Water floating 3D printing device and method for space additive manufacturing simulation verification

Abstract

The invention provides a water floating 3D printing device and method for space additive manufacturing simulation verification, and relates to the field of space additive manufacturing. The water floating 3D printing device comprises a controller, a main mechanical arm, a 3D printing head, a microgravity printing environment simulation device, a micro mechanical arm and a sensor assembly. The microgravity printing environment simulation device comprises a water tank and a dynamic floating substrate unit. The dynamic floating substrate unit floats in the water tank to simulate a microgravity environment; the micro mechanical arm is used for regulating and controlling the nozzle position of the 3D printing head and ensuring that the nozzle is aligned with the floating substrate; and the main mechanical arm is used for moving the 3D printing head according to a preset printing path and assisting in regulating the position of the nozzle. According to the device, through a water floating method, the space microgravity environment can be effectively simulated, the micro mechanical arm and the mechanical arm of the main machine work cooperatively, and accurate and rapid printing can be achieved. According to the invention, a space-imitated environment is provided for fused deposition modeling printing, and the experiment of additive manufacturing of the space-imitated environment can be carried out on the ground.

Description

Technical Field

[0001] This invention relates to the field of 3D printing technology, and to a water-floating 3D printing device and method for space additive manufacturing simulation verification. Background Technology

[0002] With the continuous expansion of space exploration, space printing technology has become crucial for long-term space missions and deep space exploration. This technology enables the on-demand manufacture of spacecraft components and medical supplies, reducing reliance on Earth resupply missions while supporting deep space exploration. However, space printing technology faces limitations in product performance and manufacturing precision, as well as the impact of extreme environmental conditions. These factors restrict the development of 3D printing technology in space and affect the manufacturing process and the quality of the final product.

[0003] In addition, existing printing technologies for simulating space environments also face many challenges, such as high simulation costs and unstable simulation environments, which need to be overcome with new simulation equipment.

[0004] Therefore, it is particularly urgent to build new simulation equipment that can more stably simulate the space environment and achieve accurate and rapid printing. Summary of the Invention

[0005] The technical objective of this invention is to provide a water-floating 3D printing device and method for space additive manufacturing simulation verification, which overcomes the limitations of existing technologies in terms of experimental costs and equipment design, so as to more conveniently conduct 3D printing experiments simulating the space environment on the ground, and promote the development and application of space printing technology.

[0006] To achieve the above-mentioned technical objectives, the present invention will adopt the following technical solution:

[0007] A water-floating 3D printing device for space additive manufacturing simulation verification includes a controller, a main robotic arm, a 3D printing head, a microgravity printing environment simulation device, a micro-robotic arm, and sensor components; wherein:

[0008] The upper end of the 3D printing head is equipped with a connector and is connected to the power output end of the main robotic arm through the connector. The lower end is equipped with a printing nozzle, and the printing nozzle is connected to the feeding pipe installed on the connector.

[0009] One end of the micro-robotic arm is connected to the connector, and the other end is connected to the 3D printing head close to the printing nozzle; the feeding pipe is at least partially set as a flexible hose structure;

[0010] The microgravity printing environment simulation device includes a water tank and a dynamic floating substrate unit; the water tank contains a water medium of a preset depth; the dynamic floating substrate unit is placed in the water tank and floats in the water medium in the water tank under microgravity, including a floating substrate and a dynamic airbag system arranged inside the floating substrate.

[0011] The sensor assembly includes a load sensor, a barometric pressure sensor, and first and second tilt sensors;

[0012] The load sensor is mounted on the floating substrate to detect load changes caused by the deposition of printing material on the floating substrate and can transmit the detected load change information to the controller.

[0013] The first tilt sensor is installed inside the floating substrate to detect changes in the attitude of the floating substrate and to transmit the detected attitude change information to the controller.

[0014] The second tilt sensor is mounted on the outside of the 3D printing head to detect the attitude change of the printing nozzle relative to the floating substrate and to transmit the detected attitude change information to the controller.

[0015] The pressure sensor is mounted on the dynamic airbag system to detect pressure changes in the dynamic airbag system and can transmit the detected pressure change information to the controller.

[0016] The controller controls the dynamic airbag system to inflate / de-inflate based on the load change information received from the load sensor, until the air pressure change information received from the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium.

