CN112647707B - Large-forming-space cable-driven building 3D printing device easy to reconstruct - Google Patents
Large-forming-space cable-driven building 3D printing device easy to reconstruct Download PDFInfo
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- CN112647707B CN112647707B CN202011408049.2A CN202011408049A CN112647707B CN 112647707 B CN112647707 B CN 112647707B CN 202011408049 A CN202011408049 A CN 202011408049A CN 112647707 B CN112647707 B CN 112647707B
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- cable
- printing device
- building
- telescopic rod
- telescopic
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/10—Portals, i.e. essentially circular or square platforms with three or more legs specially adapted for supporting slewing jib cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
Abstract
The invention relates to a building 3D printing device, in particular to an easily-reconfigurable large-forming-space cable-driven building 3D printing device which comprises cable driving mechanisms, a mobile platform and a feeding system, wherein the feeding system is connected to the mobile platform, a plurality of cable driving mechanisms are arranged, the cable driving mechanisms are all connected with the mobile platform, the mobile platform can be pulled by the cable driving mechanisms to move in a space, so that a printing path is controlled, the redundant freedom degree of the device can ensure that the mechanism has strong anti-interference capability, the interference between a cable and a printing building is avoided due to the configuration of the mechanism, compared with the existing building printing device, the whole weight is light, a rack can be retracted into a small size in transportation, the rack and the mobile platform can be extended to form a large forming space, and the structure is simple and easy to reconfigure, install and adjust.
Description
Technical Field
The invention relates to a building 3D printing device, in particular to an easily-reconstructed large-molding-space cable-driven building 3D printing device.
Background
The 3D printing technology has the advantages of individual customization, rapid forming and high automation degree, and attention is paid to the building industry in recent years. The current building printing equipment is very heavy, complex in structure and not easy to install and adjust. The requirement of equipment size larger than the building size in building printing limits the use scenarios of the existing gantry or crane printing devices, i.e. only smaller buildings can be printed. The rope mechanism has the advantages of light weight, large potential of forming space, simple structure and easy adjustment and reconstruction, and is suitable for printing and building of large-size objects of building types. Rope mechanisms also have some disadvantages compared to rigid body mechanisms: due to the elasticity of the rope, the whole mechanism is relatively low in rigidity and is easily affected by interference, so that large printing defects are caused. Especially for the type of the suspension cable mechanism, the balance of the tail end spray head depends on gravity, so that the tail end spray head is easy to shake in the printing process, and the printing process is difficult to guarantee. The rope mechanism for printing construction is often designed as a parallel mechanism type. When the parallel cable driving mechanism is used for printing a building, the problem of interference between a cable and a printed object needs to be considered. Can add rope guider for avoiding the rope is dry and astringent, guide the spatial distribution of rope, avoid with the condition that the printed object that the interference of printed object caused destroys or the print shower nozzle orbit produces very big deviation. However, the addition of a cable guide will undoubtedly add a considerable complexity to the device, which runs counter to the original intention of using a cable mechanism to print a building, namely: the rope device has simple structure and is easy to adjust and reconstruct; the building 3D printing device in the prior art cannot realize printing construction with strong anti-interference capability in a large space range.
Disclosure of Invention
The invention aims to provide an easily-reconfigurable large-molding-space cable-driven building 3D printing device, which combines the advantages of under-constrained and over-constrained rope mechanisms, realizes printing construction with strong anti-interference capability in a large space range, and completely avoids interference between a rope and a printing building.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an easy big shaping space cable drive building 3D printing device of reconsitution, includes cable actuating mechanism, moving platform and feeding system, the last feeding system that is connected with of moving platform, cable actuating mechanism are provided with a plurality ofly, and a plurality of cable actuating mechanism all are connected with moving platform.
According to the further optimization of the technical scheme, the cable driving mechanism comprises a winch and a rope, and the rope is wound on the winch.
As a further optimization of the technical scheme, the 3D printing device for the cable-driven building with the easily-reconstructed large forming space is provided, and the winch is composed of a motor and a winding wheel.
According to the technical scheme, the 3D printing device for the easily-reconstructed large-molding-space cable-driven building further comprises a rack, the rack is composed of four telescopic rods I, and the lower end of each telescopic rod I is fixedly connected with two winches.
As a further optimization of the technical scheme, the easily-reconfigurable large-molding-space cable-driven building 3D printing device further comprises pulleys, the telescopic end of each telescopic rod I is fixedly connected with two pulleys, and two ropes on each telescopic rod I penetrate through the corresponding pulleys and are fixedly connected to the mobile platform.
As a further optimization of the technical scheme, the 3D printing device for the cable-driven building with the large forming space and easy reconfiguration comprises a moving chassis and telescopic rods II, wherein the telescopic rods II are fixedly connected to the moving chassis and are perpendicular to the moving chassis, and two cables on each telescopic rod I are respectively and fixedly connected to the moving chassis and telescopic ends of the telescopic rods II.
