CN118087872A

CN118087872A - Concrete printer

Info

Publication number: CN118087872A
Application number: CN202410237136.8A
Authority: CN
Inventors: 袁烽; 郭志贤; 吴昊; 张立名
Original assignee: Shanghai Yizao Technology Co ltd; Tongji University
Current assignee: Shanghai Yizao Technology Co ltd; Tongji University
Priority date: 2024-03-01
Filing date: 2024-03-01
Publication date: 2024-05-28

Abstract

The invention discloses a concrete printer, which comprises a printing mechanical arm and a movable base. The printing mechanical arm is provided with a printing spray head. The mobile base comprises a mobile assembly, a track assembly and a balance assembly, the printing mechanical arm is arranged on the balance assembly, the balance assembly is arranged on the track assembly, the track assembly is used for driving the printing mechanical arm to move along a first direction, the track assembly is arranged on the mobile assembly, and the mobile assembly is used for driving the track assembly and the printing mechanical arm to move along the first direction. The technical scheme of the invention has the advantages of improving the printing range, ensuring that the printing process does not need to be interrupted when the printing mechanical arm moves, and ensuring that the finally presented printing effect is better.

Description

Concrete printer

Technical Field

The invention relates to the technical field of concrete printing, in particular to a concrete printer.

Background

The concrete 3D printing technology is an innovative intelligent building technology of houses, and common concrete 3D printers at home and abroad can be divided into a gantry type, a mechanical arm type, a movable type, a tower crane type, a combined type and the like.

The existing mechanical arm type concrete printer is usually fixed at one position during printing, and as the range of one concrete printer cannot meet the scale span of a common building, the printer needs to be interrupted at one position until corresponding actions are executed, then the printer moves to the other position through a wheel and other structures, and printing is restarted. However, the interruption of the action in the printing process can cause the printing of the concrete printer to be discontinuous, so that the printing effect is poor.

Disclosure of Invention

The invention mainly aims to provide a concrete printer, which aims to solve the problem of limitation of the printing range of the existing concrete printer.

To achieve the above object, the present invention provides a concrete printer comprising:

The printing mechanical arm is provided with a printing spray head; and

The printing machine comprises a moving base, wherein the moving base comprises a moving assembly, a track assembly and a balance assembly, the printing machine arm is arranged on the balance assembly, the balance assembly is arranged on the track assembly, the track assembly is used for driving the printing machine arm to move along a first direction, the track assembly is arranged on the moving assembly, and the moving assembly is used for driving the track assembly and the printing machine arm to move along the first direction.

Optionally, the track assembly includes:

the mounting frames are arranged on two sides of the bottom plate, and a mounting cavity is formed between the mounting frames on two sides;

The balance assembly is provided with two sliding blocks, and one sliding block is connected with one sliding rail in a sliding way; and

The first driving piece is arranged in the mounting cavity and drives the printing mechanical arm to move along the sliding rail.

Optionally, the concrete printer includes a plurality of remove the base, the one end that removes the base is equipped with and connects the master disc, and the other end is equipped with and connects the sub-dish, one remove the base connect the master disc can dismantle connect in another remove the base connect the sub-dish, so that print the arm sliding connection in two at least track subassembly.

Optionally, the mobile base further comprises:

a tilt sensor coupled to the track assembly;

The telescopic support pieces are arranged on the track assembly at intervals, one end of each telescopic support piece is connected with the track assembly, the other end of each telescopic support piece is abutted against the ground, and the telescopic support pieces are used for adjusting the distance between the track assembly and the ground; and

And the controller is electrically connected with the telescopic supporting piece and the inclination sensor.

Optionally, the balancing assembly comprises:

The cradle head structure comprises a mounting plate and a supporting plate, wherein the mounting plate is connected with the track assembly, the supporting plate is movably connected with the mounting plate, and the printing mechanical arm is connected with the supporting plate; and

The buffer structures are connected between the track assembly and the supporting plate in a buffering mode, and the buffer structures are arranged around the cradle head structure.

Optionally, the moving assembly includes:

a second drive member coupled to a bottom of the track assembly;

The motion foot is connected to the output end of the second driving piece; and

And the suspension piece is arranged between the sports foot and the track assembly.

Optionally, the printing mechanical arm includes:

the lifting mechanism is connected with the track assembly at one end;

The rotating mechanism is arranged at one end, far away from the track assembly, of the lifting mechanism;

the horizontal telescopic mechanism is provided with one end arranged on the rotating mechanism; and

The manipulator is arranged at one end, far away from the rotating mechanism, of the horizontal telescopic mechanism, and the manipulator is provided with a printing spray head.

