3D printing device capable of being movably used

Abstract

The 3D printing device capable of being movably used comprises a shell, a winding roll frame, a wire bundling mechanism, a controller, a battery and a printing mechanism guide rail are arranged in the shell, the top of the shell is provided with a self-locking protection cover which is controlled by a connecting rod mechanism to be opened and closed, and material replacement and internal equipment protection are facilitated. An X-axis linear module of the printing mechanism is arranged on a printing mechanism guide rail and can stretch out and draw back freely. A Y-axis overturning motor is arranged on a sliding block of the X-axis linear module, a shaft of the Y-axis overturning motor is connected with the Y-axis linear module, an X-axis overturning motor is arranged on a sliding block of the Y-axis linear module, the X-axis overturning motor is connected with a sliding block of the Z-axis linear module, and three distance sensors and a spray head are arranged at the tail end of the Z-axis linear module. The controller receives signals of the three sensors and adjusts the Y-axis overturning motor and the X-axis overturning motor to achieve instant automatic leveling in the field environment.

Description

Technical Field

[0001] The present application relates to the technical field of 3D printing, and in particular to a mobile 3D printing device. Background Art

[0002] Today, 3D printing technology has been widely used in the fields of industry, medicine, construction, etc. However, traditional 3D printers are mainly suitable for indoor environments and need to be placed on a horizontal and stable platform to ensure printing accuracy and equipment safety. This usage condition limits the application of 3D printing technology in the wild and in harsh environments, and cannot meet the instant manufacturing needs of special fields such as military, geological exploration, and post-disaster reconstruction. Summary of the invention

[0003] In order to solve the problems in the technical background and overcome the shortcomings of the prior art, the present invention provides a mobile 3D printing device.

[0004] The technical solution of the present invention is:

[0005] A movable 3D printing device, characterized in that: it includes a shell, two parallel printing mechanism guide rails are arranged inside the shell, a winding reel rack, a cable arranger, a cable bundle mechanism, a wire feeding tube and a battery below the printing mechanism guide rails are arranged in sequence on the bottom surface of the shell, a connecting rod motor is arranged on the top of the shell, 13 connecting rods including a first connecting rod to a thirteenth connecting rod and 3 sliders including a first slider, a second slider and a third slider are arranged on the left side of the connecting rod motor, the end of the fourth connecting rod is connected to the left protective cover slide rail in the form of a sliding pair, the end of the seventh connecting rod is connected to the left protective cover rotating shaft on the left protective cover in the form of a rotating pair, and the end of the tenth connecting rod is connected to the right protective cover on the right protective cover in the form of a sliding pair The slide rail, the end of the twelfth connecting rod is connected to the right protective cover shaft on the right protective cover in the form of a revolving pair, an X-axis linear module is arranged on the guide rail of the printing mechanism, a Y-axis flip motor is arranged on the slider of the X-axis linear module and is connected to the Y-axis linear module, both ends of the Y-axis linear module are respectively connected to the sliders of the two X-axis linear modules in the form of a revolving pair, an X-axis flip motor is arranged on the slider of the Y-axis linear module and is connected to the Z-axis linear slider module, the slider of the Z-axis linear module is connected to the slider of the Y-axis linear module in the form of a revolving pair, the Z-axis linear module is located at the front side of the Y-axis linear module, a wire feeding mechanism is arranged at the bottom of the Z-axis linear module, a printing nozzle is arranged below the wire feeding mechanism, and three distance sensors are arranged at the three corners of the bottom of the Z-axis.

