Printing apparatus

Abstract

The utility model discloses printing equipment, which comprises a printing main body, a walking device and an adsorption device, and is characterized in that the printing main body is provided with a printing nozzle for outputting a base material; the walking device is connected with the printing body and provided with a walking part used for moving relative to the working face. The adsorption device is arranged on the walking part and is suitable for forming adsorption force with the working face to keep the walking part to move on the working face. According to the printing equipment provided by the utility model, the adsorption force is formed between the adsorption device and the working surface, and the walking part of the walking device can walk on the working surface under the action of the adsorption force, so that the printing main body is driven to move on the outer surface of the structure, and in-situ repair or additive manufacturing of the external structure is realized by printing through the printing nozzle at the printing position.

Description

TECHNICAL FIELD

[0001] The utility model relates to additive manufacturing technical field especially, it is a kind of printing equipment. BACKGROUND

[0002] In the related art, space 3D printing, i.e., three-dimensional printing technology, is an advanced manufacturing method for manufacturing three-dimensional objects in a microgravity environment, which can manufacture required parts and tools on demand in space, thereby reducing dependence on ground supplies. In the field of 3D printing in space environment, the printing device can only realize printing after being fixedly installed inside a space station or other space facilities, and it is difficult to overcome the printing in a free-moving manner in a space microgravity environment. The in-situ repair and additive manufacturing of the external structure of the space station and aircraft are not applicable. However, the external structure of the space station and aircraft has a risk of colliding with space debris. Space debris with a relatively high speed can generate a huge destructive force to cause damage to the structure of the spacecraft and failure of the instruments, which can affect the operation and even endanger the life safety of astronauts if not repaired in time. SUMMARY

[0003] The utility model aims at at least one of the technical problems existing in the prior art. To this end, one object of the utility model is to provide a printing device that can move on the outer surface of the cabin of a space station and aircraft and perform in-situ printing on damaged structures to timely and efficiently repair the damaged structures on the outer surface of the cabin.

[0004] The utility model embodiment provides a kind of printing equipment, and printing equipment includes: printing main body, walking device and adsorption device, printing main body is provided with printing nozzle to be used for the output of substrate;Walking device is connected with printing main body, and walking device is provided with walking part for moving relative to working surface;Adsorption device is set to walking part, and adsorption device is suitable for forming adsorption between working surface to keep walking part moving on working surface.

[0005] According to the printing device of the utility model, since the adsorption device and the working surface form an adsorption force, the walking part of the walking device can move on the working surface under the action of the adsorption force, thereby driving the printing main body to move on the outer surface of the cabin in a microgravity environment, and printing is performed by the printing nozzle at the printing position to realize in-situ repair of the external structure of the cabin or additive manufacturing of a new structure.

[0006] According to some embodiments of the utility model, the walking part is configured as a walking wheel or a walking track, and the adsorption device is arranged on the outer surface of the walking wheel or the outer surface of the walking track.

[0007] According to some embodiments of the utility model, the adsorption device is configured as a magnetic adsorption member or a bionic adsorption member.

[0008] According to some embodiments of the present application, the adsorption device comprises: a base layer and an adsorption column, the base layer is arranged on the outer periphery of the walking track and is adapted to move with the walking track; the adsorption column is arranged on the outer surface of the base layer and is arranged in an array, and each adsorption column forms an adsorption surface adapted to be attached to the working surface.

[0009] According to further embodiments of the present application, the area of the adsorption surface is S1, and satisfies 3800≤S1≤8000 μm 2 ; the height of the adsorption column is H1, and satisfies 70≤H1≤100 μm.

[0010] According to some embodiments of the present application, the walking device comprises: a connecting support, a connecting arm and a walking part support, the connecting support is arranged on the printing main body; one end of the connecting arm is hingedly connected with the connecting support; the other end of the connecting arm is hingedly connected with the walking part support, and the walking part support movably has a walking part arranged thereon.

[0011] According to further embodiments of the present application, the connecting arm is configured as a plurality of arms arranged in parallel with each other, and the plurality of connecting arms rotate synchronously relative to the connecting support.

[0012] According to some embodiments of the present application, the walking device further comprises: a connecting main body, the connecting main body is configured as two and arranged on both sides in the width direction of the printing main body, and a plurality of rotating shafts are formed on each connecting main body; wherein the connecting support is configured as a plurality of supports corresponding to the plurality of rotating shafts, and each connecting support is rotatably arranged on the rotating shaft.

