 comprises a second maneuvering cabin 210, a spinning agent storage cabin 220 and a spinning cabin 230 from right to left in sequence;
the spinning cabin 230 is separated from the spinning agent storage cabin 220 by a partition plate, and the spinning agent 221 in the spinning agent storage cabin 220 can be sprayed into the spinning cabin 230; the left side of the spinning cabin 230 is provided with an opening;
a second electric power propulsion device 211 is arranged in the second motorized cabin 210, the second electric power propulsion device 211 comprises a second electric cylinder 212, a second telescopic rod 213 and a second piston 214, the second piston 214 is arranged on the left side of the second electric cylinder 212, the second electric cylinder 212 is fixedly connected with the right end face of the second piston 214 through the second telescopic rod 213, and the left end face of the second piston 214 abuts against the spinning agent 221 in the spinning agent storage cabin 220;
the bottom of the power device 100 and the top of the printing device 200 are detachably and fixedly connected through a docking member 400. It can be understood that the detachable fixing manner of the power device 100 and the printing device 200 can adopt the existing bolt fixing manner, etc., in order to facilitate the separation between the power device and the printing device; the docking component 400 of the present application includes: a docking probe 401 and a holder 402 disposed outside the bottom of the power unit 100; and a docking probe interface 403 and a clamping flange 404 disposed outside the printing apparatus 200; the shape of the butt joint probe 401 is matched with that of the butt joint probe interface 403, and the clamp holder 402 is matched with the clamp flange 404 and can be detachably buckled and connected with the clamp flange 404. In order to better facilitate the access of the docking probe 401 into the docking probe interface 403, the opening of the docking probe interface 403 is provided with a tapered groove 405, and correspondingly, the root of the docking probe 401 is provided with a tapered seat 406 which can be matched and attached with the tapered groove 405.
In a preferred embodiment, two docking parts 400 are provided between the front and rear ends of the power unit 100 and the printing apparatus 200 to ensure the stability of the parallel connection.
In one embodiment, 4 to 6 water inlet supplement ports 231 are uniformly arranged on the circumferential wall of the spinning chamber 230 close to the partition plate, and the opening direction of the water inlet supplement ports 231 is towards the right. It can be understood that, because the left side of the spinning chamber 230 is provided with the opening, when the underwater printer of the present invention operates underwater, a certain vortex is generated when water flows into the spinning chamber 230 from the left side, so that a printing structure formed by the spinning agent 221 ejected from the spinning nozzle 222 is influenced to a certain extent, therefore, the water inlet supplement port 231 is provided, and because the opening of the water inlet supplement port 231 is inclined to the right, in the process of sailing the underwater printer to the right, the external water flows more easily enter the spinning chamber 230 from the direction of the opposite water inlet supplement port 231, so that the spinning agent 221 is in contact with water for solidification and molding.
In one embodiment, the power material storage compartment 120 comprises a power material outlet valve 122, the power material outlet valve 122 is located on a partition between the power material storage compartment 120 and the power reaction compartment 130 and extends into the power reaction compartment 130, and the power material storage compartment 120 contains power material 121; the spinning agent storage compartment 220 comprises a spinning nozzle 222, the spinning nozzle 222 is positioned on a partition plate between the spinning agent storage compartment 220 and the spinning compartment 230 and extends into the spinning compartment 230, and the spinning agent storage compartment 220 is filled with spinning agent 221.
In one embodiment, the power material outlet valve 122 is a one-way valve.
In one embodiment, the power material 121 is a substance that reacts with water and produces gas and/or energy.
In one embodiment, the power material 121 is selected from a gel-like liquid of sodium metal particles or sodium metal powder with kerosene or other non-reactive oil-type substances. The power material in the material cabin is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or the sodium metal powder are uniformly suspended in the medium, and are sprayed into the reaction cabin through a power material outlet valve at the rear part of the material cabin to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
