CN116277959A - 3D printing device - Google Patents

Abstract

The invention discloses a 3D printing device, which comprises a printing head body and a rope driving mechanism; the rope driving mechanism comprises a mounting frame and rope assemblies, the rope assemblies comprise a take-up reel and ropes, the take-up reel is rotatably arranged on the mounting frame, the ropes are wound on the take-up reel, the two groups of rope assemblies are distributed up and down, and the free ends of the ropes of the two groups of rope assemblies are respectively connected to the top and the bottom of the printing head body; the at least three cable driving mechanisms are arranged at intervals along the circumferential direction of the printing head body; the take-up reel rotates to control the take-up and pay-off length of the rope corresponding to the take-up reel, so that the included angle between the printing head body and the horizontal plane is adjusted. The technical scheme of the invention provides a 3D printing device capable of realizing multi-angle lamination printing.

Description

3D printing device

Technical Field

The invention relates to the technical field of building 3D printing equipment, in particular to a 3D printing device.

Background

The main principle of the large-scale lamination type 3D printing device is that a data file in a computer is converted into printing path data, the printing device reads the 3D printing path data and drives a lamination type 3D printing extrusion head to move, and then 3D printing is controlled. Current large scale building 3D printing devices are typically industrial robots or large scale trusses: the working space of the industrial robot is a circle with a robot base as a circle center, the radius is usually not more than 4m, and the printing range is limited; the large-scale truss mechanism has larger printing operation space, but the equipment is heavy and large in size, is inconvenient to transport, and is difficult to adapt to complex construction site environments.

In order to realize the light weight of a 3D printing device and have the adaptability of complex terrains, the reconfigurable large-molding space cable driving printing device is generated, the conventional reconfigurable large-molding space cable driving printing device is mostly a fixed printing head, the printing head keeps vertical downward and is vertical to the horizontal plane in the whole printing process, and the printing head can only perform vertical and horizontal movement and can only realize horizontal lamination printing, so that multi-angle lamination printing cannot be realized.

Disclosure of Invention

The invention mainly aims to provide a 3D printing device, and aims to provide a 3D printing device capable of realizing multi-angle lamination printing.

In order to achieve the above object, the present invention provides a 3D printing apparatus, comprising:

a printhead body;

the rope driving mechanism comprises a mounting frame and a rope assembly, the rope assembly comprises a take-up reel and a rope, the take-up reel is rotatably arranged on the mounting frame, the rope is wound on the take-up reel, the rope assembly is provided with two groups, the two groups of rope assemblies are distributed up and down, and the free ends of the ropes of the two groups of rope assemblies are respectively connected to the top and the bottom of the printing head body; the cable driving mechanisms are at least three, and the at least three cable driving mechanisms are arranged at intervals along the circumferential direction of the printing head body;

the take-up reel rotates to control the take-up and pay-off length of the rope corresponding to the take-up reel, so that the included angle between the printing head body and the horizontal plane is adjusted.

In an embodiment of the invention, the rope assembly further comprises:

the first guide wheel is rotatably arranged on the mounting frame and positioned between the take-up reel and the printing head body, the first guide wheel is provided with a first penetrating channel, and the rope penetrates through the first penetrating channel.

In an embodiment of the present invention, in the same rope driving mechanism, one of the first guide wheels is located below the other first guide wheel, and the first guide wheel located below can move towards or away from the first guide wheel located above to drive the rope corresponding to the first guide wheel to move.

In an embodiment of the invention, the rope assembly further comprises:

the second guide wheel is rotatably arranged on the mounting frame and positioned between the take-up reel and the first guide wheel, the second guide wheel is provided with a second penetrating channel, and the rope penetrates through the second penetrating channel and the first penetrating channel.

In one embodiment of the invention, the bottom of the mounting frame is provided with universal wheels.

In one embodiment of the invention, the printhead body includes:

the free ends of the two ropes are respectively connected to the top and the bottom of the fixed bracket in the same rope driving mechanism;

and the printing head is detachably arranged on the fixed bracket.