[0013] According to some embodiments of the present application, the walking part comprises: a framework, a driving wheel, a supporting wheel and a track, the framework is connected with the walking part support; the driving wheel is rotatably arranged on the framework; the supporting wheel is rotatably arranged on the framework and is arranged in a spaced manner with the driving wheel; the track is arranged on the outer periphery of the overall structure composed of the driving wheel and the supporting wheel, and is adapted to be driven by the driving wheel and drive the supporting wheel to rotate to move, and the outer surface of the track is formed with the adsorption device.

[0014] According to some embodiments of the present application, the printing main body comprises: a first support beam and a second support beam, a connecting beam and a movable support; the first support beam and the second support beam are arranged in a spaced manner and are respectively connected with the walking device; the connecting beam is connected between the first support beam and the second support beam; the movable support is movably connected with the first support beam and the second support beam and is selectively movable in the first direction; the printing nozzle is movably arranged on the movable support and is selectively movable in the second direction.

[0015] Additional aspects and advantages of the present application will be given in part in the following description, and will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and / or additional aspects and advantages of the present utility model will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the references to the following drawings of which:

[0017] Figure 1 is a structural schematic diagram of a printing device according to one embodiment of the present utility model;

[0018] Figure 2 is a structural schematic diagram of a walking device on a printing device according to one embodiment of the present utility model;

[0019] Figure 3 is a structural schematic diagram of an adsorption device according to one embodiment of the present utility model;

[0020] Figure 4 is a structural schematic diagram of a printing main body according to one embodiment of the present utility model.

[0021] Reference signs:

[0022] Printing device 100;

[0023] Printing main body 1; first support beam 11; second support beam 12; connecting beam 13; movable support 14;

[0024] Printing nozzle 2;

[0025] Walking device 3; walking part 31; driving wheel 311; skeleton 312; support wheel 313; track 314; connecting main body 32; connecting support 33; connecting arm 34; walking part support 35; skeleton support 36;

[0026] Adsorption device 4; base layer 41; adsorption column 42;

[0027] Winding reel 5. DETAILED DESCRIPTION

[0028] The embodiments of the present utility model will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model, and cannot be understood as a limitation of the present utility model.

[0029] The printing device 100 according to the embodiments of the present utility model will be described below with reference to Figures 1-4 The printing device 100 according to the embodiments of the present utility model will be described below with reference to

[0030] As Figure 1 , Figure 2As shown, according to the printing device 100 of the embodiment of the present application, the printing device 100 comprises a printing main body 1, a walking device 3 and an adsorption device 4, the printing main body 1 is provided with a printing nozzle 2 for outputting a substrate; the walking device 3 is connected with the printing main body 1, and the walking device 3 is provided with a walking part 31 for moving relative to a working surface; the adsorption device 4 is arranged on the walking part 31, and the adsorption device 4 is adapted to form an adsorption force between the adsorption device 4 and the working surface to keep the walking part 31 moving on the working surface.

[0031] It should be noted that the microgravity environment refers to an environment in which the apparent weight of the system is much smaller than the actual weight under the action of gravity. In the space microgravity environment, if there is no corresponding connection or fixing structure, the gravity constraint of the printing device 100 is insufficient, and the movement of the printing device 100 will be out of control, and the printing device 100 cannot keep close to the object to be printed to perform the printing work.

[0032] According to the printing device 100 of the embodiment of the present application, the walking device 3 is connected with the printing main body 1, and the walking device 3 is provided with a walking part 31 for moving relative to a working surface; the adsorption device 4 is arranged on the walking part 31, and the adsorption device 4 is adapted to form an adsorption force between the adsorption device 4 and the working surface to keep the walking part 31 moving on the working surface. The adsorption force between the adsorption device 4 and the working surface restricts the walking part 31 from moving relative to the working surface in a direction perpendicular to the working surface, thereby keeping the walking part 31 moving along the working surface and driving the printing main body 1 to move on the outer surface of the cabin. The printing main body 1 is provided with a printing nozzle 2 for outputting a substrate, and the printing nozzle 2 can perform the printing work when the printing main body 1 moves to the printing position.

