CN-122008535-A - Space additive manufacturing simulation verification-oriented water-float 3D printing device and method

CN122008535ACN 122008535 ACN122008535 ACN 122008535ACN-122008535-A

Abstract

The invention provides a water float 3D printing device and a method for space additive manufacturing simulation verification, and relates to the field of space additive manufacturing. The water-float 3D printing device comprises a controller, a main mechanical arm, a 3D printing head, a microgravity printing environment simulation device, a micro mechanical arm and a sensor assembly. The microgravity printing environment simulation device comprises a water tank and a dynamic floating substrate unit, wherein the dynamic floating substrate unit is arranged in the water tank to simulate the microgravity environment, the micro-mechanical arm is used for regulating and controlling the nozzle position of the 3D printing head to ensure the alignment of the nozzle and the floating substrate, and the main mechanical arm is used for moving the 3D printing head according to a preset printing path and assisting in regulating and controlling the nozzle position. The device not only can effectively simulate the space microgravity environment through the water float method, but also can realize accurate and rapid printing through the collaborative operation of the micro-mechanical arm and the mechanical arm of the host. The invention provides a space-simulated environment for fused deposition modeling printing, and can realize experiments of additive manufacturing of the space-simulated environment on the ground.

Inventors

GU DONGDONG
ZOU JINWEN
SUN JIANFENG
SU FANGYAN
CHEN WENXIN
LIU XIN

Assignees

南京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20260304

Claims (10)

1. The utility model provides a water-logging 3D printing device towards space additive manufacturing simulation verification, includes controller, main arm and 3D print head, and the upper end of 3D print head sets up the connector and is connected with the power take off end of main arm through the connector, and the lower extreme then is provided with the printing nozzle, and prints the nozzle and installs the pipeline intercommunication of pay-off on the connector, its characterized in that still includes microgravity printing environment analogue means, micro arm and sensor subassembly, wherein: one end of the micro-mechanical arm is connected with the connector, and the other end of the micro-mechanical arm is connected with the 3D printing head by abutting against the printing nozzle; The microgravity printing environment simulation device comprises a water tank and a dynamic floating substrate unit, wherein the water tank is filled with water medium with preset depth, and the dynamic floating substrate unit is arranged in the water tank and floats in the water medium in the water tank in a microgravity state and comprises a floating substrate and a dynamic air bag system arranged in the floating substrate; the sensor assembly comprises a load sensor, an air pressure sensor and a first inclination sensor and a second inclination sensor; a load sensor mounted on the floating substrate for detecting a load change caused by deposition of the printing material on the floating substrate and capable of transmitting the detected load change information to the controller; the first inclination sensor is assembled inside the floating substrate and is used for detecting the posture change of the floating substrate and transmitting the detected posture change information to the controller; A second inclination sensor is assembled outside the 3D printing head, and is used for detecting the posture change of the printing nozzle relative to the floating substrate and transmitting the detected posture change information to the controller; the air pressure sensor is assembled on the dynamic air bag system and is used for detecting air pressure change of the dynamic air bag system and transmitting detected air pressure change information to the controller; the controller controls the dynamic air bag system to charge/discharge according to the received load change information fed back by the load sensor until the air pressure change information fed back by the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium; the controller controls the micro-mechanical arm to cooperatively control the action of the main mechanical arm and the micro-mechanical arm according to the received gesture change information fed back by the first inclination sensor, so that the gesture change information fed back by the second inclination sensor indicates that the printing nozzle is aligned with the target printing position on the floating substrate.
2. The water-float 3D printing device for simulation verification of space additive manufacturing of claim 1, wherein the dynamic air bag system comprises an electric air pump, a pneumatic valve and a plurality of air bags, wherein the air bags are uniformly distributed in the floating substrate and are respectively communicated with the electric air pump through air pipes, and the pneumatic valve is arranged on the air pipe between each air bag and the electric air pump; The controller controls the electric air pump and each pneumatic valve to be opened and closed according to the received load change information fed back by the load sensor, so that the corresponding air bag is inflated/deflated until the air pressure change information fed back by the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium.
3. The water-float 3D printing device for simulation verification of space additive manufacturing according to claim 2, wherein the number of the air bags is four, the floating base plate is rectangular, and one air bag is arranged at each corner of the floating base plate.
4. A space-additive-manufacturing-simulation-verification-oriented water-float 3D printing device according to claim 1, wherein the load sensor is mounted at the bottom of the hot bed of the floating substrate.
5. A space additive manufacturing simulation verification-oriented water-float 3D printing device according to claim 1, wherein the main mechanical arm is arranged on a plane outside the water tank.
6. The water-float 3D printing device for simulation verification of space additive manufacturing according to claim 1, wherein a printing material channel for communicating a storage device and a feeding pipeline is arranged on the main mechanical arm, the storage device is arranged beside the main mechanical arm, and the storage device conveys printing materials to the feeding pipeline through the printing material channel.
7. The 3D printing device for simulating and verifying space additive manufacturing according to claim 1, wherein the 3D printing head further comprises a heating block and a cooling fin, the heating block and the cooling fin are respectively connected with a feeding pipeline, the heating block is arranged close to a printing nozzle, the cooling fin is arranged close to a connector, a high-temperature-resistant hose is used for a part, connected between the heating block and the cooling fin, of the feeding pipeline, and the micromechanical arm is connected with the heating block.
8. The space additive manufacturing simulation verification-oriented water float 3D printing method is realized based on the space additive manufacturing simulation verification-oriented water float 3D printing device as claimed in claim 1, and is characterized by comprising the following steps: Firstly, a preparation stage, namely placing a floating substrate in a water tank, configuring a dynamic air bag system and a micro-mechanical arm, and connecting a sensor assembly and a controller; The printing stage comprises the steps of printing by a 3D printing head according to a preset path, adopting a first inclination sensor and a second inclination sensor to monitor the offset of the floating substrate in real time and automatically adjust the position of a printing nozzle in the printing process so as to ensure that the floating substrate is always aligned with the 3D printing head, adopting a load sensor to monitor the weight change of the floating substrate in real time, adopting an air pressure sensor to monitor the buoyancy change of the floating substrate in real time and automatically adjust the internal air pressure of a dynamic air bag system so as to ensure that the floating substrate is always in a microgravity state; And thirdly, after printing is finished, the system is closed and the data are collected for subsequent processing so as to analyze the printing quality and stability.
9. The method for simulating and verifying water-borne 3D printing by space additive manufacturing according to claim 8, wherein in the second step, to ensure that the floating substrate is in a microgravity state, the deposition rate of the printing material on the floating substrate Total displacement volume change with dynamic airbag system The requirements are satisfied: ; In which the total displacement volume of the dynamic air-bag system varies Obtained by real-time monitoring of the air pressure sensor, the deposition rate of the printing material on the floating substrate The method comprises the steps of obtaining through real-time monitoring of a load sensor; Representing the density of the aqueous medium.
10. The method for simulating and verifying water-float 3D printing for space additive manufacturing according to claim 8, wherein in the second step, when the first inclination sensor monitors that the offset angle of the floating substrate is smaller than θ° in real time, the micro-mechanical arm is controlled to adjust the 3D printing head, and the response time of the micro-mechanical arm is controlled to operate The method meets the following conditions: , Indicating the maximum angular velocity of the floating substrate driven by the micro-mechanical arm until the angle information detected by the second inclination sensor indicates that the printing nozzle is aligned with the target position on the floating substrate; When the angle of the offset of the floating substrate monitored by the first inclination sensor in real time is larger than theta degrees, the main mechanical arm and the micro mechanical arm are controlled to work cooperatively until the angle information detected by the second inclination sensor indicates that the printing nozzle is aligned with the target position on the floating substrate, and in the process, the main mechanical arm and the micro mechanical arm work cooperatively to realize the total adjustment time for adjusting the printing nozzle in place The requirements are satisfied: wherein: In order to print the layer resolution it is possible, Is the printing speed.

