A 3D printing device and method for magnetic microsphere space lattice

Abstract

The application discloses a kind of 3D printing equipment and printing method of magnetic control microsphere space lattice, it is related to printing forming technical field, equipment includes printing station, drive mechanism, sintering mechanism, control mechanism and at least one grabbing head;Printing station is used to stack multiple loose magnetic microspheres as support medium;Grabbing head is used to grab each forming magnetic microsphere, and can be released to the predetermined spatial position above the support medium of printing station;Drive mechanism is connected with grabbing head, and is used to drive grabbing head to move in space;Sintering mechanism is used to sinter the adjacent forming magnetic microsphere on printing station;Control mechanism is connected with grabbing head, drive mechanism and sintering mechanism, and can control the action of grabbing head, drive mechanism and sintering mechanism respectively.The 3D printing equipment and printing method of magnetic control microsphere space lattice provided by the application improve printing efficiency, material utilization and forming piece performance.

Description

Technical Field

[0001] This invention relates to the field of printing technology, and in particular to a 3D printing device and method for a magnetically controlled microsphere spatial lattice. Background Technology

[0002] Among existing 3D printing technologies, Fused Deposition Modeling (FDM) requires the layering of thermoplastic filaments to form the 3D model. When printing complex suspended structures, a support structure must be generated, and the support material can account for 20%-50% of the total material. This not only wastes materials but also requires additional post-processing steps, resulting in a 30%-50% reduction in manufacturing efficiency. While Solid Lamination (SLA) offers high precision, it suffers from a large material curing shrinkage rate (typically 3%-8%) and makes it difficult to manufacture large-sized parts. Smoke Bed Molding (SLM) equipment is expensive, has a slow molding speed, and is difficult to recycle powder.

[0003] Traditional 3D printing is based on a "layer-by-layer manufacturing" model, with weak interlayer bonding (e.g., the interlayer strength of FDM is only 50%-70% of the intralayer strength), resulting in significant anisotropy of the mechanical properties of the formed parts, which limits its application in the field of high-load structural parts. Summary of the Invention

[0004] The purpose of this invention is to provide a 3D printing device and method for magnetically controlled microsphere spatial lattice to solve the problems existing in the prior art and improve printing efficiency, material utilization and performance of the molded parts.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a 3D printing device for a magnetically controlled microsphere spatial lattice, comprising a printing station, a driving mechanism, a sintering mechanism, a control mechanism, and at least one gripper head; the printing station is used to stack multiple loose magnetic microspheres as a support medium; the gripper head is used to grip the formed magnetic microspheres one by one and can release them to a predetermined spatial position above the support medium at the printing station; the driving mechanism is connected to the gripper head and is used to drive the gripper head to move spatially; the sintering mechanism is used to sinter adjacent formed magnetic microspheres at the printing station; the control mechanism is communicatively connected to the gripper head, the driving mechanism, and the sintering mechanism, and can control the actions of the gripper head, the driving mechanism, and the sintering mechanism respectively.

[0007] Preferably, the number of gripping heads is set to multiple, and the multiple gripping heads are respectively placed on the periphery and the top of the printing station; the driving mechanism is connected to each of the gripping heads and can drive each of the gripping heads to move in space.

[0008] Preferably, the gripping heads are all configured as electromagnetic printing heads. The electromagnetic printing heads can generate or remove a magnetic field under the electronic control of the control mechanism, so that a preset magnetic field is formed above the printing station, and multiple predetermined spatial positions are distributed on the preset magnetic field. The electromagnetic printing heads can also drive the molded magnetic microspheres to be ejected to the predetermined spatial positions on the preset magnetic field.

[0009] Preferably, each gripper head is provided with a detection component, which is communicatively connected to the control mechanism; the detection component is used to detect the gripping state of the gripper head and can send the data to the control mechanism.

