Three-dimensional printing apparatus and method for non-developable cavity inner surfaces

Abstract

The application discloses a three-dimensional printing device and method for a non-developable cavity inner surface, to solve the problem of movement interference between a nozzle and a cavity in the three-dimensional printing technology of the non-developable cavity inner surface. Specifically, the device comprises a first printing posture adjusting mechanism, a second printing posture adjusting mechanism, a control mechanism, a printing nozzle and a material conveying mechanism; the action ends of the first printing posture adjusting mechanism and the second printing posture adjusting mechanism are opposite to each other; the action end of the first printing posture adjusting mechanism is used for arranging the non-developable cavity, and the printing nozzle is arranged on the action end of the second printing posture adjusting mechanism; the material conveying mechanism is communicated with the printing nozzle; the control mechanism is connected with the first printing posture adjusting mechanism, the second printing posture adjusting mechanism, the printing nozzle and the material conveying mechanism, and is used for controlling the first printing posture adjusting mechanism to adjust the position of the non-developable cavity, and controlling the second printing posture adjusting mechanism to adjust the position and angle of the printing nozzle; and a sensor is arranged on the printing nozzle.

Description

Technical Field

[0001] This invention relates to a three-dimensional printing apparatus and method, specifically to a three-dimensional printing apparatus and method for a non-developable cavity inner surface. Background Technology

[0002] 3D printing technology uses computer-aided 3D design models as a blueprint. It employs software layering and discretization and a numerical control forming system. It uses laser beams, hot melt nozzles, and other methods to deposit and bond special materials such as metal powder, ceramic powder, plastic, and cell tissue layer by layer, and finally stacks them to form a solid product.

[0003] Non-developable surface conductive patterns refer to conductive patterns with specific shapes and functions fabricated on curved surfaces that cannot be developed using geometric methods, thereby forming integrated structural and functional components with specific electromagnetic properties. The fabrication of non-developable surface conductive patterns is one of the key steps in the manufacturing of electronic devices such as conformal antennas, frequency selective surfaces, and wearable electronics. Fabricating conductive patterns on three-dimensional structural surfaces not only improves space utilization but also further reduces device size.

[0004] However, most current research focuses on 3D printing of the outer surfaces of non-developable curved surfaces, with few reports on 3D printing of complex and intricate structures on the inner surfaces of non-developable cavities. Currently, conformal 3D printing of the inner surfaces of non-developable cavities still faces challenges such as path planning difficulties and motion interference between the nozzle and the cavity. Summary of the Invention

[0005] The purpose of this invention is to provide a three-dimensional printing device and method for non-developable cavity inner surfaces, in order to solve the technical problems of path planning difficulties and motion interference between the printing nozzle and the cavity in the three-dimensional printing technology for non-developable cavity inner surfaces.

[0006] To achieve the above objectives, the present invention provides a three-dimensional printing device for the inner surface of a non-developable cavity, characterized in that it includes a first printing posture adjustment mechanism, a second printing posture adjustment mechanism, a control mechanism, a printing nozzle, and a material conveying mechanism.

[0007] The working end of the first printing posture adjustment mechanism is opposite to the working end of the second printing posture adjustment mechanism; the working end of the first printing posture adjustment mechanism is used to set the non-developable cavity, and the print head is set at the working end of the second printing posture adjustment mechanism; the material conveying mechanism is connected to the print head; the control mechanism is connected to the first printing posture adjustment mechanism, the second printing posture adjustment mechanism, the print head, and the material conveying mechanism respectively, and is used to control the first printing posture adjustment mechanism to adjust the position and angle of the non-developable cavity, control the second printing posture adjustment mechanism to adjust the position and angle of the print head, control the print head to print, and control the material conveying mechanism to convey printing material to the print head; the print head is provided with a sensor connected to the control mechanism.

[0008] Furthermore, the second printing posture adjustment mechanism includes a coarse moving platform, a fine moving platform, and a robotic arm assembly;

[0009] The fine-shifting platform is mounted on the coarse-shifting platform; the robotic arm assembly is mounted on the fine-shifting platform, with the print head installed at its working end; the coarse-shifting platform is used to coarsely adjust the position of the robotic arm assembly via the fine-shifting platform; the control mechanism is connected to both the fine-shifting platform and the robotic arm assembly; it is used to control the fine-shifting platform to finely adjust the position of the robotic arm assembly, and to control the robotic arm assembly to adjust the position and angle of the print head.

