CN109366684A - Set up the 3D printing device and method of automatic cloth muscle system - Google Patents
Set up the 3D printing device and method of automatic cloth muscle system Download PDFInfo
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- CN109366684A CN109366684A CN201811423541.XA CN201811423541A CN109366684A CN 109366684 A CN109366684 A CN 109366684A CN 201811423541 A CN201811423541 A CN 201811423541A CN 109366684 A CN109366684 A CN 109366684A
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- 238000010146 3D printing Methods 0.000 title claims abstract description 108
- 210000003205 muscle Anatomy 0.000 title claims abstract description 70
- 239000004744 fabric Substances 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000007639 printing Methods 0.000 claims abstract description 53
- 239000000463 material Substances 0.000 claims abstract description 48
- 238000010276 construction Methods 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 239000004035 construction material Substances 0.000 claims description 25
- 230000003014 reinforcing effect Effects 0.000 claims description 16
- 239000007921 spray Substances 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 10
- 238000003756 stirring Methods 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000011065 in-situ storage Methods 0.000 claims description 4
- 238000004806 packaging method and process Methods 0.000 claims description 4
- 230000015271 coagulation Effects 0.000 claims 1
- 238000005345 coagulation Methods 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000003860 storage Methods 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000005507 spraying Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
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- 230000004048 modification Effects 0.000 description 3
- 238000012806 monitoring device Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 206010001497 Agitation Diseases 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B23/00—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects
- B28B23/02—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects wherein the elements are reinforcing members
- B28B23/022—Means for inserting reinforcing members into the mould or for supporting them in the mould
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
Abstract
The present invention provides a kind of 3D printing device and methods for setting up automatic cloth muscle system, comprising: first movement container 100, assembly and connection mechanism 200, printing frame body 300, concrete 3D printing mechanism 400, automatic cloth muscle system 500, print platform 600, print control system 700, print state monitoring system 800, material supplying systems, the second moving containers and curing system.The present invention has the characteristics that high degree of automation, environmental protection, safe and reliable, can increase substantially construction efficiency, reduce labor intensity, improve operating environment, reduce construction accident rate, save material, save the time, greatly reduce management cost and operating charges.
Description
Technical field
The present invention relates to a kind of 3D printing device and methods for setting up automatic cloth muscle system.
Background technique
The mechanization of traditional architecture industry and the degree of automation are lower, and there is an urgent need to transition and upgrades for development.With 3D printing
The development of technology simultaneously graduallys mature, which will bring technological innovation to labor-intensive construction industry.Building 3D printing is
A kind of large scale is not necessarily to the automation building technology of template, there is automatic and mechanical degree height, one-pass molding, build consumptive material and
The features such as process loss is few is a kind of important means for realizing construction industry transition and upgrade, is to solve to build efficient, safety, number
Change, automation, the intelligent effective way built, the development trend for having become construction industry is studied in technology and equipment.
Existing building 3D printing technique and equipment, most equipment are fixed gantry formula or truss structure, are set to work
It is immovable and not readily transportable and influence its use in factory, while technical method does not consider reinforcing bar, prints the strong of construction structure
Degree cannot ensure or reinforcing bar needs are accomplished manually.
Summary of the invention
The purpose of the present invention is to provide a kind of 3D printing device and method for setting up automatic cloth muscle system, it is able to solve existing
The technical issues of having 3D printing device immovable and not being suitable for construction site printing, existing method do not consider that reinforcing bar, which is arranged, to be made
The more low technical problem of structural strength and existing apparatus and method the problem of cannot laying reinforcing bar automatically.
To solve the above problems, the present invention provides a kind of 3D printing device for setting up automatic cloth muscle system, comprising:
First movement container 100, assembly and connection mechanism 200, printing frame body 300, concrete 3D printing mechanism 400, from
Dynamic cloth muscle system 500, print platform 600, print control system 700, print state monitoring system 800, material supplying systems, the
Two moving containers and curing system, wherein
The printing frame body 300 is fixedly connected in first movement container 100 by assembly and connection mechanism 200；
Concrete 3D printing mechanism 400 and automatic cloth muscle system 500 are connected on the printing frame body 300；
The print control system 700 and print state monitoring system 800 are set to the first movement container 100
It is interior, the print control system 700 respectively with concrete 3D printing mechanism 400, automatic cloth muscle system 500 and print state
Monitoring system 800 connects；
The print platform 600 is movable part, when concrete 3D printing mechanism 400 stops printing, the printing
Platform 600 is accommodated in the first movement container 100；When concrete 3D printing mechanism 400 starts and prints, the printing
Platform 600 moves to outside the first movement container 100, is printed for carrying by concrete 3D printing mechanism 400
Structure；And when concrete 3D printing mechanism 400 completes to print, the print platform 400 is moved to together with the structure carried thereon
Second moving containers, to be conserved to the structure；
The material supplying systems are set to outside the first movement container 100, and with the concrete 3D printer
Structure 400 connects；
The curing system is set in second moving containers, for in immigration second moving containers
The print platform 600 on structure conserved.
Further, in the above-mentioned 3D printing device for setting up automatic cloth muscle system, 100 He of first movement container
Second moving containers respectively include:
2 bottom beams 110 parallel to each other；
With at least two root bottom part crossbeams 120 connected vertically of 2 root bottom part beam 110；
With both ends 4 two parallel frames connected vertically of 2 root bottom part beams 110 and outermost 2 root bottom part crossbeam 120
Trestle 130；
2 roof beams 140 parallel to each other, wherein the top of every roof beam 140 and adjacent wherein 2 frame columns 130
The vertical connection in end；
2 top cross-bars 150, wherein the both ends of every top cross-bar 150 and 2 piece roof beam 140 are vertical to be connect；
It is embedded in the bottom plate 160 of the bottom beam 110 and base cross members 120；
The clamshell doors 170 being connect with 2 adjacent frame columns 130, wherein the first movement container 100 or the second
1 clamshell doors 170 is respectively arranged in the left and right sides wall of moving containers；
The top-hung door 180 being connect with top cross-bar 150, wherein the first movement container 100 or the second mobile packaging
1 top-hung door 180 is respectively arranged in the front and rear sides wall of case；
The four door 190 being connect with 2 top cross-bars 150, wherein the first movement container 100 or second is mobile
1 four door 190 is provided at the top of container.