In one embodiment, the spinning agent 221 is selected from carrageenan or alginate fibers or other gel-like liquids that undergo coagulation when exposed to chloride-containing ions.
In one embodiment, the control module 300 includes an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module, and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module.
The working principle of the up-down juxtaposed butt-joint type underwater 3D printer is as follows:
referring to fig. 1 to 5, the underwater printer of the present invention has no initial power, can be carried by a surface vessel, a submarine, an airplane, etc., and is transmitted to a predetermined position when in use, and receives an instruction through an environment sensor in a control module 300; opening the first electric cylinder 112, pushing the first connecting rod 113, then pushing the first piston 114 to extrude the power material 121 in the power material storage cabin 120, opening the one-way valve 122 between the power reaction cabin 130 and the power material storage cabin 120, and allowing the power material 121, namely the sodium metal particles or the sodium metal powder and kerosene or other non-reactive gelatinous liquid of oil substances to enter the power reaction cabin 130; the water supply valve 140 on the power device 100 is opened and then enters water into the power reaction cabin 130, the water and the power materials are mixed and react with the power materials 121 entering from the power material storage cabin 120, gas is released, a large amount of pressure is generated, the jet propeller 131 is opened at the moment, so that the gas-water mixed liquid is sprayed outwards through the jet propeller 131, the underwater vehicle is rapidly pushed to advance, and the process is circulated, so that the underwater vehicle has continuous advancing power even without external force. After the reaction occurs in the power reaction chamber 130 to generate gas and pressure, the jet propeller 131 is closed, so that the underwater printer can stop moving forward.
The spinning nozzle 222 between the spinning cabin 230 and the spinning agent storage cabin 220 is opened, the spinning agent 221 is filled in the spinning agent storage cabin 220, when the underwater unmanned aircraft continuously advances, the second electric cylinder 212 drives the second telescopic rod 213 to drive the second piston 214 to extrude the spinning agent 221 in the spinning agent storage cabin 220 and spray the spinning agent 221 into the spinning cabin 230 through the spinning nozzle 222, water enters the spinning cabin 230 through the left opening and the water inlet supplement port 231, so that the water enters the spinning cabin 230 and is mixed and solidified with the spinning agent 221 entering from the spinning agent storage cabin 220, and a three-dimensional solid structure is quickly constructed.
After the power material 121 in the power material storage compartment 120 or the spinning agent 221 in the spinning agent storage compartment 220 is used up, the docking component 400 is controlled to open the connection between the power device 100 and the printing device 200 by releasing the clamping flange 404 and the clamp 402; then the power device 100 or the printing device 200 filled with the power material 121 or the spinning agent 221 is used for corresponding replacement; it can be understood that these replacement components can come from an underwater carrier, thereby realizing the continuous printing under water;
the control module 300 adjusts the state, forward, backward, up-down floating speed and information transmission function of the underwater vehicle by means of an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery.
The power device and the printing device can be detached and are butted and separated in a mode of clamping connection from top to bottom and loosening separation; because the spinning material in the printing device and the power material in the power device are consumed at different rates, when one of the spinning material and the power material in the power device consumes the materials firstly, the spinning material and the power material can be separated in a clamping and releasing mode, the spinning material and the power material can be connected again in a standby power device or a printing device which is prepared under water, and then the continuous operation can be continued. The design efficiency is higher than original, and the mobility is stronger. Because do not need to emerge the artifical change of surface of water, but adopt automatic change under water, more hidden, intelligent degree is higher.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.

