CN112176869A - Horizontal structure 3D printing system - Google Patents
Horizontal structure 3D printing system Download PDFInfo
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- CN112176869A CN112176869A CN202010937697.0A CN202010937697A CN112176869A CN 112176869 A CN112176869 A CN 112176869A CN 202010937697 A CN202010937697 A CN 202010937697A CN 112176869 A CN112176869 A CN 112176869A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
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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
Abstract
The invention provides a horizontal structure 3D printing system, which adopts a mobile 3D printing robot, a free follow-up template device and an external support structure, wherein the mobile 3D printing robot comprises a plurality of first rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, each first rope driving guide mechanism comprises a first rope driving brake mechanism, a first high-strength rope, a first rope guide mechanism and a first fixing component, and the first rope driving brake mechanism is used for winding and unwinding the first high-strength rope to realize accurate printing and positioning of the movable platform; the free follow-up template device comprises a plurality of second rope driving guide mechanisms and a follow-up platform, the second rope driving guide mechanisms comprise second rope driving brake mechanisms, second high-strength ropes, second rope guide mechanisms and second fixing assemblies, the second high-strength ropes are collected and released through the second rope driving brake mechanisms to achieve accurate positioning of the follow-up template, and the free follow-up template device has the advantages of light dead weight, small size, convenience in installation and high automation.
Description
Technical Field
The invention belongs to the technical field of building 3D printing, and particularly relates to a 3D printing system with a horizontal structure.
Background
The traditional construction industry has low mechanization and automation degree, and the development of the traditional construction industry urgently needs transformation and upgrading. With the development and the gradual maturity of the 3D printing technology, the technology will bring technological innovation to the labor-intensive construction industry. The building 3D printing technology has the characteristics of high mechanical automation degree, one-step forming, low building material consumption and process loss and the like, is an important means for realizing transformation and upgrading of the building industry, is an effective way for solving efficient, safe, digital, automatic and intelligent building of buildings, and has become a development trend of the building industry.
3D printing construction of a large-span horizontal structure is one of the biggest challenges of building 3D printing, and due to the limitation of materials and devices and the fact that the horizontal structure cannot overcome the self gravity, automatic construction of a horizontal member is difficult to realize under the condition that a bottom template is not erected manually. Taking a horizontal bridge structure as an example, the automatic bridge construction realized by adopting the conventional 3D printing device and method has the following limitations: (1) the 3D printing concrete bridge horizontal structure needs to be strictly designed into a full-pressure component, printing is difficult to implement, durability cannot be estimated, and safety is difficult to guarantee; (2)3D printing of the horizontal structure of the reinforced concrete bridge requires manual support of a bottom template, and printing cannot be completely automated; (3) the 3D printing speed of the metal bridge is extremely low, the surface flatness of the printed metal structure cannot be controlled, the printing device automatically climbs by means of the printed structure, and due to the fact that the surface is rough and cannot be accurately positioned, a successful 3D printing construction case of the metal bridge does not exist.
Therefore, it is an urgent technical problem to be solved in the art to provide a 3D printing apparatus and method suitable for large horizontal structures.
Disclosure of Invention
The invention aims to provide a horizontal structure 3D printing system, a supporting load bearing mechanism is provided for a mobile 3D printing robot through an external supporting structure so as to provide a printing space adaptive to a printing structure, a bottom supporting platform is provided for horizontal structure printing through dynamic adjustment and movement of a free follow-up template device fixed on the external supporting structure, and the printing construction of the horizontal structure is completed through the mobile 3D printing robot in cooperation with printing operation, so that the problems that the existing 3D printing device and method cannot realize the integral printing of the horizontal structure, the printing cannot be completely automated, the horizontal structure printing is limited by the printing shape of a material and the like are solved, and the efficient, safe and automatic construction of the horizontal structure is realized.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides a horizontal construction 3D printing system, is including removing 3D printing robot, free follow-up template device and outside bearing structure, it includes a plurality of first rope drive guiding mechanism, moves the platform, beats printer head mechanism and beat printer head coupling mechanism to remove 3D printing robot, it installs on moving the platform through beating printer head coupling mechanism is detachable, it passes through to move the platform a plurality of first rope drive guiding mechanism install on outside bearing structure, first rope drive guiding mechanism includes first rope drive arrestment mechanism, first high-strength rope, first rope guiding mechanism and first fixed subassembly, first rope drive arrestment mechanism with first rope guiding mechanism set up respectively in move on the platform, the one end of first high-strength rope is connected with the first rope drive arrestment mechanism that corresponds, the other end is fixed in outside through first fixed subassembly after the direction of the first rope guiding mechanism that corresponds and supports Structurally, the first rope drives the braking mechanism to retract and release the corresponding first high-strength rope to realize accurate printing and positioning of the movable platform; the free follow-up template device comprises a plurality of second rope driving guide mechanisms and a follow-up platform, the follow-up platform is installed on an external supporting structure through the second rope driving guide mechanisms, each second rope driving guide mechanism comprises a second rope driving brake mechanism, a second high-strength rope, a second rope guide mechanism and a second fixing assembly, the second rope driving brake mechanisms and the second rope guide mechanisms are respectively arranged on the follow-up template, one end of the second high-strength rope is connected with the corresponding second rope driving brake mechanism, the other end of the second high-strength rope is guided by the corresponding second rope guide mechanism and then fixed on the external supporting structure through the second fixing assembly, and the second rope driving brake mechanisms can retract and release the corresponding second high-strength rope to realize accurate positioning of the follow-up template.
