The embodiment of the utility model discloses FDM-based 3D printing equipment. The FDM-based 3D printing equipment comprises a gantry machine tool motion platform, an extrusion mechanism and a multi-joint robot, the gantry machine tool motion platform is of a movable cross beam viaduct structure. The extrusion mechanism comprises an extruder and an extrusion head, the extruder is installed on a viaduct type cross beam structure of the gantry machine tool motion platform, and the extrusion head is installed at the tail end of an arm of the multi-joint robot; and the multi-joint robot is mountedon a vertical ram of the gantry machine tool motion platform. According to the technical scheme, the production mode of components of complex space structures can be improved, production efficiency is improved, product quality is improved, manual intervention is reduced, and therefore diversified production requirements are met.