As further optimization of the technical scheme, the 3D printing device for the cable-driven building with the large forming space and easy reconstruction is provided, and the telescopic rod I and the telescopic rod II are cylindrical or square.
As further optimization of the technical scheme, the 3D printing device for the cable-driven building with the large forming space and easy reconstruction is a four-stage telescopic rod or a five-stage telescopic rod with the telescopic rods I and II.
As a further optimization of the technical scheme, the easily-reconfigurable large-molding-space cable-driven building 3D printing device comprises a grouting machine, a feeding pipe and a nozzle, wherein the nozzle is fixedly connected to a moving platform, and the nozzle is connected with the grouting machine through the feeding pipe.
The cable-driven building 3D printing device with the easily-reconstructed large forming space has the beneficial effects that:
according to the cable-driven building 3D printing device with the easily-reconfigurable large forming space, the mobile platform can be pulled to move in the space through the plurality of cable driving mechanisms, so that the printing path is controlled, the redundancy freedom degree of the device can ensure that the mechanism has strong anti-interference capability, the mechanism is configured to avoid the interference of a cable and a printing building.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of an unfolding structure of a cable-driven building 3D printing device with a large molding space and easy reconstruction, which is disclosed by the invention;
fig. 2 is a schematic view of the storage structure of the cable-driven building 3D printing device with the easily-reconfigurable large molding space.
In fig. 1: a pulley 1; a rope 2; a mobile platform 3; a spray head 4; printing the building 5; a frame 6; and a hoist 7.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 2, and the cable-driven building 3D printing device with an easily-reconfigurable large molding space comprises a cable driving mechanism, a moving platform 3 and a feeding system, wherein the feeding system is connected to the moving platform 3, a plurality of cable driving mechanisms are arranged, and the plurality of cable driving mechanisms are all connected to the moving platform 3; can move in the space through a plurality of cable actuating mechanism pulling moving platform 3, and then control printing path, the redundant degree of freedom of device can guarantee that the mechanism has stronger interference killing feature, the interference of rope 2 with printing building 5 has been avoided again to the configuration of mechanism, compare in current building printing device, whole quality is light, frame 6 can be contracted into the small size in the transportation, frame 6 and moving platform 3 are stretched out and are formed big shaping space, the succinct easy reconsitution of structure is transferred.
The second embodiment is as follows:
the present embodiment will be described with reference to fig. 1 to 2, and the present embodiment further describes the first embodiment in which the rope drive mechanism includes a hoist 7 and a rope 2, and the rope 2 is wound around the hoist 7.
The third concrete implementation mode:
the present embodiment will be described with reference to fig. 1 to 2, and the second embodiment will be further described with reference to the present embodiment, in which the hoisting machine 7 is composed of a motor and a reel.
The fourth concrete implementation mode:
the third embodiment is further described with reference to fig. 1 to 2, and the third embodiment further includes a rack 6, where the rack 6 is composed of four telescopic rods i, and the lower end of each telescopic rod i is fixedly connected with two winches 7; the contraction state of the device is that a contraction rod I of the frame 6 is arranged in parallel around the inverted mobile platform 3; as shown in fig. 2.
The fifth concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 2, and the present embodiment further describes an embodiment four, where the cable-driven building 3D printing apparatus with a large molding space and easy reconfiguration further includes a pulley 1, two pulleys 1 are fixedly connected to the telescopic end of each telescopic rod i, and two cables 2 on each telescopic rod i are fixedly connected to the moving platform 3 through the corresponding pulleys 1.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 2, and the fifth embodiment is further described, where the moving platform 3 includes a moving chassis and a telescopic rod ii, the telescopic rod ii is fixedly connected to the moving chassis, the telescopic rod ii is perpendicular to the moving chassis, two ropes 2 on each telescopic rod i are respectively fixedly connected to the moving chassis and a telescopic end of the telescopic rod ii, the telescopic rod ii is fixedly connected to four ropes 2, and the moving platform 3 is fixedly connected to four ropes 2, as shown in fig. 1, each rope 2 can be independently controlled, so as to control positions of the moving platform 3 and the telescopic rod ii; in the address printing process, a telescopic rod I of a rack 6 is fixed at a point selection position through a long nail, a rope 2 on a winch 7 bypasses pulleys 1 at the top end of the telescopic rod I to be connected with four corners of a moving chassis and the top end of a telescopic rod II, the telescopic rod I and the telescopic rod II extend, and the winch 7 tensions the rope 2 to fix the pose of a moving platform 3; according to the printing track, the elongation or shortening of the rope 2 is solved through inverse kinematics of the mechanism, an instruction is sent to a motor of a winch 7, and the moving platform 3 is driven to drive the spray head 4 to print.
The seventh embodiment:
the present embodiment is described below with reference to fig. 1 to 2, and the present embodiment further describes an embodiment six, in which the telescopic rod i and the telescopic rod ii are cylindrical or square.
