阅读说明：本技术 基于工业机器人多用途3d空间晶格打印系统及方法 (Industrial robot-based multi-purpose 3D space lattice printing system and method ) 是由 石新羽 毕康 周海宁 徐恺 万达 于 2021-05-31 设计创作，主要内容包括：本发明属于3D打印技术领域,公开了一种基于工业机器人多用途3D空间晶格打印系统及方法,所述基于工业机器人多用途3D空间晶格打印系统中打印本体通过框架结构与机械臂第六轴法兰盘固定,机械臂第六轴法兰盘固定在机械臂的端部；机械臂上固定有自动上料和挤出结构,自动上料挤出结构通过聚四氟乙烯上料管与加热结构连接,加热结构上安装有温控结构；机械臂后方有气泵,气泵通过导气管与散热结构连接；挤出头结构位于散热结构下端,机械臂与集成控制模块独立放置。本发明保证在打印过程中工具头能以多种复杂的位姿进行作业,集成控制模块通过编程实现自动化作业,散热系统可以在保证加热核心散热的同时对打印模型进行降温速凝。(The invention belongs to the technical field of 3D printing, and discloses a multipurpose 3D space lattice printing system and method based on an industrial robot, wherein a printing body in the multipurpose 3D space lattice printing system based on the industrial robot is fixed with a sixth shaft flange of a mechanical arm through a frame structure, and the sixth shaft flange of the mechanical arm is fixed at the end part of the mechanical arm; an automatic feeding and extruding structure is fixed on the mechanical arm, the automatic feeding and extruding structure is connected with a heating structure through a polytetrafluoroethylene feeding pipe, and a temperature control structure is mounted on the heating structure; an air pump is arranged behind the mechanical arm and connected with the heat dissipation structure through an air duct; the extrusion head structure is positioned at the lower end of the heat dissipation structure, and the mechanical arm and the integrated control module are independently placed. The invention ensures that the tool head can operate at various complex poses in the printing process, the integrated control module realizes automatic operation through programming, and the heat dissipation system can cool and quickly solidify the printing model while ensuring the heat dissipation of the heating core.)

1. An industrial robot based multi-purpose 3D space lattice printing method is characterized by comprising the following steps:

extruding the wire-wound material by a stepping motor, and conveying the wire-wound material to an aluminum alloy heating block through a polytetrafluoroethylene feeding pipe;

heating and melting the mixture by a 24V single-head heating rod, extruding the mixture from an extrusion head, and curing the mixture into a required form, wherein a temperature control system keeps the stability of the printing temperature;

the heat dissipation system guarantees the safety of equipment and the quality of a printing model, and the speed-adjustable automatic feeding/extruding structure guarantees the uniformity of extrusion;

the integrated control module realizes man-machine interaction of the equipment, so that the printing process is smoothly carried out.

2. An industrial robot-based multi-purpose 3D space lattice printing system implementing the industrial robot-based multi-purpose 3D space lattice printing method of claim 1, wherein the industrial robot-based multi-purpose 3D space lattice printing system is provided with:

printing the body;

the printing body is fixed with a sixth shaft flange of the mechanical arm through a frame structure, and the sixth shaft flange of the mechanical arm is fixed at the end part of the mechanical arm;

an automatic feeding and extruding structure is fixed on the mechanical arm, the automatic feeding and extruding structure is connected with a heating structure through a polytetrafluoroethylene feeding pipe, and a temperature control structure is mounted on the heating structure;

the mechanical arm is provided with an air pump, and the air pump is connected with the heat dissipation structure through an air duct; the extrusion head structure is positioned at the lower end of the heat dissipation structure, and the mechanical arm and the integrated control module are independently placed.

3. The industrial robot-based multi-purpose 3D space lattice printing system of claim 2, wherein the automatic feed extrusion structure comprises: the device comprises a stepping motor, a polytetrafluoroethylene feeding pipe and a pneumatic interface;

the automatic feeding extrusion structure is provided with a stepping motor, and the stepping motor is connected with the heating structure through a polytetrafluoroethylene feeding pipe;

the stepping motor is fixed at the top of the third shaft of the mechanical arm, and the upper end of the stepping motor is provided with a motor fixing box;

the polytetrafluoroethylene feeding pipe is connected with a discharge port of a motor and a pneumatic interface at the top of the radiator, and the stepping motor is connected with the potentiometer through a lead.

