CN112459487B - Portable building 3D printing system and method - Google Patents
Portable building 3D printing system and method Download PDFInfo
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- CN112459487B CN112459487B CN202010932313.6A CN202010932313A CN112459487B CN 112459487 B CN112459487 B CN 112459487B CN 202010932313 A CN202010932313 A CN 202010932313A CN 112459487 B CN112459487 B CN 112459487B
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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
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Abstract
The invention provides a portable building 3D printing system and method, which adopts a plurality of rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, wherein the printing head mechanism is arranged on the movable platform through the printing head connecting mechanism, the movable platform is arranged on an external supporting structure through the rope driving guide mechanism, the rope driving guide mechanism comprises a rope driving brake mechanism, a high-strength rope, a rope guide mechanism and a fixing assembly, the rope driving brake mechanism and the rope guide mechanism are respectively arranged on the movable platform, one end of the high-strength rope is connected with the rope driving brake mechanism, the other end of the high-strength rope is guided by the rope guide mechanism and then is fixed on the external supporting structure through the fixing assembly, the high-strength rope corresponding to the rope driving brake mechanism is wound and unwound, so that not only is the accurate printing and positioning of the movable platform realized, but also the problems that the existing 3D printing device is heavy in weight and large in weight, Large occupied space, inconvenient movement and the like, and can realize the automatic construction of large buildings or components.
Description
Technical Field
The invention belongs to the technical field of building 3D printing, and particularly relates to a portable building 3D printing system and method.
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.
The existing building 3D printing device comprises a truss type, a gantry type, a mechanical arm type, a tower type and the like. However, these 3D printing devices are self-heavy, take up a large space, and are not portable.
Therefore, it is an urgent technical problem to be solved in the art to research a light-weight, small-space-occupation, portable 3D printing system and method.
Disclosure of Invention
The invention aims to provide a portable building 3D printing system and method, solves the problems that the existing 3D printing device is heavy in weight, large in occupied space, inconvenient to move and the like, can realize automatic construction of large buildings or components, and has high printing precision.
In order to solve the technical problems, the invention provides the following technical scheme:
a portable building 3D printing system comprises a plurality of 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 rope driving guide mechanisms, the rope driving and guiding mechanism comprises a rope driving and braking mechanism, a high-strength rope, a rope guiding mechanism and a fixing component, the rope driving braking mechanism and the rope guiding mechanism are respectively arranged on the movable platform, one end of the high-strength rope is connected with the corresponding rope driving braking mechanism, the other end of the high-strength rope is guided by the corresponding rope guiding mechanism and then fixed on an external supporting structure through a fixing component, and the rope driving braking mechanism is used for winding and unwinding the corresponding high-strength rope to realize accurate printing and positioning of the movable platform.
Preferably, in the above portable building 3D printing system, the 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 high-strength rope is fixed on the outer surface of the reel, and the high-strength rope can be wound along with the rotation of the reel, so that the self length 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 movable platform through the locking assembly.
Preferably, in above-mentioned portable building 3D printing system, beat printer head mechanism and install in the middle part of moving the platform through beating printer head coupling mechanism, the reverse extension line of high strength rope is perpendicular to be worn through the center pin that moves the platform, move the platform and include: 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 rope driving braking mechanisms are uniformly arranged on the first annular connecting piece, the rope guiding mechanisms are uniformly arranged on the second annular connecting piece, the rope driving braking mechanism and the rope guiding mechanism are respectively driven to rotate by slightly rotating the annular connecting piece I and the annular connecting piece II, so that the reverse extension line of the high-strength 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 portable building 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 portable building 3D printing system, the printing 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-mentioned portable building 3D printing system, the rope guiding mechanism includes pulley and rope director, the rope that excels in is connected with fixed subassembly after passing through rope director and pulley in proper order.
Preferably, in the above portable building 3D printing system, the external support structure is an existing building or a newly-built support column or a newly-built truss.
