A six-degree-of-freedom light-curing 3D printing device and 3D printing method

Abstract

The present invention relates to a six-degree-of-freedom light-curing 3D printing device and a 3D printing method. The device includes a base plate, a six-axis mechanical arm, a printing platform, a supporting component, a digital light processing projector, a spectroscopic component, a lifting frame and a resin tank. The six-axis mechanical arm, the printing platform, the supporting component and the lifting frame are all arranged on the base plate, and the resin tank is installed above the printing platform; the printing platform is supported by multiple supporting components, the spectroscopic component is supported by the lifting frame, the digital light processing projector is supported by a supporting component, and the printing platform is connected by a slide rail, and the spectroscopic component is respectively opposite to the digital light processing projector and the resin tank; the end of the six-axis mechanical arm is connected to a printing plate. Compared with the prior art, the present invention can change the accumulation direction of materials during the manufacturing process, which can not only realize the unsupported rapid printing of curved surface structural parts, but also improve the printing accuracy and fracture strength, thereby realizing the high-precision and high-strength rapid manufacturing of complex curved surface structural parts.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a six-degree-of-freedom light-curing 3D printing device and a 3D printing method. Background Art

[0002] 3D printing is a rapid prototyping technology that uses digital model files as a basis, discretizes parts into two-dimensional graphics or paths, and constructs three-dimensional objects by stacking them layer by layer. Compared with traditional manufacturing methods, 3D printing has the advantages of manufacturing high-precision complex three-dimensional structures, saving materials, and being convenient and fast. It has been applied in the national economy fields such as aerospace, biomedicine, electronics, and automobiles.

[0003] Stereolithography 3D printing technology has the advantages of fast printing speed and high printing precision, and is one of the most widely used 3D printing technologies. Among them, digital light processing (DLP) technology can quickly pattern three-dimensional structures through ultraviolet light projection, and can accurately control the local light curing of photosensitivity values. It is a high-precision, fast, and cross-scale 3D printing technology.

[0004] The top-pull photocuring 3D printing using DLP technology generally exposes and prints layer by layer in a fixed direction. It slices the digital model along the Z axis through computer technology to generate a set of two-dimensional layers parallel to the XY plane. The projector at the bottom of the 3D printing device projects the shape of the two-dimensional layer onto the molding plane, and the ultraviolet light it emits solidifies the photosensitive resin to obtain a two-dimensional layer. The molding platform of the printer is pulled up along the Z axis by a motor, and the photosensitive resin is solidified layer by layer to form a 3D model.

[0005] However, due to the fixed direction of layer-by-layer exposure printing, the following defects are caused:

[0006] (1) When printing structural parts with complex curved surfaces, it is often necessary to add additional support structures in the suspended areas, which reduces the printing speed and accuracy;

[0007] (2) The size of the printed structure is limited by the size of the liquid tank, making it difficult to produce curved, slender curved structures;

[0008] (3) The accuracy and strength of structural parts in the Z-axis direction are generally weaker than those in the X and Y directions. Therefore, it is difficult for the existing technology to achieve high-precision, high-performance and rapid manufacturing of complex curved surface structures, and there is still room for improvement and development. Summary of the invention

[0009] The purpose of the present invention is to provide a six-degree-of-freedom light-curing 3D printing device and a 3D printing method in order to overcome the defects of the existing DLP light-curing 3D printing device in the above-mentioned prior art, such as low flexibility, uneven precision and strength, limited size, and difficulty in quickly manufacturing complex curved surface structures.