[0006] When the printer is not working, the X-axis flip motor turns the Z-axis linear module to a horizontal state, and as the X-axis linear module retracts from the rectangular notch into the shell, the closed protective cover, shell, rear baffle and wire feeding tube form a sealed shell to protect the internal equipment. When the printer is working, the X-axis linear module extends from the rectangular notch, and the closed protective cover, shell, rear baffle and wire feeding tube form a sealed shell. A rectangular notch is set on the right wall of the shell, and the length of the rectangular notch is greater than the length of the Y-axis linear module. The upper edge position of the rectangular notch is higher than the maximum height of the horizontally placed Z-axis linear module when it is horizontally placed, and the lower edge position of the rectangular notch is lower than the lowest position of the X-axis linear module. The two printing mechanism guides are composed of linear modules, the left end of the X-axis linear module is connected to the slider of the printing mechanism guide, and the length of the X-axis linear module is less than the length of the printing mechanism guide. A front baffle and a rear baffle are arranged on the X-axis linear module. The front baffle is arranged on the rear end face of the X-axis linear module, and the rear baffle is arranged in front of the front baffle. The distance from the front baffle to the rear baffle is equal to the maximum length of the X-axis linear module extending out of the housing. The shape and size of the front baffle and the rear baffle are the same as the rectangular notch, and a wire hole is arranged on the lower edge of the rear baffle.

[0007] A distance sensor is set at each of the three corners of the rectangular bottom of the Z-axis linear module to detect the distance from the three corners of the rectangular bottom of the Z-axis linear module to the ground, and the detected distance is transmitted to the controller. The controller controls the X-axis flip motor to drive the Z-axis linear module to rotate, and the X-axis flip motor drives the Z-axis linear module to rotate, so that the distance from the three distance sensors to the ground is the same. A Y-axis flip motor is set on the slider of the X-axis linear module, and the two ends of the Y-axis linear module are respectively connected with the rotating pair of the rotating linear module. The slider of the Y-axis linear module is set with an X-axis flip motor, and the slider of the Z-axis linear module is connected to the slider of the Y-axis linear module in the form of a rotating pair. The Z-axis linear module is located on the left side of the Y-axis linear module, and the X-axis flip motor is connected to the rotating pair of the Z-axis linear module. A printing nozzle is set at the centroid position of the bottom surface of the Z-axis linear module.

[0008] The cable reel rack can accommodate a cylindrical printing filament roll with a diameter of 580mm and a length of 1200mm, which can reduce the number of times the filament is changed. The cylindrical filament is wound on the cable reel, and the cable reel is set in a U-shaped groove at the top of the cable reel rack. A cable reel gear is set at one end of the cable reel, and a thread is set at the other end. After screwing on the screws, the cable reel is axially fixed to the cable reel rack. A groove is set at the bottom of the cable reel rack, and an upwardly protruding sliding guide is set on the bottom surface of the shell. The groove at the bottom of the cable reel rack cooperates with the sliding guide, and the cable reel rack is fixed to the cable reel rack by bolts. Inside the shell, pull the cable reel out of the shell along the sliding track, unscrew the screws on the cable reel to replace the printing wire, and a cable arranger is arranged on the left side of the cable reel frame to make the pulled wire perpendicular to the cable reel. One end of the optical axis of the cable arranger is connected to the motor, and the other end is provided with a cable arranger gear meshing with the cable reel gear to control the rotation of the wire roll and the linear movement of the cable arranger. A wire bundling mechanism is arranged on the right side of the cable arranger, and the height of the wire bundling mechanism is the same as that of the cable arranger. The right end of the wire bundling mechanism is connected to one end of the wire feeding tube, and the other end of the wire feeding tube is connected to the wire feeding mechanism.

