Weak-rigidity energetic grain array type printing forming system and method

Abstract

The invention relates to the technical field of energetic grain forming, in particular to a weak-rigidity energetic grain array type printing forming system and method.The weak-rigidity energetic grain array type printing forming system comprises a printing control unit, a printing base, a horizontal moving unit, a vertical moving unit, an array type printing unit and a repairing unit; on one hand, through the array printing head, synchronous multi-point feeding printing is carried out according to the structure of the energetic grain, so that the printing forming efficiency is improved, and the printing time is shortened; on the other hand, the printed grain is overhauled through the repairing unit, when printing defects exist in the grain, the positions with the defects can be repaired conveniently, the grain forming quality can be improved, and the use requirement is met; and the yield can be improved, the printing forming efficiency is further improved, and the printing forming requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of energetic grain forming, and particularly relates to a weakly rigid energetic grain array printing and forming system and method. Background Art

[0002] Energetic materials are a class of compounds or mixtures with explosive groups or containing oxidants and combustibles. Under certain external energy stimuli, they can independently carry out chemical reactions and release a large amount of energy, gas, and heat. They include material series such as propellants, propellants, and warhead explosives. In the military field, energetic materials are an indispensable and important part of weapon firepower systems and are used in pressure propulsion and reaction propulsion of various weapon firepower systems. In the civilian field, they are widely used in petroleum, metallurgy, mining, construction, etc.

[0003] With the requirements of multi-mode, special-shaped, gradient-graded, large-batch, and automated charging of high-tech weaponry, the additive manufacturing technology of energetic materials has emerged, improving the high safety, high reliability, high precision, and high efficiency of the propellant / insulation layer in the combustion chamber.

[0004] For example, the Chinese invention patent with the application number 202011170665.9 provides an energetic material rapid prototyping device and method. The medicament is extruded onto the installation platform by a horizontal conveying screw, and the installation platform moves to form a solid, completing the grain forming.

[0005] However, in the actual printing and forming process of the grain, the existing printing method cannot achieve on-line detection of whether there are defects in the printing, nor can it repair the defects on-line, reducing the printing quality and printing efficiency and not meeting the actual grain printing and forming requirements. At the same time, the printing efficiency of a single print head is low, increasing the printing time and further reducing the printing efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide a weakly rigid energetic grain array printing and forming system and method to solve the technical problem of low printing and forming efficiency of energetic grains at present.

[0007] The solution of the present invention to the above technical problems: A weakly rigid energetic grain array printing and forming system includes a printing control unit, a printing base, a horizontal moving unit, a vertical moving unit, an array printing unit, and a repair unit. The horizontal moving unit, the vertical moving unit, the array printing unit, and the repair unit are all communicatively connected to the printing control unit; The horizontal moving unit and the vertical moving unit are both connected to the printing base. The array printing unit and the repair unit are both connected to the vertical moving unit. The array printing unit and the repair unit are both located above the horizontal moving unit, and the repair unit is located outside the array printing unit.

[0008] Further defined, the repair unit includes a repair head, a repair extrusion mechanism, a surface information acquisition device, and a defect processing module. The repair head is communicated with the bottom of the repair extrusion mechanism, and the top of the repair extrusion mechanism is connected to the vertical moving unit. The surface information acquisition device is arranged on the vertical moving unit, the surface information acquisition device faces the horizontal moving unit, and the surface information acquisition device is communicatively connected to the defect processing module. The defect processing module is communicatively connected to the repair extrusion mechanism and the horizontal moving unit respectively through a printing control unit.

[0009] Further defined, the weak stiffness energetic charge array printing and forming system further includes a rotating table. The rotating table is arranged on the horizontal moving unit, and the array printing unit and the repair unit are both located above the rotating table. The printing control unit is communicatively connected to the rotating table.

