Large-space 3D printing equipment and method based on rope-driven Stewart parallel mechanism

Abstract

The invention discloses large-space 3D printing equipment and method based on a rope-driven Stewart parallel mechanism, the equipment comprises a three-degree-of-freedom rope-driven parallel mechanism, the three-degree-of-freedom rope-driven parallel mechanism comprises three stand columns, and distributed winch sets are arranged on the side walls of the upper portions of the stand columns; a rope retracted and released in the distributed winch group is connected with the printing actuator, large-range space movement of the printing actuator is achieved, and the printing actuator comprises a Stewart platform and a printing spray head assembly; the method comprises the following steps: connecting a printing actuator through a rope; the length change required by each rope is solved, and a printing actuator is driven to move at three degrees of freedom; performing six-degree-of-freedom high-precision attitude adjustment; and executing the 3D printing task. And printing is completed under large-range movement and accurate posture adjustment. According to the invention, the printing space is obviously enlarged, the overall rigidity and stability are improved, and high-precision printing of medium and large complex structural parts is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of large 3D printing, and particularly relates to a large-space 3D printing device and method based on a rope-driven Stewart parallel mechanism. BACKGROUND

[0002] 3D printing technology, as a new rapid prototyping technology in the era of intelligent manufacturing, is based on a three-dimensional digital design model, and through steps such as software digital layering, slicing and additive manufacturing, a three-dimensional physical model meeting design requirements is constructed by layering printing materials. This technology has the advantages of high efficiency, short cycle, low manufacturing threshold and easy processing of complex models, and has been widely used in important fields such as industry, education, medicine, military and aerospace, and has shown great potential in composite material forming.

[0003] The existing 3D printing devices of Chinese patents CN109049702A, CN119036836A and CN119748854A still have obvious deficiencies in large model printing. Traditional 3D printers mainly use XYZ serial mechanisms, and their forming range is limited by the length of the guide rail. The integration of the extrusion feeding mechanism and the nozzle leads to large system inertia, low positioning accuracy and slow speed. Although the rigid serial structure has a large working space, it has low carrying capacity and serious error accumulation; although the rigid parallel structure has strong carrying capacity, the working space is limited by the movement range of the hinge, and cannot meet the demand of large model printing.

[0004] Although the rope-driven 3D printing robot can improve these problems, the existing suspension structure has poor stability and low rigidity, and the pull-type structure has poor adaptability to the printing target, which is easy to cause collision between the rope and the printed object. SUMMARY

[0005] The application is proposed to solve the problems in the prior art, and aims to provide a large-space 3D printing device and method based on a rope-driven Stewart parallel mechanism.

[0006] The technical scheme of the application is: a large-space 3D printing device based on a rope-driven Stewart parallel mechanism, comprising a three-degree-of-freedom rope-driven parallel mechanism, the three-degree-of-freedom rope-driven parallel mechanism comprising three upright columns, a distributed winch set being arranged at the upper side wall of the upright column, a rope wound and unwound in the distributed winch set being connected with a printing executor, so as to realize large-range space movement of the printing executor, the printing executor comprising a Stewart platform and a printing nozzle assembly, the Stewart platform compensating for deviation and high-precision posture adjustment of the printing nozzle assembly.

[0007] Further, each distributed hoist set retracts and releases two ropes, and the ropes are symmetrically distributed in pairs and connected to the printing actuator, and the three-degree-of-freedom rope-driven parallel mechanism has three spatial movement degrees of freedom.

[0008] Further, the two parallel ropes are drawn from the drum in the distributed hoist set to the high-precision pulley assembly and connected to the static platform of the Stewart platform, respectively.

[0009] Further, the distributed hoist set comprises an electric hoist and a driveless hoist, the electric hoist and the driveless hoist are synchronously rotated through a shaft coupling, and the electric hoist and the driveless hoist are provided with drums.

[0010] Further, the high-precision pulley assembly comprises a fixed upper pulley and a lower pulley located in a rotating seat, and the upper pulley and the lower pulley realize traction of the ropes between the distributed hoist set and the Stewart platform.

[0011] Further, the electric hoist and the driveless hoist are mounted on a hoist mounting tray, two upper pulleys in the high-precision pulley assembly are mounted in parallel in the hoist mounting tray, and the upper pulley axis is parallel to the drum axis.