[0010] The purpose of the present invention can be achieved by the following technical solutions:

[0011] A six-degree-of-freedom light-curing 3D printing device, comprising a base plate, a six-axis mechanical arm, a printing platform, a supporting assembly, a digital light processing projector, a light splitting assembly, a lifting frame and a resin tank, wherein the six-axis mechanical arm, the printing platform, the supporting assembly and the lifting frame are all arranged on the base plate, the resin tank is installed above the printing platform, and the digital light processing projector and the light splitting assembly are both located below the printing platform;

[0012] The printing platform is supported by multiple supporting components, the beam splitting component is supported by the lifting frame, the digital light processing projector is supported by a supporting component and is connected to the printing platform through a slide rail, the beam splitting components are respectively facing the digital light processing projector and the resin tank, and are used to focus the projection beam of the digital light processing projector to the bottom of the resin tank; the end of the six-axis robotic arm is connected to a printing plate, the bottom surface of the printing plate is a printing plane, and the printing plate cooperates with the resin tank.

[0013] Furthermore, the beam splitter assembly includes a beam splitter frame and a beam splitter lens, the beam splitter lens is arranged in the beam splitter frame, the beam splitter lens and the beam splitter frame are arranged on a lifting frame, and the beam splitter lens faces the digital light processing projector and the resin tank respectively.

[0014] Furthermore, the support assembly includes a connecting rod and a fork-type pressing block, wherein the connecting rod is fixed on the fork-type pressing block and is used to support a digital light processing projector or a printing platform, and the fork-type pressing block is fixed on a bottom plate.

[0015] Furthermore, the six-axis robot arm is mounted on the base via a flange fixing seat and connected to the printing plate via a flange coupling.

[0016] Furthermore, the digital light processing projector is provided with a lens for focusing and collimating the projection light.

[0017] Furthermore, a photosensitive resin material is placed in the resin tank.

[0018] The present invention also provides a 3D printing method of the six-degree-of-freedom light-curing 3D printing device as described above, comprising the following steps:

[0019] Adjust each support component so that the printing platform and the resin tank are in a horizontal state; adjust the distance between the digital light processing projector and the light splitting component by sliding the digital light processing projector on the slide rail; align the light splitting component with the digital light processing projector by adjusting the lifting frame so that the projection beam is focused on the bottom of the resin tank;

[0020] Control the six-axis robot to adjust the distance between the printing plate and the bottom of the resin tank to the thickness of one slice, and control the angle between the printing plate and the bottom of the resin tank so that the printing plate is perpendicular to the set resin material accumulation direction;

[0021] Controlling the digital light processing projector to project the projection pattern of the current layer and print the current layer, wherein the grayscale value of each pixel of the projection pattern is adapted to the distance from the printing plate to the bottom surface of the resin tank;

[0022] After the current layer is printed, the six-axis robot is controlled to adjust the printing plate to lift a certain distance along the direction of resin material accumulation and move it to the height of the next layer. The angle between the printing plate and the bottom of the resin tank is controlled to make the printing plate perpendicular to the set resin material accumulation direction, and then the current layer is printed through the digital light processing projector.

[0023] The printing of each layer is repeated until the final printed product is obtained.

[0024] Furthermore, the method further comprises:

[0025] When it is necessary to change the starting material accumulation plane, the six-axis robot arm is controlled to move the printing plate to an initial position where another convex material begins to accumulate, and the material accumulation printing is performed in another direction.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) The present invention uses a six-axis robotic arm to give the printing plate six degrees of freedom. By rotating and adjusting the angle between the printing plane and the bottom of the resin tank, geometric bodies with more complex structures can be printed with higher precision and efficiency. At the same time, the printing range is expanded, and geometric bodies with larger geometric scales can be printed.

[0028] (2) The present invention uses a digital light processing projector that can accurately control the photosensitivity value. It can evenly solidify the uneven thickness layers formed by non-planar rotation by changing the light intensity, thereby ensuring the accuracy and reliability of the print. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall structure of a six-degree-of-freedom light-curing 3D printer provided in an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the structure of an optical element and a lifting frame provided in an embodiment of the present invention;

[0031] Figure 3 A schematic flow chart of a six-degree-of-freedom light-curing 3D printing method provided in an embodiment of the present invention;

