CN115056491A - Electrical control system and method for nonmetal fused deposition material increase and decrease 3D printing equipment - Google Patents
Electrical control system and method for nonmetal fused deposition material increase and decrease 3D printing equipment Download PDFInfo
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- CN115056491A CN115056491A CN202210647161.4A CN202210647161A CN115056491A CN 115056491 A CN115056491 A CN 115056491A CN 202210647161 A CN202210647161 A CN 202210647161A CN 115056491 A CN115056491 A CN 115056491A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000008021 deposition Effects 0.000 title claims abstract description 32
- 238000010146 3D printing Methods 0.000 title claims abstract description 25
- 229910052755 nonmetal Inorganic materials 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 title claims description 52
- 230000007423 decrease Effects 0.000 title claims description 5
- 238000007639 printing Methods 0.000 claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000010438 heat treatment Methods 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 18
- 238000010009 beating Methods 0.000 claims abstract description 9
- 238000001179 sorption measurement Methods 0.000 claims description 22
- 238000005491 wire drawing Methods 0.000 claims description 20
- 238000007599 discharging Methods 0.000 claims description 12
- 239000002994 raw material Substances 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 239000000758 substrate Substances 0.000 claims description 7
- 239000000654 additive Substances 0.000 claims description 4
- 230000000996 additive effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 12
- 230000002265 prevention Effects 0.000 description 10
- 238000001125 extrusion Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 238000000465 moulding Methods 0.000 description 4
- 239000004677 Nylon Substances 0.000 description 3
- 238000001035 drying Methods 0.000 description 3
- 230000009191 jumping Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 229920001778 nylon Polymers 0.000 description 3
- 239000004676 acrylonitrile butadiene styrene Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000012943 hotmelt Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 239000001993 wax Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000012188 paraffin wax Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
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Classifications
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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
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
-
- 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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
Abstract
The invention discloses an electrical control system and method for non-metal fused deposition material-increasing and material-decreasing 3D printing equipment, and the electrical control system comprises a control module and a material-increasing system, wherein the material-increasing system comprises a beating mechanism and a heating module arranged in a printing cavity, the control module is used for controlling the heating module to heat the printing cavity, simultaneously controlling a printing head to process according to a preset model program to be processed, and simultaneously controlling the beating mechanism to beat a processed product along a printing path. The invention can prevent deformation in the process of printing the large model and ensure the quality and stability of the printed finished product.
Description
Technical Field
The invention belongs to the technical field of 3D printing, and particularly relates to an electrical control system and method for non-metal fused deposition material-increasing and material-decreasing 3D printing equipment.
Background
Fused Deposition Modeling (FDM) is a method for heating and fusing various hot-melt filament materials (wax, ABS, nylon, etc.), and is one of 3D printing technologies. The hot melt material is extruded through the nozzle and then fused to the previous layer. After deposition of one layer is completed, the table is lowered by one layer thickness in predetermined increments and melt blown deposition is continued until the entire solid part is completed.
Fused deposition modeling technology is basically mature, and most FDM equipment has the following characteristics:
(1) the equipment works in a numerical control mode, the rigidity is good, and the operation is stable;
(2) x, Y shaft is driven by a precise servo motor and is driven by a precise ball screw;
(3) filling the interior of the entity with a grid path to ensure that the quality of the prototype surface is higher;
(4) automatic inspection and repair can be realized on the STL format file;
(5) the width of the wire is automatically compensated, so that the precision of the part is ensured;
(6) the extrusion spray nozzle has no slobbering and high response;
(7) the remote wire feeding mechanism controlled by the precise micro-pump pressurization system ensures the continuity and stability of the wire feeding process.