[0010] Further defined, the horizontal moving unit includes an X-axis moving table and a Y-axis moving table. The Y-axis moving table is slidably connected to the printing base along the longitudinal direction. The X-axis moving table is connected to the top of the Y-axis moving table along the transverse direction. The rotating table is arranged on the X-axis moving table and is rotatably connected to the X-axis moving table. The printing control unit is communicatively connected to the X-axis moving table and the Y-axis moving table respectively.

[0011] Further defined, the array printing unit includes a plurality of charge printing mechanisms. The charge printing mechanism includes a forming printing head and a printing extrusion mechanism communicated with the forming printing head. The forming printing head is located at the bottom of the printing extrusion mechanism, and the top of the printing extrusion mechanism is connected to the vertical moving unit. The printing extrusion mechanism is communicatively connected to the printing control unit. The plurality of charge printing mechanisms are arranged at intervals along the longitudinal direction.

[0012] Further defined, the charge printing mechanism further includes a distance adjustment mechanism. The printing extrusion mechanism is movably connected to the vertical moving unit through the distance adjustment mechanism. The printing control unit is communicatively connected to the distance adjustment mechanism.

[0013] Further defined, the weak stiffness energetic charge array printing and forming system further includes an adiabatic layer printing unit. The adiabatic layer printing unit is located above the rotating table. The adiabatic layer printing unit is connected to the vertical moving unit. The array printing unit, the adiabatic layer printing unit, and the repair unit are arranged at intervals in sequence along the transverse direction. The adiabatic layer printing unit is communicatively connected to the printing control unit.

[0014] Further defined, the weak stiffness energetic charge array printing and forming system further includes a UV curing unit, which is communicatively connected to the printing control unit, connected to the vertical moving unit, and the UV curing unit faces the rotating table.

[0015] Further defined, the number of the UV curing units is multiple, and the multiple UV curing units are arranged in an array.

[0016] A method for printing and forming a weak stiffness energetic charge array, based on the above-mentioned weak stiffness energetic charge array printing and forming system, includes the following steps: S1. Design a model for the energetic charge to be printed to obtain a charge model file; S2. Convert the charge model file into a 3D printing file and transmit it to the printing control unit; S3. Adjust the vertical moving unit to make the array printing unit close to the horizontal moving unit; S4. Start the array printing unit and complete the printing of the charge layer by adjusting the horizontal moving unit; S5. The repair unit detects the charge layer printed in step S4. If there are defects in the charge layer, repair the defective positions; otherwise, execute step S6; S6. Determine whether the printing of the energetic charge is completed. If so, end; if not, re-execute step S4.

[0017] The beneficial effects of the present invention are as follows: 1. On the one hand, through the array print head, the present invention feeds and prints synchronously at multiple points according to the structure of the energetic charge, thereby improving the printing and forming efficiency and shortening the printing time; on the other hand, through the repair unit, the printed charge is inspected. When there are printing defects in the charge, it is convenient to repair the defective positions, which can not only improve the forming quality of the charge and meet the use requirements, but also improve the yield rate, further improve the printing and forming efficiency, and meet the printing and forming requirements.

[0018] 2. The charge printing mechanism of the present invention is connected to the vertical moving unit through the distance adjustment mechanism, so as to realize the spacing between different forming print heads, meet the printing and forming requirements of different specifications of charges, and improve the scope of application.

[0019] 3. The present invention simultaneously adds an adiabatic layer printing unit and a UV curing unit to realize the integrated operation of energetic charge printing, repair and curing, shorten the forming time of the energetic charge, improve the forming quality of the energetic charge, reduce the waste rate of the energetic charge, and further improve the printing and forming efficiency of the energetic charge. Description of the Drawings