[0012] Further, the Stewart platform comprises a static platform connected to the ropes and a dynamic platform connected to the printing nozzle assembly, and an execution branch chain for pose adjustment is arranged between the static platform and the dynamic platform.

[0013] Further, the base of the printing nozzle assembly is directly connected to the dynamic platform through bolts, and a nozzle is arranged on the side of the printing nozzle assembly away from the Stewart platform.

[0014] A method of a large-space 3D printing device based on a rope-driven Stewart parallel mechanism, comprising the following steps: A. connecting the printing actuator through the ropes; B. inversely kinematically solving the required length change of each rope to drive the printing actuator to move in three degrees of freedom in a large range of space; C. the Stewart platform performs six-degree-of-freedom high-precision pose adjustment of the printing nozzle assembly; D. after the printing nozzle assembly adjustment is completed, a 3D printing task is performed; E. under the large-range movement of the three-degree-of-freedom rope-driven parallel mechanism and the pose adjustment of the Stewart platform, printing is completed.

[0015] The beneficial effects of the present application are as follows: The application ingeniously combines the large space displacement advantage of the rope-driven parallel mechanism and the precise pose adjustment capability of the Stewart platform, and overcomes the limitations of the traditional 3D printing equipment in large model printing.

[0016] The application realizes large-range space movement by using a rope, and simultaneously adjusts the printing head in a precise pose through a 6-UPS parallel platform, which not only significantly expands the printing space, improves the overall rigidity and stability, but also effectively avoids the collision problem between the rope and the printed object.

[0017] The application is particularly suitable for high-precision printing of medium-large complex structure parts, and can be restructured and parameter-adjusted according to different printing task requirements, which greatly improves the application potential of the 3D printing technology in the large structure manufacturing field. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a whole schematic view of a large space 3D printing equipment of the application for large space three-dimensional printing; Figure 2 is a schematic view of a winch assembly in the large space 3D printing equipment of the application; Figure 1 Figure 3 is a partial enlarged view of an electric winch in the large space 3D printing equipment of the application; Figure 2 Figure 4 is a schematic view of a pulley assembly in the large space 3D printing equipment of the application; Figure 2 Figure 5 is a schematic view of a B printing executor of the large space 3D printing equipment in the application; Figure 1 Figure 6 is a schematic view of a printing head assembly of the printing executor in the application; Figure 5 Wherein: 1, three-degree-of-freedom rope-driven parallel mechanism; 2, distributed winch set; 3, high-precision pulley assembly; 4, printing executor; 5, rope; 6, Stewart platform; 7, printing head assembly; 8, stand column; 21, winch mounting tray; 22, non-driven winch; 23, electric winch; 24, shaft coupling; 25, speed reducer; 26, motor support frame; 27, roller; 28, mounting seat; 29, roller frame; 210, servo motor; 211, encoder box; 31, upper pulley; 32, pulley shaft; 33, shaft pin; 34, pulley seat; 35, rotating seat; 36, sleeve; 37, sleeve ball bearing; 38, pulley frame; 39, lower pulley; 310, pulley ball bearing; 311, bearing shaft; 312, nut; 313, washer; ​​​​​61. Cable connection; 62. Stationary platform; 63. Moving platform; 64. Actuating chain; 65. Hooke's joint; 66. Linear screw motor; 67. Ball joint; 71. Feed port; 72. Hopper; 73. Base; 74. Throat; 75. Heating unit; 76. Heat dissipation unit; 77. Nozzle; 78. Bolt. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 6 As shown, a large-space 3D printing device based on a rope-driven Stewart parallel mechanism includes a three-degree-of-freedom rope-driven parallel mechanism 1. The three-degree-of-freedom rope-driven parallel mechanism 1 includes three columns 8. A distributed winch unit 2 is provided on the upper side wall of the columns 8. The ropes 5 in the distributed winch unit 2 are connected to the printing actuator 4, realizing a large-range spatial movement of the printing actuator 4. The printing actuator 4 includes a Stewart platform 6 and a printing nozzle assembly 7. The Stewart platform 6 compensates for deviations and performs high-precision attitude adjustment on the printing nozzle assembly 7.

[0020] Each distributed winch unit 2 winds up and releases two ropes 5, and the ropes 5 are connected to the printer actuator 4 in a parallel and symmetrical arrangement. The three-degree-of-freedom rope-driven parallel mechanism 1 has three spatial degrees of freedom.