[0032] In the figure, 1. base plate; 2. flange mounting seat; 3. six-axis robot arm; 4. flange coupling; 5. printing plate; 6. resin tank; 7. printing platform; 8. ultraviolet beam; 9. spectrometer component; 10. slide rail; 11. lifting frame; 12. digital light processing projector; 13. connecting rod; 14. fork-type pressure block; 111. lifting frame adjustment rod; 121. lens; 901. spectrometer lens; 902. spectrometer frame. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0037] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0039] Example 1

[0040] The inventors have found that the traditional photocuring printing device has only three degrees of freedom, and the printing method has low flexibility. For geometric bodies with complex structures, it is often necessary to add additional support structures in the suspended part. At the same time, the inclined printing may produce a step shape, which affects the printing accuracy. In view of the above technical problems, the present invention provides a six-degree-of-freedom photocuring 3D printing device and a printing method thereof, wherein the photocuring 3D printing device includes a base plate; a printing platform, a lifting frame, and a support device, which are arranged on the base plate; a six-axis mechanical arm, which is arranged on the base plate; a printing platform, which is arranged on the support device; a printing plate, which is arranged on the six-axis mechanical arm; a resin tank, which is arranged on the printing platform and located below the printing plate; and an optical component, which is arranged on the lifting frame and located below the printing platform. The present invention uses a six-degree-of-freedom mechanical arm to establish a six-degree-of-freedom photocuring 3D printing device. The mechanical arm has six rotating joints, has high flexibility, and can change the accumulation direction of the material during the manufacturing process. Therefore, the present invention can freely operate each layer, so as to manufacture geometric bodies with more complex structures with higher quality and efficiency, which is of great significance for the integrated molding of flexible devices, soft drives, etc.

[0041] Please also see Figure 1 and Figure 2 The present invention provides a preferred embodiment of a six-degree-of-freedom light-curing 3D printing device.

[0042] like Figure 1 As shown, the present invention provides a six-degree-of-freedom light-curing 3D printer, which includes: a base plate 1, a six-axis mechanical arm 3, a printing platform 7, a support component, a digital light processing projector 12, a light splitting component 9, a lifting frame 11 and a resin tank 6, the six-axis mechanical arm 3, the printing platform 7, the support component and the lifting frame 11 are all arranged on the base plate 1, the resin tank 6 is installed above the printing platform 7, and the digital light processing projector 12 and the light splitting component 9 are both located below the printing platform 7;

[0043] The printing platform 7 is supported by multiple supporting components, the spectroscopic component 9 is supported by the lifting frame 11, the digital light processing projector 12 is supported by a supporting component and is connected to the printing platform 7 through a slide rail 10. The spectroscopic component 9 is respectively facing the digital light processing projector 12 and the resin tank 6, and is used to focus the projection beam of the digital light processing projector 12 to the bottom of the resin tank 6; the end of the six-axis robot 3 is connected to a printing plate 5, the bottom surface of the printing plate 5 is a printing plane, and the printing plate 5 cooperates with the resin tank 6.

[0044] The beam splitter assembly 9 includes a beam splitter frame 902 and a beam splitter lens 901 . The beam splitter lens 901 is arranged in the beam splitter frame 902 . The beam splitter lens 901 and the beam splitter frame 902 are arranged on the lifting frame 11 . The beam splitter lens 901 faces the digital light processing projector 12 and the resin tank 6 respectively.

[0045] The support assembly includes a connecting rod 13 and a fork-type pressing block 14. The connecting rod 13 is fixed on the fork-type pressing block 14 to support the digital light processing projector 12 or the printing platform 7. The fork-type pressing block 14 is fixed on the bottom plate 1. Four connecting rods 13 are provided, and the fork-type pressing blocks 14 are respectively fixed on the bottom plate 1 to support the printing platform 7.

[0046] The six-axis robot 3 is mounted on the base 1 through the flange fixing seat 2 and connected to the printing plate 5 through the flange coupling 4. The six-axis robot 3 is a six-degree-of-freedom robot with six rotation pairs. The printing plate 5 is connected to the end effector flange of the six-axis robot 3 through the flange coupling. The six-axis robot 3 can drive the printing plate 5 to change its posture, so that the printing plate also has six degrees of freedom. In addition, the resin tank 6 contains resin material, which can be cured on the printing plate 5 under the irradiation of the ultraviolet light beam 8 emitted by the digital light processing projector 12.

