CN109779260B - Intelligent 3D building printer of robot - Google Patents
Intelligent 3D building printer of robot Download PDFInfo
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- CN109779260B CN109779260B CN201811226266.2A CN201811226266A CN109779260B CN 109779260 B CN109779260 B CN 109779260B CN 201811226266 A CN201811226266 A CN 201811226266A CN 109779260 B CN109779260 B CN 109779260B
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- 238000007639 printing Methods 0.000 claims abstract description 116
- 238000005086 pumping Methods 0.000 claims abstract description 102
- 239000000463 material Substances 0.000 claims abstract description 60
- 239000007921 spray Substances 0.000 claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 135
- 238000005406 washing Methods 0.000 claims description 62
- 238000003756 stirring Methods 0.000 claims description 61
- 238000011010 flushing procedure Methods 0.000 claims description 55
- 238000001914 filtration Methods 0.000 claims description 29
- 238000004140 cleaning Methods 0.000 claims description 27
- 238000005273 aeration Methods 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 8
- 238000012806 monitoring device Methods 0.000 claims description 8
- 239000002351 wastewater Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 239000008213 purified water Substances 0.000 claims description 3
- 239000002910 solid waste Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000010146 3D printing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000001502 supplementing effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011068 loading method Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Abstract
The invention discloses a robot intelligent 3D building printer. The printer includes: six-axis printing robot. The six-axis printing robot comprises a robot supporting seat, a robot supporting platform, a six-axis mechanical arm, a robot control cabinet, a printing spray head and a robot pumping pipeline; the robot support seat is fixed on the robot support platform, and the six-axis mechanical arm is fixed on the robot support seat; the printing spray head is fixedly connected to the tail end of the six-axis mechanical arm; the material pumping pipeline of the robot is arranged along the six-axis mechanical arm, one end of the material pumping pipeline of the robot is communicated with the printing spray head, and the other end of the material pumping pipeline of the robot is communicated with the feed inlet of the six-axis printing robot; the robot control cabinet is fixed on the robot supporting platform and used for controlling the six-axis mechanical arm and the printing spray head. The intelligent 3D building printer of the robot is convenient to move and transport.
Description
Technical Field
The invention relates to the technical field of 3D printing, in particular to a robot intelligent 3D building printer.
Background
Along with the continuous progress of 3D printing technology, 3D printing technology is fully developed in various industry fields, and the 3D printing technology is applied to buildings, so that the 3D printing technology has the advantages of green energy conservation, high-efficiency molding, environment protection of the buildings and the like, and the development of the technology is valued by related industries at home and abroad.
The 3D printing of the building uses a process similar to Fused deposition modeling (Fused DepositionModeling, FDM) to extrude the printed materials into a layer-by-layer stack to form a three-dimensional solid house or component.
At present, the 3D printer of the building adopts a frame-type structure in a mechanical mode, and the printer of the form is heavy, inconvenient to move and not suitable for on-site printing, so that on-site materials cannot be obtained, and printing components can be transported to the site to be assembled.
Disclosure of Invention
The invention aims to provide a robot intelligent 3D building printer which is convenient to move and transport.
In order to achieve the above object, the present invention provides the following solutions:
a robotic intelligent 3D building printer, comprising: the six-axis printing robot comprises a robot supporting seat, a robot supporting platform, a six-axis mechanical arm, a robot control cabinet, a printing spray head and a robot pumping pipeline;
the robot support seat is fixed on the robot support platform, and the six-axis mechanical arm is fixed on the robot support seat; the printing spray head is fixedly connected to the tail end of the six-axis mechanical arm; the robot pumping pipeline is arranged along the six-axis mechanical arm, one end of the robot pumping pipeline is communicated with the printing spray head, and the other end of the robot pumping pipeline is communicated with a feed inlet of the six-axis printing robot; the robot control cabinet is fixed on the robot support platform and used for controlling the six-axis mechanical arm and the printing spray head.