[0010] Furthermore, the coarse moving platform includes a machine tool base and a coarse moving slide;

[0011] The machine tool base is provided with a slide groove; a first slider is provided below the coarse moving slide plate; the first slider is installed in the slide groove and is in clearance fit with the slide groove;

[0012] The fine-moving platform is mounted on the coarse-moving slide plate and can slide on the coarse-moving slide plate.

[0013] Furthermore, the fine-movement platform includes a ball screw, a fine-movement slide plate, and a first drive mechanism;

[0014] The ball screw is installed in the middle of the coarse moving slide plate; a guide groove is provided on each side of the coarse moving slide plate; both guide grooves are parallel to the screw in the ball screw.

[0015] The fine sliding plate is fixedly connected to the nut seat on the ball screw, and at least one second slider is provided on each of its two sides; the second sliders on both sides extend into the two guide grooves respectively and are in clearance fit with the guide grooves.

[0016] The first drive mechanism is located at the end of the coarse sliding plate away from the first printing posture adjustment mechanism, and its drive end is connected to the screw of the ball screw to drive the screw to rotate; the control mechanism is connected to the first drive mechanism.

[0017] The robotic arm assembly is attached to the fine-movement slide plate.

[0018] Furthermore, the robotic arm assembly includes a first rotary joint, a first robotic arm, a second rotary joint, a second robotic arm, and a third rotary joint;

[0019] The first rotary joint is fixedly mounted on the fine sliding plate;

[0020] One end of the first robotic arm is connected to the first rotary joint;

[0021] The second rotary joint is fixedly mounted on the other end of the first robotic arm;

[0022] One end of the second robotic arm is rotatably connected to the other end of the first robotic arm via a second rotary joint;

[0023] The third rotary joint is fixedly installed at the other end of the second robotic arm; the printing nozzle is rotatably connected to the other end of the second robotic arm via the third rotary joint.

[0024] The control mechanism is connected to the first rotary joint, the second rotary joint, and the third rotary joint, respectively.

[0025] Furthermore, two second sliders are provided on each side of the fine sliding plate.

[0026] Furthermore, the first printing posture adjustment mechanism includes a second drive mechanism, a gearbox, and a chuck;

[0027] The output end of the second drive mechanism is connected to the input end of the gearbox, the output end of the gearbox is connected to the chuck, and the second drive mechanism is connected to the control mechanism;

[0028] The gearbox is mounted on the machine tool base;

[0029] The chuck is opposite to the working end of the first printing posture adjustment mechanism; the chuck is provided with at least two jaws for fixing the non-developable cavity.

[0030] Furthermore, the chuck is truncated cylindrical, with one end connected to the gearbox's working end and the other end opposite to the working end of the second printing posture adjustment mechanism;

[0031] The chuck has three jaws, which are evenly distributed around the center of the chuck.

[0032] Furthermore, the claw includes a support rod and clamping plates and adjusting plates respectively fixedly installed at both ends of the support rod;

[0033] The adjusting plate is perpendicular to the support rod, and the adjusting plate is provided with multiple adjusting holes; the adjusting plate is installed on the other end of the chuck through the adjusting holes.

[0034] The clamping pieces are arc-shaped, and each clamping piece is bent towards the central axis of the chuck.

[0035] This invention also provides a 3D printing method for non-developable cavity inner surfaces, based on the aforementioned 3D printing apparatus for non-developable cavity inner surfaces, characterized by the following steps:

[0036] Step 1: Install the non-developable cavity onto the first printing posture adjustment mechanism;

[0037] Step 2: Control the second printing posture adjustment mechanism to extend the print head into the non-developable cavity;

[0038] Step 3: Under the control of the control mechanism, the printing nozzle, fed by the material conveying mechanism, begins to perform 3D printing in the non-spreadable cavity according to a preset path. When the sensor on the printing nozzle detects that the distance between the printing nozzle and the inner wall of the non-spreadable cavity reaches a preset value, it sends adjustment information to the control mechanism. The control mechanism receives the adjustment information and adjusts the position of the non-spreadable cavity through the first printing posture adjustment mechanism and / or the second printing posture adjustment mechanism, thereby controlling the position of the printing nozzle in the non-spreadable cavity and the distance between the printing nozzle and the inner wall of the non-spreadable cavity, so that the printing nozzle continues to perform 3D printing on the inner surface of the non-spreadable cavity according to the preset path until printing is completed.

