3D printing equipment

Abstract

The utility model discloses 3D printing equipment which comprises a forming chamber used for providing a closed forming space for 3D printing operation. The printing platform is rotatably arranged in the forming chamber and used for bearing a formed 3D object; the first robot is arranged on the first side of the printing platform and comprises a first mechanical arm which moves on the upper side of the printing platform according to a first movement path; the first printing assembly is arranged on the first mechanical arm and is used for melting powder or granules and then depositing the melted powder or granules onto the printing platform according to a first printing path so as to form the 3D object layer by layer; the second robot is arranged on the second side of the printing platform, forms a first preset angle with the first robot, and comprises a second mechanical arm which moves on the upper side of the printing platform according to a second movement path; and the cutting assembly is arranged on the second mechanical arm and is used for carrying out material reduction treatment on the 3D object deposited on the printing platform according to a material reduction path.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a 3D printing device. Background Art

[0002] At present, 3D printing technology is mainly divided into fused deposition modeling, liquid photosensitive resin photocuring, selective laser sintering, selective laser melting and other technologies. Among them, fused deposition modeling technology is a commonly used technology in 3D printing technology. By controlling the print head, it extrudes molten filamentary materials such as thermoplastics, wax or metal filaments on the printing platform according to the contour and filling trajectory of each preset thickness slice layer of the 3D object, so that the molten material is deposited and solidified, and then the required 3D object is generated layer by layer.

[0003] Generally, after printing is completed, 3D objects usually need to be fine-processed and trimmed by subtractive equipment to ensure the dimensional accuracy of the 3D objects. However, due to the replacement of equipment, 3D objects need to be repositioned many times, which will increase the extra handling and positioning and clamping time, thereby reducing the processing efficiency. Therefore, how to achieve the integration of printing equipment and subtractive equipment so that 3D objects can be processed by subtractive processing without repositioning and clamping to ensure processing efficiency is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In view of the shortcomings of the related technologies mentioned above, the purpose of the present application is to provide a 3D printing device for solving the technical problem that the printed 3D objects need to be repositioned and clamped before they can be processed by subtractive means, resulting in low processing efficiency.

[0005] To achieve the above-mentioned purpose and other related purposes, the 3D printing device provided by the present application includes: a molding chamber, which is used to provide a closed molding space for 3D printing operations; a printing platform, which is rotatably arranged in the molding chamber for carrying a molded 3D object; a first robot, which is arranged on a first side of the printing platform, includes a first robot arm that moves on the upper side of the printing platform according to a first motion path, and a first printing component arranged on the first robot arm for melting powder or granular material and depositing it on the printing platform according to the first printing path to form the 3D object layer by layer; a second robot, which is arranged on a second side of the printing platform and is at a first preset angle with the first robot, includes a second robot arm that moves on the upper side of the printing platform according to a second motion path, and a cutting component arranged on the second robot arm for performing subtractive processing on the 3D object deposited on the printing platform according to a subtractive path.

[0006] To summarize, the 3D printing device provided by the present application realizes the integration of printing operations and subtractive processing by arranging a first robot for printing 3D objects and a second robot for performing subtractive processing on 3D objects in a molding chamber, thereby avoiding the need to re-clamp and reposition the 3D objects and improving processing efficiency. By arranging the first robot and the second robot on the first side and the second side of a rotatable printing platform, while realizing a reasonable layout of the first robot and the second robot in the molding chamber, the first robot and the second robot can respectively realize printing and subtractive processing of 3D objects without changing position, thereby further improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The specific features of the present application are shown in the attached claims. The features and advantages of the invention involved in the present application can be better understood by referring to the exemplary embodiments and drawings described in detail below. The drawings are briefly described as follows:

[0008] Figure 1 and Figure 2 They are respectively shown as schematic diagrams of the structures of 3D printing devices in different embodiments of the present application.

[0009] Figure 3 It is a schematic diagram of the structure of a molding chamber in one embodiment of the present application.

[0010] Figure 4 Shown is a schematic diagram of zoned temperature control of a printing platform in one embodiment of the present application.

[0011] Figure 5 Shown is a schematic diagram of the structure of the first robot in one embodiment of the present application.

[0012] Figure 6 Shown is a schematic diagram of the structure of the second robot in one embodiment of the present application.

[0013] Figure 7 It is a schematic diagram showing the working area of ​​the molding surface on the printing platform occupied by the second motion path in one embodiment of the present application.

[0014] Figure 8 It is a schematic diagram showing that the first motion path and the second motion path occupy the printing area and the working area of ​​the printing platform respectively in one embodiment of the present application.

[0015] Fig. 9 and Fig.10 They are respectively shown as schematic diagrams of the structure of a 3D printing device in one embodiment of the present application at different viewing angles.

[0016] Fig.11It is a schematic diagram showing that the first motion path and the third motion path occupy the first printing area and the second printing area of ​​the printing platform respectively in one embodiment of the present application.

[0017] Fig.12 Shown is a schematic diagram of a first printing area, an operating area, and a second printing area in one embodiment of the present application.

[0018] Fig.13 Shown is a schematic diagram of the structure of a 3D printing device in one embodiment of the present application.

[0019] Fig.14 Shown is a schematic diagram of the structure of the first robot in one embodiment of the present application.

[0020] Fig.15 Shown is a schematic structural diagram of a main material print head and an auxiliary material print head in one embodiment of the present application.

[0021] Fig.16 and Fig.17 Schematic diagrams showing the rotation of the printing base to preset angles in different embodiments of the present application are shown respectively. DETAILED DESCRIPTION

[0022] The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

[0023] In the following description, with reference to the accompanying drawings, several embodiments of the present application are described. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only to describe specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0024] Although the terms first, second, etc. are used to describe various elements in this article in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first robot can be referred to as the second robot, and similarly, the second robot can be referred to as the first robot, without departing from the scope of the various described embodiments. The first robot and the second robot are all describing a certain robot, but unless the context clearly indicates otherwise, they are not the same robot. Similar situations also include the first mechanical arm and the second mechanical arm, the first motion path and the second motion path, the first printing path and the second printing path, the first printing component and the second printing component, the first printing area and the second printing area, etc.

[0025] Furthermore, as used in this article, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0026] In view of the technical problems mentioned in the background technology, the present application discloses a 3D printing device, which realizes the integration of printing operations and subtractive processing by arranging a first robot for printing 3D objects and a second robot for performing subtractive processing on 3D objects in a molding chamber, thereby avoiding the re-clamping and positioning of 3D objects and improving processing efficiency. By arranging the first robot and the second robot on the first side and the second side of a rotatable printing platform, while realizing a reasonable layout of the first robot and the second robot in the molding chamber, the first robot and the second robot can respectively realize printing and subtractive processing of 3D objects without changing position, thereby further improving processing efficiency.