4. The industrial robot-based multi-purpose 3D space lattice printing system of claim 2, wherein the heating structure comprises: an aluminum alloy heating block and a 24V single-head heating rod;

the aluminum alloy heating block is fixed at the bottom of the radiator through the hollow threaded rod, the 24V single-head electric heating rod is fixed in the jack reserved in the aluminum alloy heating block, and the aluminum alloy heating block, the 24V single-head heating rod and the radiator are mutually in threaded fastening connection.

5. The industrial robot-based multi-purpose 3D space lattice printing system of claim 2, wherein the temperature-controlled structure comprises: PT100 platinum resistance sensor, temperature controller, relay; the PT100 platinum resistance sensor is inserted into a reserved jack of the aluminum alloy heating block;

the PT100 platinum resistance sensor is connected with a temperature controller through a data line, and the temperature controller is connected with a relay through a data line.

6. The industrial robot-based multi-purpose 3D space lattice printing system of claim 2, wherein the frame structure comprises: the top connecting plate, 4 bracing pieces, fixed box bottom fixed plate of motor and bottom connecting plate, frame construction are connected with the sixth axle ring flange of robot by the top connecting plate.

7. The industrial robot-based multi-purpose 3D space lattice printing system of claim 2, wherein the heat dissipation structure comprises: the device comprises a pneumatic interface, an air duct, 4 12V direct current fans, a heat dissipation base, a metal radiator and 4 bent pipe stainless steel nozzles;

the heat radiation structure is provided with a heat radiation base, 4 air duct inlets are reserved on the heat radiation base, 4 12V direct current fans are installed at the 4 air duct inlets, a bent pipe stainless steel spray head is installed at the 4 reserved screw holes in the bottom of the heat radiation base, a metal radiator is arranged in the middle of the bottom side of the heat radiation base, and the metal radiator is fixed with a bottom connecting plate through a bottom fixing plate.

8. The industrial robot-based multi-purpose 3D space lattice printing system according to claim 7, wherein the top of the heat sink base is connected to the bottom connecting plate of the frame, the air duct connects the air passage inside the robot to the pneumatic interface at the top of the heat sink base, and the air duct of the heat sink base in the heat sink structure is of a closed type.

9. The industrial robot-based multi-purpose 3D space lattice printing system of claim 1, wherein the extrusion head structure comprises: the first three-section stainless steel nozzle, the second three-section stainless steel nozzle, the third three-section stainless steel nozzle and the outer layer heat insulation structure;

first syllogic stainless steel nozzle, second syllogic stainless steel nozzle and third syllogic stainless steel nozzle are syllogic screw fastening stainless steel nozzle, and outer insulation construction comprises aluminium foil layer and ceramic fibre layer.

10. The industrial robot-based multi-purpose 3D space lattice printing system of claim 2, wherein the integrated control module comprises: the device comprises a 24V direct-current power supply, a temperature controller, a plurality of relays, a 24V numerical control buck-boost module, a motor driver, a motor controller, a potentiometer and a voltage doubling module;

the integrated control module is independent of the mechanical arm, and is connected with a robot control system through the Beifu module to realize the human-computer interaction of the equipment and the automatic control of the motor controller, the single-head heating rod and the 12V direct current fan through the relay through PC end programming.

Technical Field

The invention belongs to the technical field of 3D printing, and particularly relates to a multipurpose 3D space lattice printing system and method based on an industrial robot.

Background

At present, most of existing devices for 3D printing of thermoplastic materials use 4-degree-of-freedom frames, and materials are melted by heating and pressurizing the materials at a printing head, so that laminated printing is realized. The printing has two disadvantages, the first is that the diameter of the printing head is smaller, and the printing requirements of large-sized pieces and special printing modes cannot be met; another problem is that complicated space printing cannot be performed due to the degree of freedom of the printer and material collapse.