In one embodiment of the invention, the fixing bracket has at least three connecting sides, and in the same rope driving mechanism, the free ends of the two ropes are respectively connected with the top and the bottom of the same connecting side.

In one embodiment of the present invention, the fixing bracket includes:

a fixed frame having at least three of the connecting sides;

the fixing piece is arranged in the fixing frame and connected with the fixing frame, the fixing piece is provided with a mounting hole, and the printing head is arranged in the mounting hole in a penetrating mode.

In an embodiment of the present invention, the fixing member includes a connecting rod and a collar, one end of the connecting rod is connected to an inner sidewall of the fixing frame, the other end extends toward the middle of the fixing frame, and the collar is connected to one end of the connecting rod near the middle of the fixing frame and has the mounting hole;

and/or the fixing pieces are provided with at least two fixing pieces, and the at least two fixing pieces are arranged at intervals along the penetrating direction of the printing head.

In an embodiment of the invention, the fixing frame includes:

a top bracket having at least three first connection angles;

the bottom bracket is positioned below the top bracket and provided with at least three second connection angles, and each first connection angle is opposite to one second connection angle;

the two ends of each supporting rod are respectively connected with a first connecting angle and a second connecting angle, so that each supporting rod, the first connecting angle and the second connecting angle form a connecting side edge, and in the same rope driving mechanism, the free ends of the two ropes are respectively connected with the first connecting angle and the second connecting angle of the same connecting side edge.

In the 3D printing device provided by the invention, the plurality of take-up reels can rotate independently, so that the take-up and pay-off lengths of ropes corresponding to the take-up reels can be controlled independently, and then, in the 3D printing process, when multi-angle lamination printing is required, the take-up and pay-off lengths of the ropes corresponding to the take-up reels are controlled through the accurate calculation of a complex inverse kinematics algorithm, so that part of ropes can be properly lengthened, part of ropes can be properly shortened, the included angle between the printing head body and the horizontal plane is adjusted, so that the printing head body can be inclined relative to the vertical plane, non-horizontal lamination printing can be realized, and multi-angle lamination printing can be realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a 3D printing apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a 3D printing apparatus according to an embodiment of the present invention during low-level printing;

FIG. 3 is a schematic diagram of a 3D printing apparatus according to an embodiment of the present invention during high-level printing;

FIG. 4 is a schematic diagram of a 3D printing apparatus according to an embodiment of the present invention when performing multi-angle lamination printing;

fig. 5 is a schematic view of a part of a 3D printing apparatus according to an embodiment of the present invention.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				100	3D printing device	212	First support
10	Printhead body	213	Second support
				11	Fixing support	214	Third support
111	Fixed frame	22	Rope assembly
				1111	Top support	221	Winding disc
1111a	First connection angle	222	Rope
				1112	Bottom bracket	222a	First rope
1112a	Second connection angle	222b	Second rope
				1113	Support bar	222c	Third rope
112	Fixing piece	222d	Fourth rope
				1121	Connecting rod	222e	Fifth rope
1122	Collar ring	222f	Sixth rope
				12	Printing head	223	First guide wheel
121	Nozzle	224	Second guide wheel
				20	Cable driving mechanism	23	Universal wheel
21	Mounting rack	200	Object
				211	Mounting platform

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The invention provides a 3D printing device 100, and aims to provide a 3D printing device 100 capable of realizing multi-angle lamination printing.

The specific structure of the 3D printing apparatus 100 of the present invention will be described below:

referring to fig. 1 to 4 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the 3D printing apparatus 100 includes a printhead body 10 and a cable driving mechanism 20; the cable driving mechanism 20 comprises a mounting frame 21 and a cable assembly 22, the cable assembly 22 comprises a take-up reel 221 and a cable 222, the take-up reel 221 is rotatably arranged on the mounting frame 21, the cable 222 is wound on the take-up reel 221, the cable assembly 22 is provided with two groups, the two groups of cable assemblies 22 are distributed up and down, and the free ends of the cables 222 of the two groups of cable assemblies 22 are respectively connected to the top and the bottom of the printing head body 10; the cable driving mechanisms 20 are at least three, and the at least three cable driving mechanisms 20 are arranged at intervals along the circumferential direction of the printing head body 10; the take-up reel 221 rotates to control the take-up and pay-off length of the corresponding rope 222, so as to adjust the included angle between the print head body 10 and the horizontal plane.