[0027] In any embodiment provided in the present application, the 3D object may be a 3D model obtained by stacking 3D printing materials layer by layer using 3D printing technology, which may be, for example, a sculpture, furniture, bionic tissue, etc. The 3D printing technology may be, for example, fused deposition modeling technology. In this example, the 3D printing material for constructing the 3D object may be, for example, a thermoplastic material. The thermoplastic material may be, for example, a polymer composite printing material containing nylon, paraffin, casting wax, artificial rubber, metal, ceramic, etc., which may be heated to a flowing or semi-fluid state in the form of powder or granular material, and then stacked layer by layer and cooled to form a 3D object.

[0028] The first robot described in any embodiment of the present application is used to construct a 3D object, which may also be referred to as an additive manufacturing robot, a 3D printing robot, etc. In one embodiment, the first robot may be configured to include a first moving device, a first control device, and a first printing component. The first printing component is used to heat and melt a 3D printing material such as a powder or a granular material to a semi-fluid state, and pressurize the molten 3D printing material so that it is extruded. The first printing component may include a print head, a heater, and a pressure sensor, wherein the print head is used to uniformly extrude the powder or granular material melted into a semi-fluid state and deposit it on a printing platform.

[0029] In the embodiment provided in the present application, the first mobile device is used to provide mobile support for the first printing assembly, and the first mobile device can also be configured as a mechanical arm, and the first printing assembly is configured at one end of the mechanical arm to provide the first printing assembly with freedom of movement in space, thereby improving the accuracy of the first printing assembly. In this example, the mechanical arm and the first printing assembly can be connected through at least one shaft assembly, and the shaft assembly enables the first printing assembly to generate a rotational rotation centered along the axis of the mechanical arm or a hinged rotation perpendicular to the axis of the mechanical arm.

[0030] According to the teachings of the present application, in certain other examples, the first moving device may be configured as a gantry, and the gantry may have a guide rail. Matchingly, the first printing component may have a slider, thereby achieving spatial movement of the first printing component and further achieving layer-by-layer stacking of 3D printing materials.

[0031] In order to further improve the freedom of movement of the first printing component in space, the mechanical arms can be connected by at least one axis assembly. For example, the first robot can be configured as a six-axis industrial robot, which is provided with six axis assemblies to provide six-axis rotation. The six axis assemblies can be configured on the first printing component and the mechanical arm separately or in combination. In some other examples, the first robot can also be configured as a five-axis industrial robot, which is provided with five axis assemblies to provide five-axis rotation. It should be noted that the axis assembly can be configured to any number to meet the actual production needs, and this application does not impose any restrictions on this. For the convenience of description and explanation, the following embodiments are described by taking the first robot as a six-axis industrial robot as an example, which should not be understood as a limitation of this application. In subsequent embodiments, the first mobile device is also described as a first mechanical arm. It should be understood that the first mechanical arm in this application refers to a robot mechanical arm including multiple mechanical joint arms. For example, when the first robot is an embodiment of a six-axis industrial robot, the first mechanical arm includes at least 4 mechanical joint arms; the first mechanical arm will not be repeated later.

[0032] In one embodiment, each robotic arm may be configured as a slender or thick approximately cylindrical shape, and may be made of a suitable rigid material, for example, a lightweight and high-strength metal alloy such as an aluminum alloy, a magnesium alloy, or a carbon composite material.

[0033] In one embodiment, each axis assembly includes an angle encoder, which can provide relative rotation information of the robot arm, and the information provided by the encoders of all axis assemblies can determine the position where the first printing assembly accumulates 3D printing materials. Further, the first control device can control the 3D printing operation based on the rotation information provided by each encoder.

[0034] In an embodiment where the first robot is configured as a six-axis industrial robot, the first control device is used to control the six axis components to rotate, thereby controlling the first robot to move along a first motion path, and then controlling the first printing component to move along the first printing path, so as to achieve layer-by-layer deposition of 3D printing materials. The first motion path refers to the movement path of the first robot arm during the entire printing process, and the movement path reflected in the movement path of each mechanical joint arm in space is not the same. The first printing path refers to the movement path of the first printing component when the 3D printing material is deposited during the movement of the first robot arm along the first motion path. Further, the first printing path can be the movement path of the print head.

[0035] In one embodiment, the first control device includes a processing unit, a storage unit and a plurality of interface units. Each of the interface units is respectively connected to a device or component or mechanism that is independently packaged in the first robot, such as a robotic arm and a first printing component, and transmits data through an interface. The first control device also includes at least one of the following: a prompt device, a human-computer interaction device, etc. The interface unit determines its interface type according to the connected device, component or mechanism, which includes but is not limited to: a universal serial interface, a video interface, an industrial control interface, a wireless communication port, etc. The storage unit is used to store a printing program, and the processing unit is connected to the storage unit, and is used to control the various components, components or structures in the first robot to coordinate and realize the 3D printing operation of the first printing component when executing the printing program.

[0036] In one embodiment, the first printing component constructed by the first robot needs to be further processed, such as cutting it to obtain a smooth surface, or grinding, lapping, engraving, drilling and other processing operations to meet user needs. In another embodiment, it is necessary to remove the support member connected to the first printing component. In view of this, the present application discloses a second robot in some embodiments, which is used to further finely process and high-quality surface treatment the 3D object, and it can also be called a subtractive manufacturing robot.

[0037] In one embodiment, the second robot may be configured to include a second mobile device, a second control device, and a cutting assembly. The cutting assembly is used to perform subtractive processing on 3D objects. For example, it can be configured as a milling cutter or a grinding wheel. The second mobile device is used to provide mobile support for the cutting assembly. The second mobile device is configured in the same manner as the first mobile device, and will not be described in detail here. In one example, the second robot is configured as a six-axis industrial robot. The following embodiments are described by taking the second robot configured as a six-axis industrial robot as an example, and should not be construed as a limitation of the present application. In subsequent embodiments, the second mobile device is also described as a second mechanical arm. It should be understood that the second mechanical arm in this application refers to a robot mechanical arm including multiple mechanical joint arms. For example, when the second robot is an embodiment of a six-axis industrial robot, the second mechanical arm includes at least 4 mechanical joint arms; the second mechanical arm will not be described in detail later.