Optionally, the lifting mechanism is a multi-stage lifting mechanism, wherein the multi-stage lifting mechanism at least comprises:

The first telescopic rod is connected to the track assembly and is provided with a sliding cavity; and

And one end of the second telescopic rod is connected with the sliding cavity in a sliding way, and the other end of the second telescopic rod is connected with the rotating mechanism.

Optionally, the rotation mechanism includes:

The stator is connected to the lifting mechanism and is provided with a rotatable first gear; and

The rotor is rotatably connected with the stator, the rotor is provided with a second gear, and the first gear is meshed with the second gear.

Optionally, the horizontal telescopic mechanism is a multi-stage horizontal telescopic mechanism, wherein the multi-stage horizontal telescopic mechanism at least comprises:

the first telescopic beam is connected to the rotating mechanism and is provided with a sliding groove; and

The second telescopic beam is connected with the sliding groove in a sliding mode, and the manipulator is connected with the second telescopic beam.

The technical scheme of the invention is that the concrete printer with the movable base is adopted. The movable base comprises a track assembly, a movable assembly and a balance assembly, so that the concrete printer has two moving modes, one of the moving assemblies drives the track assembly, the balance assembly and the printing mechanical arm to move together, and the other moving assembly is motionless, and the track assembly drives the balance assembly and the printing mechanical arm to move together. Before the printing operation is carried out, the moving component drives the track component, the balance component and the printing mechanical arm to move to a place needing printing, and then the moving component stops moving. When the printing operation is carried out, the printing mechanical arm can slide in the range of the track length through the track assembly to change the printing range of the printing mechanical arm, and the balance assembly keeps the gesture of the printing mechanical arm when moving, so that the printing mechanical arm does not need to interrupt the printing process when moving, and the printing effect finally presented is better.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a concrete printer of the present invention;

FIG. 2 is a schematic view of the elevating mechanism of the concrete printer according to the present invention;

FIG. 3 is a schematic view of the rotary mechanism and horizontal telescoping mechanism of the concrete printer of the present invention;

FIG. 4 is a schematic view of the structure of the manipulator of the concrete printer of the present invention;

FIG. 5 is a first schematic view of the mobile base of the concrete printer of the present invention;

FIG. 6 is a second schematic view of the mobile base of the concrete printer of the present invention;

fig. 7 is another structural schematic diagram of the horizontal telescopic mechanism of the concrete printer of the present invention.

Reference numerals illustrate:

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1 to 7, the present invention proposes an embodiment of a concrete printer including a printing robot 100 and a moving base 200. The printing robot 100 is provided with a printing head 43. The moving base 200 comprises a moving assembly 7, a track assembly 6 and a balance assembly 5, the printing mechanical arm 100 is arranged on the balance assembly 5, the balance assembly 5 is arranged on the track assembly 6, the track assembly 6 is used for driving the printing mechanical arm 100 to move along a first direction, the track assembly 6 is arranged on the moving assembly 7, and the moving assembly 7 is used for driving the track assembly 6 and the printing mechanical arm 100 to move along the first direction.

Specifically, the printing robot arm 100 is provided with a plurality of moving shafts or moving joints, and can drive the printing head 43 to move to various positions and then perform concrete printing. The moving base 200 is connected to the bottom of the printing mechanical arm 100, and is used for driving the printing mechanical arm 100 to move. Further, the printing mechanical arm 100 is connected to the balancing component 5, the balancing component 5 is arranged on the track component 6, and the track component 6 is arranged on the moving component 7, so that a multi-layer structure is formed. Wherein the moving assembly 7 is applied on the ground for driving the track assembly 6, the balancing assembly 5 and the printing robot 100 to move. The track assembly 6 is used for driving the printing mechanical arm 100 to move along the length direction of the track assembly 6. The balance assembly 5 is disposed between the printing robot 100 and the rail assembly 6, so as to maintain the posture of the printing robot 100, and it is understood that the position error of the printing head 43 due to the coordinate system shift in the printing robot 100 caused by the movement is avoided.

It will be appreciated that a typical building is provided with a planar wall, with the track assembly 6 extending parallel to the wall. The concrete printer is provided with the upper computer, the upper computer can control the track assembly to drive the printing mechanical arm 100 to move, can also control the balance assembly 5 to adjust the gesture of the printing mechanical arm 100, can also control the printing mechanical arm 100 to drive the printing spray nozzle 43 to move, and can further control the printing path of the whole concrete printer, so that the concrete printer can also print next when moving on the track.