Further, in the above-mentioned 3D printing device for setting up automatic cloth muscle system, with the first movement container 100
The assembly and connection mechanism 200 of connection includes:
At least four bottom fastening-type connection component 210 being connect with the bottom plate 160 of the first movement container 100；
4 telescopic connection components in top that one end is connect with the inner surface of the four door 190 of first movement container 100
230；
The top connecting cross beam 220 connecting with the other end of the telescopic connection component 230 in every 2 tops, every top connect
Crossbeam 220 is connect to be fixed in a roof beam 140.
Further, in the above-mentioned 3D printing device for setting up automatic cloth muscle system, the printing frame body 300 includes:
Mobile packaging is fixed on by the bottom fastening-type connection component 210 and 4 telescopic connection components 230 in top
The supporting frame 310 of the inner surface of case 100, support frame as described above body 310 include: 2 it is parallel to each other and with the bottom fastening-type
The horizontal shore 311 that connection component 210 connects；It is put down two-by-two with 2 horizontal shores 311 at least 6 connected vertically one end
Capable support column 313；Another 2 horizontal shores 311 and longitudinal support beam 312 being connect with the other end of the support column 313；
The guide rail connection component 320 being connect with support frame as described above body 310, including bottom linker 321 and top link
322；
Pass through the bottom linker 321 and top link 322 and supporting frame 310 of the guide rail connection component 320
At least 6 vertical guides 340 that support column 313 is fixedly connected；
At least four connecting with the vertical guide 340 vertically drives braking 330；
By vertical 330 guide rail brackets 350 that connect with vertical guide 340 of driving braking, the guide rail bracket 350 is by 2
Root guide rail beam 351 and 2 piece parallel to each other guide rail beam 352 parallel to each other is surrounded, wherein the vertical driving braking
330 realization guide rail brackets 350 are moved linearly and are braked along vertical guide 340；
The 2 horizontal drives braking 360 being connect with 2 guide rail beams 352 of the guide rail bracket 350；
It is set between 2 horizontal drive brakings 360 and the common guide rails connecting with 2 horizontal drive brakings 360 is horizontal
Beam 370, wherein the 360 realization common guide rails crossbeam 370 of horizontal drive braking is made linearly along 2 parallel guide rail beams 352
It moves and brakes.
Further, in the above-mentioned 3D printing device for setting up automatic cloth muscle system, concrete 3D printing mechanism
400, comprising: print head driving braking 440, nozzle 470, print head rotation driving 450,
Wherein, print head driving braking 440 is connect with the print head guide rail beam 370, the nozzle 470 and is beaten
Print 440 connection of head driving braking, print head driving braking 440 for realizing concrete print head 380 nozzle 470 along
Print head guide rail beam 370 is moved linearly and is braked；The print head rotation driving 450 is connect with the nozzle 470, is used for
Realize that nozzle 470 axially rotates.
Further, in the above-mentioned 3D printing device for setting up automatic cloth muscle system, the automatic cloth muscle system 500 is wrapped
It includes: manipulator lifting beam 510, robot drives braking 520, manipulator rotation driving 530, mechanical arm 540 and manipulator 550,
Wherein,
The common guide rails crossbeam that the manipulator lifting beam 510 passes through robot drives braking 520 and printing frame body 300
370 connections, the manipulator lifting beam 510 connect with the mechanical arm 540, the robot drives brake 520 for realizing
Manipulator lifting beam 510 is moved linearly and is braked along about 370 common guide rails crossbeam, and is driven and be connected to mechanical arm 540
On about 550 manipulator it is reciprocating；The manipulator rotation driving 530 is connect with the mechanical arm 540, for realizing
The manipulator 550 being connected on mechanical arm 540 axially rotates.
Further, in the above-mentioned 3D printing device for setting up automatic cloth muscle system, the print platform 600 includes:
2 platform rails 660 contacted with the surface of the bottom plate 160；
At least four roll wheel assembly 650 contacted with 2 platform rails 660；
The mobile driving 640 of the platform being connect respectively with the roll wheel assembly 650；
2 landing beams 620 being connect with the mobile driving 640 of the platform；
With 2 landing beams 620 at least 2 platform beams 630 connected vertically；
The platform panel 610 being connect with the landing beam 620 and 630 upper surface of platform beams.
Another side according to the present invention is provided a kind of 3D printing method for setting up automatic cloth muscle system, is set up using above-mentioned
The 3D printing device of automatic cloth muscle system, which comprises
Live 3D printing device is transported to construction site, is mixed construction material by the stirring system of material supplying systems
After conjunction, and mixed construction material is conveyed to concrete 3D printing mechanism 400 by material supplying systems, using reinforcing bar plus
Print platform 600 is moved to printable region by construction equipment screwing steel bars net or lengths of rebar；
Concrete 3D printing mechanism 400 is controlled by print control system 700 and sprays construction material, is realized in print platform
The bottom-up successively upward printing test of building element, judges the stability of 3D printing mechanism 300 on 600；
Concrete 3D printing mechanism 400 is controlled by print control system 700 and sprays construction material, is realized in print platform
The bottom-up of building element successively extends up printing generation by print structure on 600；
The operating status that 800 real-time monitoring concrete 3D printing mechanism 400 of system is monitored by print state, when being printed
Structure reaches the height of the setting of print control system 700, i.e., when the position for being reached laying reinforcing bar by print structure height, concrete
After 3D printing mechanism 400 stops injection construction material, is sent and controlled to automatic cloth muscle system 500 by print control system 700
Instruction, to be completed by the automatic cloth muscle system 500 by laying lengths of rebar or steel mesh in print structure；
After construction material sprays on being laid with the lengths of rebar completed or steel mesh in concrete 3D printing mechanism 400, it will print
Platform 600 pushes in the second moving containers together with print structure thereon；
It is conserved by curing system to by print structure in moving containers；
Using hanging device, assembled in situ construction is carried out by print structure to what maintenance was completed, forms building.