Optionally, the printer further comprises a self-feeding stirring cleaning vehicle and a pumping device; the pumping device is used for stirring the printing material supplied by the self-feeding stirring cleaning vehicle and pumping the printing material to the six-axis printing robot;
the pumping device comprises a pumping control cabinet, a pumping equipment frame, a stirring motor, a pumping pump material pipeline, a stirring shaft, a stirring tank, a pumping screw, a storage bin, a rubber spray head and a three-way valve group;
the pumping control cabinet, the stirring motor and the bin are arranged on the pumping equipment frame, and the pumping equipment frame is used for supporting the pumping control cabinet, the stirring motor and the bin; the stirring tank is positioned above the storage bin, a discharge port of the stirring tank is communicated with a feed inlet of the storage bin through a pumping pipeline, a discharge port of the storage bin is communicated with the rubber spray head, and the three-way valve group is arranged at the tail end of the rubber spray head; the stirring shaft is arranged in the stirring tank and is used for stirring the printing material under the drive of the stirring motor; the pumping pump material pipeline is used for conveying the printing materials stirred in the stirring tank to the storage bin; the pumping screw is arranged in the bin and is used for carrying out secondary stirring on the printing material and conveying the printing material to the rubber spray head; the rubber spray head is communicated with a first inlet of the three-way valve group and is used for conveying the printing material to the three-way valve group; the outlet of the three-way valve group is communicated with the feed inlet of the six-axis printing robot; the pumping control cabinet is used for controlling the stirring motor and the pumping screw.
Optionally, the printer further comprises a water washing device; the washing device is used for washing the pumping device and the six-axis printing robot and humidifying the printing materials in the pumping device;
the washing device comprises a washing platform, a washing control cabinet, a buffer water tank, a washing water tank and a washing water pump;
the water washing control cabinet, the buffer water tank, the flushing water tank and the flushing water pump are all arranged on the water washing platform;
the water outlet of the flushing water tank is communicated with the flushing water pump, and the flushing water pump is communicated with a flushing pipe through a water outlet pipe; the buffer water tank is arranged on the water outlet pipe; the tail end of the flushing pipe is connected with a flushing head; the flushing water tank is used for storing purified water; the flushing head is used for flushing the pumping device and the six-axis printing robot and humidifying the printing material;
the flushing pipe is also communicated with a second inlet of the three-way valve group and is used for conveying water to the robot pumping pipeline during flushing;
the washing control cabinet is used for controlling the washing water pump.
Optionally, the washing device further comprises a filtering water tank and a filtering aeration fan; the filtering water tank and the filtering aeration fan are both arranged on the washing platform;
the filtering water tank is used for collecting the waste water after flushing and filtering the waste water; and an air outlet of the filtering aeration fan is communicated with the filtering water tank through an aeration pipeline and is used for aerating the filtered water-solid waste liquid.
Optionally, a liquid level meter is installed in the flushing water tank, an output end of the liquid level meter is connected with the water washing control cabinet, and the liquid level meter is used for measuring the water level in the flushing water tank.
Optionally, a pressure-variable mounting pipe orifice is arranged on the water outlet pipe, the pressure-variable mounting pipe orifice is used for mounting a pressure transmitter, and the pressure transmitter is used for detecting the water pressure of the water outlet pipe.
Optionally, a plurality of first universal wheels are mounted below the pumping device frame.
Optionally, a plurality of second universal wheels are installed below the washing platform.
Optionally, the printer further comprises a video monitoring device; the video monitoring device is arranged around the six-axis printing robot and used for monitoring the printing process of the six-axis printing robot.
Optionally, the printer further comprises a main control cabinet, wherein the main control cabinet is connected with the robot control cabinet, the pumping control cabinet and the washing control cabinet, and is used for sending control instructions to the robot control cabinet, the pumping control cabinet and the washing control cabinet.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the intelligent 3D building printer of the robot, disclosed by the invention, utilizes the six-axis printing robot to print, is convenient to move and transport compared with the existing line frame type printer, and is more suitable for on-site printing. According to the invention, the self-feeding stirring cleaning vehicle and the pumping device are additionally arranged, so that the self-feeding of the printer is realized. The invention also realizes automatic cleaning after printing by arranging the water washing device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of the overall apparatus of an embodiment of a robotic intelligent 3D building printer of the present invention;
FIG. 2 is a block diagram of a six-axis printing robot of an embodiment of a robot smart 3D construction printer according to the present invention;
FIG. 3 is a block diagram of a pumping device of an embodiment of a robotic intelligent 3D building printer of the present invention;
fig. 4 is a device structure diagram of a washing device of an embodiment of the robot intelligent 3D building printer of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a robot intelligent 3D building printer which is convenient to move and transport.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
FIG. 1 is a block diagram of the overall apparatus of an embodiment of the robotic intelligent 3D building printer of the present invention.
