CN112240103B - 3D printing method for horizontal structure - Google Patents
3D printing method for horizontal structure Download PDFInfo
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- CN112240103B CN112240103B CN202010932314.0A CN202010932314A CN112240103B CN 112240103 B CN112240103 B CN 112240103B CN 202010932314 A CN202010932314 A CN 202010932314A CN 112240103 B CN112240103 B CN 112240103B
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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
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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
- E04G11/00—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs
- E04G11/36—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs for floors, ceilings, or roofs of plane or curved surfaces end formpanels for floor shutterings
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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
- E04G13/00—Falsework, forms, or shutterings for particular parts of buildings, e.g. stairs, steps, cornices, balconies foundations, sills
- E04G13/04—Falsework, forms, or shutterings for particular parts of buildings, e.g. stairs, steps, cornices, balconies foundations, sills for lintels, beams, or transoms to be encased separately; Special tying or clamping means therefor
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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
- E04G17/00—Connecting or other auxiliary members for forms, falsework structures, or shutterings
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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
- E01D2101/00—Material constitution of bridges
- E01D2101/20—Concrete, stone or stone-like material
- E01D2101/24—Concrete
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- Structural Engineering (AREA)
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Abstract
The invention provides a 3D printing method for a horizontal structure, 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 template, 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 method for 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 method, which provides a supporting load bearing mechanism for a mobile 3D printing robot through an external supporting structure so as to provide a printing space adaptive to a printing structure, provides a bottom supporting platform for horizontal structure printing through dynamic adjustment and movement of a free follow-up template device fixed on the external supporting structure, and completes the printing construction of the horizontal structure through the cooperation of the mobile 3D printing robot and printing operation, thereby solving 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 materials, and the like, and realizing the efficient, safe and automatic construction of the horizontal structure.
In order to solve the technical problems, the invention provides the following technical scheme:
a horizontal structure 3D printing method, comprising:
step 1, installing a mobile 3D printing robot, wherein the mobile 3D printing robot comprises: the printing device comprises a plurality of first rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, wherein each first rope driving guide mechanism comprises a first rope driving brake mechanism, a first rope guide mechanism and a first fixing component;
step 1.1, determining the number of first rope driving guide mechanisms according to the existing construction site environment condition and the shape and size of a horizontal building to be printed;
step 1.2, mounting a first rope driving brake mechanism and a first rope guide mechanism on a movable platform, wherein the movable platform is of an annular structure, the first rope driving brake mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, the first rope guide mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, and the first rope guide mechanism is positioned at the outer side corresponding to the first rope driving brake mechanism;
step 1.3, connecting one end of a first rope with a corresponding first rope driving brake mechanism, guiding the other end of the first rope by a corresponding first rope guide mechanism, and then connecting the other end of the first rope with an external support structure through a first fixing component, so that the first fixing components are positioned on the same horizontal plane, the distance H between the first fixing component 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, and the reverse extension line of the first rope passes through the circle center of a movable platform;
step 1.4, selecting a proper nozzle according to the type of the horizontal structure to be printed, and installing the nozzle on a printing head mechanism;
step 1.5, connecting the printing head mechanism with the movable platform through the printing head connecting mechanism;
step 1.6, connecting a mobile material pump station with a material conveying connector through a material conveying pipe;
step 2, installing a free follow-up template device, wherein the free follow-up template device comprises a plurality of second rope driving guide mechanisms and follow-up templates;
step 2.1, determining the number of second rope driving guide mechanisms according to the existing construction site environment conditions and the shape of the horizontal building to be printed;
step 2.2, installing second rope driving and guiding mechanisms, wherein each second rope driving and guiding mechanism comprises a second rope driving and braking mechanism, a second rope guiding mechanism and a second fixing assembly, enabling each second rope to penetrate through the corresponding second rope guiding mechanism, enabling one end of each second rope guiding mechanism to be installed at the bottom of the follow-up template respectively, and fixing the free ends of the second ropes on an external supporting structure respectively through a plurality of second fixing assemblies, so that the second fixing assemblies are located on the same horizontal plane, and the upper surface of the follow-up template is flush with the lowest point of the horizontal structure to be printed;
step 3, 3D printing and building a horizontal structure;
step 3.1, measuring the distance H between the first fixing assemblies and the lowest point of the horizontal structure to be printed, measuring the horizontal distances between each first fixing assembly and the axle center of the printing head mechanism as R1, R2 and … Rn, wherein n is the number of the first rope driving guide mechanisms, inputting the measured values into a printing control software system, and determining the printable range of the 3D printing system;