Further, it in the above-mentioned 3D printing method for setting up automatic cloth muscle system, is controlled by print control system 700
Concrete 3D printing mechanism 400 spray construction material, realize on print platform 600 building element it is bottom-up successively upwards
Printing test, comprising:
Control instruction is sent to concrete 3D printing mechanism 400 by print control system 700, starts vertical driving braking
330, realize that guide rail bracket 350 is moved linearly and braked along vertical guide 340, starting horizontal drive braking 360, which is realized, to be shared
Guide rail beam 370 is moved linearly and is braked along 2 parallel guide rail beams 352, and starting print head driving braking 440 is realized
Concrete print head 380 is moved linearly and is braked along common guide rails crossbeam 370, and starting print head rotation driving 450 is realized
The nozzle 470 of concrete print head 380 axially rotates；
Control the concrete print head 380 and spray construction material, realize on print platform 600 building element under
Layer-by-layer upward printing test upwards.
Further, it in the above-mentioned 3D printing method for setting up automatic cloth muscle system, is controlled by print control system 700
Concrete 3D printing mechanism 400 spray construction material, realize on print platform 600 building element it is bottom-up successively upwards
Printing test, comprising:
Control instruction is sent to concrete 3D printing mechanism 400 by print control system 700, starts vertical driving braking
330, realize that guide rail bracket 350 is moved linearly and braked along vertical guide 340, starting horizontal drive braking 360, which is realized, to be shared
Guide rail beam 370 is moved linearly and is braked along 2 parallel guide rail beams 352, and starting print head driving braking 440 is realized
Concrete print head 380 is moved linearly and is braked along common guide rails crossbeam 370, and starting print head rotation driving 450 is realized
The nozzle 470 of concrete print head 380 axially rotates；
Control the concrete print head 380 and spray construction material, realize on print platform 600 building element under
Layer-by-layer upward printing test upwards.
Further, it in the above-mentioned 3D printing method for setting up automatic cloth muscle system, is controlled by print control system 700
Concrete 3D printing mechanism 400 spray construction material, realize on print platform 600 building element it is bottom-up successively upwards
Expanding printing is generated by print structure, comprising:
Control instruction, starting robot drives braking are sent to automatic cloth muscle system 500 by print control system 700
520 realization manipulator lifting beams 510 are moved linearly and are braked upwards, drive manipulator 550 that its lowermost end height is made to be higher than spray
The height of mouth 470；
Control instruction is sent to concrete 3D printing mechanism 400 by print control system 700, starts vertical driving braking
330 realization guide rail brackets 350 are moved linearly and are braked along vertical guide 340, are promoted to scheduled print position；
Start horizontal drive braking 360, realizes that common guide rails crossbeam 370 is linearly transported along 2 parallel guide rail beams 352
It moves and brakes, starting print head driving braking 440 realizes the nozzle 470 of concrete print head 380 along common guide rails crossbeam
370 move linearly and brake, and starting print head rotation driving 450 realizes the nozzle 470 of concrete print head 380 along axis
To rotation；Control the nozzle 470 and spray construction material, realize on print platform 600 building element it is bottom-up successively
Printing is extended up, to generate by print structure.
Further, in the above-mentioned 3D printing method for setting up automatic cloth muscle system, by print control system 700 to certainly
Dynamic cloth muscle system 500 sends control instruction, to be completed by the automatic cloth muscle system 500 by print structure upper berth
If lengths of rebar or steel mesh, comprising:
Control instruction is sent to automatic cloth muscle system 500 by print control system 700, to start the robot drives
520 realization manipulator lifting beams 510 of braking drive the manipulator 550 to make its most bottom to moving linearly and brake up and down
End height is lower than the height of nozzle 470, makes its difference >=10cm；
The vertical driving braking 330 of starting, to realize that guide rail bracket 350 is moved linearly and braked along vertical guide 340, control
The robot drives braking 520 is made, to realize that automatic cloth muscle system 500 moves linearly simultaneously along common guide rails crossbeam 370
Braking controls the manipulator rotation driving 530, to realize that the manipulator 550 of automatic cloth muscle system 500 axially rotates,
Reinforcing bar is carried out by the manipulator 550 or steel mesh is laid with.