[0047] The digital light processing projector 12 is fixed on the slide rail 10 and is set below the printing platform. The digital light processing projector contains a lens 121 for focusing and collimating the projection light. The combination of the beam splitter lens 901 and the beam splitter frame 902 enables the projector projection pattern to focus on the bottom of the resin tank 6.

[0048] The printing method of the above-mentioned six-degree-of-freedom light-curing 3D printing device comprises the following steps:

[0049] Adjust each supporting component so that the printing platform 7 and the resin tank 6 are in a horizontal state; adjust the distance between the digital light processing projector 12 and the light splitting component 9 by sliding the digital light processing projector 12 on the slide rail 10; align the light splitting component 9 with the digital light processing projector 12 by adjusting the lifting frame 11, so that the projection beam is focused on the bottom of the resin tank 6;

[0050] Control the six-axis robot 3 to adjust the distance between the printing plate 5 and the bottom of the resin tank 6 to the thickness of one slice layer, and control the angle between the printing plate 5 and the bottom of the resin tank 6 so that the printing plate 5 is perpendicular to the set resin material accumulation direction;

[0051] Control the digital light processing projector 12 to project the projection pattern of the current layer and print the current layer, wherein the gray value of each pixel of the projection pattern is adapted to the distance from the printing plate 5 to the bottom surface of the resin tank 6;

[0052] After the printing of the current layer is completed, the six-axis robot arm 3 is controlled to adjust the printing plate 5 to be lifted a certain distance along the resin material accumulation direction and moved to the height of the next layer, and the angle between the printing plate 5 and the bottom surface of the resin tank 6 is controlled so that the printing plate 5 is perpendicular to the set resin material accumulation direction, and then the current layer is printed through the digital light processing projector 12;

[0053] When it is necessary to change the starting material accumulation plane, the six-axis robot 3 is controlled to move the printing plate 5 to another initial position where the convex material begins to accumulate, and perform material accumulation printing in another direction.

[0054] Print each layer in a loop until the final printed product is obtained;

[0055] The printing process in this embodiment is specifically as follows:

[0056] When printing, you first need to adjust the position of each hardware, specifically: adjust the connecting rod and the fork-type pressure block to make the printing platform 7 and the resin tank reach a horizontal state; use the slide rail 10 to adjust the distance between the digital light processing projector 12 and the spectroscope 9, and use the lifting frame adjustment rod 111 to control the lifting frame 11 to adjust the spectroscope 9 to align with the digital light processing projector 12, so that the projection pattern can be focused on the bottom of the resin tank 6.

[0057] Secondly, the 3D model of the print is sliced ​​and processed, and corresponding images are generated for the layers with different normal directions. After determining the pattern shape and normal direction of each layer, the grayscale value of each pixel of the pattern is determined according to the thickness of the layer, and the printing parameters are set. When the printing parameters are set, the six-axis robot 3 is used to control the printing plate 5 to move to a distance of one layer thickness from the bottom surface of the resin tank 6, and then rotate the printing plate 5 to make it perpendicular to the normal direction of the layer. Thereafter, the digital light processing projector 12 projects the projection grayscale pattern corresponding to the current layer. For example, when printing the first layer, the printing plate is adjusted to be separated from the bottom surface of the resin tank 6 by the first layer thickness. When the printing plate 5 rises, the resin in the resin tank 6 will fill the gap between the resin tank 6 and the printing plate 5. Then adjust the six-axis robot 3 to rotate the printing plate 5 plane perpendicular to the normal vector direction of the layer. Due to the non-planar rotation, the thickness of the interval between the printing plate 5 and the resin tank 6 is uneven, so the grayscale value of each pixel of the projection pattern of the digital light processing projector 12 should be adjusted so that the liquid resin irradiated by the projection pattern during the set illumination time can be fully and evenly cured. Specifically, a suitable rotation angle value should be determined to avoid collision between the printing plate 5 and the resin tank 6. After the layer is solidified, the six-axis robot lifts the printing plate 5 vertically upward by a certain distance and moves it to the height of the next layer, and then rotates and adjusts the printing plate to be perpendicular to the normal vector of the next layer to ensure that the resin can completely fill the thickness of the new layer. When the printing plate 5 is adjusted to the second layer position and the resin has filled the second layer thickness, the digital light processing projector 12 projects the grayscale pattern of the second layer shape to the bottom surface of the resin tank 6 to solidify the second layer. Repeating the operation can print the model in a stacked manner.