With this embodiment, a concrete printer having a moving base 200 is employed. The moving base 200 comprises a track assembly 6, a moving assembly 7 and a balancing assembly 5, so that the concrete printer has two moving modes, one is that the moving assembly 7 drives the track assembly 6, the balancing assembly 5 and the printing mechanical arm 100 to move together, and the other is that the moving assembly 7 does not move, and the track assembly 6 drives the balancing assembly 5 and the printing mechanical arm 100 to move together. Before the printing operation is performed, the moving assembly 7 drives the track assembly 6, the balance assembly 5 and the printing mechanical arm 100 to move together to a place where printing is required, and then the moving assembly 7 stops moving. When a print job is performed, the printing mechanical arm 100 can slide in the range of the track length through the track assembly 6 to change the printing range of the printing mechanical arm 100, and the balance assembly 5 keeps the posture of the printing mechanical arm 100 when moving, so that the printing mechanical arm 100 does not need to interrupt the printing process when moving, and the printing effect finally presented is better.

Referring to fig. 1 to 7, an embodiment of the present invention is provided, wherein the track assembly 6 includes a base plate 61, two slide rails 62, and a first driving member 64. Mounting frames 611 are arranged on two sides of the bottom plate 61, and a mounting cavity 612 is formed between the mounting frames 611 on two sides. One of the slide rails 62 is connected to one of the mounting frames 611, and the balance assembly 5 is provided with two sliding blocks 63, and one of the sliding blocks 63 is slidably connected to one of the slide rails 62. The first driving member 64 is disposed in the mounting cavity 612, and the first driving member 64 drives the printing robot 100 to move along the sliding rail 62.

Specifically, the bottom plate 61 is of a quadrangular plate structure, the bottom of the bottom plate 61 is connected with the moving assembly 7, two non-adjacent edges of the top of the bottom plate 61 are provided with mounting frames 611, and a groove, namely a mounting cavity 612, is formed between the mounting frames 611. The mounting frame 611 is provided with a sliding rail 62, and the sliding rail 62 extends along the length direction of the mounting frame 611. At least two sliding blocks 63 are arranged at the bottom of the balancing assembly 5, and one sliding block 63 is matched with one sliding rail 62, so that the balancing assembly 5 can move along the length direction of the mounting frame 611 or the sliding rail 62.

Further, a first driving member 64 is mounted in the mounting cavity 612 for driving the balance assembly 5 to slide.

Alternatively, the track assembly 6 may include a plurality of slide rails 62, the plurality of slide rails 62 being disposed in parallel.

Through this embodiment, setting up slide rail 62 slider 63 makes printing mechanical arm 100 can remove along slide rail 62, and many guide rails let the atress more balanced when printing mechanical arm 100 removes, and then let the removal more stable

Referring to fig. 1 to 7, the present invention proposes an embodiment, in which the first driving member 64 includes a rack and a driving motor 421. The rack is disposed in the mounting cavity 612 and extends in a longitudinal direction of the slide rail 62. The driving motor 421 is connected to the slider 63, and a gear is disposed at an output end of the driving motor 421, and the gear is meshed with the rack.

Through this embodiment, the rack and pinion driving balance assembly 5 is utilized to move, so that the driving motor 421 can precisely drive the printing mechanical arm 100 to move, and the rack and pinion has low cost and high durability. The positioning within the mounting cavity 612 also shields the base plate 61 and the counterbalance assembly 5 from the first drive member 64.

Referring to fig. 1 to 7, the present invention proposes an embodiment of the concrete printer, which includes a plurality of moving bases 200, wherein a connection master 65 is disposed at one end of each moving base 200, a connection sub-disc 66 is disposed at the other end of each moving base 200, and the connection master 65 of one moving base 200 is detachably connected to the connection sub-disc 66 of another moving base 200, so that the printing robot 100 is slidably connected to at least two rail assemblies 6.

Specifically, a connection master 65 and a connection sub-tray 66 are provided on two opposite sides of the bottom plate 61, and the connection master 65 and the connection sub-tray 66 are detachably connected. When the connection master 65 of one track assembly 6 is connected to the connection slave 66 of another track assembly 6, the four slide rails 62 on the two track assemblies 6 are combined together to form two slide rails 62. The balancing assembly 5 is slidable on two or more rail assemblies 6. It will be appreciated that a typical building has a planar wall structure, and that a plurality of moving bases 200 may be provided to connect together according to the length of the wall, so as to expand the range of motion of the printing robot 100 to meet the printing requirements of the wall.