[0021] Two parallel ropes 5 originate from the drum 27 in the distributed winch unit 2, are pulled to the high-precision pulley assembly 3, and are respectively connected to the stationary platform 62 of the Stewart platform 6.

[0022] The distributed winch unit 2 includes an electric winch 23 and a non-drive winch 22. The electric winch 23 and the non-drive winch 22 rotate synchronously through a coupling 24. Both the electric winch 23 and the non-drive winch 22 are equipped with drums 27.

[0023] The high-precision pulley assembly 3 includes a fixed upper pulley 31 and a lower pulley 39 located in the rotating seat 35. The upper pulley 31 and the lower pulley 39 realize the traction of the rope 5 between the distributed winch unit 2 and the Stewart platform 6.

[0024] Both the electric winch 23 and the driveless winch 22 are mounted on the winch mounting tray 21. The two upper pulleys 31 in the high-precision pulley assembly 3 are mounted in parallel in the winch mounting tray 21, and the axis of the upper pulley 31 is parallel to the axis of the drum 27.

[0025] The Stewart platform 6 comprises a static platform 62 connected with the ropes 5 and a dynamic platform 63 connected with the printing head assembly 7, and an execution branch 64 for pose adjustment is arranged between the static platform 62 and the dynamic platform 63.

[0026] The base 73 of the printing head assembly 7 is directly connected with the dynamic platform 63 through bolts 78, and a nozzle 77 is arranged on the side of the printing head assembly 7 away from the Stewart platform 6.

[0027] Specifically, in structure, the three-degree-of-freedom rope-driven parallel mechanism 1 cooperates with the printing executor 4 to realize the movement of the 3D printing device in a large range of space and the high-precision pose adjustment of the end. The three-degree-of-freedom rope-driven parallel mechanism 1 is connected to the printing executor 4 by six high-strength carbon fiber ropes 5 distributed in pairs and symmetrically, has three spatial movement degrees of freedom, is independently driven by the distributed winch set 2, is guided in multiple degrees of freedom by the high-precision pulley assembly 3, and realizes the large-range spatial movement of the printing executor 4. The printing executor 4 is integrated with the Stewart platform 6 and the printing head assembly 7, calculates the data of the printed area in real time, drives the three-degree-of-freedom rope-driven parallel mechanism 1 to execute the printing task, and compensates for the deviation by the Stewart platform 6, so as to realize the high-precision pose adjustment of the printing executor 4.

[0028] Specifically, as shown in Figure 1 The three pairs of parallel ropes 5 in the three distributed winch sets 2 are respectively drawn out from the drums 27 in the distributed winch sets 2, are pulled to the high-precision pulley assembly 3, and are respectively connected to the static platform 62 of the Stewart platform 6. In this way, the three electric hoists 23 drive the six high-strength carbon fiber ropes 5 to realize the three-degree-of-freedom spatial movement of the printing executor 4.

[0029] Specifically, the spatial symmetric parallel distribution connection mode of the three-degree-of-freedom rope-driven parallel mechanism 1 ensures the mechanical stability of the rope-driven parallel mechanism during work, realizes the mechanical balance at the printing executor 4, and prevents the printing executor 4 from being twisted or overturned.

[0030] Specifically, as shown in Figure 2 The distributed winch set 2 is composed of a winch mounting tray 21, a non-driven winch 22, an electric hoist 23, and a shaft coupling 24. The winch mounting tray 21 provides an overall assembly basis, and the non-driven winch 22 and the electric hoist 23 are mounted on the upper end of the winch mounting tray 21. The output end of the electric hoist 23 is connected with the input end of the non-driven winch 22 through the shaft coupling 24, so that the drums 27 in the non-driven winch 22 and the electric hoist 23 rotate synchronously and in the same direction, and the lengths of the two ropes 5 are consistent and are driven synchronously.

[0031] Specifically, the high-precision pulley assembly 3 is arranged in the hoist mounting tray 21, the upper pulley 31 of the high-precision pulley assembly 3 is higher than the upper end face thereof, the lower pulley 39 of the high-precision pulley assembly 3 is lower than the lower end face thereof, and the rope wound and unwound in the drum 27 is guided through the high-precision pulley assembly 39.