[0017] Based on the attitude change information received from the first tilt sensor, the controller controls the movement of the micro-manipulator / cooperative control main manipulator and the micro-manipulator, causing the attitude change information received from the second tilt sensor to indicate that the printing nozzle is aligned with the target printing position on the floating substrate.

[0018] Preferably, the dynamic airbag system includes an electric air pump, a pneumatic valve, and several airbags; each airbag is evenly distributed in the floating base plate and is connected to the electric air pump through an air pipe, and a pneumatic valve is installed on the air pipe between each airbag and the electric air pump.

[0019] The controller controls the opening and closing of the electric air pump and each pneumatic valve based on the load change information received from the load sensor, so as to inflate / deflat the corresponding airbags until the air pressure change information received from the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium.

[0020] Preferably, there are four airbags, and the floating base plate is rectangular; an airbag is arranged at each corner of the floating base plate.

[0021] Preferably, the load sensor is mounted on the bottom of the heated bed of the floating substrate.

[0022] Preferably, the main robotic arm is mounted on a plane outside the water tank.

[0023] Preferably, the main robotic arm is equipped with a printing material channel for connecting the storage device and the feeding pipe; the storage device is located next to the main robotic arm; the storage device transports the printing material to the feeding pipe through the printing material channel.

[0024] Preferably, the 3D printing head further includes a heating block and a heat sink; the heating block and the heat sink are respectively connected to the feeding pipe, and the heating block is located near the printing nozzle, while the heat sink is located near the connector; in the feeding pipe, the part connecting the heating block and the heat sink uses a high-temperature resistant flexible tube, and the micro-robotic arm is connected to the heating block.

[0025] Another aspect of the present invention is to provide a water-floating 3D printing method for space additive manufacturing simulation verification, which is implemented based on the above-mentioned water-floating 3D printing device for space additive manufacturing simulation verification, and includes the following steps:

[0026] Step 1, Preparation Stage: Place the floating substrate in the water tank, configure the dynamic airbag system and micro-robotic arm, and connect the sensor components and controller;

[0027] Step 2, Printing Stage: The 3D printing head prints according to the preset path; during the printing process, the first and second tilt sensors monitor the displacement of the floating substrate in real time and automatically adjust the position of the printing nozzle to ensure that the floating substrate and the 3D printing head are always aligned; the load sensor monitors the weight change of the floating substrate in real time, and the air pressure sensor monitors the buoyancy change of the floating substrate in real time and automatically adjusts the internal air pressure of the dynamic airbag system to ensure that the floating substrate is always in a microgravity state.

[0028] Step 3: After printing is complete, shut down the system and perform subsequent processing to collect data for analysis of print quality and stability.

[0029] Preferably, in step two, to ensure the floating substrate is in a microgravity state, the deposition rate of the printing material on the floating substrate is... Changes in total displacement volume of the dynamic airbag system The following conditions must be met:

[0030]

[0031] Where: the total displacement volume change of the dynamic airbag system The deposition rate of the printing material on the floating substrate is obtained through real-time monitoring using a pressure sensor. Obtained through real-time monitoring using load sensors; This indicates the density of the water medium.

[0032] Preferably, in step two, when the first tilt sensor monitors in real time that the angle of the floating substrate offset is less than θ°, the micro-robotic arm is controlled to adjust the 3D printing head, and the response time of the micro-robotic arm operation is... satisfy: , This indicates the maximum angular velocity of the floating substrate driven by the micro-robotic arm; until the angle information detected by the second tilt sensor indicates that the printing nozzle is aligned with the target position on the floating substrate;

[0033] When the first tilt sensor detects that the angle of the floating substrate's offset is greater than θ°, the main robotic arm and the micro robotic arm work together until the angle information detected by the second tilt sensor indicates that the printing nozzle is aligned with the target position on the floating substrate. During this process, the main robotic arm and the micro robotic arm work together to achieve the total adjustment time for the printing nozzle to be adjusted into place. The following conditions must be met: ,in: For printing layer resolution, For printing speed.