[0020] Figure 1 It is a structural diagram of the weak stiffness energetic charge array printing and forming system of the present invention; Figure 2 This is a partial schematic view of the structure of the weak-rigidity energetic charge array printing and forming system of the present invention; Figure 3 This is a schematic view of the structure of the array printing unit of the present invention; Figure 4 This is a top view of the structure of the array printing unit of the present invention; In the figure, 100 - printing base; 200 - horizontal moving unit; 210 - X-axis moving platform; 220 - Y-axis moving platform; 300 - vertical moving unit; 310 - connecting frame; 400 - rotating platform; 500 - array printing unit; 510 - charge printing mechanism; 511 - first printing mechanism; 512 - second printing mechanism; 513 - third printing mechanism; 520 - forming printing head; 530 - printing extrusion mechanism; 540 - distance adjustment mechanism; 600 - repair unit; 610 - repair head; 620 - repair extrusion mechanism; 630 - surface information acquisition device; 700 - insulation layer printing unit; 710 - insulation layer extrusion head; 720 - insulation layer extrusion mechanism; 800 - UV curing unit; 900 - energetic charge. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0022] Embodiment 1 Refer to Figure 1 , the present invention provides a weak-rigidity energetic charge array printing and forming system, including a printing control unit, a printing base 100, a horizontal moving unit 200, a vertical moving unit 300, an array printing unit 500, and a repair unit 600.

[0023] Both the horizontal moving unit 200 and the vertical moving unit 300 are connected to the printing base 100. The horizontal moving unit 200 can move relative to the printing base 100 in the horizontal direction, and the vertical moving unit 300 can move relative to the printing base 100 in the vertical direction. Both the array printing unit 500 and the repair unit 600 are connected to the vertical moving unit 300 and can adjust their positions in the vertical direction through the vertical moving unit 300.

[0024] The printing control unit is communicatively connected to the horizontal movement unit 200, the vertical movement unit 300, the array printing unit 500, and the repair unit 600 respectively, and is used to control the discharge of the array printing unit 500 for printing. At the same time, it controls the displacement of the horizontal movement unit 200 relative to the array printing unit 500 for contour printing of the energetic charge 900. At the same time, it cooperates with the vertical movement unit 300 for layer-by-layer printing of the energetic charge 900, and so on in a cycle until the preliminary printing is completed; the repair unit 600 performs defect detection through the printing control unit after each layer of the charge layer is printed, or selects to perform defect detection after all printing is completed; when there are defects, the repair unit 600 is used to repair the defective positions, so as to ensure the reliable quality of the printed and formed energetic charge 900, and at the same time improve the printing and forming efficiency.

[0025] Furthermore, in order to improve the printing accuracy of the energetic charge 900, preferably, the array printing and forming system for weakly rigid energetic charges further includes a rotating table 400. The rotating table 400 is installed on the top of the horizontal movement unit 200. At this time, the array printing unit 500 is located above the rotating table 400. The printing control unit is also connected to the rotating table 400 and is used to control the switch and rotation speed of the rotating table 400; during the actual printing process, the rotating table 400 rotates to keep the discharge speed of the array printing unit 500, so as to realize the printing of a circular charge layer.

[0026] Furthermore, in order to further improve the printing efficiency of the energetic charge 900, preferably, the array printing and forming system for weakly rigid energetic charges further includes an adiabatic layer printing unit 700 and a UV curing unit 800; both the adiabatic layer printing unit 700 and the UV curing unit 800 are communicatively connected to the printing control unit; both the adiabatic layer printing unit 700 and the UV curing unit 800 are connected to the vertical movement unit 300.

[0027] Before printing the energetic charge 900, the printing control unit drives the rotating table 400 to move to directly below the adiabatic layer printing unit 700 through the horizontal movement unit 200. Subsequently, the rotating table 400 rotates, and the vertical movement unit 300 drives the adiabatic layer printing unit 700 to approach the rotating table 400, and the adiabatic layer can be printed on the rotating table 400 through the adiabatic layer printing unit 700.

[0028] After the adiabatic layer printing is completed, the horizontal movement unit 200 can drive the rotating table 400 to move to directly below the array printing unit 500; then the rotating table 400 rotates, and the array printing unit 500 approaches the inner circle position of the adiabatic layer on the rotating table 400 through the vertical movement unit 300 to perform the printing of the charge layer.