Compared with prior art, comprising: first movement container 100, printing frame body 300, mixes assembly and connection mechanism 200
Ning Tu 3D printing mechanism 400, automatic cloth muscle system 500, print platform 600, print control system 700, print state monitoring system
System 800, material supplying systems, the second moving containers and curing system.The present invention has high degree of automation, environmental protection, safety
The features such as reliable, can increase substantially construction efficiency, reduce labor intensity, improve operating environment, reduce construction accident rate, save
Material saves the time, greatly reduces management cost and operating charges.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of the 3D printing device for setting up automatic cloth muscle system of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the moving containers 100 of one embodiment of the invention；
Fig. 3 is the flow chart assembly and connection mechanism 200 of one embodiment of the invention and the structural representation of printing frame body 300
Figure；
Fig. 4 is the concrete 3D printing mechanism 400 of one embodiment of the invention and the structural schematic diagram of automatic cloth muscle system 500
Fig. 5 is the structural schematic diagram of the print platform 600 of one embodiment of the invention；
Fig. 6 is the process for using figure of the 3D printing device for setting up automatic cloth muscle system of one embodiment of the invention
Fig. 7 is the print procedure schematic diagram of one embodiment of the invention；
Wherein, 100- moving containers, 200- assembly and connection mechanism, 300- print frame body, 400- concrete 3D printer
Structure, the automatic cloth muscle system of 500-, 600- print platform, 700- print control system, 800- print state monitor system；
100- moving containers: 110- bottom beam；120- base cross members；130- frame column；140- roof beam；At the top of 150-
Crossbeam；160- bottom plate；170- clamshell doors；180- top-hung door；190- four door；
200- assembly and connection mechanism: the bottom 210- fastening-type connection component；Connecting cross beam at the top of 220-；It is flexible at the top of 230-
Formula connection component；
300- prints frame body:
310- supporting frame: 311- horizontal shore；312- longitudinal support beam；313- support column；
320- guide rail connection component: 321- bottom linker；322- top link；
330- vertically drives braking；
340- vertical guide；
350- guide rail bracket: 351- guide rail beam；352- guide rail beam；
The braking of 360- horizontal drive；
370- common guide rails crossbeam；
400- concrete 3D printing mechanism: 410- material conveys connecting tube；420- material storage container；430- vibrator；
The driving braking of 440- print head；The rotation driving of 450- print head；460- force of impression pump；470- nozzle；
The automatic cloth muscle system of 500-: 510- manipulator lifting beam；The braking of 520- robot drives；The rotation of 530- manipulator is driven
It is dynamic；540- mechanical arm；550- manipulator；
600- print platform: 610- platform panel；620- landing beam；630- platform beams；The mobile driving of 640- platform；
650- roll wheel assembly；660- platform rail.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Fig. 1~5, the present invention provides a kind of 3D printing device for setting up automatic cloth muscle system, comprising:
(1) device is constituted
The 3D printing device for setting up automatic cloth muscle system includes: first movement container 100, assembly and connection mechanism 200, beats
Print frame body 300, automatic cloth muscle system 500, print platform 600, print control system 700, is beaten at concrete 3D printing mechanism 400
Print condition monitoring system 800, the second moving containers of material supplying systems and curing system.
First movement container 100 includes: bottom beam 110, base cross members 120, frame column 130, roof beam 140, top
Crossbeam 150, bottom plate 160, clamshell doors 170, top-hung door 180 and four door 190.
Assembly and connection mechanism 200 includes: that bottom fastening-type connection component 210, top connecting cross beam 220 and top are telescopic
Connection component 230.
Printing frame body 300 includes: supporting frame 310, guide rail connection component 320, vertical driving braking 330, vertical guide
340, guide rail bracket 350, horizontal drive braking 360 and common guide rails crossbeam 370.Wherein: supporting frame 310 is by horizontal shore
311, longitudinal support beam 312 and support column 313 are constituted, and guide rail connection component 320 is by bottom linker 321 and top link
322 are constituted, and vertical driving braking 330 is made of motor, driving and speed reducer, and guide rail bracket 350 is by guide rail beam 351 and guide rail beam
352 are constituted.
Concrete 3D printing mechanism 400 include: material conveying connecting tube 410, material storage container 420, vibrator 430,
Print head driving braking 440, print head rotation driving 450, force of impression pump 460 and nozzle 470 form, and nozzle 470 is with mill
Flat cutter disc groups.
Print head driving braking 440 is connected with shared guide rail beam 370, and 420 side wall of material storage container and print head drive
440 sides of dynamic braking are connected, and material conveying connecting tube 410 setting is in 420 outer wall of material storage container and material can pass through material
It conveys connecting tube 410 and enters 420 inner chamber body of material storage container, material storage container 420 is internally provided with vibrator 430 and beats
Pressure pump 460 is printed, 450 tops of print head rotation driving are connected with 420 lower part of material storage container, print head rotation driving 450
Nozzle 470 is arranged in lower part, and nozzle 470 passes through 400 each group of concrete print head concrete 3D printing mechanism with cutter disc groups are smoothed out
The extrusion and printing of material can be achieved in part.Vibrator 430 can realize that material uniformly exports, and avoids material from blocking.Nozzle 470 has
Floating cutter disc groups be mainly used for the floating on print structure surface.
Automatic cloth muscle system 500 includes: manipulator lifting beam 510, robot drives braking 520, manipulator rotation driving
530, mechanical arm 540 and manipulator 550.
Print platform 600 includes: platform panel 610, landing beam 620, platform beams 630, the mobile driving 640 of platform, rolling
Wheel assembly 650 and platform rail 660.
Print state monitoring system 800 includes: video acquisition system, Transmission system, control record system and monitor.
Material supplying systems include: stirring system, conveying equipment and monitoring device.Here, stirring system and conveying equipment
Connected, monitoring device is connected with conveying equipment, and material is sufficiently stirred by stirring system for material supplying systems, by defeated
It send equipment that the material of stirring preparation is delivered to material conveying connecting tube 410, and enters in material storage container 420, monitoring is set
The flow of standby real-time monitoring conveying equipment, pressure and other parameters.Preparation, the automatic conveying of material can be realized by material supplying systems
With the real-time monitoring of transport status.
Curing system includes: constant temperature system, water inlet system, spraying system and control cabinet.Here, the control cabinet of curing system
It is connected with constant temperature system, water inlet system, spraying system, water inlet system is connected with spraying system.Curing system passes through control control
Case processed adjusts water inlet system and water is made to enter spraying system, and is sprayed by spraying system, while controlling constant temperature system and reaching
To the temperature of setting, the maintenance of 3D printing structure is carried out.