Preferably, in the above horizontal 3D printing system, the first rope driving braking mechanism includes an energy-saving motor, a transmission, an encoder, a reducer, a sensor assembly, a reel, a brake, a spindle, and a locking assembly; the energy-saving motor is used for driving the main shaft to rotate; the scroll is fixedly sleeved on the main shaft; one end of the first high-strength rope is fixed on the outer surface of the scroll, and the first high-strength rope can be wound along with the rotation of the scroll to realize the expansion of the length of the first high-strength rope; the transmission is connected with the energy-saving motor and used for adjusting the output rotating speed of the energy-saving motor; the encoder is arranged on the energy-saving motor and used for measuring the position, the angle and the number of turns of the reel; the speed reducer is connected with the energy-saving motor and is used for reducing the rotating speed of the main shaft; the sensor assembly is arranged on the main shaft and used for measuring the tension and the torque of the reel; the brake is connected with the main shaft and used for realizing the rapid braking of the main shaft; the energy-saving motor and the brake are respectively fixed on the movable platform through the locking assembly.
Preferably, in the above-described horizontal 3D printing system, the second rope-driven braking mechanism includes an energy-saving motor, a transmission, an encoder, a reducer, a sensor assembly, a reel, a brake, a spindle, and a locking assembly; the energy-saving motor is used for driving the main shaft to rotate; the scroll is fixedly sleeved on the main shaft; one end of the second high-strength rope is fixed on the outer surface of the reel, and the second high-strength rope can be wound along with the rotation of the reel, so that the self length of the second high-strength rope can be extended and contracted; the transmission is connected with the energy-saving motor and used for adjusting the output rotating speed of the energy-saving motor; the encoder is arranged on the energy-saving motor and used for measuring the position, the angle and the number of turns of the reel; the speed reducer is connected with the energy-saving motor and is used for reducing the rotating speed of the main shaft; the sensor assembly is arranged on the main shaft and used for measuring the tension and the torque of the reel; the brake is connected with the main shaft and used for realizing the rapid braking of the main shaft; the energy-saving motor and the brake are respectively fixed on the follow-up template through the locking assembly.
Preferably, in the above horizontal 3D printing system, the printing head mechanism is mounted in the middle of the movable platform through a printing head connecting mechanism, and the reverse extension line of the first high-strength rope passes through the central axis of the movable platform vertically.
Preferably, in the above-described horizontal 3D printing system, the movable stage includes: the annular platform, the first annular connecting piece and the second annular connecting piece are respectively arranged on the upper surface of the annular platform, the annular connecting piece I, the annular connecting piece II and the annular platform are coaxially arranged, the annular connecting piece II is positioned at the outer side of the annular connecting piece I, the first annular connecting piece and the second annular connecting piece can both accurately rotate and be fixed on the annular platform, the first rope driving braking mechanisms are uniformly arranged on the first annular connecting piece, the first rope guiding mechanisms are uniformly arranged on the second annular connecting piece, the first rope driving braking mechanism and the first rope guiding mechanism are respectively driven to rotate by slightly rotating the first annular connecting piece and the second annular connecting piece, the reverse extension line of the first high-strength rope vertically penetrates through the central shaft of the movable platform, and the first annular connecting piece and the second annular connecting piece are fixed on the annular platform.
Preferably, in the above-mentioned horizontal structure 3D printing system, the first fixing components are located on the same horizontal plane, and the distance H between the first fixing component and the lowest point of the horizontal structure to be printed should be greater than the sum of the height of the horizontal structure to be printed and the height of the mobile 3D printing robot 100.
Preferably, in the above-mentioned horizontal structure 3D printing system, the second fixing assemblies are located on the same horizontal plane.