[0032] Specifically, as shown in Figure 3 The electric hoist 23 is composed of a mounting seat 28, a drum 27, a drum frame 29, a rope 5, a speed reducer 25, a servo motor 210, an encoder box 211, and a motor support frame 26. The power output of the servo motor 210 is connected to the drum 27 through the speed reducer 25, the rotation of the servo motor 210 drives the rotation of the drum 27, and the winding or unwinding of the rope is realized. The drum 27 rotates in the drum frame 29.

[0033] Specifically, the encoder box 211 is connected to the tail of the servo motor 210, realizes the feedback control of the servo motor 210 and the calculation of the length of the rope, and thus solves the forward kinematics of the printing actuator 4, and obtains the posture and position of the printing actuator 4.

[0034] Specifically, the drum 27 in the non-driven hoist 22 and the electric hoist 23 is wound with the rope 5, the rope 5 is connected to the rope connection part 61 of the printing actuator 4 through the guidance of the respective high-precision pulley assembly 3, and the three-degree-of-freedom motion of the printing actuator 4 is realized.

[0035] Specifically, the drum 27 is fixed to the mounting seat 28 through the drum frame 29. The motor support frame 26 in the electric hoist 23 is fixed to the mounting seat 28 by bolts, and the upper end thereof is supported below the speed reducer 25 for supporting the servo motor 210.

[0036] Specifically, in combination with Figure 1 , the hoist mounting tray 21 is connected to the column 8. The distributed hoist set 2 not only drives the printing actuator 4 to move in a large range of space, but also directly affects the dynamic response and running stability of the system, and provides necessary mechanical and control support for large-space 3D printing.

[0037] Specifically, as shown in Figure 4 The high-precision pulley assembly 3 plays a guiding and steering role for the rope 5. The high-precision pulley assembly 3 is divided into upper and lower parts. The upper part is composed of an upper pulley 31, a pulley shaft 32, an axle pin 33, and a pulley seat 34. The upper pulley 31 is installed in the pulley seat 34 through the pulley shaft 32, and the axle pin 33 is used to fix the pulley shaft 32. The pulley seat 34 is installed on the hoist mounting tray 21.

[0038] Specifically, the lower part thereof is composed of a sleeve 36, a rotating seat 35, a sleeve ball bearing 37, a pulley bracket 38, a lower pulley 39, a pulley ball bearing 310, and a bearing shaft 311. The sleeve 36 is mounted on the hoist mounting tray 21, the rotating seat 35 is connected through the sleeve ball bearing 37 to realize the steering of the lower pulley set.

[0039] Specifically, the pulley bracket 38 is connected to the lower side of the rotating seat 35 through bolts, and the lower pulley 39 therein is two, the two lower pulleys 39 are connected to the bearing shaft 311 through the pulley ball bearing 310, and the bearing shaft 311 is mounted on the inner side of the pulley bracket 38 through the nut 312 and the washer 313 to realize the guidance of the rope 5.

[0040] Specifically, the sleeve 36 is a hollow structure, the rope 5 is led out from the roller 27, then passes through the upper pulley 31, passes through the sleeve 36 downward, passes through between the two lower pulleys 39, and finally is connected with the cable connection 61 on the Stewart platform 6.

[0041] Specifically, the high-precision pulley assembly 3 is not only an important guiding structure of the rope 5, but also plays a key supporting role in the dynamic response capability and operation reliability of the whole large-space 3D printing equipment.

[0042] Specifically, as shown in Figure 5 The printing executor 4 is used for high-precision pose adjustment of the nozzle 77, filling of materials, and realization of 3D printing work. The printing executor 4 includes two parts: a six-degree-of-freedom pose adjustment mechanism, i.e., a Stewart platform 6, and a printing head assembly 7. The Stewart platform 6 is composed of a static platform 62, six identical execution branch chains 64, and a dynamic platform 63.

[0043] Specifically, the cable connection 61 on the static platform 62 is connected with the rope 5, the roller 27 realizes winding and releasing of the rope 5 through the servo motor 210 and its control system, and then the combined moving static platform 62 realizes large-range space movement.

[0044] Specifically, the execution branch chain 64 is composed of a hooke joint 65, a linear lead screw motor 66, and a spherical hinge 67, the hooke joint 65 is mounted at the front end of the static platform 62 and at the rear end of the linear lead screw motor 66. The linear lead screw motor 66 is connected to one side of the spherical hinge 67 at the rear end, and the other side of the spherical hinge 67 is mounted on the dynamic platform 63.