The fused deposition modeling technique can be widely applied mainly because it has the advantages that other rapid modeling techniques do not have, and is characterized by the following aspects:
(1) the molding material is wide, the variety of materials applied by the fused deposition molding technology is wide, and the materials mainly comprise materials with lower melting points, such as PLA, ABS, nylon, paraffin, casting wax, artificial rubber and the like, and wires, such as low-melting-point metal, ceramic and the like, which can be used for manufacturing model parts of metal materials or parts and products, such as PLA plastics, nylon and the like;
(2) the cost is relatively low, because the fused deposition modeling technology does not use laser, compared with other rapid modeling technologies using lasers, the manufacturing cost is very low; in addition, the raw material utilization rate is high, no pollution is generated, no chemical change occurs in the molding process, and the molding cost is reduced to a great extent;
(3) the post-treatment process is simple, the support structure adopted by the fused deposition molding technology is easy to remove, particularly, the deformation of the model is small, the support structure of the prototype part can be directly used only by simple stripping, and the support structure is easier to strip by the existing water-soluble support material.
Of course, fused deposition modeling has certain disadvantages compared to other rapid prototyping processes in the following areas:
(1) the method is only suitable for manufacturing small and medium-sized model parts;
(2) the surface stripes of the formed part are obvious;
(3) the structural strength in the thickness direction is weak because the extruded filaments are layered in a molten state and the adhesion between adjacent section profile layers is limited, so that the structural strength of the molded article in the thickness direction is weak.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an electrical control system and method for non-metal fused deposition material-increasing and material-decreasing 3D printing equipment, which are used for solving the technical problems.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the utility model provides a nonmetal fused deposition increases and decreases material 3D printing apparatus electrical control system, includes control module and vibration material disk system, vibration material disk system is including patting mechanism and the heating module of setting in printing the cavity, control module is used for control heating module heating prints the cavity, and simultaneous control beats printer head and processes according to predetermined model program of treating processing, simultaneous control patting mechanism beats the product of processing along printing the route.
Furthermore, the material increase system further comprises an anti-wire-drawing mechanism arranged on the printing head, and when the printing head jumps, the control module is used for controlling the anti-wire-drawing mechanism to seal the printing head.
Further, the material adding system further comprises a vacuum adsorption mechanism, and the control module is used for controlling the vacuum adsorption mechanism to carry out vacuum adsorption on the printing substrate.
Furthermore, the material increase system also comprises a laser ranging module, and the control module is used for controlling the laser ranging module to measure the height of the processed product.
Further, the material adding system further comprises a feeding and discharging system, and the control module is used for controlling the feeding and discharging system to add raw materials into the printing cavity.
Further, the electrical control system further comprises a material reducing system, and the control module is further used for controlling the material reducing system to perform material reducing treatment on the product after the material adding machining is completed.
The electric control method for the non-metal fused deposition material increasing and decreasing 3D printing equipment is based on the control system and comprises the following steps that during printing, the control module controls the heating module to heat the printing cavity, the printing head is controlled to process according to a preset model program to be processed, and the beating mechanism is controlled to beat processed products along a printing path.
Further, the control module controls the wire drawing prevention mechanism to plug the printing head when the printing head jumps.
Further, the printing device further comprises a control module which controls the vacuum adsorption mechanism to carry out vacuum adsorption on the printing substrate during printing.
Further, the method also comprises the step that the control module controls the laser ranging module to measure the height of the processed product during printing.
Compared with the prior art, the invention has at least the following beneficial effects:
when the automatic tapping machine is used for printing, the control module controls the heating module to heat the printing cavity, controls the printing head to process according to a preset model program to be processed, and controls the tapping mechanism to tap a processed product along a printing path. Heating the printing cavity by using the heating module, keeping the temperature in the cavity at a set temperature, and preventing deformation in the process of printing the large model; utilize patting mechanism to pat the printing route and compress tightly, ensure to print off-the-shelf quality and steadiness.
Further, when beating printer head and jumping, control module control prevents that wire drawing mechanism carries out the shutoff to printer head, prevents the design of drawing wire, utilizes the cylinder flexible to control opening and shutting of extruding the head, prevents to print the wire drawing phenomenon of in-process, provides convenience for post processing.
