CN111216215A - Concrete 3D printing robot - Google Patents
Concrete 3D printing robot Download PDFInfo
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- CN111216215A CN111216215A CN202010049630.3A CN202010049630A CN111216215A CN 111216215 A CN111216215 A CN 111216215A CN 202010049630 A CN202010049630 A CN 202010049630A CN 111216215 A CN111216215 A CN 111216215A
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- printing
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- closed space
- materials
- spray head
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- 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
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- 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
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
- B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
- B28B13/023—Feeding the moulding material in measured quantities from a container or silo by using a feed box transferring the moulding material from a hopper to the moulding cavities
- B28B13/0235—Feeding the moulding material in measured quantities from a container or silo by using a feed box transferring the moulding material from a hopper to the moulding cavities the feed box being provided with agitating means, e.g. stirring vanes to avoid premature setting of the moulding material
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- 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
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
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- 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
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
- B28B17/0081—Process control
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- 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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- 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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The utility model provides a concrete 3D printing robot, include: the primary stirring and conveying system is used for stirring the filled materials to generate materials for building 3D printing; the secondary conveying pump is connected to the primary stirring and conveying system through a pipeline, receives the materials conveyed by the primary stirring and conveying system, and generates pumping force to convey the materials to the printing spray head; the printing spray head is arranged on the spray head bearing mechanism and is connected to the secondary delivery pump; the first distance L1 from the secondary delivery pump to the printing spray head is smaller than the second distance L2 from the primary stirring delivery system to the secondary delivery pump. The system adopts a two-stage conveying system, and the one-stage stirring and conveying system is arranged at a position far away from a construction site, so that the pollution to the construction site is reduced; the second-stage delivery pump is arranged at a position close to a construction site, so that the control is convenient, and the problem of control lag of long-distance delivery of materials is reduced.
Description
Technical Field
The utility model relates to an electromechanical device and building 3D print technical field, especially relate to a concrete 3D printing robot.
Background
The 3D Printing technology (3D Printing, 3DP for short) appeared in the middle of the 90 s of the 20 th century, and its working principle is to superpose "printed materials" layer by layer through computer control, and finally convert the blueprint on the computer into a physical product.
The building 3D printing technology is a novel application developed on the basis of Fused Deposition Modeling (FDM for short), and the principle is that three-dimensional slicing software is used for slicing and layering a three-dimensional model of a building component to generate a printer motion code, then a three-coordinate mobile platform of a printer is used for driving an extruder to extrude cement mortar layer by layer, and the building component with a practical function is formed by multiple stacking.
In the process of implementing the present disclosure, the applicant finds that the existing building 3D printers, especially the building 3D printers arranged on a construction site, have the problems of large dust, delayed control of long-distance material transportation, and are not suitable for printing typical building components with large slenderness ratios such as beams and columns.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
Technical problem to be solved
The present disclosure provides a concrete 3D printing robot to at least partially solve the technical problems set forth above.
(II) technical scheme
The utility model provides a concrete 3D printing robot, include: the primary stirring and conveying system is used for stirring the filled materials to generate materials for building 3D printing and generating pumping force to convey the materials to the secondary conveying pump; the secondary conveying pump is connected to the primary stirring and conveying system through a pipeline, receives the materials conveyed by the primary stirring and conveying system, and generates pumping force to convey the materials to the printing spray head; the printing spray head is arranged on the spray head bearing mechanism, is connected to the secondary delivery pump, realizes three-dimensional movement by the spray head bearing mechanism, and extrudes materials to generate a printed product; the first distance L1 from the secondary delivery pump to the printing spray head is smaller than the second distance L2 from the primary stirring delivery system to the secondary delivery pump.
In some embodiments of the present disclosure, the primary mixing delivery system is disposed within a separate enclosed space.
In some embodiments of the present disclosure, a showerhead support mechanism comprises: the walking ground rail is fixed on a construction site; and the mechanical arm is arranged on the walking ground rail and moves back and forth along the walking ground rail under the control of the control module.
