CN106522553A - 3D wall printing robot - Google Patents
3D wall printing robot Download PDFInfo
- Publication number
- CN106522553A CN106522553A CN201611241512.2A CN201611241512A CN106522553A CN 106522553 A CN106522553 A CN 106522553A CN 201611241512 A CN201611241512 A CN 201611241512A CN 106522553 A CN106522553 A CN 106522553A
- Authority
- CN
- China
- Prior art keywords
- axis moving
- moving assembly
- axis
- discharging opening
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
Abstract
The invention relates to a 3D wall printing robot which comprises a foundation framework, a Z-axis moving assembly, a Y-axis fixed framework, a Y-axis moving assembly and a printing head assembly. The Z-axis moving assembly is movably mounted on the foundation framework through a driving device, the Y-axis moving assembly is movably mounted on the Z-axis moving assembly through a driving device, and the printing head assembly is arranged on the Y-axis moving assembly and controlled by a shuttling assembly on the Y-axis moving assembly to move on the Y-axis moving assembly. The actual operating area of the robot can be adjusted by increasing and decreasing the numbers of supporting stand column modules, cross beam modules and printing head modules, and thus operation efficiency is improved; the modular design is adopted, the development and erecting cost can be obviously lowered, and assessment of the construction budget is facilitated; and a cross beam can extend to the two sides of a stand column, full-scale printing of a wall can be achieved, and the universality of the printing robot is improved.
Description
Technical field
The present invention relates to a kind of 3D printer device, specifically a kind of 3D bodies of wall printer device people.
Background technology
Adopting artificial stirrup, mechanical placing concrete to need to expend a large amount of human and material resources at present building trade more.With
The development of 3D printing technique, this 3D building material techniques are gradually applied to construction industry, with successively beating for novel sticky and material
Print replaces the pouring of a large amount of concrete.As 3D printing technique is in the application of building trade, high-voltage line crusing robot is obtained extensively
General application.Wherein, the key content of the artificial research of modular architectural printer device, but existing building printer device people is suffered from
High cost, obstacle climbing ability are poor, limited by conditions such as geographical position weathers.
As application publication number is disclosed for the application for a patent for invention of CN105715052A, " job site prints the 3D of concrete
House printer and Method of printing and house ", the system include purlin car, drive mechanism and walking mechanism, pouring out concrete component,
Hoisting mechanism, automatic controls.But there is problems with：(1) structure of gantry purlin car has only been borrowed, has been can be only done and be less than
The house of purlin car body is printed, therefore it is very big to print limitation；(2) overall volume is excessive, not readily transportable, mobile, if printing
Different buildings need to change the size of purlin car, therefore poor universality；(3) the overall free degree is few, can be only done simple body of wall and prints.
The content of the invention
For overall big, the overall free degree of body of wall printer device people in prior art is few and the deficiency such as poor universality, this
Problems to be solved by the invention be to provide a kind of full-scale printing of achievable body of wall, improve printer device people versatility 3D
Body of wall printer device people.
To solve above-mentioned technical problem, the technical solution used in the present invention is：
A kind of 3D bodies of wall printer device people of the present invention, including the shifting of basic framework, Z axis moving assembly, Y-axis fixed frame, Y-axis
Dynamic component and print head assembly, wherein Z axis moving assembly are movably installed on basic framework by driving means, Y-axis movement
Component is movably installed on Z axis moving assembly by driving means, and print head assembly is arranged on Y-axis moving assembly, printhead
Component is moved on Y-axis moving assembly by the shuttle component control on Y-axis moving assembly.
Z axis moving assembly can be along Z-direction movement by the first driving means connection being fixed on basic support frame frame
Pinion and rack；Can consolidate along the Y-axis of Z-direction movement with connection by the second driving means are synchronized on Z axis moving assembly
Determine framework.
Y-axis moving assembly includes Y-axis moving frame and shuttle component, and the gear of shuttle component is fixed with Y-axis simultaneously and propped up
The tooth bar engagement of tooth bar and Y-axis moving frame on frame；The servomotor of shuttle component selects to drive Y-axis motion by clutch
Framework moves or drives Timing Belt and drives print head assembly to move along Y direction.
Print head assembly includes charging aperture, material transfer drum, spiral conveying mechanism and discharging opening, and its middle charging aperture is located at
The top of printhead, material transfer drum one end top connection charging aperture, other end connection discharging opening are provided with spiral shell in material transfer drum
Rotation conveying mechanism, below the entrance correspondence charging aperture of spiral conveying mechanism, outlet correspondence discharging opening, spiral conveying mechanism is by beating
Print head servomotor drives.
Discharging opening is rotated for sealing with material transfer drum and is connected, and discharging opening is externally provided with discharging opening gear；Discharging opening of also having revolves
Turn motor, which is passed through drive gear and is engaged with discharging opening gear.