Preferably, in the above horizontal 3D printing system, the system further includes a material conveying connector, one end of the material conveying connector is connected to the printing head mechanism, and the other end of the material conveying connector is connected to the mobile material pump station through a material conveying pipe.
Preferably, in the above-described horizontal-structured 3D printing system, the print head mechanism includes: nozzle, ejection of compact system and storage system store the material through the storage system, realize incessant print jobs, extrude the material through the ejection of compact system accuracy, realize the print jobs of different width and thickness through the nozzle, material transport connector one end is connected with the storage system who beats printer head mechanism, and the other end passes through the material conveyer pipe and is connected with the removal material pump station.
Preferably, in the above horizontal structure 3D printing system, the follow-up template includes a metal template and a non-stick building material coating, the non-stick building material coating is disposed on an upper surface of the metal template, and a plurality of template supports are disposed at a bottom of the metal template.
Preferably, in foretell horizontal construction 3D printing system, first rope guiding mechanism and second rope guiding mechanism all include pulley and rope director, first high strength rope is connected with first fixed subassembly after rope director and pulley in proper order, second high strength rope is connected with second fixed subassembly after rope director and pulley in proper order.
Preferably, in the horizontal structure 3D printing system, the follow-up template is fixed to an external support structure through four sets of second rope driving guide mechanisms, the follow-up template is of a rectangular structure, the four sets of second rope driving guide mechanisms are respectively arranged at four corner positions of the bottom of the follow-up template, the four sets of second rope driving guide mechanisms are symmetrically arranged, and reverse extension lines of second high-strength ropes of each set of second rope driving guide mechanisms vertically penetrate through a central shaft of the follow-up template.
According to the technical scheme disclosed above, compared with the prior art, the invention has the following beneficial effects:
the invention provides a horizontal structure 3D printing system, which adopts a mobile 3D printing robot, a free follow-up template device and an external support structure, wherein the mobile 3D printing robot comprises a plurality of first rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, the printing head mechanism is detachably arranged on the movable platform through the printing head connecting mechanism, the movable platform is arranged on the external support structure through the plurality of first rope driving guide mechanisms, the first rope driving guide mechanisms comprise a first rope driving brake mechanism, a first high-strength rope, a first rope guide mechanism and a first fixing component, the first rope driving brake mechanism and the first rope guide mechanism are respectively arranged on the movable platform, one end of the first high-strength rope is connected with the corresponding first rope driving brake mechanism, the other end of the first rope is guided by a corresponding first rope guide mechanism and then fixed on an external supporting structure through a first fixing assembly, and the first rope drives a braking mechanism to release and release a corresponding first high-strength rope so as to realize accurate printing and positioning of the movable platform; the free follow-up template device comprises a plurality of second rope driving guide mechanisms and a follow-up platform, the follow-up platform is arranged on an external supporting structure through the plurality of second rope driving guide mechanisms, each second rope driving guide mechanism comprises a second rope driving brake mechanism, a second high-strength rope, a second rope guide mechanism and a second fixing assembly, the second rope driving brake mechanisms and the second rope guide mechanisms are respectively arranged on the follow-up template, one end of each second high-strength rope is connected with the corresponding second rope driving brake mechanism, the other end of each second high-strength rope is guided by the corresponding second rope guide mechanism and then fixed on the external supporting structure through the second fixing assembly, the second rope driving brake mechanisms are used for retracting the corresponding second high-strength ropes to realize the accurate positioning of the follow-up template, and the bottom template does not need to be manually supported, the automatic printing device is beneficial to the automatic printing of the horizontal structure, solves the problems that the traditional large-scale horizontal structure is low in construction efficiency and automation degree, the existing 3D printing technology cannot realize the automatic printing of the horizontal structure and the like, is not limited by printing materials, can realize the efficient, safe and automatic construction of large-scale arbitrary complex horizontal structures, and has the advantages of light dead weight, small size, convenience in moving, convenience in installation and the like.
Drawings
FIG. 1 is a schematic diagram of a horizontal 3D printing system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a mobile 3D printing robot according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a free follower template arrangement according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a follower template according to an embodiment of the present invention.
FIG. 5 shows a movement trajectory of a free follower template device during 3D printing of a horizontal structure according to an embodiment of the present invention.
In the figure: 100-moving a 3D printing robot; 110-a first rope-driven braking mechanism; 110' -a second rope-driven braking mechanism; 111-energy saving motor; 112-a transmission; 113-an encoder; 114-a reducer; 115-a sensor assembly; 116-a reel; 117-a brake; 118-a main shaft; 119-a locking assembly; 120-moving the platform; 121-a ring platform; 122-ring connector one; 123-annular connecting piece II; 130-a first high strength rope; 130' -a second high tensile cord; 140-a first rope guide mechanism; 140' -a second rope guide mechanism; 141-a pulley; 142-a cord guide; 150-a first stationary component; 151-rope connection head; 152-a cord guide; 150' -a second fixation assembly; 160-a print head mechanism; 161-nozzle; 162-a discharge system; 163-a storage system; 170-print head attachment mechanism; 180-material delivery connector; 190-moving the material pump station; 200-free follow-up template device; 300-an external support structure; 400-horizontal structure to be printed; 220-follow-up template; 221-a metal template; 222-non-stick building material coating; 223 — template support 223.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. The technical contents and features of the present invention will be described in detail below with reference to the embodiments illustrated in the accompanying drawings. It is further noted that the drawings are in greatly simplified form and are not to precise scale, merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. For convenience of description, the directions of "up" and "down" described below are the same as the directions of "up" and "down" in the drawings, but this is not a limitation of the technical solution of the present invention.
Referring to fig. 1 to 5, the present embodiment discloses a horizontal structure 3D printing system, including a mobile 3D printing robot 100, a free following template device 200 and an external support structure 300, where the mobile 3D printing robot 100 includes a plurality of first rope driving guide mechanisms, a movable platform 120, a printing head mechanism 160 and a printing head connecting mechanism 170, the printing head mechanism 160 is detachably mounted on the movable platform 120 through the printing head connecting mechanism 170, the movable platform 120 is mounted on the external support structure 300 through the plurality of first rope driving guide mechanisms, that is, one end of each first rope driving guide mechanism is disposed on the movable platform 120, and the other end is fixed on the external support structure 300, the first rope driving guide mechanism includes a first rope driving brake mechanism 110, a first high-strength rope 130, a first rope guide mechanism 140 and a first fixing component 150, the first rope driving braking mechanism 110 and the first rope guiding mechanism 140 are respectively arranged on the movable platform 120, one end of the first high-strength rope 130 is connected with the corresponding first rope driving braking mechanism 110, the other end of the first high-strength rope is guided by the corresponding first rope guiding mechanism 140 and then fixed on the external supporting structure 300 through the first fixing component 150, and the first rope driving braking mechanism 110 is used for retracting and releasing the corresponding first high-strength rope 130 to realize accurate printing and positioning on the movable platform 120; the free follow-up template device 200 comprises a plurality of second rope driving guide mechanisms and a follow-up platform 220, the follow-up platform 220 is mounted on the external support structure 300 through the plurality of second rope driving guide mechanisms, that is, one end of each second rope driving guide mechanism is uniformly arranged on the follow-up template 220, the other end of each second rope driving guide mechanism is fixed on the external support structure 300, each second rope driving guide mechanism comprises a second rope driving brake mechanism 110 ', a second high-strength rope 130 ', a second rope guide mechanism 140 ' and a second fixing component 150 ', the second rope driving brake mechanisms 110 ' and the second rope guide mechanisms 140 ' are respectively arranged on the follow-up template 220, one end of each second high-strength rope 130 ' is connected with the corresponding second rope driving brake mechanism 110 ', and the other end of each second high-strength rope 130 ' is guided by the corresponding second rope guide mechanism 140 ' and then fixed on the external support structure 300 through the second fixing component 150 ', the second rope driving brake mechanism 110 'is used for retracting the corresponding second high-strength rope 130' to realize the accurate positioning of the follow-up template 220.