[0033] According to the printing device 100 of the embodiment of the present application, the adsorption device 4 and the working surface form an adsorption force, and the walking part 31 of the walking device 3 can walk on the working surface under the action of the adsorption force, thereby driving the printing main body 1 to move on the outer surface of the cabin in the microgravity environment, and performing the printing by the printing nozzle 2 at the printing position to realize the in-situ repair of the outer structure of the cabin or the additive manufacturing of a new structure.

[0034] In some embodiments of the present application, the walking part 31 is configured as a walking wheel or a walking track, and the adsorption device 4 is arranged on the outer surface of the walking wheel or the outer surface of the walking track.

[0035] The walking part 31 is configured as a plurality of walking wheels or walking tracks, and has a plurality of contact surfaces attached to the working surface when walking, which can make the movement of the walking part 31 more stable and have higher adaptability to different working surfaces; the adsorption device 4 can move with the walking wheel or the walking track and form an adsorption force with the working surface at any time during the movement, so that the walking part 31 can move arbitrarily on the working surface, thereby driving the printing main body 1 to move on the outer wall of the cabin to reach the printing position.

[0036] In some embodiments of the utility model, the adsorption device 4 is configured as a magnetic adsorption accessory or a bionic adsorption accessory. The magnetic adsorption accessory can be configured as a permanent magnet or an electromagnet, and the like. The magnetic adsorption accessory is adsorbed on the outer surface of a space station or other space facilities by magnetic force to keep the walking of the printing device 100 stable. The bionic adsorption accessory realizes adsorption by Van der Waals force generated between the microstructure of the surface and the outer surface of the space station or other space facilities, thereby keeping the walking of the printing device 100 stable.

[0037] According to some embodiments of the application, the adsorption device 4 is configured as a bionic adsorption accessory, as shown in the figure, the adsorption device 4 comprises a base layer 41 and an adsorption column 42, the base layer 41 is arranged on the outer periphery of the walking wheel or the walking track and is adapted to move with the walking track; the adsorption column 42 is arranged on the outer surface of the base layer 41 and is arranged in an array, and each adsorption column 42 is formed with an adsorption surface adapted to be attached to the working surface. Figure 3

[0038] It should be noted that the adsorption column 42 is a micro-nano structure, which is a functional structure with micron or nanometer scale characteristic size and arranged in a specific manner. Van der Waals force can be formed between a single adsorption column 42 and a structural surface (working surface), and the cumulative Van der Waals force between multiple adsorption columns 42 and the structural surface forms a stable adsorption force, which can constrain the printing device 100 to move only on the working surface. In this embodiment, the base layer 41 of the adsorption device 4 is arranged on the outer periphery of the walking wheel or the walking track, which can ensure that at least part of but enough adsorption columns 42 have their adsorption surfaces closely attached to the working surface during movement, thereby providing a stable adsorption force to enable the printing device 100 to move stably on the working surface. Further, the adsorption device 4 provides adsorption force without the need for additional power or external energy supply, so that the printing device 100 is more suitable for low-power conditions in the space environment; the adsorption device 4 can form an adsorption force with a structural surface of various materials, and has a wide range of applications, not limited to the outer surface of a metal structure, but also can walk on the outer surface of a ceramic structure.

[0039] According to some embodiments of the application, the adsorption device 4 adopts a bionic adhesive material, and the base layer 41 can be connected to the walking part 31 by pasting or embedding. In some embodiments, the base layer 41 can also be integrally formed with the surface of the walking wheel or the surface of the walking track, and the structure of the adsorption device 4 is simple and easy to install with the walking track, without the need for additional mounting structure for cooperation, and does not affect the normal progress of the walking track.

[0040] According to some embodiments of the application, the area of the adsorption surface is S1, and satisfies 3800≤S1≤8000μm 2 ​The height of the adsorption column 42 is H1, and 70≤H1≤100μm is satisfied. The size of the adsorption column 42 is set in the above range, which can ensure that the adsorption force generated by the adsorption column 42 is stable, and on the other hand, the adsorption device 4 is ensured to be easy to obtain without being difficult to process due to the size of the adsorption column 42 being too small.

[0041] It should be noted that the working surface is not a complete plane, but a curved surface with varying curvature. When moving on the curved surface, the adsorption device 4 can partially separate from the working surface, so that the adsorption force is insufficient, and the printing equipment 100 cannot operate.

