WO2020143269A1 - 基于温度响应的双层结构4d打印方法 - Google Patents

基于温度响应的双层结构4d打印方法 Download PDF

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Publication number
WO2020143269A1
WO2020143269A1 PCT/CN2019/112668 CN2019112668W WO2020143269A1 WO 2020143269 A1 WO2020143269 A1 WO 2020143269A1 CN 2019112668 W CN2019112668 W CN 2019112668W WO 2020143269 A1 WO2020143269 A1 WO 2020143269A1
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Prior art keywords
printing
pattern
double
layer structure
temperature
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PCT/CN2019/112668
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English (en)
French (fr)
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冯毅雄
高一聪
郑浩
曾思远
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Zhejiang University
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Zhejiang University
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Priority claimed from CN201910011656.6A external-priority patent/CN109664499A/zh
Priority claimed from CN201910011496.5A external-priority patent/CN109664498A/zh
Priority claimed from CN201910039871.7A external-priority patent/CN109664500A/zh
Application filed by Zhejiang University filed Critical Zhejiang University
Publication of WO2020143269A1 publication Critical patent/WO2020143269A1/zh
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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
    • 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
    • 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
    • B29C64/379—Handling of additively manufactured objects, e.g. using robots
    • 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 [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—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
    • 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 [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D 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
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—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
    • B33Y80/00—Products made by additive manufacturing

Definitions

  • the invention relates to a 4D printing method in the field of 4D printing of smart materials, in particular to a double-layer structure 4D printing method based on temperature response, which realizes a fused deposition 4D printing method that can be programmed through design parameters without manufacturing special wires .
  • 4D printing as a material processing technology developed based on intelligent perception materials, provides a new way of breaking through limitations for the preparation of traditional deformed materials.
  • 4D printing For bending deformation, due to the non-uniformity of the shrinkage of the workpiece volume in the thickness direction will cause the bending behavior of the multilayer material, 4D printing usually designs a multilayer structure with different responses to different structures.
  • the conventional 4D printing deformation process generally consists of two implementation forms: 1. Two layers of the workpiece are composed of different materials, and through the same degree of excitation means (magnetic, thermal, biological response), through the two layers of different strain responses of the workpiece to achieve 4D Deformation effect. 2. Adopt a material to constitute the whole work piece, and achieve the effect of 4D printing deformation through different levels of stimulation.
  • the shape memory polymer can achieve the shape memory effect through the transition between the low-temperature glass state and the high-temperature rubber state. At this time, the polymer has a self-healing property, and can be restored to the first squeeze to a certain extent by the temperature loading.
  • the state at the time of molding usually requires multiple manufacturing steps and special materials.
  • 3D printing provides an active element spatial layout to achieve shape conversion technology, which is particularly represented by sophisticated multi-material printing, which can be used to combine different materials to achieve multi-shape or reversible deformation through polymers.
  • Anisotropic additives (such as expansion ratio or stiffness) can be printed by 3D printing technology to achieve the deformation process of 4D printing.
  • the initial planar structure is proposed, and after the corresponding trigger is obtained, their shape will change to a predetermined three-dimensional shape, thereby combining surface-related functions with complex three-dimensional shapes.
  • the 4D deformation under the system has many shortcomings. When the forming speed is fast, the processing equipment for the workpiece is extremely demanding, and complex workpiece planning is required. When the requirements for processing equipment are low, the forming speed is too slow. In real scenes, it is often necessary to overcome these two defect scenarios. Therefore, there is a need for a 4D printing method that can quickly deform while not requiring high processing equipment.
  • the present invention proposes a 4D printing method of a programmable double-layer shape memory structure based on temperature response, which includes the design and preparation of the double-layer shape memory structure.
  • the method of the present invention is a single-step printing process, requiring only a fused deposition 3D printer and polymer material, based on the self-folding and unstable ejection of the material, and the sequential deformation through programming, which can realize the three-dimensional expansion of the unprecedented space
  • the shape is simple and versatile.
  • double-layer structure is repeatedly stacked from bottom to top for printing.
  • the double-layer structure is mainly composed of two sets of different filling patterns
  • the layer is stacked on top of each other, and the filling pattern layer includes multiple single layers.
  • Each single layer in each group of filling pattern layers is printed with the same filling pattern.
  • the single layer corresponds to a slice during 3D printing.
  • the filling pattern above The layer is a horizontal grain pattern, and the lower filling pattern layer is a net pattern.
  • the horizontal grain pattern is a texture pattern composed of a set of linear arrays.
  • the net pattern is a texture pattern composed of two sets of linear arrays arranged crosswise. It consists of multiple parallel lines arranged at equal intervals;
  • the product made by the 4D printing of the present invention is composed of a double-layer structure repeated from bottom to top.
  • One layer is made by superimposing the same horizontal pattern multiple times, and the other layer is made by superimposing multiple layers of the net pattern.
  • the thickness ratio of the textured layer can be adjusted from 1:4 to 4:1.
  • double-layer structure is repeatedly stacked from bottom to top for printing.
  • the double-layer structure is mainly composed of two sets of different filling patterns
  • the layer is stacked on top of each other, and the filling pattern layer includes multiple single layers.
  • Each single layer in each group of filling pattern layers is printed with the same filling pattern.
  • the single layer corresponds to a slice during 3D printing.
  • the filling pattern above The layer is a horizontal grain pattern, and the lower filling pattern layer is a triangular grain pattern.
  • the horizontal grain pattern is a texture pattern composed of a set of linear arrays
  • the triangular grain pattern is a texture pattern composed of three sets of linear arrays arranged in a non-parallel cross arrangement.
  • the linear array consists of multiple parallel lines arranged at equal intervals;
  • the product made by 4D printing of the present invention is composed of a double-layer structure repeated from bottom to top.
  • One layer is made of the same horizontal grain pattern superimposed multiple times, and the other layer is made of multiple layers of triangular grain pattern.
  • the thickness ratio of the triangle pattern layer can be adjusted from 1:4 to 4:1.
  • Double-layer structure is repeatedly stacked from bottom to top for printing.
  • the double-layer structure is mainly composed of two sets of different filling patterns The layer is stacked on top of each other, and the filling pattern layer includes multiple single layers. Each single layer in each group of filling pattern layers is printed with the same filling pattern. The single layer corresponds to a slice during 3D printing.
  • the filling pattern above The layer is a horizontal grain pattern, and the fill pattern layer below is a wiggle pattern;
  • the horizontal grain pattern is a texture pattern composed of a set of linear arrays, the linear array is composed of a plurality of parallel lines arranged at equal intervals, and the wiggle pattern is composed of a set of sinusoids
  • the texture pattern formed by the array, the sine curve array is composed of a plurality of sine curves arranged in parallel with straight lines at equal intervals;
  • the product made by 4D printing of the present invention is composed of a double-layer structure repeated from bottom to top, where one layer is made by superimposing the same horizontal stripe pattern multiple times, and the other layer is made by stacking multiple layers of wiggle patterns.
  • the horizontal stripe layer and wiggle The thickness ratio of the layer can be adjusted from 1:4 to 4:1.
  • different layouts in the filling pattern are constructed to adjust the different 4D deformation shapes of the final precise temperature heating.