In some embodiments of the present disclosure, a print head includes: a discharge nozzle; a feed inlet of the material extruder is connected to a secondary delivery pump at the rear end through a pipeline, and a discharge outlet of the material extruder is connected to a discharge nozzle at the front end; the servo motor and the speed reducer are fixed on the side face of the material extruder, wherein the speed reducer outputs the torque output by the servo motor to the material extruder as power after reducing the speed of the torque output by the servo motor so as to drive the material extruder to extrude the material.
In some embodiments of the present disclosure, a material extruder comprises: the extruder body is provided with a discharge hole at the front end, a feed hole at the side wall and an upper end and a lower end which are respectively sealed by an upper flange and a lower flange, so that a closed space is formed inside the extruder body; the material extruding auger is arranged in the closed space, the upper end of an auger shaft of the material extruding auger extends out of the upper flange and is in transmission connection with an output shaft of the speed reducer, and a sealing structure is arranged at the joint part of the auger shaft and the upper flange.
In some embodiments of the present disclosure, the servo motor and the reducer are fixed to the side of the material extruder by a fixing flange; in the material extruder, in the outside of last flange, set up tertiary stair structure: in the step structure at the lowest layer, a first sealing ring is arranged between the auger shaft and the upper flange at the outer side; in the second step structure, a first positioning bearing is arranged between the auger shaft and the upper flange at the outer side; the protruding part at the lower part of the fixed flange extends into the third step to fix the first positioning bearing and tightly press the first sealing ring; a second sealing ring is arranged between the part of the auger shaft extending out of the closed space and the fixing flange on the outer side; and a second positioning bearing is arranged above the second sealing ring and between the part of the auger shaft extending out of the closed space and the fixing flange on the outer side, and the second sealing ring is tightly pressed by the second positioning bearing.
In some embodiments of the disclosure, the part of the auger shaft extending out of the upper part of the second positioning bearing is provided with a transmission gear; the transmission gear is connected with and driven by a gear of an output shaft of the speed reducer through a transmission chain.
In some embodiments of the present disclosure, further comprising: the vibration source is used for vibrating the materials in the closed space; and the vacuumizing device is connected with the negative pressure port of the extruder body, so that the negative pressure state is maintained in the closed space in the working state.
In some embodiments of the present disclosure, the vacuum pumping device is connected with the negative pressure port of the extruder body through an exhaust solenoid valve; concrete 3D printing robot still includes: the vacuum gauge is arranged in the closed space and used for measuring the vacuum degree in the closed space; the weighing sensor is arranged in the closed space and used for measuring the material amount in the closed space; and the control module is used for controlling the opening and closing of the exhaust electromagnetic valve and/or the opening and closing of the vacuum pump according to the material quantity and the vacuum degree in the closed space so as to maintain the air pressure in the relay space within a preset negative pressure range lower than the atmospheric pressure.
In some embodiments of the present disclosure, the primary agitation and delivery system and the secondary delivery pump are degassed by vibration and are connected to the print head by hoses.
(III) advantageous effects
According to the technical scheme, the concrete 3D printing robot disclosed by the invention at least has one of the following beneficial effects:
(1) the two-stage conveying system is adopted, the first-stage stirring conveying system is arranged at a position far away from a construction site, and an independent room can be arranged under necessary conditions, so that the damage of dust to the health of constructors is avoided, the second-stage conveying pump is arranged at a position close to the construction site, the control is convenient, and the problem of material long-distance conveying control lag is reduced.
(2) The form of combining a mechanical arm with a moving track is adopted, and the length of the moving track can be infinitely long, so that the printing machine is suitable for printing building components with large slenderness such as beams, columns and the like.
(3) In printing the shower nozzle, adopt servo motor and supporting speed reducer drive auger work, extrude the material from printing the shower nozzle, have light in weight, simple structure, advantage that the moment of torsion is big.
(4) In printing the shower nozzle, the material extruder adopts sealed setting, forms airtight space inside to can realize the negative pressure degasification, combine the ultrasonic vibration of small range, high-frequency, reduce the vibration to the influence of printing the quality.
(5) In the primary stirring conveying system and the secondary conveying pump, the vibration mode with higher intensity is adopted for degassing, so that the degassing pressure at the printing spray head is reduced; on the other hand, through the isolation of the soft pipelines among the multi-stage pumping, the vibration can not be conducted to the printing spray head, and the printing quality is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a concrete 3D printing robot according to an embodiment of the present disclosure.