[0042] To solve the above problems, according to some embodiments of the present application, the walking device 3 comprises a connecting bracket 33, a connecting arm 34 and a walking part bracket 35, the connecting bracket 33 is arranged on the printing main body 1, one end of the connecting arm 34 is hingedly connected with the connecting bracket 33, and the walking part bracket 35 is hingedly connected with the other end of the connecting arm 34, and the walking part bracket 35 movably has the walking part 31 arranged thereon.

[0043] In the embodiment, as shown in Figure 1 , Figure 2 , the walking part bracket 35 is hingedly connected with the connecting arm 34, the connecting arm 34 is hingedly connected with the connecting bracket 33, and the hinge shafts of the connecting arm 34 and the connecting bracket 33 and the walking part bracket 35 are parallel to the working surface, so that the walking part bracket 35 can move relative to the connecting bracket 33, and drive the walking part 31 to move relative to the printing main body 1 in the direction perpendicular to the working surface. Since the walking part 31 can move relative to the printing main body 1 in the direction perpendicular to the working surface, when the walking device 3 is arranged with multiple groups of walking parts 31, the positions of the groups of walking parts 31 relative to the printing main body 1 are adjusted respectively, so that the groups of walking parts 31 can all be close to the working surface under the premise that the printing main body 1 is relatively stable, so that the adsorption devices 4 of the groups of walking parts 31 have enough adsorption surfaces to adhere to the working surface when moving, and provide stable adsorption force. Further, if the walking device 3 encounters an obstacle when walking, the walking part 31 can also be lifted by adjusting the position of the walking part 31 relative to the printing main body 1 to cross the obstacle. Based on this, the printing equipment 100 of the embodiment has adaptability to different working surfaces, can adapt to working surfaces with varying curvature, and can cross obstacles.

[0044] It should be noted that the walking part bracket 35 is hingedly connected with the connecting arm 34, the connecting arm 34 is hingedly connected with the connecting bracket 33, and the arrangement of the two pairs of rotary pairs enables the walking part bracket 35 to have a large moving range relative to the printing main body 1, but driving mechanisms and control mechanisms need to be arranged at the positions of the two pairs of rotary pairs to drive and control the movement of the walking part bracket 35, which is relatively complex in structure and has a large weight on the walking device 4.

[0045] To solve the above problems, according to some embodiments of the present application, as shown in Figure 1 ,Figure 2 As shown, the connecting arms 34 are constructed to be multiple and arranged parallel to each other, and the multiple connecting arms 34 rotate synchronously relative to the connecting bracket 33 .

[0046] like Figure 2 As shown, parallel connecting arms 34 are hingedly connected to the connecting bracket 33 and the walking bracket 35 to form a parallelogram structure. A drive mechanism and a control mechanism are provided on any of the rotating pairs. By driving any of the connecting arms 34 to rotate about its hinge point with the connecting bracket 33, the parallelogram structure can be deformed, thereby stably driving the movement of the walking bracket 35. In this embodiment, by combining multiple groups of connecting arms 34, the correlation between the actions of the connecting arms 34 and the walking bracket 35 is improved. A single drive is used to drive the movement of the walking unit 31, which increases structural stability while reducing structural burden. Furthermore, the movement process is easier to control to adapt to work surfaces of varying curvatures or to traverse obstacles.

[0047] According to some embodiments of the present application, the walking device 3 also includes: a connecting body 32, which is constructed into two and is arranged on both sides of the printing body 1 in the width direction, and each connecting body 32 is formed with multiple rotating shafts; wherein, the connecting bracket 33 is constructed into a plurality of corresponding to the multiple rotating shafts, and each connecting bracket 33 is rotatably arranged on the rotating shaft.

[0048] Because the connecting body 32 is rotatably connected to the connecting bracket 33, the connecting bracket 33 drives the walking unit 31 to swing parallel to the work surface about the hinge point relative to the printing body 1, thereby adjusting the relative position of the walking unit 31 and the printing body 1 on the swinging surface. By changing the relative position of the walking unit 31 and the printing body 1 on the swinging surface, the walking unit 31 can avoid obstacles while maintaining the stable movement of the printing body 1. At the same time, the change in the relative position of the walking unit 31 and the printing body 1 on the swinging surface can expand or narrow the entire printing device 100 in the width direction, allowing it to adapt to narrower walking spaces and improve its adaptability to different work surfaces.