The invention provides a horizontal structure 3D printing system, which adopts a mobile 3D printing robot 100, a free follow-up template device 200 and an external support structure 300, wherein the mobile 3D printing robot 100 comprises a plurality of first rope driving guide mechanisms, a movable platform 120, a printing head mechanism 160 and a printing head connecting mechanism 170, the printing head mechanism 160 is detachably arranged on the movable platform 120 through the printing head connecting mechanism 170, the movable platform 120 is arranged on the external support structure 300 through the plurality of first rope driving guide mechanisms, the first rope driving guide mechanisms comprise a first rope driving brake mechanism 110, a first high-strength rope 130, a first rope guide mechanism 140 and a first fixing component 150, the first rope driving brake mechanism 110 and the first rope guide mechanism 140 are respectively arranged on the movable platform 120, one end of the first high-strength rope 130 is connected with the corresponding first rope driving brake mechanism 110, the other end is guided by the corresponding first rope guide mechanism 140 and then fixed on the external support structure 300 through the first fixing component 150, and the first rope drive brake mechanism 110 retracts the corresponding first high-strength rope 130 to realize the accurate printing and positioning of the movable platform 120; the free follow-up template device 200 comprises a plurality of second rope driving guide mechanisms and a follow-up platform 220, the follow-up platform 220 is mounted on the external support structure 300 through the plurality of second rope driving guide mechanisms, the second rope driving guide mechanisms comprise second rope driving brake mechanisms 110 ', second high-strength ropes 130', second rope guide mechanisms 140 'and second fixing components 150', the second rope driving brake mechanisms 110 'and the second rope guide mechanisms 140' are respectively arranged on the follow-up template 220, one ends of the second high-strength ropes 130 'are connected with the corresponding second rope driving brake mechanisms 110', the other ends of the second high-strength ropes are guided by the corresponding second rope guide mechanisms 140 'and then fixed on the external support structure 300 through the second fixing components 150', and the follow-up template 220 is accurately positioned and supported by retracting the corresponding second high-strength ropes 130 'of the second rope driving brake mechanisms 110', the automatic printing device has the advantages that the bottom template does not need to be manually supported, the automatic printing of the horizontal structure is facilitated, the problems that the traditional large horizontal structure is low in construction efficiency and automation degree, the existing 3D printing technology cannot realize automatic printing of the horizontal structure and the like are solved, the automatic printing device is not limited by printing materials, the efficient, safe and automatic construction of large and random complex horizontal structures can be realized, and meanwhile, the printing system has the advantages of light dead weight, small size, convenience in moving, convenience in installation and the like.
Preferably, in the above-described horizontal structure 3D printing system, the first rope driving braking mechanism 110 includes an energy-saving motor 111, a transmission 112, an encoder 113, a reducer 114, a sensor assembly 115, a reel 116, a brake 117, a spindle 118, and a locking assembly 119; the energy-saving motor 111 is used for driving the main shaft 118 to rotate; the reel 116 is fixedly sleeved on the main shaft 118; one end of the first high-strength rope 130 is fixed on the outer surface of the reel 116, and the first high-strength rope 130 can be wound along with the rotation of the reel 116 to realize the expansion and contraction of the length thereof; the transmission 112 is connected with the energy-saving motor 111 and is used for adjusting the output rotating speed of the energy-saving motor 111; the encoder 113 is arranged on the energy-saving motor 111 and used for measuring the position, the angle and the number of turns of the reel 116; the speed reducer 114 is connected with the energy-saving motor 111 and is used for reducing the rotating speed of the main shaft 118; the sensor assembly 115 is arranged on the main shaft 118 and used for measuring the tension and the torque of the reel 116; the brake 117 is connected with the main shaft 118 and is used for realizing rapid braking of the main shaft 118; the energy-saving motor 111 and the brake 117 are respectively fixed on the movable platform 120 through a locking assembly 119.
Preferably, in the above-described horizontal-structured 3D printing system, the second rope-driven braking mechanism 110' includes an energy-saving motor 111, a transmission 112, an encoder 113, a decelerator 114, a sensor assembly 115, a reel 116, a brake 117, a spindle 118, and a locking assembly 119; the energy-saving motor 111 is used for driving the main shaft 118 to rotate; the reel 116 is fixedly sleeved on the main shaft 118; one end of the second high-strength rope 130 'is fixed on the outer surface of the winding shaft 116, and the second high-strength rope 130' can be wound along with the rotation of the winding shaft 116 to realize the extension and contraction of the length thereof; the transmission 112 is connected with the energy-saving motor 111 and is used for adjusting the output rotating speed of the energy-saving motor 111; the encoder 113 is arranged on the energy-saving motor 111 and used for measuring the position, the angle and the number of turns of the reel 116; the speed reducer 114 is connected with the energy-saving motor 111 and is used for reducing the rotating speed of the main shaft 118; the sensor assembly 115 is arranged on the main shaft 118 and used for measuring the tension and the torque of the reel 116; the brake 117 is connected with the main shaft 118 and is used for realizing rapid braking of the main shaft 118; the energy-saving motor 111 and the brake 117 are respectively fixed on the follow-up template 220 through a locking assembly 119.
Preferably, in the above-mentioned horizontal 3D printing system, the print head mechanism 160 is installed in the middle of the movable platform 120 through the print head connection mechanism 170, and the reverse extension line of the first high-strength rope 130 vertically passes through the central axis of the movable platform 120, that is, the reverse extension line of the first high-strength rope 130 passes through the center of the movable platform 120. By uniformly distributing the first high-strength ropes 130 on the first annular connecting member 122 and vertically passing the reverse extension lines of the first high-strength ropes 130 through the central shaft of the movable platform 120, the first rope driving guide mechanisms are uniformly stressed, and stable support and accurate movement of the print head mechanism 160 can be realized.
