Reconfigurable large-space rope-driven 3D printing robot, printing system and method

Abstract

The invention provides a reconfigurable large-space rope-driven 3D printing robot, a printing system and a method, and belongs to the technical field of 3D printing mechanical equipment. The 3D printing robot is driven by an upper computer and is composed of a hexagonal prism frame, connecting plates, lead screw module mechanisms, rope driving mechanisms, a tail end 3D printing head, an extruder, a hot bed, a support, parallel ropes and a controller module, the connecting plates and the rope driving mechanisms are installed at all corners of the hexagonal prism frame, and the lead screw module mechanisms are installed on the surfaces of the inner sides of all stand columns; the extruder is installed on the top of the frame, and the tail end 3D printing head is arranged in the hexagonal prism frame through N sets of parallel ropes up and down in an opposite-pulling mode and is always higher than the sliding block. The traction configuration of the 3D printing head at the tail end is reconstructed as required before printing; a hot bed is mounted at the top of the bracket; the extruder is connected with the tail end 3D printing head through a feeding pipe; and the controller module controls each component to execute printing operation. The system is high in reconfigurability, large in printing space, high in anti-interference capability and good in stability.

Description

Technical Field

[0001] The present invention belongs to the technical field of 3D printing mechanical equipment, and in particular relates to a reconfigurable large-space rope-driven 3D printing robot, a printing system and a method. Background Art

[0002] 3D printing technology uses three-dimensional digital modeling, software layered slicing and path planning, stacks materials layer by layer, and finally prints out three-dimensional objects. It has the advantages of high efficiency, short cycle, low manufacturing threshold, and easy processing of complex models. It has been widely used in important fields such as industry, education, medical care, military, aerospace, etc.

[0003] Carbon fiber is a new type of high-performance fiber material with high specific strength and high specific modulus. It is often used as a reinforcement for composite materials due to its light weight and high strength. Carbon fiber composite materials are also widely used in aerospace, automobile manufacturing, military, medical and sports goods fields due to their excellent properties such as light weight, high strength and impact resistance. Although carbon fiber has excellent performance, in the process of forming a composite material with other matrix materials, due to the small number of active functional groups of carbon fiber and the smooth surface, the composite interface between carbon fiber and matrix material will be poor, resulting in the excellent performance of carbon fiber cannot be fully exerted.

[0004] Combining 3D printing technology with composite material molding can integrate the excellent properties of continuous carbon fiber reinforced composite materials and the advantages of free molding of 3D printing technology, significantly improve the mechanical properties of 3D printed products, and have the advantages of fast molding speed, high efficiency, reusable materials, and broad application prospects. It can solve the problems of cumbersome molding process of continuous carbon fiber materials and difficulty in manufacturing complex structural models.

[0005] The rope-driven parallel robot combines the advantages of flexible rope drive and parallel mechanism. The rope-driven 3D printing robot not only makes up for the shortcomings of rigid 3D printing robots in large-space printing, but also avoids the shortcomings of rigid series-parallel 3D printing robots. The application of rope-driven parallel robots in 3D printing technology expands the application scenarios of 3D printing technology, increases printing space, enriches printing products, and realizes the printing of medium and large complex structural parts. The reconfigurable rope-driven 3D printing robot has the advantages of strong flexibility and good adaptability. It can reconstruct the structure and adjust the parameters according to different printing task requirements to achieve the advantages of the 3D printing head at the end of the 3D printing robot to reach a larger space area and the rope to avoid obstacles.

[0006] The structure of the rope-driven 3D printing robot is composed of two types: suspension type and tension type. The suspension rope-driven 3D printing robot is generally an under-constrained or fully constrained mechanism, which uses the gravity of the 3D printing head at the end to maintain the tension of the rope. It has a simple structure, requires a small number of motors and ropes, and is simple to control. However, this type of robot has poor stability, low rigidity, and the movement speed of the 3D printing head at the end is not high; the tension-type rope-driven 3D printing robot has better stability and is generally a redundant constraint mechanism. It uses the ropes below and above the 3D printing head at the end to achieve movement. It has the advantages of high rigidity, large working space, strong anti-interference ability, good stability of the 3D printing head at the end, and fast movement speed. It can realize the rapid printing of small objects, but for objects with a small aspect ratio and height-to-length ratio, the rope below the 3D printing head at the end may collide with the printed object structure, resulting in printing interruption or failure. Therefore, the tension-type rope-driven 3D printing robot in the prior art has the problem of poor adaptability to printing targets. Summary of the invention

[0007] In view of this, the present invention provides a reconfigurable large-space rope-driven 3D printing robot, a printing system and a method, which expand the printing space of the 3D printing robot by changing the position of the lower cable exit point of the rope pulling structure. The user can flexibly reconstruct the pulling rope driving structure of the print head in the 3D printing robot according to the shape of the printing target, which has the advantages of flexibly adapting to the structure of the printing target and effectively improving the printing efficiency and stability.

[0008] The technical solution adopted by the embodiment of the present invention to solve the technical problem is: A reconfigurable large-space rope-driven 3D printing robot, driven by a host computer, comprises: a hexagonal prism frame (100), a connecting plate (200), a lead screw module mechanism (300), a rope driving mechanism (400), a terminal 3D printing head (500), an extruder (600), a hot bed (700), a bracket (800), parallel ropes (900) and a controller module, wherein: A connecting plate (200) is installed at each of the twelve upper and lower corner positions of the hexagonal prism frame (100), a rope driving mechanism (400) is installed on each connecting plate (200), a lead screw module mechanism (300) is installed on the inner surface of each of the six columns, an extruder (600) is installed on the top of the hexagonal prism frame (100), and a terminal 3D printing head (500) is placed in the hexagonal prism frame (100) in a pulling manner by N groups of parallel ropes (900) at the top and bottom, and is higher than a slider (305) of the lead screw module mechanism (300) in the Z direction, wherein each group of parallel ropes (900) is driven by a rope driving mechanism (400) to pull the parallel ropes ( 900) is guided by a slider (305) of a screw module mechanism (300); the number of groups N is determined according to the space requirements of the printing target, and the traction configuration of the terminal 3D printing head (500) is determined according to the N value and reconstructed as needed before printing, N=3 or N=4; the hexagonal prism frame (100) and the bracket (800) are placed on the ground, and a hot bed (700) is installed on the top of the bracket (800); a feeding pipe is installed between the extruder (600) and the terminal 3D printing head (500) for transferring continuous carbon fiber composite materials; each screw module mechanism (300), the rope drive mechanism (400), the terminal 3D printing head (500), the extruder (600) and the hot bed (700) are directly controlled by the controller module; The controller module receives the printing instructions from the host computer, identifies the motion control information and the printing data file and executes them, performs real-time control on the various mechanisms of the reconfigurable large-space rope-driven 3D printing robot, and completes the 3D printing task of continuous carbon fiber reinforced composite materials.

[0009] Preferably, the rope drive mechanism (400) on the two adjacent connecting plates (200) at the upper and lower ends of the same column and the screw module mechanism (300) installed on the same column are used in combination; when the value of N is 3, the end 3D printing head (500) is pulled by 6 groups of parallel ropes (900), and the 6 groups of parallel ropes (900) are assisted by the screw module mechanisms (300) located on 3 non-adjacent columns; when the value of N is 4, the end 3D printing head (500) is pulled by 8 groups of parallel ropes (900), and 2 columns located on the same diagonal line are selected as idle columns, and the end 3D printing head (500) is assisted by the screw module mechanisms (300) on the remaining 4 columns.

[0010] Preferably, compared to N=3, when N is 4, the printing space of the end 3D printing head (500) is larger; compared to N=4, when N is 3, the number of ropes required is smaller and the control algorithm is simpler.