Further, the lengths of the mobile bases 200 may be uniform or non-uniform, and a plurality of mobile bases 200 with different length specifications may be provided to accommodate a plurality of printing ranges. The long moving base 200 occupies a large volume and is inconvenient to transport, but the number of installation times can be reduced, and the occurrence probability of installation problems can be reduced. The short mobile base 200 occupies a small volume, is convenient to transport, but is installed for a large number of times.

By providing a plurality of connectable mobile bases 200 in this embodiment, the printing range can be enlarged or reduced as required to accommodate different buildings.

Referring to fig. 1 to 7, an embodiment of the present invention is provided, in which the mobile base 200 further includes a tilt sensor, a plurality of telescopic supports 67, and a controller. The tilt sensor is connected to the track assembly 6. The telescopic support members 67 are arranged at intervals in the track assembly, one end of each telescopic support member 67 is connected to the track assembly, and the other end of each telescopic support member is abutted to the ground and used for adjusting the distance between the track assembly 6 and the ground. The controller is electrically connected to the telescopic support 67 and the tilt sensor.

Specifically, an inclination sensor is provided in the installation cavity 612 of the base plate 61 and is horizontally provided on the base plate 61, and the inclination sensor can detect the degree of left and right inclination of the chassis 11. And the position of the tilt sensor is located in the axis direction of rotation of the connection master disk 65 or the connection sub disk 66, so that the tilt sensor can most accurately acquire the degree of tilt of the chassis 11. The bottom of the chassis 11 is provided with a plurality of telescopic supports 67, and the telescopic supports 67 can change the length and thus the distance between the bottom plate 61 and the ground. The tilt sensor sends a signal to the controller, and the controller adjusts the lengths of the telescopic supporting members 67 at different positions according to the signal so as to enable the bottom plates 61 to be in a horizontal state, and it can be understood that after the bottom plates 61 of the plurality of movable bases 200 are connected with the connecting sub-plates 66 through the connecting master plate 65, each bottom plate 61 is adjusted to be in a parallel state, and then the sliding rails 62 of the plurality of movable bases 200 can be correspondingly connected together.

Further, the telescopic support 67 is a hydraulic rod, the liquid injection structure of the hydraulic rod is arranged in the mounting cavity 612, and the hydraulic rod can bear a larger load.

Through this embodiment, when the ground where the concrete printer is located is uneven, the posture of the mobile base 200 can be adjusted by combining the inclination sensor with the telescopic support 67, so that the sliding rails 62 of the mobile bases 200 are abutted, and the printing mechanical arm 100 can be slidably connected to the mobile bases 200.

Referring to fig. 1 to 7, an embodiment is provided, two sides of the bottom plate 61 are a first surface and a second surface, two telescopic supporting members 67 are disposed on a side adjacent to the first surface, one telescopic supporting member 67 is disposed on a side adjacent to the second surface, and three telescopic supporting members 67 are in an isosceles triangle shape.

Specifically, the first face mounts one of the connection master 65 or the connection sub-disk 66, and the second face mounts the other of the connection master 65 or the connection sub-disk 66. A telescopic support 67 is provided at the bottom of the base plate 61 adjacent to the first face and vertically below the connection master 65 or the connection sub-tray 66. Two telescopic supporting pieces 67 are arranged at the position of the bottom plate 61 adjacent to the second surface and are positioned at equal distances on two sides of the connecting master disk 65 or the connecting sub disk 66, so that the three telescopic supporting pieces 67 are distributed in an isosceles triangle.

By using one telescopic support 67 of the first surface as a fulcrum, the two telescopic supports 67 of the second surface can change the length to rotate the bottom plate 61 around a horizontal axis, so that the sliding rails 62 of the plurality of moving bases 200 are abutted.

Referring to fig. 1 to 7, an embodiment of the present invention is provided, and the balance assembly 5 includes a pan-tilt structure 51 and a plurality of buffer structures 52. The cradle head structure 51 comprises a mounting plate 511 and a supporting plate 512, the mounting plate 511 is connected to the track assembly 6, the supporting plate 512 is movably connected to the mounting plate 511, and the printing mechanical arm 100 is connected to the supporting plate 512. A plurality of the buffer structures 52 are disposed around the pan-tilt structure 51, and are connected between the track assembly 6 and the support plate 512.

Specifically, the mounting plate 511 and the support plate 512 of the pan-tilt mechanism are movably connected, so that the support plate 512 has the capability of multi-degree-of-freedom motion. Three cushioning structures 52 are provided between the support plate 512 and the mounting plate 511. And which secondary structure is spaced around the pan-tilt mechanism so that the support plate 512 can obtain the support effect of the two cushioning structures 52 no matter in which direction it is tilted.