  • Different arrangement means that the printing angle of the linear array in the horizontal pattern is different; the intersection angle between the two sets of linear arrays in the net pattern and the printing angle of the two sets of linear arrays are different.
  • the printing angle is essentially the linear direction and the printing coordinate system The angle between the horizontal axes; the intersection angle between each group of linear arrays in the triangular pattern and the printing angle of each group of linear arrays are different.
  • the printing angle is essentially the angle between the linear direction and the horizontal axis of the printing coordinate system .
  • One embodiment is to set the printing angle of the linear array in the horizontal grain pattern within the range of 0 ⁇ 22.5 degrees or 90 ⁇ 22.5 degrees, so as to realize the curved deformation of the product after temperature heating around the rotation axis parallel to the horizontal axis of the printing coordinate system ;
  • the degree of bending deformation of 0 ⁇ 22.5 degrees is smaller than that of 90 ⁇ 22.5 degrees. Only in the horizontal-wiggle double-layer structure technical solution, the closer the difference between the printing angle of the sinusoidal array in the wiggle pattern and the printing angle of the linear array in the horizontal pattern is to 90°, the greater the degree of bending.
  • Another embodiment is to set the printing angle of the linear array in the horizontal grain pattern within the range of 45 ⁇ 22.5 degrees or 135 ⁇ 22.5 degrees, so as to achieve spiral bending deformation of the product after temperature heating around the rotation axis perpendicular to the horizontal axis of the coordinate system. Only in the horizontal-wiggle double-layer structure technical solution, the closer the difference between the printing angle of the sinusoidal array in the wiggle pattern and the printing angle of the linear array in the horizontal pattern is to 90°, the greater the degree of distortion.
  • the 3D printing is performed by a fused deposition 3D printer, which needs to be cooled after printing.
  • the printing process parameters refer to the printing line width l, the printing layer height h and the printing nozzle temperature a during 3D printing, and the excitation temperature b during precise temperature heating, and the excitation temperature b is the heating temperature for precise temperature heating.
  • the 4D deformation degree is controlled by the four printing process parameters of printing line width l, printing layer height h, printing nozzle temperature a and excitation temperature b.
  • the setting range of the printing line width l is 0.25mm-0.8mm
  • the printing layer height h is 50 ⁇ m-200 ⁇ m
  • the nozzle temperature a during printing is 195°C-240°C
  • the excitation temperature b is 65°C -95°C.
  • the range of horizontal and longitudinal strains that can be achieved is 0.05-0.36.
  • the precise temperature heating is a heating method using a water bath, the solution component is distilled water, and the temperature of the aqueous solution is accurately controlled to stabilize the temperature of the heating process at the set excitation temperature b.
  • shape memory polymer material a polylactic acid shape memory material with good stress-strain response performance when heated is used.
  • the use of polymer wires for 3D printing is one of the main forms of fused deposition 3D printing.
  • the polymer material completes the initial deformation process.
  • the material undergoes the first stage of shape memory.
  • the printing wire will recover to a certain extent.
  • the state at the time of drawing extrusion, the shape memory process is superimposed to realize the deformation process of 4D printing.
  • the invention edits each structural parameter and technological parameter of the model to design a model conforming to the expected deformation, and realizes the process of 4D printing by means of making a rough product model by 3D printer and accurately heating the material.
  • the temperature-responsive programmable double-layer shape memory structure 4D printing structure of the present invention mainly uses the shape memory characteristics of polymer materials, which have the advantages of good processing performance, low cost and low requirements.
  • the present invention adopts the 4D printing method of fused deposition molding to print polymer materials. Compared with the hydrogel type material 4D printing method, the molding speed is fast, the processing requirements are low, and extremely special excitation conditions and manufacturing equipment are not required;
  • the present invention uses fused deposition molding 4D printing to print polymer materials. Compared with the 4D printing of the magnetoelectric process, the production cost is reduced, the material production process is simplified, the manufacturing cycle is shortened, and the structure and function are realized. Integrated manufacturing.
  • the invention overcomes the problems of current temperature-driven 4D printing material preparation difficulty and poor response to low-power deformation, realizes a fused deposition 4D printing method that does not need to manufacture special wires through programming of design parameters, and breaks through the tedious preparation of materials by 4D printing technology process.
  • FIG. 1 is a schematic diagram of the arrangement of horizontal stripes of the present invention
  • FIG. 2 is a schematic diagram of the layout of the net pattern of the present invention.
  • FIG. 3 is a schematic view of the arrangement of the triangular pattern of the present invention.
  • FIG. 4 is a schematic diagram of the layout of the wiggle pattern of the present invention.
  • FIG. 5 is a diagram of the strain effect of different printing temperatures when the transverse-web pattern of the polylactic acid material is combined
  • FIG. 6 is a diagram of strain effects of different excitation temperatures during the combination of cross-grain of polylactic acid material
  • Example 10 is a schematic view of the structure arrangement of two different filling patterns used in the workpiece in Example 1;
  • Example 11 is a comparison diagram of the deformation process of the workpiece in Example 1 before and after;
  • Example 12 is a schematic diagram of the structure arrangement of two different filling patterns used in the workpiece in Example 2;
  • Example 13 is a comparison diagram before and after the deformation process of the workpiece in Example 2.
  • Example 14 is a schematic diagram of the structural arrangement of two different filling patterns used in the workpiece in Example 3.
  • Example 15 is a comparison diagram before and after the deformation process of the workpiece in Example 3.
  • 16 is a diagram of the strain effect of different printing temperatures when the cross-triangle pattern of the polylactic acid material is combined;
  • 17 is a diagram of strain effects of different excitation temperatures when the transverse-triangular pattern of the polylactic acid material is combined;
  • FIG. 19 is a diagram of strain effects of different printed line widths when the transverse-triangular pattern of polylactic acid material is combined;
  • Example 21 is a schematic diagram of the structural arrangement of two different filling patterns used in the workpiece in Example 4.
  • Example 22 is a comparison diagram before and after the deformation process of the workpiece in Example 4.
  • Example 23 is a schematic view of the structure arrangement of two different filling patterns used in the workpiece in Example 5;
  • Example 25 is a schematic diagram of the structure arrangement of two different filling patterns used in the workpiece in Example 6;
  • Example 26 is a comparison diagram of the deformation process of the workpiece in Example 6 before and after;
  • FIG. 27 is a graph of the strain effect of different printing temperatures when the stripe-wiggle of polylactic acid material is combined
  • Fig. 28 is a graph of strain effects at different excitation temperatures when the stripe-wiggle of polylactic acid material is combined;
  • Fig. 29 is a diagram of the strain effect of different printed layer heights when the polylactide material-wiggle is combined
  • FIG. 31 is a graph of strain effects of different thickness ratios when the polylactide material is combined with transverse-wiggle
  • Example 32 is a schematic diagram of the structure arrangement of two different filling patterns used in the workpiece in Example 7;
  • Example 34 is a schematic diagram of the structure arrangement of two different filling patterns used in the workpiece in Example 8.