[0011] Preferably, the hexagonal frame (100) is composed of a lower hexagonal frame, six columns, and an upper hexagonal frame, the six columns are respectively connected at the corner points of the two hexagonal frames, and the whole is a regular hexagonal prism. The hexagonal frame (100) is placed on the ground; the extruder (600) is installed on the upper end surface of one of the sides of the upper hexagonal frame and does not share space with the hexagonal frame (100).

[0012] Preferably, the screw module mechanism (300) is composed of a servo motor I (301), a coupling I (302), a guide rail (303), a screw (304), a slider (305), a pulley I (306) and a screw support (307); the back of the guide rail (303) is fixedly installed on the inner side of the column, and a screw support (307) is fixedly connected at each end; the servo motor I (301) is coaxially connected to the screw (304) through the coupling I (302) and is fixed on the screw support (307); the screw (304) passes through the first screw support (307), the slider (305), the second screw support (307) in sequence. The lever support (307) is connected to the shaft of the servo motor I (301) through a coupling I (302); the rotational motion of the lead screw (304) is converted into a linear motion of the slider (305) along the vertical direction on the guide rail (303); the front side of the slider (305) faces the end 3D printing head (500), and a pulley I (306) is installed on each of the left and right sides of the slider (305) for supporting the parallel rope (900). The slider (305) changes the position of the cable outlet point of the parallel rope (900) by moving up and down, thereby realizing the reconfigurable function of the traction configuration of the reconfigurable large-space rope-driven 3D printing robot.

[0013] Preferably, the two ends of the connection plate (200) are respectively fixedly connected to adjacent frames of the hexagonal frame, and the rope drive mechanism (400) is installed on the surface of the connection plate (200) facing the end 3D printing head (500); The rope driving mechanism (400) is composed of a servo motor II (401), a coupling II (402), a drum (403), a drum support (404), a drum shaft, a pulley II (406) and a pulley support (407): the bottom of the drum support (404) is fixedly mounted on the connecting plate (200), the drum shaft is inserted into the drum (403), and the drum shaft is mounted inside the drum support (404); a through hole is provided on the side of the drum support (404), the servo motor II (401) is fixedly mounted on the outer surface of the drum support (404), and the rotating shaft of the servo motor II (401) is coaxially connected to the drum shaft through the coupling II (402) through the through hole; A groove is formed on the top of the drum support (404); a pair of pulley supports (407) are fixedly mounted on the top outer surface of the drum support (404); two pulleys II (406) are mounted on each pulley support (407) for supporting and reversing the parallel ropes (900); the drum (403) retracts and releases a group of parallel ropes (900) under the action of the force of the servo motor II (401); the group of parallel ropes (900) includes two ropes of the same length, one end of the rope is fixedly connected to the drum (403), and the other end is fixedly connected to the end 3D printing head (500); For the rope drive mechanism (400) located at the top of the hexagonal prism, two ropes of the parallel rope (900) are connected to the drum (403) of the rope drive mechanism (400) at one end, and the other end is passed around the drum (403) and extended from the slot, and then passed around the two pulleys II (406) of the corresponding pulley support (407) in an S-shaped winding manner, and then connected to the upper fixed end of the terminal 3D printing head (500); For the rope drive mechanism (400) located at the bottom of the hexagonal prism, two ropes of the parallel rope (900) are connected to the drum (403) of the rope drive mechanism (400) at one end, and the other end is wound around the drum (403) and extended from the slot, and then in an S-shaped winding manner, it is wound around the two pulleys II (406) of the corresponding pulley support (407), the pulley I (306) on the corresponding side of the slider (305), and then connected to the lower fixed end of the terminal 3D printing head (500); The N rope drive mechanisms (400) located at the upper end of the hexagonal prism frame (100) are used to cooperate with each other to realize the upward movement of the end 3D printing head (500), and the N rope drive mechanisms (400) located at the lower end of the hexagonal prism frame (100) are used to cooperate with each other to realize the downward movement of the end 3D printing head (500).

[0014] Preferably, the terminal 3D printing head (500) is composed of a fixing mechanism, and a printing mechanism and a wire cutting mechanism (520) mounted on the fixing mechanism: The fixing mechanism comprises an upper fixing plate (511), a lower fixing plate (512) and a spring I (513); the lower fixing plate (512) and the upper fixing plate (511) are fixed by four springs I (513); N groups of parallel ropes (900) for pulling up are connected to the upper fixing plate (511); N groups of parallel ropes (900) for pulling down are connected to the lower fixing plate (512); the spring I (513) is used for pre-tightening the upper and lower parallel ropes (900); a PLA pellet material delivery hole, an upper center hole and a rotating shaft through hole are provided on the upper fixing plate (511); and a conical hopper through hole and a lower center hole are provided on the lower fixing plate (512); The printing mechanism comprises a cylindrical silo (501), a hollow spiral push rod (502), a conical hopper (503), an annular heating sleeve (504), a square heating block (505), a nozzle (506), a stepping motor (507), a small toothed belt wheel (508), a large toothed belt wheel (509), and a toothed belt (510); the cylindrical silo (501) is arranged at the center of an upper fixed plate (511) and a lower fixed plate (512) and fixedly connected; the lower part of the cylindrical silo (501) is fixedly sleeved in the annular heating sleeve (504) and the square heating block (505) in sequence, and the bottom of the cylindrical silo (501) The nozzle (506) is fixedly connected, and the square heating block (505) is located near the nozzle (506); the stepper motor (507) is installed on the lower end surface of the upper fixed plate (511), and the rotating shaft of the stepper motor (507) extends out from the rotating shaft through hole and is connected to the shaft side of the small toothed belt wheel (508); the upper end of the hollow spiral push rod (502) is fixedly connected to the shaft side of the large toothed belt wheel (509), and the lower end is installed in the cylindrical silo (501), and the top of the hollow spiral push rod (502) is inserted with continuous carbon fiber filaments; the small toothed belt wheel (508) and the large toothed belt wheel (509) are connected by a toothed belt (510) for transmission; The outer side wall of the bottom of the conical hopper (503) is fixedly connected to the inner side wall of the conical hopper through hole, and the lower end of the conical hopper (503) is sealedly connected to the opening on the side wall of the cylindrical silo (501) through a pipeline; The PLA pellets enter the conical hopper (503) through the PLA pellet feeding hole, and the continuous carbon fiber filaments are fed into the hollow screw push rod (502) through the extruder (600). Under the heating effect of the annular heating sleeve (504) and the heat preservation of the square heating block (505), the PLA pellets are melted to a molten state in the cylindrical silo (501), and the continuous carbon fiber filaments are softened in the cylindrical silo (501), thereby realizing a real-time impregnation process of PLA and the continuous carbon fiber filaments. Under the action of the hollow screw push rod (502), the PLA is wrapped around the continuous carbon fiber filaments in the cylindrical silo (501), and the co-extrusion of the PLA and the continuous carbon fiber filaments is realized through the nozzle (506); The end 3D printing head (500) can achieve three degrees of freedom of translation along the X, Y and Z axis directions under the synchronous pulling of N groups of parallel ropes (900) above and below; The wire cutting mechanism (520) is installed on the terminal 3D printing head (500) through a connecting piece, and is used to cut the material at the jumping point position or the ending point position during the printing process; The bracket (800) is composed of a base (801) and a top cover (802); a circular tube is vertically installed at the center position of the upper surface of the base (801); a circular rod is vertically installed at the center position of the lower surface of the top cover (802); the circular tube and the circular rod are connected by threads; the height of the bracket (800) is adjusted by rotating the top cover (802); the bracket (800) is placed on the ground and is located at the center position of the hexagonal prism frame (100); The heating bed (700) is installed on the upper surface of the top cover (802) of the support (800), and the heating bed (700), the annular heating jacket (504) and the square heating block (505) are directly controlled by the controller module.

