3D printing device for multiphase geologic model and printing method of 3D printing device

Abstract

The invention discloses a 3D printing device for a multiphase geologic model and a printing method thereof.The printing device comprises a printing assembly, the printing assembly comprises a frame, a printing nozzle and a moving mechanism, a printing chamber is defined by the frame, the moving mechanism is connected to the frame, and the printing nozzle is connected with the moving mechanism; the moving mechanism is configured to drive the printing spray head to move simultaneously or independently in the horizontal direction, the transverse direction and the longitudinal direction of the frame. The horizontal direction, the transverse direction and the longitudinal direction are perpendicular to one another; the bearing assembly comprises a pushing part, the pushing part is arranged on one side of the frame, a plurality of surrounding plates are loaded in the pushing part, and the pushing part is configured to push the surrounding plates into the printing chamber to form a printing surrounding cavity for 3D printing; and the mechanical arm assembly comprises a mechanical arm body, a cutting part and a polishing part, the mechanical arm body is arranged on one side of the frame, and the cutting part and the polishing part are both arranged at the tail end of the mechanical arm body and configured to be used for polishing and cutting the 3D model in the printing chamber.

Description

Technical Field

[0001] The present invention relates to the field of 3D printer equipment, and in particular to a 3D printing device and a printing method for a multiphase geological model. Background Art

[0002] Using physical model tests to simulate the excavation process of natural rock engineering is an important method to predict and forecast large-scale rock engineering geological disasters. Today's deep underground geological structures are mainly manifested in the form of folds, faults, joints, etc. Their different manifestations have a certain impact on deep mining and may lead to the occurrence of deep engineering disasters.

[0003] In order to reduce the impact of deep engineering disasters, a similar large-scale multiphase geological model structure was constructed using 3D printing technology, and the deep excavation process was simulated through physical simulation experiments.

[0004] At present, there are three common 3D printing methods, namely fused deposition modeling, stereolithography, and powder molding. The fused deposition model is a printing method that deposits melted materials layer by layer. During printing, the equipment accelerates the melting of filamentary raw materials and selectively deposits the materials on the platform through the nozzle to form a solid. The consumables of stereolithography are photosensitive resins. Under the action of light of a specific wavelength, the photosensitive resin undergoes a series of physical and chemical changes to form a solid. The powder molding method uses a laser beam to sinter the powder to combine it together. After completing one layer, the next layer is laid to finally form the entire entity.

[0005] Although the above three 3D printing methods make the internal structure of the model different, there are still the following technical problems for large-scale complex multi-phase geological models: (1) It is impossible to ensure the similarity between the geological model of multiple component materials and the actual terrain. (2) It is impossible to achieve uninterrupted printing of large-scale complex multi-phase geological models, and the printing efficiency is low. (3) It is difficult to show the forms of large-scale complex multi-phase strata, folds, faults and joints. (4) It is impossible to achieve the integrated installation of the internal material and sensor of the model. (5) It is impossible to ensure the flatness and smoothness of the surface after the model is formed. Summary of the invention

[0006] In response to the problems and needs raised above, this solution proposes a 3D printing device for a multiphase geological model. Due to the adoption of the following technical features, it can achieve the above technical objectives and bring about many other technical effects.

[0007] One object of the present invention is to provide a 3D printing device for a multiphase geological model, comprising:

[0008] A printing assembly, comprising a frame, a printing head and a moving mechanism, wherein the frame defines a printing chamber, the moving mechanism is connected to the frame, and the printing head is connected to the moving mechanism, wherein the moving mechanism is configured to drive the printing head to move simultaneously or individually along a horizontal direction, a transverse direction and a longitudinal direction of the frame; the horizontal direction, the transverse direction and the longitudinal direction are perpendicular to each other;

[0009] The bearing assembly includes a pushing part, which is arranged on one side of the frame and has a plurality of enclosures loaded therein, and the pushing part is configured to push the enclosures into the printing chamber to form a printing enclosure for 3D printing;

[0010] The robot arm assembly includes a robot arm body, a cutting part and a polishing part. The robot arm body is arranged on one side of the frame. The cutting part and the polishing part are both arranged at the end of the robot arm body and are configured to polish and cut the 3D model in the printing room by adjusting the posture.

[0011] In this technical solution, the printing process of the 3D printing device is as follows: first, the pushing part of the bearing assembly pushes the enclosure into the printing room, and then the printing nozzle simultaneously or individually performs movement along the horizontal, transverse and longitudinal directions of the frame to perform 3D printing of the model in the printing enclosure defined by the enclosure; then, the above two steps are repeated according to the required height of the 3D model until the printing of the 3D model is completed; finally, the mechanical arm assembly polishes and cuts the 3D model. The 3D printing device of a multiphase geological model provided by the present invention realizes the printing of multiphase strata, folds, faults and joints, and ensures the similarity between the printed model and the actual terrain; by reasonably installing sensors inside the model, it is convenient for laboratory experiments to monitor the internal pressure, displacement, temperature and other data of the model; after the geological model is formed, the flatness and smoothness of the model surface can be ensured by the polishing device; and the uninterrupted printing of large and complex multiphase geological models is realized.

[0012] In addition, the 3D printing device of the multiphase geological model according to the present invention may also have the following technical features:

[0013] In one example of the present invention, the moving mechanism includes: a first rod, a second rod and a third rod,

[0014] The first rod is arranged along the horizontal direction of the frame, the print head is connected to the first rod through a first moving part, and the first moving part is configured to drive the print head to reciprocate along the horizontal direction. The second rod is arranged along the transverse direction of the frame, and the first rod is connected to the second rod, and the first rod and the second rod are connected through a second moving part, and the second moving part is configured to drive the first rod to reciprocate along the transverse direction. The third rod is arranged along the longitudinal direction of the frame, the second rod is connected to the third rod through a third moving part, and the third moving part is configured to drive the second rod to reciprocate along the longitudinal direction.

[0015] In an example of the present invention, racks are formed on the first rod body, the second rod body and the third rod body;

[0016] The first moving part, the second moving part and the third moving part each include:

[0017] A slider is movably connected to the first rod body, the second rod body or the third rod body, wherein a gear is pivotally connected to the slider, and the gear is meshed with the rack;

[0018] A driving motor is fixedly connected to the slider and connected to the gear, and is configured to drive the slider to move along the first rod body, the second rod body, or the third rod body.

[0019] In one example of the present invention, the pushing unit includes:

[0020] A frame body, arranged on a side of the frame away from the mechanical arm assembly, the interior of which has a receiving cavity, and the enclosure plates are stacked in the receiving cavity;

[0021] The pushing mechanism is arranged at the lower end of the frame body and at a side of the frame body away from the frame, and is configured to drive the enclosure at the lower end of the accommodating cavity to move from the accommodating cavity to the printing chamber.

[0022] In one example of the present invention,

[0023] A walking cavity penetrating through the frame is provided at the lower end of the frame;

[0024] The pushing mechanism comprises:

[0025] A pushing frame adapted to fit in the walking cavity;

[0026] The push rod is connected to the push frame and is configured to drive the push frame to switch between a first state where the push frame is located outside the accommodating cavity and moves inside the accommodating cavity, and a second state where the push frame moves from inside the accommodating cavity to outside the accommodating cavity.

[0027] In one example of the present invention, the push rod includes one of a hydraulic lever, a cylinder and an electric push rod.

[0028] In one example of the present invention, the bearing assembly further includes:

[0029] The support part is arranged in the printing chamber and includes a printing platform for supporting the 3D printing model. The support part is configured to be able to adjust the height of the printing platform to make it consistent with the height of the pushing part.

[0030] In one example of the present invention, the support portion further includes:

[0031] The lifting mechanism is arranged at the lower end of the printing platform and is configured to drive the printing platform to move in the height direction so that the height of the 3D printed model on the printing platform is consistent with the pushing part during the printing process.

[0032] In one example of the present invention, the support portion further includes:

[0033] The vibration mechanism is connected between the lifting mechanism and the printing platform and is configured to drive the printing platform to vibrate synchronously therewith.

[0034] Another object of the present invention is to provide a printing method of a 3D printing device for a multiphase geological model as described above, comprising the following steps:

[0035] S10: The pushing portion of the bearing assembly pushes the enclosure into the printing chamber;

[0036] S20: The print head simultaneously or individually moves along the horizontal direction, the lateral direction and the longitudinal direction of the frame to perform 3D printing of the model in the printing enclosure defined by the enclosure;

[0037] S30: Repeat S10 and S20 according to the required height of the 3D model until the printing of the 3D model is completed;

[0038] S40: The robot arm assembly grinds and cuts the 3D model by adjusting its posture.

[0039] The best embodiment for carrying out the present invention will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention, wherein the drawings are only used to illustrate some embodiments of the present invention, but not to limit all embodiments of the present invention thereto.

[0041] Figure 1 It is a structural schematic diagram of a 3D printing device for a multiphase geological model according to an embodiment of the present invention;

[0042] Figure 2 is a schematic structural diagram of a pushing unit according to an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of a partial structure of a frame according to an embodiment of the present invention;

[0044] Figure 4 is a schematic structural diagram of a support portion according to an embodiment of the present invention;

[0045] Figure 5 is a structural schematic diagram of a vibration mechanism according to an embodiment of the present invention;

[0046] Figure 6 is a schematic structural diagram of a mechanical arm assembly according to an embodiment of the present invention;

[0047] Figure 7 is a diagram showing a connection structure of a mechanical finger according to an embodiment of the present invention;

[0048] Figure 8 is a schematic structural diagram of a first moving part according to an embodiment of the present invention;

[0049] Fig. 9 is a schematic structural diagram of a second moving part according to an embodiment of the present invention;

[0050] Fig.10 Schematic diagram of the structure of the third moving part according to an embodiment of the present invention.

[0051] List of reference numerals:

[0052] Printing device 100;

[0053] Printing component 10;

[0054] Frame 11;

[0055] Printing room 111;

[0056] Printing nozzle 12;

[0057] Moving mechanism 13;

[0058] A first rod body 131;

[0059] A second rod body 132;

[0060] A third rod body 133;

[0061] A first moving part 134;

[0062] A second moving part 135;

[0063] A third moving part 136;

[0064] Rack 13A;

[0065] Slider 13B;

[0066] Gear 13B1;

[0067] Drive motor 13C;

[0068] Carrying assembly 20;

[0069] Pushing unit 21;

[0070] Frame 211;

[0071] Accommodating chamber 2111;

[0072] Walking cavity 2112;

[0073] Push mechanism 212;

[0074] Push box 2121;

[0075] Push rod 2122;

[0076] Hoarding 213;

[0077] Supporting portion 22;

[0078] Printing platform 221;

[0079] Lifting mechanism 222;

[0080] X-type link assembly 2221;

[0081] A second telescopic driving member 2222;

[0082] Articulated rod 2223;

[0083] Vibration mechanism 223;

[0084] Elastic member 224;

[0085] Mechanical arm assembly 30;

[0086] Robotic arm body 31;

[0087] Support platform 311;

[0088] Upper arm 312;

[0089] Small arm 313;

[0090] Mechanical finger 32;

[0091] Cutting portion 33;

[0092] Filling nozzle 34;

[0093] Mechanical linkage 35;

[0094] Horizontal direction X;

[0095] Transverse direction Y;

[0096] Longitudinal direction Z. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0098] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate a quantity limitation. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0099] According to a first aspect of the present invention, a 3D printing device 100 for a multiphase geological model is provided. Figure 1 As shown, including:

[0100] The printing assembly 10 comprises a frame 11, a printing head 12 and a moving mechanism 13, wherein the frame 11 defines a printing chamber 111, the moving mechanism 13 is connected to the frame 11, and the printing head 12 is connected to the moving mechanism 13, wherein the moving mechanism 13 is configured to drive the printing head 12 to move simultaneously or individually along a horizontal direction X, a transverse direction Y and a longitudinal direction Z of the frame 11; the horizontal direction X, the transverse direction Y and the longitudinal direction Z are perpendicular to each other;

[0101] The bearing assembly 20 includes a pushing portion 21, which is disposed on one side of the frame 11 and has a plurality of enclosures 213 mounted therein. The pushing portion 21 is configured to push the enclosures 213 into the printing chamber 111 to form a printing enclosure for 3D printing.

[0102] The robot arm assembly 30 includes a robot arm body 31, a cutting part 33 and a polishing part. The robot arm body 31 is arranged on one side of the frame 11, and the cutting part 33 and the polishing part are both arranged at the end of the robot arm body 31, and is configured to polish and cut the 3D model in the printing chamber 111 by adjusting the posture.

[0103] The printing process of the 3D printing device 100 is as follows: first, the pushing portion 21 of the supporting component 20 pushes the enclosure 213 into the printing chamber 111, and then the print head 12 simultaneously or individually moves along the horizontal direction X, the lateral direction Y and the longitudinal direction Z of the frame 11 to perform 3D printing of the model in the printing enclosure defined by the enclosure 213; then, the above two steps are repeated according to the required height of the 3D model until the printing of the 3D model is completed; finally, the robot arm component 30 grinds and cuts the 3D model; it should be noted that in order to facilitate subsequent laboratory experiments to monitor the internal pressure, displacement, temperature and other data of the model, during the printing process, the corresponding sensors that need to be installed are pre-arranged inside the model.

[0104] A 3D printing device 100 for a multiphase geological model provided by the present invention realizes the printing of multiphase strata, folds, faults and joints, ensuring the similarity between the printed model and the actual terrain conditions; by reasonably installing sensors inside the model, it is convenient for laboratory experiments to monitor the internal pressure, displacement, temperature and other data of the model; after the geological model is formed, the flatness and smoothness of the model surface can be ensured by a polishing device; and uninterrupted printing of large and complex multiphase geological models is realized.

[0105] In one example of the present invention, Figure 1 As shown, the moving mechanism 13 includes: a first rod 131, a second rod 132 and a third rod 133.

[0106] The first rod 131 is arranged along the horizontal direction X of the frame 11, the print head 12 is connected to the first rod 131 through a first moving part 134, the first moving part 134 is configured to drive the print head 12 to reciprocate along the horizontal direction X, the second rod 132 is arranged along the transverse direction Y of the frame 11, and the first rod 131 is connected to the second rod 132, the first rod 131 and the second rod 132 are connected through a second moving part 135, the second moving part 135 is configured to drive the first rod 131 to reciprocate along the transverse direction Y, the third rod 133 is arranged along the longitudinal direction Z of the frame 11, the second rod 132 is connected to the third rod 133 through a third moving part 136, the third moving part 136 is configured to drive the second rod 132 to reciprocate along the longitudinal direction Z;

[0107] That is, the print head 12 is connected to the first rod 131 through the first moving part 134, and the first rod 131 is connected to the second rod 132 through the second moving part 135, and the second rod 132 is connected to the third rod 133 through the third moving part 136; the first moving part 134 drives the print head 12 to reciprocate along the horizontal direction X of the first rod 131, the second moving part 135 drives the first rod 131 to reciprocate along the transverse direction Y of the second rod 132, and the third moving part 136 drives the second rod 132 to reciprocate along the longitudinal direction Z of the third rod 133;

[0108] When the print head 12 needs to be moved, the first moving part 134, the second moving part 135 and the third moving part 136 respectively drive the print head 12, the first rod 131 and the second rod 132 to move along the horizontal direction X, the transverse direction Y and the longitudinal direction Z respectively, thereby realizing the flexible movement of the print head 12 in the horizontal direction X, the transverse direction Y and the longitudinal direction Z;

[0109] Preferably, a third rod group is arranged extending in the longitudinal direction Z and on both sides of the horizontal direction X of the frame 11, each third rod group includes a plurality of third rods 133, and the plurality of third rods 133 are arranged at intervals along the transverse direction Y, for example, Figure 1As shown, each of the third rod groups includes four third rods 133, which are arranged in pairs on both sides of the frame 11 in the horizontal direction X; the second rods 132 include two, and each second rod 132 is movably connected to a third rod group respectively, so that the second rod 132 can move along the arrangement direction (longitudinal direction Z) of the third rods 133, and the first rod 131 is connected between the two second rods 132, and at least one print head 12 is connected to the first rod 131; in short, at least one print head 12 can move along the horizontal direction X of the first rod 131, and the two second rods 132 supporting the first rod 131 can move along the transverse direction Y through the second moving part 135, and the second rod 132 can move along the longitudinal direction Z where the third rod 133 is located through the third moving part 136, thereby realizing the flexible movement of the print head 12 in the horizontal direction X, the transverse direction Y and the longitudinal direction Z.

[0110] In one example of the present invention, Figure 8 , Fig. 9 and Fig.10 As shown, racks 13A are formed on the first rod 131, the second rod 132 and the third rod 133;

[0111] The first moving part 134, the second moving part 135 and the third moving part 136 each include:

[0112] The slider 13B is movably connected to the first rod 131 or the second rod 132 or the third rod 133, wherein the slider 13B is pivotally connected to a gear 13B1, and the gear 13B1 is meshed with the rack 13A;

[0113] A driving motor 13C, fixedly connected to the slider 13B and connected to the gear 13B1, configured to drive the slider 13B to move along the first rod 131 or the second rod 132 or the third rod 133;

[0114] For example, in the first moving part 134 on the first rod body 131, the print head 12 is fixedly connected to the slider 13B, the slider 13B is sleeved on the first rod body 131, and the gear 13B1 is driven by the driving motor 13C to rotate, and the gear 13B1 and the rack 13A on the first rod body 131 are meshed with each other, thereby driving the slider 13B to make reciprocating linear motion along the horizontal direction X of the first rod body 131;

[0115] For another example, in the second moving part 135 on the second rod body 132, the first rod body 131 is fixedly connected to the slider 13B of the second moving part 135 (the second rod body 132 includes two sliders, which are symmetrically arranged in the horizontal direction X of the frame 11), the slider 13B is sleeved on the second rod body 132, and the gear 13B1 is driven by the driving motor 13C to rotate, and the gear 13B1 is meshed with the rack 13A on the second rod body 132, thereby driving the slider 13B to perform reciprocating linear motion along the transverse direction Y of the second rod body 132;

[0116] For another example, in the third movable portion 136 on the third rod body 133, the second rod body 132 is fixedly connected to the slider 13B of the third movable portion 136 (extending in the longitudinal direction Z and a third rod body group is arranged on both sides of the horizontal direction X of the frame 11, each third rod body group includes a plurality of third rod bodies 133, and the plurality of third rod bodies 133 are arranged at intervals along the transverse direction Y), the slider 13B is sleeved on one of the third rod bodies 133, and the gear 13B1 is driven to rotate by the driving motor 13C, and the gear 13B1 is meshed with the rack 13A on the third rod body 133, thereby driving the slider 13B to make reciprocating linear motion along the longitudinal direction Z of the third rod body 133.

[0117] In another example of the present invention, the first rod 131, the second rod 132 and the third rod 133 are all formed with external threads, and the first rod 131, the second rod 132 and the third rod 133 are all pivotally connected;

[0118] The first moving part 134, the second moving part 135 and the third moving part 136 each include:

[0119] The slider 13B is formed with an internal thread matching the external thread and is sleeved on the first rod 131 or the second rod 132 or the third rod 133;

[0120] A driving motor 13C is fixedly connected to the frame 11 and connected to the first rod 131, the second rod 132, or the third rod 133, and is configured to drive the first rod 131, the second rod 132, or the third rod 133 to rotate, thereby driving the slider 13B to perform reciprocating linear motion along the first rod 131, the second rod 132, or the third rod 133;

[0121] In short, the first moving part 134 , the second moving part 135 and the third moving part 136 are screw nut structures, through which the print head 12 can be flexibly moved in the horizontal direction X, the transverse direction Y and the longitudinal direction Z.

[0122] It should be noted that in order to prevent the slider 13B from rotating around the first rod 131, the second rod 132 or the third rod 133 during the linear movement, the solution is (taking the first rod 131 as an example), a guide rod is provided parallel to the first rod 131, and the slider 13B is slidably mounted on the guide rod, so that when the slider 13B rotates around the first rod 131 under the drive of the drive motor 13C, the guide rod serves to limit the slider 13B.

[0123] Of course, the present invention is not limited thereto, and the first moving part 134, the second moving part 135 and the third moving part 136 all include:

[0124] The slider 13B is sleeved on the first rod 131 or the second rod 132 or the third rod 133;

[0125] The first telescopic driving member is fixedly connected to the frame 11 and connected to the slider 13B, and is configured to drive the slider 13B to perform reciprocating linear motion along the first rod 131 or the second rod 132 or the third rod 133 .

[0126] In one example of the present invention, Figure 2 and Figure 3 As shown, the pushing unit 21 includes:

[0127] The frame body 211 is arranged on a side of the frame 11 away from the robot arm assembly 30, and has a receiving cavity 2111 inside, and the enclosure 213 is stacked in the receiving cavity 2111;

[0128] The pushing mechanism 212 is disposed at the lower end of the frame 211 and at a side of the frame 211 away from the frame 11, and is configured to drive the enclosure 213 at the lower end of the accommodating cavity 2111 to move from the accommodating cavity 2111 to the printing chamber 111;

[0129] That is to say, the enclosures 213 are stacked in sequence from bottom to top in the accommodating chamber 2111, and the enclosures 213 stacked in the accommodating chamber 2111 are pushed out of the accommodating chamber 2111 from bottom to top into the printing chamber 111 through the pushing mechanism 212. After the pushing mechanism 212 pushes the lowest enclosure 213 out of the accommodating chamber 2111 into the printing chamber 111, it returns to its initial position. At this time, the enclosure 213 sinks downward by a height of the thickness of the enclosure 213, and the above steps are repeated to send the enclosures 213 into the printing chamber 111 in sequence.

[0130] In one example of the present invention, Figure 2 and Figure 3 As shown,

[0131] A walking cavity 2112 is provided at the lower end of the frame 211 and penetrates the frame 211;

[0132] The pushing mechanism 212 includes:

[0133] A pushing frame 2121 is adapted to be inside the walking cavity 2112;

[0134] A push rod 2122 connected to the push frame 2121, configured to drive the push frame 2121 to switch between a first state where the push frame 2121 is located outside the accommodating cavity 2111 to move inside the accommodating cavity 2111 and a second state where the push frame 2121 is located inside the accommodating cavity 2111 to move outside the accommodating cavity 2111;

[0135] Specifically, when the pushing rod 2122 is needed to push the enclosure 213 from the accommodating chamber 2111 to the printing chamber 111, the pushing rod 2122 drives the pushing frame 2121 to execute the first state action of moving from the outside of the accommodating chamber 2111 to the inside of the accommodating chamber 2111 in the walking chamber 2112 to complete the pushing of one enclosure 213; when it is necessary to prepare for the pushing of the next enclosure 213, the pushing rod 2122 drives the pushing frame 2121 to first execute the second state action of moving from the inside of the accommodating chamber 2111 to the outside of the accommodating chamber 2111 in the walking chamber 2112. At this time, the next enclosure 213 to be pushed falls to the lower end of the accommodating chamber 2111 under the action of gravity, and then executes the first state action of moving from the outside of the accommodating chamber 2111 to the inside of the accommodating chamber 2111 to complete the pushing of another enclosure 213, and so on until the pushing of all enclosures 213 is completed. The pushing mechanism 212 can push the surrounding frame, and the pushing is convenient.

[0136] In one example of the present invention, the push rod 2122 includes one of a hydraulic lever, a cylinder, and an electric push rod.

[0137] In one example of the present invention, Figure 4 As shown, the bearing assembly 20 further includes:

[0138] The support portion 22 is disposed in the printing chamber 111 and includes a printing platform 221 for supporting a 3D printed model. The support portion 22 is configured to be able to adjust the height of the printing platform 221 to make it consistent with the height of the pushing portion 21;

[0139] After the print head 12 prints in the enclosure 213, the height of the 3D printed model gradually increases. In order to facilitate the pushing of the pushing part 21, the height of the printing platform 221 needs to be adjusted (for example, the support part 22 gradually lowers its height) so that it is always consistent with the height of the pushing part 21, which is beneficial to the pushing action of the pushing part 21.

[0140] In one example of the present invention, Figure 4 As shown, the support portion 22 further includes:

[0141] A lifting mechanism 222, which is disposed at the lower end of the printing platform 221 and is configured to drive the printing platform 221 to move in a height direction so that the height of the 3D printed model on the printing platform 221 during the printing process is consistent with the pushing portion 21;

[0142] That is to say, during the printing process of the print head 12, as the height of the 3D printed model gradually increases, in order to facilitate the pushing of the pushing part 21, the height of the printing platform 221 needs to be adjusted by the lifting mechanism 222 (for example, the lifting mechanism 222 gradually lowers the height) so that it always remains consistent with the height of the pushing part 21, which is beneficial to the pushing action of the pushing part 21.

[0143] For example, the lifting mechanism 222 includes a plurality of X-shaped connecting rod assemblies 2221, a second telescopic driving member 2222 and a hinged rod 2223, wherein the X-shaped connecting rod assembly 2221 includes two connecting rods hinged in an X-shaped structure, and the plurality of X-shaped connecting rod assemblies 2221 can be symmetrically arranged on both sides of the printing platform 221 in the horizontal direction X, and each side can be provided with a plurality of X-shaped connecting rod assemblies 2221 arranged along the longitudinal direction Z, and two adjacent X-shaped connecting rod assemblies 2221 are hinged to each other, and the X-shaped connecting rod assemblies 2221 on both sides of the horizontal direction X are connected by a hinged rod 2223. Each articulated rod 2223 is hinged to the X-shaped connecting rod assembly 2221 on the corresponding side; the articulated rod 2223 includes at least two, and they are respectively arranged on both sides of the X-shaped connecting rod assembly 2221 in the transverse direction Y. One end of the second telescopic driving member 2222 is hinged to the articulated rod 2223 on one side, and the other end of the second telescopic driving member 2222 is hinged to the articulated rod 2223 on the other side. The up and down movement adjustment of the X-shaped connecting rod assembly in the longitudinal direction Z is realized by the telescopic movement of the second telescopic driving member 2222, thereby driving the height adjustment of the printing platform 221.

[0144] In one example of the present invention, Figure 5 As shown, the support portion 22 further includes:

[0145] The vibration mechanism 223 is connected between the lifting mechanism 222 and the printing platform 221 , and is configured to drive the printing platform 221 to vibrate synchronously therewith; for example, the vibration mechanism 223 is a vibration motor.

[0146] Uneven mixing of concrete will produce small gaps. During the 3D printing process, gaps will appear in the middle of the concrete. The vibration mechanism 223 can make the 3D printed model more compact and the printed model effect better.

[0147] As a further preferred embodiment, the support portion 22 further includes an elastic member 224 , which is disposed between the shock absorbing mechanism and the printing platform 221 and is configured to buffer the vibration impact force of the printing platform 221 .

[0148] In one example of the present invention, Figure 6 , Figure 7 As shown, the mechanical arm assembly 30 includes a mechanical arm support platform 311, a large arm 312, a small arm 313, a large arm motor, a small arm motor, a mechanical finger 32, a hand grip motor, a cutting part 33 and a filling nozzle 34; the large arm 312 is installed above the mechanical arm support platform 311, and a horizontal rotating bearing is provided below the support platform 311, so that the whole mechanical arm has a horizontal rotation function; the proximal end of the small arm 313 is connected to the distal end of the large arm 312 by a motor gear 13B1, and the large arm 312 motor drives the large arm 312 to rotate, thereby driving the small arm 313 to rotate; the large arm motor is connected to the inside of the large arm 312, and the small arm motor is connected to the inside of the small arm 313; a telescopic rod is installed at the bottom end of the mechanical finger 32, and the hand grip motor is connected to the telescopic rod. The operation of the hand grip motor drives the telescopic rod to perform telescopic movement, and the mechanical finger 32 is telescoped under the action of the telescopic rod; the internal joints of the mechanical finger 32 are connected to the external joints The joints are connected by a mechanical linkage mechanism 35. Under the action of the mechanical linkage mechanism 35, the inner joint drives the outer joint to move, so that the mechanical finger 32 has a bending function; the tip of the mechanical finger 32 has a small suction cup, which plays an adsorption role when grabbing the sensor; the cutting part 33 is installed on the right side of the forearm 313, and the part connected with the forearm 313 is meshed and rotated by the rotating gear 13B1. There is a mosaic slicing structure in the cutting part 33. During the model printing process, the geological model is cut by manually replacing the crack cutting blade. After the model is formed, it is replaced with a grinding device to grind the edge of the geological model; the filling nozzle 34 is installed at the center of the mechanical finger 32. The push rod 2122 inside the mechanical finger 32 operates to make the mechanical finger 32 shrink into the forearm 313. The filling nozzle 34 sprays the required filling material under the action of a small power pump.

[0149] It can be understood that the robotic arm assembly 30 also includes a controller, which is coupled to the upper arm motor, the lower arm motor, the hand grip motor, the cutting part, and the power pump. By controlling the start and stop of the upper arm motor, the lower arm motor, the hand grip motor, the cutting pump and the power pump, the upper arm 312, the lower arm 313, the mechanical finger 32, the cutting part 33 and the filling nozzle 34 are controlled to perform corresponding actions, and finally the robotic arm assembly 30 can adjust its own posture and grasp, cut, grind and spray materials.

[0150] According to the second aspect of the present invention, a printing method of the 3D printing device 100 of the multiphase geological model as described above comprises the following steps:

[0151] S10: The pushing portion 21 of the supporting assembly 20 pushes the enclosure 213 into the printing chamber 111;

[0152] S20: The print head 12 moves along the horizontal direction X, the transverse direction Y and the longitudinal direction Z of the frame 11 simultaneously or individually to perform 3D printing of the model in the printing enclosure defined by the enclosure 213;

[0153] S30: Repeat S10 and S20 according to the required height of the 3D model until the printing of the 3D model is completed;

[0154] S40: The robot arm assembly 30 grinds and cuts the 3D model by adjusting its posture.

[0155] The 3D printing method of a multiphase geological model provided by the present invention realizes the printing of multiphase strata, folds, faults and joints, ensuring the similarity between the printed model and the actual terrain conditions; by reasonably installing sensors inside the model, it is convenient for laboratory experiments to monitor the internal pressure, displacement, temperature and other data of the model; after the geological model is formed, the flatness and smoothness of the model surface can be ensured by a polishing device; and uninterrupted printing of large and complex multiphase geological models is realized.

[0156] The exemplary implementation of the 3D printing device 100 for the multiphase geological model proposed in the present invention is described in detail above with reference to the preferred embodiments. However, those skilled in the art can understand that, without departing from the concept of the present invention, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present invention can be combined in various ways without exceeding the protection scope of the present invention, which is determined by the attached claims.

Claims

1. A 3D printing device for a multiphase geological model, characterized in that: include: A printing assembly (10) comprises a frame (11), a printing head (12) and a moving mechanism (13), wherein the frame (11) defines a printing chamber (111), the moving mechanism (13) is connected to the frame (11), and the printing head (12) is connected to the moving mechanism (13), wherein the moving mechanism (13) is configured to drive the printing head (12) to perform a moving action simultaneously or individually along a horizontal direction (X), a transverse direction (Y) and a longitudinal direction (Z) of the frame (11); the horizontal direction (X), the transverse direction (Y) and the longitudinal direction (Z) are perpendicular to each other; A bearing assembly (20) comprises a pushing portion (21), which is arranged on one side of the frame (11) and has a plurality of enclosures (213) loaded therein, wherein the pushing portion (21) is configured to push the enclosures (213) into the printing chamber (111) to form a printing enclosure for 3D printing; The robot arm assembly (30) comprises a robot arm body (31), a cutting part (33) and a polishing part, wherein the robot arm body (31) is arranged on one side of the frame (11), and the cutting part (33) and the polishing part are both arranged at the end of the robot arm body (31), and are configured to polish and cut a 3D model in a printing chamber (111) by adjusting the posture.

2. The 3D printing device for a multiphase geological model according to claim 1, characterized in that: The moving mechanism (13) comprises: a first rod (131), a second rod (132) and a third rod (133). The first rod (131) is arranged along the horizontal direction (X) of the frame (11); the print head (12) is connected to the first rod (131) via a first moving part (134); the first moving part (134) is configured to drive the print head (12) to reciprocate along the horizontal direction (X); the second rod (132) is arranged along the lateral direction (Y) of the frame (11); the first rod (131) is connected to the second rod (132); the first rod (131) and the second rod (132) are connected to each other; The second rod bodies (132) are connected to each other via a second moving part (135), and the second moving part (135) is configured to drive the first rod body (131) to reciprocate along a transverse direction (Y). The third rod body (133) is arranged along a longitudinal direction (Z) of the frame (11), and the second rod body (132) is connected to the third rod body (133) via a third moving part (136), and the third moving part (136) is configured to drive the second rod body (132) to reciprocate along the longitudinal direction (Z).

3. The 3D printing device for a multiphase geological model according to claim 2, characterized in that: The first rod (131), the second rod (132) and the third rod (133) are all formed with racks (13A); The first moving part (134), the second moving part (135) and the third moving part (136) each include: A slider (13B) is movably connected to the first rod (131) or the second rod (132) or the third rod (133), wherein a gear (13B1) is pivotally connected to the slider (13B), and the gear (13B1) is meshed with the rack (13A); A driving motor (13C) is fixedly connected to the slider (13B) and connected to the gear (13B1), and is configured to drive the slider (13B) to move along the first rod (131) or the second rod (132) or the third rod (133).

4. The 3D printing device for a multiphase geological model according to claim 1, characterized in that: The pushing unit (21) comprises: A frame body (211) is arranged on a side of the frame (11) away from the mechanical arm assembly (30), the interior of which has a receiving cavity (2111), and the enclosure plates (213) are stacked in the receiving cavity (2111); The pushing mechanism (212) is arranged at the lower end of the frame body (211) and at a side of the frame body (211) away from the frame (11), and is configured to be able to drive the enclosure (213) located at the lowermost end of the accommodating cavity (2111) to move from the accommodating cavity (2111) to the printing chamber (111).

5. The 3D printing device for a multiphase geological model according to claim 4, characterized in that: A walking cavity (2112) penetrating the frame (211) is provided at the lower end of the frame (211); The pushing mechanism (212) comprises: A pushing frame (2121) adapted to fit in the walking cavity (2112); A push rod (2122) is connected to the push frame (2121) and is configured to drive the push frame (2121) to switch between a first state in which it is located outside the accommodating cavity (2111) to move inside the accommodating cavity (2111) and a second state in which it moves from inside the accommodating cavity (2111) to outside the accommodating cavity (2111).

6. The 3D printing device for a multiphase geological model according to claim 5, characterized in that: The push rod (2122) includes one of a hydraulic lever, a cylinder and an electric push rod.

7. The 3D printing device for a multiphase geological model according to claim 1, characterized in that: The bearing assembly (20) further comprises: The support portion (22) is disposed in the printing chamber (111) and comprises a printing platform (221) for supporting a 3D printed model. The support portion (22) is configured to be able to adjust the height of the printing platform (221) so that the height is consistent with that of the pushing portion (21).

8. The 3D printing device for a multiphase geological model according to claim 7, characterized in that: The support portion (22) further comprises: A lifting mechanism (222) is disposed at the lower end of the printing platform (221) and is configured to drive the printing platform (221) to move in a height direction so that the height of the 3D printed model on the printing platform (221) during the printing process is consistent with the pushing portion (21).

9. The 3D printing device for a multiphase geological model according to claim 8, characterized in that: The support portion (22) further comprises: The vibration mechanism (223) is connected between the lifting mechanism (222) and the printing platform (221), and is configured to drive the printing platform (221) to vibrate synchronously therewith.

10. A printing method of a 3D printing device for a multiphase geological model according to any one of claims 1 to 9, characterized in that: The steps include: S10: The pushing portion (21) of the bearing assembly (20) pushes the enclosure (213) into the printing chamber (111); S20: the printing nozzle (12) performs a movement action simultaneously or individually along the horizontal direction (X), the transverse direction (Y) and the longitudinal direction (Z) of the frame (11) to perform 3D printing of the model in the printing enclosure defined by the enclosure (213); S30: Repeat S10 and S20 according to the required height of the 3D model until the printing of the 3D model is completed; S40: The robot arm assembly (30) grinds and cuts the 3D model by adjusting its posture.

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