Fig. 2 is a side view of a printing nozzle in the concrete 3D printing robot shown in fig. 1.
Fig. 3 is a cross-sectional view of a material extruder in the print head of fig. 2.
[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure
100-first-stage stirring and conveying system;
200-a secondary delivery pump;
300-a showerhead carrying mechanism;
310-walking ground rail; 320-a mechanical arm;
400-printing the spray head;
410-a discharge nozzle;
420-a material extruder; 421-a feed inlet; 422-drive gear
423-extruder body; 424-extruding auger;
430-a fixed flange;
431-an upper flange; 432-lower flange; 433-a first sealing ring;
434-a first locating bearing; 435-a second sealing ring; 436-a second positioning bearing;
441-a servo motor; 442-reducer.
Detailed Description
The concrete 3D printing robot is provided by adopting four-axis or six-axis mechanical arms and a moving track, and simultaneously matching a concrete stirring and conveying system, a conveying pump, a printing nozzle and special operating software.
Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In one embodiment of the present disclosure, a concrete 3D printing robot is provided. Fig. 1 is a schematic structural diagram of a concrete 3D printing robot according to an embodiment of the present disclosure. As shown in fig. 1, the concrete 3D printing robot of the present embodiment includes:
a primary mixing and conveying system 100 that mixes the filled material, generates material for building 3D printing, and generates pumping force to convey the material to a secondary conveying pump;
the secondary conveying pump 200 is connected to the primary stirring and conveying system through a pipeline, receives the materials conveyed by the primary stirring and conveying system, and generates pumping force to convey the materials to the printing spray head; and
the printing spray head 400 is arranged on the spray head bearing mechanism, is connected to the secondary delivery pump through a pipeline, realizes three-dimensional movement by the spray head bearing mechanism, and extrudes materials to generate a printed product;
the first distance L1 from the secondary delivery pump to the printing spray head is smaller than the second distance L2 from the primary stirring delivery system to the secondary delivery pump.
In this embodiment, adopt two-stage conveying system, one-level stirring conveying system can set up in the position of keeping away from the job site, and the second grade delivery pump sets up in the position nearer apart from the job site, and convenient control has reduced the hysteretic problem of material long distance transport control.
In other embodiments of the present disclosure, the primary mixing and conveying system is placed in a separate enclosed space, thereby avoiding damage to the health of the constructor from dust.
The following describes each component of the concrete 3D printing robot in detail.
The specific structure of the primary stirring and conveying system and the secondary conveying pump is not described in detail here. It should be separately noted that in this embodiment, in the primary stirring and conveying system and the secondary conveying pump, the strong vibrating degassing is adopted to eliminate the bubbles in the material. This aspect relieves the degassing pressure at the print head; on the other hand, through the isolation of the soft pipelines among the multi-stage pumping, the vibration can not be conducted to the printing spray head, and the printing quality is ensured.
In this embodiment, the shower nozzle bears the weight of the mechanism and includes: the walking ground rail 310 is fixed on a construction site; the robot 320 is disposed on the traveling ground rail and can move back and forth along the traveling ground rail.
In this embodiment, a walking ground rail is adopted to combine with a mechanical arm to support the print head, and this support method has the following two advantages:
the moving range of the mechanical arm is expanded, and the length of the moving track can be infinitely long, so that the printing machine is suitable for printing building components with large slenderness such as beams, columns and the like.
Secondly, because the stability of walking ground rail will be stronger than simple robotic arm's stability far away, consequently still promoted robotic arm's stability, and then improved printing quality.
It will be understood by those skilled in the art that in other embodiments of the present disclosure, the walking ground rail may not be included, and the present disclosure may also be implemented in a manner that the robot arm is directly fixed to the ground through a fixing structure.