[0034] Compared with existing technologies, the water-floating 3D printing device and method for space additive manufacturing simulation verification established in this invention have the following beneficial effects:

[0035] 1. The water-floating 3D printing device of the present invention provides a microgravity printing environment simulation device through water floating method, providing a stable simulated space environment for extrusion printing technology, overcoming the problems of high cost and difficulty in implementation of existing simulated space environment 3D printing technology, and thus enabling more convenient 3D printing experiments in simulated space environment.

[0036] 2. The water-floating 3D printing device described in this invention ensures stability during the printing process and enhances the system's sensitivity and speed through the coordinated operation of the main robotic arm and the micro-robotic arm unit.

[0037] 3. The water-floating 3D printing device described in this invention is suitable for 3D printing experiments that simulate the space environment on the ground, providing a technical foundation for additive manufacturing in the extreme environment of space. By utilizing experimental data and printing technology on the ground, it can help plan future space construction projects and provide a certain degree of operability for exploring intelligent manufacturing technology in space. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of a water-floating 3D printing device for space additive manufacturing simulation verification provided in an embodiment of the present invention;

[0039] Figure 2 A top-view structural schematic diagram of a water-floating 3D printing device for space additive manufacturing simulation verification provided in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the process of water-floating 3D printing for space additive manufacturing simulation verification is provided for embodiments of the present invention;

[0041] Figure 4 A schematic diagram illustrating the application scenario of water surface printing for the water-floating 3D printing device for space additive manufacturing simulation verification provided in this embodiment of the invention;

[0042] Figure 5 This is a schematic diagram illustrating an application scenario of printing a dynamically floating substrate on the water surface in a water-based additive manufacturing simulation verification device provided in this embodiment of the invention, where the substrate shifts during printing.

[0043] Figure 6 A schematic diagram illustrating the underwater printing application scenario of the water-floating 3D printing device for space additive manufacturing simulation verification provided in this embodiment of the invention.

[0044] Figure 7 This is a schematic diagram illustrating an application scenario of underwater dynamic floating substrate displacement printing using a water-floating 3D printing device for space additive manufacturing simulation verification, as provided in an embodiment of the present invention.

[0045] Among them, 1. Main robotic arm; 2. Water tank; 3. Micro robotic arm; 4. Dynamic airbag system; 5. Water medium; 6. Movable hose; 7. Tilt sensor; 71. First tilt sensor; 72. Second tilt sensor; 8. Floating base plate; 91. Connector; 92. Heat sink; 93. Heating block; 94. Printing nozzle; 10. Micro robotic arm. Detailed Implementation

[0046] 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.

[0047] Example 1

[0048] This embodiment provides a water-floating 3D printing device for simulation and verification of space additive manufacturing, including a microgravity printing environment simulation device, a controller, a main robotic arm, a micro robotic arm, sensor components, and a 3D printing head, wherein:

[0049] The microgravity printing environment simulation device includes a water tank 2 and a dynamic floating substrate unit; the water tank 2 contains a water medium 5 at a preset depth. In the specific implementation process, the dynamic floating substrate unit is positioned in the water tank 2, simulating the microgravity environment of space through the buoyancy of the water medium 5; thus, the dynamic floating substrate unit floats in the water medium 5 within the water tank 2 under microgravity conditions. The water tank 2 is designed as a sealed structure to prevent the external environment from affecting the internal water surface state. The water tank 2 is a rectangular box filled with the water medium 5, which can simulate a static water body. More preferably, a vibration generator can be installed on the water tank 2 to continuously ripple the water surface, facilitating the simulation of printing processes under different conditions.

[0050] The main robotic arm is used for large-scale displacement control of the 3D printing head, while the micro-robotic arm is used for fine-scale control. The collaboration between the main and micro-robotic arms enables the control of the printing nozzle position of the 3D printing head. The sensor assembly includes a load sensor, a pressure sensor, and a tilt sensor.

[0051] The dynamic floating substrate unit includes a floating substrate 8 for supporting printing material and a dynamic airbag system 4 for adjusting the buoyancy of the floating substrate 8. The floating substrate 8 supports the printing material deposited on a preset printing path. The dynamic airbag system 4 is installed inside the floating substrate 8. A load sensor mounted on the floating substrate 8 monitors the load changes on the floating substrate 8 in real time (caused by the deposition of printing material on the floating substrate 8) and can transmit the detected load change information to the controller. A pressure sensor mounted on the dynamic airbag system 4 monitors the pressure changes inside the dynamic airbag system 4 in real time and can transmit the detected pressure change information to the controller.