[0029] After the printing of the propellant layer is completed, the horizontal moving unit 200 drives the rotating table 400 to approach the UV curing unit 800 for curing irradiation; after curing, the horizontal moving unit 200 drives the rotating table 400 to move directly below the repair unit 600, and the repair unit 600 is used for defect detection. When there are defects, the repair unit 600 feeds back the defect position to the printing control unit, and the printing control unit can control the rotating table 400 to rotate to face the defect position at this time, so as to perform repair operations and ensure the printing and forming quality of the energetic propellant 900.

[0030] Embodiment 2 Based on Embodiment 1, this embodiment provides an array printing and forming system for energetic propellants with weak stiffness. The printing base 100 is preferably an L-shaped structure. The horizontal moving unit 200 includes an X-axis moving table 210 and a Y-axis moving table 220. The horizontal plane of the printing base 100 is connected to the Y-axis moving table 220, and the Y-axis moving table 220 can reciprocate longitudinally along the horizontal plane of the printing base 100; the X-axis moving table 210 is installed on the top of the Y-axis moving table 220, so that the X-axis moving table 210 can reciprocate transversely along the top of the Y-axis moving table 220. The rotating table 400 is installed on the top of the X-axis moving table 210 and is rotatably connected to the X-axis moving table 210. The position adjustment of the rotating table 400 in the horizontal direction is realized through the X-axis moving table 210 and the Y-axis moving table 220, which is convenient for completing the printing of the insulation layer, the printing of the propellant layer, the light curing, and the defect inspection and repair, and improves the printing and forming efficiency.

[0031] The vertical moving unit 300 is arranged along the vertical end face of the printing base 100. A connecting frame 310 is arranged on the vertical moving unit 300. The array printing unit 500, the repair unit 600, the insulation layer printing unit 700, and the UV curing unit 800 are all connected to the connecting frame 310; the vertical moving unit 300 drives the array printing unit 500, the repair unit 600, the insulation layer printing unit 700, and the UV curing unit 800 to move synchronously in the vertical direction through the connecting frame 310.

[0032] Furthermore, the array printing unit 500 includes a plurality of propellant printing mechanisms 510. The plurality of propellant printing mechanisms 510 are arranged at intervals. Preferably, the plurality of propellant printing mechanisms 510 are arranged at intervals in the longitudinal direction. The distance between two adjacent propellant printing mechanisms 510 before and after can be set according to the structure of the energetic propellant 900; during printing, the plurality of propellant printing mechanisms 510 discharge materials on the rotating table 400 at the same time to complete the printing of the propellant layers at different positions, improving the printing efficiency.

[0033] The number of the propellant printing mechanisms 510 is taken as three for illustration. At this time, the three propellant printing mechanisms 510 are the first printing mechanism 511, the second printing mechanism 512, and the third printing mechanism 513 respectively; Specifically, the grain printing mechanism 510 includes a forming print head 520 and a printing extrusion mechanism 530. The forming print head 520 is installed at the bottom of the printing extrusion mechanism 530 and is in communication with the printing extrusion mechanism 530. The top of the printing extrusion mechanism 530 is connected to the connecting frame 310.

[0034] The grain printing mechanism 510 includes a cartridge, a grain screw, and an extruder. The grain screw is provided with threads, and the extruder is in threaded driving connection with the threads on the grain screw. The bottom of the grain screw extends into the cartridge, so that when the extruder drives the grain screw to rotate, it can push the grain material in the cartridge out.

[0035] Among them, the length of the part of the grain screw provided with threads is L, the diameter of the grain screw is D, and L:D = 20 - 30:1. The power P of the extruder 总 =P 挤 +P 热 where P 挤 is the power to drive the grain screw, and P 热 is the power to heat the grain material in the cartridge. P 挤 =KD 2 ×n, where K is a coefficient. When D ≤ 90 mm, K = 0.00354; when D > 90 mm, K = 0.008; n is the rotational speed of the grain screw.