[0045] Specifically, the linear lead screw motor 66 serves as a driver of the Stewart platform 6, and realizes kinematic inverse solution through a controller to realize the motion of the whole mechanism and high-precision pose adjustment of the printing head assembly 7.

[0046] Specifically, as shown in Figure 6 As shown inFigure 6 As shown, the print head assembly 7 is composed of a feeding port 71, a hopper 72, a base 73, a throat 74, a heating unit 75, a heat dissipation unit 76, and a nozzle 77. The feeding port 71 is installed at the center of the moving platform 63, and the hopper 72 is installed below the moving platform 63 through a bolt 78. The base 73 is in communication with the hopper 72 and transports the printing material through the outlet of the hopper 72. The throat 74, the heating unit 75, and the nozzle 77 are sequentially installed below the base 73, and the heat dissipation unit 76 is installed on the side of the base 73.

[0047] A method of a large-space 3D printing device based on a rope-driven Stewart parallel mechanism, comprising the following steps: A. connecting the printing executor 4 through the rope 5; B. solving the required length change of each rope 5 through inverse kinematics, driving the printing executor 4 to move in three degrees of freedom in a large space; C. adjusting the six-degree-of-freedom posture of the print head assembly 7 through the Stewart platform 6; D. completing the 3D printing task after the adjustment of the print head assembly 7; E. completing the printing under the large-range movement of the three-degree-of-freedom rope-driven parallel mechanism 1 and the posture adjustment of the Stewart platform 6.

[0048] Specifically, step A connects the printing executor 4 through the rope 5, which is as follows: First, the three-degree-of-freedom rope-driven parallel mechanism 1 is driven by six high-strength carbon fiber ropes 5 through three sets of distributed winch assemblies 2 distributed on the top of three columns 8; Then, the rope 5 is guided from the drum 27 of the distributed winch assembly 2 through the high-precision pulley assembly 3 and connected to the static platform 62 of the Stewart platform 6; Finally, the whole is formed in a spatially symmetrical distribution to ensure the force balance of the printing executor 4 and the stability of the system.

[0049] Specifically, step B solves the required length change of each rope 5 through inverse kinematics, driving the printing executor 4 to move in three degrees of freedom in a large space, which is as follows: First, the required length change of each rope 5 is solved through inverse kinematics; Then, the electric winch 23 is controlled to drive the drum 27 to realize the winding or releasing of the rope 5, driving the printing executor 4 to move in three degrees of freedom in a large space.

[0050] At the same time, the tension of the rope 5 is adjusted in real time through the closed-loop control system composed of the servo motor 210 and the encoder box 211 to ensure the dynamic response and stability of the mechanism in motion.

[0051] Meanwhile, the high-precision pulley assembly 3 plays an important role in guiding and steering the rope 5. The upper pulley 31 and the two lower pulleys 39 maintain low-friction operation of the rope through a high-precision bearing system, effectively reducing positional deviations caused by friction, further improving the accuracy and reliability of the entire system.

[0052] Specifically, step C the Stewart platform 6 performs six-degree-of-freedom high-precision attitude adjustment of the printing head assembly 7, as follows: First, after the printing actuator 4 moves to the target position, the six-degree-of-freedom attitude adjustment mechanism inside the Stewart platform 6 begins to work; Then, the six sets of linear lead screw motors 66 drive the execution branch chains 64 to extend and retract, connecting the moving platform 63 through the spherical hinge 67; Finally, the six-degree-of-freedom high-precision attitude adjustment of the printing head assembly 7 is achieved, thereby compensating for minor errors during rope driving and further ensuring printing quality.

[0053] Specifically, step D after the printing head assembly 7 adjustment is completed, the 3D printing task is executed, as follows: First, the printing head assembly 7 begins to execute the 3D printing task; Then, the material is input into the hopper 72 through the feeding port 71, transported to the heating unit 75 through the base 73 for melting treatment; Finally, the molten material flows through the throat 74 to the nozzle 77 for precise ejection, and printing is performed.

[0054] Meanwhile, the heat dissipation unit 76 stabilizes the temperature of the throat 74 to prevent the material from softening too early during transmission, ensuring printing stability.

[0055] Specifically, step E under the large-range movement of the three-degree-of-freedom rope-driven parallel mechanism 1 and the attitude adjustment of the Stewart platform 6, printing is completed, as follows: Through the coordinated control of the large-range movement of the three-degree-of-freedom rope-driven parallel mechanism 1 and the six-degree-of-freedom precise attitude adjustment of the Stewart platform 6, the printing actuator 4 can complete the 3D printing of complex structures and large-size workpieces with high precision in a super-large space, meeting the large-space additive manufacturing requirements in various high-demand scenarios.