[0010] Preferably, the driving mechanism is configured as multiple linear drive modules, which are respectively connected to multiple gripping heads. Each linear drive module can drive in a single direction or in a three-dimensional orthogonal direction, so that the multiple gripping heads can move relative to each other in three-dimensional space.

[0011] Preferably, the sintering mechanism is configured as a laser sintering system, which is used to emit laser light and adjust the laser angle to irradiate the molded magnetic microspheres.

[0012] Preferably, it further includes a feeding mechanism for feeding magnetic microspheres to the gripping head.

[0013] Preferably, the feeding mechanism includes a vibrating feeding plate and a feeding pipe, wherein the vibrating feeding plate is used to convey the magnetic microspheres one by one to the gripping head through the feeding pipe.

[0014] This invention also provides a 3D printing method for a magnetically controlled microsphere spatial lattice, based on the 3D printing equipment for the magnetically controlled microsphere spatial lattice described above, comprising the following steps:

[0015] Under the control of the control mechanism, the gripping head is moved in space according to a predetermined trajectory by the drive mechanism, so that the gripping head can grasp the shaped magnetic microspheres and release the shaped magnetic microspheres to a predetermined spatial position on multiple loose magnetic microspheres stacked at the printing station. The sintering mechanism sintersects and connects the adjacent shaped magnetic microspheres at the printing station until the required three-dimensional spatial lattice structure is formed.

[0016] Preferably, the gripping head can first grip multiple loose magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism and release them onto the printing station to form a support medium. The gripping head can also grip multiple molded magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism and release them onto the predetermined spatial position supported by the support medium. The control mechanism is pre-set with a three-dimensional spatial lattice model formed by voxelizing the required microsphere spatial lattice. The coordinates of each voxel point correspond to the predetermined spatial position of one molded magnetic microsphere. The control mechanism can plan the predetermined trajectory of the gripping head in space based on the three-dimensional spatial lattice model.

[0017] The present invention achieves the following technical effects compared to the prior art:

[0018] The 3D printing equipment and method for magnetically controlled microsphere spatial lattices provided by this invention, under the control of a control mechanism, drives a gripper head to move along a predetermined trajectory in space, enabling the gripper head to grasp the formed magnetic microspheres and release them onto a support medium formed by multiple loosely stacked magnetic microspheres at the printing station. A sintering mechanism then sintersects adjacent formed magnetic microspheres at the printing station until the desired microsphere spatial lattice is formed. The microsphere spatial lattice is supported by the stacked loosely stacked magnetic microspheres as a support medium, allowing for recycling after printing, eliminating post-processing steps, improving printing efficiency, and reducing manufacturing costs. Furthermore, the sintering and fixing of the interfaces between the formed magnetic microspheres creates a three-dimensional network structure, resulting in small anisotropic errors in the mechanical properties of the formed parts and improved bending strength. Additionally, due to the magnetic effect of the magnetic microspheres, the loosely stacked magnetic microspheres can be fixed by magnetic force, and the magnetic force between the formed magnetic microspheres after sintering and fixing further enhances the overall performance. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the 3D printing equipment for the magnetically controlled microsphere spatial lattice provided in Embodiment 1 of the present invention.

[0021] In the diagram: 1-Printing station; 2-Gripping head; 3-Drive mechanism; 31-Linear drive module; 4-Sintering mechanism; 5-Control mechanism; 6-Feeding mechanism; 61-Vibrating feeder; 62-Feeding pipe; 7-Support shell. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The purpose of this invention is to provide a 3D printing device and method for magnetically controlled microsphere spatial lattice to solve the problems existing in the prior art and improve printing efficiency, material utilization and performance of the molded parts.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] This embodiment provides a 3D printing device for a magnetically controlled microsphere spatial lattice. Please refer to [link to relevant documentation]. Figure 1 The system includes a printing station 1, a driving mechanism 3, a sintering mechanism 4, and at least one gripping head 2. The printing station 1 is used to stack multiple loose magnetic microspheres as a support medium. The gripping head 2 is used to grip the shaped magnetic microspheres and can release them to a predetermined spatial position above the support medium of the printing station 1. The driving mechanism 3 is connected to the gripping head 2 and is used to drive the gripping head 2 to move in space. The sintering mechanism 4 is used to sinter and connect adjacent shaped magnetic microspheres on the printing station 1. The control mechanism 5 is communicatively connected to the gripping head 2, the driving mechanism 3, and the sintering mechanism 4, and can control the actions of the gripping head 2, the driving mechanism 3, and the sintering mechanism 4 respectively.