The invention has the advantages that and advantage：
1. the actual job area of the present invention can subtract support post module, crossbeam module, printhead module by increasing
Quantity and adjust, so as to optimize operating efficiency, and employ modularized design, research and development can be significantly reduced and cost is set up, and have
Beneficial to the assessment of construction budget；Crossbeam may extend to column both sides, therefore the full-scale printing of achievable body of wall, improve printing
The versatility of robot.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the Y-axis shuttle mechanism in the present invention；
Fig. 3 is the print head assembly overall diagram in the present invention；
Fig. 4 is the screw feeder structure in the present invention.
Wherein, framework based on 1,2 is Z axis moving frame, and 201 is the second driving means, and 3 is Y-axis moving frame, and 4 is Y
Axle fixed frame, 401 is rack structure, and 5 is print head assembly, and 501 is charging aperture, and 502 is screw feed mechanism, and 503 is to beat
Print head servomotor, 504 is discharging opening rotary drive motor, and 505 is discharging opening, and 506 is material transfer drum, and 507 is discharging opening
Gear, 508 is drive gear, and 6 is shuttle component, and 601 is gear, and 602 is servomotor, and 603 is clutch, and 604 is synchronous
Belt wheel.
Specific embodiment
With reference to Figure of description, the present invention is further elaborated.
As shown in figure 1, a kind of 3D bodies of wall printer device people of the invention, including basic framework 1, Z axis moving assembly, Y-axis are solid
Determine framework 4, Y-axis moving assembly and print head assembly 5, wherein Z axis moving assembly is movably installed in basis by driving means
On framework 1, Y-axis moving assembly is movably installed on Z axis moving assembly by driving means, and print head assembly 5 is arranged on Y-axis shifting
On dynamic component, print head assembly 5 is moved on Y-axis moving assembly by the shuttle component control on Y-axis moving assembly.
Z axis moving assembly can be along the tooth of Z-direction movement by the first driving means connection being fixed on basic framework 1
Wheel rackwork；Can be consolidated along the Y-axis of Z-direction movement by the synchronized band connection of the second driving means 201 on Z axis moving assembly
Determine framework 4.
As shown in Fig. 2 Y-axis moving assembly includes Y-axis motion 4 and shuttle component 6, the gear 601 of shuttle component 6 is simultaneously
Engage with the tooth bar of tooth bar 401 and Y-axis moving frame 3 on Y-axis fixed support 4；The servomotor 602 of shuttle component 6 passes through
The selection of clutch 603 drives Y-axis moving frame 3 to move or drive Timing Belt drive print head assembly 5 and moves along Y direction.
As shown in figure 4, print head assembly includes charging aperture 501, material transfer drum 506, spiral conveying mechanism 502 and goes out
Material mouth 505, located at the top of printhead, connection charging aperture 501 in 506 one end top of material transfer drum is another for its middle charging aperture 501
End connection discharging opening 505, is provided with spiral conveying mechanism 502, the entrance correspondence of spiral conveying mechanism 502 in material transfer drum 506
Below charging aperture 501, outlet correspondence discharging opening 505, spiral conveying mechanism 502 are driven by printhead servomotor 503.
Print head assembly 5 includes charging aperture 501, material transfer drum 506, spiral conveying mechanism 502 and discharging opening 505,
Located at the top of printhead, 506 one end top of material transfer drum connection charging aperture 501, the other end connects its middle charging aperture 501
Material mouth 505, is provided with spiral conveying mechanism 502, the entrance correspondence charging aperture 501 of spiral conveying mechanism 502 in material transfer drum 506
Lower section, outlet correspondence discharging opening 505, spiral conveying mechanism 502 are driven by printhead servomotor 503.
As shown in figure 3, discharging opening 505 is rotated for sealing with material transfer drum 506 being connected, discharging opening 505 is externally provided with discharging
Ability to speak wheel 507；Also have a discharging opening rotary drive motor 504, which is passed through drive gear 508 and is engaged with discharging opening gear 507.
Overall employing of the invention is made up of basic framework 1, Z axis moving assembly, Y-axis moving assembly and print head assembly 5
Body of wall print system.Z axis moving frame 2 is by the motor drive gear tooth bar mechanism reality that is fixed on basic framework 1
Movement of the existing Z axis moving frame along Z-direction, the motor on Z axis moving frame drive Y-axis fixed frame by Timing Belt
4 movement, realize the large range of movement in Z-direction of Y-axis fixed frame, and two type of drive are implemented in combination with
The 4 large range of movement of Y-axis fixed frame.Servomotor in Y-direction can pass through the rack structure on Y-axis fixed frame 4
The motion of shuttle component 6 and the motion of Y-axis moving frame 3 are realized, telescopic motion is realized.Servomotor in Y-axis passes through
Clutch 603 in control shuttle component 6 selects to drive Y-axis moving frame 3 to move or drive Timing Belt drive print head assembly 5
Moving in Y direction.Grand movement of the printhead in Y-axis is realized by above structure, printhead is increased
Working range, can smoothly print body of wall whole story end.Printhead outlet can not only be ensured using the feed-type of spiral pusher
Body of wall printed material can be smooth and makes body of wall printed material more uniform.