It can be understood that in the 3D printing apparatus 100 provided by the present invention, the plurality of take-up reels 221 can rotate independently, so that the take-up and pay-off lengths of the ropes 222 corresponding thereto can be controlled independently, and then, in the 3D printing process, when multi-angle lamination printing is required, the take-up and pay-off lengths of the ropes 222 corresponding thereto are controlled by the take-up reels 221 through accurate calculation of a complex inverse kinematics algorithm, so that part of the ropes 222 can be properly elongated, part of the ropes 222 can be properly shortened, and the included angle between the printhead body 10 and the horizontal plane can be adjusted, so that the printhead body 10 can be tilted relative to the vertical plane, and non-horizontal lamination printing can be realized, thereby multi-angle lamination printing can be realized.

In practice, the cord drive mechanisms 20 may be provided with three, four, five, etc., and each cord drive mechanism 20 has two sets of cord assemblies 22.

In some embodiments, the cable drive mechanism 20 may be provided with three, may be the first cable drive mechanism 20, the second cable drive mechanism 20, and the third cable drive mechanism 20, respectively, and thus, may be provided with six sets of cable assemblies 22 altogether, i.e., six take-up reels 221 and six cables 222 may be provided altogether, the six cables 222 may be the first cable 222a, the second cable 222b, the third cable 222c, the fourth cable 222d, the fifth cable 222e, and the sixth cable 222f, respectively, wherein the first cable 222a and the second cable 222b may be two cables 222 in the first cable drive mechanism 20 such that the free ends of the first cable 222a and the free ends of the second cable 222b are connected to the top and bottom of the printhead body 10, respectively, and the third cable 222c and the fourth cable 222d may be two cables 222 in the second cable drive mechanism 20 such that the free ends of the third cable 222c and the free ends of the fourth cable 222d are connected to the top and the bottom of the printhead 10, respectively, and the free ends of the fifth cable 222e and the fifth cable 222f are connected to the free ends of the fifth cable 222f in the printhead body 10; in this way, when multi-angle lamination printing is required during printing of the object 200, referring to fig. 4, the first rope 222a, the fourth rope 222d and the sixth rope 222f can be controlled to be properly extended by the corresponding take-up reel 221, and the second rope 222b, the third rope 222c and the fifth rope 222e can be controlled to be properly shortened by the corresponding take-up reel 221, so as to adjust the included angle between the printhead body 10 and the horizontal plane, that is, the printhead body 10 can be tilted relative to the vertical plane, and non-horizontal lamination printing can be realized, so that multi-angle lamination printing can be realized.

Illustratively, each take-up reel 221 may be driven by a driving structure, which may be a motor, a cylinder, a hydraulic cylinder, or the like, so long as the take-up reel 221 can be driven to rotate.

In the practical application process, the free end of the rope 222 extends from the corresponding winding drum 221, and then can be directly connected with the top or bottom of the printhead body 10, or can be guided by an intermediate auxiliary structure (such as a guide wheel, a guide surface, etc.) and then connected with the top or bottom of the printhead body 10.

Further, referring to fig. 1 to 4 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the rope assembly 22 further includes a first guide wheel 223, where the first guide wheel 223 is rotatably disposed on the mounting frame 21 and is located between the take-up reel 221 and the printhead body 10, and the first guide wheel 223 has a first through channel (not shown), and the rope 222 is threaded through the first through channel.

By arranging the above arrangement, after the rope 222 passes through the first penetrating channel of the first guide wheel 223, the rope 222 is connected with the top or bottom of the printing head body 10, so that the stability of the rope 222 in the winding and unwinding process can be effectively improved under the guide of the first guide wheel 223, and the printing precision is further improved.