[0039] The beneficial effects of this invention are:

[0040] 1. The present invention provides a first printing posture adjustment mechanism and a second printing posture adjustment mechanism. The first printing posture adjustment mechanism can adjust the position and angle of the non-developable cavity, and the second printing posture adjustment mechanism can adjust the position and angle of the printing nozzle. In this way, when there is interference between the nozzle and the cavity, one of them can be adjusted, or both can be adjusted at the same time to form multi-dimensional adjustment, thereby improving the efficiency and quality of 3D printing.

[0041] 2. The second printing posture adjustment mechanism of the present invention is provided with a coarse adjustment platform, a fine adjustment platform and a robotic arm assembly; it can first coarsely adjust the position of the nozzle and then finely adjust it, and then adjust the angle through the robotic arm, so that the adjustment accuracy of the nozzle is higher and interference can be avoided more effectively.

[0042] 3. The present invention provides a robotic arm with a first rotary joint, a second rotary joint and a third rotary joint, which improves the degree of freedom of adjustment of the robotic arm, thereby improving the accuracy of the robotic arm angle and making the robotic arm more flexible.

[0043] 4. This invention provides a second drive mechanism, gearbox, and chuck for adjusting the position and angle of the non-formable cavity. This allows for adjustments to the relative position between the inner wall of the non-formable cavity and the print head when the robotic arm assembly is inconvenient to adjust, or when the robotic arm is heavier than the non-formable cavity. Conversely, when the non-formable cavity is bulky, adjustments can be made using the robotic arm, allowing for flexible and energy-efficient adjustments. Attached Figure Description

[0044] Figure 1 This is a structural schematic diagram of an embodiment of the three-dimensional printing device for the inner surface of a non-developable cavity according to the present invention;

[0045] Figure 2 This is a partial structural schematic diagram of the second driving mechanism in an embodiment of the present invention.

[0046] Icon labels:

[0047] 1-First printing posture adjustment mechanism, 11-Second drive mechanism, 12-Gearbox, 13-Chuck, 14-Claw, 15-Clamping plate, 16-Adjusting plate, 2-Second printing posture adjustment mechanism, 21-Coarse moving platform, 211-Machine base, 212-Coarse moving slide plate, 213-Slide groove, 214-First slider, 215-Guide groove, 22-Fine moving platform, 221-Ball screw, 222-Fine moving slide plate, 223-First drive mechanism, 224-Second slider, 23-Robotic arm assembly, 231-First rotary joint, 232-First robotic arm, 233-Second rotary joint, 234-Second robotic arm, 235-Third rotary joint, 3-Control mechanism, 4-Non-expandable cavity, 5-Printing nozzle. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] This invention provides a 3D printing device for non-developable cavity inner surfaces, combined with... Figure 1 and Figure 2 As shown, the 3D printing device includes a first printing posture adjustment mechanism 1, a second printing posture adjustment mechanism 2, a control mechanism 3, and a material conveying mechanism.

[0050] The first printing posture adjustment mechanism 1 includes a second drive mechanism 11, a gearbox 12, and a chuck 13. The second drive mechanism 11 can be a drive motor. The drive end of the second drive mechanism 11 is connected to the input end of the gearbox 12, and the output end of the gearbox 12 is connected to the chuck 13. The chuck 13 is a frustum-shaped cylinder. One end of the chuck is connected to the output end of the gearbox 12, and the other end is opposite to the working end of the second printing posture adjustment mechanism 2. Three jaws 14 are provided on the other end of the chuck 13. The three jaws 14 are evenly distributed around the center of the chuck 13 and all point to the working end of the second printing posture adjustment mechanism 2. Each jaw 14 includes a support rod and clamping plates 15 and adjusting plates 16 respectively fixedly installed at both ends of the support rod. The adjusting plate 16 is perpendicular to the support rod and has two adjusting holes. The adjusting plate 16 is installed on the other end of the chuck 13 through the adjusting holes. The installation space between the three jaws can be adjusted through the adjusting holes. The clamping pieces 15 are arc-shaped, and each clamping piece 15 is bent towards the central axis of the chuck 13. The clamping pieces 15 are used to fix the non-retractable cavity 4. In this way, the non-retractable cavity 4 can be clamped by the three jaws 14.