[0015] Preferably, the wire cutting mechanism (520) is composed of a pneumatic push rod (601), a cylinder mounting seat (602), a connector (603), a blade I (604), a blade II (605), a blade fixing block I (606), a blade fixing block II (607), a spring II (608), a cam (609), a scissors mounting plate (610), a scissors cover plate (611) and a pin shaft: A pair of rotating shafts with limited cams (609) are fixedly installed between the scissor cover plate (611) and the scissor mounting plate (610); a sliding groove for placing a blade fixing block II (607) is provided on the upper surface of the scissor mounting plate (610); the two rotating shafts are located at the front end of the scissor mounting plate (610) and at both sides of the sliding groove; the blade fixing block II (607), the blade I (604), the blade II (605), and the blade fixing block I (606) are arranged in sequence from bottom to top and connected by a pin shaft; the blade fixing block I (606) and the scissor cover plate (611) are in a sliding connection relationship, and the scissor cover plate (611) is provided with a sliding groove for placing a blade fixing block II (607). 11) for limiting the position of the blade fixing block I (606); the pin shaft is located at the scissor opening position of the blade I (604) and the blade II (605); the handle of the blade I (604) and the handle of the blade II (605) are each installed with a spring fixing structure, and the two ends of the spring II (608) are fixedly connected to the two spring fixing structures respectively; the cylinder mounting seat (602) is vertically fixedly installed on the rear end upper surface of the scissor mounting plate (610), and the pneumatic push rod (601) is fixedly installed on the cylinder mounting seat (602), and the moving end of the pneumatic push rod (601) passes through the opening of the cylinder mounting seat (602). , and then fixedly connected to the connector (603); the pneumatic push rod (601) is connected to the air compressor through an air pipe with a proportional valve, and the proportional valve is connected to the controller; the controller controls the proportional valve to adjust the flow, pressure and direction of compressed air so that the moving end of the pneumatic push rod (601) drives the connector (603) to reciprocate, and the connector (603) pushes the blade fixing block I (606) to move toward the front end, and the handle of the blade I (604) and the handle of the blade II (605) contact the two limit cams (609), and the spring II (608) is compressed and deformed at the same time, the blade I (604) The pneumatic push rod (601) cooperates with the blade II (605) to perform the wire cutting action. During the resetting process of the moving end of the pneumatic push rod (601), under the action of the elastic force of the spring II (608) and the force of the two limit cams (609), the blade I (604) and the blade II (605) push the blade fixing block I (606) and the blade fixing block II (607) to move toward the rear end along the groove of the scissors mounting plate (610), thereby realizing the recovery of the wire cutting mechanism (520); the lower surface of the scissors mounting plate (610) is fixedly connected to the connecting piece, and the pneumatic push rod (601) forms an angle of 45° with the center line of the cylindrical silo (501).

[0016] A reconfigurable large-space rope-driven 3D printing system, comprising a host computer and a reconfigurable large-space rope-driven 3D printing robot; The host computer is used to: model the printing target through three-dimensional software and output the printing model in STL format; perform layered processing on the printing model through slicing software to generate contour trajectory, filling trajectory and jump trajectory, and perform trajectory planning; obtain the N value; based on the N value, calculate the length and tension of the rope according to the inverse kinematics model and dynamic model of the robot, generate motion control information and printing data files that can be recognized by the 3D printing robot, and send them to the controller of the reconfigurable large-space rope-driven 3D printing robot; The reconfigurable large-space rope-driven 3D printing robot receives the motion control information and the printing data file and performs a 3D printing operation.

[0017] A printing method based on a reconfigurable large-space rope-driven 3D printing robot is performed using a reconfigurable large-space rope-driven 3D printing system, and the steps include: Step S1, modeling the printing target through 3D software and outputting the printing model in STL format; Step S2, layering the printed model through slicing software, generating contour tracks, filling tracks and jump tracks, and performing track planning; Step S3, obtaining the N value; Step S3, based on the N value, the length and tension of the rope are calculated according to the inverse kinematics model and dynamic model of the robot, motion control information and printing data files that can be recognized by the 3D printing robot are generated and sent to the controller of the reconfigurable large-space rope-driven 3D printing robot; Step S4, reconstructing the traction configuration of the reconfigurable large-space rope-driven 3D printing robot according to the N value; Step S5, the controller compiles the motion control information and the printing data file into a control signal, controls the annular heating sleeve, the square heating block and the hot bed to heat, and controls the servo motors and the stepper motors to work together after reaching the specified temperature; realizes the coordinated work of the terminal 3D printing head and the extruder, and performs single-layer film printing: the terminal 3D printing head moves to the printing position point to start printing, and when it reaches the jump point, the movement is paused and the terminal 3D printing head stops discharging, the extruder stops working, and the wire cutting mechanism cuts the continuous carbon fiber wire. After the terminal 3D printing head moves to the next printing position point, it continues to start printing, and repeatedly performs printing and jumping until the single-layer printing is completed; In step S6, the controller determines whether the current layer has been printed. If not, the current layer continues to be printed. If it has been printed, each servo motor is controlled to work so that the slider of each screw module mechanism rises by one layer height, so that the end 3D printing head rises by one layer height, and then continues to perform single-layer printing, through the stacking of PLA material and continuous carbon fiber layer by layer, until the part printing is completed.

[0018] It can be seen from the above technical scheme that the reconfigurable large-space rope-driven 3D printing robot, printing system and method provided by the present invention, the system consists of a reconfigurable large-space rope-driven 3D printing robot and a host computer, and the reconfigurable large-space rope-driven 3D printing robot consists of a hexagonal frame, a connecting plate, a screw module mechanism, a rope driving mechanism, a terminal 3D printing head, an extruder, a hot bed, a bracket, parallel ropes and a controller module, wherein: a connecting plate is installed at each of the twelve upper and lower corner positions of the hexagonal frame, a rope driving mechanism is installed on each connecting plate, a screw module mechanism is installed on the inner surface of each of the six columns, the extruder is installed on the top of the hexagonal frame, and the terminal 3D printing head is placed in the hexagonal frame in a pulling manner by N groups of parallel ropes above and below, and is higher than the slider position of the screw module mechanism in the Z direction, wherein each group of parallel ropes is composed of a Driven by a rope drive mechanism, the parallel ropes used to pull down the terminal 3D printing head are guided by the slider of the screw module mechanism; the number of groups N is determined according to the space requirements required for the printing target, and the traction configuration of the terminal 3D printing head is determined according to the N value and reconstructed as needed before printing, N=3 or N=4; the hexagonal prism frame and the bracket are placed on the ground, and a hot bed is installed on the top of the bracket; a feeding pipe is installed between the extruder and the terminal 3D printing head for the transmission of continuous carbon fiber composite materials; each screw module mechanism, rope drive mechanism, terminal 3D printing head, extruder and hot bed are directly controlled by the controller module; the controller module receives the printing instruction of the host computer, identifies the motion control information and the printing data file and executes it, and controls the various mechanisms of the reconfigurable large-space rope-driven 3D printing robot in real time to complete the 3D printing task of continuous carbon fiber reinforced composite materials. The scheme of the present invention can realize the reconfigurable and large-space printing functions of the 3D printing robot, and reconstructs the traction configuration of the terminal 3D printing head according to the space required by the printing target. When N=3, the number of ropes required is smaller and the control algorithm is simpler. When N=4, the area that the terminal 3D printing head (500) can reach can be expanded. Selecting a suitable N value can take into account the space requirements and stability requirements of the printing target, and avoid the possibility of the rope under the terminal 3D printing head colliding with the printed object. The present invention has a simple mechanical structure, strong reconfigurability, a large printing space, strong anti-interference ability, high rigidity, and can flexibly adapt to printing targets of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an axonometric diagram of the reconfigurable large-space rope-driven 3D printing robot of the present invention; Figure 2 It is an axonometric view of the reconfigurable large-space rope-driven 3D printing robot configuration I of the present invention; Figure 3A top view of the reconfigurable large-space rope-driven 3D printing robot configuration I of the present invention; Figure 4 This is an axonometric view of the reconfigurable large-space rope-driven 3D printing robot configuration II of the present invention; Figure 5 A top view of the reconfigurable large-space rope-driven 3D printing robot configuration II of the present invention; Figure 6 This is a schematic diagram of the structure of the lead screw module mechanism of the reconfigurable large-space rope-driven 3D printing robot of the present invention; Figure 7 It is a schematic diagram of the structure of the rope driving mechanism of the reconfigurable large-space rope-driven 3D printing robot of the present invention; Figure 8 This is a schematic diagram of the structure of the terminal 3D printing head of the reconfigurable large-space rope-driven 3D printing robot of the present invention; Fig. 9 It is a schematic diagram of the wire cutting mechanism structure of the reconfigurable large-space rope-driven 3D printing robot of the present invention; Fig.10 This is a schematic diagram of the support structure of the reconfigurable large-space rope-driven 3D printing robot of the present invention; Fig.11 This is a printing flow chart of the reconfigurable large-space rope-driven 3D printing robot of the present invention.