  • 35 is a comparison diagram of the deformation process of the workpiece in Example 8 before and after;
  • Example 36 is a schematic diagram of the structure arrangement of two different filling patterns used in the workpiece in Example 9;
  • FIG. 37 is a comparison diagram before and after the deformation process of the workpiece in Example 9.
  • FIG. 37 is a comparison diagram before and after the deformation process of the workpiece in Example 9.
  • Double-layer structure is repeatedly stacked from bottom to top for printing.
  • the double-layer structure is mainly composed of two sets of different filling patterns The layers are stacked on top of each other to form a printing arrangement.
  • the filled pattern layer includes multiple single layers. Each single layer in each group of filled pattern layers is printed with the same filled pattern. The single layer corresponds to a slice of 3D printing.
  • the horizontal grain pattern is a texture pattern composed of a set of linear arrays, and the linear array is composed of a plurality of parallel arranged straight lines.
  • the mesh pattern is a texture pattern composed of two linear arrays arranged in a cross arrangement, and the linear array is composed of a plurality of parallel arranged linear lines.
  • the triangular pattern is a texture pattern composed of three sets of linear arrays that are arranged in a non-parallel cross pattern.
  • the corresponding straight lines in the three sets of linear arrays in the pattern intersect at the same point to form a tight array of regular triangles.
  • the linear array consists of multiple parallel lines.
  • the wiggle pattern is a texture pattern formed by a group of sinusoidal arrays.
  • the sinusoidal array is composed of a plurality of sinusoids arranged in parallel with straight lines at equal intervals, and the reference axis where the sinusoids are located is parallel.
  • the number of single layers in the upper pattern layer and the number of single layers in the lower pattern layer may be the same or different.
  • the printing angle ⁇ of the linear array in the horizontal pattern is adjusted at 0-180°, and the cross angle between the two linear arrays of the mesh pattern is selected to be 60°, 90°, and 120°, and the two linear arrays of the mesh pattern The printing angle ⁇ is adjusted between 0-180°.
  • the cross angle between each two sets of linear arrays of the angular pattern is adjusted at 0-90°
  • the printing angle ⁇ of the two sets of linear arrays of the triangular pattern is adjusted at 0-180°.
  • the printing angle ⁇ of the reference axis of the wiggle pattern sine curve array can be adjusted from 0 to 180°, and the printing angle is essentially the angle between the reference axis direction where the sine curve is located and the horizontal axis of the printing coordinate system.
  • the printing angle of the linear array in the horizontal pattern is set within the range of 0 ⁇ 22.5 degrees or 90 ⁇ 22.5 degrees, which can achieve the bending deformation of the product after temperature heating around the rotation axis parallel to the horizontal axis of the printing coordinate system; 0 ⁇ 22.5 degrees
  • the degree of bending deformation is smaller than 90 ⁇ 22.5 degrees.
  • the printing angle of the linear array in the horizontal pattern is set within the range of 45 ⁇ 22.5 degrees or 135 ⁇ 22.5 degrees, so that the heated product can be spirally deformed around the rotation axis perpendicular to the horizontal axis of the coordinate system. For horizontal-wiggle, the closer the difference between the printing angle of the sinusoidal array in the wiggle pattern and the printing angle of the linear array in the horizontal pattern is to 90°, the greater the degree of bending and twisting.
  • 4D deformation degree is controlled by four printing process parameters: printing line width l, printing layer height h, printing nozzle temperature a and excitation temperature b.
  • the setting range of printing line width l is 0.25mm-0.8mm, the height h of the printing layer is 50 ⁇ m-200 ⁇ m, the nozzle temperature a during printing is 195°C-240°C, and the excitation temperature b is 65°C-95°C .
  • the printable line width l can be set in the range of 0.25mm-0.8mm.
  • the range that can finally achieve the horizontal and longitudinal strains is 0.05-0.36.
  • the transverse and longitudinal strains can reach a range of 0.05-0.41.
  • the filling pattern of each single layer is different.
  • the printing line width l, the printing layer height h, the printing nozzle temperature a, and the precise temperature heating during 3D printing The excitation temperature b is set and pre-programmed, so that the final product strain quickly reaches the desired effect.
  • each printing process parameter is tested by a single factor to obtain the 4D heating deformation result corresponding to each printing process parameter.
  • the printing temperature is adjusted and changed to obtain the deformation degree corresponding to different printing temperatures, as shown in Figure 5, the points on the solid line can be seen in the figure Is the maximum value of the strain (ordinate) that can be reached at the printing temperature (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) that can be reached at the printing temperature (abscissa), and the correspondence between the two lines is Printable temperature strain range.
  • the excitation temperature is adjusted and changed to obtain the deformation degree corresponding to different excitation temperatures, as shown in Figure 6, the points on the solid line can be seen in the figure Is the maximum value of the strain (ordinate) at the excitation temperature (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) at the excitation temperature (abscissa), the correspondence between the two lines is Strain range achievable by excitation temperature.
  • the printing layer height is adjusted and changed to obtain the corresponding deformation degree of different printing layer height, as shown in Figure 7, the solid line can be seen in the figure
  • the point is the maximum value of the strain (ordinate) at the height of the printed layer (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) at the height of the print layer (abscissa)
  • two lines Between is the strain range that can be achieved corresponding to the height of the printed layer.
  • the printing line width is adjusted and changed to obtain the corresponding deformation degree of different printing line width, as shown in Figure 8, the solid line can be seen in the figure
  • the point is the maximum value of the strain (ordinate) under the printed line width (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) under the print line width (abscissa)
  • two lines Between is the strain range that can be achieved by the corresponding printed line width.
  • the thickness ratio of the two-layer structure is adjusted and changed to obtain the deformation degree corresponding to the different thickness ratio, as shown in FIG. 9
  • the point on the line is the average value of the strain (ordinate) that can be achieved under the thickness ratio (abscissa), and the point on the dotted line is the minimum value of the strain (ordinate) that can be achieved under the thickness ratio (abscissa). Between is the strain range achievable for the corresponding thickness ratio.
  • the printing temperature is adjusted and changed to obtain the deformation degree corresponding to different printing temperatures, as shown in Figure 16, the dots on the solid line can be seen in the figure Is the maximum value of the strain (ordinate) that can be reached at the printing temperature (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) that can be reached at the printing temperature (abscissa), and the correspondence between the two lines is Printable temperature strain range.
  • the excitation temperature is adjusted and changed to obtain the deformation degree corresponding to the different excitation temperature, as shown in Figure 17, the points on the solid line can be seen in the figure Is the maximum value of the strain (ordinate) at the excitation temperature (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) at the excitation temperature (abscissa), the correspondence between the two lines is Strain range achievable by excitation temperature.
  • the printing layer height is adjusted and changed to obtain the corresponding deformation degree of different printing layer height, as shown in Figure 18, the solid line can be seen in the figure The point is the maximum value of the strain (ordinate) at the height of the printed layer (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) at the height of the print layer (abscissa), two lines Between is the strain range that can be achieved corresponding to the height of the printed layer.
  • the printing line width is adjusted and changed to obtain the corresponding deformation degree of different printing line width, as shown in Figure 19, the solid line can be seen in the figure
  • the point is the maximum value of the strain (ordinate) under the printed line width (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) under the print line width (abscissa)
  • two lines Between is the strain range that can be achieved by the corresponding printed line width.