The invention also discloses a portable building 3D printing method, which comprises the following steps:
step 1, installing a portable building 3D printing system;
step 1.1, determining the number of rope driving brake mechanisms according to the existing construction site environment condition and the shape of a building to be printed;
step 1.2, installing a rope driving braking mechanism and a rope guiding mechanism on a movable platform, wherein the movable platform is of an annular structure, the rope driving braking mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, the rope guiding mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, and the rope guiding mechanism is positioned at the outer side of the corresponding rope driving braking mechanism;
step 1.3, connecting one end of the high-strength rope with a corresponding rope driving brake mechanism, guiding the other end of the high-strength rope by a corresponding rope guide mechanism, and then connecting the other end of the high-strength rope with an external support structure through a rope fixing component, so that the rope fixing components are positioned on the same horizontal plane, and a reverse extension line of the high-strength rope passes through the circle center of the movable platform;
step 1.4, selecting the optimal nozzle according to the type of the printed building structure, 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, so that the printing head mechanism is arranged in the middle of the movable platform;
step 1.6, arranging a material conveying connector on the printing head mechanism, and connecting a mobile material pump station with the material conveying connector through a material conveying pipe to finish the installation of the portable building 3D printing system;
step 2, testing the portable building 3D printing system;
step 2.1, measuring the distance H between the rope fixing assemblies and a horizontal reference surface and the horizontal distance between each rope fixing assembly and the axis of the printing head mechanism, and inputting the measured values into a printing control software system to obtain the printing range of the 3D printing system;
step 2.2, sending a control instruction to the rope driving brake mechanism, the printing head mechanism and the mobile material pump station through the control system, controlling the rope driving brake mechanism 110 to enable the high-strength rope to stretch and drive the printing head mechanism to move, controlling a discharging system of the printing head mechanism, and performing layer-by-layer printing through extruded materials;
step 2.3, printing a cube according to the step 2.2, measuring the size of the cube, comparing and analyzing the cube with the printing model to obtain the deviation of the cube and the printing model, and determining the printing error of the printing system;
step 3, printing by the portable building 3D printing system: carrying out layer-by-layer printing construction according to the step of the step 2.2 to realize printing construction of the building;
and 4, dismantling the portable building 3D printing system: the braking mechanism is driven by a control rope to enable the nozzle of the printing head mechanism to be away from the ground by a certain distance, the printing operation is stopped, the movable platform is supported, the fixed assembly 500 and the material conveying pipe are removed, and the removal of the portable building 3D printing system is completed.
Preferably, in the above-mentioned portable building 3D printing method, the 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 high-strength rope is fixed on the outer surface of the reel, and the high-strength rope can be wound along with the rotation of the reel, so that the self length 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 movable platform through the locking assembly.
Preferably, in the above-mentioned portable building 3D printing method, the printing head mechanism is mounted in the middle of the movable platform through a printing head connecting mechanism, the reverse extension line of the high-strength rope vertically passes through the central axis of the movable platform, and 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 rope driving braking mechanisms are uniformly arranged on the first annular connecting piece, the rope guiding mechanisms are uniformly arranged on the second annular connecting piece, the rope driving braking mechanism and the rope guiding mechanism are respectively driven to rotate by slightly rotating the annular connecting piece I and the annular connecting piece II, so that the reverse extension line of the high-strength 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-mentioned portable building 3D printing method, a material conveying connector is further included, 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-mentioned portable building 3D printing method, the printing 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-mentioned portable building 3D printing method, the rope guide mechanism includes a pulley and a rope guide, and the high-strength rope passes through the rope guide and the pulley in sequence and then is connected with the fixing assembly.
Preferably, in the above-mentioned portable building 3D printing method, the external support structure is an existing building or a newly-built support column or a newly-built truss.