Simultaneously as discharging opening of the present invention 505 and material transfer drum 506 are rotated for sealing be connected, make the discharging opening 505 can be
Vertically flat interior rotation so as to can fully print the top and end of body of wall.
Two moving cells of Z axis and Y-axis all employ telescopic two-stage motion, are ensureing 3D body of wall printers
The space shared by body of wall printer itself is effectively reduced while working range, is transported for body of wall printer and storage is provided
It is convenient.Y-axis motion drives the motion of shuttle mechanism, Y-axis moving frame and Timing Belt using a motor, by controlling electricity
Magnet clutch selects to drive different moving components.
Claims (5)
1. a kind of 3D bodies of wall printer device people, it is characterised in that：Including basic framework, Z axis moving assembly, Y-axis fixed frame, Y
Axle moving assembly and print head assembly, wherein Z axis moving assembly are movably installed on basic framework by driving means, Y-axis
Moving assembly is movably installed on Z axis moving assembly by driving means, and print head assembly is arranged on Y-axis moving assembly, is beaten
Print head assembly is moved on Y-axis moving assembly by the shuttle component control on Y-axis moving assembly.
2. 3D body of wall printer device people as described in claim 1, it is characterised in that：Z axis moving assembly is by being fixed on basis
First driving means connection on support frame frame can be along the pinion and rack of Z-direction movement；Pass through second on Z axis moving assembly
Driving means are synchronized can be along the Y-axis fixed frame of Z-direction movement with connection.
3. 3D body of wall printer device people as described in claim 1, it is characterised in that：Y-axis moving assembly includes Y-axis moving frame
And shuttle component, the gear of shuttle component is while engage with the tooth bar of tooth bar and Y-axis moving frame on Y-axis fixed support；
The servomotor of shuttle component is selected to drive the movement of Y-axis moving frame by clutch or drives Timing Belt to drive print head assembly
Move along Y direction.
4. 3D body of wall printer device people as described in claim 1, it is characterised in that：Print head assembly includes charging aperture, material
Transfer drum, spiral conveying mechanism and discharging opening, its middle charging aperture connect located at the top of printhead, material transfer drum one end top
Material mouth is tapped into, other end connection discharging opening is provided with spiral conveying mechanism, the entrance correspondence of spiral conveying mechanism in material transfer drum
Below charging aperture, outlet correspondence discharging opening, spiral conveying mechanism are driven by printhead servomotor.
5. 3D body of wall printer device people as described in claim 4, it is characterised in that：Discharging opening is turned for sealing with material transfer drum
Dynamic connection, discharging opening are externally provided with discharging opening gear；Also have a discharging opening rotary drive motor, which passes through drive gear with discharging ability to speak
Wheel engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611241512.2A CN106522553A (en) | 2016-12-29 | 2016-12-29 | 3D wall printing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611241512.2A CN106522553A (en) | 2016-12-29 | 2016-12-29 | 3D wall printing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106522553A true CN106522553A (en) | 2017-03-22 |
Family
ID=58339150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611241512.2A Pending CN106522553A (en) | 2016-12-29 | 2016-12-29 | 3D wall printing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106522553A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3068911A1 (en) * | 2017-07-13 | 2019-01-18 | Xtreee | EXTRUSION HEAD OF CORDS OF CONSTRUCTION MATERIALS OF AN ADDITIVE MANUFACTURING ROBOT EQUIPPED WITH A LAUNDRY DEVICE |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1766260A (en) * | 2005-11-16 | 2006-05-03 | 黄修文 | Hand-held electric multifunctional building overlay decorating apparatus |
| CN103331817A (en) * | 2013-07-01 | 2013-10-02 | 北京交通大学 | 3D (Three-dimensional) printing method of engineering structure |
| CN203636981U (en) * | 2013-11-20 | 2014-06-11 | 西安上尚机电有限公司 | 3D (Three Dimensional) printing structure framework |
| CN203637186U (en) * | 2013-11-16 | 2014-06-11 | 西安上尚机电有限公司 | Y-axis movement structure of machine head of colored 3D (Three Dimensional) printer |