For example, the first guide wheel 223 may include two first sub-guide wheels, where the two sub-guide wheels are rotatably connected to the mounting frame 21, and a first penetrating channel is formed between the two first sub-guide wheels.

In the practical application process, the first guide wheel 223 may be a power wheel or an unpowered wheel.

Further, referring to fig. 1 to 4 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, in the same cable driving mechanism 20, one of the first guide wheels 223 is located below the other first guide wheel 223, and the first guide wheel 223 located below may move toward or away from the first guide wheel 223 located above to drive the corresponding cable 222 to move.

So configured, at the beginning of printing, the height of the printed object 200 is still relatively low, and referring to fig. 2, three first guide wheels 223 located below can be located at relatively low positions to perform low-level printing on the object 200; with the progress of printing, the height of the printed object 200 gradually increases, referring to fig. 3, in order to avoid the collision between the second rope 222b, the fourth rope 222d and the sixth rope 222f located below and the printed object 200, the three first guide wheels 223 located below may gradually move towards the three first guide wheels 223 located above respectively with the progress of printing, so as to change the traction directions of the second rope 222b, the fourth rope 222d and the sixth rope 222f, thereby realizing the lifting of the printhead body 10, so as to perform high-level printing on the object 200, and thus ensuring smooth progress of printing.

Illustratively, the first guide wheel 223 positioned below may be driven by a driving member, which may be a linear motor, a rack and pinion, a screw nut, or the like, so long as the first guide wheel 223 positioned below can be driven to move toward or away from the first guide wheel 223 positioned above.

Further, referring to fig. 1 to 4 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the rope assembly 22 further includes a second guide wheel 224, where the second guide wheel 224 is rotatably disposed on the mounting frame 21 and is located between the take-up reel 221 and the first guide wheel 223, and the second guide wheel 224 has a second through channel (not shown), and the rope 222 is threaded through the second through channel and the first through channel.

So set up, through passing rope 222 through the second of second guide pulley 224 wears to establish passageway and the first of first guide pulley 223 wears to establish the passageway after, with the top or the bottom connection of printing head body 10 again, can further promote the stability of rope 222 in receive and release process under the direction of first guide pulley 223 and second guide pulley 224, and then promote the printing precision.

For example, the second guide wheel 224 may include two second sub-guide wheels, which are rotatably connected to the mounting frame 21, and a second penetrating channel is formed between the two sub-guide wheels.

In the practical application process, the second guide wheel 224 may be a power wheel or an unpowered wheel.

In some embodiments, the mounting frame 21 may include a mounting platform 211, a first bracket 212, a second bracket 213, and a third bracket 214, wherein the first bracket 212, the second bracket 213, and the third bracket 214 are mounted on the mounting platform 211 at intervals, and two take-up reels 221 in the same cable driving mechanism 20 are rotatably connected to the first bracket 212, two first guide wheels 223 in the same cable driving mechanism 20 are rotatably connected to the second bracket 213, two second guide wheels 224 in the same cable driving mechanism 20 are rotatably connected to the third bracket 214, and the first guide wheels 223 located below can slide up and down on the second bracket 213 to move toward or away from the first guide wheels 223 located above.

Further, referring to fig. 1 to 4 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the bottom of the mounting frame 21 is provided with a universal wheel 23.

By this arrangement, the corresponding cable driving mechanism 20 can be automatically driven to move to the printing place under the rotation of the universal wheel 23, and the user is not required to carry the cable driving mechanism, so that the labor intensity can be effectively reduced.

Illustratively, the bottom of each mounting frame 21 may be provided with four spaced-apart universal wheels 23, and each universal wheel 23 may have an independent drive mechanism to control the corresponding cord drive mechanism 20 to move precisely to the printing location under program control.