Further, the buffer structure 52 may be a cylinder buffer or a spring buffer.

Through the present embodiment, the pan-tilt structure 51 can enable the support plate 512 to always maintain a horizontal position according to control, and can maintain the posture of the printing robot 100 when the printing robot 100 slides and encounters jolts or other vibrations.

In connection with fig. 1 to 7, an embodiment of the present invention is proposed, in which the moving assembly 7 comprises a second driving member 71, a moving foot 72 and a suspension member 73. The second driving member 71 is connected to the bottom of the track assembly 6. The moving foot 72 is connected to the output of the second drive member 71. The suspension 73 is arranged between the moving foot 72 and the track assembly 6.

Specifically, the motion foot 72 includes two pairs of wheels, and the output end of the second driving member 71 is connected to the wheels to drive the wheels to rotate or stop. A suspension 73 is provided between the wheels and the base plate 61, the suspension 73 providing a shock absorbing and cushioning effect for the mobile base 200. Alternatively, the motion foot 72 may be a track assembly.

With this embodiment, before the print job is performed, the second driving member 71 drives the moving foot 72 to move the rail assembly 6, the balance assembly 5 and the printing robot 100 together to a place where printing is required, and then the second driving member drives the moving foot 72 to stop moving. The telescopic support 67 adjusts the posture of the moving base 200 and mounts the moving assembly 7 to fix the position of the moving assembly 7.

Referring to fig. 1 to 7, an embodiment of the present invention is provided, a printing mechanical arm 100 includes a lifting mechanism 1, a rotating mechanism 2, a horizontal telescopic mechanism 3 and a manipulator 4, wherein one end of the lifting mechanism 1 is disposed on the ground, the rotating mechanism 2 is disposed at one end of the lifting mechanism 1 away from the ground, one end of the horizontal telescopic mechanism 3 is disposed at the rotating mechanism 2, the manipulator 4 is disposed at one end of the horizontal telescopic mechanism 3 away from the rotating mechanism 2, and the manipulator 4 is provided with a printing nozzle 43.

Specifically, the lifting mechanism 1 is a multi-stage lifting mechanism 1, is arranged on the side edge of a concrete building to be printed, the top end of the lifting mechanism 1 is provided with a rotating mechanism 2, the rotating mechanism 2 is provided with a horizontal telescopic mechanism 3, and the rotating mechanism 2 drives the horizontal telescopic mechanism 3 to rotate. The horizontal telescopic mechanism 3 is a multi-stage telescopic mechanism, the tail end of the horizontal telescopic mechanism 3 is provided with a manipulator 4, and the manipulator 4 drives the printing spray head 43 to move.

Further, the use of the multi-stage lifting mechanism 1 for the lifting mechanism 1 can enable the concrete printer to be folded up to reduce the occupied space when not allowed. When the horizontal telescopic mechanism 3 uses the multistage telescopic mechanism, the occupied space of the horizontal telescopic mechanism 3 can be reduced as much as possible when a plurality of concrete printers run, and the probability of collision between the horizontal telescopic mechanism 3 and other concrete printers during rotation is reduced.

Through this embodiment, a concrete printer of polar coordinate system, wherein elevating system 1 is responsible for driving the printer head and moves in vertical direction, and horizontal telescopic machanism 3 passes through rotary mechanism 2 rotation and connects in elevating system 1, can drive the printer head and move on the horizontal plane. And the printing range of the concrete printer is a cylinder, so that the concrete printer can better perform concrete printing of plane structures such as walls and the like compared with a joint robot arm in a spherical range, and the maneuverability of the concrete printer is fully utilized. And, when multiple concrete printers are required to run simultaneously, the concrete printers in the polar coordinate system have printing ranges which make them more suitable for densely packing, because there is less interference between the printing ranges of the two cylinder shapes, and the motion track of the printing heads in the polar coordinate system is easier to design, thereby avoiding the risk of collision.

In connection with fig. 1 to 7, the present invention proposes an embodiment, in which the lifting mechanism 1 is a multi-stage lifting mechanism 1, wherein the multi-stage lifting mechanism 1 comprises at least a chassis 11 and a plurality of vertical telescopic assemblies 12. The chassis 11 is provided with a centre. One end of each vertical telescopic component 12 is connected to the chassis 11, the other end of each vertical telescopic component 12 is connected to the rotating mechanism 2, and each vertical telescopic component 12 is arranged at intervals and surrounds the center of the chassis 11.