3.2, sending a control instruction to the first rope driving brake mechanism, the printing head mechanism and the mobile material pump station through the control system, and controlling the first rope driving brake mechanism to enable the first rope to stretch and contract to drive the printing head mechanism to move; sending a control instruction to a second rope driving brake mechanism through a control system, and controlling the second rope driving brake mechanism to enable a second rope to stretch and retract and move a follow-up template to a set position; meanwhile, a discharging system of the printing head mechanism is controlled, and layer-by-layer printing is carried out through the extruded materials, so that the horizontal structure printing of the current printing area is completed;
3.3, sending a control instruction to a second rope driving brake mechanism in the free follow-up template device through a control system, controlling the second rope driving brake mechanism to enable the second rope to stretch and retract, and moving the follow-up template to a subsequent printing area; meanwhile, controlling the mobile 3D printing robot, continuously spraying and extruding materials to perform layer-by-layer printing, and finishing the horizontal structure printing of a subsequent printing area;
step 3.4, repeating the step 3.2 and the step 3.3, and carrying out layer-by-layer printing construction to realize the printing construction of the horizontal structure;
and 4, after the horizontal structure is printed, respectively enabling the mobile 3D printing robot and the free follow-up template device to move to the appointed positions by controlling the first rope driving brake mechanism and the second rope driving brake mechanism, and carrying out dismantling operation.
Preferably, in the above horizontal structure 3D printing method, 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 rope is fixed on the outer surface of the reel, and the first rope can be wound along with the rotation of the reel to realize the expansion of the length of the first 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 horizontal structure 3D printing method, the second 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 second rope is fixed on the outer surface of the reel, and the second rope can be wound along with the rotation of the reel to realize the expansion of the length of the second 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 follow-up template through the locking assembly.
Preferably, in the above horizontal structure 3D printing method, the printing head mechanism is mounted in the middle of the movable platform through a printing head connection mechanism, and the reverse extension line of the first rope passes through the central axis of the movable platform vertically.
Preferably, in the above-described horizontal structure 3D printing method, the movable platform 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 rope vertically passes through the central shaft of the movable platform, and the annular connecting piece I and the annular connecting piece II are fixed on the annular platform.
Preferably, in the above horizontal structure 3D printing method, a material conveying connector is further adopted, one end of the material conveying connector is connected with the printing head mechanism, and the other end of the material conveying connector is connected with the mobile material pump station through a material conveying pipe.
Preferably, in the above horizontal structure 3D printing method, 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 method, 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 the above horizontal structure 3D printing method, the first rope guide mechanism and the second rope guide mechanism each include a pulley and a rope guide, the first rope sequentially passes through the rope guide and the pulley and then is connected to the first fixing assembly, and the second rope sequentially passes through the rope guide and the pulley and then is connected to the second fixing assembly.
Preferably, in the above horizontal structure 3D printing method, 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 disposed at four corner positions of the bottom of the follow-up template, the four sets of second rope driving guide mechanisms are symmetrically disposed, and a reverse extension line of a second rope of each set of second rope driving guide mechanisms vertically passes through a central axis 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 method, 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 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 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 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 template, the follow-up template 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 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 rope is connected with the corresponding second rope driving brake mechanism, the other end of each second rope is fixed on the external supporting structure through the second fixing assembly after being guided by the corresponding second rope guide mechanism, the second rope driving brake mechanisms are used for retracting the corresponding second ropes to realize accurate positioning of the follow-up template, manual support of the bottom template is not needed, and automatic printing of a horizontal structure is facilitated, the automatic printing system 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 automatic printing of the horizontal structure and the like, is not limited by printing materials, can realize 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 rope; 130' -a second rope; 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 method, including:
step 1, the mobile 3D printing robot 100 is installed. The mobile 3D printing robot 100 includes: a plurality of first cables drive the guide mechanism, the movable platen 120, the print head mechanism 160, and the print head attachment mechanism 170. The first rope drive guide mechanism includes a first rope drive brake mechanism 110, a first rope 130, a first rope guide mechanism 140, and a first securing assembly 150, and step 1 includes:
step 1.1, determining the number of the first rope driving guide mechanisms according to the existing construction site environment conditions and the shape and size of the horizontal building to be printed. Taking the construction scenario of fig. 1 as an example, in order to ensure the stability of printing, the number of the first rope drive guide mechanisms is determined to be 4. If there is no existing building or structure that can be used as the external support structure 300 in the existing construction site environment, external structures such as support columns, trusses, and the like can be newly constructed as the external support structure 300.