A robotic intelligent 3D building printer, comprising: six printing robot 1, from material loading stirring washs car 4, pumping mechanism 2, washing device 3, video monitoring device 5 and master control cabinet 6.
The printing main body is a six-axis printing robot 1, and printing of the building component is finished; the self-feeding stirring cleaning vehicle 4, the pumping device 2, the water washing device 3, the video monitoring device 5 and the main control cabinet 6 are all peripheral equipment parts, the pumping device 2 is used for realizing the supply of materials to the six-axis printing robot 1, stirring the materials in real time and preventing the solidification of the materials; the self-feeding stirring cleaning vehicle 4 is used for realizing self-feeding stirring and transportation of materials and finishing the supply of the materials of the pumping device 2; the washing device 3 is used for completing the cleaning work after printing, such as the cleaning of the tank body of the pumping device 2, the printing head at the tail end of the six-axis printing robot 1, a material conveying pipeline and other structures, and besides, the washing device 3 is also used for realizing the real-time humidity adjustment of the printing material, and performing the operations of humidifying, atomizing and the like, so that the viscosity and other parameters of the printing material are kept within a certain range; the video monitoring device 5 is arranged around the six-axis printing robot 1 and is used for monitoring the printing process of the six-axis printing robot 1, so that an operator can monitor the printing condition in real time, and if a printing fault occurs, the processing can be rapidly performed; the main control cabinet 6 is used for completing the monitoring and instruction output of the six-axis printing robot 1, the self-feeding stirring cleaning vehicle 4, the pumping device 2, the water washing device 3 and the video monitoring device 5.
The wall 7 is a finished product printed by the six-axis printing robot 1 through printing materials.
Fig. 2 is a device structure diagram of a six-axis printing robot of an embodiment of the robot intelligent 3D building printer of the present invention.
Referring to fig. 2, the six-axis printing robot 1 comprises a robot support base 101, a robot support platform 102, a six-axis mechanical arm 103, a robot control cabinet 104, a printing nozzle 105 and a robot pump pipeline 106.
The robot support base 101 is fixed on the robot support platform 102, and the robot support base 101 and the robot support platform 102 are used together as a base to enable the six-axis mechanical arm 103 to stably operate. The six-axis mechanical arm 103 is fixed on the robot supporting seat 101; the printing nozzle 105 is fixedly connected to the tail end of the six-axis mechanical arm 103; the robot pump material pipe 106 is arranged along the six-axis mechanical arm 103, one end of the robot pump material pipe 106 is communicated with the printing nozzle 105, and the other end is communicated with a feed inlet of the six-axis printing robot 1; the robot control cabinet 104 is fixed on the robot support platform 102 through a control cabinet bracket 213, and is used for controlling the six-axis mechanical arm 103 and the printing nozzle 105.
A plurality of pump line clamps 107 are fixed on the six-axis mechanical arm 103, and the pump line clamps 107 are used for fixing the robot pump line 106. The robot pumping pipeline 106 consists of a plurality of sections of pump pipes, and the sections of pump pipes are connected through universal joints 108; the universal joint 108 is used for preventing the flow of the robot pumping pipeline 106 from being unstable due to torsion of the six-axis mechanical arm 103. The robot pump pipeline 106 is used for realizing the transmission of printing materials and is a flexible wear-resistant composite rubber pipe.
Fig. 3 is a device block diagram of a pumping device of an embodiment of the robot smart 3D construction printer of the present invention.
Referring to fig. 3, the pumping device 2 is used to agitate the printing material supplied from the loading agitation cleaning vehicle 4 and pump the printing material to the six-axis printing robot 1.
The pumping device 2 adopts an integrated mode and is convenient to move.
The pumping device 2 comprises a pumping control cabinet 201, a pumping equipment frame 202, a stirring motor 203, a pumping pump pipeline 204, a stirring shaft 205, a stirring tank 206, a pumping screw 207, a storage bin 208, a rubber shower 209 and a three-way valve group 210.