Specifically, the chassis 11 is a disc structure, a plurality of vertical telescopic components 12 are uniformly arranged at intervals around the circle center of the chassis 11, the vertical telescopic components 12 are multistage components, one end of each vertical telescopic component is connected to the chassis 11, and the other end of each vertical telescopic component is connected to the rotating mechanism 2. The plurality of vertical telescopic assemblies 12 are telescopic together to drive the rotating mechanism 2 and the horizontal telescopic mechanism 3 to move.

Further, the number of the three vertical telescopic assemblies 12 is three, the three vertical telescopic assemblies 12 are uniformly arranged at intervals around the center of the chassis 11, namely, the horizontal section of the lifting mechanism 1 formed by the three vertical telescopic assemblies 12 is triangular, and it can be understood that the three vertical telescopic assemblies 12 are uniformly arranged at intervals to form a stable multidirectional fixed bracket.

Alternatively, the greater the number of vertical retraction assemblies 12, the greater the load capacity, but the greater the cost and weight, a different number of vertical retraction assemblies 12 may be provided as desired.

By this embodiment, the plurality of vertical telescopic members 12 can improve more stable load capacity, preventing position deviation when the horizontal telescopic mechanism 3 rotates.

Referring to fig. 1 to 7, the present invention proposes an embodiment, in which the vertical telescopic assembly 12 includes a first telescopic rod 121 and a second telescopic rod 122. The first telescopic rod 121 is connected to the chassis 11, and the first telescopic rod 121 is provided with a sliding cavity. One end of the second telescopic rod 122 is slidably connected to the sliding cavity, and the other end is connected to the rotating mechanism 2.

Specifically, the vertical telescopic mechanism comprises at least two telescopic members, and a liquid pump is connected in a sliding cavity of the first telescopic member and can inject or draw out liquid such as water or oil. The second telescopic piece is connected in the sliding cavity in a sliding way, and the second telescopic piece and the first telescopic piece are enclosed to form a sealed sliding cavity, and the hydraulic pressure or the oil pressure is controlled by the liquid pump to drive the second telescopic piece to ascend or descend.

Further, one vertical telescopic assembly 12 may include a plurality of telescopic members, that is, a first telescopic rod 121, a second telescopic rod 122, a third telescopic rod, etc., and the plurality of telescopic rods are slidably connected to form a series connection, and a sealed sliding cavity is disposed between every two telescopic members, that is, the plurality of telescopic members are all driven by water pressure or oil pressure.

By driving the lifting mechanism 1 with water pressure or oil pressure in the present embodiment, the load capacity of the lifting mechanism 1 can be improved.

Referring to fig. 1 to 7, the vertical telescopic assembly 12 further includes a reinforcing rod 124, one end of the reinforcing rod 124 is connected to the first telescopic rod 121 of one vertical telescopic assembly 12, the other end is connected to the second telescopic rod 122 of the other vertical telescopic assembly 12, and the reinforcing rod 124 and the vertical telescopic assembly 12 are disposed at an angle. The concrete printer further comprises a tension spring 13, one end of the tension spring 13 is connected to the center of the chassis 11, and the other end of the tension spring is connected to the rotating mechanism 2.

Specifically, one end of each of the three first telescopic rods 121 is connected to the chassis 11, the other end of each of the three first telescopic rods 121 is further provided with a frame 123, so that the three first telescopic rods 121 are fixedly connected, one end of each of the three second telescopic rods 122 is slidably connected to a sliding cavity of each of the first telescopic rods 121, and the other end of each of the three second telescopic rods is also provided with a frame 123, so that the second telescopic rods 122 can be fixedly connected. The chassis 11 is provided with driving equipment such as a liquid pump or a motor and the like, and can also play a role of a counterweight 33, the chassis 11 is provided with a tension spring 13, one end of the tension spring is connected to the rotating mechanism 2, the other end of the tension spring is connected to the chassis 11 or the driving equipment, and the tension spring 13 is in a stretching state and provides acting force for the rotating mechanism 2 and the chassis 11 to approach each other.

Further, one end of the reinforcing rod 124 of the vertical telescopic assembly 12 is connected to the frame 123 of the first telescopic rod 121, the other end is connected to the frame 123 of the second telescopic rod 122, and the extending direction of the reinforcing rod 124 is inconsistent with that of the vertical telescopic assembly 12, that is, the two ends of the reinforcing rod 124 are respectively located on the two different vertical telescopic assemblies 12, so it can be understood that the reinforcing rod 124 can also be telescopic together with the vertical telescopic assemblies 12.