[0052] Based on the signals fed back by the sensor components, the controller controls the electric air pump and solenoid valve to automatically adjust the gas pressure in the dynamic airbag system 4, thereby adjusting the buoyancy of the floating substrate 8 to compensate for the weight change of the floating substrate 8 caused by the material accumulation process and dynamically maintain the microgravity environment.

[0053] The tilt sensor 7 is used to monitor whether the floating substrate 8 and the printing nozzle are aligned. There are two tilt sensors, namely the first tilt sensor 71 and the second tilt sensor 72. The first tilt sensor 71 is inside the floating substrate 8 and is used to detect the attitude change of the floating substrate 8 and can transmit the detected attitude change information to the controller. The second tilt sensor 72 is installed on the outside of the 3D printing head and is used to detect the attitude change of the printing nozzle relative to the floating substrate 8 and can transmit the detected attitude change information to the controller. Thus, the controller can use the information fed back by the two tilt sensors 7 to coordinate and control the micro-robotic arm 3 and the main robotic arm 1 to maintain the alignment and calibration of the printing nozzle.

[0054] The 3D printing head can move along a preset printing path to deposit printing material on the floating substrate 8. It has a connector at the upper end, which connects to the power output of the main robotic arm 1 via connector 91. The lower end has a printing nozzle, which is connected to a feed pipe mounted on connector 91. The main robotic arm 1 is positioned on a plane outside the water tank 2. A printing material channel is installed on the main robotic arm 1 to connect a material storage device (not shown in the figure) and the 3D printing head. The material storage device is located next to the main robotic arm. The material storage device inputs the stored printing material into the feed pipe of the 3D printing head through the printing material channel. The 3D printing head also includes a heating block 93 and a heat sink 92. Both the heating block 93 and the heat sink 92 are connected to the feed pipe, with the heating block 93 positioned near the printing nozzle and the heat sink 92 positioned near connector 91.

[0055] The micro-robotic arm 3 is mounted at the connection point between the 3D print head and the main robotic arm 1 (specifically, on the connector 91), and adjusts the precise position of the printing nozzle using a fixture. A high-temperature resistant flexible hose 6 is used in the feed channel of the 3D print head, connecting the heating block and the heat sink, to assist in the adjustment of the printing nozzle, allowing the micro-robotic arm 3 to control its position. The high-temperature resistant flexible hose 6 can be a high-temperature resistant flexible tube; no specific limitation is made here.

[0056] Specifically, the dynamic airbag system 4 includes multiple airbags, an electric pump, pneumatic valves, and air hoses. The electric pump inflates and deflates the airbags; the pneumatic valves control the inflow and outflow of gas, and a one-way valve can be selected to ensure correct flow direction; a pressure-resistant air hose of appropriate diameter is selected to ensure it can withstand the pressure of suction and discharge of gas; a load sensor is installed at the bottom of the heated bed to monitor weight changes in real time and sends the data to a microcontroller for processing to control the inflation and deflation of the airbags. All components are rationally installed inside the floating base plate 8 to ensure uniform buoyancy distribution. These components include, but are not limited to, the aforementioned devices, and may also be other devices with the same function. Simultaneously, sealing materials (such as silicone or rubber gaskets) are used at all connections to ensure airtightness. In practice, each airbag is evenly distributed in the floating substrate and is connected to an electric air pump through an air pipe. Each airbag is connected to an electric air pump through an air pipe with a pneumatic valve. The controller controls the opening and closing of the electric air pump and each pneumatic valve based on the load change information received from the load sensor, thereby inflating / deflating the corresponding airbags until the air pressure change information received from the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium.

[0057] Specifically, the structures of the micro-manipulator 3 and the main manipulator 1 adopt the existing manipulator structures, and the present invention does not make any improvements to them, such as the KUKA six-axis manipulator with model number KR6 R700-2.

[0058] Specifically, all the sensors mentioned are existing technology sensors, including but not limited to the sensors described above, or components with the same function. This invention does not make any modifications to them. For example, the tilt sensor with model number SCL3300-D1.