Further, when printing, control module control vacuum adsorption mechanism carries out vacuum adsorption to printing the base plate, utilizes vacuum adsorption mechanism promptly, can guarantee to print the stability of in-process work piece base.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic block diagram of an electrical control system of a non-metal fused deposition material-increasing and material-decreasing 3D printing device according to the invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As a specific embodiment of the present invention, as shown in fig. 1, an electrical control system of a non-metal fused deposition material-increasing and material-decreasing 3D printing apparatus includes a control module, a material-increasing system and a material-decreasing system, where the material-increasing system includes a beating mechanism, a heating module disposed in a printing cavity, a wire-drawing prevention mechanism disposed on a printing head, a vacuum adsorption mechanism, a laser ranging module, and a feeding and discharging system. During printing, the control module is used for controlling the vacuum adsorption mechanism to carry out vacuum adsorption on the printing substrate, the control module is used for controlling the feeding and discharging system to add raw materials into the printing cavity, the control module is used for controlling the heating module to heat the printing cavity, meanwhile, the printing head is controlled to process according to a preset model program to be processed, and meanwhile, the patting mechanism is controlled to pat processed products along a printing path; the control module is used for controlling the laser ranging module to measure the height of the processed product; when the printing head jumps, the control module is used for controlling the wire-drawing prevention mechanism to plug the printing head. When the additive printing is finished, the control module is also used for controlling the material reducing system to perform material reducing treatment on the product which is subjected to additive processing.
The invention discloses an electrical control method of non-metal fused deposition material-increasing and material-decreasing 3D printing equipment, which is based on a control system provided by the invention and comprises the following steps: when printing, control module control vacuum adsorption mechanism carries out vacuum adsorption to printing the base plate, prevents that printing the base plate and printing the removal on the way and lead to printing the effect unsatisfactory. The control module controls the feeding and discharging system to add raw materials into the printing cavity, the control module controls the heating module to heat the printing cavity, the printing head is controlled to process according to a preset model program to be processed, the patting mechanism is controlled to pat a processed product along a printing path, and the control module controls the laser ranging module to perform height measurement on the processed product. When the printing head jumps, the control module controls the wire drawing prevention mechanism to plug the printing head, so that the phenomenon of wire drawing of heated raw materials is prevented.
The following explains the electrical control system and control method of the non-metal fused deposition material-increasing and-decreasing 3D printing apparatus in more detail.
The electrical control system of the nonmetal fused deposition material-increasing and material-decreasing 3D printing equipment is characterized in that each execution unit is controlled by a control module, two five-axis control channels (a material-increasing channel and a material-decreasing channel) are arranged in the control module, the material-increasing system and the material-decreasing system can be respectively controlled according to channel selection, and the material-decreasing system is a conventional five-axis milling machine and is used for processing a model printed by the material-increasing system.
The vibration material disk system mainly includes feed shaft, main shaft, patting mechanism, automatic unloading system of going up, sets up the wire drawing mechanism of preventing on beating printer head, sets up heating module, laser rangefinder module and the vacuum adsorption mechanism in printing the cavity, wherein:
the feed shaft mainly comprises a motion shaft of X, Y, Z shafts, the path track is controlled through 3 shaft directions, the main shaft has two extrusion shafts E1 and E2, and when a model is printed, the speed F of the main shaft is linearly proportional to the speed n of the main shaft.
The automatic feeding and discharging system can automatically store materials in the feeding bin into the drying machine after being opened, when the extruding bin is short of materials, the system controls to convey raw materials in the drying machine to the discharging bin, and the materials in the discharging bin are heated and melted and extruded by the main shaft.
The flapping mechanism is driven by a direct current motor, the rotating speed of the motor is adjustable, the motor is controlled to compact the extruded material according to a certain frequency, and the compactness of the printing model and the structural strength in the thickness direction are guaranteed.