Claims (10)

1. An up-down juxtaposed butt-joint type underwater 3D printer is characterized by comprising a forward power device, a printing device and a control module;
the power device comprises a first maneuvering cabin, a power material storage cabin and a power reaction cabin from right to left in sequence; a water supply device is fixedly arranged on the power reaction cabin;
the power reaction cabin is separated from the power material storage cabin by a partition plate, and power materials in the power material storage cabin can enter the power reaction cabin; the tail part of the power reaction cabin is provided with a jet forward propeller;
a first electric power pushing device is arranged in the first engine room and comprises a first electric cylinder, a first telescopic rod and a first piston, the first piston is arranged on the left side of the first electric cylinder, the first electric cylinder is fixedly connected with the end face of the right side of the first piston through the first telescopic rod, and the end face of the left side of the first piston props against the power material in the power material storage room;
the control module is fixed on the power device;
the printing device sequentially comprises a second maneuvering cabin, a spinning agent storage cabin and a spinning cabin from right to left;
the spinning cabin is separated from the spinning agent storage cabin by a partition plate, and the spinning agent in the spinning agent storage cabin can be sprayed into the spinning cabin; the left side of the spinning cabin is provided with an opening;
a second electric power pushing device is arranged in the second motor cabin and comprises a second electric cylinder, a second telescopic rod and a second piston, the second piston is arranged on the left side of the second electric cylinder, the second electric cylinder is fixedly connected with the right end face of the second piston through the second telescopic rod, and the left end face of the second piston props against the spinning agent in the spinning agent storage cabin;
the bottom of the power device is detachably and fixedly connected with the top of the printing device through a butt joint component.
2. The top-bottom juxtaposed butt type underwater 3D printer according to claim 1, characterized in that: the docking component includes: the butt joint probe and the clamp are arranged outside the bottom of the power device; the butt joint probe interface and the clamping flange are arranged outside the printing device; the shape of the butt joint probe is matched and attached with that of the interface of the butt joint probe, and the clamp holder and the clamp flange are matched with each other and can be disassembled and buckled for connection.
3. The top-bottom juxtaposed butt type underwater 3D printer according to claim 1, characterized in that: the butt joint component is arranged between the power device and the printing device in at least two numbers.
4. The top-bottom juxtaposed butt type underwater 3D printer according to claim 1, characterized in that: 4-6 water inlet supplementary ports are uniformly arranged on the circumferential wall of the spinning cabin close to the partition plate, and the opening direction of the water inlet supplementary ports is towards the right.
5. The top-bottom juxtaposed butt type underwater 3D printer according to claim 1, characterized in that: the power material storage cabin comprises a power material outlet valve, the power material outlet valve is positioned on a partition plate between the power material storage cabin and the power reaction cabin and extends into the power reaction cabin, and power materials are filled in the power material storage cabin; the spinning agent storage cabin comprises a spinning nozzle, the spinning nozzle is located on a partition plate between the spinning agent storage cabin and the spinning cabin and extends into the spinning cabin, and spinning agent is filled in the spinning agent storage cabin.
6. The top-bottom juxtaposed butt type underwater 3D printer according to claim 5, characterized in that: and the power material outlet valve is a one-way valve.
7. The top-bottom juxtaposed butt type underwater 3D printer according to claim 5, characterized in that: the power material is a substance that reacts with water and generates gas and/or energy.
8. The top-bottom juxtaposed butt type underwater 3D printer according to claim 7, characterized in that: the power material is selected from a gelatinous liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances. The power material in the material cabin is a gel liquid formed by sodium metal particles or sodium metal powder and kerosene or other non-reactive oil substances, the sodium metal particles or the sodium metal powder are uniformly suspended in the medium, and are sprayed into the reaction cabin through a power material outlet valve at the rear part of the material cabin to react with water to generate gas and/or energy which is used as the motion energy of the underwater vehicle.
9. The top-bottom juxtaposed butt type underwater 3D printer according to claim 5, characterized in that: the spinning agent is selected from carrageenan or alginic acid fiber or other gel-like liquid which can generate coagulation when meeting chloride ions.
10. The top-bottom juxtaposed butt type underwater 3D printer according to claim 1, characterized in that: the control module comprises an environment sensor, a depth sensor, a temperature sensor, a controller, a main control board, an energy management board, a radio station component, a positioning module, an attitude sensor module, an electronic compass module and a battery; the environment sensor, the depth sensor, the temperature sensor, the controller, the main control panel, the energy management panel, the radio station component, the positioning module, the attitude sensor module, the electronic compass module and the battery are all arranged in the control module.
CN202011584838.1A 2020-12-28 2020-12-28 Butt-joint type underwater 3D printer arranged in parallel from top to bottom Pending CN112793158A (en)

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CN202011584838.1A CN112793158A (en) 2020-12-28 2020-12-28 Butt-joint type underwater 3D printer arranged in parallel from top to bottom

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CN202011584838.1A CN112793158A (en) 2020-12-28 2020-12-28 Butt-joint type underwater 3D printer arranged in parallel from top to bottom

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CN112793158A true CN112793158A (en) 2021-05-14

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Application publication date: 20210514