[0051] The second printing posture adjustment mechanism 2 includes a coarse moving platform 21, a fine moving platform 22, and a robotic arm assembly 23; the coarse moving platform 21 includes a machine tool base 211 and a coarse moving slide plate 212; the machine tool base 211 is provided with a slide groove 213, and the gearbox 12 is installed on the machine tool base 211; a first slider 214 is provided below the coarse moving slide plate 212; the first slider 214 is installed in the slide groove 213 and is clearance-fitted with the slide groove 213. The fine transfer platform 22 includes a ball screw 221, a fine transfer slide plate 222, and a first drive mechanism 223. The ball screw 221 is installed in the middle of the coarse transfer slide plate 212. A guide groove 215 is provided on each side of the coarse transfer slide plate 212. Both guide grooves 215 are parallel to the screw in the ball screw 221. The fine transfer slide plate 222 is fixedly connected to the nut seat on the ball screw 221, and two second sliders 224 are provided on each side. The second sliders 224 on both sides extend into the two guide grooves 215 and are clearance-fitted with the guide grooves 215. The first drive mechanism 223 is installed on the end of the coarse transfer slide plate 212 away from the first printing posture adjustment mechanism 1. Its drive end is connected to the screw and is used to drive the screw to rotate. The first drive mechanism 223 can be a servo motor. The control mechanism 3 is connected to the first drive mechanism 223. The robotic arm assembly 23 includes a first rotary joint 231, a first robotic arm 232, a second rotary joint 233, a second robotic arm 234, and a third rotary joint 235. The first rotary joint 231 is fixedly mounted on the fine sliding plate 222. One end of the first robotic arm 232 is rotatably connected to the fine sliding plate 222 via the first rotary joint 231. The second rotary joint 233 is fixedly mounted on the other end of the first robotic arm 232. One end of the second robotic arm 234 is rotatably connected to the other end of the first robotic arm 232 via the second rotary joint 233. The third rotary joint 235 is fixedly mounted on the other end of the second robotic arm 234. The print head 5 is rotatably connected to the other end of the second robotic arm 234 via the third rotary joint 235. The other end of the first robotic arm 232 up to the print head 5 is suspended in the air. The print head 5 is equipped with a sensor connected to the control mechanism 3. The coarse adjustment platform 21 is used to coarsely adjust the position of the robotic arm assembly 23, and the adjustment method is usually manual. The fine adjustment platform 22 is used to finely adjust the position of the robotic arm assembly 23, and the adjustment method is that the control mechanism controls the first drive mechanism 223 to finely adjust the position.

[0052] The control mechanism 3 is connected to the first rotary joint 231, the second rotary joint 233, the third rotary joint 235, the second drive mechanism 11, the first drive mechanism 223, the print head, and the material conveying mechanism. It can be understood that the control mechanism 3 is also connected to the sensor on the print head. The control mechanism 3 controls the second drive mechanism 11 to adjust the position and angle of the non-expandable cavity 4, controls the first drive mechanism 223 to adjust the position of the robotic arm assembly 23, controls the first rotary joint 231, the second rotary joint 233, and the third rotary joint 235 to adjust the position and angle of the print head 5 using a closed-loop control system, controls the material conveying mechanism to convey printing material, and controls the sensor to perform distance sensing.

[0053] The material delivery mechanism is connected to the print head 5 and is used to deliver printing material to the print head 5. Its delivery hose can be fixed on the first robotic arm 232 and the second robotic arm 234. The print head 5 is a piezoelectric array print head.

[0054] Traditional conformal 3D printing is mostly applicable to the outer surface of objects. However, the 3D printing device provided in this invention is based on a multi-degree-of-freedom motion platform composed of a precision turntable and a robotic arm, integrating technologies such as trajectory planning for 3D printing on non-developable cavity curved surfaces and nozzle-cavity interference detection. It can perform 3D printing within non-developable cavity curved surfaces.

[0055] The method for printing using the aforementioned 3D printing apparatus for non-developable cavity inner surfaces includes the following steps:

[0056] Step 1: Install the non-developable cavity 4 between the three jaws 14 of the first printing posture adjustment mechanism 1, and clamp it with three clips 15.