Further, referring to fig. 5 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the printhead body 10 includes a fixing bracket 11 and a printhead 12; in the same rope driving mechanism 20, the free ends of the two ropes 222 are respectively connected to the top and bottom of the fixed bracket 11; the print head 12 is detachably mounted to the fixed bracket 11.

In this way, when multi-angle lamination printing is required in the 3D printing process, the winding and unwinding length of the rope 222 corresponding to each winding drum 221 is controlled, so that part of the rope 222 can be properly lengthened, and part of the rope 222 can be properly shortened, and the included angle between the fixed bracket and the horizontal plane is adjusted, so that the fixed bracket 11 can be inclined relative to the vertical plane, and the printing head 12 can be inclined relative to the vertical plane, thereby realizing multi-angle lamination printing; in addition, through the detachable mounting of the printing head 12 on the fixed bracket 11, the printing head 12 with different sizes can be replaced at any time according to the requirements of different processes so as to improve the use flexibility, and meanwhile, the printing head 12 can be maintained conveniently.

Illustratively, the bottom of the printhead 12 may have nozzles 121 to precisely control the amount of extrusion of material through the nozzles 121, thereby controlling printing accuracy.

The print head 12 may include, but is not limited to, a print head 12 of various materials, various process types, such as plastic printing, concrete printing, clay printing, metal printing, etc., without limitation.

Further, referring to fig. 5 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the fixing bracket 11 has at least three connection sides, and in the same cable driving mechanism 20, the free ends of the two ropes 222 are respectively connected to the top and bottom of the same connection side.

In this way, in the same cable driving mechanism 20, the free ends of the two cables 222 are respectively connected with the top and the bottom of the same connecting side of the fixing bracket 11, so that the phenomenon of winding between the cables 222 caused by inconsistent winding and unwinding lengths of the cables 222 in the printing process can be avoided.

Further, referring to fig. 5 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the fixing bracket 11 includes a fixing frame 111 and a fixing member 112; the fixed frame 111 has at least three of the connecting sides; the fixing member 112 is disposed inside the fixing frame 111 and connected to the fixing frame 111, the fixing member 112 has a mounting hole, and the printhead 12 is disposed through the mounting hole.

So set up, in the assembly process, can wear to establish the printer head 12 in the mounting hole of mounting 112 directly, can fix the printer head 12 to avoid printer head 12 to take place not hard up even the phenomenon that drops in the printing process.

For example, to further improve the mounting stability of the printhead 12, after the printhead 12 is inserted into the mounting hole of the fixing member 112, the printhead 12 may be further fixed by using a screw, a buckle, or the like.

Illustratively, the fixing frame 111 and the fixing member 112 may be integrally formed, so that not only the connection strength between the two can be ensured, but also the manufacturing process can be reduced. Of course, in other embodiments, the fixing frame 111 and the fixing member 112 may be connected by using screws, fasteners, welding, bonding, or the like.

Further, referring to fig. 5 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the fixing member 112 includes a connecting rod 1121 and a collar 1122, one end of the connecting rod 1121 is connected to the inner sidewall of the fixing frame 111, the other end extends toward the middle of the fixing frame 111, and the collar 1122 is connected to one end of the connecting rod 1121 near the middle of the fixing frame 111 and has the mounting hole.

In this manner, collar 1122 can be connected to the inside of fixed frame 111 by connecting rod 1121, and during the assembly process, printhead 12 can be directly inserted into the mounting hole of collar 1122, thereby fixing printhead 12.

Also, in order to improve the mounting stability of the collar 1122 and thus the fixing strength to the printhead 12, the fixing member 112 may include three or more connection bars 1121 such that the collar 1122 is connected inside the fixing frame 111 through the three or more connection bars 1121, and the three or more connection bars 1121 may be disposed at intervals along the circumference of the collar 1122.

Further, referring to fig. 5 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, at least two fixing members 112 are provided, and at least two fixing members 112 are disposed at intervals along the penetrating direction of the printhead 12.

By arranging at least two fixing pieces 112 in such a way, the fixing strength of the printing head 12 can be further improved by sequentially penetrating the printing head 12 into the mounting holes of the at least two fixing pieces 112; in addition, the length and size of printheads 12 may vary depending on the requirements of the different processes, and the number of fasteners 112 may be appropriately increased to accommodate printheads 12 of different lengths and sizes.

Further, referring to fig. 5 in combination, in an embodiment of the 3D printing apparatus 100 of the present invention, the fixing frame 111 includes a top bracket 1111, a bottom bracket 1112, and at least three supporting rods 1113; the top bracket 1111 has at least three first connection angles 1111a; the bottom bracket 1112 is located below the top bracket 1111 and has at least three second connection angles 1112a, each of the first connection angles 1111a being disposed opposite to one of the second connection angles 1112 a; two ends of each supporting rod 1113 are respectively connected to a first connection angle 1111a and a second connection angle 1112a, so that each supporting rod 1113 forms a connection side with a first connection angle 1111a and a second connection angle 1112a, and in the same cable driving mechanism 20, the free ends of two cables 222 are respectively connected to the first connection angle 1111a and the second connection angle 1112a of the same connection side.

So arranged, during assembly, the free ends of the two ropes 222 in the same rope driving mechanism 20 can be connected to the corresponding positions of the fixed frame 111 by connecting the free ends of the ropes 222 to the first connection angle 1111a and the second connection angle 1112a, respectively; in addition, by constituting the fixing frame 111 using the top bracket 1111, the bottom bracket 1112, and at least three support rods 1113, the support strength of the fixing frame 111 to the printhead 12 can be effectively ensured.

Illustratively, the supporting rod 1113, the top bracket 1111 and the bottom bracket 1112 may be integrally formed, so that not only the connection strength between the three can be ensured, but also the manufacturing process can be reduced. Of course, in other embodiments, the support rod 1113 may be coupled to the top bracket 1111 and the bottom bracket 1112 by screws, snaps, welding, adhesive, or the like.

In some embodiments, taking three cable driving mechanisms 20 as an example for explanation, the workflow of the 3D printing device 100 according to the present invention may have the following steps:

first, preparation work before printing: firstly, selecting a place needing to be operated and a 3D printing process needing to be adopted, moving three cable driving mechanisms 20 to the printing place under the action of corresponding universal wheels 23, and fixing after adjusting the positions; fixing the print head 12 corresponding to the selected process with the fixing bracket 11; the first rope 222a is paid out from the corresponding take-up reel 221, passes through the second penetrating channel of the second guide wheel 224 positioned above, passes through the first penetrating channel of the first guide wheel 223 positioned above, and is connected with the first connecting angle 1111a of the fixed bracket 11; the second rope 222b is paid out by the corresponding take-up reel 221, passes through the second penetrating channel of the second guide wheel 224 positioned below, passes through the first penetrating channel of the first guide wheel 223 positioned below, and is connected with the second connecting angle 1112a of the fixed bracket 11; the remaining four cords 222 are similarly.

Second, the print just starts: according to the form of the printing object 200, the motion path of the 3D printing head body 10 is obtained, and then the expansion and contraction amount of the 6 ropes 222 is obtained according to an inverse kinematics algorithm, so that the winding and unwinding length of the corresponding ropes 222 is controlled through the winding drum 221, and 3D printing is realized; referring to fig. 2 in combination, when printing is started, the height of the object 200 is also relatively low, and the first guide wheel 223 located below is at a relatively low position to perform low-level printing on the object 200.

Third, as printing proceeds, referring to fig. 3 in combination, in order to avoid collision between the second rope 222b, the fourth rope 222d, and the sixth rope 222f located below and the object 200 to be printed, the three first guide wheels 223 located below may gradually move toward the three first guide wheels 223 located above respectively along with the proceeding of printing, so as to change the traction directions of the second rope 222b, the fourth rope 222d, and the sixth rope 222f, thereby realizing the lifting of the printhead body 10, so as to perform high-level printing on the object 200, and thus ensuring smooth proceeding of printing.

Fourth, when multi-angle lamination printing is performed, referring to fig. 4, through the accurate calculation of the complex inverse kinematics algorithm, the first rope 222a, the fourth rope 222d and the sixth rope 222f can be controlled to be properly elongated by the corresponding take-up reel 221, and the second rope 222b, the third rope 222c and the fifth rope 222e can be controlled to be properly shortened by the corresponding take-up reel 221, so that the printhead body 10 can be tilted relative to the vertical plane, and non-horizontal lamination printing can be realized, and multi-angle lamination printing can be realized.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (10)

1. A 3D printing apparatus, comprising:

a printhead body;

the rope driving mechanism comprises a mounting frame and a rope assembly, the rope assembly comprises a take-up reel and a rope, the take-up reel is rotatably arranged on the mounting frame, the rope is wound on the take-up reel, the rope assembly is provided with two groups, the two groups of rope assemblies are distributed up and down, and the free ends of the ropes of the two groups of rope assemblies are respectively connected to the top and the bottom of the printing head body; the cable driving mechanisms are at least three, and the at least three cable driving mechanisms are arranged at intervals along the circumferential direction of the printing head body;

the take-up reel rotates to control the take-up and pay-off length of the rope corresponding to the take-up reel, so that the included angle between the printing head body and the horizontal plane is adjusted.

2. The 3D printing apparatus of claim 1, wherein the rope assembly further comprises:

the first guide wheel is rotatably arranged on the mounting frame and positioned between the take-up reel and the printing head body, the first guide wheel is provided with a first penetrating channel, and the rope penetrates through the first penetrating channel.

3. The 3D printing apparatus of claim 2, wherein one of the first guide wheels is located below the other first guide wheel in the same rope driving mechanism, and the first guide wheel located below is movable toward or away from the first guide wheel located above to drive the rope corresponding thereto.

4. The 3D printing apparatus of claim 2, wherein the rope assembly further comprises:

the second guide wheel is rotatably arranged on the mounting frame and positioned between the take-up reel and the first guide wheel, the second guide wheel is provided with a second penetrating channel, and the rope penetrates through the second penetrating channel and the first penetrating channel.

5. The 3D printing device according to any of claims 1 to 4, wherein the bottom of the mounting frame is provided with universal wheels.

6. The 3D printing apparatus of any of claims 1 to 4, wherein the printhead body comprises:

the free ends of the two ropes are respectively connected to the top and the bottom of the fixed bracket in the same rope driving mechanism;

and the printing head is detachably arranged on the fixed bracket.

7. The 3D printing apparatus as defined in claim 6 wherein the fixed bracket has at least three connecting sides, and in the same cord driving mechanism, free ends of two cords are respectively connected to a top and a bottom of the same connecting side.

8. The 3D printing apparatus of claim 7, wherein the fixed bracket comprises:

a fixed frame having at least three of the connecting sides;

the fixing piece is arranged in the fixing frame and connected with the fixing frame, the fixing piece is provided with a mounting hole, and the printing head is arranged in the mounting hole in a penetrating mode.

9. The 3D printing apparatus of claim 8, wherein the fixing member includes a connecting rod having one end connected to an inner sidewall of the fixing frame and the other end extending toward a middle portion of the fixing frame, and a collar connected to an end of the connecting rod near the middle portion of the fixing frame and having the mounting hole;

and/or the fixing pieces are provided with at least two fixing pieces, and the at least two fixing pieces are arranged at intervals along the penetrating direction of the printing head.

10. The 3D printing apparatus of claim 8, wherein the fixed frame comprises:

a top bracket having at least three first connection angles;

the bottom bracket is positioned below the top bracket and provided with at least three second connection angles, and each first connection angle is opposite to one second connection angle;

the two ends of each supporting rod are respectively connected with a first connecting angle and a second connecting angle, so that each supporting rod, the first connecting angle and the second connecting angle form a connecting side edge, and in the same rope driving mechanism, the free ends of the two ropes are respectively connected with the first connecting angle and the second connecting angle of the same connecting side edge.

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