Description

Space additive manufacturing simulation verification-oriented water-float 3D printing device and method Technical Field The invention relates to the technical field of 3D printing, in particular to a water-float 3D printing device and method for simulation verification of space additive manufacturing. Background With the continuous expansion of space exploration, space printing technology has become a key for realizing long-term space tasks and deep space exploration. The technology can manufacture spacecraft parts and medical supplies as required, reduce dependence on earth replenishment tasks and support deep space exploration tasks. However, space printing technology faces limitations in product performance and manufacturing accuracy, as well as the effects of extreme environmental conditions, which limit the development of 3D printing technology in space and have an impact on manufacturing processes and final product quality. In addition, the printing technology of the existing simulation space environment has a plurality of challenges, such as high simulation experiment cost, unstable simulation environment and the like, which need to be overcome by new simulation equipment. Therefore, it is particularly urgent to construct new simulation equipment, which is required to be capable of more stably simulating the space environment and realizing accurate and rapid printing. Disclosure of Invention The invention aims to provide a water-float 3D printing device and a method for simulating and verifying space additive manufacturing, which solve the limitations of the prior art in experimental cost and equipment design, so as to more conveniently perform a 3D printing experiment simulating a space environment on the ground and promote the development and application of a space printing technology. In order to achieve the technical purpose, the invention adopts the following technical scheme: A water-float 3D printing device for simulation verification of space additive manufacturing comprises a controller, a main mechanical arm, a 3D printing head, a microgravity printing environment simulation device, a micro mechanical arm and a sensor assembly, wherein: The upper end of the 3D printing head is provided with a connector and is connected with the power output end of the main mechanical arm through the connector, the lower end of the 3D printing head is provided with a printing nozzle, and the printing nozzle is communicated with a feeding pipeline arranged on the connector; one end of the micro-mechanical arm is connected with the connector, and the other end of the micro-mechanical arm is connected with the 3D printing head by abutting against the printing nozzle; The microgravity printing environment simulation device comprises a water tank and a dynamic floating substrate unit, wherein the water tank is filled with water medium with preset depth, and the dynamic floating substrate unit is arranged in the water tank and floats in the water medium in the water tank in a microgravity state and comprises a floating substrate and a dynamic air bag system arranged in the floating substrate; the sensor assembly comprises a load sensor, an air pressure sensor and a first inclination sensor and a second inclination sensor; a load sensor mounted on the floating substrate for detecting a load change caused by deposition of the printing material on the floating substrate and capable of transmitting the detected load change information to the controller; the first inclination sensor is assembled inside the floating substrate and is used for detecting the posture change of the floating substrate and transmitting the detected posture change information to the controller; A second inclination sensor is assembled outside the 3D printing head, and is used for detecting the posture change of the printing nozzle relative to the floating substrate and transmitting the detected posture change information to the controller; the air pressure sensor is assembled on the dynamic air bag system and is used for detecting air pressure change of the dynamic air bag system and transmitting detected air pressure change information to the controller; the controller controls the dynamic air bag system to charge/discharge according to the received load change information fed back by the load sensor until the air pressure change information fed back by the air pressure sensor indicates that the floating substrate is in a microgravity state in the water medium; the controller controls the micro-mechanical arm to cooperatively control the action of the main mechanical arm and the micro-mechanical arm according to the received gesture change information fed back by the first inclination sensor, so that the gesture change information fed back by the second inclination sensor indicates that the printing nozzle is aligned with the target printing position on the floating substrate. Preferably, the dynamic air bag system comprises an electric air pu