Step 1.2, installing a first rope driving braking mechanism 110 and a first rope guiding mechanism 140 on a movable platform 120, wherein the movable platform 120 is of an annular structure, the first rope driving braking mechanism 110 is uniformly arranged on the movable platform 120 around the circle center of the movable platform, the first rope guiding mechanism 140 is uniformly arranged on the movable platform 120 around the circle center of the movable platform, and the first rope guiding mechanism 140 is positioned at the outer side corresponding to the first rope driving braking mechanism 110;
step 1.3, connecting one end of the first rope 130 with the corresponding first rope driving brake mechanism 110110, and connecting the other end with an external support structure through a first fixing component 150 after being guided by the corresponding first rope guide mechanism 140, so that the first fixing component 150 is positioned on the same horizontal plane, the distance H from the first fixing component 150 to the lowest point of the horizontal structure 400 to be printed is greater than the sum of the height of the horizontal structure 400 to be printed and the height of the mobile 3D printing robot 100, and the reverse extension line of the first rope 130 passes through the circle center of the movable platform 120;
step 1.4, nozzle 161 is selected. An appropriate nozzle 161 is selected according to the type of the horizontal structure 400 to be printed, and the nozzle 161 is mounted on the print head mechanism 160.
Step 1.5, the print head mechanism 160 is installed. The print head mechanism 160 is connected to the movable platen 120 by a print head connection mechanism 170.
Step 1.6, connect the mobile material pump station 190. The moving material pump station 190 is connected to the material transfer connector 180 by a material transfer line.
Step 2, installing a free follow-up template device 200, wherein the step 2 comprises:
and 2.1, determining the number of the second rope driving guide mechanisms according to the existing construction site environment conditions and the shape of the horizontal building to be printed. In order to ensure the stability of the movement of the follower die plate 220 in this embodiment, the number of the second rope driving guide mechanisms is determined to be 4.
Step 2.2, installing a second rope driving and guiding mechanism, wherein the second rope driving and guiding mechanism comprises a second rope driving and braking mechanism 110 ', a second rope 130', a second rope guiding mechanism 140 'and a second fixing component 150', enabling each second rope 130 'to penetrate through the corresponding second rope guiding mechanism 140', respectively installing one end of each second rope guiding mechanism 140 'at the bottom of the follow-up template 220, and respectively fixing the free end of each second rope 130' on the external supporting structure 300 through a plurality of second fixing components 150 ', so that the second fixing components 150' are located on the same horizontal plane, and enabling the upper surface in the follow-up template 220 to be flush with the lowest point of the horizontal structure 400 to be printed, namely enabling the distance between the upper surface in the follow-up template 220 and the lowest point of the horizontal structure 400 to be printed to be 0 mm.
Step 3, 3D printing and building of the horizontal structure, wherein the step 3 comprises the following steps:
and 3.1, determining the printable range of the 3D printing system. Measuring the distance H between the first fixing assemblies 150 and the lowest point of the horizontal structure 400 to be printed, measuring the horizontal distances R1, R2 and … Rn between each first fixing assembly 150 and the axle center of the printing head mechanism 160, wherein n is the number of the first rope driving guide mechanisms, (n is 4 in the figure), inputting the measured values into a printing control software system, and determining the printable range of the 3D printing system.