Preferably, in the above-mentioned horizontal 3D printing system, the movable stage 120 includes: the first annular connecting piece 122 and the second annular connecting piece 123 are respectively arranged on the upper surface of the annular platform 121, the first annular connecting piece 122, the second annular connecting piece 123 and the annular platform 121 are coaxially arranged, the second annular connecting piece 123 is positioned on the outer side of the first annular connecting piece 122, the first annular connecting piece 122 and the second annular connecting piece 123 can both accurately rotate and be fixed on the annular platform 121, the first rope driving and braking mechanism 110 is uniformly arranged on the first annular connecting piece 122, the first rope guiding mechanism 140 is uniformly arranged on the second annular connecting piece 123, the first rope driving and braking mechanism and the first rope guiding mechanism 140 are respectively driven to rotate by slightly rotating the first annular connecting piece 122 and the second annular connecting piece 123, so that the reverse extension line of the first high-strength rope 130 vertically passes through the central axis of the movable platform 120, and the first annular connector 122 and the second annular connector 123 are fixed on the annular platform 121. By arranging the first rope-driven brake mechanism 110 uniformly on the first endless link 122, the first rope guiding mechanisms are uniformly arranged on the second annular connecting piece 123, and the first annular connecting piece 122 and the second annular connecting piece 123 can accurately rotate and be fixed on the annular platform 121, so that the positions of the first rope driving braking mechanism 110 and the corresponding first rope guiding mechanism 140 can be conveniently adjusted, so that the reverse extension line of the first high-strength rope 130 passes through the central axis of the movable platform 120 perpendicularly, moreover, the number of the first rope driving braking mechanisms 110 on the first annular connecting piece 122 and the number of the first rope guiding mechanisms 140 on the second annular connecting piece 123 can be conveniently adjusted, and connecting pieces for arranging the first rope driving braking mechanisms 110 and the first rope guiding mechanisms 140 are not required to be additionally arranged on the annular platform 121, so that the requirements of various construction site environment conditions and the shape and size of the building to be printed are met.
Preferably, in the above-mentioned horizontal structure 3D printing system, in order to make the movable platform 120 stressed uniformly and positioned accurately and reliably, the first fixing assemblies 150 are located on the same horizontal plane, and the distance H between the first fixing assemblies 150 and the lowest point of the horizontal structure to be printed should be greater than the sum of the height of the horizontal structure to be printed and the height of the mobile 3D printing robot 100, so as to meet the requirement of the printing height.
Preferably, in the above-mentioned horizontal structure 3D printing system, in order to uniformly stress the following template 220 and accurately and reliably position the following template, the second fixing component 150' is located on the same horizontal plane, and the distance between the upper surface of the following template 220 and the lowest point of the horizontal structure to be printed is 0 mm, that is, the upper surface of the following template 220 is flush with the lowest point of the horizontal structure to be printed.
Preferably, in the above-mentioned horizontal 3D printing system, a material conveying connector 180 is further included, and one end of the material conveying connector 180 is connected to the print head mechanism 160, and the other end is connected to the mobile material pump station 190 through a material conveying pipe.
Preferably, in the above-described horizontal-structured 3D printing system, the print head mechanism 160 includes: the nozzle 161, the discharging system 162 and the storing system 163 store materials through the storing system 163, realize uninterrupted printing operation, extrude materials through the discharging system 162 accurately, realize printing operation of different widths and thicknesses through the nozzle 161, one end of the material conveying connector 180 is connected with the storing system 163 of the printing head mechanism 160, and the other end is connected with the movable material pump station 190 through a material conveying pipe.
Preferably, in the above horizontal structure 3D printing system, the follow-up form 220 includes a metal form 221 and a non-stick building material coating 222, the non-stick building material coating 222 is disposed on an upper surface of the metal form 221, and a plurality of form supports 223 are disposed at a bottom of the metal form 221. The surface layer of the follow-up template 220 is a non-stick building material coating 222 which can be quickly separated from a concrete layer material printed subsequently, the metal template 221 at the bottom of the non-stick building material coating 222 is a carrier for bearing the load of a printed horizontal structure, and the template support 223 arranged at the bottom of the metal template 221 is used as a reinforcing member of the metal template 221.
Preferably, in the above horizontal structure 3D printing system, the first rope guide mechanism 140 and the second rope guide mechanism 140 ' both include a pulley 141 and a rope guide 142, the first high-strength rope 130 sequentially passes through the rope guide 142 and the pulley 141 and then is connected to the first fixing assembly 150, and the second high-strength rope 130 ' sequentially passes through the rope guide 142 and the pulley 141 and then is connected to the second fixing assembly 150 '. The first high-strength rope 130 or the second high-strength rope 130 'is steered by a pulley 141, and the first high-strength rope 130 or the second high-strength rope 130' is guided by a rope guide 142.