[0027] Under the control of the control mechanism 5, the drive mechanism 3 moves the gripper head 2 in space according to a predetermined trajectory, enabling the gripper head 2 to grasp the shaped magnetic microspheres and release them onto the support medium formed by multiple loosely stacked magnetic microspheres at the printing station 1. The sintering mechanism 4 sintersects adjacent shaped magnetic microspheres at the printing station 1 until the required microsphere spatial lattice is formed. The microsphere spatial lattice is supported by the stacked loosely stacked magnetic microspheres as a support medium, and can be recycled after printing, eliminating post-processing steps, improving printing efficiency, and reducing manufacturing costs. Moreover, the interfaces of the shaped magnetic microspheres are sintered and fixed, forming a three-dimensional network structure. The anisotropy error of the mechanical properties of the shaped parts is small, and the bending strength is improved. In addition, due to the magnetic effect of the magnetic microspheres, the loosely stacked magnetic microspheres can be fixed by magnetic force. After the shaped magnetic microspheres are sintered and fixed, the magnetic force between the shaped magnetic microspheres can further improve the overall performance.

[0028] In the optional scheme of this embodiment, more preferably, the number of gripping heads 2 is set to multiple, and the multiple gripping heads 2 are respectively placed on the periphery and the top of the printing station 1; the driving mechanism 3 is connected to each gripping head 2 and can drive each gripping head 2 to move in space.

[0029] In this system, by setting multiple gripping heads 2, the control mechanism 5 can drive each gripping head 2 to move in space according to a predetermined trajectory through the drive mechanism 3. Through the coordinated cooperation of multiple gripping heads 2 in three-dimensional space, the printing efficiency can be effectively improved. Specifically, the number of gripping heads 2 can be set to multiple, and they are respectively set on the opposite sides and the top side of the printing station 1. It should be noted that the number and specific position of the gripping heads 2 can be determined according to actual needs.

[0030] In the optional scheme of this embodiment, it is more preferred that each gripping head 2 is configured as an electromagnetic printing head. The electromagnetic printing head can generate a magnetic field under the electronic control of the control mechanism 5, so that a preset magnetic field is formed above the printing station 1, and multiple predetermined spatial positions are distributed on the preset magnetic field. The electromagnetic printing head can also drive the molded magnetic microspheres to be sprayed to the predetermined spatial positions on the preset magnetic field.

[0031] In this embodiment, the number of gripping heads 2 is set to three. The three electromagnetic printing heads are spatially distributed on both sides and above the printing station. Under the action of electric control, the multiple electromagnetic printing heads generate a stable preset magnetic field above the printing station. The electromagnetic printing heads can use electromagnetic force to guide the rapid attraction and release of magnetic microspheres to a predetermined control position of the preset magnetic field. The electromagnetic printing heads are electrically connected to the control mechanism 5. The control mechanism 5 can energize the electromagnetic printing heads to generate magnetic attraction force to attract and release magnetic microspheres. The control mechanism 5 can also adjust the magnetic field size by controlling the current signal of the electromagnetic printing heads to adjust the magnetic force and ensure stable attraction and release of magnetic microspheres.