[0038] In an embodiment where the second robot is configured as a six-axis industrial robot, the second control device is used to control the six axis components in the second robot to rotate, thereby controlling the second robot to move along the second motion path, and then controlling the cutting component to move along the subtractive path to achieve subtractive processing of the 3D object. The second motion path refers to the movement path of the second robot arm during the entire printing process, and the subtractive path refers to the movement path of the cutting component when the 3D object is subtracted during the movement of the second robot arm along the second motion path. The second control device is configured in the same manner as the first control device, and will not be described in detail here.

[0039] In one embodiment, the rigidity of the second mechanical arm of the second robot is greater than the rigidity of the first mechanical arm of the first robot. The rigidity refers to the ability of the first mechanical arm or the second mechanical arm to resist elastic deformation when subjected to force, and is used to characterize the ease with which the first mechanical arm is deformed. It should be understood that the rigidity of the second mechanical arm is greater than the rigidity of the first mechanical arm, which means that the force borne by the first mechanical arm when deformed cannot cause the second mechanical arm to deform when applied to the second mechanical arm. It should be noted that in the process of subtractive processing of 3D objects, a large cutting force will be generated, which will cause a large impact and vibration to the second mechanical arm. At this time, if the rigidity of the second mechanical arm is insufficient, the second mechanical arm will be deformed or the motion path of the second mechanical arm will produce errors, thereby affecting the processing accuracy and surface quality of the 3D object. Relatively speaking, in the process of depositing the molten 3D printing material layer by layer, the first mechanical arm is subjected to a smaller force of molten extrusion, and the rigidity requirement for the first mechanical arm is relatively low. Therefore, in this embodiment, the rigidity of the second mechanical arm needs to be greater than the rigidity of the first mechanical arm.

[0040] See also Figure 1 , Figure 2 ,as well as Fig.13 , respectively showing the structural schematic diagrams of the 3D printing device in different embodiments of the present application. As shown in the figure, the 3D printing device includes a molding chamber 1, a printing platform 2, a first robot 3, and a second robot 4.

[0041] The following is a detailed description of the 3D printing device of the present application.

[0042] The molding chamber 1 is used to provide a closed molding space for 3D printing operations. It should be understood that the fused deposition modeling printing technology is relatively sensitive to temperature. When the 3D printing material needs to be melted and extruded, it needs to be heated to the melting point to form a semi-fluid state. When the molten 3D printing material is extruded onto the printing platform, it needs to be cooled to a temperature below the melting point so that the printed layer is solidified and formed. Therefore, the molding chamber 1 needs to be set in a closed form to construct a closed internal environment to reduce the impact of the airflow outside the molding chamber on the 3D printing operation, and to make the temperature of the internal environment constant to facilitate temperature control.

[0043] In order to construct a constant temperature environment in the molding chamber, in one embodiment, the molding chamber 1 can be configured as a composite structure with multiple layers of materials. For example, the outer layer in contact with the external environment can be configured as metal or high-strength plastic to provide rigid support for the molding chamber. The inner layer in contact with the internal environment of the 3D printing operation can be configured as a heat-insulating material, such as polyurethane foam, polycarbonate board, aluminum silicate fiber or mineral wool, etc., to reduce heat loss in the internal environment.

[0044] In one embodiment, if Fig.13 As shown, the cross section of the molding chamber 1 in the horizontal direction is a rectangular structure, and the first robot 3 is arranged on one side of the molding chamber 1, and the second robot 4 is arranged on the other side of the molding chamber 1 symmetrical to the first robot 3. For example, Fig.13 In the example described, the rectangular structure can be divided into two long sides and two short sides, the length of the long side is greater than the length of the short side, wherein the two long sides and the two short sides are arranged opposite to each other, and the first robot 3 and the second robot 4 can be respectively arranged near the two short sides in the molding chamber 1. Of course, they can be respectively arranged near the two long sides, which is determined according to actual production needs.

[0045] In one embodiment, if Fig.13 As shown, an entrance and exit 13 of the molding chamber 1 is provided on one of the long sides of the molding chamber 1, and the width of the entrance and exit 13 is greater than the rotation diameter of the printing platform 2. The rotation diameter can be referred to the description in the subsequent embodiments and will not be described here. The entrance and exit 13 can be used for the entry and exit of operators, and the loading and unloading of various devices, structures, components, and 3D objects in the 3D printing equipment. In order to ensure that the molding chamber 1 can provide a closed internal environment during the 3D printing process, in one implementation, the entrance and exit 13 can be configured as a revolving door, and the revolving door is connected to the molding chamber 1 by a hinge, so that the revolving door can realize the opening and closing of the molding chamber 1 through a rotational motion. Of course, in some other implementations, it can also be configured as a sliding door, an automatic door, etc.

[0046] In another embodiment, see Figure 3 Combined with Figure 1 and Figure 2 ,in, Figure 3 The structure diagram of the molding chamber in one embodiment of the present application is shown as follows: Figure 2 As shown, the cross-section of the molding chamber 1 in the horizontal direction is a symmetrical hexagonal structure with four obtuse angles and two right angles. Specifically, the six angles located in the hexagonal structure are angle a, angle b, angle c, angle d, angle e, and angle f in the clockwise direction. Among them, the four obtuse angles are angle b, angle c, angle d, and angle e. For the convenience of distinction, angle b, angle c, angle d, and angle e can also be described as the first obtuse angle b, the second obtuse angle c, the third obtuse angle d, and the fourth obtuse angle e, respectively. The two right angles are angle a and angle f. For the convenience of distinction, angle a and angle f are also described as the first right angle a and the second right angle f, respectively. Figure 2 In the example shown, the six corners are all sharp corners. In other examples, in order to avoid bumping into the operator, the six corners may be configured as rounded corners.

[0047] In one embodiment, if Figure 2 As shown, the first robot 3 is arranged between the first right angle a and the first obtuse angle b in the molding chamber 1, and the second robot 4 is arranged between the second right angle f and the fourth obtuse angle e in the molding chamber 1. In another embodiment, as Figure 1 As shown, the first robot 3 is arranged between the first right angle a and the first obtuse angle b in the molding chamber 1, and the second robot 4 is arranged between the second obtuse angle c and the third obtuse angle d in the molding chamber 1. However, this is not limited to the above, and the first robot 3 and the second robot 4 can also be arranged at other positions in the molding chamber 1, which can be determined according to actual production needs. It should be noted that the molding chamber 1 is configured as follows: Figures 1 to 3 The hexagonal structure shown is only a schematic representation. In this example, in order to minimize the area of ​​the molding chamber 1 and reduce the heating range, thereby increasing the speed of heat transfer, which is beneficial to controlling the temperature in the molding chamber, the side length of the hexagonal structure is set according to the width of the first robot 3 and the second robot 4. In certain other examples, the molding chamber 1 can also be set to other shapes besides rectangles and hexagons, such as pentagons, circles, etc., which are determined according to actual production needs, and this application does not impose any restrictions on this.