In this embodiment, the robot arm may be a four-axis robot arm or a six-axis robot arm. In the case of a robot arm, it is an automatic device that can simulate some motion functions of a human hand and arm, and is used for grasping, carrying objects or operating tools according to a fixed program. It can replace the heavy labor of human to realize the mechanization and automation of production, and can operate under the harmful environment to ensure the personal safety. In this implementation, software related to the mechanical arm is also programmed to drive the mechanical arm to work. The software has the functions of simple operation, automatic slicing, path planning and standard code generation and the like. The change of the post configuration file can adapt to the mechanical arm of any brand.
Fig. 2 is a side view of a printing nozzle in the concrete 3D printing robot shown in fig. 1. As shown in fig. 2, the print head 400 includes:
a discharge nozzle 410;
a material extruder 420, wherein a feed port 421 is connected to a secondary delivery pump at the rear end through a pipeline, and a discharge port is connected to a discharge nozzle at the front end;
the servo motor 441 and the reducer 442 are fixed on the side surface of the material extruder through the fixing flange 430, and the reducer reduces the torque output by the servo motor and outputs the reduced torque as power to the material extruder to drive the material extruder to extrude the material.
In this embodiment, in printing the shower nozzle, adopt servo motor and supporting speed reducer drive material extruder work, extrude the material from ejection of compact shower nozzle, have light in weight, simple structure, advantage that the moment of torsion is big. Furthermore, the nozzle is a separate replaceable nozzle. The nozzle can be replaced to meet the printing requirements of different models, and higher printing quality is guaranteed.
Fig. 3 is a cross-sectional view of the material extruder along plane a-a in the print head of fig. 2. As shown in fig. 3, the material extruder 420 includes:
an extruder body 423 having a discharge port at a front end thereof, a feed port at a sidewall thereof, and upper and lower ends thereof sealed by an upper flange 431 and a lower flange 432, respectively, to form a closed space therein;
the material extruding auger 424 is arranged in the closed space, the upper end of the auger shaft extends out of the upper flange, and a sealing structure is arranged at the joint part of the auger shaft and the upper flange.
In this embodiment, the extruder body is wholly formed by surface treatment of 304 stainless steel and aluminum alloy materials, and has the advantages of corrosion resistance, good cleaning, no rusting and the like. In addition, the material property requirement is low by adopting the rotary extrusion of the material extruding auger, the application range is wide, and the application range of the embodiment can be enlarged.
In the embodiment, the joint part of the auger shaft and the upper flange adopts a mud sealing mode, namely a sealing structure mode which has multi-stage sealing and is specially suitable for mud materials. Referring to fig. 3, a three-step structure is formed on the outer side of the upper flange. In the step structure of the lowest layer, a first sealing ring 433 is arranged between the auger shaft and the upper flange at the outer side. In the step structure of the second layer, a first positioning bearing 434 is arranged between the auger shaft and the upper flange on the outer side. The bulge at the lower part of the fixing flange extends into the step at the third layer to fix the first positioning bearing and compress the first sealing ring. And a second sealing ring 435 is arranged between the part of the auger shaft extending out of the closed space and the fixing flange on the outer side. And a second positioning bearing 436 is arranged above the second sealing ring and between the part of the auger shaft extending out of the closed space and the fixing flange on the outer side. The part of the auger shaft extending out of the upper part of the second positioning bearing is provided with a transmission gear 422. The transmission gear is connected with and driven by a gear of an output shaft of the speed reducer through a transmission chain. The first positioning bearing and the second positioning bearing realize the positioning of the extruding auger, and the first sealing ring and the second sealing ring realize the sealing of the joint of the auger shaft and the upper flange.
In this embodiment, through the setting of multistage sealing washer, guaranteed the inside airtight space of extruder body when the feeding, through above setting, can effectively realize the sealed of this kind of solid-liquid mixture of mud material on the one hand, on the other hand can provide probably for the atmospheric pressure regulation in the airtight space.
And a negative pressure port is also arranged on the side surface of the extruder body. This embodiment still includes: a vacuum pumping device (not shown in the figure) passing through the exhaust solenoid valveAnd the negative pressure port is connected with the side surface of the extruder body, so that the negative pressure state is maintained in the closed space in the working state. In addition, a filtering device is arranged at the negative pressure port to prevent the materials from entering the vacuumizing device. Wherein the upper limit value of the preset negative pressure range in the closed space is 10-2～10-3Values between Pa. In this embodiment, the vacuum pumping device is a mechanical pump.