  • the thickness ratio of the two-layer structure is adjusted and changed to obtain the deformation degree corresponding to the different thickness ratio, as shown in FIG. 20.
  • the point on the line is the maximum value of the strain (ordinate) under the thickness ratio (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) under the thickness ratio (abscissa)
  • the two lines Between is the strain range achievable for the corresponding thickness ratio.
  • the printing temperature is adjusted to obtain the deformation degree corresponding to different printing temperatures, as shown in Figure 27, the dots on the solid line can be seen in the figure Is the maximum value of the strain (ordinate) that can be reached at the printing temperature (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) that can be reached at the printing temperature (abscissa), and the correspondence between the two lines is Printable temperature strain range.
  • the excitation temperature is adjusted and changed to obtain the deformation degree corresponding to different excitation temperatures, as shown in FIG. 28, the points on the solid line can be seen in the figure Is the maximum value of the strain (ordinate) at the excitation temperature (abscissa), the point on the dotted line is the minimum value of the strain (ordinate) at the excitation temperature (abscissa), the correspondence between the two lines is Strain range achievable by excitation temperature.
  • the printing layer height is adjusted and changed to obtain the corresponding deformation degree of different printing layer height, as shown in Figure 29, the solid line can be seen in the figure
  • the point is the maximum value of the strain (ordinate) at the height of the printed layer (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) at the height of the print layer (abscissa)
  • two lines Between is the strain range that can be achieved corresponding to the height of the printed layer.
  • the printing line width is adjusted and changed to obtain the corresponding deformation degree of different printing line width, as shown in Figure 30, the solid line can be seen in the figure
  • the point is the maximum value of the strain (ordinate) under the printed line width (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) under the print line width (abscissa)
  • two lines Between is the strain range that can be achieved by the corresponding printed line width.
  • the thickness ratio of the two-layer structure is adjusted and changed to obtain the deformation degree corresponding to the different thickness ratio, as shown in Figure 31.
  • the point on the line is the maximum value of the strain (ordinate) under the thickness ratio (abscissa)
  • the point on the dotted line is the minimum value of the strain (ordinate) under the thickness ratio (abscissa)
  • the two lines Between is the strain range achievable for the corresponding thickness ratio.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is established by using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3 , and the deformation of the workpiece is intended to have a lateral strain of 0.36 and a longitudinal strain of 0.07.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 11 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 11 is before excitation, and the right picture of Figure 11 is after excitation.
  • the rotation axis of the horizontal axis of the coordinate system is curved and deformed, and the two ends are folded up and bent.
  • the whole preparation process takes only 24 minutes, which greatly reduces the production time of the product compared with traditional printing.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is created using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3.
  • the deformation of the workpiece is intended to have a lateral strain of 0.15 and a longitudinal strain of 0.12.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 13 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 13 is before excitation, and the right picture of Figure 13 is after heating.
  • the rotating axis of the shaft is spirally bent and deformed, and the entire preparation process takes only 24 minutes, which greatly shortens the product manufacturing time.
  • the three-dimensional model of a two-layer workpiece using polymer for 4D printing is established using three-dimensional modeling software.
  • the size of the product workpiece is 10*40*1.5mm 3.
  • the deformation of the workpiece is intended to have a lateral strain of -0.20 and a longitudinal strain of- 0.12.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 15 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 15 is before excitation, and the right picture of Figure 15 is after excitation.
  • the rotation axis of the shaft is curved and deformed, and the two ends are bent downwards, but the bending direction is opposite to that in Example 1.
  • the entire preparation process takes only 24 minutes, which greatly shortens the product manufacturing time.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is created by using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3 , and the deformation of the workpiece is intended to have a lateral strain of 0.32 and a longitudinal strain of 0.12.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 22 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 22 is before excitation, and the right picture of Figure 22 is after excitation.
  • the rotation axis of the horizontal axis of the coordinate system is curved and deformed, and both ends are folded up and bent. The whole preparation process takes only 24 minutes, which greatly shortens the production time compared with traditional printing.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is established by using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3 , and the deformation of the workpiece is intended to have a lateral strain of 0.22 and a longitudinal strain of 0.20.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 24 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 24 is before excitation, and the right picture of Figure 24 is after heating.
  • the rotating axis of the shaft is spirally bent and deformed, and the entire preparation process takes only 24 minutes, which greatly shortens the production time of the process.
  • the three-dimensional model of a two-layer workpiece using polymer for 4D printing is established using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3.
  • the deformation of the workpiece is intended to have a lateral strain of -0.21 and a longitudinal strain of- 0.11.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 26 is a comparison of the workpiece before and after heating and excitation in this 4D process.
  • the left picture of Figure 26 is before excitation, and the right picture of Figure 26 is after excitation.
  • the rotation axis of the shaft is curved and deformed, and the two ends are bent downwards, but the bending direction is opposite to that of Example 4.
  • the entire preparation process takes only 24 minutes, which greatly shortens the process manufacturing time.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is established by using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3.
  • the deformation of the workpiece is intended to have a lateral strain of 0.41 and a longitudinal strain of 0.10.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 33 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 33 is before excitation, and the right picture of Figure 33 is after excitation.
  • the rotation axis of the horizontal axis of the coordinate system is curved and deformed, and the two ends are folded up and bent. The whole preparation process takes only 24 minutes, which greatly reduces the production time of the product compared with traditional printing.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is established using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3.
  • the deformation of the workpiece is intended to have a lateral strain of 0.15 and a longitudinal strain of 0.14.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 35 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 35 is before excitation, and the right picture of Figure 35 is after heating.
  • the rotating axis of the shaft is spirally bent and deformed, and the entire preparation process takes only 24 minutes, which greatly shortens the production time of the product.
  • a three-dimensional model of a two-layer workpiece using polymer for 4D printing is established by using three-dimensional modeling software.
  • the product workpiece size is 10*40*1.5mm 3.
  • the deformation of the workpiece is intended to have a lateral strain of -0.14 and a longitudinal strain of- 0.04.
  • the printing temperature is selected to be 195°C, and output to the fused deposition 3D printing processing center through the slicing software to perform the 3D printing process and wait for the workpiece to cool;
  • Figure 37 is a comparison of the workpiece before and after heating and excitation in the 4D process.
  • the left picture of Figure 37 is before excitation, and the right picture of Figure 37 is after excitation.
  • the rotation axis of the shaft is curved and deformed, and both ends are bent downwards, but the bending direction is opposite to that of Example 7.
  • the entire preparation process takes only 24 minutes, which greatly shortens the production time of the product.