[0049] In this embodiment, if Figure 1As shown, the printing body 1 is provided with connecting bodies 32 on both sides, each group of connecting bodies 32 is connected with two groups of walking parts 31 through connecting supports 33, connecting arms 34 and walking part supports 35, four groups of walking parts 31 move on the working surface and support the printing body 1 to move stably, and each group of walking parts 31 can move independently relative to the printing body 1. In this embodiment, the printing body 1, the connecting bodies 32, the connecting supports 33, the connecting arms 34, the walking part supports 35 and the walking parts 31 are connected in series, which realizes the support of the walking parts 31 to the printing body 1, the movement of the walking parts 31 relative to the printing body 1, and the adaptive and stable movement of the printing body 1 on the changing working surface. At the same time, the setting of multiple groups of walking parts 31 improves the bearing capacity of the printing body 1 and enhances the working capacity of the printing equipment 100.

[0050] According to some embodiments of the present application, the walking part 31 comprises a framework 312, a driving wheel 311, a supporting wheel 313 and a track 314, the framework 312 is connected with the walking part support 35; the driving wheel 311 is rotatably arranged on the framework 312; the supporting wheel 313 is rotatably arranged on the framework 312 and is arranged in a spaced manner with the driving wheel 311; the track 314 is arranged on the outer circumferential side of the overall structure composed of the driving wheel 311 and the supporting wheel 313, and is suitable for being driven by the driving wheel 311 and driving the supporting wheel 313 to rotate to move forward, and the outer surface of the track 314 is formed with the adsorption device 4. The driving wheel 311 and the supporting wheel 313 tension the track 314, the outer surface of the track 314 is formed with the adsorption device 4, and the track 314 can keep a sufficient area of the adsorption device 4 directly contacting the working surface when moving forward, so as to form an adsorption force between the track 314 and the working surface to keep the walking part 31 on the working surface.

[0051] In some embodiments of the present application, the surface of the track 314 is directly formed with the adsorption device 4 by using bionic dry adhesion material, and the adsorption device 4 is in the form of a protruding part on the surface of the track 314, so that the adsorption device 4 is combined closely with the track 314, and the overall structure is simpler.

[0052] In some embodiments of the present application, as shown in Figure 2 The framework 312 is connected with the walking part support 35 through a framework support 36, and the framework support 36 is hingedly connected with the walking part support 35. In this embodiment, the framework support 36 can rotate relative to the walking part support 35 parallel to the working surface around the hinge point, and then the walking part 31 can be driven to rotate relative to the walking part support 35 through the framework 312, so that the walking part 31 can realize in-situ rotation through the rotating pair, and then the walking direction of the printing equipment 100 can be adjusted. Further, the rotation of the walking part 31 relative to the walking part support 35 can make the walking part 31 return to the correct direction when the connecting support 33 drives the walking part 31 to swing relative to the printing body 1, so as to ensure that the walking part 31 keeps the walking direction.

[0053] In some embodiments of the present application, as shown in Figure 2 The main body of the framework 312 is configured in a triangular shape, which makes the framework 312 have higher stability; the driving wheel 311 is arranged at the top corner of the framework 312, the two groups of support wheels 313 are arranged at the two bottom corners of the framework 312, and the plurality of groups of support wheels 313 are arranged between the two bottom corners of the framework 312, so that the track 314 can be fully tensioned.

[0054] According to some embodiments of the present application, as shown in Figure 4 The printing body 1 comprises: a first support beam 11 and a second support beam 12, a connecting beam 13, and a movable support 14; the first support beam 11 and the second support beam 12 are arranged in a spaced manner and are respectively connected to the walking device 3; the connecting beam 13 is connected between the first support beam 11 and the second support beam 12; the movable support 14 is movably connected to the first support beam 11 and the second support beam 12 and is selectively movable in a first direction; the printing nozzle 2 is movably arranged on the movable support 14 and is selectively movable in a second direction; and the connecting beam 13 is provided with a wire reel 5 for placing the wire material.

[0055] It should be noted that, as shown in Figure 4 The first direction refers to the height direction of the printing body 1, i.e., the direction perpendicular to the working surface, the second direction refers to the width direction of the printing body 1, and the third direction refers to the length direction of the printing body 1, i.e., the moving direction of the printing device 100. The movable support 14 is movably connected to the first support beam 11 and the second support beam 12 and is selectively movable in the first direction; the printing nozzle 2 is movably arranged on the movable support 14 and is selectively movable in the second direction; and the walking device 3 drives the entire printing device 100 to be selectively movable in the third direction. Based on this, when the printing device 100 moves to the printing position on the outer surface of the cabin, the printing nozzle 2 can be adjusted and moved in three directions to output the wire material to complete the printing action.