[0059] In a specific embodiment, the water-floating 3D printing device for space additive manufacturing simulation verification of the present invention also includes a controller for controlling the dynamic floating substrate unit, the micro-robotic arm, and the main robotic arm.

[0060] The controller can be, but is not limited to, a computer. The controller's functions are implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the above-described method embodiments.

[0061] In summary, the water-floating 3D printing device for space additive manufacturing simulation verification disclosed in this invention is an intelligent 3D printing device that automatically configures the microgravity environment according to the actual application scenario through a controller.

[0062] Example 2

[0063] This invention also protects a water-floating 3D printing method for space additive manufacturing simulation verification, such as... Figure 3 As shown.

[0064] Step 1: Preparation Stage

[0065] A floating substrate 8 is placed in the water tank 2, and a dynamic airbag system 4 and a micro-manipulator are configured. Sensor components and a controller are connected to simulate a microgravity environment for the printing system. Then, the main manipulator 1 drives the 3D printing head to print along a preset path.

[0066] Step 2, Printing Stage:

[0067] The 3D printing head prints according to a preset path. During the printing process, the first tilt sensor 71 and the second tilt sensor 72 monitor the offset of the floating substrate 8 in real time and automatically adjust the position of the printing nozzle to ensure that the floating substrate and the 3D printing head are always aligned. The load sensor monitors the water level change caused by the weight change of the floating substrate 8 in real time and automatically adjusts the airbag pressure through the controller. The air pressure sensor monitors the buoyancy change of the floating substrate in real time and automatically adjusts the internal air pressure of the dynamic airbag system to ensure that the floating substrate is always in a microgravity state.

[0068] In this step, to ensure the floating substrate is in a microgravity state, the deposition rate of the printing material on the floating substrate is... Changes in total displacement volume of the dynamic airbag system The following conditions must be met:

[0069]

[0070] Where: the total displacement volume change of the dynamic airbag system The deposition rate of the printing material on the floating substrate is obtained through real-time monitoring using a pressure sensor. Obtained through real-time monitoring using load sensors; This indicates the density of the water medium.

[0071] In this step, when the first tilt sensor monitors the floating substrate's offset angle in real time and finds it to be less than θ°, the micro-robotic arm is controlled to adjust the 3D printing head, and the response time of the micro-robotic arm's operation is... satisfy: , This represents the maximum angular velocity of the floating substrate driven by the micro-robotic arm; until the angle information detected by the second tilt sensor indicates that the printing nozzle is aligned with the target position on the floating substrate. When the angle of the floating substrate offset monitored by the first tilt sensor in real time is greater than θ°, the main robotic arm and the micro-robotic arm are controlled to work together until the angle information detected by the second tilt sensor indicates that the printing nozzle is aligned with the target position on the floating substrate; during this process, the main robotic arm and the micro-robotic arm work together to achieve the total adjustment time for the printing nozzle to be adjusted into position. The following conditions must be met: In this invention, it is set as ;in: For printing layer resolution, For printing speed.

[0072] Step 3: Printing complete:

[0073] The system was shut down and subsequent processing was performed to collect data for analysis of print quality and stability.

[0074] Specifically, before the 3D printer starts working, the initial weight of the floating substrate unit is measured and the maximum printing weight is set. The dynamic airbag system 4 and tilt sensor 7 inside the floating substrate 8 are configured, the airtightness of the floating substrate 8 is checked, and the floating substrate 8 is placed in the water tank 2 to simulate a microgravity environment for the printing system. Next, the self-controlled micro-manipulator unit, including the micro-manipulator 3 and the tilt sensor 7 on the 3D print head, is configured. Finally, all sensors of the system are connected to the control system, and waterproof components are treated to prevent water damage. Under the above-formed printing environment, the 3D printing system starts working. First, the floating substrate 8 is placed in the water tank 2, and the dynamic airbag system 4 starts working according to the pre-work preparation, so that the gravity and buoyancy of the floating substrate 8 are balanced, and it floats stably on the water surface. The main manipulator 1 performs positioning, zeroing, and three-dimensional movement according to the preset program. The printing material is sent to the feeding channel of the 3D print head through the material storage device and the printing material channel. It is extruded by the extruder, heated and melted by the heating block through the movable hose 6, and successfully printed onto the floating substrate 8. As printing material is continuously deposited on the floating substrate 8, the weight of the floating substrate 8 changes constantly. The dynamic airbag system 4 continues to operate, controlling the inflation and deflation of the airbags to keep the floating substrate 8 in a microgravity state. Simultaneously, due to water fluctuations and material deposition, the floating substrate 8 shifts. The tilt sensor 7, mounted on both the floating substrate 8 and the 3D printing head, detects this misalignment. The micro-robotic arm then begins to work, with the controller adjusting the nozzle until it is realigned with the floating substrate 8. Specifically, when the offset angle is greater than θ°, the controller controls the main robotic arm 1 to assist in the adjustment, moving the main robotic arm 1 to move the printing nozzle. Simultaneously, the micro-robotic arm 3 also adjusts the nozzle position, with both working in tandem. This entire adjustment process continues until printing is complete. After printing, the system is shut down, and the printed parts undergo further processing.

[0075] Example 3

[0076] In this embodiment, multiple scenes can be printed inside water tank 2: Figure 4 A printed schematic diagram showing a slight shift in the floating substrate 8 on the water surface; Figure 5 A schematic diagram showing the significant displacement of the floating substrate 8 on the water surface during printing; Figure 6 A printed schematic diagram showing the slight displacement of the floating substrate 8 in water; Figure 7 This is a printed schematic diagram showing the significant displacement of the floating substrate 8 in water.

[0077] refer to Figure 4Printing with a slight shift in the floating substrate 8 on the water surface: The floating substrate 8 is placed in the water tank 2, and the dynamic airbag system 4 is configured to keep the floating substrate 8 floating on the water surface, maintaining a balance between gravity and buoyancy. During the printing process, printing material continuously accumulates on the surface of the floating substrate 8, causing its weight to change continuously. The dynamic airbag system 4 dynamically adjusts the buoyancy of the floating substrate 8 by controlling the inflation and deflation of the airbags, keeping it on the water surface and maintaining a microgravity state. At this time, due to water surface fluctuations and printing material accumulation, the floating substrate 8 shifts, but the shift angle is less than θ°, and the micro-robotic arm starts to work. The tilt sensor 7 detects the misalignment between the printing nozzle and the floating substrate 8, and the microcontroller controls the micro-robotic arm 3 to adjust the nozzle position through the fixture until the nozzle is re-aligned with the floating substrate 8; this process is repeated until printing is completed.

[0078] refer to Figure 5 Printing with a significant shift in the floating substrate 8 on the water surface: The floating substrate 8 is placed in the water tank 2, and the dynamic airbag system 4 is configured to keep the floating substrate 8 floating on the water surface, maintaining a balance between gravity and buoyancy. During the printing process, printing material continuously accumulates on the surface of the floating substrate 8, causing its weight to change continuously. The dynamic airbag system 4 dynamically adjusts the buoyancy of the floating substrate 8 by controlling the inflation and deflation of the airbags, keeping it on the water surface and maintaining a microgravity state. At this time, due to water surface fluctuations and the accumulation of printing material, the floating substrate 8 shifts, but the shift angle is greater than θ°. The micro-manipulator and the main manipulator 1 start operating simultaneously. The tilt sensor 7 detects the misalignment between the printing nozzle and the floating substrate 8. The controller controls the main manipulator 1 to drive the 3D printing head to make a significant displacement adjustment. Then, the microcontroller controls the micro-manipulator 3 to adjust the nozzle position through the fixture until the nozzle is re-aligned with the floating substrate 8. This process is repeated until printing is complete.

[0079] refer to Figure 6 Printing with slight displacement of the floating substrate 8 in water: The floating substrate 8 is placed in the water tank 2, and the dynamic airbag system 4 is configured to keep the floating substrate 8 floating in the water, maintaining a balance between gravity and buoyancy. During the printing process, printing material continuously accumulates on the surface of the floating substrate 8, causing its weight to change continuously. The dynamic airbag system 4 dynamically adjusts the buoyancy of the floating substrate 8 by controlling the inflation and deflation of the airbags, keeping it floating in the water and maintaining a microgravity state. At this time, due to water ripples and the accumulation of printing material, the floating substrate 8 shifts, but the shift angle is less than θ°, and the micro-robotic arm starts to work. The tilt sensor 7 detects the misalignment between the printing nozzle and the floating substrate 8, and the microcontroller controls the micro-robotic arm 3 to adjust the nozzle position through the fixture until the nozzle is re-aligned with the floating substrate 8; this process is repeated until printing is completed.

[0080] refer to Figure 7 Printing with a significant displacement of the floating substrate 8 in water: The floating substrate 8 is placed in the water tank 2, and the dynamic airbag system 4 is configured to keep the floating substrate 8 floating on the water surface, maintaining a balance between gravity and buoyancy. During the printing process, printing material continuously accumulates on the surface of the floating substrate 8, causing its weight to change continuously. The dynamic airbag system 4 dynamically adjusts the buoyancy of the floating substrate 8 by controlling the inflation and deflation of the airbags, keeping it floating in the water and maintaining a microgravity state. At this time, due to water ripples and the accumulation of printing material, the floating substrate 8 shifts, but the shift angle is greater than θ°. The micro-manipulator and the main manipulator 1 start operating simultaneously. The tilt sensor 7 detects the misalignment between the printing nozzle and the floating substrate 8. The controller controls the main manipulator 1 to drive the 3D printing head to make a significant displacement adjustment. Then, the microcontroller controls the micro-manipulator 3 to adjust the nozzle position through the fixture until the nozzle is re-aligned with the floating substrate 8. This process is repeated until printing is complete.

[0081] Therefore, the water-floating 3D printing device and method for space additive manufacturing simulation verification disclosed in this invention, by establishing a water-floating 3D printing device that simulates the microgravity environment of space, has the following beneficial effects:

[0082] By employing a water-floating method, a stable, simulated space environment is provided for extrusion printing technology, overcoming the high cost and difficulty in implementation of existing 3D printing technologies that simulate space environments. This allows for more convenient 3D printing experiments in simulated space environments. The collaborative operation of the main robotic arm and micro-robotic arm units ensures stability during the printing process and enhances the system's sensitivity and speed. This system is suitable for 3D printing experiments simulating space environments on the ground, providing a technological foundation for additive manufacturing in extreme space environments. Utilizing experimental data and printing technology from the ground, it can be used to plan future space construction projects, offering a degree of operability for exploring intelligent manufacturing technologies in space. Furthermore, it can be extended to special industrial environments (such as underwater printing) and other occasions with high printing quality requirements, opening up new markets and application directions.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A water-floating 3D printing device for space additive manufacturing simulation verification, comprising a controller, a main robotic arm, and a 3D printing head, wherein the upper end of the 3D printing head is provided with a connector and connected to the power output end of the main robotic arm through the connector, and the lower end is provided with a printing nozzle, and the printing nozzle is connected to a feeding pipe installed on the connector; characterized in that, It also includes a microgravity printing environment simulation device, a micro-robotic arm, and sensor components; among which: One end of the micro-robotic arm is connected to the connector, and the other end is connected to the 3D printing head close to the printing nozzle; the feeding pipe is at least partially set as a flexible hose structure; The microgravity printing environment simulation device includes a water tank and a dynamic floating substrate unit; the water tank contains a water medium of a preset depth; the dynamic floating substrate unit is placed in the water tank and floats in the water medium in the water tank under microgravity, including a floating substrate and a dynamic airbag system arranged inside the floating substrate. The sensor assembly includes a load sensor, a barometric pressure sensor, and first and second tilt sensors; The load sensor is mounted on the floating substrate to detect load changes caused by the deposition of printing material on the floating substrate and can transmit the detected load change information to the controller. The first tilt sensor is installed inside the floating substrate to detect changes in the attitude of the floating substrate and to transmit the detected attitude change information to the controller. The second tilt sensor is mounted on the outside of the 3D printing head to detect the attitude change of the printing nozzle relative to the floating substrate and to transmit the detected attitude change information to the controller. The pressure sensor is mounted on the dynamic airbag system to detect pressure changes in the dynamic airbag system and can transmit the detected pressure change information to the controller. The controller controls the dynamic airbag system to inflate / de-inflate based on the load change information received from the load sensor, until the air pressure change information received from the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium. Based on the attitude change information received from the first tilt sensor, the controller controls the movement of the micro-manipulator / cooperative control main manipulator and the micro-manipulator, causing the attitude change information received from the second tilt sensor to indicate that the printing nozzle is aligned with the target printing position on the floating substrate.

2. The water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 1, characterized in that, The dynamic airbag system includes an electric air pump, a pneumatic valve, and several airbags; each airbag is evenly distributed in the floating base plate and is connected to the electric air pump through an air pipe, and a pneumatic valve is installed on the air pipe between each airbag and the electric air pump. The controller controls the opening and closing of the electric air pump and each pneumatic valve based on the load change information received from the load sensor, so as to inflate / deflat the corresponding airbags until the air pressure change information received from the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium.

3. The water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 2, characterized in that, The number of airbags is four, and the floating base plate is rectangular; an airbag is arranged at each corner of the floating base plate.

4. The water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 1, characterized in that, The load sensor is mounted on the bottom of the heated bed of the floating substrate.

5. The water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 1, characterized in that, The main robotic arm is mounted on a flat surface outside the water tank.

6. The water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 1, characterized in that, The main robotic arm is equipped with a printing material channel for connecting the material storage device and the feeding pipe; the material storage device is located next to the main robotic arm; the material storage device transports the printing material to the feeding pipe through the printing material channel.

7. The water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 1, characterized in that, The 3D printing head also includes a heating block and a heat sink; the heating block and the heat sink are both connected to the feed pipe, with the heating block positioned close to the printing nozzle and the heat sink positioned close to the connector; in the feed pipe, the part connecting the heating block and the heat sink uses a high-temperature resistant flexible tube, and the micro-robotic arm is connected to the heating block.

8. A water-floating 3D printing method for space additive manufacturing simulation verification, implemented based on the water-floating 3D printing device for space additive manufacturing simulation verification as described in claim 1, characterized in that... Includes the following steps: Step 1, Preparation Stage: Place the floating substrate in the water tank, configure the dynamic airbag system and micro-robotic arm, and connect the sensor components and controller; Step 2, Printing Stage: The 3D printing head prints according to the preset path; during the printing process, the first and second tilt sensors monitor the displacement of the floating substrate in real time and automatically adjust the position of the printing nozzle to ensure that the floating substrate and the 3D printing head are always aligned; the load sensor monitors the weight change of the floating substrate in real time, and the air pressure sensor monitors the buoyancy change of the floating substrate in real time and automatically adjusts the internal air pressure of the dynamic airbag system to ensure that the floating substrate is always in a microgravity state. Step 3: After printing is complete, shut down the system and perform subsequent processing to collect data for analysis of print quality and stability.

9. The water-floating 3D printing method for space additive manufacturing simulation verification according to claim 8, characterized in that, In step two, to ensure the floating substrate is in a microgravity state, the deposition rate of the printing material on the floating substrate is... Changes in total displacement volume of the dynamic airbag system The following conditions must be met: ； Where: the total displacement volume change of the dynamic airbag system The deposition rate of the printing material on the floating substrate is obtained through real-time monitoring using a pressure sensor. Obtained through real-time monitoring using load sensors; This indicates the density of the water medium.

10. The water-floating 3D printing method for space additive manufacturing simulation verification according to claim 8, characterized in that, In step two, when the first tilt sensor monitors the floating substrate's offset angle in real time and finds it to be less than θ°, the micro-robotic arm is controlled to adjust the 3D printing head, and the response time of the micro-robotic arm's operation is... satisfy: , This indicates the maximum angular velocity of the floating substrate driven by the micro-robotic arm; until the angle information detected by the second tilt sensor indicates that the printing nozzle is aligned with the target position on the floating substrate; When the first tilt sensor detects that the angle of the floating substrate's offset is greater than θ°, the main robotic arm and the micro robotic arm work together until the angle information detected by the second tilt sensor indicates that the printing nozzle is aligned with the target position on the floating substrate. During this process, the main robotic arm and the micro robotic arm work together to achieve the total adjustment time for the printing nozzle to be adjusted into place. The following conditions must be met: ,in: For printing layer resolution, For printing speed.

Images