[0009] A connecting rod motor is provided on the top of the shell body and is connected to one end of the first connecting rod. The other end of the first connecting rod is connected to one end of the second connecting rod in the form of a rotating pair. The other end of the second connecting rod is connected to the first slider in the form of a rotating pair. The first slider is connected to the top of the shell body in the form of a sliding pair that slides back and forth. The first slider is arranged in front of the connecting rod motor. The first connecting rod, the second connecting rod and the first slider form a crank slider mechanism. One end of the fourth connecting rod arranged on the left side of the first slider is connected to the first slider in the form of a rotating pair. The middle position of the fourth connecting rod is connected to one end of the seventh connecting rod in the form of a rotating pair. The other end of the seventh connecting rod is connected to the shell body in the form of a rotating pair. The other end is connected to the middle position of the fifth connecting rod in the form of a rotating pair, one end of the fifth connecting rod is connected to one end of the sixth connecting rod in the form of a rotating pair, the other end of the sixth connecting rod is connected to the middle position of the seventh connecting rod in the form of a rotating pair, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod form a parallelogram mechanism on the left side of the first slider, the other end of the fifth connecting rod is connected to the left protective cover slide rail in the form of a sliding pair, the ninth connecting rod arranged on the right side of the first slider is connected to the first slider and the fourth connecting rod in the form of a rotating pair, the middle position of the ninth connecting rod is connected to the twelfth connecting rod in the form of a rotating pair, and the other end of the twelfth connecting rod is connected to the housing in the form of a rotating pair. Then, the other end of the ninth connecting rod is connected to the middle position of the tenth connecting rod in the form of a revolute pair, one end of the tenth connecting rod is connected to the eleventh connecting rod in the form of a revolute pair, the other end of the eleventh connecting rod is connected to the middle position of the twelfth connecting rod, the ninth connecting rod, the tenth connecting rod, the eleventh connecting rod and the twelfth connecting rod form a parallelogram mechanism on the right side of the first slider, and the parallelogram mechanisms on both sides of the first slider are symmetrical, the other end of the fifth connecting rod is connected to the left protective cover slide rail on the left protective cover in the form of a sliding pair, the other end of the tenth connecting rod is connected to the right protective cover slide rail on the right protective cover in the form of a sliding pair, and the third connecting rod is connected to the front of the first slider and is arranged on the left side of the third connecting rod. The eighth connecting rod and the thirteenth connecting rod arranged on the right side of the third connecting rod are connected to the same point of the third connecting rod in the form of a rotating pair, the other end of the eighth connecting rod is connected to the left protective cover rotating shaft on the left protective cover in the form of a rotating pair, the bottom of the left protective cover rotating shaft is connected to the second slider, the second slider is connected to the top of the shell in the form of a sliding pair that slides left and right, the other end of the thirteenth connecting rod is connected to the right protective cover rotating shaft on the right protective cover in the form of a rotating pair, the bottom of the right protective cover rotating shaft is connected to the third slider, the third slider is connected to the top of the shell in the form of a sliding pair that slides left and right, and the 13 connecting rods, 3 sliders and 2 protective covers form an umbrella-shaped symmetrical structure with the first slider as the central axis.

[0010] A rechargeable battery is arranged inside the shell, and all electrical devices are powered by the battery.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] In the present invention, three distance sensors are used to measure the distance from three points on the bottom of the Z-axis linear module to the ground, and the measured distance is fed back to the controller to control the X-axis flip motor and the Y-axis flip motor to drive the Z-axis linear module to rotate, so that the distance from the three sensors to the ground is the same, and the leveling on various terrains is completed. The printing nozzle can be freely extended and retracted into the shell protective cover to be closed. After the printing part is retracted into the shell, a sealed shell is formed to effectively protect the internal equipment. The connecting rod mechanism controls the switch of the protective cover. A motor drives the two protective covers to switch at the same time. At the same time, the protective cover can be self-locking when fully opened, which is convenient for maintenance and taking out the reel rack to replace the printing wire. The protective cover can be self-locking and sealed when closed. The reel rack can accommodate a cylindrical printing wire roll with a diameter of 580mm and a length of 1200mm, which can reduce the number of wire changes. The reel rack cooperates with the wire arranger so that the pulled wire can be perpendicular to the reel shaft. All electrical equipment is powered by batteries, which is convenient for field use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A top view of a mobile 3D printing device.

[0014] Figure 2 An isometric view of a mobile 3D printing device with its protective cover opened and its printed part extended.

[0015] Figure 3 An isometric view of a mobile 3D printing device with the protective cover closed and the printing part retracted

[0016] Figure 4 The figure is a schematic diagram of the connecting rod structure of a mobile 3D printing device.

[0017] Figure 5 A diagram of a protective cover for a movable 3D printing device.

[0018] Figure 6 The present invention is an assembly relationship diagram of an X-axis linear module, a Y-axis linear module, a Z-axis linear module and a printing mechanism guide rail of a movable 3D printing device.

[0019] Figure 7 This is a diagram of the interior of a shell of a mobile 3D printing device.

[0020] Figure 8 A diagram of a cable reel rack for a mobile 3D printing device.

[0021] Fig. 9 This is a diagram showing the arrangement of distance sensors for a mobile 3D printing device.

[0022] Fig.10 This is a shell diagram of a mobile 3D printing device.

[0023] In the figure: 1.1 first connecting rod, 1.2 second connecting rod 2, 1.3 third connecting rod, 1.4 fourth connecting rod 4, 1.5 fifth connecting rod connecting rod, 1.6 sixth connecting rod connecting rod, 1.7 seventh connecting rod, 1.8 eighth connecting rod, 1.9 ninth connecting rod, 1.10 tenth connecting rod, 1.11 tenth connecting rod, 1.12 twelfth connecting rod 12, 1.13 thirteenth connecting rod, 1.14 first slider, 1.15 second slider, 1.16 third slider, 2.1 right protective cover, 2.2 left protective cover, 3 cable arranger, 4 printing mechanism guide rail, 5X axis linear module, 6Z axis linear module, 7Y axis Linear module, 8X-axis flip motor, 9Y-axis flip motor, 10 housing, 11 connecting rod motor, 12 left protective cover shaft, 13 front baffle, 14 wire feeding tube, 15 wire feeding mechanism, 16 distance sensor, 17 guide slider, 18 rear baffle, 19 wire control, 20 winding reel frame, 21 winding shaft gear, 22 wire arrangement gear, 23 winding shaft, 24 wire arrangement machine motor, 25 wire harness mechanism, 26 battery, 27 left protective cover slide rail, 28 right protective cover shaft, 29 right protective cover slide rail, 30 print nozzle, 31 rectangular notch, 32 sliding guide rail, 33 groove, 34 controller. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the innovative concept of the present application, the design and implementation details will be further described in detail below in conjunction with the drawings in the specification.

[0025] In the description of the present invention, it should be noted that the terms "front", "rear", "left", "right", "inside", "top", "left side", "bottom", "both sides", "one end", "the other end", "middle", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "setting", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components.