[0032] The specific structure of the electromagnetic printhead can adopt a conventional structure, such as an electromagnet assembly with a hollow channel and a nozzle. The coil of the electromagnet assembly is electrically connected to the control mechanism 5, enabling the electromagnet assembly to generate a magnetic field. The magnetic microspheres are located in the hollow channel and are driven by the magnetic field gradient generated by the electromagnet assembly. They are then sprayed into the preset magnetic field at the printing station through the nozzle. The nozzle can be made of a non-magnetic material such as ceramic, and is coaxially arranged with the hollow iron core of the electromagnet assembly and fixed at one end of the electromagnet assembly. The nozzle can guide the spray path. In addition, the size of the spray end of the nozzle can be set according to the diameter of the magnetic microspheres to achieve the individual spraying of the magnetic microspheres.

[0033] In addition, considering the heat generated during the operation of the electromagnetic printhead, heat dissipation components, such as heat sinks, can be installed on it. It should be noted that the gripping head 2 is not limited to the electromagnetic printhead structure mentioned above. Other methods, such as conventional chucks, can also be used, as long as they can pick up and put down the magnetic microspheres.

[0034] In the optional scheme of this embodiment, more preferably, each gripping head 2 is provided with a detection component, and the detection component is communicatively connected to the control mechanism 5; the detection component is used to detect the gripping state of the gripping head 2 and can send the data to the control mechanism 5.

[0035] The detection component is set as a magnetic detection sensor, such as a linear Hall effect sensor, which can be attached to the outside of the nozzle of the gripping head 2 and close to the spray end. When there are magnetic microspheres in the spray end, the magnetic field distribution around the nozzle changes. This can be detected by the magnetic detection sensor to ensure that the magnetic microspheres are released stably, thus realizing closed-loop control of the release process.

[0036] In the optional scheme of this embodiment, more preferably, the driving mechanism 3 is configured as multiple linear driving modules 31, which are respectively connected to multiple gripping heads 2. Each linear driving module 31 can drive in a single direction or in a three-dimensional orthogonal direction, so that the multiple gripping heads 2 can move relative to each other in three-dimensional space.

[0037] The linear drive module 31 can be configured as a conventional drive mechanism, such as a linear motor and a grating ruler working together in a closed-loop control linear drive mechanism. Each electromagnetic printhead can be detachably mounted on a linear drive module 31 via bolts. Correspondingly, the number of linear drive modules 31 and electromagnetic printheads is set to three. Each linear drive module 31 performs linear drive in a single direction, and the drive directions of the three linear drive modules 31 are perpendicular to each other, representing linear movement in the X / Y / Z axis directions in space. It should be noted that the drive mechanism 3 is not limited to the above structure; it can be configured to allow for rapid adjustment of the position of the electromagnetic printhead.

[0038] In the optional scheme of this embodiment, more preferably, the sintering mechanism 4 is set as a laser sintering system, which is used to emit laser and can adjust the laser angle to irradiate the formed magnetic microspheres.

[0039] The laser sintering system can use a conventional laser galvanometer system to emit laser light and adjust the laser angle to irradiate the molded magnetic microspheres, achieving instantaneous melting and reliable connection of the microspheres at specific points / areas, ensuring bonding strength; for example, a 10W fiber laser (wavelength 1080nm) can be used, with a galvanometer scanning speed of 1500mm / s and a scanning accuracy of ±0.05mm.

[0040] In addition, the sintering mechanism 4 can be integrated onto each gripping head 2 according to actual needs. Correspondingly, the sintering mechanism 4 is set as a micro laser, which realizes the sintering between microspheres as the gripping head 2 moves.

[0041] In the optional scheme of this embodiment, more preferably, the sintering depth between adjacent molded magnetic microspheres is controlled at 10%-30% of the microsphere diameter to ensure that the bonding strength with adjacent microspheres meets the usage requirements; the specific sintering depth is determined according to actual needs.

[0042] In the optional scheme of this embodiment, more preferably, the 3D printing equipment for magnetic microsphere spatial dot matrix provided in this embodiment further includes a feeding mechanism 6, which is used to convey magnetic microspheres to the gripper head 2.