The pumping control cabinet 201, the stirring motor 203 and the bin 208 are all arranged on the pumping equipment frame 202, and the pumping equipment frame 202 is used for supporting the pumping control cabinet 201, the stirring motor 203 and the bin 208; the stirring motor 203 is fixed on a motor support platform 212, and the motor support platform 212 is arranged on the pumping equipment frame 202; a plurality of first universal wheels 211 are mounted under the pumping device frame 202. The motor support platform 212, the pumping device frame 202 and the first universal wheel 211 together form a support frame for the pumping device 2.
The stirring tank 206 is located above the storage bin 208, a discharge port of the stirring tank 206 is communicated with a feed port of the storage bin 208 through the pumping pipeline 204, a discharge port of the storage bin 208 is communicated with the rubber spray head 209, and the three-way valve group 210 is arranged at the tail end of the rubber spray head 209; the stirring shaft 205 is disposed in the stirring tank 206, and is configured to stir the printing material under the drive of the stirring motor 203; the pumping pump pipeline 204 is located below the stirring motor 203 and is used for conveying the printing material stirred in the stirring tank 206 to the bin 208; the pumping screw 207 is arranged in the bin 208 and is used for secondarily stirring the printing material and conveying the printing material to the rubber shower nozzle 209; the rubber nozzle 209 is communicated with a first inlet of the three-way valve set 210 and is used for conveying the printing material to the three-way valve set 210; the outlet of the three-way valve group 210 is communicated with the feed inlet of the six-axis printing robot 1; the pumping control cabinet 201 is used for controlling the stirring motor 203 and the pumping screw 207.
The second inlet of the three-way valve group 210 is communicated with the water washing device 3, and is used for conveying water in the water washing device 3 to the six-axis printing robot 1 during water washing.
In operation, the pumping control cabinet 201 receives the control command of the main control cabinet 6, and sends out control commands to the stirring motor 203, the pumping screw 207 and the like, and feeds back state parameter information in real time. Upon receiving the command, the agitator motor 203 starts to rotate, driving the agitator shaft 205 to agitate, causing the printing material to be in a dynamic environment, preventing coagulation. The printing material of the stirring tank 206 is conveyed into a bin 208 through a pumping pump pipeline 204, the pumping screw 207 in the bin 208 transfers the printing material into a rubber shower 209 through stirring, and the printing material coming out of the rubber shower 209 is used for conveying to the six-axis printing robot 1.
Fig. 4 is a device structure diagram of a water washing device 3 according to an embodiment of the robot intelligent 3D building printer of the present invention.
Referring to fig. 4, the water washing apparatus 3 functions as follows:
1. the pumping device 2 and the six-axis printing robot 1 are cleaned, and the printing material in the pumping device 2 is humidified.
2. And (3) carrying out secondary filtration on the waste material after water washing to realize recycling of the material.
The water washing device 3 comprises a water washing platform 301, a water washing control cabinet 302, a buffer water tank 303, a flushing water tank 304, a flushing water pump 305, a filtering water tank 306 and a filtering aeration fan 307.
The washing control cabinet 302, the buffer water tank 303, the flushing water tank 304, the flushing water pump 305, the filtering water tank 306 and the filtering aeration fan 307 are all installed on the washing platform 301. A plurality of second universal wheels 308 are installed below the washing stage 301.
The flush tank 304 is 304 stainless steel. The water outlet of the flushing water tank 304 is communicated with the flushing water pump 305, and the flushing water pump 305 is communicated with a flushing pipe through a water outlet pipe; the buffer water tank 303 is installed on the water outlet pipe, and the buffer water tank 303 is used for stabilizing water pressure, providing a buffer medium for the pressurized liquid, and effectively reducing the damage of the pressurized liquid to equipment. The tail end of the flushing pipe is connected with a flushing head; the flush tank 304 is used to store clean water; the flushing head is used for flushing the pumping device 2 and the six-axis printing robot 1 and humidifying the printing material; a level gauge is installed in the flushing water tank 304, an output end of the level gauge is connected with the water washing control cabinet 302, and the level gauge is used for measuring the water level in the flushing water tank 304. The top of the flushing tank 304 is provided with a flushing tank cover 309, a water supplementing port 310 and a flange 311; the flush tank cover 309 covers the top opening of the flush tank 304; the water supplementing port 310 is a water supplementing inlet of the flushing water tank 304, and is communicated with a water purifying pipe for supplementing purified water into the flushing water tank 304; the flange 311 is used for mounting the gauge. A condensate drain 312 is provided at the bottom of the side of the flush tank 304; the pour spout 312 is configured to communicate with a pour spout to drain impurities from the flush tank 304.