(2) correlation between each component
The first movement container 100 and the second moving containers respectively include: 2 bottom beams 110 parallel to each other,
With several root bottom part crossbeams 120 (>=2) connected vertically of 2 root bottom part beam 110 and 2 foundation of 2 root bottom part beams 110 and outermost
The two parallel frame column 130 in 4 connected vertically of 120 both ends of portion's crossbeam and 2 130 tops of frame column top connected vertically
Portion's beam 140 and 2 140 both ends of roof beam, 2 top cross-bars 150 connected vertically, embedded bottom beam 110 and base cross members 120
Bottom plate 160, the clamshell doors 170 (the first movement container 100 or the second moving containers that are connect with 2 frame columns 130
Left and right sides wall 1 clamshell doors 170 is respectively set), the top-hung door 180 that is connect with top cross-bar 150 (state first movement container
(100) or 1 top-hung door 180 is respectively arranged in the front and rear sides wall of the second moving containers) and connect with 2 top cross-bars 150
Four door 190.
Here, clamshell doors 170 for bar material be put into and remove and the maintenance of concrete 3D printing mechanism and whole
Body removes；Four door 190 connect in order to concrete 3D printing mechanism with first movement container 100, while being used for concrete
The maintenance of 3D printing mechanism.
With 100 assembly and connection mechanism 200 of moving containers include: connect with the bottom plate 160 of moving containers 100 it is several
It is stretched at the top of bottom fastening-type connection component 210 (>=4), 4 connect with 190 inner surface of four door of moving containers 100
Contracting formula connection component 230, the top connecting cross beam 220 being connect with telescopic 230 other end of connection component in every 2 tops, every
Top connecting cross beam 220 is fixed in a roof beam 140.
It includes: logical that the printing frame body 300 of 100 inner surface of moving containers is fixedly connected on by assembly and connection mechanism 200
It crosses bottom fastening-type connection component 210 (>=4) and 4 telescopic connection components 230 in top is fixed on first movement container
The supporting frame 310 of 100 inner surfaces, passes through guide rail connection component 320 at the guide rail connection component 320 connecting with supporting frame 310
Bottom linker 321 and several vertical guides that are fixedly connected with the support column 313 of supporting frame 310 of top link 322
340 (>=6), several vertical drivings connecting with vertical guide 340 brake 330 (>=4), by several vertical driving brakings
330 guide rail brackets 350 being connect with vertical guide 340,2 horizontal drive systems being connect with 2 guide rail beams 352 of guide rail bracket 350
Dynamic 360, it is set between 2 horizontal drives brakings 360 and common guide rails crossbeam 370 connected to it.Wherein, with the first packaging
The printing frame body 310 of 100 inner surface of case connection is by 2 levels that are parallel to each other and connecting with bottom fastening-type connection component 210
Supporting beam 311, one end and 2 horizontal shores 311 several connected vertically two parallel support columns 313 (>=6), with
2 horizontal shores 311 and longitudinal support beam 312 of 313 other end of support column connection form；Guide rail bracket 350 is mutually equal by 2
Capable guide rail beam 351 and 2 piece guide rail beam 352 parallel to each other encloses composition.Vertical driving braking 330 can realize guide rail bracket
350 move linearly and brake along vertical guide 340；Horizontal drive braking 360 can realize common guide rails crossbeam 370 along 2
The parallel guide rail beam 352 of root is moved linearly and is braked.
Here, 4 telescopic 230 one side of connection component in top are used to fix, while being adapted to the shifting of different height first
The connection of dynamic container 100；The other end connect with top connecting cross beam 220 and plays structural strengthening and fixed function
The concrete 3D printing mechanism 400 being connect with printing frame body 300.Concrete 3D printing mechanism 400 passes through print head
Driving braking 440 is connect with the common guide rails crossbeam 370 of printing frame body 300.Print head driving braking 440 can realize concrete 3D
Printing mechanism 400 is moved linearly and is braked along common guide rails crossbeam 370；Print head rotation driving 450 can realize concrete
The nozzle 470 of 3D printing mechanism 400 axially rotates.
The automatic cloth muscle system 500 being connect with printing frame body 300.The manipulator lifting beam 510 of automatic cloth muscle system 500 is logical
Robot drives braking 520 is crossed to connect with the common guide rails crossbeam 370 of printing frame body 300.Robot drives braking 520 can be realized
Manipulator lifting beam 510 is moved linearly and is braked along common guide rails crossbeam 370, and about 510 manipulator lifting beam is made linear
It moves and brakes, drive about 550 manipulator being connected on mechanical arm 540 reciprocating；Manipulator rotation driving 530 can
Realize that the manipulator 550 being connected on mechanical arm 540 axially rotates.
The print platform 600 that 160 surface of bottom plate of moving containers 100 is arranged includes: 2 contacted with 160 surface of bottom plate
Root platform rail 660, several roll wheel assemblies 650 (>=4) contacted with 2 platform rails 660 connect with roll wheel assembly 650
640 (>=4) of the mobile driving of platform connect, 2 landing beams 620 and 2 landing beams 620 that are connect with the mobile driving 640 of platform
Several platform beams 630 (>=2) connected vertically, the platform panel being connect with landing beam 620 and 630 upper surface of platform beams
610。
Supplementary explanation: each component of 3D printing device is detachable and assembles.
The implementation method of 2.2 3D printing apparatus functions, as shown in fig. 6-7,
1, Step 1: printing preceding preparation.
(1) live 3D printing device is transported to construction site.
(2) material preparation and conveying.Cement, sand, silicon ash, water etc. are mixed by the stirring system of material supplying systems
Stirring, addition early strength agent, swelling agent, thickener, fibrous material etc. are closed, carries out secondary agitation, and pass through material supplying systems
Conveying equipment carries out the conveying of material, and material conveys connecting tube 410 by material, is automatically conveyed to material storage container 420
It is interior, and pass through the conveying capacity of monitoring device monitoring material.
(3) steel bar meter.Using steel bar processing equipment screwing steel bars net, lengths of rebar etc..
(4) print platform is in place.Print platform 600 is pushed to along platform rail 660, the printable region of equipment.
2, Step 2: printing test.