[0020] Description of the numbers in the figure: exist Figure 1 Among them, 100- hexagonal prism frame, 200- connecting plate, 300- lead screw module mechanism, 400- rope drive mechanism, 500- terminal 3D printing head, 600- extruder, 700- hot bed, 800- bracket.

[0021] exist Figure 2 , Figure 3 , Figure 4 and Figure 5 Medium, 900-Rope.

[0022] exist Figure 6 Among them, 301-servo motor I, 302-coupling I, 303-guide rail, 304-screw, 305-slider, 306-pulley I, 307-screw support.

[0023] exist Figure 7 Among them, 401-servo motor II, 402-coupling II, 403-reel, 404-reel support, 406-pulley II, 407-pulley support.

[0024] exist Figure 8Among them, 501-cylindrical silo, 502-hollow spiral push rod, 503-conical hopper, 504-annular heating sleeve, 505-square heating block, 506-nozzle, 507-stepping motor, 508-small toothed pulley, 509-large toothed pulley, 510-toothed belt, 511-upper fixed plate, 512-lower fixed plate, 513-spring I, 520-wire cutting mechanism.

[0025] exist Fig. 9 Among them, 601-pneumatic push rod, 602-cylinder mounting seat, 603-connector, 604-blade I, 605-blade II, 606-blade fixing block I, 607-blade fixing block II, 608-spring II, 609-cam, 610-scissors mounting plate, 611-scissors cover plate.

[0026] exist Fig.10 In the figure, 801 is the base and 802 is the top cover. DETAILED DESCRIPTION

[0027] The technical scheme and technical effects of the present invention are further elaborated in detail below in conjunction with the accompanying drawings of the present invention.

[0028] like Figure 1-10 As shown, the present invention provides a reconfigurable large-space rope-driven 3D printing robot, which is driven by a host computer and has an overall structure including: a hexagonal prism frame 100, a connecting plate 200, a lead screw module mechanism 300, a rope driving mechanism 400, an end 3D printing head 500, an extruder 600, a hot bed 700, a bracket 800, parallel ropes 900 and a controller module, wherein: A connecting plate 200 is installed at each of the twelve upper and lower corner positions of the hexagonal prism frame 100, a rope driving mechanism 400 is installed on each connecting plate 200, a screw module mechanism 300 is installed on the inner surface of each of the six columns, an extruder 600 is installed on the top of the hexagonal prism frame 100, and the end 3D printing head 500 is placed in the hexagonal prism frame 100 in a pulling manner by N groups of parallel ropes 900 above and below, and is higher than the slider 305 of the screw module mechanism 300 in the Z direction, wherein each group of parallel ropes 900 is driven by a rope driving mechanism 400, and the parallel ropes 900 used to pull the end 3D printing head 500 downward are guided by the slider 305 of the screw module mechanism 300; The number of groups N is determined according to the space requirements of the printing target. The traction configuration of the terminal 3D printing head 500 is determined according to the N value and is realized by manual reconstruction as needed before printing. The terminal 3D printing head 500 is placed in the hexagonal prism frame 100 by 6 or 8 groups of parallel ropes 900 in a pulling manner, that is, N=3 or N=4; the hexagonal prism frame 100 and the bracket 800 are placed on the ground, and a hot bed 700 is installed on the top of the bracket 800; a feeding pipe is installed between the extruder 600 and the terminal 3D printing head 500 for the transfer of continuous carbon fiber composite materials; each screw module mechanism 300, the rope driving mechanism 400, the terminal 3D printing head 500, the extruder 600 and the hot bed 700 are directly controlled by the controller module; The controller module receives printing instructions from the host computer, identifies motion control information and printing data files and executes them, performs real-time control of the various mechanisms of the reconfigurable large-space rope-driven 3D printing robot, and completes the 3D printing task of continuous carbon fiber reinforced composite materials.

[0029] refer to Figure 2 As shown, the rope drive mechanism 400 on the two adjacent connecting plates 200 at the upper and lower ends of the same column and the lead screw module mechanism 300 installed on the same column are used in conjunction with each other; when the value of N is 3, the end 3D printing head 500 is pulled by 6 sets of parallel ropes 900, and the 6 sets of parallel ropes 900 are assisted by the lead screw module mechanisms 300 located on 3 non-adjacent columns; refer to Figure 4 As shown, when the value of N is 4, the end 3D printing head 500 is pulled by 8 sets of parallel ropes 900, and 2 columns on the same diagonal are selected as idle columns. The end 3D printing head 500 is pulled by the screw module mechanism 300 on the remaining 4 columns. Compared with N=3, when N is 4, the printing space of the end 3D printing head 500 is larger; compared with N=4, when N is 3, the number of ropes required is less and the control algorithm is simpler.

[0030] The hexagonal frame 100 is composed of a lower hexagonal frame, six columns, and an upper hexagonal frame. The six columns are respectively connected at the corner points of the two hexagonal frames. The whole is a regular hexagonal prism. The hexagonal frame 100 is placed on the ground; the extruder 600 is installed on the upper end surface of one of the sides of the upper hexagonal frame and does not share space with the hexagonal frame 100.

[0031] refer to Figure 6 As shown, the screw module mechanism 300 is composed of a servo motor 1301, a coupling 1302, a guide rail 303, a screw 304, a slider 305, a pulley 1306 and a screw support 307; the back of the guide rail 303 is fixedly installed on the inner side of the column, and a screw support 307 is fixedly connected at each end; the servo motor 1301 is coaxially connected to the screw 304 through the coupling 1302 and fixed on the screw support 307; the screw 304 passes through the first screw support 307, the slider 305, the second screw support 307 in sequence. 07 is connected to the shaft of the servo motor I301 through a coupling I302; the rotational motion of the lead screw 304 is converted into a linear motion of the slider 305 in the vertical direction on the guide rail 303; the front side of the slider 305 faces the end 3D printing head 500, and a pulley I306 is installed on each side of the slider 305 for supporting the parallel rope 900. The slider 305 changes the position of the cable exit point of the parallel rope 900 by moving up and down, thereby realizing the reconfigurable function of the reconfigurable large-space rope-driven 3D printing robot traction configuration.