Through the above analysis, the problems and defects of the prior art are as follows: the diameter of a printing head of the existing printing system is smaller, so that the printing requirements of large-sized pieces and a specific mode cannot be met; meanwhile, in the prior art, complicated space printing cannot be performed due to the influence of the degree of freedom of the printer and the collapse of materials.

The difficulty in solving the above problems and defects is:

(1) the current common printing system and related products, papers, etc. mainly comprise a frame type and 4-degree-of-freedom fixed printer, and lack references and technical guidance needed for solving the problems.

(2) The KUKA mechanical arm and the product are used as two independent products, the coordination and compatibility problems need to be solved through a large amount of debugging and experiments, and the cooperative work of the two devices is a key technology for achieving the purposes.

(3) When the space is printed, the printing temperature, the printing speed, the extrusion speed and the opening degree of the heat dissipation system have great influence on whether a printed space object collapses or deforms, the parameters need to be accurately regulated and controlled through a large amount of experimental data accumulated in repeated experiments, and the experiment and debugging process needs a large amount of time and manpower and material resources to complete.

The significance of solving the problems and the defects is as follows:

(1) under the condition that the prior art is lack of related technology guidance, the design of the product has a certain degree of originality and fills the blank of the prior related technology.

(2) The KUKA mechanical arm is used as high-performance and high-precision industrial equipment, the application prospect is very wide, the problem of compatibility and coordination between the KUKA mechanical arm and the mechanical arm is solved, the product is significant, the matching mode can be applied to other different equipment with matching requirements for the KUKA mechanical arm in the future.

(3) Compared with the traditional laminating printing method, the space printing method has the advantages of material saving, internal filling and light and stable structure, the application directions of the space printing method include but are not limited to buildings, indoor design, landscape design, education, civil engineering and the like, the related technologies are still immature in China, and the development of a set of complete space printing method has certain guiding significance to the industry.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a multipurpose 3D space lattice printing system based on an industrial robot and a control method. The multipurpose 3D printing equipment for realizing 3D space lattice printing based on the KUKA industrial robot is matched with the six-axis industrial mechanical arm, so that the tool head can work at various complex poses in the printing process, automatic operation can be realized through programming by the integrated control module, and a specially designed heat dissipation system can perform cooling and rapid solidification treatment on a printing model while ensuring heat dissipation of a heating core.

The invention is realized in such a way that an industrial robot multipurpose 3D space lattice printing method based on an industrial robot multipurpose 3D space lattice printing system comprises the following steps:

extruding the wire-wound material by a stepping motor, and conveying the wire-wound material to an aluminum alloy heating block through a polytetrafluoroethylene feeding pipe;

heating and melting the mixture by a 24V single-head heating rod, extruding the mixture from an extrusion head, and curing the mixture into a required form, wherein a temperature control system keeps the stability of the printing temperature;

the heat dissipation system guarantees the safety of equipment and the quality of a printing model, and the speed-adjustable automatic feeding/extruding structure guarantees the uniformity of extrusion;

the integrated control module realizes man-machine interaction of the equipment, so that the printing process is smoothly carried out.

Another object of the present invention is to provide an industrial robot based multi-purpose 3D space lattice printing system, which is provided with a printing body;

the printing body is fixed with a sixth shaft flange of the mechanical arm through a frame structure, and the sixth shaft flange of the mechanical arm is fixed at the end part of the mechanical arm;

an automatic feeding and extruding structure is fixed on the mechanical arm, the automatic feeding and extruding structure is connected with a heating structure through a polytetrafluoroethylene feeding pipe, and a temperature control structure is mounted on the heating structure;

the mechanical arm is provided with an air pump, and the air pump is connected with the heat dissipation structure through an air duct; the extrusion head structure is positioned at the lower end of the heat dissipation structure, and the mechanical arm and the integrated control module are independently placed.