According to the technical scheme disclosed above, compared with the prior art, the invention has the following beneficial effects:
the invention provides a portable building 3D printing system and a method, which adopts a plurality of rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, wherein the printing head mechanism is detachably arranged on the movable platform through the printing head connecting mechanism, the movable platform is arranged on an external supporting structure through the plurality of rope driving guide mechanisms, the rope driving guide mechanism comprises a rope driving brake mechanism, a high-strength rope, a rope guide mechanism and a fixing component, the rope driving brake mechanism and the rope guide mechanism are respectively arranged on the movable platform, one end of the high-strength rope is connected with the corresponding rope driving brake mechanism, the other end of the high-strength rope is guided by the corresponding rope guide mechanism and then is fixed on the external supporting structure through the fixing component, and the accurate printing and positioning of the movable platform are realized through the rope driving brake mechanism, and the problems that the existing 3D printing device is heavy in weight, large in occupied space, inconvenient to move and the like are solved, the automatic construction of large buildings or components can be realized, and the printing precision is high.
Drawings
FIG. 1 is a schematic diagram of a portable building 3D printing system according to an embodiment of the invention.
FIG. 2 is a schematic diagram of printing construction of the portable building 3D printing system according to the embodiment of the invention
In the figure:
100-a rope-driven braking mechanism; 110-energy saving motor; 120-a transmission; 130-an encoder; 140-a reducer; 150-a sensor assembly; 160-a reel; 170-a brake; 180-main shaft; 190-a locking assembly; 200-moving the platform; 210-an annular platform; 220-ring connector one; 230-annular connector two; 300-high strength rope; 400-a rope guide mechanism; 410-a pulley; 420-a rope guide; 500-a stationary assembly; 510-connector, 520-cord guide; 600-a print head mechanism; 610-a nozzle; 620-discharge system; 630-a stock system; 700-print head attachment mechanism; 800-a material delivery connector; 900-moving the material pump station; 501-existing building; 601-printed building.
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 2, the embodiment discloses a portable building 3D printing system, which includes a plurality of rope driving guiding mechanisms, a movable platform 200, a printing head mechanism 600 and a printing head connecting mechanism 700, wherein the printing head mechanism 600 is detachably mounted on the movable platform 200 through the printing head connecting mechanism 700, the movable platform 200 is mounted on an external supporting structure through the rope driving guiding mechanisms, the rope driving guiding mechanisms include a rope driving braking mechanism 100, a high-strength rope 300, a rope guiding mechanism 400 and a fixing assembly 500, the rope driving braking mechanism 100 and the rope guiding mechanism 400 are respectively disposed on the movable platform 200, one end of the high-strength rope 300 is connected with the corresponding rope driving braking mechanism 100, and the other end is fixed on the external supporting structure through the fixing assembly 500 after being guided by the corresponding rope guiding mechanism 400, the accurate printing and positioning of the movable platform 200 are realized by retracting and releasing the corresponding high-strength rope 300 through the rope driving braking mechanism 100.
The invention provides a portable building 3D printing system, which adopts a plurality of rope driving guide mechanisms, a movable platform 200, a printing head mechanism 600 and a printing head connecting mechanism 700, wherein the printing head mechanism 600 is detachably arranged on the movable platform 200 through the printing head connecting mechanism 700, the movable platform 200 is arranged on an external supporting structure through the rope driving guide mechanisms, each rope driving guide mechanism comprises a rope driving brake mechanism 100, a high-strength rope 300, a rope guide mechanism 400 and a fixing component 500, the rope driving brake mechanisms 100 and the rope guide mechanisms 400 are respectively arranged on the movable platform 200, one end of each high-strength rope 300 is connected with the corresponding rope driving brake mechanism 100, the other end of each high-strength rope is fixed on the external supporting structure through the corresponding fixing component 500 after being guided by the corresponding rope guide mechanisms 400, and the rope driving brake mechanisms 100 can be used for winding and unwinding the corresponding high-strength ropes 300, so that the accurate printing of the movable platform 200 is realized And the problems that the existing 3D printing device is heavy in weight, large in occupied space, inconvenient to move and the like are solved, and automatic construction of large buildings or components can be realized.