(1) control instruction is sent to concrete 3D printing mechanism 400 by print control system 700, starts vertical driving
330 realization guide rail bracket 350 of braking is moved linearly and is braked along vertical guide 340, and starting horizontal drive braking 360 is realized altogether
It is moved linearly and is braked along 2 parallel guide rail beams 352 with guide rail beam 370, starting print head driving braking 440 can be real
Existing concrete 3D printing mechanism 400 is moved linearly and is braked along common guide rails crossbeam 370, starting print head rotation driving
The nozzle 470 of 450 realization concrete 3D printing mechanisms 400 axially rotates.
(2) nozzle 470 for controlling concrete 3D printing mechanism 400 sprays construction material and realizes the bottom-up of building element
Layer-by-layer upward printing test, the stability of judgment means.
3, Step 3: field print.
(1) control instruction is sent to automatic cloth muscle system 500 by print control system 700, starts robot drives system
Dynamic 520 realization manipulator lifting beam 510 is moved linearly and is braked upwards, and manipulator 550 is driven to be higher than its lowermost end height
The height (>=5cm) of nozzle 470.
(2) control instruction is sent to concrete 3D printing mechanism 400 by print control system 700, starts vertical driving
330 realization guide rail bracket 350 of braking is moved linearly and is braked along vertical guide 340, is promoted to scheduled print position.
(3) 360 realization common guide rails crossbeam 370 of starting horizontal drive braking is made linearly along 2 parallel guide rail beams 352
It moves and brakes, starting print head driving braking 440 can realize concrete 3D printing mechanism 400 along common guide rails crossbeam 370
It moves linearly and brakes, starting print head rotation driving 450 realizes the nozzle 470 of concrete 3D printing mechanism 400 along axis
To rotation；The nozzle 470 for controlling concrete 3D printing mechanism 400 sprays the printing that construction material realizes building element.
(4) step 3 (1) and (2) is repeated, realizes that the bottom-up of building element successively extends up printing.
4, Step 4: automatic laying or slotting reinforcing bar.
(1) operating status that 800 real-time monitoring printing equipment of system is monitored by print state, reaches when by print structure
The height that print control system 700 is set is beaten that is, when being reached the position for laying reinforcing bar by print structure height by concrete 3D
The nozzle 470 that printing mechanism 400 controls concrete 3D printing mechanism 400 stops injection construction material, and the stopping print time cannot surpassing
Spend the initial solidification time of material.
(2) control instruction is sent to automatic cloth muscle system 500 by print control system 700, starts robot drives system
Dynamic 520 realization manipulator lifting beam 510 drives manipulator 550 to keep its lowermost end height low to moving linearly and braking up and down
In the height of nozzle 470, make its difference >=10cm.
(3) the vertical 330 realization guide rail bracket 350 of driving braking of starting is moved linearly and is braked along vertical guide 340, is controlled
Robot drives braking 520 processed can realize that manipulator lifting beam 510 is moved linearly and braked along common guide rails crossbeam 370,
Control manipulator rotation driving 530 realizes that the manipulator 550 of automatic cloth muscle system 500 axially rotates, and passes through manipulator 550
It carries out being laid with reinforcing bar or steel mesh.
5, Step 5: printing is completed to remove print platform 600.
(1) it repeats Step 3: four complete printing, the laying of reinforcing bar or steel mesh and the insertion of reinforcing bar of building structure.
(2) print platform 600 is pushed into the second moving containers 100 along platform rail 660 and passes through curing system pair
It is conserved by print structure.
6, Step 6: maintenance.
It is carried out by curing system by the maintenance of print structure in the second moving containers.
7, Step 7: quality testing.
(1) it after conserving, detects by the quality of print structure.
(2) judge whether allowable error is met by print structure, processing construction is carried out if being unsatisfactory for.
8, Step 8: assembled in situ is constructed.
Using hanging device, constructed by the assembled in situ of print structure, form buildings or structures.
Specifically, as shown in fig. 7, in figure include 3D printing component 1100, horizontal reinforcement 1210, vertical reinforcement 1220, erect
To reinforcing bar holding structure 1230.
The present invention has the characteristics that high degree of automation, environmental protection, safe and reliable, can increase substantially construction efficiency, reduce
Labor intensity improves operating environment, reduces construction accident rate, saves material, saves the time, greatly reduces management cost and fortune
Battalion takes.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the invention is also intended to include including these modification and variations.
Claims (11)
1. a kind of 3D printing device for setting up automatic cloth muscle system characterized by comprising
First movement container (100), assembly and connection mechanism (200), printing frame body (300), concrete 3D printing mechanism
(400), automatic cloth muscle system (500), print platform (600), print control system (700), print state monitor system
(800), material supplying systems, the second moving containers and curing system, wherein
The printing frame body (300) is fixedly connected in first movement container (100) by assembly and connection mechanism (200)；
Concrete 3D printing mechanism (400) and automatic cloth muscle system (500) are connected to the printing frame body (300)
On；
The print control system (700) and print state monitoring system (800) are set to the first movement container (100)
It is interior, the print control system (700) respectively with concrete 3D printing mechanism (400), automatic cloth muscle system (500) and beat
Print condition monitoring system (800) connection；
The print platform (600) is movable part, when concrete 3D printing mechanism (400) stops printing, the printing
Platform (600) is accommodated in the first movement container (100)；When concrete 3D printing mechanism (400) starts and prints, institute
It states print platform (600) and moves to the first movement container (100) outside, for carrying by concrete 3D printing mechanism
(400) structure printed；And when concrete 3D printing mechanism (400) completes to print, the print platform (400) is together with it
The structure of upper carrying moves to second moving containers, to conserve to the structure；
The material supplying systems are set to the first movement container (100) outside, and with concrete 3D printing mechanism
(400) it connects；
The curing system is set in second moving containers, for the institute moved into second moving containers
The structure stated on print platform (600) is conserved.