[0043] Among them, by setting up the feeding mechanism 6, magnetic microspheres can be stably supplied to the hollow channel of the electromagnetic print head to meet the usage requirements.

[0044] In the optional embodiments of this example, more preferably, the feeding mechanism 6 includes a vibrating feeding plate 61 and a feeding tube 62. The vibrating feeding plate 61 is used to feed the magnetic microspheres one by one into the hollow channel of the magnetic print head through the feeding tube 62.

[0045] The feeding tube 62 is made of flexible material such as Teflon, and its diameter can be slightly larger than that of the magnetic microspheres, so that the magnetic microspheres are arranged and transported one by one in the feeding tube 62. The vibrating feeding plate 61 continuously supplies material through vibration to avoid blockage. Furthermore, the number of feeding mechanisms 6 can be set to be the same as the number of gripping heads 2 to facilitate the supply of magnetic microspheres. The height of the vibrating feeding plate 61 is preferably higher than the height of the electromagnetic printing head, which is conducive to the stable transport of magnetic microspheres under the assistance of gravity.

[0046] Furthermore, the specific materials of loose magnetic microspheres and molded magnetic microspheres can be composed of thermoplastic polymers such as polylactic acid (PLA), acrylonitrile-butadiene-styrene copolymer (ABS), and polycarbonate (PC) combined with uniformly dispersed magnetic particles (such as neodymium iron boron and ferrite). The magnetic particles account for 10%-30% by weight, the microsphere particle size ranges from 0.1-2.0 mm, and the particle size deviation is ≤±0.05 mm. Specifically, a PLA substrate can be used with 20% by weight of neodymium iron boron particles (particle size 5 μm), the microsphere diameter is 1.0 mm, the particle size deviation is ±0.03 mm, and the density is 1.2 g / cm³. The specific material of the magnetic microspheres can be determined according to the application scenario.

[0047] Furthermore, the control mechanism 5 employs a conventional industrial PC (such as a Core processor) and embedded controller architecture (such as a microcontroller of model STM32H743) to enable multiple components to work synchronously.

[0048] Furthermore, the 3D printing equipment for magnetically controlled microsphere spatial lattice provided in this embodiment also includes a support shell 7, realizing a modular design; correspondingly, the printing station 1 is located at the bottom center of the support shell 7; multiple gripping heads 2 are distributed on both sides and the top inside the support shell 7, and are connected to the support shell 7 through a drive mechanism 3, which can be fixed to the support shell 7 by bolts or welding; the sintering mechanism 4 is fixed to one side inside the support shell 7 by bolts or welding or integrated into the gripping head 2, which can realize the laser sintering of the magnetic microspheres; the control mechanism 5 is fixed to the outside of the support shell 7 by bolts or welding, realizing the synchronous cooperation of the entire equipment.

[0049] Example 2

[0050] This embodiment provides a 3D printing method for a magnetically controlled microsphere spatial dot matrix, based on the 3D printing equipment for the magnetically controlled microsphere spatial dot matrix as described in Embodiment 1, including the following steps: Under the control of the control mechanism 5, the gripper head 2 is moved in space according to a predetermined trajectory by the drive mechanism 3, so that the gripper head 2 can grip the formed magnetic microspheres and release the formed magnetic microspheres to a predetermined spatial position on a plurality of loosely stacked magnetic microspheres in the printing station 1. The sintering mechanism 4 sintersects and connects adjacent formed magnetic microspheres in the printing station 1 until the required three-dimensional spatial dot matrix structure is formed.

[0051] Furthermore, the gripping head 2 can first grip multiple magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism 6 and release them to form a support medium on the printing station 1. The gripping head 2 can also grip multiple magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism 6 and release them to a predetermined spatial position supported on the support medium.