And 3.2, printing a horizontal structure. A control system (not shown) sends control instructions to the first rope driving braking mechanism 110, the printing head mechanism 160 and the moving material pump station 190, and the first rope driving braking mechanism 110 is controlled to extend and retract the first rope 130 to drive the printing head mechanism 160 to move; sending a control command to the second rope-driven braking mechanism 110 ' through a control system (not shown in the figure), and moving the follow-up template to a set position (a 1 position in fig. 5) by controlling the second rope-driven braking mechanism 110 ' to extend and retract the second rope 130 '; and meanwhile, the discharging system 162 of the printing head mechanism 160 is controlled to print layer by layer through the extruded materials, so that the horizontal structure printing of the current printing area is completed, and the current printing area is an area A1.
And 3.3, performing horizontal structure extension printing. After the horizontal structure of the area a1 in fig. 5 is printed, sending a control command to the second rope-driven braking mechanism 110 ' in the free follower template device 200 through a control system (not shown in the figure), and moving the follower template 220 to a next printing area (the position of the area a2 in fig. 5) by controlling the second rope-driven braking mechanism 110 ' to extend and retract the second rope 130 '; and meanwhile, the 3D printing robot 100 is controlled to move, the materials are continuously extruded for layer-by-layer printing, and the printing of the horizontal structure of the subsequent printing area, namely the area A2, is completed.
And 3.4, repeating the step 3.2 and the step 3.3, and performing layer-by-layer printing construction to realize the printing construction of the horizontal structure and finish the printing construction of all areas of the horizontal structure, as shown in fig. 1.
And 4, dismantling the 3D printing system with the horizontal structure, wherein the step 4 comprises the following steps:
after the horizontal structure is printed, the first rope driving brake mechanism 110 and the second rope driving brake mechanism 110' are controlled to respectively enable the mobile 3D printing robot 100 and the free follow-up template device 200 to move to the designated positions, and then the dismantling operation is performed.
The invention provides a horizontal structure 3D printing method, 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 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 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 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 template 220, the follow-up template 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 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, one end of each second rope 130 ' is connected with the corresponding second rope driving brake mechanism 110 ', the other end of each second rope 130 ' is guided by the corresponding second rope guide mechanism 140 ' and then fixed on the external support structure 300 through the corresponding second fixing component 150 ', and the accurate positioning of the follow-up template 220 is realized through the corresponding second rope 130 ' which is collected and released by the second rope driving brake mechanisms 110 ', second rope drive arrestment mechanism 110 'supports follow-up template 220 through second rope 130', does not need the artifical bottom template that supports the tape printing horizontal structure, it is low and current 3D printing technique can not realize the automatic scheduling problem that prints of horizontal structure to have solved traditional large-scale horizontal structure efficiency of construction and degree of automation, it is not restricted by printing material, can realize the high-efficient safe automatic construction of large-scale arbitrary complicated horizontal structure, simultaneously printing system has the dead weight light, small in size, convenient removal, and be convenient for advantages such as installation.
Preferably, in the above-described horizontal structure 3D printing method, 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 rope 130 is fixed on the outer surface of the reel 116, and the first 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-structure 3D printing method, the second rope-driving brake mechanism 110' has the same structure as the first rope-driving brake mechanism 110, and also 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 rope 130 'is fixed on the outer surface of the reel 116, and the second rope 130' can be wound along with the rotation of the reel 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 structure 3D printing method, the print head mechanism 160 is mounted at the middle of the movable platform 120 through the print head connection mechanism 170, and the opposite extension lines of the first rope 130 vertically pass through the central axis of the movable platform 120.
Preferably, in the above-described horizontal structure 3D printing method, 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 130 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 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 140 are uniformly arranged on the second annular connecting piece 123, the first annular connecting member 122 and the second annular connecting member 123 can be precisely rotated and fixed on the annular platform 121, so that the positions of the first rope driving brake mechanism 110 and the corresponding first rope guide mechanism 140 can be conveniently adjusted, such that the oppositely extending lines of the first rope 130 pass perpendicularly through the central axis of the movable platform 120, 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 method, a material conveying connector 180 is further adopted, and one end of the material conveying connector 180 is connected with the printing head mechanism 160, and the other end is connected with the mobile material pump station 190 through a material conveying pipe.