2. setting up the 3D printing device of automatic cloth muscle system as described in claim 1, which is characterized in that the first movement collection
Vanning (100) and the second moving containers respectively include:
2 bottom beams (110) parallel to each other；
With 2 root bottom part beams (110) at least two root bottom part crossbeams (120) connected vertically；
With both ends 4 two parallel frames connected vertically of 2 root bottom part beams (110) and outermost 2 root bottom part crossbeam (120)
Trestle (130)；
2 roof beams (140) parallel to each other, wherein every roof beam (140) and adjacent wherein 2 frame columns (130)
Top vertically connects；
2 top cross-bars (150), wherein every top cross-bar (150) is vertical with the both ends of 2 roof beams (140) to be connect；
It is embedded in the bottom plate (160) of the bottom beam (110) and base cross members (120)；
The clamshell doors (170) being connect with 2 adjacent frame columns (130), wherein the first movement container 100 or the second
1 clamshell doors (170) is respectively arranged in the left and right sides wall of moving containers；
The top-hung door (180) being connect with top cross-bar (150), wherein the first movement container (100) or the second mobile collection
1 top-hung door (180) is respectively arranged in the front and rear sides wall of vanning；
The four door (190) being connect with 2 top cross-bars (150), wherein the first movement container (100) or the second shifting
1 four door (190) is provided at the top of dynamic container.
3. setting up the 3D printing device of automatic cloth muscle system as claimed in claim 2, which is characterized in that with the first movement
Container (100) connection assembly and connection mechanism (200) include:
At least four bottom fastening-type connection component (210) being connect with the bottom plate (160) of the first movement container (100)；
4 telescopic connection components in top that one end is connect with the inner surface of the four door (190) of first movement container (100)
(230)；
The top connecting cross beam (220) connecting with the other end of the telescopic connection component (230) in every 2 tops, every top connect
Crossbeam (220) is connect to be fixed on a roof beam (140).
4. setting up the 3D printing device of automatic cloth muscle system as claimed in claim 3, which is characterized in that the printing frame body
(300) include:
Mobile packaging is fixed on by the bottom fastening-type connection component (210) and 4 telescopic connection components (230) in top
The supporting frame (310) of the inner surface of case (100), support frame as described above body (310) include: 2 it is parallel to each other and with the bottom
The horizontal shore (311) of fastening-type connection component (210) connection；One end and 2 horizontal shores (311) are connected vertically extremely
Few 6 two parallel support columns (313)；Another 2 horizontal shores being connect with the other end of the support column (313)
(311) and longitudinal support beam (312)；
The guide rail connection component (320) connecting with support frame as described above body (310), including bottom linker (321) are connected with top
Part (322)；
Pass through the bottom linker (321) and top link (322) and supporting frame of the guide rail connection component (320)
(310) at least 6 vertical guides (340) that support column (313) is fixedly connected；
At least four connecting with the vertical guide (340) vertically drives braking (330)；
The guide rail bracket (350) being connect by the vertical driving braking (330) with vertical guide (340), the guide rail bracket (350)
It is surrounded by 2 guide rail beams (351) parallel to each other and 2 guide rail beams (352) parallel to each other, wherein the vertical drive
Dynamic braking (330) realizes that guide rail bracket (350) move linearly and brake along vertical guide 340；
The 2 horizontal drives braking (360) being connect with 2 guide rail beams (352) of the guide rail bracket (350)；
It is set between 2 horizontal drive brakings (360) and the common guide rails connecting with 2 horizontal drive brakings (360) is horizontal
Beam (370), wherein the horizontal drive braking (360) realizes common guide rails crossbeam (370) along 2 parallel guide rail beams
(352) it moves linearly and brakes.
5. setting up the 3D printing device of automatic cloth muscle system as claimed in claim 4, which is characterized in that the concrete 3D is beaten
Printing mechanism (400), comprising: print head driving braking (440), nozzle (470), print head rotation driving (450),
Wherein, print head driving braking (440) is connect with the print head guide rail beam (370), the nozzle (470) and
Print head driving braking (440) connection, the print head driving brake (440) for realizing the spray of concrete print head (380)
Mouth (470) is moved linearly and is braked along print head guide rail beam (370)；Print head rotation driving (450) with it is described
Nozzle (470) connection, axially rotates for realizing nozzle (470).
6. setting up the 3D printing device of automatic cloth muscle system as claimed in claim 5, which is characterized in that the automatic cloth muscle system
System (500) includes: manipulator lifting beam (510), robot drives braking (520), manipulator rotation driving (530), mechanical arm
(540) and manipulator (550), wherein
The common guide rails crossbeam that the manipulator lifting beam (510) passes through robot drives braking (520) and printing frame body (300)
(370) it connects, the manipulator lifting beam (510) connect with the mechanical arm (540), and the robot drives brake (520)
It moves linearly and brakes up and down along common guide rails crossbeam (370) for realizing manipulator lifting beam (510), and drive connection
It is reciprocating up and down in the manipulator (550) on mechanical arm (540)；The manipulator rotation driving (530) and the machinery
Arm (540) connection, axially rotates for realizing the manipulator (550) being connected on mechanical arm (540).
7. setting up the 3D printing device of automatic cloth muscle system as claimed in claim 6, which is characterized in that the print platform
(600) include:
2 platform rails (660) contacted with the surface of the bottom plate (160)；
At least four roll wheel assembly (650) contacted with 2 platform rails (660)；
The mobile driving (640) of the platform being connect respectively with the roll wheel assembly (650)；
2 landing beams (620) being connect with the mobile driving (640) of the platform；
With 2 landing beams (620) at least 2 platform beams (630) connected vertically；
The platform panel (610) being connect with the landing beam (620) and platform beams (630) upper surface.