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Abstract

一种基于温度响应的双层机构4D打印方法，选取形状记忆聚合物材料以双层结构为单元从下往上重复层叠进行打印，双层结构由两组不同的填充图案层上下层叠打印布置构成，每组填充图案层中的各个单层均打印为相同的填充图案，上方的图案为横纹图案，横纹图案由一组直线阵列构成的纹理图案，下方的填充图案层为网纹图案、三角纹图案、wiggle图案中的一种，从而形成横-网、横-三角、横-wiggle双层结构的其中一种。克服目前温度驱动的4D打印材料制备困难，对小功率变形响应程度差的问题，实现通过设计参数编程无需制造特殊线材的熔融沉积4D打印方法。

Description

基于温度响应的双层结构4D打印方法 技术领域
本发明涉及智能材料4D打印领域的一种4D打印方法，尤其是涉及了一种基于温度响应的双层结构4D打印方法，实现了能通过设计参数可编程无需制造特殊线材的熔融沉积4D打印方法。
背景技术
4D打印作为基于智能感知材料而开发的材料加工技术，为传统变形材料的制备提供了突破局限的新思路。针对弯曲变形，由于工件体积沿厚度方向收缩程度的非均匀性会引起多层材料的弯曲行为，4D打印通常设计对不同结构有不同响应的多层结构。常规的4D打印变形过程一般由两种实现形式：1.采取不同材料构成工件两层，通过同等程度的激发手段(磁、热、生物响应)，经由工件两层不同的应变响应，达成4D的变形效果。2.采取一种材料构成工件整体，经由不同程度的激发手段，达成4D打印变形效果。
具有高级功能的工件或设备常常需要结合复杂的三维形状和功能诱导结构单元。目前用于创建功能结构的绝大多数技术只能在平面上工作。在过去的几年里，由于各种先进的材料出现，形状记忆材料的应用范围得到了延伸。形状记忆聚合物可以经由低温玻璃态与高温橡胶态之间的转换实现形状记忆的效果，此时的聚合物具有自愈性质，可以通过温度的加载在一定程度上恢复至第一次经挤压成型时的状态，以此为根据提出的各种技术通常需要多个制作步骤和特殊材料。
3D打印提供了一种主动元素的空间布局实现形状转换技术，其中特别以精密的多材料印刷为代表，其可以用来结合不同的材料，通过聚合物实现多形状或可逆的变形。各向异性添加物(如膨胀比或刚度)可通过3D打印技术印刷，以实现4D打印的变形过程。提出最初的平面结构，在获得相应的触发后，它们的形状将改变为预先设定的三维形状，从而使表面相关的功能与复杂的三维形状相结合。目前体系下的4D变形存在着诸多缺点，在成型速度快时，对工件的加工设备要求极高，需要进行复杂的工件规划。而对加工设备要求低时，成型速度又过慢。在现实场景中，往往需求克服这两种缺陷场景。因此需要一种对加工设备要求不高的同时能够进行快速变形的4D打印方法。
发明内容
针对现有技术的缺陷和改进需求，本发明提出了一种基于温度响应的可编程双层形状记忆结构的4D打印方法，其中包括双层形状记忆结构的设计及制备。
本发明方法是一个单步打印过程，只需要一台熔融沉积3D打印机和聚合物材料，基于材料的自折叠和不稳定弹出，并通过编程实现的顺序变形，可实现以前所未有的扩展空间的三维形状，具有简单和多功能性的特点。
为实现上述过程，按照本发明采用以下技术方案：
一、一种基于温度响应的横-三角双层结构的4D打印方法
1)选取形状记忆聚合物材料作为打印的线材，根据需打印的产品模型按照以下方式进行3D打印：以双层结构从下往上重复层叠进行打印，双层结构主要由两组不同的填充图案层上下层叠打印布置构成，填充图案层包括多个单层，每组填充图案层中的各个单层均打印为相同的填充图案，单层对应为3D打印时的一层切片，上方的填充图案层为横纹图案，下方的填充图案层为网纹图案，横纹图案是由一组直线阵列构成的纹理图案，网纹图案是由两组直线阵列交叉排布构成的纹理图案，直线阵列由多条等间隔平行排布直线构成；
2)3D打印后，取下打印获得的粗产品，进行精确温度加热使得粗产品按照规定方式变形，直至4D变形完全完成，等待工件冷却4D打印过程完全结束，获得4D打印产品。
本发明4D打印制成的产品由双层结构从下往上重复构成，其中一层由相同横纹图案多次叠加制成，另一层由网纹图案多层叠加制成，横纹层与网纹层的厚度比例可以在1:4到4:1调整。
二、一种基于温度响应的横-三角双层结构的4D打印方法
1)选取形状记忆聚合物材料作为打印的线材，根据需打印的产品模型按照以下方式进行3D打印：以双层结构从下往上重复层叠进行打印，双层结构主要由两组不同的填充图案层上下层叠打印布置构成，填充图案层包括多个单层，每组填充图案层中的各个单层均打印为相同的填充图案，单层对应为3D打印时的一层切片，上方的填充图案层为横纹图案，下方的填充图案层为三角纹图案，横纹图案是由一组直线阵列构成的纹理图案，三角纹图案是由三组直线阵列非平行相互交叉排布构成的纹理图案，直线阵列由多条等间隔平行排布直线构成；
2)3D打印后，取下打印获得的粗产品，进行精确温度加热使得粗产品按照规定方式变形，直至4D变形完全完成，等待工件冷却4D打印过程完全结束，获得4D打印产品。
本发明4D打印制成的产品由双层结构从下往上重复构成，其中一层由相同横纹图案多次叠加制成，另一层由三角纹图案多层叠加制成，横纹层与三角纹层的厚度比例可以在1:4到4:1调整。
三、一种基于温度响应的横-wiggle双层结构的4D打印方法
1)选取形状记忆聚合物材料作为打印的线材，根据需打印的产品模型按照以下方式进行3D打印：以双层结构从下往上重复层叠进行打印，双层结构主要由两组不同的填充图案层上下层叠打印布置构成，填充图案层包括多个单层，每组填充图案层中的各个单层均打印为相同的填充图案，单层对应为3D打印时的一层切片，上方的填充图案层为横纹图案，下方的 填充图案层为wiggle图案；横纹图案是由一组直线阵列构成的纹理图案，直线阵列由多条等间隔平行排布直线构成，wiggle图案是由一组正弦曲线阵列而成的纹理图案，正弦曲线阵列由多条正弦曲线等间隔平行排布直线构成；
2)3D打印后，取下打印获得的粗产品，进行精确温度加热使得粗产品按照规定方式变形，直至4D变形完全完成，等待工件冷却4D打印过程完全结束，获得4D打印产品。
本发明4D打印制成的产品由双层结构从下往上重复构成，其中一层由相同横纹图案多次叠加制成，另一层由wiggle图案多层叠加制成，横纹层与wiggle层的厚度比例可以在1:4到4:1调整。
在上述三种技术方案下，打印时均根据需打印的产品模型设计选取不同的双层结构及打印工艺参数构，并进行切片设定来获得不同形状的打印产品。
打印时根据需打印的产品模型设计构建填充图案中不同的布置来调整最后精确温度加热的不同4D变形形状。不同的布置是指横纹图案中直线阵列的印刷角度不同；网纹图案中两组直线阵列之间的交叉角度以及两组直线阵列各自的印刷角度不同，印刷角度实质为直线方向和打印坐标系水平轴之间的夹角；三角纹图案中各组直线阵列之间的交叉角度以及每两组直线阵列各自的印刷角度不同，印刷角度实质为直线方向和打印坐标系水平轴之间的夹角。
一种实施方式为：设置横纹图案中直线阵列的印刷角度在0±22.5度或90±22.5度范围内，实现温度加热后的产品绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形；0±22.5度相比90±22.5度的弯曲变形程度更小。仅在横-wiggle双层结构技术方案中，wiggle图案中正弦曲线阵列的印刷角度与横纹图案中直线阵列的印刷角度相差越接近90°，弯曲程度越大。
另一种实施方式为：设置横纹图案中直线阵列的印刷角度在45±22.5度或135±22.5度范围内，实现温度加热后的产品绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形。仅在横-wiggle双层结构技术方案中，wiggle图案中正弦曲线阵列的印刷角度与横纹图案中直线阵列的印刷角度相差越接近90°，扭曲程度越大。
所述的3D打印是到熔融沉积3D打印机进行打印，打印后需要冷却。
打印时根据需打印的产品模型设计构建不同的打印工艺参数配合填充图案的不同布置来调整最后精确温度加热的不同4D变形程度。打印工艺参数是指3D打印时的打印线宽l、打印层高h和打印喷嘴温度a以及精确温度加热时的激发温度b，激发温度b即为精确温度加热的加热温度。
所述的4D变形程度由打印线宽l、打印层高h和打印喷嘴温度a以及激发温度b的四个打印工艺参数控制。
所述的打印线宽l设定范围为0.25mm-0.8mm，所述打印层高h为50μm-200μm，所述打印时喷嘴温度a为195℃-240℃，所述激发温度b为65℃-95℃。最终能使得横纵向应变可达到的范围为0.05-0.36。
所述的精确温度加热是使用水浴加热的方式，溶液成分为蒸馏水，对水溶液的温度进行精确控制，使加热过程的温度稳定在设定的激发温度b。
所述形状记忆聚合物材料使用受热时应力-应变响应性能好的聚乳酸形状记忆材料。
方法实施中，使用聚合物线材进行3D打印是熔融沉积3D打印的主要形式之一。打印机的喷嘴进行挤压出丝时，聚合物材料完成初次变形过程，在冷却过程时，材料进行形状记忆的第一阶段，对成型的工件再次加热时，打印丝将在一定程度上恢复至经拉丝挤压时的状态，通过该形状记忆过程叠加实现4D打印的变形过程。
本发明通过对模型的各结构参数和工艺参数进行编辑以设计符合预期变形的模型，并通过3D打印机制作粗产品模型和对材料进行精确加热的方式实现4D打印的过程。
通过本发明所构思的以上技术方案与现有技术相比，能够取得下列有益效果：