Preferably, in the above-mentioned portable building 3D printing system, the rope driving braking mechanism 100 includes an energy-saving motor 110, a transmission 120, an encoder 130, a decelerator 140, a sensor assembly 150, a reel 160, a brake 170, a spindle 180, and a locking assembly 190; the energy-saving motor 110 is used for driving the main shaft 180 to rotate; the reel 160 is fixedly sleeved on the main shaft 180; one end of the high-strength rope 300 is fixed on the outer surface of the reel 160, and the high-strength rope 300 can be wound along with the rotation of the reel 160 to realize the expansion of the length thereof; the transmission 120 is connected with the energy-saving motor 110 and is used for adjusting the output rotating speed of the energy-saving motor 110; the encoder 130 is arranged on the energy-saving motor 110 and used for measuring the position, the angle and the number of turns of the reel 160; the speed reducer 140 is connected with the energy-saving motor 110 and is used for reducing the rotating speed of the main shaft 180; the sensor assembly 150 is arranged on the main shaft 180 and used for measuring the tension and the torque of the reel 160; the brake 170 is connected with the main shaft 180 and used for realizing rapid braking of the main shaft 180; the energy-saving motor 110 and the brake 170 are respectively fixed on the movable platform 200 through the locking assembly 190.
Preferably, in the above-mentioned portable building 3D printing system, the printing head mechanism 600 is mounted in the middle of the movable platform 200 through the printing head connection mechanism 700, the opposite extension line of the high-strength rope 300 vertically passes through the central axis of the movable platform 200, and the movable platform 200 includes: the rope driving braking mechanism 100 is uniformly arranged on the first annular connecting piece 220, the rope guiding mechanisms 400 are uniformly arranged on the second annular connecting piece 230, the rope driving braking mechanism 100 and the rope guiding mechanism 400 are respectively driven to rotate by slightly rotating the first annular connecting piece 220 and the second annular connecting piece 230, so that the reverse extension line of the high-strength rope 300 vertically passes through the central shaft of the movable platform 200, and the first annular connector 220 and the second annular connector 230 are fixed on the annular platform 210. Through will rope drive brake mechanism 100 evenly sets up on annular connecting piece one 220, rope guiding mechanism 400 evenly set up in annular connecting piece two 230 is last, annular connecting piece one 220 and annular connecting piece two 230 all can rotate on annular platform 210 and fix accurately, not only can conveniently adjust rope drive brake mechanism 100 and the position that corresponds rope guiding mechanism 400 for the reverse extension line of the rope 300 that excels in passes through the movable platform 200 centre of a circle, and can conveniently adjust the quantity of rope drive brake mechanism 100 on annular connecting piece one 220 and the quantity of rope guiding mechanism 400 on annular connecting piece two 230, need not additionally set up the connecting piece that is used for connecting rope drive brake mechanism 100 and rope guiding mechanism 400 on annular platform 210, satisfy various construction site environmental conditions and wait to print the shape size demand of building.
Preferably, in the above-mentioned portable building 3D printing system, a material conveying connector 800 is further included, and one end of the material conveying connector 800 is connected to the print head mechanism 600, and the other end is connected to the mobile material pump station 900 through a material conveying pipe.
Preferably, in the above-mentioned portable building 3D printing system, the printing head mechanism 600 includes: nozzle 610, discharging system 620 and storage system 630 store the material through storage system 630, realize incessant print jobs, extrude the material through discharging system 620 accuracy, realize the print jobs of different width and thickness through nozzle 610, material transport connector 800 one end is connected with the storage system 630 who beats printer head mechanism 600, and the other end passes through the material conveyer pipe and is connected with removal material pump station 900.
Preferably, in the above-mentioned portable building 3D printing system, the rope guide mechanism 400 includes a pulley 410 and a rope guide 420, and the high-strength rope 300 passes through the rope guide 420 and the pulley 410 in sequence and then is connected to the fixing assembly 500. The high strength rope 300 is steered using a pulley 410 and the high strength rope 300 is guided using a rope guide 420.