| CN204940868U (en) * | 2015-09-15 | 2016-01-06 | 马义和 | A kind of on-the-spot 3D prints the construction machinery of building |
| CN105401727A (en) * | 2015-11-26 | 2016-03-16 | 中国矿业大学 | Modularized 3D building printer |
| CN205167577U (en) * | 2015-11-16 | 2016-04-20 | 陈志敏 | Three -dimensional inkjet printer fluid extrusion system |
| ES1150409Y (en) * | 2016-01-14 | 2016-05-03 | Valencia José Luis Puchades | Scrollable three-dimensional printing device |
| CN205202203U (en) * | 2015-12-09 | 2016-05-04 | 石家庄宝信防伪科技有限公司 | 3D (three -dimensional) printer |
| WO2016166116A1 (en) * | 2015-04-12 | 2016-10-20 | Imprimere Ag | Concrete printer and method for erecting structures using a concrete printer |
| CN206408939U (en) * | 2016-12-29 | 2017-08-15 | 沈阳航博自动化科技有限公司 | A kind of 3D walls printer device people |
-
2016
- 2016-12-29 CN CN201611241512.2A patent/CN106522553A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1766260A (en) * | 2005-11-16 | 2006-05-03 | 黄修文 | Hand-held electric multifunctional building overlay decorating apparatus |
| CN103331817A (en) * | 2013-07-01 | 2013-10-02 | 北京交通大学 | 3D (Three-dimensional) printing method of engineering structure |
| CN203637186U (en) * | 2013-11-16 | 2014-06-11 | 西安上尚机电有限公司 | Y-axis movement structure of machine head of colored 3D (Three Dimensional) printer |
| CN203636981U (en) * | 2013-11-20 | 2014-06-11 | 西安上尚机电有限公司 | 3D (Three Dimensional) printing structure framework |
| WO2016166116A1 (en) * | 2015-04-12 | 2016-10-20 | Imprimere Ag | Concrete printer and method for erecting structures using a concrete printer |
| CN204940868U (en) * | 2015-09-15 | 2016-01-06 | 马义和 | A kind of on-the-spot 3D prints the construction machinery of building |
| CN205167577U (en) * | 2015-11-16 | 2016-04-20 | 陈志敏 | Three -dimensional inkjet printer fluid extrusion system |
| CN105401727A (en) * | 2015-11-26 | 2016-03-16 | 中国矿业大学 | Modularized 3D building printer |
| CN205202203U (en) * | 2015-12-09 | 2016-05-04 | 石家庄宝信防伪科技有限公司 | 3D (three -dimensional) printer |
| ES1150409Y (en) * | 2016-01-14 | 2016-05-03 | Valencia José Luis Puchades | Scrollable three-dimensional printing device |
| CN206408939U (en) * | 2016-12-29 | 2017-08-15 | 沈阳航博自动化科技有限公司 | A kind of 3D walls printer device people |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3068911A1 (en) * | 2017-07-13 | 2019-01-18 | Xtreee | EXTRUSION HEAD OF CORDS OF CONSTRUCTION MATERIALS OF AN ADDITIVE MANUFACTURING ROBOT EQUIPPED WITH A LAUNDRY DEVICE |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2079656B1 (en) | Robotic gantry system | |
| CN202168138U (en) | Intelligent mobile track type image pickup apparatus | |
| CN102489701B (en) | Full-automatic magnetic powder forming press machine | |
| CN107553687B (en) | The house 3D printer | |
| CN102489702B (en) | Quantified material supplying device for full-automatic magnetic powder forming press | |
| CN206408939U (en) | A kind of 3D walls printer device people | |
| CN107165424A (en) | Indoor large wallboard mounting machine | |
| CN107201823A (en) | A kind of building wall is with exempting from type plastering machine of plastering | |
| CN104131687A (en) | Automatic wall plastering machine | |
| CN107521536A (en) | A kind of architectural engineering clamps conveying arrangement with building materials material | |
| CN104143272B (en) | A kind of stereoscopic image display machine based on interactive teaching | |
| CN104175309A (en) | Wall building robot | |
| CN106522553A (en) | 3D wall printing robot | |
| CN206707309U (en) | It is a kind of to build to the bricklaying robot of floor slab tops | |
| CN101638937A (en) | Electric top whitewashing machine | |
| CN102817465A (en) | Automatic wall surface mortar painting machine | |
| CN210944013U (en) | Unloading device for welding net rack pipe | |
| JP3176266B2 (en) | Panel mounting device and mounting method | |
| CN107524299A (en) | Build contoured machine and build contoured method | |
| CN206952980U (en) | A kind of setting-out robot moving platform for construction and decoration | |
| CN208056566U (en) | A kind of novel automatic decoration equipment | |
| CN206187889U (en) | But push -and -pull translation of main equipment turns to construction system | |
| CN102513534B (en) | Quantitative feeding device of fully-automatic magnetic powder forming press | |
| CN107282367A (en) | Automate application device | |
| CN220705053U (en) | Plastering machine for building construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |
|
| RJ01 | Rejection of invention patent application after publication |