1.本发明所于温度响应的可编程双层形状记忆结构的4D打印结构，其主要应用了聚合物材料的形状记忆特性，聚合物材料具有加工性能好，成本低廉要求低等优点。
2.本发明采用熔融沉积成型的4D打印的方法打印聚合物材料，与水凝胶型材料4D打印方法相比，成型速度快，加工要求低，不需要极其特殊的激发条件与制造设备；
3.本发明采用熔融沉积成型的4D打印的方法打印聚合物材料，与磁电工艺的4D打印相比，降低了生产成本，简化了材料的生产工艺，缩短了制造周期，实现结构和功能的一体化制造。
本发明克服了目前温度驱动的4D打印材料制备困难，对小功率变形响应程度差的问题，实现了通过设计参数编程无需制造特殊线材的熔融沉积4D打印方法，突破了4D打印技术制备材料的繁琐过程。
附图说明
图1为本发明的横纹图案布置示意图；
图2为本发明的网纹图案布置示意图；
图3为本发明的三角纹图案布置示意图；
图4为本发明的wiggle图案布置示意图；
图5是聚乳酸材料横纹-网纹结合时不同的打印温度的应变效果图；
图6是聚乳酸材料横纹-网纹结合时不同的激发温度的应变效果图；
图7是聚乳酸材料横纹-网纹结合时不同的打印层高的应变效果图；
图8是聚乳酸材料横纹-网纹结合时不同的打印线宽的应变效果图；
图9是聚乳酸材料横纹-网纹结合时不同的厚度比的应变效果图；
图10是实施例1中工件所采用的两个不同填充图案的结构排布示意图；
图11是实施例1中工件的变形过程前后对比图；
图12是实施例2中工件所采用的两个不同填充图案的结构排布示意图；
图13是实施例2中工件的变形过程前后对比图；
图14是实施例3中工件所采用的两个不同填充图案的结构排布示意图；
图15是实施例3中工件的变形过程前后对比图；
图16是聚乳酸材料横纹-三角纹结合时不同的打印温度的应变效果图；
图17是聚乳酸材料横纹-三角纹结合时不同的激发温度的应变效果图；
图18是聚乳酸材料横纹-三角纹结合时不同的打印层高的应变效果图；
图19是聚乳酸材料横纹-三角纹结合时不同的打印线宽的应变效果图；
图20是聚乳酸材料横纹-三角纹结合时不同的厚度比的应变效果图；
图21是实施例4中工件所采用的两个不同填充图案的结构排布示意图；
图22是实施例4中工件的变形过程前后对比图；
图23是实施例5中工件所采用的两个不同填充图案的结构排布示意图；
图24是实施例5中工件的变形过程前后对比图；
图25是实施例6中工件所采用的两个不同填充图案的结构排布示意图；
图26是实施例6中工件的变形过程前后对比图；
图27是聚乳酸材料横纹-wiggle结合时不同的打印温度的应变效果图；
图28是聚乳酸材料横纹-wiggle结合时不同的激发温度的应变效果图；
图29是聚乳酸材料横纹-wiggle结合时不同的打印层高的应变效果图；
图30是聚乳酸材料横纹-wiggle结合时不同的打印线宽的应变效果图；
图31是聚乳酸材料横纹-wiggle结合时不同的厚度比的应变效果图；
图32是实施例7中工件所采用的两个不同填充图案的结构排布示意图；
图33是实施例7中工件的变形过程前后对比图；
图34是实施例8中工件所采用的两个不同填充图案的结构排布示意图；
图35是实施例8中工件的变形过程前后对比图；
图36是实施例9中工件所采用的两个不同填充图案的结构排布示意图；
图37是实施例9中工件的变形过程前后对比图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本发明具体实施过程为：
1)选取形状记忆聚合物材料作为打印的线材，根据需打印的产品模型按照以下方式进行3D打印：以双层结构从下往上重复层叠进行打印，双层结构主要由两组不同的填充图案层上下层叠打印布置构成，填充图案层包括多个单层，每组填充图案层中的各个单层均打印为相同的填充图案，单层对应为3D打印时的一层切片。
如图1所示，横纹图案是由一组直线阵列构成的纹理图案，直线阵列由多条平行排布直线构成。
如图2所示，网纹图案是由两组直线阵列交叉排布构成的纹理图案，直线阵列由多条平行排布直线构成。
如图3所示，三角纹图案是由三组直线阵列非平行相互交叉排布构成的纹理图案，图案中三组直线阵列中的对应直线相交于同一点形成正三角形的紧密阵列排布形状，直线阵列由多条平行排布直线构成。
如图4所示，wiggle图案是由一组正弦曲线阵列而成的纹理图案，正弦曲线阵列由多条正弦曲线等间隔平行排布直线构成，正弦曲线的所在参考轴线平行。
上方填充图案层中的单层层数和下方填充图案层中的单层层数可以相同也可以不同。
2)3D打印后，取下打印获得的粗产品，进行精确温度加热使得粗产品按照规定方式变形，具体使用水浴加热的方式，溶液成分为蒸馏水，使加热过程的温度稳定在设定的精确的激发温度b。变形后获得4D打印产品。
具体地，横纹图案中直线阵列的印刷角度θ在0-180°调整，网纹图案两组直线阵列之间的交叉角度选60°、90°、及120°，网纹图案两组直线阵列的印刷角度θ为在0-180°调整。
具体地，角纹图案每两组直线阵列之间的交叉角度在0-90°调整，三角纹图案两组直线阵列的印刷角度θ为在0-180°调整。
具体地，wiggle纹图案正弦曲线阵列的参考轴线的印刷角度θ可以在0-180°调整，印刷角度实质为正弦曲线所在参考轴线方向和打印坐标系水平轴之间的夹角。
设置横纹图案中直线阵列的印刷角度在0±22.5度或90±22.5度范围内，能实现温度加热后的产品绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形；0±22.5度相比90±22.5度的弯曲变形程度更小。设置横纹图案中直线阵列的印刷角度在45±22.5度或135±22.5度范围内，能实现温度加热后的产品绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形。对于横-wiggle，wiggle图案中正弦曲线阵列的印刷角度与横纹图案中直线阵列的印刷角度相差越接近90°，弯曲和扭曲程度越大。
4D变形程度由打印线宽l、打印层高h和打印喷嘴温度a以及激发温度b的四个打印工艺参数控制，打印线宽l越大变形程度越大，打印层高h越大变形程度越小，打印喷嘴温度a越高变形程度越小，激发温度b越高变形程度越大。
打印线宽l设定范围为0.25mm-0.8mm，所述打印层高h为50μm-200μm，所述打印时喷 嘴温度a为195℃-240℃，所述激发温度b为65℃-95℃。具体实施中，打印线宽l可设定范围为0.25mm-0.8mm。
在横-网双层结构和横-三角双层结构中，最终能使得横纵向应变可达到的范围为0.05-0.36。在横-wiggle双层结构中，横纵向应变可达到的范围为0.05-0.41。
产品打印前，根据双层结果的每一单层的填充图案不同，对每一单层的填充图案在3D打印时的打印线宽l、打印层高h和打印喷嘴温度a以及精确温度加热时的激发温度b进行设定和预编程，使得最终达成产品应变快速达到预期效果。
具体实施时通过单因素测试各个打印工艺参数，获得了各个打印工艺参数对应的4D加热变形结果。
1、在横-网双层结构情况下，不同打印工艺参数的测试：
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印温度进行调整变化获得不同打印温度对应的变形程度，如图5所示，图中可见实线上的点是该打印温度(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印温度(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印温度可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对激发温度进行调整变化获得不同激发温度对应的变形程度，如图6所示，图中可见实线上的点是该激发温度(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该激发温度(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应激发温度可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印层高进行调整变化获得不同打印层高对应的变形程度，如图7所示，图中可见实线上的点是该打印层高(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印层高(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印层高可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印线宽进行调整变化获得不同打印线宽对应的变形程度，如图8所示，图中可见实线上的点是该打印线宽(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印线宽(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印线宽可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对双层结构的厚度比进行调整变化获得不同厚度比对应的变形程度，如图9所示，图中可见实线上的点是该厚度比(横坐标)下可达到应变(纵坐标)的平均值，虚线上的点是该厚度比(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应厚度比可实现的应变范围。
2、在横-三角双层结构情况下，不同打印工艺参数的测试：