[0036] The discharge rate Q of the grain printing mechanism 510, with the unit of kg / h, can be achieved by adjusting the rotational speed of the grain screw. During the printing process, the rotational speeds of the turntable 400 are different, and the linear speeds corresponding to the grain printing mechanisms 510 at different positions on the turntable 400 are different. In order to ensure that the thickness of the printed grain layer is the same, it is necessary for the printing control unit to control the discharge rates of the first printing mechanism 511, the second printing mechanism 512, and the third printing mechanism 513 to increase in sequence.

[0037] Preferably, in order to facilitate the adjustment of the distance between adjacent grain printing mechanisms 510, it is preferred that the grain printing mechanism 510 further includes a distance adjustment mechanism 540. The grain printing mechanism 510 is connected to the connecting frame 310 through the distance adjustment mechanism 540, so that each grain printing mechanism 510 can reciprocate along the longitudinal direction of the connecting frame 310 through the corresponding distance adjustment mechanism 540; thereby realizing the spacing between the inner layer, the middle layer, and the outer layer of the energetic grain 900, and meeting the printing and forming requirements of energetic grains 900 of different specifications.

[0038] Further illustration, the thermal insulation layer printing unit 700 includes a thermal insulation layer extrusion head 710 and a thermal insulation layer extrusion mechanism 720. The thermal insulation layer 710 communicates with the bottom of the thermal insulation layer extrusion mechanism 720. The top of the thermal insulation layer extrusion mechanism 720 is connected to the connection frame 310. The printing control unit is communicatively connected to the thermal insulation layer extrusion mechanism 720 for controlling the basic rate of the thermal insulation layer material.

[0039] Further illustration, the UV curing unit 800 is communicatively connected to the printing control unit for controlling the irradiation duration to achieve the curing of the propellant layer or the energetic propellant 900; the number of the UV curing units 800 can be selected as multiple. The multiple UV curing units 800 use UV lamps with different sizes of surface light sources to face the turntable 400 to meet the curing requirements; for example, the light intensity is 1000mw / cm 2 ~1200mw / cm 2 , and the curing time is 10s - 20s.

[0040] Further illustration, the repair unit 600 includes a repair head 610, a repair extrusion mechanism 620, a surface information acquisition device 630 and a defect processing module; the repair head 610 communicates with the bottom of the repair extrusion mechanism 620. The top of the repair extrusion mechanism 620 is connected to the connection frame 310. The printing control unit is communicatively connected to the repair extrusion mechanism 620, and the defect processing module is communicatively connected to the printing control unit.

[0041] The defect processing module is communicatively connected to the surface information acquisition device 630 for obtaining the surface information of the propellant layer or the energetic propellant 900, and judging whether there are defects according to the surface information; during the detection process, the surface information acquisition device 630 faces the propellant layer or the energetic propellant 900, the turntable 400 rotates one circle, the surface information acquisition device 630 obtains the corresponding surface information, the defect processing module determines the defect position, and controls the turntable 400 to rotate to the position opposite to the repair head 610 through the printing control unit, and extrudes the repair material through the repair extrusion mechanism 620 to achieve repair.

[0042] Among them, the surface information acquisition device 630 can be selected as a laser displacement sensor. The surface information acquisition device 630 is preferably connected to the connection frame 310 through a leveling mechanism to ensure high reliability of defect detection.

[0043] Embodiment 3 Based on Embodiment 2, this embodiment provides a method for printing and forming a weak stiffness energetic propellant array, including the following steps: S1. Perform model design on the energetic propellant 900 to be printed to obtain a propellant model file; Specifically, before printing, a model design of the energetic charge 900 needs to be carried out to obtain a charge model file; ensure that the model size is within the allowable range. Taking an outer diameter of 250 mm and a height of 600 mm as an example for illustration.