[0057] Step 2: The control mechanism 3 controls the second printing posture adjustment mechanism 2 to extend the print head 5 into the non-developable cavity 4;

[0058] Step 3: The control mechanism 3 controls the printing nozzle 5 to begin 3D printing within the non-spreadable cavity 4, using the printing material conveyed by the material conveying mechanism, following a preset path. When the sensor on the printing nozzle 5 detects that the distance between the printing nozzle 5 and the inner wall of the non-spreadable cavity 4 reaches a preset value, it sends adjustment information to the control mechanism 3. The control mechanism 3 receives the adjustment information and adjusts the position of the non-spreadable cavity 4 through the first printing posture adjustment mechanism 1 and / or the second printing posture adjustment mechanism 2, thereby controlling the position of the printing nozzle 5 within the non-spreadable cavity 4 and the distance between the printing nozzle 5 and the inner wall of the non-spreadable cavity 4. This allows the printing nozzle 5 to continue 3D printing on the inner surface of the non-spreadable cavity 4 along the preset path until printing is complete. Specifically, controlling the first printing posture adjustment mechanism 1 involves controlling the second drive mechanism 11 to rotate the chuck 13, thereby rotating the non-spreadable cavity 4. Controlling the second printing posture adjustment mechanism 2 involves controlling the first rotary joint 231, the second rotary joint 233, the third rotary joint 235, and the first drive mechanism 223. Controlling multiple degrees of freedom can better avoid interference between the print head 5 and the non-developable cavity 4.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A three-dimensional printing device for the inner surface of a non-developable cavity, characterized in that: It includes a first printing posture adjustment mechanism (1), a second printing posture adjustment mechanism (2), a control mechanism (3), a printing nozzle (5), and a material conveying mechanism; The working end of the first printing posture adjustment mechanism (1) is opposite to the working end of the second printing posture adjustment mechanism (2); the working end of the first printing posture adjustment mechanism (1) is used to set the non-developable cavity (4), and the printing nozzle (5) is set at the working end of the second printing posture adjustment mechanism (2); the material conveying mechanism is connected to the printing nozzle (5); the control mechanism (3) is connected to the first printing posture adjustment mechanism (1), the second printing posture adjustment mechanism (2), the printing nozzle (5) and the material conveying mechanism respectively, and is used to control the first printing posture adjustment mechanism (1) to adjust the position of the non-developable cavity (4), control the second printing posture adjustment mechanism (2) to adjust the position and angle of the printing nozzle (5), control the printing nozzle (5) to print and control the material conveying mechanism to convey printing material to the printing nozzle (5); the printing nozzle (5) is provided with a sensor connected to the control mechanism (3); The first printing posture adjustment mechanism (1) includes a second drive mechanism (11), a gearbox (12), and a chuck (13); the output end of the second drive mechanism (11) is connected to the input end of the gearbox (12), the output end of the gearbox (12) is connected to the chuck (13), and the second drive mechanism (11) is connected to the control mechanism (3); the gearbox (12) is mounted on the machine tool base (211); the chuck (13) is opposite to the working end of the second printing posture adjustment mechanism (2); the chuck (13) is provided with at least two jaws (14) for fixing the non-developable cavity (4); The chuck (13) is cylindrical and frustum-shaped. One end of it is connected to the working end of the gearbox (12), and the other end is opposite to the working end of the second printing posture adjustment mechanism (2). The chuck (13) is provided with three jaws (14), and the three jaws (14) are evenly distributed around the center of the chuck (13). The chuck (14) includes a support rod and clamping pieces (15) and adjusting plates (16) respectively fixedly installed at both ends of the support rod; the adjusting plate (16) is perpendicular to the support rod and has multiple adjusting holes; the adjusting plate (16) is installed on the other end of the chuck (13) through the adjusting holes; the clamping pieces (15) are arc-shaped and each clamping piece (15) is bent towards the central axis of the chuck (13).

2. The three-dimensional printing device for the inner surface of a non-developable cavity according to claim 1, characterized in that: The second printing posture adjustment mechanism (2) includes a coarse moving platform (21), a fine moving platform (22), and a robotic arm assembly (23); The fine-moving platform (22) is mounted on the coarse-moving platform (21); the robotic arm assembly (23) is mounted on the fine-moving platform (22), and the printing nozzle (5) is mounted on its working end; the coarse-moving platform (21) is used to coarsely adjust the position of the robotic arm assembly (23) through the fine-moving platform (22); the control mechanism (3) is connected to the fine-moving platform (22) and the robotic arm assembly (23) respectively; it is used to control the fine-moving platform (22) to finely adjust the position of the robotic arm assembly (23), and to control the robotic arm assembly (23) to adjust the position and angle of the printing nozzle (5).

3. The three-dimensional printing apparatus for the inner surface of a non-developable cavity according to claim 2, characterized in that: The coarse moving platform (21) includes a machine tool base (211) and a coarse moving slide (212); The machine tool base (211) is provided with a slide groove (213); a first slider (214) is provided below the coarse moving slide plate (212); the first slider (214) is installed in the slide groove (213) and is in clearance fit with the slide groove (213); The fine-moving platform (22) is disposed on the coarse-moving slide plate (212) and can slide on the coarse-moving slide plate (212).

4. The three-dimensional printing apparatus for the inner surface of a non-developable cavity according to claim 3, characterized in that: The fine-moving platform (22) includes a ball screw (221), a fine-moving slide plate (222), and a first drive mechanism (223); The ball screw (221) is installed in the middle of the coarse transfer slide (212); a guide groove (215) is provided on each side of the coarse transfer slide (212); both guide grooves (215) are parallel to the screw in the ball screw (221); The fine sliding plate (222) is fixedly connected to the nut seat on the ball screw (221), and at least one second slider (224) is provided on each of its two sides; the second sliders (224) on both sides extend into the two guide grooves (215) respectively, and are in clearance fit with the guide grooves (215); The first drive mechanism (223) is located on the end of the coarse sliding plate (212) away from the first printing posture adjustment mechanism (1), and its drive end is connected to the screw of the ball screw (221) for driving the screw to rotate; the control mechanism (3) is connected to the first drive mechanism (223); The robotic arm assembly (23) is attached to the fine-movement slide plate (222).

5. The three-dimensional printing apparatus for the inner surface of a non-developable cavity according to claim 4, characterized in that: The robotic arm assembly (23) includes a first rotary joint (231), a first robotic arm (232), a second rotary joint (233), a second robotic arm (234), and a third rotary joint (235). The first rotary joint (231) is fixedly mounted on the fine sliding plate (222); One end of the first robotic arm (232) is connected to the first rotary joint (231); The second rotary joint (233) is fixedly mounted on the other end of the first robotic arm (232); One end of the second robotic arm (234) is rotatably connected to the other end of the first robotic arm (232) via a second rotary joint (233); The third rotary joint (235) is fixedly installed at the other end of the second robotic arm (234); the printing nozzle (5) is rotatably connected to the other end of the second robotic arm (234) through the third rotary joint (235); The control mechanism (3) is connected to the first rotary joint (231), the second rotary joint (233) and the third rotary joint (235) respectively.

6. The three-dimensional printing apparatus for the inner surface of a non-developable cavity according to claim 5, characterized in that: Two second sliders (224) are provided on both sides of the fine sliding plate (222).

7. A three-dimensional printing method for the inner surface of a non-developable cavity, based on the three-dimensional printing apparatus for the inner surface of a non-developable cavity as described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Install the non-developable cavity (4) onto the first printing posture adjustment mechanism (1); Step 2: Control the second printing posture adjustment mechanism (2) to insert the printing nozzle (5) into the non-expandable cavity (4); Step 3: Controlled by the control mechanism (3), the printing nozzle (5) begins to perform three-dimensional printing in the non-developable cavity (4) according to a preset path using the printing material conveying mechanism. When the sensor on the printing nozzle (5) detects that the distance between the printing nozzle (5) and the inner wall of the non-developable cavity (4) reaches a preset value, it sends adjustment information to the control mechanism (3). The control mechanism (3) receives the adjustment information and adjusts the position of the non-developable cavity (4) through the first printing posture adjustment mechanism (1) and / or the printing nozzle (5) through the second printing posture adjustment mechanism (2), thereby controlling the position of the printing nozzle (5) in the non-developable cavity (4) and the distance between the printing nozzle (5) and the inner wall of the non-developable cavity (4), so that the printing nozzle (5) continues to perform three-dimensional printing on the inner surface of the non-developable cavity (4) according to the preset path until printing is completed.

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