The specific implementation mode is eight:
the present embodiment is described below with reference to fig. 1 to 2, and a seventh embodiment is further described in the present embodiment, in which the telescopic rod i and the telescopic rod ii are four-stage telescopic rods or five-stage telescopic rods.
The specific implementation method nine:
the following describes the present embodiment with reference to fig. 1 to 2, and the present embodiment further describes an eighth embodiment, where the feeding system includes a grouter, a feeding pipe and a nozzle 4, the nozzle 4 is fixedly connected to the moving platform 3, and the nozzle 4 is connected to the grouter through the feeding pipe.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (5)
1. The utility model provides an easy big shaping space cable drive building 3D printing device of reconsitution, includes cable actuating mechanism, moving platform (3) and feeding system, its characterized in that: the moving platform (3) is connected with a feeding system, a plurality of cable driving mechanisms are arranged, and the cable driving mechanisms are all connected with the moving platform (3);
the rope driving mechanism comprises a winch (7) and a rope (2), and the rope (2) is wound on the winch (7);
the 3D printing device for the easily-reconstructed large-molding space cable-driven building further comprises a rack (6), wherein the rack (6) consists of four telescopic rods I, and the lower end of each telescopic rod I is fixedly connected with two winches (7);
the 3D printing device for the easily-reconstructed large-molding space cable-driven building further comprises pulleys (1), the telescopic end of each telescopic rod I is fixedly connected with two pulleys (1), and two ropes (2) on each telescopic rod I penetrate through the corresponding pulleys (1) and are fixedly connected to the mobile platform (3);
moving platform (3) are including removing chassis and telescopic link II, II fixed connection of telescopic link on removing the chassis, and II perpendicular to of telescopic link remove the chassis, and two rope (2) on every telescopic link I are fixed connection respectively on removing the flexible end of chassis and telescopic link II.
2. The cable-driven building 3D printing device with the easily-reconfigurable large forming space, as claimed in claim 1, wherein: the winding engine (7) is composed of a motor and a winding wheel.
3. The cable-driven building 3D printing device with the easily-reconfigurable large forming space, as claimed in claim 1, wherein: the telescopic rod I and the telescopic rod II are cylindrical or square.
4. The cable-driven building 3D printing device with the easily-reconfigurable large forming space, as claimed in claim 1, wherein: the telescopic rod I and the telescopic rod II are four-stage telescopic rods or five-stage telescopic rods.
5. The cable-driven building 3D printing device with the easily-reconfigurable large forming space, as claimed in claim 1, wherein: the feeding system comprises a grouting machine, a feeding pipe and a nozzle (4), wherein the nozzle (4) is fixedly connected to the movable platform (3), and the nozzle (4) is connected with the grouting machine through the feeding pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011408049.2A CN112647707B (en) | 2020-12-05 | 2020-12-05 | Large-forming-space cable-driven building 3D printing device easy to reconstruct |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011408049.2A CN112647707B (en) | 2020-12-05 | 2020-12-05 | Large-forming-space cable-driven building 3D printing device easy to reconstruct |
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| CN112647707A CN112647707A (en) | 2021-04-13 |
| CN112647707B true CN112647707B (en) | 2022-03-04 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106639324A (en) * | 2016-11-29 | 2017-05-10 | 蒋旭峰 | Feeding system for building contour forming |
| CN107351385A (en) * | 2017-07-25 | 2017-11-17 | 中国建筑股份有限公司 | A kind of mobile folding building 3D printing system |
| US20180230703A1 (en) * | 2017-02-10 | 2018-08-16 | Yingchuang Building Technique (Shanghai) Co.,Ltd. | Rack structure for an in-field 3D construction printer |
| CN109397262A (en) * | 2018-11-02 | 2019-03-01 | 湖南大学 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
| CN110485685A (en) * | 2019-08-22 | 2019-11-22 | 清华大学 | A kind of low quality long stroke external wall spraying device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105401727B (en) * | 2015-11-26 | 2017-08-25 | 中国矿业大学 | A kind of modularization three-dimensional building printer |
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2020
- 2020-12-05 CN CN202011408049.2A patent/CN112647707B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106639324A (en) * | 2016-11-29 | 2017-05-10 | 蒋旭峰 | Feeding system for building contour forming |
| US20180230703A1 (en) * | 2017-02-10 | 2018-08-16 | Yingchuang Building Technique (Shanghai) Co.,Ltd. | Rack structure for an in-field 3D construction printer |
| CN107351385A (en) * | 2017-07-25 | 2017-11-17 | 中国建筑股份有限公司 | A kind of mobile folding building 3D printing system |
| CN109397262A (en) * | 2018-11-02 | 2019-03-01 | 湖南大学 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
| CN110485685A (en) * | 2019-08-22 | 2019-11-22 | 清华大学 | A kind of low quality long stroke external wall spraying device |
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| CN112647707A (en) | 2021-04-13 |
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