[0032] refer to Figure 1 As shown, the two ends of the connecting plate 200 are respectively fixedly connected to the adjacent frames of the hexagonal frame, and the rope driving mechanism 400 is installed on the surface of the connecting plate 200 facing the end 3D printing head 500; Figure 7 In the embodiment, the rope driving mechanism 400 is composed of a servo motor II401, a coupling II402, a drum 403, a drum support 404, a drum shaft, a pulley II406 and a pulley support 407: the bottom of the drum support 404 is fixedly mounted on the connecting plate 200, the drum shaft is passed through the drum 403, and the drum shaft is mounted inside the drum support 404; a through hole is provided on the side of the drum support 404, the servo motor II401 is fixedly mounted on the outer surface of the drum support 404, and the rotating shaft of the servo motor II401 is coaxially connected with the drum shaft through the coupling II402 through the hole; A groove is formed on the top of the drum support 404. A pair of pulley supports 407 are fixedly mounted on the top outer surface of the drum support 404. Two pulleys II406 are mounted on each pulley support 407 for supporting and reversing the parallel ropes 900. The drum 403 retracts and releases a group of parallel ropes 900 under the action of the servo motor II401. A group of parallel ropes 900 includes two ropes of the same length. One end of the rope is fixedly connected to the drum 403, and the other end is fixedly connected to the terminal 3D printing head 500. For the rope drive mechanism 400 located at the top of the hexagonal prism, the two ropes of the parallel rope 900 are connected to the drum 403 of the rope drive mechanism 400 at one end, and the other end is passed around the drum 403 and extended from the slot, and then passed around the two pulleys II406 of the corresponding pulley support 407 in an S-shaped winding manner, and then connected to the upper fixed end of the terminal 3D printing head 500; For the rope driving mechanism 400 located at the bottom of the hexagonal prism, the two ropes of the parallel rope 900 are connected to the drum 403 of the rope driving mechanism 400 at one end, and the other end is passed around the drum 403 and extended from the slot, and then passed around the two pulleys II406 of the corresponding pulley support 407 in an S-shaped winding manner, passed around the pulley I306 on the corresponding side of the slider 305, and then connected to the lower fixed end of the terminal 3D printing head 500; A rope driving mechanism 400 is installed on each connecting plate 200 for tightening and loosening the parallel ropes 900; the N rope driving mechanisms 400 located at the upper end of the hexagonal prism frame 100 are used to cooperate together to realize the upward movement of the end 3D printing head 500, and the N rope driving mechanisms 400 located at the lower end of the hexagonal prism frame 100 are used to cooperate together to realize the downward movement of the end 3D printing head 500.

[0033] The 3D printing robot adopts a parallel rope 900 pulling structure, which not only increases the rigidity of the 3D printing robot, but also improves the stability of the terminal 3D printing head 500. The connecting plate 200 is used to install the rope driving mechanism 400 on the one hand, and to reinforce the hexagonal prism frame 100 on the other hand.

[0034] refer to Figure 8 The terminal 3D printing head 500 is composed of a fixing mechanism, and a printing mechanism and a wire cutting mechanism 520 installed on the fixing mechanism: The fixing mechanism includes an upper fixing plate 511, a lower fixing plate 512 and a spring I513. The lower fixing plate 512 and the upper fixing plate 511 are fixed by four springs I513. N groups of parallel ropes 900 for pulling up are connected to the upper fixing plate 511, and N groups of parallel ropes 900 for pulling down are connected to the lower fixing plate 512. The spring I513 is used for pre-tightening the upper and lower parallel ropes 900. The upper fixing plate 511 is provided with a PLA pellet material delivery hole, an upper center hole and a rotating shaft through hole; the lower fixing plate 512 is provided with a conical hopper through hole and a lower center hole. The printing mechanism includes a cylindrical silo 501, a hollow screw push rod 502, a conical hopper 503, an annular heating sleeve 504, a square heating block 505, a nozzle 506, a stepping motor 507, a small toothed pulley 508, a large toothed pulley 509, and a toothed belt 510; the cylindrical silo 501 is inserted into the center of the upper fixing plate 511 and the lower fixing plate 512 and fixedly connected; the lower part of the cylindrical silo 501 is fixedly sleeved in the annular heating sleeve 504 and the square heating block 505 in turn, and the bottom of the cylindrical silo 501 is fixedly connected The nozzle 506 and the square heating block 505 are located near the nozzle 506; the stepper motor 507 is installed on the lower end surface of the upper fixed plate 511, and the rotating shaft of the stepper motor 507 extends out from the rotating shaft through hole and is connected to the shaft side of the small toothed belt wheel 508; the upper end of the hollow screw push rod 502 is fixedly connected to the shaft side of the large toothed belt wheel 509, and the lower end is installed in the cylindrical silo 501, and the top of the hollow screw push rod 502 is inserted into the continuous carbon fiber filament; the small toothed belt wheel 508 and the large toothed belt wheel 509 are connected through the toothed belt 510; The outer side wall of the bottom of the conical hopper 503 is fixedly connected to the inner side wall of the conical hopper through hole, and the lower end of the conical hopper 503 is sealedly connected to the opening on the side wall of the cylindrical silo 501 through a pipe; The PLA pellets enter the conical hopper 503 through the PLA pellet feeding hole, and the continuous carbon fiber filaments are fed into the hollow screw push rod 502 through the extruder 600. Under the heating effect of the annular heating sleeve 504 and the heat preservation of the square heating block 505, the PLA pellets are melted to a molten state in the cylindrical silo 501, and the continuous carbon fiber filaments are softened in the cylindrical silo 501, thereby realizing a real-time impregnation process of PLA and the continuous carbon fiber filaments. Under the action of the hollow screw push rod 502, the PLA is wrapped around the continuous carbon fiber filaments in the cylindrical silo 501, and the co-extrusion of the PLA and the continuous carbon fiber filaments is realized through the nozzle 506; The end 3D printing head 500 can achieve three degrees of freedom of translation along the X, Y and Z axis directions under the synchronous pulling of the N groups of parallel ropes 900 above and below; The wire cutting mechanism 520 is installed on the end 3D printing head 500 through a connecting piece, and is located near the nozzle 506, and is used to cut the material at the jump point or the end point during the printing process; the wire cutting mechanism 520 is a special part of the end 3D printing head 500, and is used to cut the continuous carbon fiber filaments. The wire cutting mechanism cuts the continuous carbon fiber filaments during the printing layer stacking process, and the continuous carbon fiber filaments also need to be cut before the printing path jumps within the layer.

[0035] The bracket 800 is composed of a base 801 and a top cover 802. A circular tube is vertically installed at the center of the upper surface of the base 801, and a circular rod is vertically installed at the center of the lower surface of the top cover 802. The circular tube and the circular rod are connected by threads. The height of the bracket 800 is adjusted by rotating the top cover 802. The bracket 800 is placed on the ground and is located at the center of the hexagonal prism frame 100. refer to Fig.10 The heating bed 700 is installed on the upper surface of the top cover 802 of the bracket 800, and the heating bed 700, the annular heating sleeve 504 and the square heating block 505 are directly controlled by the controller module.