[0056] The present application ingeniously combines the large-space displacement advantage of the rope-driven parallel mechanism and the precise attitude adjustment capability of the Stewart platform, overcoming the limitations of traditional 3D printing equipment in large model printing.

[0057] The application realizes large-range space movement by means of a rope drive, and simultaneously realizes accurate attitude adjustment of a printing head by means of a 6-UPS parallel platform, which not only significantly expands the printing space, improves the overall rigidity and stability, but also effectively avoids the collision problem of the rope and the printed object.

[0058] The application is particularly suitable for high-precision printing of medium-large complex structural parts, and can be restructured and parameter-adjusted according to different printing task requirements, which greatly improves the application potential of 3D printing technology in the field of large-scale structure manufacturing.

Claims

1. A large space 3D printing device based on a rope-driven Stewart parallel mechanism, characterized in that: The application relates to a three-degree-of-freedom rope-driven parallel mechanism (1) which comprises three columns (8), a distributed hoist set (2) is arranged on the upper side wall of the column (8), a rope (5) wound and unwound in the distributed hoist set (2) is connected with a printing executor (4), the printing executor (4) is moved in a large range of space, the printing executor (4) comprises a Stewart platform (6) and a printing nozzle assembly (7), the Stewart platform (6) compensates deviation and high-precision posture adjustment of the printing nozzle assembly (7).

2. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 1, characterized in that: Each distributed hoist set (2) winds and unwinds two ropes (5), and the two ropes (5) are symmetrically and parallelly connected to the printing executor (4), and the three-degree-of-freedom rope-driven parallel mechanism (1) has three spatial movement degrees of freedom.

3. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 2, characterized in that: The two parallel ropes (5) are drawn from a roller (27) in the distributed hoist set (2) to a high-precision pulley assembly (3) and are respectively connected to a static platform (62) of the Stewart platform (6).

4. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 3, characterized in that: The distributed hoist set (2) comprises an electric hoist (23) and a non-driven hoist (22), the electric hoist (23) and the non-driven hoist (22) are synchronously rotated through a shaft coupling (24), and the electric hoist (23) and the non-driven hoist (22) are provided with the roller (27).

5. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 4, characterized in that: The high-precision pulley assembly (3) comprises a fixed upper pulley (31) and a lower pulley (39) arranged in a rotating seat (35), and the upper pulley (31) and the lower pulley (39) realize traction of the rope (5) between the distributed hoist set (2) and the Stewart platform (6).

6. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 5, characterized in that: The electric hoist (23) and the non-driven hoist (22) are mounted on a hoist mounting tray (21), two upper pulleys (31) in the high-precision pulley assembly (3) are mounted in parallel in the hoist mounting tray (21), and the axis of the upper pulley (31) is parallel to the axis of the roller (27).

7. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 1, characterized in that: The Stewart platform (6) comprises a static platform (62) connected with the rope (5) and a dynamic platform (63) connected with the printing nozzle assembly (7), and an execution branch (64) for adjusting the position and posture is arranged between the static platform (62) and the dynamic platform (63).

8. The large space 3D printing device based on the rope-driven Stewart parallel mechanism according to claim 7, characterized in that: The base (73) in the printing nozzle assembly (7) is directly connected with the dynamic platform (63) through a bolt (78), and a nozzle (77) is arranged on the side, away from the Stewart platform (6), of the printing nozzle assembly (7).

9. The method of large space 3D printing based on a rope-driven Stewart parallel mechanism according to claim 1, characterized in that: The application further discloses a method for realizing the three-degree-of-freedom rope-driven parallel mechanism (1), which comprises the following steps: A. connecting the printing executor (4) through the rope (5); B. inversely kinematically solving the required length change of each rope (5) to drive the printing executor (4) to move in three degrees of freedom in a large range of space; C. the Stewart platform (6) adjusts the six-degree-of-freedom high-precision posture of the printing nozzle assembly (7); D. after the printing nozzle assembly (7) is adjusted, a 3D printing task is executed; E. printing is completed under the large-range movement of the three-degree-of-freedom rope-driven parallel mechanism (1) and the posture adjustment of the Stewart platform (6).

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