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印温度进行调整变化获得不同打印温度对应的变形程度，如图16所示，图中可见实线上的点是该打印温 度(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印温度(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印温度可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对激发温度进行调整变化获得不同激发温度对应的变形程度，如图17所示，图中可见实线上的点是该激发温度(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该激发温度(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应激发温度可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印层高进行调整变化获得不同打印层高对应的变形程度，如图18所示，图中可见实线上的点是该打印层高(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印层高(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印层高可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印线宽进行调整变化获得不同打印线宽对应的变形程度，如图19所示，图中可见实线上的点是该打印线宽(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印线宽(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印线宽可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对双层结构的厚度比进行调整变化获得不同厚度比对应的变形程度，如图20所示，图中可见实线上的点是该厚度比(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该厚度比(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应厚度比可实现的应变范围。
3、在横-wiggle双层结构情况下，不同打印工艺参数的测试：
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印温度进行调整变化获得不同打印温度对应的变形程度，如图27所示，图中可见实线上的点是该打印温度(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印温度(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印温度可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对激发温度进行调整变化获得不同激发温度对应的变形程度，如图28所示，图中可见实线上的点是该激发温度(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该激发温度(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应激发温度可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印层高进行调整变化获得不同打印层高对应的变形程度，如图29所示，图中可见实线上的点是该打印层高(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印层高(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印层高可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对打印线宽进行调整变化获得不同打印线宽对应的变形程度，如图30所示，图中可见实线上的点是该打印线 宽(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该打印线宽(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应打印线宽可实现的应变范围。
在其他四个打印工艺参数保持不变且相同双层结构3D打印的情况下，对双层结构的厚度比进行调整变化获得不同厚度比对应的变形程度，如图31所示，图中可见实线上的点是该厚度比(横坐标)下可达到应变(纵坐标)的最大值，虚线上的点是该厚度比(横坐标)下可达到应变(纵坐标)的最小值，两线之间为对应厚度比可实现的应变范围。
本发明的具体实施例如下：
横-网双层结构
实施例1
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为0.36，纵向应变为0.07。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层的印刷角度为90°的横纹图案，下层使用150个单层的交叉角度为90°、印刷角度分别为45°和135°的网纹图案，如图10所示，两层的厚度比例为1:1,分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图11为该4D过程中工件进行加热激发前后的对比图，图11的左图为激发前，图11的右图为激发后，实现了绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形，两端向上合拢弯曲，制备全过程仅需24min，相比传统打印大大缩短了产品制作时间。
实施例2
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为0.15，纵向应变为0.12。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层的印刷角度为45°的横纹图案，下层使用150个单层的交叉角度为90°、印刷角度分别为45°和135°的网纹图案，如图12所示，两层的厚度比例为1:1，分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图13该4D过程中工件进行加热激发前后的对比图，图13的左图为激发前，图13右图为加热后，实现了绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形，制备全过程仅需24min，大大缩短了产品制作时间。
实施例3
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为-0.20，纵向应变为-0.12。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层的印刷角度为0°的横纹图案，下层使用150个单层的交叉角度为90°、印刷角度分别为45°和135°的网纹图案，如图14，两层的厚度比例为1:1,分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图15该4D过程中工件进行加热激发前后的对比图，图15左图为激发前，图15右图为激发后，实现了绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形，两端向下合拢弯曲，但弯曲方向和实施例1的相反，制备全过程仅需24min，大大缩短了产品制作时间。
横-三角双层结构
实施例4
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为0.32，纵向应变为0.12。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层的印刷角度为90°的横纹图案，下层使用150个单层的3个交叉角度均为60°、印刷角度分别为0°、60°和120°的三角纹图案，如图21所示，两层的厚度比例为1:1，分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图22为该4D过程中工件进行加热激发前后的对比图，图22的左图为激发前，图22的右图为激发后，实现了绕平行于打印坐 标系水平轴的旋转轴圆弧弯曲变形，两端向上合拢弯曲，制备全过程仅需24min，相比传统打印大大缩短了工艺制作时间。
实施例5
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为0.22，纵向应变为0.20。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层的印刷角度为45°的横纹图案，下层使用150个单层的3个交叉角度均为60°、印刷角度分别为0°、60°和120°的三角纹图案，如图23所示，两层的厚度比例为1:1，分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图24该4D过程中工件进行加热激发前后的对比图，图24的左图为激发前，图24右图为加热后，实现了绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形，制备全过程仅需24min，大大缩短了工艺制作时间。