[0048] In one embodiment, if Figure 3As shown, a first auxiliary equipment configuration area 11 is provided outside the edge formed between the first obtuse angle b and the second obtuse angle c in the molding chamber 1, and a second auxiliary equipment configuration area 12 is provided outside the edge formed between the third obtuse angle d and the fourth obtuse angle e in the molding chamber 1. The outer edge refers to the external area of ​​the molding chamber corresponding to a certain edge of the hexagonal structure formed by the molding chamber 1. For example, the outer edge formed between the first obtuse angle b and the second obtuse angle c refers to the area outside the molding chamber 1 corresponding to the edge m shared by the first obtuse angle b and the second obtuse angle c. The first auxiliary equipment configuration area 11 is used to configure the first auxiliary equipment, and the second auxiliary equipment configuration area 12 is used to configure the second auxiliary equipment. It should be noted that the first auxiliary equipment configuration area 11 or the second auxiliary equipment configuration area 12 can be configured separately or together. Of course, the first auxiliary equipment configuration area 11 or the second auxiliary equipment configuration area 12 may not be provided. It is determined according to the actual needs of configuring the first auxiliary equipment and the second auxiliary equipment, and this application does not impose any restrictions on this.

[0049] In one embodiment, the first auxiliary device or the second auxiliary device can be configured as a power supply device, such as a generator, to provide a stable power supply for the 3D printing device. In another embodiment, it can also be configured as an imaging device for real-time observation of the 3D printing process outside the molding room to ensure the normal operation of the first robot and the second robot, but it is not limited to this, and its specific configuration is determined according to actual production needs.

[0050] In one embodiment, please combine Figure 2 and Figure 3 The entrance and exit 13 of the molding chamber 1 is arranged on the side formed by the first right angle a and the second right angle f of the molding chamber 1. The width of the entrance and exit 13 is larger than the rotation diameter of the printing platform 2. Its specific function and implementation method can be found in the previous description and will not be repeated here.

[0051] In some embodiments, the 3D object is difficult to maintain constant internal temperature and external atmosphere temperature between stacked layers due to its large size, which causes different thermal stresses on the stacked layers, leading to stress accumulation inside the 3D object, and then uneven shrinkage, causing the 3D object to warp, deform, and other problems. In view of this, the molding chamber 1 is equipped with an atmosphere temperature control system, and the temperature control system can be configured to include a hot and cold air circulation convection device, which is used to keep the temperature of the stacked layers of the 3D object constant, thereby avoiding problems such as warping and deformation of the 3D object.

[0052] Of course, in some other embodiments, the molding chamber 1 may be equipped with an air conditioner and a fan to control the temperature of the internal environment of the molding chamber within a suitable range. A dehumidifier and other equipment may also be configured to adjust the humidity of the internal environment to ensure that the various devices, structures, and components in the 3D printing device can work normally, and at the same time ensure that the 3D printing materials can be in an ideal state, thereby ensuring that the 3D printing operation can proceed smoothly. In addition, an air purification system may be configured in the molding chamber 1 to promptly remove the gas and particles generated during the printing process, thereby ensuring the cleanliness of the internal environment. Those skilled in the art may select a specific configuration based on the actual design under the guidance of this application.

[0053] In one embodiment, the printing platform 2 is rotatably disposed in the molding chamber 1 for supporting the molded 3D object. Figure 3 In the example shown, the printing platform 2 is configured as a circular platform, and the diameter of the circular platform ranges from 2800mm to 3600mm, for example, approximately 2800mm, 2900mm, 3000mm, 3100mm, 3200mm, 3300mm, 3400mm, 3500mm, or 3600mm. In some other examples, the printing platform 2 can also be configured as a shape other than a circle, such as a rectangle or a hexagon. In this case, the printing platform 2 has a rotation diameter and a rotation center. The rotation diameter refers to the diameter of the circular range occupied by the printing platform 2 when it rotates, and the rotation center refers to the center of the circular range occupied by the printing platform 2 when it rotates. It should be understood that when the printing platform is configured as a circular platform, the rotation diameter and the rotation center are the diameter and center of the printing platform, and the rotation diameter and the rotation center are not repeated in the subsequent embodiments.

[0054] In one embodiment, in order to realize the rotation of the printing platform 2, a rotating shaft (not shown) is provided on the printing platform 2, and a grating encoder and a servo motor are provided on the rotating shaft. The grating encoder is used to provide measurement and feedback of the rotation angle of the printing platform 2. The servo motor is used to provide rotational power for the rotating shaft. In some examples, the servo motor can drive the rotating shaft to rotate clockwise and counterclockwise. In some embodiments, the servo motor can also be replaced by a hydraulic motor.

[0055] In one embodiment, the grating encoder includes a grating encoder housing, a grating encoder disk and a reading head. The grating encoder housing is arranged around the rotating shaft and accommodates the grating encoder disk and the reading head. The grating encoder disk has grating strips. When the rotating shaft rotates, the grating strips on the grating encoder disk will be blocked and generate corresponding optical signals. The reading head may include an optical measuring device such as a camera, and obtains the rotation information of the rotating shaft by interpreting the generated optical signal, and feeds the information back to a control device, thereby realizing real-time control of the rotation of the printing platform.

[0056] In one embodiment, a brake locator is provided on the printing platform 2, and the brake locator is used to stop the rotational movement of the printing platform 2. At the same time, it can also prevent the printing platform 2 from rotating due to external forces when the movement stops, thereby further ensuring the printing accuracy. In one implementation, the brake locator can be configured to include a brake driver and a locking pin, and the brake driver controls the movement of the locking pin to lock the locking pin on the printing platform, thereby stopping the rotational movement of the printing platform. The brake driver can be, for example, a motor.