[0052] The control mechanism 5 is pre-set with a three-dimensional spatial lattice model formed by voxelizing the required microsphere spatial lattice. The coordinates of each voxel point correspond to the predetermined spatial position of a shaped magnetic microsphere. The control mechanism 5 can control the gripper head 2 on the predetermined trajectory in space based on the three-dimensional spatial lattice model.

[0053] Specifically, the detailed steps of the 3D printing method for magnetron microsphere spatial lattices are as follows:

[0054] S1: Model processing and path planning: The target 3D model (such as STL format) is voxelized into a 3D spatial lattice model that matches the particle size of the magnetic microspheres; the control mechanism 5 plans a cooperative motion path for multiple gripping heads 2 based on this lattice model;

[0055] S2: Prepare the support medium: The gripping head 2 continuously grips the magnetic microspheres from the feeding mechanism 6. The gripping head 2 is energized to generate a magnetic field, and the magnetic force is used to release the microspheres to the printing station 1 to form an initial loose magnetic microsphere support medium layer.

[0056] S3: Material handling: The feeding mechanism 6 conveys the magnetic microspheres to the gripping head 2 and releases them to a predetermined spatial position on the preset magnetic field. The detection component confirms the release status through changes in the magnetic field.

[0057] S4: Drive mechanism 3 drives the print head to move to the target coordinates according to the planned path and releases the magnetic microspheres. The movement speed is 0.3m / s and the movement time is about 0.2s.

[0058] S5: Sintering and solidification: The laser galvanometer system is activated to scan and sinter the subsequently released molded magnetic microspheres. The laser power is 3W, the scanning time is 20ms, the melting depth of the microsphere surface is 0.2mm, and the bonding strength with adjacent microspheres is ≥6MPa.

[0059] Repeat steps S3-S5, with the three print heads operating in parallel, until all target point coordinates are filled, completing the printing of the three-dimensional structure.

[0060] In step S5, the loose microspheres have a packing density of 0.6-0.8 g / cm³, which can provide physical support for the subsequently printed suspended structure (maximum suspended length ≤ 5 mm). After printing, the loose microspheres have a recovery rate of ≥ 95%.

[0061] In step S1, the Model to LabelMap function in a medical image processing platform (such as 3DSlicer) can be used to achieve high-precision mesh voxelization. The host computer software of the control mechanism 5 includes a model voxelization module, which is used to convert the input STL format 3D model into a 3D spatial lattice model that matches the particle size of the magnetic microspheres. The voxelization process can be implemented by calling the corresponding algorithms in open-source geometry processing libraries (such as Python's trimesh library or C++'s VTK library). Its core algorithm is the ray casting method, which generates the final spatial lattice data by determining whether each unit (voxel) of the uniform mesh is located inside the original model. In addition, other known voxelization software tools (such as MeshLab) or algorithm libraries can be selected to implement this process, depending on the chosen development language and performance requirements.

[0062] Thus, the printing method provided in this embodiment achieves the printing of complex structures without printing support through a cyclical process of "model voxelization - path planning - microsphere placement and removal - sintering and curing" combined with parallel operation of multiple printheads and loose microsphere support.

[0063] For example, if a 3D model of a lightweight aerospace support (STL format, size 80×50×100mm) is imported into the control system and voxelized into a 1.0mm resolution dot matrix, generating 400,000 voxel dots; with three print heads operating in parallel, each pick-and-place-sinter cycle takes about 0.5 seconds, the theoretical total printing time is approximately 400,000 / 3×0.5 / 3600≈18.5 hours. Compared to traditional FDM printing of complex parts of the same size (which typically takes 24-36 hours, including support processing), it has significant advantages in efficiency and material utilization.