In this embodiment, the material extruder 420 further includes: and the vibration source is used for vibrating the materials in the closed space. The vibration is combined with the negative pressure, so that the degassing effect can be greatly improved. Wherein, the vibration source can be an external type, an insertion type or an internal type. Preferably, the print head is positioned to vibrate ultrasonically with only a small amplitude and a high frequency in the range of 2 x 104～5×104In order to reduce the influence of vibration on the extrusion of the material as much as possible.
In addition, in order to make the negative pressure state and the degassing effect balanced during the construction process, in some other preferred embodiments of the present disclosure, the method further includes: a vacuum gauge (not shown) disposed in the enclosed space for measuring a vacuum degree of the enclosed space; and the weighing sensor (not shown in the figure) is arranged in the closed space and used for measuring the material quantity in the closed space. In this respect, this embodiment further includes: and the control module is used for controlling the opening and closing of the exhaust electromagnetic valve and/or the opening and closing of the vacuum pump according to the material quantity and the vacuum degree in the closed space so as to maintain the air pressure in the relay space within a preset negative pressure range lower than the atmospheric pressure.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Furthermore, the above definitions of the various elements and methods are not limited to the particular structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by one of ordinary skill in the art, for example:
(1) the evacuation device may be other types of vacuum pumps besides mechanical pumps;
(2) regarding the vibration frequency of the printing source, in addition to the ultrasonic vibration, if the printing accuracy is not high, vibration of other frequencies may be employed;
(3) regarding the vacuum degree range of the closed space, settings different from the embodiment can be adopted as long as negative pressure lower than atmospheric pressure is adopted, so that bubbles in the material are easier to overflow under the action of vibration;
(4) the sealing and transmission modes of the upper end and the lower end of the extruder body can also adopt other modes except the embodiment, for example, sealing rings with better sealing performance are adopted;
(5) in the extruder body of the material extruder, the negative pressure port can be positioned on the side surface of the extruder body or on the top end of the extruder body, and a person skilled in the art can select a proper position as required.
From the above description, those skilled in the art should clearly recognize that the concrete 3D printing robot of the present disclosure.
In conclusion, the present disclosure provides an adopt two-stage conveying system, and one-level stirring conveying system can set up in the position of keeping away from the job site, has avoided the harm of dust to constructor health, and the second grade delivery pump sets up in the position nearer apart from the job site, has reduced the problem that material long distance transport control lags behind. In addition, only adopt the small-range in printing shower nozzle position, the mode of high-frequency ultrasonic vibration combines the negative pressure to carry out the degasification, has promoted the degasification effect. Through the improvement, the application range of the mechanical arm type building 3D printer is widened, and the mechanical arm type building 3D printer has great value for large-scale business as early as.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A concrete 3D printing robot, comprising:
the primary stirring and conveying system is used for stirring the filled materials to generate materials for building 3D printing and generating pumping force to convey the materials to the secondary conveying pump;
the secondary conveying pump is connected to the primary stirring and conveying system through a pipeline, receives the materials conveyed by the primary stirring and conveying system, and generates pumping force to convey the materials to the printing spray head; and
the printing spray head is arranged on the spray head bearing mechanism, is connected to the secondary delivery pump, realizes three-dimensional movement by the spray head bearing mechanism, and extrudes materials to generate a printed product;
the first distance L1 from the secondary delivery pump to the printing spray head is smaller than the second distance L2 from the primary stirring delivery system to the secondary delivery pump.
2. The concrete 3D printing robot of claim 1, wherein the primary mixing delivery system is placed in a separate enclosed space.
3. The concrete 3D printing robot of claim 1, wherein the spray head carrying mechanism comprises:
the walking ground rail is fixed on a construction site;
and the mechanical arm is arranged on the walking ground rail and moves back and forth along the walking ground rail under the control of the control module.
4. The concrete 3D printing robot of claim 1, wherein the printing nozzle comprises:
a discharge nozzle;
a feed inlet of the material extruder is connected to a secondary delivery pump at the rear end through a pipeline, and a discharge outlet of the material extruder is connected to a discharge nozzle at the front end;
the servo motor and the speed reducer are fixed on the side face of the material extruder, wherein the speed reducer reduces the torque output by the servo motor and outputs the reduced torque as power to the material extruder to drive the material extruder to extrude the material.