Further, the automatic feeding extrusion structure comprises: the device comprises a stepping motor, a polytetrafluoroethylene feeding pipe and a pneumatic interface;

the automatic feeding extrusion structure is provided with a stepping motor, and the stepping motor is connected with the heating structure through a polytetrafluoroethylene feeding pipe;

the stepping motor is fixed at the top of the third shaft of the mechanical arm, and the upper end of the stepping motor is provided with a motor fixing box;

the polytetrafluoroethylene feeding pipe is connected with a discharge port of a motor and a pneumatic interface at the top of the radiator, and the stepping motor is connected with the potentiometer through a lead.

Further, the heating structure includes: an aluminum alloy heating block and a 24V single-head heating rod;

the aluminum alloy heating block is fixed at the bottom of the radiator through the hollow threaded rod, the 24V single-head electric heating rod is fixed in the jack reserved in the aluminum alloy heating block, and the aluminum alloy heating block, the 24V single-head heating rod and the radiator are mutually in threaded fastening connection.

Further, the temperature control structure includes: PT100 platinum resistance sensor, temperature controller, relay; the PT100 platinum resistance sensor is inserted into a reserved jack of the aluminum alloy heating block;

the PT100 platinum resistance sensor is connected with a temperature controller through a data line, and the temperature controller is connected with a relay through a data line.

Further, the frame structure includes: the top connecting plate, 4 bracing pieces, fixed box bottom fixed plate of motor and bottom connecting plate, frame construction are connected with the sixth axle ring flange of robot by the top connecting plate.

Further, the heat dissipation structure includes: the device comprises a pneumatic interface, an air duct, 4 12V direct current fans, a heat dissipation base, a metal radiator and 4 bent pipe stainless steel nozzles;

the heat radiation structure is provided with a heat radiation base, 4 air duct inlets are reserved on the heat radiation base, 4 12V direct current fans are installed at the 4 air duct inlets, a bent pipe stainless steel spray head is installed at the 4 reserved screw holes in the bottom of the heat radiation base, a metal radiator is arranged in the middle of the bottom side of the heat radiation base, and the metal radiator is fixed with a bottom connecting plate through a bottom fixing plate.

Further, the top of the heat dissipation base is connected with the connecting plate at the bottom of the frame, the air duct is connected with the air passage inside the robot and the pneumatic interface at the top of the heat dissipation base, and the air duct of the heat dissipation base in the heat dissipation structure is in a closed shape.

Further, the extrusion head structure includes: the first three-section stainless steel nozzle, the second three-section stainless steel nozzle, the third three-section stainless steel nozzle and the outer layer heat insulation structure;

first syllogic stainless steel nozzle, second syllogic stainless steel nozzle and third syllogic stainless steel nozzle are syllogic screw fastening stainless steel nozzle, and outer insulation construction comprises aluminium foil layer and ceramic fibre layer.

Further, the integrated control module includes: the device comprises a 24V direct-current power supply, a temperature controller, a plurality of relays, a 24V numerical control buck-boost module, a motor driver, a motor controller, a potentiometer and a voltage doubling module;

the integrated control module is independent of the mechanical arm, and is connected with a robot control system through the Beifu module to realize the human-computer interaction of the equipment and the automatic control of the motor controller, the single-head heating rod and the 12V direct current fan through the relay through PC end programming.

By combining all the technical schemes, the invention has the advantages and positive effects that: the printing body is fixed with a sixth shaft flange of the mechanical arm through a frame structure, the sixth shaft flange of the mechanical arm is fixed at the end part of the mechanical arm, an automatic feeding and extruding structure is fixed on the mechanical arm, the automatic feeding and extruding structure is connected with a heating structure through a polytetrafluoroethylene feeding pipe, and a temperature control structure is mounted on the heating structure; the mechanical arm is provided with an air pump, and the air pump is connected with the heat dissipation structure through an air duct; the extrusion head structure is positioned at the lower end of the heat dissipation structure, and the mechanical arm and the integrated control module are independently placed. The whole system is stably connected with the KUKA mechanical arm, and the stability of system operation is guaranteed.

The stepping motor is used as the core of the feeding/extruding system and fixed at the top of the three shafts of the mechanical arm to carry out remote feeding, so that the load of the six shafts of the mechanical arm is greatly reduced, and the inertia generated when the equipment moves in work is greatly reduced. Components in the heating system can be replaced at any time, heating rods with proper power can be selected at any time according to different printing materials, and the heating effect can be guaranteed to be uniform by indirectly heating the printing materials through the aluminum alloy heating blocks. The PT100 temperature sensor adopted by the temperature control structure has the measurement precision of 0.5 ℃, can completely serve the measurement task in the printing work, is arranged on the heating block and is close to the single-head heating rod, and the real-time performance and the accuracy of temperature measurement can be ensured. The heat dissipation system is divided into two sets of core heat dissipation and model heat dissipation, independent control can be performed respectively, and the heat dissipation base is a specially designed 3D printing component, so that the performance of the whole set of heat dissipation system is remarkably improved.

The extrusion head convenient to detach of 3 segmentations is favorable to changing and clean maintenance, and the stability of extrusion head inside temperature can be guaranteed at the in-process of cooling system operation to the adnexed heat preservation in outer layer, has avoided the emergence of the putty phenomenon that leads to owing to excessive heat dissipation. The integrated control module is independent of the mechanical arm, can be controlled by self or can be linked with the mechanical arm system by utilizing the Beifu module, and various parts are matched with each other to provide rich adjustable parameters for the printing system.

Through repeated debugging and experiments, the system can completely be competent for a preset target, and has the characteristics of strong stability and high precision in both the experiment of stacked printing and the experiment of space printing. According to the invention, the feeding stepping motor is separated from the tool head, so that the mechanical arm load is reduced by remote feeding; the air duct of the heat dissipation base in the heat dissipation structure is designed to be in a closed shape, the stainless steel spray head of the elbow can be changed into different sizes according to needs, and the heat dissipation structure can simultaneously perform heat dissipation/cooling treatment on the heating structure and the printing model; the integrated control module is independent of the mechanical arm, and is connected with a robot control system through the Beifu module to realize the man-machine interaction of the equipment and the automatic control of the PC end programming on the motor control, the single-head heating rod and the 12V direct current fan through the relay. The system is suitable for six-axis industrial mechanical arms, the tool head can be guaranteed to work at various complex poses in the printing process, automatic operation can be achieved through programming through the integrated control module, and the specially designed heat dissipation system can conduct cooling and rapid solidification processing on the printing model while heat dissipation of a heating core is guaranteed.

Drawings

Fig. 1 is a schematic structural diagram of an industrial robot-based multi-purpose 3D space lattice printing system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a mounting structure of a printing system according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a positional relationship of the feeding system according to the embodiment of the present invention.

Fig. 4 is a perspective view of an integrated control module provided by an embodiment of the present invention.

Fig. 5 is a circuit diagram of an integrated control module according to an embodiment of the present invention.

FIG. 6 is a cross-sectional view of a heat dissipation system and a working method thereof according to an embodiment of the present invention,

in the figure: 101. a stepping motor; 102. a polytetrafluoroethylene feeding pipe; 103; a pneumatic interface; 201. an aluminum alloy heating block; 202. a single-ended heating rod; 301. a resistance sensor; 401. a top connection plate; 402. a support bar; 403. a bottom connecting plate; 404. a bottom fixing plate; 405. a motor fixing box; 501. a pneumatic interface; 502. an air duct; 503. a DC fan; 504. a heat dissipation base; 505. a metal heat sink; 506. bending a stainless steel nozzle; 601. a first three-stage stainless steel nozzle; 602. a second three-section stainless steel nozzle; 603. a third three-section stainless steel nozzle; 701. a 24V DC power supply; 702. a temperature controller; 703. a relay; 704. a 24V numerical control voltage increasing and decreasing module; 705. a motor driver; 706. a motor controller; 707. a potentiometer; 708. and a blessing module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In view of the problems of the prior art, the present invention provides a multi-purpose 3D space lattice printing system and method based on an industrial robot, and the present invention will be described in detail with reference to the accompanying drawings.

Those skilled in the art of industrial robot-based multi-purpose 3D space lattice printing systems provided by the present invention may also perform other steps, and the industrial robot-based multi-purpose 3D space lattice printing system provided by the present invention of fig. 1 is only one specific example.