[0057] In one embodiment, a temperature control component for controlling the temperature of the molding surface is provided on the printing platform 2. The molding surface refers to the surface where the printing platform contacts the printing layer of the 3D object. In one example, the temperature control component includes a temperature sensor, a temperature controller, a heating element, and a cooling element. The temperature sensor is used to monitor the temperature of the molding surface in real time. The heating element is used to provide heat energy to increase the temperature of the molding surface. It can be, for example, a resistance heater, a heating winding, and a heating cable. The cooling element is used to provide a cooling effect to reduce the temperature of the molding surface. It can be, for example, a fan, a cooling water circulation system, and a refrigerant circulation system. Specifically, when the temperature sensor detects that the temperature of the molding surface is lower than a threshold, the temperature controller controls the heating element to operate until the temperature of the molding surface reaches the threshold. When the temperature sensor detects that the temperature of the molding surface is higher than the threshold, the temperature controller controls the cooling element to operate until the temperature of the molding surface reaches the threshold. The threshold is a temperature value or temperature range pre-set by the operator that is lower than the melting point of the 3D printing material, so that the printing layer can be solidified when deposited on the molding surface.

[0058] In one embodiment, the printing platform 2 can perform zone temperature control on the molding surface. For details, please refer to Figure 4 , which is a schematic diagram showing the temperature control of the printing platform in a zone in one embodiment of the present application. Figure 4 As shown, the printing platform 2 can be divided into eight temperature zones. Figure 4One of the temperature zones is indicated by the letter t, and each temperature zone has an independent temperature control component to achieve independent temperature control of each temperature zone. Furthermore, a heat insulation layer or heat insulation material may be provided between each temperature zone to reduce heat transfer between temperature zones, thereby improving the temperature control accuracy. Of course, any number of temperature zones may be provided on the printing platform 2, and those skilled in the art may select a suitable number of temperature zones according to the actual design under the guidance of this application. It should be noted here that the temperature control component on the printing platform 2 may work in conjunction with the atmosphere temperature control system in the molding chamber 1 described in the aforementioned embodiment, so as to ensure that the 3D printing material for constructing the 3D object has a temperature that is conducive to molding when in contact with the printing platform 2, and to avoid warping or deformation of the 3D object due to temperature difference.

[0059] See also Figure 5 Combined with Figure 1 ,in, Figure 5 The diagram is a schematic diagram of the structure of the first robot in one embodiment of the present application. Figure 1 and Figure 5 As shown, the first robot 3 is arranged on the first side of the printing platform 2, including a first robot arm 31 and a first printing component 32. The first robot arm 31 can move on the upper side of the printing platform 2 according to a first movement path. The first printing component 32 is arranged on the first robot arm 31, and is used to melt the powder or granular material and deposit it on the printing platform 2 according to the first printing path to form the 3D object layer by layer. As mentioned above, the first printing component 32 includes a print head 321. The specific structure of the other components included in the first robot 3 can be found in the description in the aforementioned embodiment, which will not be repeated here.

[0060] Wherein, the first side of the printing platform 2 is as follows Figure 1 The position of the first robot 3 shown in the figure, that is, as described in the above embodiment, the first robot 3 is arranged between the first right angle and the first obtuse angle in the molding chamber 1. In one implementation, the first robot 3 can be fixedly arranged on the first side of the printing platform 2. In order to achieve the fixation of the first robot 3, it can further include a first base 33. The first base 33 is used as the basic component of the first robot 3 to carry the first mechanical arm 31 and the first printing component 32. In one example, the weight of the first base 33 is large to provide a firm stability of the whole machine, thereby reducing mechanical vibration and ensuring that the first robot maintains balance. The material of the first base 33 includes but is not limited to cast iron, alloy, and carbon structural steel, so that the first base 33 has sufficient rigidity and strength, thereby giving the first base 33 sufficient durability and carrying capacity. It should be understood that the first base 33 can be used as the seat of the first mechanical arm 31 and the first printing component 32 in the first robot 3, and its specific structure can be changed based on different functional requirements or structural requirements.

[0061] In some embodiments, it is necessary to provide support for the 3D object during the 3D printing process. For example, the 3D object has an overhanging structure such as a cantilever or a bridge-like structure, and the overhanging structure easily causes the 3D object to deform or warp. In view of this, a second printing component may also be provided on the first mechanical arm 31 of the first robot 3. The second printing component is used to print auxiliary parts supporting the 3D object layer by layer, which increases the stability of the printing process of the 3D object, thereby reducing defects such as deformation and warping of the 3D object, thereby ensuring product quality. At the same time, integrating the first printing component and the second printing component on the first robot at the same time can further reduce the footprint of the molding chamber 1, thereby further reducing the difficulty of temperature control in the molding chamber.

[0062] In one embodiment, the 3D printing material for constructing the auxiliary part can be configured to be the same as the 3D printing material for the 3D object, such as a polymer composite printing material in the form of powder or granules, such as a thermoplastic material, or a soluble material, such as polyvinyl alcohol, etc. After the 3D printing operation is completed, the auxiliary part can be peeled off or removed from the 3D object using the second robot 4 or a solvent.

[0063] Specifically, see Fig.14 Combined with Fig.13 ,in, Fig.14 The schematic diagram of the structure of the first robot in one embodiment of the present application is shown. As shown in the figure, the first robot arm 31 of the first robot 3 is provided with a first printing component 32 and a second printing component 33, wherein the second printing component 33 is used to melt the powder or granular material and deposit it on the printing platform 2 according to the second printing path to form the auxiliary parts of the 3D object layer by layer. The second printing path refers to the movement path of the second printing component 33 that deposits the 3D printing material for building the auxiliary parts on the printing platform 2 during the movement of the first robot arm 31 along the first motion path.

[0064] In one embodiment, the second printing assembly 33 may have the same configuration as the first printing assembly 32, that is, the second printing assembly 33 may also include a print head 331, a heater, and a pressure sensor, and the specific functions thereof may be referred to in the above description, which will not be repeated here. In order to distinguish the print heads included in the first printing assembly 32 and the second printing assembly 33, the print head 321 included in the first printing assembly 32 is also referred to as a main material print head, and the print head 331 included in the second printing assembly 33 is also referred to as an auxiliary material print head.

[0065] In one embodiment, see Fig.15 Combined with Fig.14 ,in, Fig.15The main material print head 321 and the auxiliary material print head 331 are arranged in parallel at the end of the first mechanical arm 31. Fig.15 In the illustrated embodiment, a printing base 311 is disposed at the end of the first mechanical arm 31, and a main material printing head 321 and an auxiliary material printing head 331 are disposed in parallel on the printing base 311. In one implementation, the main material printing head 321 and the auxiliary material printing head 331 are fixedly connected to the printing base 311, and the fixed connection method includes but is not limited to screw connection, clamping, welding and bonding.