[0036] refer to Fig. 9 The wire cutting mechanism 520 is composed of a pneumatic push rod 601, a cylinder mounting seat 602, a connector 603, a blade I604, a blade II605, a blade fixing block I606, a blade fixing block II607, a spring II608, a cam 609, a scissors mounting plate 610, a scissors cover plate 611 and a pin: A pair of rotating shafts with limited cams 609 are fixedly installed between the scissors cover plate 611 and the scissors mounting plate 610; a slide groove for placing the blade fixing block II607 is provided on the upper surface of the scissors mounting plate 610, and two rotating shafts are located at the front end of the scissors mounting plate 610 and on both sides of the slide groove; the blade fixing block II607, the blade I604, the blade II605, and the blade fixing block I606 are arranged in sequence from bottom to top and connected by a pin shaft, and the blade fixing block I606 is in a sliding connection relationship with the scissors cover plate 611, and the scissors cover plate 611 is used for limiting. Blade fixing block I606; the pin is located at the scissor mouth position of blade I604 and blade II605; the handle of blade I604 and the handle of blade II605 are each installed with a spring fixing structure, and the two ends of spring II608 are fixedly connected to the two spring fixing structures respectively; the cylinder mounting seat 602 is vertically fixedly installed on the upper surface of the rear end of the scissor mounting plate 610, and the pneumatic push rod 601 is fixedly installed on the cylinder mounting seat 602, and the moving end of the pneumatic push rod 601 passes through the opening of the cylinder mounting seat 602 and is then fixedly connected to the connector 603; The pneumatic push rod 601 is connected to the air compressor through an air pipe with a proportional valve, and the proportional valve is connected to the controller; the controller controls the proportional valve to adjust the compressed air flow, pressure and direction so that the moving end of the pneumatic push rod 601 drives the connector 603 to reciprocate, and the connector 603 pushes the blade fixing block I606 to move to the front end, and the handles of the blade I604 and the blade II605 contact the two limit cams 609. While the spring II608 is compressed and deformed, the blade I604 and the blade II605 cooperate to perform the wire cutting action, and the controller module controls The proportional valve deflates the pneumatic push rod 601, which shortens it. During the resetting process of the moving end of the pneumatic push rod 601, under the action of the elastic force of spring II608 and the force of two limit cams 609, blade I604 and blade II605 push blade fixing block I606 and blade fixing block II607 to move toward the rear end along the groove of the scissors mounting plate 610, thereby realizing the recovery of the wire cutting mechanism 520; the lower surface of the scissors mounting plate 610 is fixedly connected to the connecting piece, and the pneumatic push rod 601 forms an angle of 45° with the center line of the cylindrical silo 501.

[0037] Furthermore, the present invention provides a reconfigurable large-space rope-driven 3D printing system, which comprises a host computer, and Figure 1-10 The reconfigurable large-space rope-driven 3D printed robot shown; The host computer is used to: model the printing target through 3D software and output the printing model in STL format; perform layered processing on the printing model through slicing software, generate contour trajectory, filling trajectory and jump trajectory, and perform trajectory planning; obtain the N value; based on the N value, calculate the length and tension of the rope according to the robot's inverse kinematics model and dynamic model, generate motion control information and printing data files that can be recognized by the 3D printing robot, and send them to the controller of the reconfigurable large-space rope-driven 3D printing robot; A reconfigurable large-space rope-driven 3D printing robot receives motion control information and printing data files to perform 3D printing operations.

[0038] refer to Fig.11 As shown, the printing method based on the reconfigurable large-space rope-driven 3D printing robot includes the following steps: Step S1, modeling the printing target through 3D software and outputting the printing model in STL format; Step S2, layering the printed model through slicing software, generating contour tracks, filling tracks and jump tracks, and performing track planning; Step S3, obtaining the N value; Step S3, based on the N value, the length and tension of the rope are calculated according to the inverse kinematics model and dynamics model of the robot, motion control information and printing data files that can be recognized by the 3D printing robot are generated and sent to the controller of the reconfigurable large-space rope-driven 3D printing robot; Step S4, reconstructing the traction configuration of the reconfigurable large-space rope-driven 3D printing robot according to the N value; Step S5, the controller compiles the motion control information and the printing data file into a control signal, controls the annular heating sleeve, the square heating block and the hot bed to heat, and controls the servo motors and the stepper motors to work together after reaching the specified temperature; realizes the coordinated work of the terminal 3D printing head and the extruder, and performs single-layer printing: the terminal 3D printing head moves to the printing position point to start printing, and when it reaches the jump point, it pauses the movement and the terminal 3D printing head stops discharging, the extruder stops working, and the wire cutting mechanism cuts the continuous carbon fiber wire. After the terminal 3D printing head moves to the next printing position point, it continues to start printing, and repeatedly performs printing and jumping until the single-layer printing is completed; In step S6, the controller determines whether the current layer has been printed. If not, the current layer continues to be printed. If it has been printed, each servo motor is controlled to work so that the slider of each screw module mechanism rises by one layer height, thereby raising the end 3D printing head by one layer height, and then continues to perform single-layer printing, through layer-by-layer stacking of PLA material and continuous carbon fiber until the part printing is completed.

[0039] Step S7, the printed part is subjected to post-processing such as support removal, burr removal and hot pressing to obtain the final part.

[0040] The reconfigurable large-space rope-driven 3D printing robot of the present invention is manually reconfigured to realize that the end 3D printing head is placed in a hexagonal prism frame by 6 or 8 groups of parallel ropes in a pulling manner, and is higher than the slider position of the screw module mechanism in the Z direction, wherein the upper end and the lower end of the end 3D printing head are respectively connected to 3 or 4 groups of parallel ropes for traction, each group of parallel ropes is driven by a rope driving mechanism and guided by a slider of a screw module mechanism, and the position of the rope exit point is changed by the slider of the screw module mechanism through self-reconfiguration; wherein, when N=3, the number of ropes required is smaller and the control algorithm is simpler, and when N=4, the area that the end 3D printing head (500) can reach can be expanded; each rope driving mechanism, the screw module mechanism, the end 3D printing head, the extruder and the hot bed are directly controlled by the controller module; the end 3D printing head, with the cooperation of the bracket, can realize the reconfigurable and large-space printing functions of the 3D printing robot. The reconfigurable large-space 3D printing robot of the present invention adopts a rope-pull structure, which has a simple mechanical structure, strong reconfigurability, large printing space, strong anti-interference ability, high rigidity, and improves the stability of the terminal 3D printing head. The 3D printing robot overcomes the problems of low rigidity of rope-suspended 3D printing robots and poor stability of the terminal 3D printing head, and solves the problems of small printing space and non-reconfigurable mechanical structure of conventional rigid 3D printing robots.

[0041] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A reconfigurable large-space rope-driven 3D printing robot, characterized in that: The machine is driven by a host computer and includes: a hexagonal prism frame (100), a connecting plate (200), a lead screw module mechanism (300), a rope driving mechanism (400), a terminal 3D printing head (500), an extruder (600), a hot bed (700), a bracket (800), parallel ropes (900) and a controller module, wherein: A connecting plate (200) is installed at each of the twelve upper and lower corner positions of the hexagonal prism frame (100), a rope driving mechanism (400) is installed on each connecting plate (200), a lead screw module mechanism (300) is installed on the inner surface of each of the six columns, an extruder (600) is installed on the top of the hexagonal prism frame (100), and a terminal 3D printing head (500) is placed in the hexagonal prism frame (100) in a pulling manner by N groups of parallel ropes (900) at the top and bottom, and is higher than a slider (305) of the lead screw module mechanism (300) in the Z direction, wherein each group of parallel ropes (900) is driven by a rope driving mechanism (400) to pull the parallel ropes ( 900) is guided by a slider (305) of a screw module mechanism (300); the number of groups N is determined according to the space requirements of the printing target, and the traction configuration of the terminal 3D printing head (500) is determined according to the N value and reconstructed as needed before printing, N=3 or N=4; the hexagonal prism frame (100) and the bracket (800) are placed on the ground, and a hot bed (700) is installed on the top of the bracket (800); a feeding pipe is installed between the extruder (600) and the terminal 3D printing head (500) for transferring continuous carbon fiber composite materials; each screw module mechanism (300), the rope drive mechanism (400), the terminal 3D printing head (500), the extruder (600) and the hot bed (700) are directly controlled by the controller module; The controller module receives the printing instructions from the host computer, identifies the motion control information and the printing data file and executes them, performs real-time control on the various mechanisms of the reconfigurable large-space rope-driven 3D printing robot, and completes the 3D printing task of continuous carbon fiber reinforced composite materials.

2. The reconfigurable large-space rope-driven 3D printing robot according to claim 1, characterized in that: The rope drive mechanisms (400) on two adjacent connecting plates (200) at the upper and lower ends of the same column and the lead screw module mechanism (300) installed on the same column are used in combination; when the value of N is 3, the end 3D printing head (500) is pulled by 6 groups of parallel ropes (900), and the 6 groups of parallel ropes (900) are assisted in pulling by the lead screw module mechanisms (300) located on 3 non-adjacent columns; when the value of N is 4, the end 3D printing head (500) is pulled by 8 groups of parallel ropes (900), and 2 columns located on the same diagonal line are selected as idle columns, and the end 3D printing head (500) is assisted in pulling by the lead screw module mechanisms (300) on the remaining 4 columns.

3. The reconfigurable large-space rope-driven 3D printing robot according to claim 2, characterized in that: Compared with N=3, when N is 4, the printing space of the end 3D printing head (500) is larger; Compared with N=4, when N is 3, fewer ropes are required and the control algorithm is simpler.

4. The reconfigurable large-space rope-driven 3D printing robot according to claim 3, characterized in that: The hexagonal frame (100) is composed of a lower hexagonal frame, six columns, and an upper hexagonal frame, and the six columns are respectively connected at the corner points of the two hexagonal frames. The whole is a regular hexagonal frame. The hexagonal frame (100) is placed on the ground; the extruder (600) is installed on the upper end surface of one of the sides of the upper hexagonal frame and does not share space with the hexagonal frame (100).

5. The reconfigurable large-space rope-driven 3D printing robot according to claim 4, characterized in that: The screw module mechanism (300) is composed of a servo motor I (301), a coupling I (302), a guide rail (303), a screw (304), a slider (305), a pulley I (306) and a screw support (307); the back of the guide rail (303) is fixedly installed on the inner side of the column, and a screw support (307) is fixedly connected at each end; the servo motor I (301) is coaxially connected to the screw (304) through the coupling I (302) and is fixed on the screw support (307); the screw (304) passes through the first screw support (307), the slider (305), the second screw support (307) in sequence. The rear of the seat (307) is connected to the shaft of the servo motor I (301) through a coupling I (302); the rotational motion of the lead screw (304) is converted into a linear motion of the slider (305) along the vertical direction on the guide rail (303); the front side of the slider (305) faces the end 3D printing head (500), and a pulley I (306) is installed on each of the left and right sides of the slider (305) for supporting the parallel rope (900). The slider (305) changes the position of the cable outlet point of the parallel rope (900) by moving up and down, thereby realizing the reconfigurable function of the traction configuration of the reconfigurable large-space rope-driven 3D printing robot.

6. The reconfigurable large-space rope-driven 3D printing robot according to claim 5, characterized in that: The two ends of the connection plate (200) are respectively fixedly connected to adjacent frames of the hexagonal frame, and the rope driving mechanism (400) is installed on the surface of the connection plate (200) facing the end 3D printing head (500); The rope driving mechanism (400) comprises a servo motor II (401), a coupling II (402), a drum (403), a drum support (404), a drum shaft, a pulley II (406) and a pulley support (407). Composition: The bottom of the reel support (404) is fixedly mounted on the connecting plate (200), the reel shaft is inserted into the reel (403), and the reel shaft is mounted inside the reel support (404); a through hole is provided on the side of the reel support (404), a servo motor II (401) is fixedly mounted on the outer surface of the reel support (404), and the rotating shaft of the servo motor II (401) is coaxially connected with the reel shaft through the through hole via a coupling II (402); A groove is formed on the top of the drum support (404); a pair of pulley supports (407) are fixedly mounted on the top outer surface of the drum support (404); two pulleys II (406) are mounted on each pulley support (407) for supporting and reversing the parallel ropes (900); the drum (403) retracts and releases a group of parallel ropes (900) under the action of the force of the servo motor II (401); the group of parallel ropes (900) includes two ropes of the same length, one end of the rope is fixedly connected to the drum (403), and the other end is fixedly connected to the end 3D printing head (500); For the rope drive mechanism (400) located at the top of the hexagonal prism, two ropes of the parallel rope (900) are connected to the drum (403) of the rope drive mechanism (400) at one end, and the other end is passed around the drum (403) and extended from the slot, and then passed around the two pulleys II (406) of the corresponding pulley support (407) in an S-shaped winding manner, and then connected to the upper fixed end of the terminal 3D printing head (500); For the rope drive mechanism (400) located at the bottom of the hexagonal prism, two ropes of the parallel rope (900) are connected to the drum (403) of the rope drive mechanism (400) at one end, and the other end is wound around the drum (403) and extended from the slot, and then in an S-shaped winding manner, it is wound around the two pulleys II (406) of the corresponding pulley support (407), the pulley I (306) on the corresponding side of the slider (305), and then connected to the lower fixed end of the terminal 3D printing head (500); The N rope drive mechanisms (400) located at the upper end of the hexagonal prism frame (100) are used to cooperate with each other to realize the upward movement of the end 3D printing head (500), and the N rope drive mechanisms (400) located at the lower end of the hexagonal prism frame (100) are used to cooperate with each other to realize the downward movement of the end 3D printing head (500).

7. The reconfigurable large-space rope-driven 3D printing robot according to claim 6, characterized in that: The terminal 3D printing head (500) is composed of a fixing mechanism, and a printing mechanism and a wire cutting mechanism (520) installed on the fixing mechanism: The fixing mechanism comprises an upper fixing plate (511), a lower fixing plate (512) and a spring I (513); the lower fixing plate (512) and the upper fixing plate (511) are fixed by four springs I (513); N groups of parallel ropes (900) for pulling up are connected to the upper fixing plate (511); N groups of parallel ropes (900) for pulling down are connected to the lower fixing plate (512); the spring I (513) is used for pre-tightening the upper and lower parallel ropes (900); a PLA pellet material delivery hole, an upper center hole and a rotating shaft through hole are provided on the upper fixing plate (511); and a conical hopper through hole and a lower center hole are provided on the lower fixing plate (512); The printing mechanism comprises a cylindrical silo (501), a hollow spiral push rod (502), a conical hopper (503), an annular heating sleeve (504), a square heating block (505), a nozzle (506), a stepping motor (507), a small toothed belt wheel (508), a large toothed belt wheel (509), and a toothed belt (510); the cylindrical silo (501) is arranged at the center of an upper fixed plate (511) and a lower fixed plate (512) and fixedly connected; the lower part of the cylindrical silo (501) is fixedly sleeved in the annular heating sleeve (504) and the square heating block (505) in sequence, and the bottom of the cylindrical silo (501) The nozzle (506) is fixedly connected, and the square heating block (505) is located near the nozzle (506); the stepper motor (507) is installed on the lower end surface of the upper fixed plate (511), and the rotating shaft of the stepper motor (507) extends out from the rotating shaft through hole and is connected to the shaft side of the small toothed belt wheel (508); the upper end of the hollow spiral push rod (502) is fixedly connected to the shaft side of the large toothed belt wheel (509), and the lower end is installed in the cylindrical silo (501), and the top of the hollow spiral push rod (502) is inserted with continuous carbon fiber filaments; the small toothed belt wheel (508) and the large toothed belt wheel (509) are connected by a toothed belt (510) for transmission; The outer side wall of the bottom of the conical hopper (503) is fixedly connected to the inner side wall of the conical hopper through hole, and the lower end of the conical hopper (503) is sealedly connected to the opening on the side wall of the cylindrical silo (501) through a pipeline; The PLA pellets enter the conical hopper (503) through the PLA pellet feeding hole, and the continuous carbon fiber filaments are fed into the hollow screw push rod (502) through the extruder (600). Under the heating effect of the annular heating sleeve (504) and the heat preservation of the square heating block (505), the PLA pellets are melted to a molten state in the cylindrical silo (501), and the continuous carbon fiber filaments are softened in the cylindrical silo (501), thereby realizing a real-time impregnation process of PLA and the continuous carbon fiber filaments. Under the action of the hollow screw push rod (502), the PLA is wrapped around the continuous carbon fiber filaments in the cylindrical silo (501), and the co-extrusion of the PLA and the continuous carbon fiber filaments is realized through the nozzle (506); The end 3D printing head (500) can achieve three degrees of freedom of translation along the X, Y and Z axis directions under the synchronous pulling of N groups of parallel ropes (900) above and below; The wire cutting mechanism (520) is installed on the terminal 3D printing head (500) through a connecting piece, and is used to cut the material at the jumping point position or the ending point position during the printing process; The bracket (800) is composed of a base (801) and a top cover (802); a circular tube is vertically installed at the center position of the upper surface of the base (801); a circular rod is vertically installed at the center position of the lower surface of the top cover (802); the circular tube and the circular rod are connected by threads; the height of the bracket (800) is adjusted by rotating the top cover (802); the bracket (800) is placed on the ground and is located at the center position of the hexagonal prism frame (100); The heating bed (700) is installed on the upper surface of the top cover (802) of the support (800), and the heating bed (700), the annular heating jacket (504) and the square heating block (505) are directly controlled by the controller module.

8. The reconfigurable large-space rope-driven 3D printing robot according to claim 7, characterized in that: The wire cutting mechanism (520) is composed of a pneumatic push rod (601), a cylinder mounting seat (602), a connector (603), a blade I (604), a blade II (605), a blade fixing block I (606), a blade fixing block II (607), a spring II (608), a cam (609), a scissors mounting plate (610), a scissors cover plate (611) and a pin shaft: A pair of rotating shafts with limited cams (609) are fixedly installed between the scissor cover plate (611) and the scissor mounting plate (610); a sliding groove for placing a blade fixing block II (607) is provided on the upper surface of the scissor mounting plate (610); the two rotating shafts are located at the front end of the scissor mounting plate (610) and at both sides of the sliding groove; the blade fixing block II (607), the blade I (604), the blade II (605), and the blade fixing block I (606) are arranged in sequence from bottom to top and connected by a pin shaft; the blade fixing block I (606) and the scissor cover plate (611) are in a sliding connection relationship, and the scissor cover plate (611) is provided with a sliding groove for placing a blade fixing block II (607). 11) for limiting the position of the blade fixing block I (606); the pin shaft is located at the scissor opening position of the blade I (604) and the blade II (605); the handle of the blade I (604) and the handle of the blade II (605) are each installed with a spring fixing structure, and the two ends of the spring II (608) are fixedly connected to the two spring fixing structures respectively; the cylinder mounting seat (602) is vertically fixedly installed on the rear end upper surface of the scissor mounting plate (610), and the pneumatic push rod (601) is fixedly installed on the cylinder mounting seat (602), and the moving end of the pneumatic push rod (601) passes through the opening of the cylinder mounting seat (602). , and then fixedly connected to the connector (603); the pneumatic push rod (601) is connected to the air compressor through an air pipe with a proportional valve, and the proportional valve is connected to the controller; the controller controls the proportional valve to adjust the flow, pressure and direction of compressed air so that the moving end of the pneumatic push rod (601) drives the connector (603) to reciprocate, and the connector (603) pushes the blade fixing block I (606) to move toward the front end, and the handle of the blade I (604) and the handle of the blade II (605) contact the two limit cams (609), and the spring II (608) is compressed and deformed at the same time, the blade I (604) The pneumatic push rod (601) cooperates with the blade II (605) to perform the wire cutting action. During the resetting process of the moving end of the pneumatic push rod (601), under the action of the elastic force of the spring II (608) and the force of the two limit cams (609), the blade I (604) and the blade II (605) push the blade fixing block I (606) and the blade fixing block II (607) to move toward the rear end along the groove of the scissors mounting plate (610), thereby realizing the recovery of the wire cutting mechanism (520); the lower surface of the scissors mounting plate (610) is fixedly connected to the connecting piece, and the pneumatic push rod (601) forms an angle of 45° with the center line of the cylindrical silo (501).

9. A reconfigurable large-space rope-driven 3D printing system, characterized in that: It comprises a host computer and a reconfigurable large-space rope-driven 3D printing robot as described in any one of claims 1 to 8; The host computer is used to: model the printing target through three-dimensional software and output the printing model in STL format; perform layered processing on the printing model through slicing software to generate contour trajectory, filling trajectory and jump trajectory, and perform trajectory planning; obtain N value; Based on the N value, the length and tension of the rope are calculated according to the inverse kinematics model and the dynamics model of the robot, and motion control information and a printing data file that can be recognized by the 3D printing robot are generated and sent to the controller of the reconfigurable large-space rope-driven 3D printing robot; The reconfigurable large-space rope-driven 3D printing robot receives the motion control information and the printing data file and performs a 3D printing operation.

10. A printing method based on a reconfigurable large-space rope-driven 3D printing robot, characterized in that: The method is performed using the reconfigurable large-space rope-driven 3D printing system according to claim 9, and the steps include: Step S1, modeling the printing target through 3D software and outputting the printing model in STL format; Step S2, layering the printed model through slicing software, generating contour tracks, filling tracks and jump tracks, and performing track planning; Step S3, obtaining the N value; Step S3, based on the N value, the length and tension of the rope are calculated according to the inverse kinematics model and dynamic model of the robot, motion control information and printing data files that can be recognized by the 3D printing robot are generated and sent to the controller of the reconfigurable large-space rope-driven 3D printing robot; Step S4, reconstructing the traction configuration of the reconfigurable large-space rope-driven 3D printing robot according to the N value; Step S5, the controller compiles the motion control information and the printing data file into a control signal, controls the annular heating sleeve, the square heating block and the hot bed to heat, and controls the servo motors and the stepper motors to work together after reaching the specified temperature; realizes the coordinated work of the terminal 3D printing head and the extruder, and performs single-layer film printing: the terminal 3D printing head moves to the printing position point to start printing, and when it reaches the jump point, the movement is paused and the terminal 3D printing head stops discharging, the extruder stops working, and the wire cutting mechanism cuts the continuous carbon fiber wire. After the terminal 3D printing head moves to the next printing position point, it continues to start printing, and repeatedly performs printing and jumping until the single-layer printing is completed; In step S6, the controller determines whether the current layer has been printed. If not, the current layer continues to be printed. If it has been printed, each servo motor is controlled to work so that the slider of each screw module mechanism rises by one layer height, so that the end 3D printing head rises by one layer height, and then continues to perform single-layer printing, through the stacking of PLA material and continuous carbon fiber layer by layer, until the part printing is completed.

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