[0044] S2. Convert the charge model file into a 3D printing file and transmit it to the printing control unit; Specifically, convert the charge model file into a three-dimensional model recognizable by 3D printing, then perform layer slicing processing to obtain a 3D printing file in STL format, and then import it into the printing control unit for recognition.

[0045] S3. Adjust the vertical movement unit 300 to make the array printing unit 500 close to the horizontal movement unit 200; Specifically, step S3 includes the following steps: S31. Adjust the X-axis moving table 210 and the Y-axis moving table 220 to drive the rotating table 400 to move directly below the insulation layer extrusion head 710; S32. The vertical movement unit 300 to make the insulation layer extrusion head 710 close to the rotating table 400; S33. Start the rotating table 400, and the insulation layer extrusion mechanism 720 prints an insulation layer with an outer diameter of 250 mm on the surface of the rotating table 400 through the insulation layer extrusion head 710; S34. Adjust the X-axis moving table 210 and the Y-axis moving table 220 to drive the rotating table 400 to move directly below the array printing unit 500.

[0046] S4. Start the array printing unit 500 and complete the charge layer printing by adjusting the horizontal movement unit 200; S41. Adjust the printing positions of each charge printing mechanism 510 on the rotating table 400 through the distance adjustment mechanism 540; S42. Start the rotating table 400, and the three forming printing heads 520 respectively print the inner layer, middle layer, and outer layer of the charge layer on the inner circle of the insulation layer on the rotating table 400; S43. Start the UV curing unit 800 to perform curing irradiation on the charge layer on the rotating table 400 until the curing is completed.

[0047] S5. The repair unit 600 detects the charge layer printed in step S4, determines whether there are defects in the charge layer. If so, repair the defective positions; if not, execute step S6; S51. Adjust the X-axis moving table 210 and the Y-axis moving table 220 to drive the rotating table 400 to move directly below the repair head 610; S52. Start the surface information acquisition device 630 and the rotating table 400, collect the surface information of the charge layer and send it to the defect processing module; S53. The defect handling module determines whether there is a defect in the propellant layer based on the surface information of the propellant layer. If so, step S54 is executed; if not, step S6 is executed. S54. Determine the defect location, drive the defect location to face the repair head 610 through the turntable 400, and then start the repair extrusion mechanism 620. S6. Determine whether the printing of the energetic propellant 900 is completed. If so, the process ends; if not, step S4 is executed again.

[0048] Repeat this cycle until the printing and forming of the energetic propellant 900 are completed, thereby improving the printing and forming efficiency.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A weak-rigidity energetic charge array printing and molding system, characterized in that: The invention comprises a printing control unit, a printing base (100), a horizontal moving unit (200), a vertical moving unit (300), an array printing unit (500) and a repair unit (600); the horizontal moving unit (200), the vertical moving unit (300), the array printing unit (500) and the repair unit (600) are all connected to the printing control unit for communication; The horizontal moving unit (200) and the vertical moving unit (300) are both connected to the printing base (100), the array printing unit (500) and the repair unit (600) are both connected to the vertical moving unit (300), the array printing unit (500) and the repair unit (600) are both located above the horizontal moving unit (200), and the repair unit (600) is located outside the array printing unit (500).

2. The weak-rigidity energetic charge array printing and forming system according to claim 1 is characterized in that: The repair unit (600) comprises a repair head (610), a repair extrusion mechanism (620), a surface information collection device (630) and a defect processing module; the repair head (610) is in communication with the bottom of the repair extrusion mechanism (620); the top of the repair extrusion mechanism (620) is connected to the vertical moving unit (300); the surface information collection device (630) is arranged on the vertical moving unit (300); the surface information collection device (630) faces the horizontal moving unit (200); the surface information collection device (630) is in communication connection with the defect processing module; and the defect processing module is in communication connection with the repair extrusion mechanism (620) and the horizontal moving unit (200) respectively via a printing control unit.