The wire drawing prevention mechanism is driven by the air cylinder and is mainly used when jumping in the printing process, so that the melted materials in the printing head are prevented from being adhered to the model after the printing jumping or the printing is finished.
The heating module mainly comprises a heating module and a heating module, wherein the heating module heats the printing cavity and the printing head, the heating function is started, the operation interface can display and set the temperature, and the temperature is regulated by a temperature controller PID. The laser ranging module feeds back the distance between the laser ranging module and the substrate to the control module through 485 communication, and the control module can judge the printing progress by using the data, so that the printing time can be estimated, and the management is convenient.
After the vacuum adsorption mechanism is opened, the workpiece is adsorbed on the printing substrate in the printing process, the wire drawing mechanism is prevented in cooperation at the moment, the stability of the equipment printing process can be improved, and the printing effect is not ideal due to the fact that the workpiece is prevented from moving on the way.
The invention discloses an electrical control method for nonmetal fused deposition material increase and decrease 3D printing equipment, which comprises the following steps:
s1, manually pouring raw materials into the feeding bin, starting a feeding function on an operation interface of the numerical control system, and automatically sucking and drying the raw materials by the dryer at the moment; at the moment, if the discharging bin has no material, the system blows the automatic control electromagnetic valve and conveys the drier material into the discharging bin.
S2, setting the heating temperature of the printing cavity and the printing head and starting the heating function on the interface, carrying out PID adjustment heating by the control module according to the set temperature and the feedback of the heating module (thermocouple), and controlling the control module to maintain the current temperature when the heating temperature reaches the set temperature.
S3, selecting a large printing head/a small printing head on the interface according to the size of the printing model, wherein the small printing head is lower than the large printing head under the default condition, and the small printing head automatically rises to a position higher than the large printing head when the large printing head is selected; when a small print head is selected, the default position is restored.
And S4, converting the model into a G code by using slicing software, importing the G code into a control system, switching the channel mode of the control module to an additive channel, selecting an automatic mode, clicking a start button, and automatically operating the system according to the G code.
S5, when printing is started, the vacuum adsorption mechanism and the beating mechanism are automatically started, the shaft starts to act after the shaft is opened, the speed of the extrusion shaft is matched with that of the feeding shaft in real time, the extrusion shaft is automatically associated with the wire drawing prevention mechanism, when the extrusion shaft rotates, the wire drawing prevention mechanism is automatically opened, and when the extrusion shaft stops, the wire drawing prevention mechanism is closed; in the process of printing the model, when the point needing to jump is encountered, the extrusion shaft is stopped, the wire drawing prevention mechanism is closed, and the wire drawing prevention mechanism is automatically started after the next printing point is jumped.
And S6, after the model printing is finished, the printing head heating, the automatic feeding system, the beating mechanism and the extrusion shaft stop, and the feeding shaft automatically returns to the original point.
And S7, importing the processing G code into a control system, switching the channel mode of the control module to a material reduction channel, selecting an automatic mode, clicking a start button, and automatically operating the system according to the G code.
And S8, after the machining is finished, automatically closing the vacuum adsorption mechanism, the cavity heating and the main shaft, and automatically returning the feed shaft to the original point, so that the work of the whole control flow is finished.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a nonmetal fused deposition increases and decreases material 3D printing apparatus electrical control system, a serial communication port, including control module and vibration material disk system, vibration material disk system includes beater mechanism and the heating module of setting in printing the cavity, control module is used for control heating module heating prints the cavity, and the simultaneous control beats printer head and processes according to predetermined model program of treating processing, simultaneous control beater mechanism is followed the printing route and is patted the product of having processed.
2. The electrical control system of a non-metal fused deposition material increasing and decreasing 3D printing device according to claim 1, wherein the material increasing system further comprises a wire-drawing preventing mechanism arranged on the printing head, and when the printing head jumps, the control module is used for controlling the wire-drawing preventing mechanism to block the printing head.