The flush tube is also in communication with a second inlet of the three-way valve set 210 for delivering water to the robotic pump line 106 during flushing.
As an alternative embodiment, the flushing pipe comprises three paths, namely a cleaning pipe, a humidifying pipe and a water gun pipe; one end of the cleaning pipe, one end of the humidifying pipe and one end of the water gun barrel are all communicated with the water outlet pipe, the other end of the cleaning pipe is connected with the cleaning spray head, the other end of the humidifying pipe is connected with the humidifying spray head, and the other end of the water gun barrel is connected with the flushing water gun. The cleaning spray head is used for cleaning the pumping device 2, the humidifying spray head is used for humidifying the humidifying material, and the flushing water gun is used for flushing a structure which is difficult to clean.
The water washing control cabinet 302 is used for controlling the flushing water pump 305.
The filtering water tank 306 is a secondary filtering water tank, and the filtering water tank 306 is used for collecting the washed wastewater and performing secondary filtering on the wastewater, and recycling sand and stone with the particle size larger than the set diameter; the air outlet of the filtering aeration fan 307 is communicated with the filtering water tank 306 through an aeration pipeline 313, and is used for aerating the filtered water-solid waste liquid, namely, air is introduced into the filtering water tank 306, so that the air and the washed water are opposite to each other, the filter screen is prevented from being blocked, and meanwhile, the accumulation of particles at the bottom of the filtering water tank 306 can be reduced. A drain line 314 and a drain line 315 are also mounted on the filter tank 306; the drain line 314 is used to drain waste water and the blow down line 315 is used to drain waste.
A pressure change installation pipe orifice 316 is arranged on the water outlet pipe, the pressure change installation pipe orifice 316 is used for installing a pressure transmitter, and the pressure transmitter is used for detecting the water pressure of the water outlet pipe. The pressure transmitter is connected with the water washing control cabinet 302 and is used for transmitting the water pressure value to the water washing control cabinet 302.
In operation, the washing control cabinet 302 receives the instruction of the main control cabinet 6, and sends out control commands to the components of the washing device 3, and feeds back the parameter status information of the washing device 3 in real time. During printing, the water washing device 3 performs atomization and humidification according to viscosity parameters of the printing material, so that the state of the printing material is maintained at a stable value. After printing, the water washing device 3 is controlled by two closed loops, the robot pumping pipeline 106 and the printing nozzle 105 are used as a loop, the pumping device 2 is used as a loop, and the two loops simultaneously carry out cleaning work, so that the working efficiency is improved by 50%. The cleaning of the pipeline is an important part in the whole printing process, because of the self-characteristics of the building printing material, residual materials in the structures such as the pipeline, the box body, the printing nozzle 105 and the like can be solidified without cleaning after printing, and the next use is affected. And the cleaning efficiency is critical, if the cleaning is slow, the cleaning is not completed before the printing material starts to solidify, and the next use is seriously affected. Therefore, the invention can greatly prolong the service life of the device while improving the cleaning efficiency.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the intelligent 3D building printer with the robot uses the six-axis printing robot 1 for printing, is convenient to move and transport compared with the existing line frame type printer, and is more suitable for on-site printing. According to the invention, the self-feeding stirring cleaning vehicle 4 and the pumping device 2 are additionally arranged, so that the self-feeding of the printer is realized. The invention also realizes automatic cleaning after printing by arranging the water washing device 3.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. Robot wisdom 3D building printer, its characterized in that includes: the six-axis printing robot comprises a robot supporting seat, a robot supporting platform, a six-axis mechanical arm, a robot control cabinet, a printing spray head and a robot pumping pipeline;
the robot support seat is fixed on the robot support platform, and the six-axis mechanical arm is fixed on the robot support seat; the printing spray head is fixedly connected to the tail end of the six-axis mechanical arm; the robot pumping pipeline is arranged along the six-axis mechanical arm, one end of the robot pumping pipeline is communicated with the printing spray head, and the other end of the robot pumping pipeline is communicated with a feed inlet of the six-axis printing robot; the robot control cabinet is fixed on the robot support platform and used for controlling the six-axis mechanical arm and the printing spray head;
the intelligent robot 3D building printer further comprises a self-feeding stirring cleaning vehicle and a pumping device; the pumping device is used for stirring the printing material supplied by the self-feeding stirring cleaning vehicle and pumping the printing material to the six-axis printing robot;
the pumping device comprises a pumping control cabinet, a pumping equipment frame, a stirring motor, a pumping pump material pipeline, a stirring shaft, a stirring tank, a pumping screw, a storage bin, a rubber spray head and a three-way valve group;
the pumping control cabinet, the stirring motor and the bin are arranged on the pumping equipment frame, and the pumping equipment frame is used for supporting the pumping control cabinet, the stirring motor and the bin; the stirring tank is positioned above the storage bin, a discharge port of the stirring tank is communicated with a feed inlet of the storage bin through a pumping pipeline, a discharge port of the storage bin is communicated with the rubber spray head, and the three-way valve group is arranged at the tail end of the rubber spray head; the stirring shaft is arranged in the stirring tank and is used for stirring the printing material under the drive of the stirring motor; the pumping pump material pipeline is used for conveying the printing materials stirred in the stirring tank to the storage bin; the pumping screw is arranged in the bin and is used for carrying out secondary stirring on the printing material and conveying the printing material to the rubber spray head; the rubber spray head is communicated with a first inlet of the three-way valve group and is used for conveying the printing material to the three-way valve group; the outlet of the three-way valve group is communicated with the feed inlet of the six-axis printing robot; the pumping control cabinet is used for controlling the stirring motor and the pumping screw;
the intelligent robot 3D building printer further comprises a washing device; the washing device is used for washing the pumping device and the six-axis printing robot and humidifying the printing materials in the pumping device;
the washing device comprises a washing platform, a washing control cabinet, a buffer water tank, a washing water tank and a washing water pump;
the water washing control cabinet, the buffer water tank, the flushing water tank and the flushing water pump are all arranged on the water washing platform;
the water outlet of the flushing water tank is communicated with the flushing water pump, and the flushing water pump is communicated with a flushing pipe through a water outlet pipe; the buffer water tank is arranged on the water outlet pipe; the tail end of the flushing pipe is connected with a flushing head; the flushing water tank is used for storing purified water; the flushing head is used for flushing the pumping device and the six-axis printing robot and humidifying the printing material;
the flushing pipe is also communicated with a second inlet of the three-way valve group and is used for conveying water to the robot pumping pipeline during flushing;
the washing control cabinet is used for controlling the washing water pump;
the water washing device also comprises a filtering water tank and a filtering aeration fan; the filtering water tank and the filtering aeration fan are both arranged on the washing platform;
the filtering water tank is used for collecting the washed wastewater and filtering the wastewater; the air outlet of the filtering aeration fan is communicated with the filtering water tank through an aeration pipeline and is used for aerating the filtered water-solid waste liquid;
the water level meter is arranged in the flushing water tank, the output end of the water level meter is connected with the water washing control cabinet, and the water level meter is used for measuring the water level in the flushing water tank.
2. The intelligent 3D construction printer of claim 1, wherein a pressure-variable mounting nozzle is arranged on the water outlet pipe, the pressure-variable mounting nozzle is used for mounting a pressure transmitter, and the pressure transmitter is used for detecting the water pressure of the water outlet pipe.
3. A robotic intelligent 3D building printer according to claim 1, wherein a plurality of first universal wheels are mounted below the pumping device frame.
4. The robotic intelligent 3D building printer of claim 1, wherein a plurality of second universal wheels are mounted below the water wash platform.
5. The robotic intelligent 3D building printer of claim 1, further comprising a video monitoring device; the video monitoring device is arranged around the six-axis printing robot and used for monitoring the printing process of the six-axis printing robot.
6. The robotic intelligent 3D building printer of claim 1, further comprising a main control cabinet connected to the robotic control cabinet, the pumping control cabinet, and the water wash control cabinet for sending control instructions to the robotic control cabinet, the pumping control cabinet, and the water wash control cabinet connections.
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| CN201811226266.2A CN109779260B (en) | 2018-10-22 | 2018-10-22 | Intelligent 3D building printer of robot |
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| CN201811226266.2A CN109779260B (en) | 2018-10-22 | 2018-10-22 | Intelligent 3D building printer of robot |
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| CN109779260A CN109779260A (en) | 2019-05-21 |
| CN109779260B true CN109779260B (en) | 2023-12-05 |
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