[0058] Among them, if the geometric body to be printed is a concave body or has many suspended structures, it can be divided into a combination of several convex bodies with different material accumulation directions. After completing the printing of one convex body, the six-axis robot 3 is adjusted to move the printing plate 5 to the initial position where the material of another convex body begins to accumulate, and the material is accumulated in another direction, thereby printing a complex three-dimensional geometric body in steps with high precision. When adjusting the six-axis robot 3, care should be taken not to generate motion conflicts. This requires that the motion trajectory planning problem of the six-axis robot 3 be fully considered when dividing the geometric body, and the printing route should be designed well.

[0059] It should be noted that when setting the printing parameters, you can experimentally summarize the printing time and corresponding layer thickness of the resin material under a certain light intensity, establish the corresponding relationship between the projection pattern gray value and light intensity, and between light intensity and printing parameters. Adjust the appropriate light intensity and printing time according to the shape of each layer.

[0060] See also Figure 3 In some embodiments, the present invention further provides a printing method of a six-degree-of-freedom light-curing 3D printer, which is applied to the above-mentioned six-degree-of-freedom light-curing 3D printer, and the method comprises the steps of:

[0061] S1. Adjust the lifting frame so that the beam splitter is at a suitable height, and then adjust the position of the digital light processing projector on the slide rail so that the projection pattern is focused on the bottom surface of the resin tank; wherein the resin tank contains liquid resin material, which can be cured according to the projection pattern under the irradiation of the projection light. The digital light processing projector can change the light intensity of the pattern pixel points according to the grayscale value of the projection pattern. The specific embodiment is as described in an embodiment of a six-degree-of-freedom light-curing 3D printing device, which will not be repeated here.

[0062] S2, control the six-axis robot to move the printing plate to a distance from the bottom of the resin tank equal to the thickness of a slice layer, and rotate the printing plate to make it perpendicular to the normal vector direction of the current printing layer. The details are as described in an embodiment of a six-degree-of-freedom light-curing 3D printing device, which will not be repeated here.

[0063] S3, to complete the printing of the current layer. If the starting material accumulation plane of the next layer is consistent with the printing completion plane of the current layer, the six-axis robot is controlled to lift the printing plate a certain distance and then move it to the next layer position, and rotate the printing plate to make it perpendicular to the normal vector direction of the next layer. The specific details are as described in an embodiment of a six-degree-of-freedom light-curing 3D printing device, which will not be repeated here.

[0064] In some embodiments, the method further comprises the steps of:

[0065] S4. When it is necessary to change the starting material accumulation plane, control the six-axis robot arm to move the printing plate to the initial position where another convex material begins to accumulate material in another direction.

[0066] Specifically, when the starting material accumulation plane of the next layer is inconsistent with the printing completion surface of the current layer, that is, the printing plane of the next layer is at another position of the printed part, the six-axis robotic arm is controlled to make the printing plane of the next layer parallel to the bottom of the resin tank. The distance between the printing plane of the next layer and the bottom of the resin tank is the thickness of one slice, and it is rotated to be perpendicular to the direction of the normal vector of the next printing layer.