Through this embodiment, the reinforcing rod 124 makes the overall structure of a plurality of vertical telescopic mechanisms firmer, and the tension spring 13 makes the vertical telescopic assembly 12 more stable when moving.

Referring to fig. 1 to 7, the present invention proposes an embodiment in which the rotating mechanism 2 includes a stator 21 and a rotor 22. The stator 21 is connected to the lifting mechanism 1, and the stator 21 is provided with a rotatable first gear 211. The rotor 22 is rotatably connected to the stator 21, the rotor 22 is provided with a second gear 221, and the first gear 211 is meshed with the second gear 221.

Specifically, the stator 21 is connected to the vertical lifting assembly, motor driving assemblies 42 are disposed on two sides of the stator 21, the motor comprises a motor and first gears 211, the rotor 22 is rotatably connected to the stator 21, the rotor 22 is provided with a second gear 221, and the two first gears 211 are meshed on two sides of the second gear 221. The horizontal telescopic mechanism 3 is connected to the second gear 221, the two motors drive the two first gears 211 to rotate in opposite directions, so as to control the first gears 211 to rotate, and the first gears 211 drive the horizontal telescopic mechanism 3 to rotate.

Further, the rotor 22 or the stator 21 is provided with an avoidance hole, and a circuit or a pipeline can be arranged in the avoidance hole, so that the circuit or the pipeline can be arranged along the extending direction of the horizontal telescopic mechanism 3 and the lifting mechanism 1, and the circuit or the pipeline is prevented from being swayed.

Through this embodiment, adopt gear engagement's mode to drive horizontal telescopic machanism 3 rotation, realize the rotation stability of heavy load state.

Referring to fig. 1 to 7, an embodiment of the present invention is provided, where the horizontal telescopic mechanism 3 is a multi-stage horizontal telescopic mechanism 3, and the multi-stage horizontal telescopic mechanism 3 includes at least a first telescopic beam 31 and a second telescopic beam 32. The first telescopic beam 31 is connected to the rotating mechanism 2, and the first telescopic beam 31 is provided with a sliding groove. The second telescopic beam 32 is slidably connected to the sliding groove, and the manipulator 4 is connected to the second telescopic beam 32.

Specifically, the telescopic beam comprises two beam frames, each beam frame further comprises a horizontal beam 311 and a vertical beam 312, the vertical beam 312 is arranged in the middle of the horizontal beam 311, and a plurality of cable cranes 313 are arranged on two sides of the vertical beam 312 to strengthen the structural strength of the horizontal beam 311 and the vertical beam 312. The two horizontal beams 311 are arranged at intervals with a sliding groove formed therebetween, and the two horizontal beams 311 of the second telescopic beam 32 are slidably connected to the sliding groove between the two horizontal beams 311 of the first telescopic beam 31.

Further, one horizontal telescopic mechanism 3 may include a plurality of telescopic beams, that is, a first telescopic beam 31, a second telescopic beam 32, a third telescopic beam, and the like, which are slidably connected to form a series. The rotor 22 is connected to the bottom of the first telescopic beam 31 and the robot 4 is connected to the end of the last telescopic beam.

By means of the embodiment, the structure of the telescopic beam like a bridge can enable the telescopic beam to bear a large load when telescopic, reduce the volume when retracted, and avoid collision with other equipment as much as possible.

Referring to fig. 1 to 7, the horizontal telescopic mechanism 3 further includes a counterweight 33, the counterweight 33 is connected to the first telescopic beam 31, and the counterweight 33 and the manipulator 4 are located on two symmetrical sides of the lifting mechanism 1. The horizontal telescopic mechanism 3 further comprises a sliding block 34, the sliding block 34 is slidably connected to the first telescopic beam 31, the sliding block 34 is further connected to the second telescopic beam 32, the sliding block 34 drives the second telescopic beam 32 to drive the manipulator 4 to move, and the movement directions of the sliding block 34 and the manipulator 4 are opposite.

Specifically, the rotor 22 is connected in the middle of the bottom of the first telescopic beam 31, one end is slidably connected with the second telescopic beam 32, the other end facing away from the second telescopic beam 32 is provided with a counterweight 33, and the weight of the counterweight 33 makes the whole horizontal telescopic mechanism 3 keep balance on both sides of the rotating mechanism 2.