Preferably, the fixing assembly 500 includes a connector 510 and a rope guide 520, and the high tensile rope 300 passes through the rope guide 520 and then is connected to the external support structure through the connector 510. The high tensile rope 300 is guided by the rope guide 520, which has the same structure and function as the rope guide 420.
Preferably, in the above portable building 3D printing system, the external support structure is an existing building 501 or a newly-built support column or a newly-built truss.
With continuing reference to fig. 1 to fig. 2, the present embodiment discloses a portable building 3D printing method, including:
step 1, installing a portable building 3D printing system, wherein the step 1 comprises the following steps:
step 1.1, determining the number of the rope driving brake mechanisms 100 according to the existing construction site environment conditions and the shape of the building to be printed. Taking the construction scenario of fig. 2 as an example, the building to be printed and constructed is located between three existing buildings 501, and the existing buildings 501 serve as an external support structure for fixing the high-strength rope 300, in this embodiment, the number of the rope-driven braking mechanisms 100 is 3. If the existing construction site environment has no existing building 501 or structure, external structures such as a support column and a truss can be newly built to serve as the external support structure for fixing the high-strength rope 300.
Step 1.2, installing the rope driving braking mechanism 100 and the rope guiding mechanism 400 on the movable platform 200: the movable platform 200 is an annular structure, the rope driving braking mechanisms 100 are uniformly arranged on the movable platform 200 around the circle center of the movable platform 200, the rope guiding mechanisms 400 are uniformly arranged on the movable platform 200 around the circle center of the movable platform 200, and the rope guiding mechanisms 400 are positioned at the outer sides of the corresponding rope driving braking mechanisms 100;
step 1.3, fixing the high-strength rope 300: connecting one end of the high-strength rope 300 with the corresponding rope driving brake mechanism 100, and connecting the other end of the high-strength rope 300 with an external support structure through a rope fixing component 500 after being guided by the corresponding rope guide mechanism 400, so that the rope fixing components 500 are positioned on the same horizontal plane, and the reverse extension line of the high-strength rope 300 passes through the circle center of the movable platform 200;
step 1.4, nozzle 610 selects: the optimum nozzles 610 are selected according to the type of architectural structure being printed and the nozzles 610 are mounted on the print head mechanism 600.
Step 1.5, mounting the print head mechanism 600: connecting the print head mechanism 600 with the movable platform 200 through the print head connecting mechanism 700, so that the print head mechanism 600 is installed in the middle of the movable platform 200;
step 1.6, connecting a mobile material pump: the printing head mechanism 600 is provided with a material conveying connector 800, and a mobile material pump station 900 is connected with the material conveying connector 800 through a material conveying pipe to complete the installation of the portable building 3D printing system;
step 2, testing the portable building 3D printing system, wherein the step 2 comprises the following steps:
and 2.1, determining the printable range of the 3D printing system. And measuring the distance H between the rope fixing assembly 500 and the horizontal reference surface and the horizontal distance between each rope fixing assembly 500 and the axis of the printing head mechanism 600, and inputting the measured values into a printing control software system to obtain the printing range of the 3D printing system. The horizontal distance between each cable fixing assembly 500 and the axle center of the print head mechanism 600 is R1, R2, … Rn, where n is 3 in the present embodiment, where R1 ≈ R2 ≈ … Rn.
Step 2.2, printing test: control instructions are sent to the rope driving braking mechanism 100, the printing head mechanism 600 and the mobile material pump station 900 through the control system, the rope driving braking mechanism 100110 is controlled, the high-strength rope 300 stretches and retracts to drive the printing head mechanism 600 to move, meanwhile, the discharging system 620 of the printing head mechanism 600 is controlled, and layer-by-layer printing is carried out through extruded materials;
step 2.3, testing to determine printing error: according to the step of step 2.2, a cube is printed, the size of the cube in this embodiment is 200mm × 200mm × 200mm, the size of the cube is measured, and the cube is compared with the printing model for analysis, so that the deviation between the cube and the printing model is obtained, and the printing error of the printing system is determined.