3. The weak-rigidity energetic charge array printing and forming system according to claim 2, characterized in that: The weak-rigidity energetic charge array printing and forming system further comprises a rotating table (400), wherein the rotating table (400) is arranged on the horizontal moving unit (200), the array printing unit (500) and the repair unit (600) are both located above the rotating table (400), and the printing control unit is communicatively connected to the rotating table (400).

4. The weak-rigidity energetic charge array printing and forming system according to claim 3 is characterized in that: The horizontal moving unit (200) comprises an X-axis motion table (210) and a Y-axis motion table (220); the Y-axis motion table (220) is slidably connected to the printing base (100) along the longitudinal direction; the X-axis motion table (210) is connected to the top of the Y-axis motion table (220) along the transverse direction; the rotating table (400) is arranged on the X-axis motion table (210) and is rotationally connected to the X-axis motion table (210); and the printing control unit is communicatively connected to the X-axis motion table (210) and the Y-axis motion table (220), respectively.

5. The weak-rigidity energetic charge array printing and forming system according to claim 4, characterized in that: The array printing unit (500) comprises a plurality of drug column printing mechanisms (510), wherein the drug column printing mechanisms (510) comprise a molding print head (520) and a printing extrusion mechanism (530) connected to the molding print head (520), wherein the molding print head (520) is located at the bottom of the printing extrusion mechanism (530), the top of the printing extrusion mechanism (530) is connected to the vertical moving unit (300), and the printing extrusion mechanism (530) is communicatively connected to the printing control unit; the plurality of drug column printing mechanisms (510) are arranged at intervals along the longitudinal direction.

6. The weak-rigidity energetic charge array printing and forming system according to claim 5, characterized in that: The drug column printing mechanism (510) further comprises a distance adjustment mechanism (540), and the printing extrusion mechanism (530) is movably connected to the vertical moving unit (300) via the distance adjustment mechanism (540); and the printing control unit is communicatively connected to the distance adjustment mechanism (540).

7. The weak-rigidity energetic charge array printing and forming system according to claim 1, characterized in that: The weak-rigidity energetic charge array printing and forming system further comprises an insulation layer printing unit (700), the insulation layer printing unit (700) being located above the rotating platform (400), the insulation layer printing unit (700) being connected to the vertical moving unit (300), the array printing unit (500), the insulation layer printing unit (700) and the repair unit (600) being sequentially arranged at intervals along the transverse direction; the insulation layer printing unit (700) being communicatively connected to the printing control unit.

8. The weak-rigidity energetic charge array printing and forming system according to claim 1, characterized in that: The weak-rigidity energetic charge array printing and forming system further comprises a UV curing unit (800), wherein the UV curing unit (800) is communicatively connected to the printing control unit, the UV curing unit (800) is connected to the vertical moving unit (300), and the UV curing unit (800) faces the rotating table (400).

9. The weak-rigidity energetic charge array printing and forming system according to claim 8, characterized in that: The number of the UV curing units (800) is plural, and the plurality of UV curing units (800) are arranged in an array.

10. A method for printing and forming an array of weak-rigidity energetic charge columns, characterized in that: The weak-rigidity energetic charge array printing and forming system according to claim 1 comprises the following steps: S1. Designing a model of an energetic charge column (900) to be printed, and obtaining a charge column model file; S2, converting the drug column model file into a 3D printing file and transmitting it to the printing control unit; S3, adjusting the vertical moving unit (300) so that the array printing unit (500) is close to the horizontal moving unit (200); S4, starting the array printing unit (500), and completing the printing of the drug column layer by adjusting the horizontal moving unit (200); S5, the repair unit (600) detects the drug column layer printed in step S4, and if there are defects in the drug column layer, the defective position is repaired; otherwise, step S6 is executed; S6. Determine whether the printing of the energetic column (900) is completed. If so, end the process. If not, re-execute step S4.

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