[0056] In some embodiments of the present application, the first support beam 11 and the second support beam 12 are respectively provided with a screw rod mechanism, the two groups of screw rod mechanisms are provided with a first moving end that moves synchronously in the first direction, and the movable support 14 is arranged between the first moving ends of the two groups of screw rod mechanisms; the movable support 14 is provided with a transmission belt mechanism, the transmission belt mechanism is provided with a second moving end that moves in the second direction, and the printing nozzle 2 is arranged on the second moving end. When the screw rod mechanism operates, the printing nozzle 2 is moved in the first direction, when the transmission belt mechanism operates, the printing nozzle 2 is moved in the second direction, and the screw rod mechanism, the transmission belt mechanism, and the walking device 3 cooperate to realize the additive printing of the printing nozzle 2 in the printing position. In this embodiment, the screw rod mechanism and the transmission belt mechanism are used to drive the printing nozzle 2, which is convenient to control and has high automation and stability.

[0057] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0058] In the description of the utility model, "first feature", "second feature" can include one or more features.

[0059] In the description of the utility model, "multiple" means two or more.

[0060] In the description of the utility model, "above" or "below" the first feature in the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them.

[0061] In the description of the utility model, "above", "above" and "above" of the first feature in the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature.

[0062] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A printing device, characterized in that: include: A printing body, wherein the printing body is provided with a printing nozzle for outputting a substrate; A walking device, the walking device is connected to the printing body and is provided with a walking portion for moving relative to a working surface; An adsorption device is provided on the walking portion, and the adsorption device is suitable for forming an adsorption force with the working surface to keep the walking portion moving on the working surface.

2. The printing device according to claim 1, wherein The walking portion is constructed as a walking wheel or a walking track, and the adsorption device is arranged on the outer surface of the walking wheel or the outer surface of the walking track.

3. The printing device according to claim 2, wherein: The adsorption device is constructed as a magnetic adsorption component or a bionic adsorption component.

4. The printing device according to claim 3, wherein The adsorption device comprises: a base layer, the base layer being arranged on the periphery of the walking track and being adapted to move along with the walking track; Adsorption columns are arranged on the outer surface of the base layer and arranged in an array, and each of the adsorption columns is formed with an adsorption surface suitable for fitting with a working surface.

5. The printing device according to claim 4, characterized in that The area of ​​the adsorption surface is S1, and satisfies 3800≤S1≤8000μm 2 ; The height of the adsorption column is H1, and satisfies 70≤H1≤100μm.

6. The printing device according to claim 1, wherein The walking device comprises: A connecting bracket, the connecting bracket being arranged on the printing body; a connecting arm, one end of which is hingedly connected to the connecting bracket; A walking part bracket is hingedly connected to the other end of the connecting arm, and the walking part is movably provided on the walking part bracket.

7. The printing device according to claim 6, wherein: The connecting arms are structured to be multiple and arranged in parallel with each other, and the multiple connecting arms rotate synchronously relative to the connecting bracket.

8. The printing device according to claim 6, wherein The walking device also includes: The connecting body is structured into two and is arranged on both sides of the printing body in the width direction, and each connecting body is formed with multiple rotation shafts; wherein The connecting brackets are configured to correspond one to one with the plurality of rotating shafts, and each connecting bracket is rotatably disposed on the rotating shaft.

9. The printing device according to claim 8, characterized in that The walking part comprises: A skeleton connected to the walking part bracket; a driving wheel rotatably disposed on the frame; A support wheel, the support wheel is rotatably disposed on the frame and spaced apart from the driving wheel; The crawler is arranged on the outer peripheral side of the integral structure composed of the driving wheel and the supporting wheel, and is suitable for being driven by the driving wheel and driving the supporting wheel to rotate for moving, and the outer surface of the crawler is formed with the adsorption device.

10. The printing device according to any one of claims 1 to 9, characterized in that: The printing body includes: a first support beam and a second support beam, wherein the first support beam and the second support beam are spaced apart and respectively connected to the walking device; a connecting beam connected between the first support beam and the second support beam; A movable bracket is movably connected to the first support beam and the second support beam respectively and can be selectively moved in a first direction; the print head is movably arranged on the movable bracket and can be selectively moved in a second direction.

Images