Step 3, printing by the portable building 3D printing system: printing layer by layer according to the step of step 2.2 to realize the printing construction of the building, as shown in fig. 2 by the reference numeral 601 of the printed building
And 4, dismantling the portable building 3D printing system: the rope is controlled to drive the braking mechanism 100 to enable the nozzle 610 of the printing head mechanism 600 to be a certain distance away from the ground, in the embodiment, the rope is controlled to drive the braking mechanism 100 to enable the nozzle 610710 of the printing head mechanism 600700 to be more than or equal to 100mm away from the ground, the printing operation is stopped, the movable platform 200 is supported, and the fixing assembly 500500 and the material conveying pipe are removed to complete the removal.
The invention provides a portable building 3D printing method, which adopts a plurality of rope driving guide mechanisms, a movable platform 200, a printing head mechanism 600 and a printing head connecting mechanism 700, wherein the printing head mechanism 600 is detachably arranged on the movable platform 200 through the printing head connecting mechanism 700, the movable platform 200 is arranged on an external supporting structure through the rope driving guide mechanisms, each rope driving guide mechanism comprises a rope driving brake mechanism 100, a high-strength rope 300, a rope guide mechanism 400 and a fixing component 500, the rope driving brake mechanisms 100 and the rope guide mechanisms 400 are respectively arranged on the movable platform 200, one end of each high-strength rope 300 is connected with the corresponding rope driving brake mechanism 100, the other end of each high-strength rope is guided by the corresponding rope guide mechanisms 400 and then fixed on the external supporting structure through the fixing components 500, and the rope driving brake mechanisms 100 can be used for winding and unwinding the corresponding high-strength ropes 300, so that the accurate printing of the movable platform 200 is realized And the problems that the existing 3D printing device is heavy in weight, large in occupied space, inconvenient to move and the like are solved, and automatic construction of large buildings or components can be realized.
Preferably, in the above-mentioned portable building 3D printing method, the rope-driven braking mechanism 100 includes an energy-saving motor 110, a transmission 120, an encoder 130, a decelerator 140, a sensor assembly 150, a reel 160, a brake 170, a main shaft 180, and a locking assembly 190; the energy-saving motor 110 is used for driving the main shaft 180 to rotate; the reel 160 is fixedly sleeved on the main shaft 180; one end of the high-strength rope 300 is fixed on the outer surface of the reel 160, and the high-strength rope 300 can be wound along with the rotation of the reel 160 to realize the expansion of the length thereof; the transmission 120 is connected with the energy-saving motor 110 and is used for adjusting the output rotating speed of the energy-saving motor 110; the encoder 130 is arranged on the energy-saving motor 110 and used for measuring the position, the angle and the number of turns of the reel 160; the speed reducer 140 is connected with the energy-saving motor 110 and is used for reducing the rotating speed of the main shaft 180; the sensor assembly 150 is arranged on the main shaft 180 and used for measuring the tension and the torque of the reel 160; the brake 170 is connected with the main shaft 180 and used for realizing rapid braking of the main shaft 180; the energy-saving motor 110 and the brake 170 are respectively fixed on the movable platform 200 through the locking assembly 190.
Preferably, in the above-mentioned portable building 3D printing method, the printing head mechanism 600 is mounted in the middle of the movable platform 200 through the printing head connection mechanism 700, the reverse extension line of the high-strength rope 300 vertically passes through the central axis of the movable platform 200, and the movable platform 200 includes: the rope driving braking mechanism 100 is uniformly arranged on the first annular connecting piece 220, the rope guiding mechanisms 400 are uniformly arranged on the second annular connecting piece 230, the rope driving braking mechanism 100 and the rope guiding mechanism 400 are respectively driven to rotate by slightly rotating the first annular connecting piece 220 and the second annular connecting piece 230, so that the reverse extension line of the high-strength rope 300 vertically passes through the central shaft of the movable platform 200, and the first annular connector 220 and the second annular connector 230 are fixed on the annular platform 210. Through will rope drive brake mechanism 100 evenly sets up on annular connecting piece one 220, rope guiding mechanism 400 evenly set up in annular connecting piece two 230 is last, annular connecting piece one 220 and annular connecting piece two 230 all can rotate on annular platform 210 and fix accurately, not only can conveniently adjust rope drive brake mechanism 100 and the position that corresponds rope guiding mechanism 400 for the reverse extension line of the rope 300 that excels in passes through the movable platform 200 centre of a circle, and can conveniently adjust the quantity of rope drive brake mechanism 100 on annular connecting piece one 220 and the quantity of rope guiding mechanism 400 on annular connecting piece two 230, need not additionally set up the connecting piece that is used for connecting rope drive brake mechanism 100 and rope guiding mechanism 400 on annular platform 210, satisfy various construction site environmental conditions and wait to print the shape size demand of building.
Preferably, in the above-mentioned portable building 3D printing method, a material conveying connector 800 is further included, and one end of the material conveying connector 800 is connected to the print head mechanism 600, and the other end is connected to the mobile material pump station 900 through a material conveying pipe.
Preferably, in the above-mentioned portable building 3D printing method, the printing head mechanism 600 includes: nozzle 610, discharging system 620 and storage system 630 store the material through storage system 630, realize incessant print jobs, extrude the material through discharging system 620 accuracy, realize the print jobs of different width and thickness through nozzle 610, material transport connector 800 one end is connected with the storage system 630 who beats printer head mechanism 600, and the other end passes through the material conveyer pipe and is connected with removal material pump station 900.
Preferably, in the above-mentioned portable building 3D printing method, the rope guide mechanism 400 includes a pulley 410 and a rope guide 420, and the high-strength rope 300 passes through the rope guide 420 and the pulley 410 in sequence and then is connected to the fixing assembly 500. The high strength rope 300 is steered using a pulley 410 and the high strength rope 300 is guided using a rope guide 420.
Preferably, the fixing assembly 500 includes a connector 510 and a rope guide 520, and the high tensile rope 300 passes through the rope guide 520 and then is connected to the outer support structure 600 through the connector 510. The high tensile rope 300 is guided by the rope guide 520, which has the same structure and function as the rope guide 420.
Preferably, in the above-mentioned portable building 3D printing method, the external support structure is an existing building 501 or a newly-built support column or a newly-built truss.
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 (8)
1. A portable building 3D printing system is characterized by comprising a plurality of rope driving guide mechanisms, a movable platform, a printing head mechanism and a printing head connecting mechanism, wherein the printing head mechanism is detachably arranged on the movable platform through the printing head connecting mechanism, the movable platform is arranged on an external supporting structure through the plurality of rope driving guide mechanisms, the rope driving guide mechanisms comprise rope driving brake mechanisms, high-strength ropes, rope guide mechanisms and fixing components, the rope driving brake mechanisms and the rope guide mechanisms are respectively arranged on the movable platform, one ends of the high-strength ropes are connected with the corresponding rope driving brake mechanisms, the other ends of the high-strength ropes are guided by the corresponding rope guide mechanisms and then are fixed on the external supporting structure through the fixing components, and the rope driving brake mechanisms can receive and release the corresponding high-strength ropes to realize the accurate printing and positioning of the movable platform, print the printer head mechanism and install in the middle part of moving the platform through printing printer head coupling mechanism, the reverse extension line of high strength rope is worn through perpendicularly and is moved the center pin of platform, it includes to move the platform: 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 rope driving braking mechanisms are uniformly arranged on the first annular connecting piece, the rope guiding mechanisms are uniformly arranged on the second annular connecting piece, the rope driving braking mechanism and the rope guiding mechanism are respectively driven to rotate by slightly rotating the annular connecting piece I and the annular connecting piece II, so that the reverse extension line of the high-strength 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.
2. The portable building 3D printing system of claim 1, wherein the 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 high-strength rope is fixed on the outer surface of the reel, and the high-strength rope can be wound along with the rotation of the reel, so that the self length 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 movable platform through the locking assembly.