[0027] like Figures 1 to 10As shown, the connecting rod motor 11 drives the first connecting rod 1.1 to rotate, drives the second connecting rod 1.2 to move, pushes the first slider 1.14 to slide linearly, and then pushes the third connecting rod 1.3 to move linearly. The third connecting rod 1.3 drives the eighth connecting rod 1.8 to drive the left protective cover shaft 12 to move linearly along the sliding direction of the second slider 1.15, and at the same time drives the thirteenth connecting rod 1.13 to drive the right protective cover shaft 28 to move linearly along the sliding direction of the third slider 1.16. When the first slider 1.14 moves forward, the second slider 1.15 and the third slider 1.16 move outward from both sides at the same time. When the first slider 1.14 moves backward, the second slider 1.15 and the third slider 1.16 move inward from both sides at the same time. Therefore, the left protective cover shaft 1 2 and the right protective cover rotating shaft 28 make linear motion at the same time, and the speed is equal and the direction is opposite; the first slider 1.14 drives one end of the fourth connecting rod 1.4 to move while moving, and the seventh connecting rod 1.7 connected to the middle position of the fourth connecting rod 1.4 limits the movement of the fourth connecting rod 1.4, so that when the end of the fourth connecting rod 1.4 connected to the first slider 1.14 moves backward, the position of the fourth connecting rod 1.4 connected to the seventh connecting rod 1.7 moves inward, and the other end of the fourth connecting rod 1.4 moves forward and inward. When the end of the fourth connecting rod 1.4 connected to the first slider 1.14 moves forward, the other end of the fourth connecting rod 1.4 moves backward and outward; the fourth connecting rod 1.4, the fifth connecting rod 1.5, the sixth connecting rod 1.6 and the seventh connecting rod 1. 7 forms a structure similar to a parallelogram. When the first slider 1.14 moves backward, the fourth connecting rod 1.4 drives the fifth connecting rod 1.5 to move inward as a whole. At the same time, the length of the sixth connecting rod 1.6 limits the distance between one end of the fifth connecting rod 1.5 and the seventh connecting rod 1.7, so that the end of the fifth connecting rod 1.5 connected to the left protective cover slide rail 27 quickly shrinks inward. When the first slider 1.14 moves forward, the fourth connecting rod 1.4 drives the fifth connecting rod 1.5 to move outward as a whole. At the same time, the end of the fifth connecting rod 1.5 connected to the left protective cover slide rail 27 quickly expands outward. By the same principle, when the first slider 1.14 moves backward, the restriction of the twelfth connecting rod 1.12 on the ninth connecting rod 1.9 and the restriction of the eleventh connecting rod 1.11 on the tenth connecting rod 1. Under the restriction of the connecting rod 1.10, the ninth connecting rod 1.9 drives the tenth connecting rod 1.10 to move inward as a whole, and at the same time, the end of the tenth connecting rod 1.10 connected to the right protective cover slide rail 29 shrinks inward quickly. When the first slider 1.14 moves backward, the ninth connecting rod 1.9 drives the tenth connecting rod 1.10 to move outward as a whole, and at the same time, the end of the tenth connecting rod 1.10 connected to the right protective cover slide rail 29 expands outward quickly. When the connecting rod motor 11 rotates and drives the first slider to move forward, the second slider 1.15 and the fifth connecting rod 1.15 will push the left protective cover 2.2 outward, and the third slider 1.16 and the tenth connecting rod 1.10 will push the left and right protective covers 2.1 outward. Since the fifth connecting rod 1.5 and the tenth connecting rod 1.10 will expand outward quickly, the left protective cover 2.2 will be pushed outward.2 will move outward as a whole and rotate clockwise around the left protective cover rotating shaft 12, and the right protective cover 2.1 will move outward as a whole and rotate counterclockwise around the right protective cover rotating shaft 28, completing the action of pushing the two protective covers outward and then opening. When the connecting rod motor 11 rotates and drives the first slider to move backward, the second slider 1.15 and the fifth connecting rod 1.15 will pull the left protective cover 2.2 inward, and the third slider 1.16 and the tenth connecting rod 1.10 will pull the left and right protective covers 2.1 inward. Since the fifth connecting rod 1.5 and the tenth connecting rod 1.10 will shrink inward quickly, the left protective cover 2.2 will move inward as a whole and rotate counterclockwise around the left protective cover rotating shaft 12, and the right protective cover 2.1 will move outward as a whole and rotate clockwise around the right protective cover rotating shaft 28, completing the action of closing the two protective covers and shrinking and locking them inward at the same time. .

[0028] After the left protective cover 2.1 and the right protective cover 2.2 are opened, the wire reel frame 20 can slide out of the housing 10 along the sliding guide rail 32, and after taking out the reel 23 from the wire reel frame 20 and replacing it with a new wire roll, put it into the wire reel frame, fix it with screws, push the wire reel frame 20 along the sliding rail 32, and fix the wire reel frame 20 inside the housing 20 with screws, then pass the wire through the wire arrangement device 3 and the binding wire mechanism 25, and then connect it to the wire feeding mechanism 15 through the wire feeding tube 14, and the connecting rod motor 11 drives the connecting rod and the slider to close the left protective cover 2.2 and the right protective cover 2.1. The wire replacement work is completed.

[0029] The printing mechanism guide rail 4 starts to drive the X-axis linear module 5, the Y-axis linear module 7, and the Z-axis linear module 6 to extend out of the housing 10. At the same time, the wire feeding tube 14 and the required wires pass through the wire hole 19 and extend out of the housing 10. Then the X-axis flip motor 8 rotates to drive the horizontally placed Z-axis linear module 6 to turn to be perpendicular to the Y-axis linear module 7. The three distance sensors 16 transmit their respective measured heights from the ground back to the controller 34. The controller 34 controls the X-axis flip motor 8 and the Y-axis flip motor 9 to drive the Z-axis linear module 6 to rotate to achieve the leveling function. Finally, the Z-axis linear module 6 starts to adjust the height of the print head 30 from the ground to complete the preparation work before printing.

[0030] When printing starts, under the control of the controller 34, the wire arranging machine motor 24 cooperates with the wire feeding mechanism to rotate, drives the wire arranging device gear to rotate, drives the winding shaft gear 21 to rotate, drives the wire roll to rotate, and the wire arranging machine motor 24 drives the wire arranging device 3 to move in a straight line. Under the traction of the wire feeding mechanism 15, the pulled wire is perpendicular to the winding shaft 23, and under the constraint of the wire bundling mechanism 25, it enters the wire feeding tube 14 and reaches the wire feeding mechanism 15. After the wire is melted, it is sprayed out through the printing nozzle 30.

[0031] A rechargeable battery 26 is disposed inside the housing 10 to provide power for the device.

[0032] Although specific embodiments of the present invention have been provided and described, in the technical field covered by the present invention, technicians can make various modifications, substitutions and improvements to these embodiments without departing from the core principles and basic spirit of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents, that is, all changes and improvements within the spirit and principle of the present invention should be deemed to fall within the scope of the claims of the present invention.

Claims

1. A mobile 3D printing device, characterized in that: The invention comprises a shell (10), wherein two parallel printing mechanism guide rails (4) are arranged inside the shell (10), a winding drum frame (20), a cable arrangement device (3), a cable bundle mechanism (25), a wire feeding tube (14), a controller (34) and a battery (26) are arranged in sequence on the bottom surface of the shell (10) below the printing mechanism guide rails (4), a connecting rod motor (11) is arranged on the top of the shell (10), and 13 connecting rods including a first connecting rod (1.1) to a thirteenth connecting rod (1.13) and three sliding blocks including a first sliding block (1 .14), a second slider (1.15) and a third slider (1.16), the end of the fifth connecting rod (1.5) is connected to the left protective cover slide rail (27) on the left protective cover (2.2) in the form of a sliding pair, the end of the eighth connecting rod (1.8) is connected to the left protective cover rotating shaft (12) on the left protective cover (2.2) in the form of a rotating pair, the end of the tenth connecting rod (1.10) is connected to the right protective cover slide rail (29) on the right protective cover (2.1) in the form of a sliding pair, and the end of the thirteenth connecting rod (1.13) is connected to the right protective cover rotating shaft (28) on the right protective cover (2.1) in the form of a rotating pair; Two parallel X-axis linear modules (5) are arranged on the two parallel printing mechanism guide rails (4); a Y-axis flip motor (9) is arranged on the slider of one of the X-axis linear modules (5) and is connected to one end of the Y-axis linear module (7); both ends of the Y-axis linear module (7) are respectively connected to the sliders of the two X-axis linear modules (5) in the form of a rotating pair; an X-axis flip motor (8) is arranged on the slider of the Y-axis linear module (7) and is connected to the slider of the Z-axis linear module (6); the slider of the Z-axis linear module (6) is connected to the slider of the Y-axis linear module (7) in the form of a rotating pair; a wire feeding mechanism (15) is arranged at the bottom of the Z-axis linear module (6); and a printing nozzle (30) and a distance sensor are arranged below the wire feeding mechanism (15).

2. A mobile 3D printing device according to claim 1, characterized in that: A rectangular notch (31) is arranged on the rear wall of the housing (10), the length of the rectangular notch (31) is greater than the length of the Y-axis linear module (7), the upper edge of the rectangular notch (31) is higher than the maximum height of the horizontally placed Z-axis linear module (6) when placed horizontally, and the lower edge of the rectangular notch (31) is lower than the lowest position of the X-axis linear module (5), the two printing mechanism guide rails (4) are composed of linear modules, the front end of the X-axis linear module (5) is connected to the slider (17) of the printing mechanism guide rail (4), and the length of the X-axis linear module (5) is less than the length of the printing mechanism guide rail (4); a front baffle (13) and a rear baffle (18) are arranged on the X-axis linear module (5), the rear baffle is arranged in front of the front baffle (13), and the distance from the front baffle (13) to the rear baffle (18) is equal to the maximum length of the X-axis linear module (5) extending out of the housing (10).

3. The mobile 3D printing device according to claim 1, characterized in that: A Y-axis flip motor (9) is arranged on the slider of one of the two parallel X-axis linear modules (5) and is connected to one end of the Y-axis linear module (7); both ends of the Y-axis linear module (7) are respectively connected to the sliders of the two parallel X-axis linear modules (5) in the form of a rotating pair; the Y-axis linear module (7) is perpendicular to the X-axis linear module (5); the Y-axis flip motor (9) is connected to the rotating pair of the Y-axis linear module; an X-axis flip motor (8) is arranged on the slider of the Y-axis linear module (7) and is connected to the rotating pair of the Y-axis linear module The slider of the Z-axis linear module (6) is connected, the slider of the Z-axis linear module (6) is connected to the slider of the Y-axis linear module (7) in the form of a rotating pair, the Z-axis linear module (6) is located on the inner side of the Y-axis linear module (7), the X-axis flip motor (8) is connected to the rotating pair of the Z-axis linear module (6), a print head (30) is arranged at the middle position of the bottom of the Z-axis linear module (6), and three distance sensors (16) are arranged at three corners of the rectangular bottom surface of the Z-axis linear module (6).

4. The mobile 3D printing device according to claim 1, characterized in that: The bottom surface of the housing (10) is provided with a sliding guide rail (32) protruding upward, and the bottom of the winding reel frame (20) is provided with a groove (33). The groove (33) at the bottom of the winding reel frame (20) cooperates with the sliding guide rail (32), and the winding reel frame (20) is fixed in the housing (10) by bolts. The winding shaft (23) is arranged in a U-shaped groove opened at the top of the winding reel frame (20), and a winding shaft gear (21) is arranged at one end of the winding shaft (23), and a thread for axial fixing is arranged at the other end. (20) A cylindrical wire roll is provided, and the cylindrical wire is wound on a winding shaft (23). One end of the optical axis of the wire arranging device (3) is connected to the motor, and the other end is provided with a wire arranging device gear (22) meshing with the winding shaft gear (21). A wire bundling mechanism (25) is provided on the right side of the wire arranging device (3). The height of the wire bundling mechanism (25) is the same as that of the wire arranging device (3). The right end of the wire bundling mechanism (25) is connected to one end of the wire feeding tube (14), and the other end of the wire feeding tube (14) is connected to the wire feeding mechanism (15).

5. The mobile 3D printing device according to claim 1, characterized in that: A connecting rod motor (11) is arranged on the top of the housing (10) and is connected to one end of the first connecting rod (1.1); the other end of the first connecting rod (1.1) is connected to one end of the second connecting rod (1.2) in the form of a rotating pair; the other end of the second connecting rod (1.2) is connected to the first slider (1.14) in the form of a rotating pair; the first slider (1.14) is connected to the top of the housing (10) in the form of a sliding pair that slides back and forth; the first slider (1.14) is arranged directly in front of the connecting rod motor (11); the first connecting rod (1.1), the second connecting rod (1.2) and the first slider (1.14) form a crank slider mechanism; one end of the fourth connecting rod (1.4) arranged on the left side of the first slider (1.14) is connected to the first slider (1.1) in the form of a rotating pair. 4), the middle position of the fourth connecting rod (1.4) is connected to one end of the seventh connecting rod (1.7) in the form of a revolute pair, the other end of the seventh connecting rod (1.7) is connected to the housing (10) in the form of a revolute pair, the other end of the fourth connecting rod (1.4) is connected to the middle position of the fifth connecting rod (1.5) in the form of a revolute pair, one end of the fifth connecting rod (1.5) is connected to one end of the sixth connecting rod (1.6) in the form of a revolute pair, the other end of the sixth connecting rod (1.6) is connected to the middle position of the seventh connecting rod (1.7) in the form of a revolute pair, the fourth connecting rod (1.4), the fifth connecting rod (1.5), the sixth connecting rod (1.6) and the seventh connecting rod (1.7) form a parallelogram mechanism on the left side of the first slider (1.14), the fifth connecting rod (1.5) The other end of the ninth connecting rod (1.9) is connected to the left protective cover slide rail (27) in the form of a sliding pair, the ninth connecting rod (1.9) arranged on the right side of the first sliding block (1.14) is connected to the first sliding block (1.14) and the fourth connecting rod (1.4) in the form of a rotating pair, the middle position of the ninth connecting rod (1.9) is connected to the twelfth connecting rod (1.12) in the form of a rotating pair, the other end of the twelfth connecting rod (1.12) is connected to the housing (10) in the form of a rotating pair, the other end of the ninth connecting rod (1.9) is connected to the middle position of the tenth connecting rod (1.10) in the form of a rotating pair, one end of the tenth connecting rod (1.10) is connected to the eleventh connecting rod (1.11) in the form of a rotating pair, and the other end of the eleventh connecting rod (1.11) is connected to the twelfth connecting rod (1.12). The ninth connecting rod (1.9), the tenth connecting rod (1.10), the eleventh connecting rod (1.11) and the twelfth connecting rod (1.12) form a parallelogram mechanism on the right side of the first slider (1.14); the parallelogram mechanisms on both sides of the first slider (1.14) are symmetrical; the other end of the fifth connecting rod (1.5) is connected to the left protective cover slide rail (27) on the left protective cover (2.2) in the form of a sliding pair; the other end of the tenth connecting rod (1.10) is connected to the right protective cover slide rail (29) on the right protective cover (2.1) in the form of a sliding pair; the third connecting rod (1.3) is connected to the front of the first slider (1.14); the eighth connecting rod (1.8) arranged on the left side of the third connecting rod (1.3) and the eighth connecting rod (1.9) arranged on the left side of the third connecting rod (1.14) are connected to the left side of the third connecting rod (1.14);3) The thirteenth connecting rod (1.13) on the right side is connected to the same point of the third connecting rod (1.3) in the form of a rotating pair, the other end of the eighth connecting rod (1.8) is connected to the left protective cover rotating shaft (12) on the left protective cover (2.2) in the form of a rotating pair, the bottom of the left protective cover rotating shaft (12) is connected to the second slider (1.15), the second slider (1.15) is connected to the top of the housing (10) in the form of a sliding pair that slides left and right, the other end of the thirteenth connecting rod (1.13) is connected to the right protective cover rotating shaft (28) on the right protective cover (2.1) in the form of a rotating pair, the bottom of the right protective cover rotating shaft (28) is connected to the third slider (1.16), and the third slider (1.16) is connected to the top of the housing (10) in the form of a sliding pair that slides left and right.

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