The automatic feeding/extruding structure includes: a stepping motor 101, a polytetrafluoroethylene feeding pipe 102 and a pneumatic interface 103; the integral device is fixed with a sixth shaft flange of a mechanical arm through a frame structure, the sixth shaft flange of the mechanical arm is fixed at the end part of the mechanical arm, an automatic feeding/extruding structure is fixed on the mechanical arm, the automatic feeding/extruding structure is provided with a stepping motor 101, the stepping motor 101 is connected with a heating structure through a polytetrafluoroethylene feeding pipe 102, the stepping motor 101 is fixed at the top of the third shaft of the mechanical arm, and a motor fixing box 405 is installed at the upper end of the stepping motor 101. The polytetrafluoroethylene feeding pipe 102 is connected with a motor discharge port and the pneumatic interface 103 at the top of the metal radiator 505 to realize remote feeding, the rotating speed of the stepping motor 101 is controlled by adjusting the potentiometer 707 to ensure the adjustability of extruded materials, the feeding stepping motor 101 is separated from the tool head, the load of a mechanical arm is reduced by remote feeding, and the accuracy of equipment operation is ensured.

The heating structure includes: aluminium alloy heating block 201 and 24V single-end heating rod 202, aluminium alloy heating block 201 uses hollow threaded rod to be fixed in metal radiator 505 bottom, 24V single-end electric heating rod 202 are fixed in the jack that aluminium alloy heating block 201 reserved, and aluminium alloy heating block 201, 24V single-end heating rod 202 are each other for screw thread fastening with metal radiator 505 and are connected, and convenient to detach maintains, and 24V single-end heating rod 202 melts the material through heating aluminium alloy heating block 201, guarantees that the material is heated evenly.

The temperature control structure comprises: PT100 platinum resistance sensor 301, thermostat 702, relay 703; the temperature control structure is installed on the heating structure, the PT100 platinum resistance sensor 301 is inserted into a reserved insertion hole of the aluminum alloy heating block 201, the PT100 platinum resistance sensor 301 is connected with the temperature controller 702 through a data line, the temperature controller 702 is connected with the relay 703 through a data line, the temperature controller controls the temperature of the single-end heating rod 202 through the relay in real time according to temperature data returned by the PT100 platinum resistance sensor 301, the temperature controller 702 compares the preset temperature value with the temperature data returned by the PT100 platinum resistance sensor 301 in real time, the relay 703 controls the on-off of a circuit of the 24V single-end heating rod 202 to realize the real-time control of the heating core temperature, the stability and the safety of equipment are ensured, and the installation position of the PT100 platinum resistance sensor 301 is close to the 24V single-end heating rod 202 to ensure the accuracy of temperature capture.

The frame structure includes: the robot comprises a top connecting plate 401, 4 support rods 402, a motor fixing box 405, a bottom fixing plate 404 and a bottom connecting plate 403, wherein the frame structure is connected with a sixth shaft flange of the robot through the top connecting plate 401.

The heat radiation structure includes: the device comprises a pneumatic interface 501, an air duct 502, 4 12V direct current fans 503, a heat dissipation base 504, a metal heat radiator 505 and 4 elbow stainless steel spray heads 506;

the air pump is installed on the mechanical arm and connected with the heat dissipation structure through the air duct 502, the heat dissipation structure is provided with a heat dissipation base 504, 4 12V direct current fans 503 are installed at 4 reserved air duct inlets on the heat dissipation base 504, an elbow stainless steel spray nozzle 506 is installed at 4 reserved screw holes in the bottom of the heat dissipation base 504, a metal radiator 505 is arranged at the middle position of the bottom side of the heat dissipation base 504, and the metal radiator 505 is fixed with the bottom connecting plate 403 through the bottom fixing plate 404.