3. The electrical control system for the non-metal fused deposition material increasing and decreasing 3D printing equipment according to claim 1, wherein the material increasing system further comprises a vacuum adsorption mechanism, and the control module is used for controlling the vacuum adsorption mechanism to carry out vacuum adsorption on the printing substrate.
4. The electrical control system for the non-metal fused deposition material increasing and decreasing 3D printing equipment according to claim 1, wherein the material increasing system further comprises a laser ranging module, and the control module is used for controlling the laser ranging module to measure the height of the processed product.
5. The electrical control system for the non-metal fused deposition material increasing and decreasing 3D printing equipment as claimed in claim 1, wherein the material increasing system further comprises a material feeding and discharging system, and the control module is used for controlling the material feeding and discharging system to add raw materials into the printing cavity.
6. The electrical control system of a non-metal fused deposition material adding and reducing 3D printing device according to claim 1, wherein the electrical control system further comprises a material reducing system, and the control module is further used for controlling the material reducing system to perform material reducing processing on a product which is subjected to additive processing.
7. An electrical control method for non-metal fused deposition material increase and decrease 3D printing equipment is characterized in that a control system based on any one of claims 1 to 6 comprises the steps that during printing, the control module controls the heating module to heat a printing cavity, meanwhile, a printing head is controlled to process according to a preset model program to be processed, and meanwhile, the beating mechanism is controlled to beat processed products along a printing path.
8. The electrical control method for the non-metal fused deposition material increasing and decreasing 3D printing equipment according to claim 7, further comprising the step of controlling the wire-drawing preventing mechanism to plug the printing head when the printing head jumps.
9. The electrical control method for the non-metal fused deposition material increasing and decreasing 3D printing equipment according to claim 7, further comprising the step of controlling the vacuum adsorption mechanism to carry out vacuum adsorption on the printing substrate by the control module during printing.
10. The electrical control method for the non-metal fused deposition material increasing and decreasing 3D printing equipment according to claim 7, further comprising the step of controlling the laser ranging module to measure the height of the processed product during printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210647161.4A CN115056491A (en) | 2022-06-09 | 2022-06-09 | Electrical control system and method for nonmetal fused deposition material increase and decrease 3D printing equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210647161.4A CN115056491A (en) | 2022-06-09 | 2022-06-09 | Electrical control system and method for nonmetal fused deposition material increase and decrease 3D printing equipment |
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| CN105459397A (en) * | 2015-12-16 | 2016-04-06 | 浙江大学 | Leak-proof spraying head for fused deposition molding of 3D (Three-Dimensional) printer |
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| CN110962337A (en) * | 2019-12-17 | 2020-04-07 | 上海酷鹰机器人科技有限公司 | Method for improving strength between walls in ultra-large fused deposition 3D printing |
| CN112428582A (en) * | 2020-10-30 | 2021-03-02 | 王勇 | 3D printer pumpback prevents drawing wire subassembly based on fused deposition |
| CN112537021A (en) * | 2020-11-10 | 2021-03-23 | 中国科学院力学研究所 | 3D printer for high-performance polymer additive manufacturing and printing method |
-
2022
- 2022-06-09 CN CN202210647161.4A patent/CN115056491A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459397A (en) * | 2015-12-16 | 2016-04-06 | 浙江大学 | Leak-proof spraying head for fused deposition molding of 3D (Three-Dimensional) printer |
| CN109732905A (en) * | 2019-03-18 | 2019-05-10 | 青岛五维智造科技有限公司 | The 3D printer and working method that functionally graded material and molding structure are integrated |
| CN209794559U (en) * | 2019-03-18 | 2019-12-17 | 青岛五维智造科技有限公司 | 3D printer that functional gradient material and shaping structure integration were made |
| CN110962337A (en) * | 2019-12-17 | 2020-04-07 | 上海酷鹰机器人科技有限公司 | Method for improving strength between walls in ultra-large fused deposition 3D printing |
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