Preferably, in the above-described horizontal structure 3D printing method, 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 method, the follow-up form 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 is the non-stick building material coating 222 which can be quickly separated from the 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 the printing 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-mentioned horizontal 3D printing method, each of the first rope guide 140 and the second rope guide 140 ' includes a pulley 141 and a rope guide 142, the first rope 130 passes through the rope guide 142 and the pulley 141 in sequence and is connected to the first fixing assembly 150, and the second rope 130 ' passes through the rope guide 142 and the pulley 141 in sequence and is connected to the second fixing assembly 150 '. The first rope 130 or the second rope 130 'is diverted by a pulley 141, and the first rope 130 or the second rope 130' is guided by a rope guide 142.
Preferably, in the above-mentioned horizontal structure 3D printing method, the first fixing assembly 150 includes a rope connector 151 and a rope guide 152, and the first 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 method, the follow-up template 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 arranged at four corner positions of the bottom of the follow-up template 220, the four sets of second rope driving guide mechanisms are symmetrically arranged, and opposite extension lines of second ropes of each set of second rope driving guide mechanisms vertically pass through a central axis of the follow-up template.
The invention provides a horizontal structure 3D printing method, 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 adaptive to 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 moving the 3D printing robot in cooperation with printing operation, and solves the problem that the existing 3D printing method can not realize the integral printing of the horizontal structure, printing can not 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. A horizontal structure 3D printing method is characterized by comprising the following steps:
step 1, installing a mobile 3D printing robot, wherein the mobile 3D printing robot comprises: the printing device comprises a plurality of first rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, wherein each first rope driving guide mechanism comprises a first rope driving brake mechanism, a first rope guide mechanism and a first fixing component;
step 1.1, determining the number of first rope driving guide mechanisms according to the existing construction site environment condition and the shape and size of a horizontal building to be printed;
step 1.2, mounting a first rope driving brake mechanism and a first rope guide mechanism on a movable platform, wherein the movable platform is of an annular structure, the first rope driving brake mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, the first rope guide mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, and the first rope guide mechanism is positioned at the outer side corresponding to the first rope driving brake mechanism;
step 1.3, connecting one end of a first rope with a corresponding first rope driving brake mechanism, guiding the other end of the first rope by a corresponding first rope guide mechanism, and then connecting the other end of the first rope with an external support structure through a first fixing component, so that the first fixing components are positioned on the same horizontal plane, the distance H between the first fixing component 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, and the reverse extension line of the first rope passes through the circle center of a movable platform;
step 1.4, selecting a proper nozzle according to the type of the horizontal structure to be printed, and installing the nozzle on a printing head mechanism;
step 1.5, connecting the printing head mechanism with the movable platform through the printing head connecting mechanism;
step 1.6, connecting a mobile material pump station with a material conveying connector through a material conveying pipe;
step 2, installing a free follow-up template device, wherein the free follow-up template device comprises a plurality of second rope driving guide mechanisms and follow-up templates;
step 2.1, determining the number of second rope driving guide mechanisms according to the existing construction site environment conditions and the shape of the horizontal building to be printed;
step 2.2, installing second rope driving and guiding mechanisms, wherein each second rope driving and guiding mechanism comprises a second rope driving and braking mechanism, a second rope guiding mechanism and a second fixing assembly, enabling each second rope to penetrate through the corresponding second rope guiding mechanism, enabling one end of each second rope guiding mechanism to be installed at the bottom of the follow-up template respectively, and fixing the free ends of the second ropes on an external supporting structure respectively through a plurality of second fixing assemblies, so that the second fixing assemblies are located on the same horizontal plane, and the upper surface of the follow-up template is flush with the lowest point of the horizontal structure to be printed;
step 3, 3D printing and building a horizontal structure;
step 3.1, measuring the distance H between the first fixing assemblies and the lowest point of the horizontal structure to be printed, measuring the horizontal distances between each first fixing assembly and the axle center of the printing head mechanism as R1, R2 and … Rn, wherein n is the number of the first rope driving guide mechanisms, inputting the measured values into a printing control software system, and determining the printable range of the 3D printing system;
3.2, sending a control instruction to the first rope driving brake mechanism, the printing head mechanism and the mobile material pump station through the control system, and controlling the first rope driving brake mechanism to enable the first rope to stretch and contract to drive the printing head mechanism to move; sending a control instruction to a second rope driving brake mechanism through a control system, and controlling the second rope driving brake mechanism to enable a second rope to stretch and retract and move a follow-up template to a set position; meanwhile, a discharging system of the printing head mechanism is controlled, and layer-by-layer printing is carried out through the extruded materials, so that the horizontal structure printing of the current printing area is completed;
3.3, sending a control instruction to a second rope driving brake mechanism in the free follow-up template device through a control system, controlling the second rope driving brake mechanism to enable the second rope to stretch and retract, and moving the follow-up template to a subsequent printing area; meanwhile, controlling the mobile 3D printing robot, continuously spraying and extruding materials to perform layer-by-layer printing, and finishing the horizontal structure printing of a subsequent printing area;
step 3.4, repeating the step 3.2 and the step 3.3, and carrying out layer-by-layer printing construction to realize the printing construction of the horizontal structure;
and 4, after the horizontal structure is printed, respectively enabling the mobile 3D printing robot and the free follow-up template device to move to the appointed positions by controlling the first rope driving brake mechanism and the second rope driving brake mechanism, and carrying out dismantling operation.