The heat dissipation base 504 is a specially designed 3D printing component, the top of the heat dissipation base is connected with a frame bottom connecting plate 403, 4 12V direct current fans 503 are respectively fixed at 4 reserved air duct inlets of the heat dissipation base 504, the 4 elbow stainless steel nozzles 506 are respectively fixed at 4 reserved screw holes at the bottom of the heat dissipation base 504, and the metal radiator 505 is fixed with the bottom connecting plate 403 through the bottom fixing plate 404; the air duct 502 is connected with an internal air path of the robot and the pneumatic interface 501 at the top of the heat dissipation base 504; the air channel of the heat dissipation base 504 in the heat dissipation structure is designed to be a closed type, the heat dissipation performance is improved by compressing air, the heat dissipation fan outputs compressed air to the metal heat dissipater from four different directions simultaneously, redundant heat generated by the heating structure can be taken away quickly, the temperature control is more accurate, and when the hot air dissipated downwards is subjected to laminating printing operation on the equipment, the traditional hot bed can be replaced to ensure the stability of the printing environment temperature, and the phenomena of demoulding, deformation, cracking and the like caused by expansion and contraction of the model due to quick temperature change are prevented; different sizes can be changed as required to return bend stainless steel shower nozzle 506, connects outside high compression pump air feed through top pneumatic interface 501, can realize printing the rapid cooling of model when opening, when preventing to carry out the space printing operation, the model because of the deformation that the cooling caused untimely, collapse, return bend stainless steel shower nozzle 506 distributes in four not equidirectionals, the wind environment of making the model rapid cooling can not be because of the too big model deformation of messenger of wind-force when starting, concrete working method sees figure 6, heat radiation structure can be right simultaneously heating structure dispels the heat with printing the model simultaneously/the cooling is handled.

The extrusion head structure includes: a first three-section stainless steel nozzle 601, a second three-section stainless steel nozzle 602, a third three-section stainless steel nozzle 603 and an outer layer heat preservation structure; the extrusion head structure is positioned at the lower end of the heat dissipation structure, and the first three-section stainless steel nozzle 601, the second three-section stainless steel nozzle 602 and the third three-section stainless steel nozzle 603 are all three-section type threaded fastening stainless steel nozzles; the outer layer heat preservation structure is composed of an aluminum foil layer and a ceramic fiber layer, the aluminum foil layer improves the heat transfer performance of the extrusion head structure, and the ceramic fiber layer ensures that materials in the extrusion head cannot be solidified in advance to damage equipment when the heat dissipation structure works.

The integrated control module includes: the controller comprises a 24V direct current power supply 701, a temperature controller 702, a plurality of relays 703 × 4(703 are relays, 4 relays are used as intermediaries of a control system to respectively control different modules), a 24V numerical control voltage boosting and reducing module 704 × 2, a motor driver 705, a motor controller 706, a potentiometer 707 and a voltage doubling module 708.

The integrated control module is arranged independently of the mechanical arm, and is connected with a robot control system through a Beifu module 708, so that the man-machine interaction of the equipment and the automatic control of the motor controller 705, the single-head heating rod 202 and the 12V direct current fan 503 through the relay 703 by PC end programming are realized.

The working principle of the invention is as follows: the line dress material is extruded through step motor, carry to the aluminum alloy heating block in through polytetrafluoroethylene material loading pipe, extrude from extruding the head and solidify into required form after heating the melting through 24V single-end heating rod, temperature control system ensures the stability of printing temperature during, the security of cooling system guarantee equipment and the quality of printing the model, the homogeneity of extruding has been ensured to the automatic feeding/extrusion structure of adjustable speed, but integrated control module realizes this equipment human-computer interaction, guarantee that the printing process goes on smoothly.

Printing experiment process parameters: a single fan: 1.4 m/s; single trachea: 4.4; the rotating speed of the motor is as follows: 18.8 r/min; feeding speed: 12.5 mm/s; the linear speed of the motor: 11.8 mm/s; diameter of the extrusion head: 2.74 mm; extrusion head length: 50 mm; temperature setting: 225 ℃; heat dissipation is opened entirely and is floated: -X ℃; continuously falling; a single-opening fan: -6 to +0 ℃; a single air pump: -4 to +0 ℃; the optimal value of the air cooling air speed is determined to be 4.4m/s, and the optimal printing temperature range is 215-225 ℃.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.