5. The concrete 3D printing robot of claim 4, wherein the material extruder comprises:
the extruder body is provided with a discharge hole at the front end, a feed hole at the side wall and an upper end and a lower end which are respectively sealed by an upper flange and a lower flange, so that a closed space is formed inside the extruder body;
and the material extruding auger is arranged in the closed space, the upper end of an auger shaft of the material extruding auger extends out of the upper flange and is in transmission connection with an output shaft of the speed reducer, and a sealing structure is arranged at the position where the auger shaft is connected with the upper flange.
6. The concrete 3D printing robot of claim 5,
the servo motor and the speed reducer are fixed on the side surface of the material extruder through a fixing flange;
in the material extruder, in the outside of last flange, set up tertiary stair structure: in the step structure at the lowest layer, a first sealing ring is arranged between the auger shaft and the upper flange at the outer side; in the second step structure, a first positioning bearing is arranged between the auger shaft and the upper flange at the outer side; the protruding part at the lower part of the fixed flange extends into the third step to fix the first positioning bearing and tightly press the first sealing ring;
a second sealing ring is arranged between the part of the auger shaft extending out of the closed space and the fixing flange on the outer side; and a second positioning bearing is arranged above the second sealing ring and between the part of the auger shaft extending out of the closed space and the fixing flange on the outer side, and the second sealing ring is tightly pressed by the second positioning bearing.
7. The concrete 3D printing robot of claim 6, wherein a transmission gear is arranged at the part of the auger shaft extending out of the upper part of the second positioning bearing; the transmission gear is connected with and driven by a gear of an output shaft of the speed reducer through a transmission chain.
8. The concrete 3D printing robot of claim 5, further comprising:
the vibration source is used for vibrating the materials in the closed space; and
and the vacuumizing device is connected with the negative pressure port of the extruder body so as to maintain the negative pressure state in the closed space in the working state.
9. The concrete 3D printing robot according to claim 8, wherein the vacuum pumping device is connected to the negative pressure port of the extruder body through an exhaust solenoid valve; concrete 3D printing robot still includes:
the vacuum gauge is arranged in the closed space and used for measuring the vacuum degree in the closed space;
the weighing sensor is arranged in the closed space and used for measuring the material amount in the closed space;
and the control module is used for controlling the opening and closing of the exhaust electromagnetic valve and/or the opening and closing of the vacuum pump according to the material quantity and the vacuum degree in the closed space so as to maintain the air pressure in the relay space within a preset negative pressure range lower than the atmospheric pressure.
10. The concrete 3D printing robot of any one of claims 1 to 9, wherein the primary mixing and delivery system and secondary delivery pump are vibro-deaerated and connected to the printing head by hoses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010049630.3A CN111216215A (en) | 2020-01-16 | 2020-01-16 | Concrete 3D printing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN112854762A (en) * | 2021-01-21 | 2021-05-28 | 齐鲁工业大学 | Novel 3D prints concrete material transmission equipment |
| 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 |
| CN113389112A (en) * | 2021-07-13 | 2021-09-14 | 山东大学 | 3D printing equipment for cement concrete pavement and construction method |
| CN114075810A (en) * | 2022-01-19 | 2022-02-22 | 中交第一公路勘察设计研究院有限公司 | Space path fitting method and system for concrete 3D printing |
| CN114211589A (en) * | 2021-12-21 | 2022-03-22 | 无锡荷清数字建筑科技有限公司 | 3D prints concrete aircraft nose |
| CN117569598A (en) * | 2024-01-15 | 2024-02-20 | 河北盛卓建筑设备制造有限公司 | 3D printing equipment for building and construction method |
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| CN112854762A (en) * | 2021-01-21 | 2021-05-28 | 齐鲁工业大学 | Novel 3D prints concrete material transmission equipment |
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| CN117569598B (en) * | 2024-01-15 | 2024-03-15 | 河北盛卓建筑设备制造有限公司 | 3D printing equipment for building and construction method |
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