[0067] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A 3D printing method using a six-degree-of-freedom light-curing 3D printing device, characterized in that: The device comprises a base plate (1), a six-axis mechanical arm (3), a printing platform (7), a supporting component, a digital light processing projector (12), a light splitting component (9), a lifting frame (11) and a resin tank (6); the six-axis mechanical arm (3), the printing platform (7), the supporting component and the lifting frame (11) are all arranged on the base plate (1); the resin tank (6) is installed above the printing platform (7); the digital light processing projector (12) and the light splitting component (9) are both located below the printing platform (7); the digital light processing projector (12) is used to change the light intensity of the pattern pixel points according to the gray value of the projection pattern, and to establish in advance the corresponding relationship between the gray value of the projection pattern and the light intensity, and between the light intensity and the printing parameter; The printing platform (7) is supported by a plurality of supporting components, the light splitting component (9) is supported by the lifting frame (11), the digital light processing projector (12) is supported by a supporting component and is connected to the printing platform (7) via a slide rail (10), the light splitting component (9) is respectively facing the digital light processing projector (12) and the resin tank (6), and is used to focus the projection light beam of the digital light processing projector (12) onto the bottom of the resin tank (6); the end of the six-axis robot arm (3) is connected to a printing plate (5), the bottom surface of the printing plate (5) is a printing plane, and the printing plate (5) cooperates with the resin tank (6); The beam splitter assembly (9) comprises a beam splitter frame (902) and a beam splitter lens (901), wherein the beam splitter lens (901) is arranged in the beam splitter frame (902), the beam splitter lens (901) and the beam splitter frame (902) are arranged on a lifting frame (11), and the beam splitter lens (901) faces the digital light processing projector (12) and the resin tank (6) respectively; The method comprises the following steps: Adjusting each supporting component so that the printing platform (7) and the resin tank (6) are in a horizontal state; adjusting the distance between the digital light processing projector (12) and the light splitting component (9) by sliding the digital light processing projector (12) on the slide rail (10); and aligning the light splitting component (9) with the digital light processing projector (12) by adjusting the lifting frame (11) so that the projection beam is focused on the bottom of the resin tank (6); Controlling the six-axis robot arm (3) to adjust the distance between the printing plate (5) and the bottom of the resin tank (6) to the thickness of one slice layer, and controlling the angle between the printing plate (5) and the bottom of the resin tank (6) to make the printing plate (5) perpendicular to the set resin material accumulation direction; Controlling a digital light processing projector (12) to project a projection pattern of the current layer and print the current layer, wherein the grayscale value of each pixel of the projection pattern is adapted to the distance from the printing plate (5) to the bottom surface of the resin tank (6); After the printing of the current layer is completed, the six-axis robot arm (3) is controlled to adjust the printing plate (5) to be lifted a certain distance along the direction of resin material accumulation and moved to the height of the next layer, and the angle between the printing plate (5) and the bottom surface of the resin tank (6) is controlled so that the printing plate (5) is perpendicular to the set resin material accumulation direction, and then the current layer is printed through the digital light processing projector (12); The printing of each layer is repeated until the final printed product is obtained.

2. The method according to claim 1, characterized in that The support assembly comprises a connecting rod (13) and a fork-type pressing block (14); the connecting rod (13) is fixed on the fork-type pressing block (14) and is used to support a digital light processing projector (12) or a printing platform (7); and the fork-type pressing block (14) is fixed on the base plate (1).

3. The method according to claim 1, characterized in that: The six-axis mechanical arm (3) is mounted on the base plate (1) via a flange fixing seat (2) and is connected to the printing plate (5) via a flange coupling (4).

4. The method according to claim 1, characterized in that: The digital light processing projector (12) is provided with a lens (121) for focusing and collimating projection light.

5. The method according to claim 1, characterized in that The resin tank (6) contains a photosensitive resin material.

6. The method according to claim 1, characterized in that The method further comprises: When it is necessary to change the starting material accumulation plane, the six-axis robot arm (3) is controlled to move the printing plate (5) to another initial position where the convex material begins to accumulate, and the material accumulation printing is performed in another direction.

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