3. The portable building 3D printing system of claim 1, wherein the cable guide mechanism comprises a pulley and a cable guide, and the high-strength cable is connected to the fixing assembly after passing through the cable guide and the pulley in sequence.
4. The portable architectural 3D printing system of claim 1 wherein the external support structure is an existing building or a newly built support column or a newly built truss.
5. A portable building 3D printing method is characterized by comprising the following steps:
step 1, installing a portable building 3D printing system;
step 1.1, determining the number of rope driving brake mechanisms according to the existing construction site environment condition and the shape of a building to be printed;
step 1.2, installing a rope driving braking mechanism and a rope guiding mechanism on a movable platform, wherein the movable platform is of an annular structure, the rope driving braking mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, the rope guiding mechanism is uniformly arranged on the movable platform around the circle center of the movable platform, and the rope guiding mechanism is positioned at the outer side of the corresponding rope driving braking mechanism;
step 1.3, connecting one end of a high-strength rope with a corresponding rope driving brake mechanism, guiding the other end of the high-strength rope by a corresponding rope guide mechanism, and then connecting the other end of the high-strength rope with an external support structure through a rope fixing component, so that the rope fixing components are positioned on the same horizontal plane, and a reverse extension line of the high-strength rope passes through the circle center of a movable platform;
step 1.4, selecting the optimal nozzle according to the type of the printed building structure, 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, so that the printing head mechanism is arranged in the middle of the movable platform;
step 1.6, arranging a material conveying connector on the printing head mechanism, and connecting a mobile material pump station with the material conveying connector through a material conveying pipe to finish the installation of the portable building 3D printing system;
step 2, testing the portable building 3D printing system;
step 2.1, measuring the distance H between the rope fixing assemblies and a horizontal reference surface and the horizontal distance between each rope fixing assembly and the axis of the printing head mechanism, and inputting the measured values into a printing control software system to obtain the printing range of the 3D printing system;
step 2.2, sending a control instruction to the rope driving brake mechanism, the printing head mechanism and the mobile material pump station through the control system, controlling the rope driving brake mechanism to enable the high-strength rope to stretch and drive the printing head mechanism to move, and simultaneously controlling a discharging system of the printing head mechanism to perform layer-by-layer printing through extruded materials;
step 2.3, printing a cube according to the step 2.2, measuring the size of the cube, comparing and analyzing the cube with the printing model to obtain the deviation of the cube and the printing model, and determining the printing error of the printing system;
step 3, printing by the portable building 3D printing system: carrying out layer-by-layer printing construction according to the step of the step 2.2 to realize printing construction of the building;
and 4, dismantling the portable building 3D printing system: the braking mechanism is driven by a control rope to enable the nozzle of the printing head mechanism to be away from the ground by a certain distance, the printing operation is stopped, the movable platform is supported, the fixed assembly and the material conveying pipe are removed, and the removal of the portable building 3D printing system is completed;
print the printer head mechanism and install in the middle part of moving the platform through printing printer head coupling mechanism, the reverse extension line of high strength rope is worn through perpendicularly and is moved the center pin of platform, it includes to move the platform: 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 rope driving braking mechanisms are uniformly arranged on the first annular connecting piece, the rope guiding mechanisms are uniformly arranged on the second annular connecting piece, the rope driving braking mechanism and the rope guiding mechanism are respectively driven to rotate by slightly rotating the annular connecting piece I and the annular connecting piece II, so that the reverse extension line of the high-strength 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 portable architectural 3D printing method according to claim 5, wherein the 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 high-strength rope is fixed on the outer surface of the reel, and the high-strength rope can be wound along with the rotation of the reel, so that the self length 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 movable platform through the locking assembly.
7. The portable building 3D printing method according to claim 5, wherein the rope guide mechanism comprises a pulley and a rope guide, and the high-strength rope passes through the rope guide and the pulley in sequence and then is connected with the fixing assembly.
8. The method for portable architectural 3D printing according to claim 5 wherein the external support structure is an existing building or a newly built support column or a newly built truss.
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