[0064] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A 3D printing device for a magnetically controlled microsphere spatial lattice, characterized in that: include: Printing station (1), wherein the printing station (1) is used to stack multiple loose magnetic microspheres as a support medium; At least one gripper head (2), the number of gripper heads (2) is set to multiple, and the multiple gripper heads (2) are respectively placed on the periphery and the top side of the printing station (1); The drive mechanism (3) is connected to each of the gripping heads (2) and can drive each of the gripping heads (2) to move in space; The sintering mechanism (4) is used to sinter and connect adjacent molded magnetic microspheres on the printing station (1); and The control mechanism (5) is communicatively connected to the gripping head (2), the driving mechanism (3) and the sintering mechanism (4), and can control the actions of the gripping head (2), the driving mechanism (3) and the sintering mechanism (4) respectively; Feeding mechanism (6), the feeding mechanism (6) is used to feed magnetic microspheres to the gripping head (2); The gripping head (2) can first grip a plurality of magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism (6) and release them to the printing station (1) to form the support medium. The gripping head (2) can also grip a plurality of magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism (6) and release them to the predetermined spatial position supported on the support medium. Each of the gripping heads (2) is configured as an electromagnetic printing head. The electromagnetic printing head can generate a magnetic field under the electronic control of the control mechanism (5) so that a preset magnetic field is formed above the printing station (1). Multiple predetermined spatial positions are distributed on the preset magnetic field. The electromagnetic printing head can also drive the molded magnetic microspheres to be sprayed onto the predetermined spatial positions on the preset magnetic field.

2. The 3D printing equipment for magnetron microsphere spatial lattice according to claim 1, characterized in that: Each of the gripping heads (2) is provided with a detection component, which is communicatively connected to the control mechanism (5); the detection component is used to detect the gripping state of the gripping head (2) and can send the data to the control mechanism (5).

3. The 3D printing equipment for magnetron microsphere spatial lattice according to claim 1, characterized in that: The driving mechanism (3) is configured as multiple linear driving modules (31), which are connected to multiple gripping heads (2) respectively. Each linear driving module (31) can drive in a single direction or in a three-dimensional orthogonal direction so that the multiple gripping heads (2) can move relative to each other in three-dimensional space.

4. The 3D printing equipment for magnetron microsphere spatial lattice according to claim 1, characterized in that: The sintering mechanism (4) is configured as a laser sintering system, which is used to emit laser light and adjust the laser angle to irradiate the molded magnetic microspheres.

5. The 3D printing equipment for a magnetically controlled microsphere spatial lattice according to claim 1, characterized in that: The feeding mechanism (6) includes a vibrating feeding plate (61) and a feeding pipe (62). The vibrating feeding plate (61) is used to feed the magnetic microspheres one by one to the gripping head (2) through the feeding pipe (62).

6. A 3D printing method for a magnetically controlled microsphere spatial lattice, characterized in that: The 3D printing equipment based on the magnetically controlled microsphere spatial lattice as described in any one of claims 1-5 includes the following steps: Under the control of the control mechanism (5), the gripping head (2) is moved in space according to a predetermined trajectory by the drive mechanism (3), so that the gripping head (2) can grip the shaped magnetic microspheres and release the shaped magnetic microspheres to a predetermined spatial position on a plurality of loose magnetic microspheres stacked at the printing station (1). The sintering mechanism (4) sintersects and connects the adjacent shaped magnetic microspheres at the printing station (1) until the required three-dimensional spatial lattice structure is formed.

7. The 3D printing method for a magnetically controlled microsphere spatial lattice according to claim 6, characterized in that: The gripping head (2) can first grip a plurality of loose magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism (6) and release them onto the printing station (1) to form a support medium. The gripping head (2) can also grip a plurality of shaped magnetic microspheres from the magnetic microspheres conveyed by the feeding mechanism (6) and release them onto the predetermined spatial position supported on the support medium. The control mechanism (5) is pre-set with a three-dimensional spatial lattice model formed by voxelizing the required microsphere spatial lattice. The coordinates of each voxel point correspond to the predetermined spatial position of the molded magnetic microsphere. The control mechanism (5) can plan the predetermined trajectory of the gripping head (2) in space based on the three-dimensional spatial lattice model.

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