实施例6
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为-0.21，纵向应变为-0.11。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层的印刷角度为0°的横纹图案，下层使用150个单层的3个交叉角度均为60°、印刷角度分别为0°、60°和120°的三角纹图案，如图25，两层的厚度比例为1:1，分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图26该4D过程中工件进行加热激发前后的对比图，图26左图为激发前，图26右图为激发后，实现了绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形，两端向下合拢弯曲，但弯曲方向和实施例4的相反，制备全过程仅需24min，大大缩短了工艺制作时间。
横-wiggle双层结构
实施例7
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为0.41，纵向应变为0.10。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层印刷角度为0°的横纹图案，下层使用150个单层的印刷角度为90°的、正弦曲线阵列而成的wiggle图案，如图32所示，两层的厚度比例为1:1，分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图33为该4D过程中工件进行加热激发前后的对比图，图33的左图为激发前，图33的右图为激发后，实现了绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形，两端向上合拢弯曲，制备全过程仅需24min，相比传统打印大大缩短了产品制作时间。
实施例8
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为0.15，纵向应变为0.14。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为50μm。工件的上层使用150个单层印刷角度为45°的横纹图案，下层使用150个单层的印刷角度为-45°的正弦曲线阵列而成的wiggle图案，如图34所示，两层的厚度比例为1:1,分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图35该4D过程中工件进行加热激发前后的对比图，图35的左图为激发前，图35右图为加热后，实现了绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形，制备全过程仅需24min，大大缩短了产品制作时间。
实施例9
(1)首先利用三维建模软件建立利用聚合物进行4D打印的双层工件三维模型，产品工件大小为10*40*1.5mm 3，该工件变形意图为横向应变为-0.14，纵向应变为-0.04。
(2)选定聚乳酸作为3D打印形状记忆材料，利用切片软件对三维模型进行分层切片处理，根据想要达成的变形对其打印层高与打印线宽进行设定，所选线宽为0.4mm，所选层高为 50μm。工件的上层使用150个单层印刷角度为90°的横纹图案，下层使用150个单层的印刷角度为0°的、正弦曲线阵列而成的wiggle图案，如图36所示，分层切片处理结果及识别出的各部分输入到计算机控制系统中；
(3)此时选择打印温度为195℃，通过切片软件输出至熔融沉积3D打印加工中心，进行3D打印过程，并等待工件冷却；
(4)对冷却后的工件进行精确温度的加热，所选激发温度为85℃，直至需要进行的4D变形完全完成。等待工件再次冷却4D打印过程完全结束，图37该4D过程中工件进行加热激发前后的对比图，图37左图为激发前，图37右图为激发后，实现了绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形，两端向下合拢弯曲，但弯曲方向和实施例7的相反，制备全过程仅需24min，大大缩短了产品制作时间。

Claims (13)

  1. 一种基于温度响应的双层结构4D打印方法，其特征在于包括以下步骤：
    1)选取形状记忆聚合物材料作为打印的线材，根据需打印的产品模型按照以下方式进行3D打印：以双层结构从下往上重复层叠进行打印，双层结构由两组不同的填充图案层上下层叠打印布置构成，填充图案层包括多个单层，每组填充图案层中的各个单层均打印为相同的填充图案，单层对应为3D打印时的一层切片，上方的填充图案层为横纹图案，横纹图案是由一组直线阵列构成的纹理图案，直线阵列由多条等间隔平行排布直线构成，下方的填充图案层为网纹图案、三角纹图案、wiggle图案中的一种，从而形成横-网、横-三角、横-wiggle双层结构的其中一种；
    2)3D打印后，取下打印获得的粗产品，进行精确温度加热使得粗产品按照规定方式变形，直至4D变形完全完成，获得4D打印产品。
  2. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的横-网双层结构：下方的填充图案层为网纹图案，网纹图案是由两组直线阵列交叉排布构成的纹理图案。
  3. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的横-三角双层结构：下方的填充图案层为三角纹图案，三角纹图案是由三组直线阵列非平行相互交叉排布构成的纹理图案。
  4. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的横-wiggle双层结构：下方的填充图案层为wiggle图案，wiggle图案是由一组正弦曲线阵列而成的纹理图案，正弦曲线阵列由多条正弦曲线等间隔平行排布直线构成。
  5. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：打印时根据需打印的产品模型设计构建填充图案中不同的布置来调整最后精确温度加热的不同4D变形形状。
  6. 根据权利要求5所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的横-网双层结构中，设置横纹图案中直线阵列的印刷角度在0±22.5度或90±22.5度范围内，实现温度加热后的产品绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形；设置横纹图案中直线阵列的印刷角度在45±22.5度或135±22.5度范围内，实现温度加热后的产品绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形。
  7. 根据权利要求5所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的横-三角双层结构中，设置横纹图案中直线阵列的印刷角度在0±22.5度或90±22.5度范围内，实现温度加热后的产品绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形；设置横纹图案中直线阵列的印刷角度在45±22.5度或135±22.5度范围内，实现温度加热后的产品绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形；
  8. 根据权利要求5所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的横-wiggle双层结构中，设置横纹图案中直线阵列的印刷角度在0±22.5度或90±22.5度范围内，实现温度加热后的产品绕平行于打印坐标系水平轴的旋转轴圆弧弯曲变形；设置横纹图案中直线阵列的印刷角度在45±22.5度或135±22.5度范围内，实现温度加热后的产品绕垂直于坐标系水平轴的旋转轴螺旋弯曲变形。
  9. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：打印时根据需打印的产品模型设计构建不同的打印工艺参数配合填充图案的不同布置来调整最后精确温度加热的不同4D变形程度。
  10. 根据权利要求9所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的4D变形程度由打印线宽l、打印层高h和打印喷嘴温度a以及激发温度b的四个打印工艺参数控制。
  11. 根据权利要求10所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的打印线宽l设定范围为0.25mm-0.8mm，所述打印层高h为50μm-200μm，所述打印时喷嘴温度a为195℃-240℃，所述激发温度b为65℃-95℃。
  12. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述的精确温度加热是使用水浴加热的方式，对水溶液的温度进行精确控制，使加热过程的温度稳定在设定的激发温度b。
  13. 根据权利要求1所述的一种基于温度响应的双层结构4D打印方法，其特征在于：所述形状记忆聚合物材料使用聚乳酸形状记忆材料。
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