2. The horizontal structure 3D printing method of claim 1, wherein the first 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 first rope is fixed on the outer surface of the reel, and the first rope can be wound along with the rotation of the reel to realize the expansion of the length of the first 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 method 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 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 rope is fixed on the outer surface of the reel, and the second rope can be wound along with the rotation of the reel to realize the expansion of the length of the second 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 follow-up template through the locking assembly.
4. The horizontal structure 3D printing method as claimed in claim 1, wherein the print head mechanism is mounted to the middle of the movable platform through a print head connection mechanism, and the reverse extension line of the first rope passes through the central axis of the movable platform vertically.
5. The horizontal structure 3D printing method as claimed in claim 3, wherein the moving platform 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 rope vertically passes through the central shaft of the movable platform, and the annular connecting piece I and the annular connecting piece II are fixed on the annular platform.
6. The horizontal structure 3D printing method according to claim 1, further comprising using a material transfer connector, wherein one end of the material transfer connector is connected with the printing head mechanism, and the other end of the material transfer connector is connected with the mobile material pump station through a material transfer pipe.
7. The horizontal structure 3D printing method according to claim 6, wherein the print head mechanism comprises: 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.
8. The horizontal structure 3D printing method as claimed in claim 1, wherein the follow-up formwork comprises a metal formwork and a non-stick building material coating, the non-stick building material coating is arranged on the upper surface of the metal formwork, and a plurality of formwork supports are arranged at the bottom of the metal formwork.
9. The horizontal structure 3D printing method according to claim 1, wherein the first rope guide mechanism and the second rope guide mechanism each comprise a pulley and a rope guide, the first rope is connected with the first fixing component after passing through the rope guide and the pulley in sequence, and the second rope is connected with the second fixing component after passing through the rope guide and the pulley in sequence.
10. The horizontal structure 3D printing method according to claim 1, wherein the follow-up template is fixed on the external support structure through four sets of second rope driving guide mechanisms, the follow-up template is rectangular in structure, the four sets of second rope driving guide mechanisms are respectively arranged at four corner positions at the bottom of the follow-up template, the four sets of second rope driving guide mechanisms are symmetrically arranged, and opposite extension lines of the second ropes of each set of second rope driving guide mechanisms vertically penetrate through the central axis of the follow-up template.
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| CN103967276B (en) * | 2014-04-29 | 2016-03-02 | 同济大学 | Based on the building engineering construction device of 3D printing technique |
| HUP1600186A2 (en) * | 2016-03-08 | 2017-09-28 | Cnc-Instruments Bt | Device and method for constructing buildings by 3d printing |
| CN106639323B (en) * | 2016-10-12 | 2023-01-24 | 上海建工集团股份有限公司 | Building reconstruction system and method based on three-dimensional laser scanning and 3D printing |
| CN107974950B (en) * | 2017-12-29 | 2019-06-28 | 上海建工集团股份有限公司 | The bridge 3D printing device and construction method of template work compound |
| CN108824811B (en) * | 2018-10-15 | 2019-01-01 | 上海建工集团股份有限公司 | 3D printing device boom system and adjustment method |
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