Preferably, in the above-mentioned horizontal 3D printing system, the first fixing assembly 150 includes a rope connector 151 and a rope guide 152, and the first high-strength rope 130 is connected to the external support structure 300 through the rope connector 151 after passing through the rope guide 152. The cord guide 152 is identical in structure and function to the cord guide 142. The second fixing member 150' has the same structure and function as the first fixing member 150.
Preferably, in the above horizontal structure 3D printing system, the follow-up template 220 is fixed on the external support structure 300 through four sets of second rope driving guide mechanisms, the follow-up template 220 is a rectangular structure, the four sets of second rope driving guide mechanisms are respectively disposed at four corner positions of the bottom of the follow-up template 220, the four sets of second rope driving guide mechanisms are symmetrically disposed, and opposite extension lines of the second high-strength ropes 130' of each set of second rope driving guide mechanisms vertically pass through a central axis of the follow-up template 220.
The invention provides a horizontal structure 3D printing system, which has the advantages of light dead weight, small volume, convenient installation and high automation, realizes concrete 3D printing by moving a 3D printing robot, has the advantage of high printing speed, solves the problem of high-precision positioning of printing by driving a braking mechanism through a first rope, provides a supporting and loading mechanism for the moving 3D printing robot through an external supporting structure so as to provide a printing space matched with a printing structure, can realize the printing of any structure, solves the problem of limited printing structure, provides a bottom supporting platform for horizontal structure printing by dynamically adjusting and moving a free follow-up template device fixed on the external supporting structure, completes the printing construction of a horizontal structure by the moving 3D printing robot in cooperation with printing operation, and solves the problem that the existing 3D printing device and method can not realize the integral printing of the horizontal structure, printing can not be completely automatic, the printing of the horizontal structure is limited by the printing shape of the material, and the like, and the efficient, safe and automatic construction of the horizontal structure is realized.
The horizontal structure 3D printing method provided by the invention has the advantages of small volume and convenient installation, realizes concrete 3D printing by moving a 3D printing robot, has the advantage of high printing speed, solves the high-precision positioning problem of printing by driving a braking mechanism through a first rope, provides a supporting and loading mechanism for the moving 3D printing robot through an external supporting structure so as to provide a printing space adaptive to a printing structure, can realize printing of any structure, solves the problem of limited printing structure, provides a bottom supporting platform for horizontal structure printing by dynamically adjusting and moving a free follow-up template device fixed on the external supporting structure, completes the printing construction of a horizontal structure by moving the 3D printing robot in coordination with printing operation, solves the problems that the existing 3D printing method cannot realize the integral printing of the horizontal structure and the printing cannot be completely automated, the shape of the horizontal structure is limited, and the efficient, safe and automatic construction of the horizontal structure is realized.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. A3D printing system with a horizontal structure is characterized by comprising a mobile 3D printing robot, a free follow-up template device and an external supporting structure, wherein the mobile 3D printing robot comprises a plurality of first rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, the printing head mechanism is detachably arranged on the movable platform through the printing head connecting mechanism, the movable platform is arranged on the external supporting structure through the first rope driving guide mechanisms, the first rope driving guide mechanisms comprise a first rope driving brake mechanism, a first high-strength rope, a first rope guide mechanism and a first fixing assembly, the first rope driving brake mechanism and the first rope guide mechanism are respectively arranged on the movable platform, one end of the first high-strength rope is connected with the corresponding first rope driving brake mechanism, the other end of the first rope is guided by a corresponding first rope guide mechanism and then fixed on an external supporting structure through a first fixing assembly, and the first rope drives a braking mechanism to release and release a corresponding first high-strength rope so as to realize accurate printing and positioning of the movable platform; the free follow-up template device comprises a plurality of second rope driving guide mechanisms and a follow-up platform, the follow-up platform is installed on an external supporting structure through the second rope driving guide mechanisms, each second rope driving guide mechanism comprises a second rope driving brake mechanism, a second high-strength rope, a second rope guide mechanism and a second fixing assembly, the second rope driving brake mechanisms and the second rope guide mechanisms are respectively arranged on the follow-up template, one end of the second high-strength rope is connected with the corresponding second rope driving brake mechanism, the other end of the second high-strength rope is guided by the corresponding second rope guide mechanism and then fixed on the external supporting structure through the second fixing assembly, and the second rope driving brake mechanisms can retract and release the corresponding second high-strength rope to realize accurate positioning of the follow-up template.