[0066] Furthermore, in order to realize the switching between the main material print head and the auxiliary material print head, the printing base 311 can be rotated by a preset angle relative to the end of the first mechanical arm 31. In other words, the main material print head 321 and the auxiliary material print head 331 are arranged on the printing base 311 which can be rotated by a preset angle. Fig.16 and Fig.17 Combined with Fig.15 ,in, Fig.16 and Fig.17 Schematic diagrams showing the rotation of the printing base to preset angles in different embodiments of the present application are shown respectively.

[0067] Fig.16 and Fig.17 The horizontal line in contact with the main material print head 321 or the auxiliary material print head 331 indicates the printing platform 2. For example, the printing seat 311 can be rotated counterclockwise by a preset angle γ so that the auxiliary material print head 331 contacts the printing platform 2 to present Fig.16 The state shown in FIG. 1 is realized to realize the printing of the auxiliary part. The main material printing head 321 can also be rotated clockwise by a preset angle γ so that the main material printing head 321 contacts the printing platform 2 to present Fig.17 In some examples, the preset angle γ is configured to be 5°-30°, for example, about 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, or 30°.

[0068] In one implementation, if Fig.15 As shown, the printing base 311 may be provided with a rotating shaft 312 and a rotating driving unit, and the rotating shaft 312 is rotatably connected to the printing base 311, so that the printing base 311 can rotate a preset angle γ relative to the end of the first mechanical arm 31. The rotating driving unit is used to provide power for the rotation of the printing base 311. In one example, the rotating driving unit may be configured to include a rotating motor.

[0069] See also Figure 6 Combined with Figure 1 ,in, Figure 6 The schematic diagram of the structure of the second robot in one embodiment of the present application is shown. As shown in the figure, the second robot 4 is arranged on the second side of the printing platform 2 and is at a first preset angle with the first robot 3, and includes a second robot arm 41 and a cutting assembly 42. The second robot arm 41 can move on the upper side of the printing platform 2 according to the second motion path. The cutting assembly 42 is arranged on the second robot arm 41, and is used to perform subtractive processing on the 3D object deposited on the printing platform 2 according to the subtractive path. The specific structure of each component included in the second robot 4 can refer to the description in the aforementioned embodiment, and will not be repeated here.

[0070] In another embodiment, the second side of the printing platform 2 is as follows Figure 1 The position of the second robot 4 shown in FIG. 1 is that, as described in the above embodiment, the second robot 4 is arranged between the second obtuse angle and the third obtuse angle in the molding chamber 1. In order to realize the arrangement of the second robot 4 on the second side of the printing platform 2, as shown in FIG. Figure 6 As shown, the second robot 4 may further include a second base 43, and the second base 43 may be configured in the same manner as the first base 33, which will not be described in detail. In this embodiment, the first robot 3 and the second robot 4 have a first preset angle, which is an angle α between the first robot 3, the rotation center of the printing platform 2, and the connecting line formed by the second robot 4. Figure 1 In the example shown, the first preset angle α is 90°.

[0071] In another embodiment, the second side of the printing platform 2 is as follows Figure 2 The position of the second robot 4 shown in FIG. 1 is that, as described in the above embodiment, the second robot 4 is arranged between the second right angle and the fourth obtuse angle in the molding chamber 1. Figure 2 In the example shown, the first preset angle α is 180°.

[0072] In one embodiment, the working area of ​​the second robot arm 41 of the second robot 4 performing the subtractive processing on the upper side of the printing platform 2 according to the second motion path occupies 75%-100% of the area of ​​the molding surface on the printing platform 2, wherein the molding surface refers to the area on the printing platform 2 for depositing 3D printing materials for building 3D objects, and its range may be less than or equal to the range of the printing platform 2. For example, the working area of ​​the second motion path on the upper side of the printing platform 2 may occupy approximately 75%, 80%, 85%, 90%, 95%, or 100% of the molding surface area.

[0073] In one embodiment, in an example where the working area of ​​the second motion path occupies 75% of the area of ​​the forming surface, see Figure 7 , which is a schematic diagram showing the working area occupied by the second motion path on the molding surface of the printing platform in one embodiment of the present application, Figure 7 The second robot 4 is indicated by a small circle, the printing platform 2 is indicated by a large circle, and the shaded part indicates the range of the working area on the molding surface 21 occupied by the second robot 4. In this example, the length of the second robot arm 41 is set within a suitable range to ensure that the working area of ​​the second motion path can occupy at least 75% of the area of ​​the molding surface 21, so that the second robot 4 can achieve the cutting operation of the entire 3D object without changing its position through the cooperation of the rotation of its six axes and the rotation of the printing platform 2.

[0074] It should be noted here that Figure 7 The working area occupied by the second robot 4 on the molding surface 21 when it is arranged between the second obtuse angle and the third obtuse angle in the molding chamber 1 is only schematically represented, which should not be understood as a limitation of the present application. For example, in another example, the second robot 4 is arranged between the second right angle and the fourth obtuse angle. At this time, the working area of ​​the second motion path on the upper side of the printing platform 2 can still occupy 75%-100% of the molding surface area.

[0075] In one embodiment, see Figure 8 , which is a schematic diagram showing that the first motion path and the second motion path occupy the printing area and the working area of ​​the printing platform respectively in one embodiment of the present application, Figure 8 In the figure, two small circles respectively indicate the first robot 3 and the second robot 4, a large circle indicates the printing platform 2, and the shadow areas corresponding to the first robot 3 and the second robot 4 respectively indicate the first motion path and the second motion path. As shown in the figure, the first robot 31 of the first robot 3 prints in the upper side of the printing platform 2 according to the first motion path, and the second robot 41 of the second robot 4 performs subtractive processing in the upper side of the printing platform 2 according to the second motion path. The working area is connected at the center of the rotation circle of the printing platform 2. In this way, the first robot 3 and the second robot 4 can print and cut the 3D object at the same time. While maximizing the printing area and the working area, the printing operation and the cutting operation do not interfere with each other, thereby improving the manufacturing efficiency of the 3D object, and can also achieve 100% coverage of the entire platform molding area by time-sharing operation with the help of the rotation of the printing platform.

[0076] In another embodiment, the printing area of ​​the first robot's first mechanical arm on the upper side of the printing platform according to the first motion path and the subtractive processing operation area of ​​the second robot's second mechanical arm on the upper side of the printing platform according to the second motion path respectively occupy 75%-100% of the area of ​​the molding surface on the printing platform, and the single area area of ​​the printing area and the operation area are expanded. For details, please refer to Figure 7The description of any embodiment in the above will not be repeated here. For example, the printing area and the operation area may occupy approximately 75%, 80%, 85%, 90%, 95%, or 100% of the molding surface area, respectively. Of course, the second robot arm of the second robot may also be configured to print 3D objects, which may be determined according to actual production requirements.

[0077] It should be noted here that Figure 8 The range occupied by the printing area and the working area when the first preset angle is 180° is only schematically shown, and should not be understood as a limitation of the present application. For example, in another example, the first preset angle is set to 90°, at which time the printing area and the working area intersect at the rotation center of the printing platform 2. In order to distinguish it from the second printing area on the printing platform occupied by the third robot arm according to the third motion path mentioned in the subsequent embodiments, in the subsequent embodiments, the printing area of ​​the printing platform occupied by the first motion path is also referred to as the first printing area.

[0078] In one embodiment, the second printing component 33 for printing auxiliary parts of 3D objects described in the above embodiment can also be separately configured on a third robot. In one example, the third robot can be configured as a six-axis industrial robot.

[0079] In one embodiment, see Fig. 9 and Fig.10 , respectively, are schematic diagrams showing the structure of a 3D printing device in one embodiment of the present application at different viewing angles, such as Fig. 9 and Fig.10 As shown, the third robot 5 is arranged on the third side of the printing platform 2 and is at a second preset angle with the first robot 3, including a third robot arm 51 and a second printing component 33. The third robot arm 51 can move on the upper side of the printing platform 2 according to a third movement path. The second printing component 33 is arranged on the third robot arm 51, and is used to melt the powder or granular material and deposit it on the printing platform 2 according to the second printing path to form the 3D object layer by layer.

[0080] In this embodiment, the third motion path refers to the movement path of the third mechanical arm 51 during the entire printing process, and the second printing path refers to the movement path of the second printing component 33 depositing the 3D printing material of the building auxiliary part on the printing platform during the movement of the third mechanical arm 51 along the third motion path. Figure 5 The first robotic arm 31 and the first printing assembly 32 shown are of the same configuration, and their specific structures and functions can be found in the above description, which will not be repeated here.

[0081] In one embodiment, the third side of the printing platform 2 is as follows Fig. 9 The position of the third robot 5 shown in FIG. 1 is that the third robot 5 is arranged between the second obtuse angle and the third obtuse angle in the molding chamber 1. In order to realize the arrangement of the third robot 5 on the third side of the printing platform 2, as shown in FIG. Fig.10 As shown, the third robot 5 may further include a third base 53, and the third base 53 may be configured in the same manner as the first base 33, which will not be described in detail. In this embodiment, the third robot 5 and the first robot 3 have a second preset angle, and the second preset angle is an angle β between the first robot 3, the rotation center of the printing platform 2, and the connecting line formed by the third robot 5. Fig.10 In the example shown, the second preset angle β is 180°. At this time, the second robot 4 is disposed between the second obtuse angle and the third obtuse angle in the molding chamber 1, that is, the first preset angle α is 90°.

[0082] In one embodiment, similar to the rigidity requirement for the first mechanical arm 31 of the first robot 3, the rigidity of the second mechanical arm 41 of the second robot 4 is greater than the rigidity of the third mechanical arm 51 of the third robot 5. Please refer to the description in the above embodiment for details, which will not be repeated here.

[0083] In one embodiment, see Fig.11 , which is a schematic diagram showing that the first motion path and the third motion path occupy the first printing area and the second printing area of ​​the printing platform respectively in one embodiment of the present application, Fig.11 In the figure, two small circles indicate the first robot 3 and the third robot 5, a large circle indicates the printing platform 2, and the shadow areas corresponding to the first robot 3 and the third robot 5 indicate the first motion path and the third motion path. As shown in the figure, the first robot arm 31 of the first robot 3 is in the first printing area on the upper side of the printing platform 2 according to the first motion path, and the third robot arm 51 of the third robot 5 is in the second printing area on the upper side of the printing platform 2 according to the third motion path, and they intersect at the center of rotation of the printing platform 2. In this way, the first robot 3 and the third robot 5 can respectively print 3D objects and auxiliary parts at the same time, thereby improving printing efficiency.

[0084] In one embodiment, the sum of the areas of the first printing area on the upper side of the printing platform 2 of the first robotic arm 31 of the first robot 3 according to the first motion path, the subtractive processing working area on the upper side of the printing platform 2 of the second robotic arm 41 of the second robot 4 according to the second motion path, and the second printing area on the upper side of the printing platform 2 of the third robotic arm 51 of the third robot 5 according to the third motion path is greater than the area of ​​the molding surface on the printing platform 2.

[0085] See also Fig.12, which is a schematic diagram showing a first printing area, an operating area, and a second printing area in one embodiment of the present application. Fig.12 The printing platform 2 is indicated by a circle, and the three shaded areas respectively indicate the first printing area, the operating area, and the second printing area. As shown in the figure, the three areas intersect at the rotation center of the printing platform 2 and have overlapping parts. In other words, with the cooperation of the rotation movement of the printing platform 2, the first robot 3, the second robot 4, and the third robot 5 can work in different areas to realize printing operations and cutting processing on the entire printing platform 2.

[0086] To summarize, in order to overcome the technical problem in the related art that the printed 3D objects need to be repositioned and clamped before subtractive processing can be performed, resulting in low processing efficiency, the 3D printing device provided in the present application realizes the integration of printing operations and subtractive processing by arranging a first robot for printing 3D objects and a second robot for performing subtractive processing on 3D objects in a molding chamber, thereby avoiding the re-clamping and positioning of 3D objects and improving processing efficiency. By arranging the first robot and the second robot on the first side and the second side of a rotatable printing platform, while realizing a reasonable layout of the first robot and the second robot in the molding chamber, the first robot and the second robot can respectively realize printing and subtractive processing of 3D objects without changing position, thereby further improving processing efficiency.

[0087] Furthermore, the 3D printing device provided by the present application provides support for the 3D object, increases the stability during the printing process of the 3D object, reduces the deformation and warping of the 3D object, and ensures the product quality by arranging the first printing component for printing the 3D object and the second printing component for printing the auxiliary parts on the first mechanical arm of the first robot at the same time, thereby reducing the footprint of the molding room and reducing the difficulty of temperature control in the molding room. By arranging the first printing component and the second printing component on the first mechanical arm of the first robot and the third mechanical arm of the third robot, a reasonable layout in the molding room is further achieved.