8. a kind of 3D printing method for setting up automatic cloth muscle system, which is characterized in that using such as any one of claim 1~7 institute
The live 3D printing device stated, which comprises
Live 3D printing device is transported to construction site, is mixed construction material by the stirring system of material supplying systems
Afterwards, and by material supplying systems by mixed construction material be conveyed to concrete 3D printing mechanism (400), using reinforcing bar plus
Print platform (600) is moved to printable region by construction equipment screwing steel bars net or lengths of rebar；
Construction material is sprayed by print control system (700) control concrete 3D printing mechanism (400), is realized in print platform
(600) the bottom-up successively upward printing test of building element, judges the stability of 3D printing mechanism (300) on；
Construction material is sprayed by print control system (700) control concrete 3D printing mechanism (400), is realized in print platform
(600) the bottom-up of building element successively extends up printing generation by print structure on；
By the operating status of print state monitoring system (800) real-time monitoring concrete 3D printing mechanism (400), when being printed
Structure reaches the height of print control system (700) setting, i.e., when the position for being reached laying reinforcing bar by print structure height, coagulation
After native 3D printing mechanism (400) stops injection construction material, sent out by print control system (700) to automatic cloth muscle system 500
Control instruction is sent, to complete by the automatic cloth muscle system (500) by laying lengths of rebar or steel in print structure
Muscle net；
It is after construction material sprays on being laid with the lengths of rebar completed or steel mesh in concrete 3D printing mechanism (400), printing is flat
Platform (600) pushes in the second moving containers together with print structure thereon；
It is conserved by curing system to by print structure in moving containers；
Using hanging device, assembled in situ construction is carried out by print structure to what maintenance was completed, forms building.
9. setting up the 3D printing method of automatic cloth muscle system as claimed in claim 8, which is characterized in that pass through print control system
Construction material is sprayed in (700) control concrete 3D printing mechanism (400) of uniting, and realizes the building element on print platform (600)
Bottom-up successively upward printing test, comprising:
Control instruction is sent to concrete 3D printing mechanism (400) by print control system (700), starts vertical driving braking
(330), realize that guide rail bracket (350) move linearly and brake along vertical guide (340), starting horizontal drive braking (360)
Realize that common guide rails crossbeam (370) move linearly and brake along 2 parallel guide rail beams (352), starting print head driving
It brakes (440), realizes that concrete print head (380) move linearly and brake along common guide rails crossbeam (370), starting printing
Head rotation driving (450) realizes that the nozzle (470) of concrete print head (380) axially rotates；
Control the concrete print head (380) injection construction material, realize on print platform (600) building element under
Layer-by-layer upward printing test upwards.
10. setting up the 3D printing method of automatic cloth muscle system as claimed in claim 8, which is characterized in that pass through print control
System (700) controls concrete 3D printing mechanism (400) and sprays construction material, realizes the building element on print platform (600)
It is bottom-up successively extend up printing generate by print structure, comprising:
Control instruction, starting robot drives braking are sent to automatic cloth muscle system (500) by print control system (700)
(520) it realizes that manipulator lifting beam (510) move linearly and brake upwards, manipulator (550) is driven to make its lowermost end height
Higher than the height of nozzle (470)；
Control instruction is sent to concrete 3D printing mechanism (400) by print control system (700), starts vertical driving braking
(330) it realizes that guide rail bracket (350) move linearly and brake along vertical guide (340), is promoted to scheduled print position；
Start horizontal drive braking (360), it is linear to realize that common guide rails crossbeam (370) are made along 2 parallel guide rail beams (352)
It moves and brakes, starting print head driving braking (440) realizes that the nozzle (470) of concrete print head (380) is led along shared
Rail crossbeam (370) is moved linearly and is braked, and the spray of concrete print head (380) is realized in starting print head rotation driving (450)
Mouth (470) axially rotates；The nozzle (470) injection construction material is controlled, realization builds structure on print platform (600)
The bottom-up of part successively extends up printing, to generate by print structure.
11. setting up the 3D printing method of automatic cloth muscle system as claimed in claim 8, which is characterized in that pass through print control
System (700) sends control instruction to automatic cloth muscle system (500), to be completed by the automatic cloth muscle system 500
Lengths of rebar or steel mesh are laid in print structure, comprising:
Control instruction is sent to automatic cloth muscle system (500) by print control system (700), to start the robot drives
Braking (520) realizes that manipulator lifting beam (510) to moving linearly and brake up and down, and drive the manipulator (550) to make
Its lowermost end height is lower than the height of nozzle (470), makes its difference >=10cm；
The vertical driving braking (330) of starting, to realize that guide rail bracket (350) is moved linearly and braked along vertical guide (340),
The robot drives braking (520) is controlled, to realize that automatic cloth muscle system (500) makees line along common guide rails crossbeam (370)
Property move and brake, manipulator rotation driving (530) is controlled, to realize the manipulator (550) of automatic cloth muscle system (500)
It axially rotates, carries out reinforcing bar by the manipulator (550) or steel mesh is laid with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811423541.XA CN109366684A (en) | 2018-11-27 | 2018-11-27 | Set up the 3D printing device and method of automatic cloth muscle system |
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|---|---|---|---|
| CN201811423541.XA CN109366684A (en) | 2018-11-27 | 2018-11-27 | Set up the 3D printing device and method of automatic cloth muscle system |
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| CN112814385A (en) * | 2021-02-22 | 2021-05-18 | 齐鲁工业大学 | 3D building printing equipment |
| CN112809878A (en) * | 2021-02-22 | 2021-05-18 | 齐鲁工业大学 | Automatic production system is printed to cement |
| CN113021562A (en) * | 2021-04-16 | 2021-06-25 | 北京工业大学 | Piezoelectric aggregate automation buries device underground based on cement base 3D prints |
| WO2022034186A3 (en) * | 2020-08-13 | 2022-05-05 | Progress Maschinen & Automation Ag | Method for producing a prefabricated 3d-printed part |
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