2. The horizontal structure 3D printing system of claim 1, wherein the first cable driven braking mechanism comprises an energy saving motor, a transmission, an encoder, a reducer, a sensor assembly, a spool, a brake, a spindle, and a locking assembly; the energy-saving motor is used for driving the main shaft to rotate; the scroll is fixedly sleeved on the main shaft; one end of the first high-strength rope is fixed on the outer surface of the scroll, and the first high-strength rope can be wound along with the rotation of the scroll to realize the expansion of the length of the first high-strength rope; the transmission is connected with the energy-saving motor and used for adjusting the output rotating speed of the energy-saving motor; the encoder is arranged on the energy-saving motor and used for measuring the position, the angle and the number of turns of the reel; the speed reducer is connected with the energy-saving motor and is used for reducing the rotating speed of the main shaft; the sensor assembly is arranged on the main shaft and used for measuring the tension and the torque of the reel; the brake is connected with the main shaft and used for realizing the rapid braking of the main shaft; the energy-saving motor and the brake are respectively fixed on the movable platform through the locking assembly.
3. The horizontal structure 3D printing system of claim 1, wherein the second rope driven braking mechanism comprises an energy saving motor, a transmission, an encoder, a reducer, a sensor assembly, a spool, a brake, a spindle, and a locking assembly; the energy-saving motor is used for driving the main shaft to rotate; the scroll is fixedly sleeved on the main shaft; one end of the second high-strength rope is fixed on the outer surface of the reel, and the second high-strength rope can be wound along with the rotation of the reel, so that the self length of the second high-strength rope can be extended and contracted; the transmission is connected with the energy-saving motor and used for adjusting the output rotating speed of the energy-saving motor; the encoder is arranged on the energy-saving motor and used for measuring the position, the angle and the number of turns of the reel; the speed reducer is connected with the energy-saving motor and is used for reducing the rotating speed of the main shaft; the sensor assembly is arranged on the main shaft and used for measuring the tension and the torque of the reel; the brake is connected with the main shaft and used for realizing the rapid braking of the main shaft; the energy-saving motor and the brake are respectively fixed on the follow-up template through the locking assembly.
4. The horizontal 3D printing system as claimed in claim 1, wherein the print head mechanism is mounted in the middle of the movable platform through a print head connection mechanism, and the reverse extension line of the first high-strength rope passes through the central axis of the movable platform vertically.
5. The horizontal geometry 3D printing system of claim 4, wherein the movable stage comprises: the annular platform, the first annular connecting piece and the second annular connecting piece are respectively arranged on the upper surface of the annular platform, the annular connecting piece I, the annular connecting piece II and the annular platform are coaxially arranged, the annular connecting piece II is positioned at the outer side of the annular connecting piece I, the first annular connecting piece and the second annular connecting piece can both accurately rotate and be fixed on the annular platform, the first rope driving braking mechanisms are uniformly arranged on the first annular connecting piece, the first rope guiding mechanisms are uniformly arranged on the second annular connecting piece, the first rope driving braking mechanism and the first rope guiding mechanism are respectively driven to rotate by slightly rotating the first annular connecting piece and the second annular connecting piece, the reverse extension line of the first high-strength rope vertically penetrates through the central shaft of the movable platform, and the first annular connecting piece and the second annular connecting piece are fixed on the annular platform.
6. The horizontal structure 3D printing system according to claim 1, wherein the first fixing components are located on the same horizontal plane, and the distance H between the first fixing components and the lowest point of the horizontal structure to be printed is greater than the sum of the height of the horizontal structure to be printed and the height of the mobile 3D printing robot 100.
7. The horizontal structure 3D printing system of claim 1, wherein the second stationary assemblies are on a same horizontal plane.
8. The horizontal structure 3D printing system of claim 1, wherein the follower forms comprise metal forms and a non-stick building material coating disposed on an upper surface of the metal forms, a plurality of form supports disposed on a bottom of the metal forms.
9. The horizontal structure 3D printing system of claim 1, wherein the first and second rope guide mechanisms each comprise a pulley and a rope guide, the first high-strength rope passes through the rope guide and the pulley in sequence and is connected to the first fixing assembly, and the second high-strength rope passes through the rope guide and the pulley in sequence and is connected to the second fixing assembly.
10. The horizontal 3D printing system as claimed in claim 1, wherein the follow-up stencil is fixed to the external support structure by four sets of second rope driving guide mechanisms, the follow-up stencil is rectangular, the four sets of second rope driving guide mechanisms are respectively disposed at four corner positions of the bottom of the follow-up stencil, the four sets of second rope driving guide mechanisms are symmetrically disposed, and opposite extension lines of the second high-strength ropes of each set of second rope driving guide mechanisms vertically pass through a central axis of the follow-up stencil.
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