[0088] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A 3D printing device, characterized in that: include: A molding chamber, used to provide a closed molding space for 3D printing operations; A printing platform, rotatably disposed in the molding chamber for carrying a molded 3D object; A first robot is disposed on a first side of the printing platform, comprising a first robot arm that moves on the upper side of the printing platform according to a first movement path, and a first printing component that is disposed on the first robot arm and is used to melt powder or granular material and deposit it on the printing platform according to the first printing path to form the 3D object layer by layer; The second robot is arranged on the second side of the printing platform and at a first preset angle with the first robot, and includes a second robot arm that moves on the upper side of the printing platform according to a second motion path, and a cutting component arranged on the second robot arm for performing subtractive processing on the 3D object deposited on the printing platform according to a subtractive path.

2. The 3D printing device according to claim 1, characterized in that: The rigidity of the second mechanical arm of the second robot is greater than the rigidity of the first mechanical arm of the first robot.

3. The 3D printing device according to claim 1, characterized in that: The first robot or the second robot is a six-axis industrial robot.

4. The 3D printing device according to claim 1, characterized in that: The first robot arm of the first robot is provided with a second printing component for melting powder or granular material and depositing it onto the printing platform according to a second printing path to form auxiliary parts of the 3D object layer by layer.

5. The 3D printing device according to claim 4, characterized in that: The first printing component includes a main material print head, and the second printing component includes an auxiliary material print head.

6. The 3D printing device according to claim 5, characterized in that: The main material printing head and the auxiliary material printing head are arranged in parallel at the end of the first mechanical arm.

7. The 3D printing device according to claim 5, characterized in that: The main material printing head and the auxiliary material printing head are arranged on a printing seat which can rotate to a preset angle.

8. The 3D printing device according to claim 1, characterized in that: The first preset angle is 90°, which is a line angle formed by the first robot, the rotation center of the printing platform, and the second robot.

9. The 3D printing device according to claim 1, characterized in that: The first preset angle is 180°, which is a line angle formed by the first robot, the rotation center of the printing platform, and the second robot.

10. The 3D printing device according to claim 8 or 9, characterized in that: The first robotic arm of the first robot intersects at the rotation center of the printing platform in the printing area on the upper side of the printing platform according to the first motion path and the second robotic arm of the second robot intersects at the subtractive processing operation area on the upper side of the printing platform according to the second motion path.

11. The 3D printing device according to claim 8 or 9, characterized in that: The working area of ​​the second robot arm performing subtractive processing on the upper side of the printing platform according to the second motion path occupies 75%-100% of the area of ​​the forming surface on the printing platform.

12. The 3D printing device according to claim 8 or 9, characterized in that: The printing area of ​​the first robotic arm of the first robot on the upper side of the printing platform according to the first motion path and the subtractive processing operation area of ​​the second robotic arm of the second robot on the upper side of the printing platform according to the second motion path respectively occupy 75%-100% of the area of ​​the forming surface on the printing platform.

13. The 3D printing device according to claim 1, characterized in that: The cross-section of the molding chamber in the horizontal direction is a rectangular structure; the first robot is arranged on one side of the molding chamber, and the second robot is arranged on the other side of the molding chamber that is symmetrical to the first robot.

14. The 3D printing device according to claim 13, characterized in that: An entrance and exit of the molding chamber is arranged on one long side of the molding chamber, and a width of the entrance and exit is greater than a rotation diameter of the printing platform.

15. The 3D printing device according to claim 1, characterized in that: The cross section of the molding chamber in the horizontal direction is a symmetrical hexagonal structure with four obtuse angles and two right angles.

16. The 3D printing device according to claim 15, characterized in that: The first robot is disposed between the first right angle and the first obtuse angle in the molding chamber, and the second robot is disposed between the second right angle and the fourth obtuse angle in the molding chamber.

17. The 3D printing device according to claim 15, characterized in that: The first robot is disposed between the first right angle and the first obtuse angle in the molding chamber, and the second robot is disposed between the second obtuse angle and the third obtuse angle in the molding chamber.

18. The 3D printing device according to claim 15, characterized in that: A first auxiliary equipment configuration area is arranged outside the edge formed between the first obtuse angle and the second obtuse angle in the molding chamber, and / or a second auxiliary equipment configuration area is arranged outside the edge formed between the third obtuse angle and the fourth obtuse angle in the molding chamber.

19. The 3D printing device according to claim 15, characterized in that: The molding chamber is provided with an atmosphere temperature control component for controlling the temperature of the 3D object.

20. The 3D printing device according to claim 15, characterized in that: An entrance and exit of the molding chamber are arranged on the side formed by the first right angle and the second right angle of the molding chamber, and the width of the entrance and exit is greater than the rotation diameter of the printing platform.

21. The 3D printing device according to claim 1, characterized in that: Also includes: The third robot is arranged on the third side of the printing platform and at a second preset angle with the first robot, and includes a third robot arm that moves on the upper side of the printing platform according to a third movement path, and a second printing component arranged on the third robot arm for melting powder or granular material and depositing it on the printing platform according to a second printing path to form an auxiliary part of the 3D object layer by layer.

22. The 3D printing device according to claim 21, characterized in that: The first preset angle is 90° for the line formed by the first robot, the rotation center of the printing platform, and the second robot; the second preset angle is 180° for the line formed by the first robot, the rotation center of the printing platform, and the third robot.

23. The 3D printing device according to claim 21, characterized in that: The rigidity of the second mechanical arm of the second robot is greater than the rigidity of the third mechanical arm of the third robot.

24. The 3D printing device according to claim 21, characterized in that: The first robotic arm of the first robot intersects at the rotation center of the printing platform in a first printing area on the upper side of the printing platform according to a first motion path, and the third robotic arm of the third robot intersects at a second printing area on the upper side of the printing platform according to a third motion path.

25. The 3D printing device according to claim 21, characterized in that: The sum of the areas of a first printing area on the upper side of the printing platform by the first robotic arm of the first robot according to the first motion path, a subtractive processing working area on the upper side of the printing platform by the second robotic arm of the second robot according to the second motion path, and a second printing area on the upper side of the printing platform by the third robotic arm of the third robot according to the third motion path is greater than the area of ​​the molding surface on the printing platform.

26. The 3D printing device according to claim 21, characterized in that: The third robot is a six-axis industrial robot.

27. The 3D printing device according to claim 1, characterized in that: The printing platform is a circular platform with a diameter ranging from 2800mm to 3600mm.

28. The 3D printing device according to claim 1, characterized in that: A grating encoder and a servo motor are arranged on the rotating shaft of the printing platform.

29. The 3D printing device according to claim 1, characterized in that: A brake positioner is arranged on the printing platform.

30. The 3D printing device according to claim 1, characterized in that: The printing platform is provided with a temperature control component for controlling the temperature of the molding surface.

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