Further, the sliding blocks 34 are arranged on two sides of the first telescopic beam 31 through a transmission mechanism, and the transmission assembly can be a sliding block 63 sliding rail 62 assembly, a gear rack assembly or the like. The sliding direction of the sliding block 34 coincides with the sliding direction of the second telescopic beam 32. The two sides of the sliding block 34 are provided with inhaul cables, and the inhaul cables connect the first telescopic beam 31, the second telescopic beam 32, the third telescopic beam and other structures in series, so that when the transmission assembly pulls the sliding block 34, the sliding block 34 pulls the inhaul cables and pulls other telescopic beams except the first telescopic beam 31 to stretch together. The movement direction of the slide block 34 is opposite to the movement direction of the robot 4.

With the present embodiment, the weight 33 and the slider 34 can balance the center of gravity of the horizontal telescopic mechanism 3, when the robot 4 is away from the weight 33, the slider 34 is close to the weight 33 so that the center of gravity position of the horizontal telescopic mechanism 3 remains unchanged or less shifted, and when the robot 4 is close to the weight 33, the slider 34 is away from the weight 33 so that the center of gravity position of the horizontal telescopic mechanism 3 remains unchanged or less shifted, the center of gravity position of the horizontal telescopic mechanism 3 being above the rotating mechanism 2.

Referring to fig. 1 to 7, the present invention proposes an embodiment, in which the manipulator 4 includes a connecting rod 41 and a plurality of driving assemblies 42. The connecting rod 41 is connected to the horizontal telescopic mechanism 3 and is vertically arranged. The driving assemblies 42 are disposed around the connecting rod 41, and an output end of each driving assembly 42 is connected to the printing nozzle 43.

Specifically, the manipulator 4 is a parallel manipulator 4, and the manipulator 4 includes three driving assemblies 42, each driving assembly 42 is provided with a driving shaft, the driving shafts of the three driving assemblies 42 are output ends, the driving shafts of the three driving assemblies 42 are disposed around the connecting rod 41, the three driving shafts are spaced 120 degrees apart, and each driving shaft is connected to the printing nozzle 43 to form the parallel manipulator 4.

By the embodiment, the parallel manipulator 4 can finely adjust the specific position of the printing nozzle 43, so as to improve the printing precision of the printing mechanical arm 100.

Referring to fig. 1 to 7, the present invention proposes an embodiment, wherein the driving assembly 42 includes a driving motor 421 and a driving rod 422 assembly. The driving motor 421 is connected to the connecting rod 41, and the driving motor 421 is provided with the output end. The driving rod 422 assembly includes a primary connecting rod 4221 and a secondary connecting rod 4222, one end of the primary connecting rod 4221 is connected to the output end, one end of the secondary connecting rod 4222 is rotatably connected to one end of the primary connecting rod 4221 away from the output end, and the other end is rotatably connected to the printing nozzle 43.

Specifically, the primary link 4221 and the secondary link 4222 are disposed in a "7" configuration therebetween.

Through this embodiment, the three driving motors 421 move together to drive the printing nozzle 43 to move rapidly, and since the three driving motors 421 are directly connected with the printing nozzle 43, the error of the driving motor 421 due to its own structure is reduced.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A concrete printer, the concrete printer comprising:

The printing mechanical arm is provided with a printing spray head; and

2. The concrete printer of claim 1, wherein the rail assembly comprises:

3. The concrete printer of claim 1, wherein the concrete printer comprises a plurality of the mobile bases, wherein one end of each mobile base is provided with a connecting master disc, the other end of each mobile base is provided with a connecting sub disc, and the connecting master disc of one mobile base is detachably connected with the connecting sub disc of the other mobile base, so that the printing mechanical arm is in sliding connection with at least two rail assemblies.

4. A concrete printer according to claim 3, wherein the mobile base further comprises:

a tilt sensor coupled to the track assembly;

5. The concrete printer of claim 1, wherein the balancing assembly comprises:

6. The concrete printer of claim 1, wherein the moving assembly comprises:

a second drive member coupled to a bottom of the track assembly;

The motion foot is connected to the output end of the second driving piece; and

7. The concrete printer of claim 1, wherein the printing robot comprises:

the lifting mechanism is connected with the track assembly at one end;

8. The concrete printer of claim 7, wherein the lifting mechanism is a multi-stage lifting mechanism, wherein the multi-stage lifting mechanism comprises at least:

9. The concrete printer of claim 7, wherein the rotation mechanism comprises:

10. The concrete printer of claim 7, wherein the horizontal telescoping mechanism is a multi-stage horizontal telescoping mechanism, wherein the multi-stage horizontal telescoping mechanism comprises at least: