CN206048448U - Robot prints building formation system - Google Patents
Robot prints building formation system Download PDFInfo
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- CN206048448U CN206048448U CN201620073564.2U CN201620073564U CN206048448U CN 206048448 U CN206048448 U CN 206048448U CN 201620073564 U CN201620073564 U CN 201620073564U CN 206048448 U CN206048448 U CN 206048448U
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- mechanical arm
- printhead
- building
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- moving guide
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Abstract
This utility model discloses robot and prints building formation system, and the system is：Its three-dimensional CAD physical model is set up according to the building of pre-print, requires to obtain the machining informations such as the entity structure information of the building, material conveying, movement locus further according to Design and Features；The printhead of output moulding material is arranged on the mechanical arm with multiple degree of freedom, and mechanical arm is along certain path implementation forming moving and processing；Machining tool is arranged on the mechanical arm with multiple degree of freedom, in forming process, and the position to needing surfacing carries out the process such as milling, polishing, smooth;Two or more mechanical arms cooperate and realize the 3 D-printing of the building with certain complicated shape structure.This utility model causes the inside and outside surface quality of the BUILDINGS MODELS processed more preferably, and construction quality is higher, eliminates substantial amounts of post processing work, can realize quick, efficient, the high-quality printing shaping of building.
Description
Technical field
This utility model is related to robot and prints building formation system, belongs to 3D printing technique field.
Background technology
Present building trade be intended to standardized designs, factorial praluction, prefabricated construction, integration finishing and
The housing industrialization mode of production of the information system management for principal character, and formed in links such as design, production, construction, exploitations
Whole industrial chain, realizes that the industrialization of overall process, intensive and socialization are built in house.Building is printed (also referred to as builds three-dimensional to beat
Print, building 3D printing etc.) be one of developing direction of future architecture industry, it be using three-dimensional printing technology make building this
One kind of class large-sized object (also including sculpture for city, Landscape Architecture, functional architecture, family's living furniture, artificial hillock etc.) is with 3D digitizeds
The automatic forming method of model-driven.It is integrated with the new techniques such as 3 D-printing, cultural creative, environment-friendly building materials and new concept is
Integrally, represent the novel building pattern of quick, efficient, automatization, mechanization, environmental protection, largely realize saving,
Green, low labor intensity, the modern mode of production of civilized construction are traditional architectural technology, the opportunity of traditional architecture pattern and are chosen
War.
Building is printed and is not only a kind of brand-new construction method, even more a kind of to overturn traditional Industrial Revolution and thinking mould
Formula, artistry which is created, feature, ecological building be more sturdy and durable and low-loss and energy-saving, not only liberates manpower, moreover it is possible to big
It is big to reduce construction cost, produce the house that ordinary people must firmly can rise.
House or labyrinth can be directly built in building printing, can print bed rearrangement building at the scene, it is also possible to existing
A series of building blocks are printed outside to assemble at the scene again, while other methods are reinforced.Building 3 D-printing is more common at present
Build in the complex component rather than bed rearrangement of construction of buildings.
Current building prints general using similar to fused deposition modeling technique (FDM), using extruders such as screw pumps
The construction materials such as structure delivering concrete, Gypsum Fibrosum and the molding that is layering；The equipment for performing the 3D printing building of the technique is mainly adopted
With gantry frame structure, X-direction walking is completed by a portal frame, crossbeam realizes that Y-direction is moved, and printhead is installed on the vertical of crossbeam
Realize on post that Z-direction is moved, from printhead X Y Z-direction motion with the extrusion action of construction material realize building
Print layer by layer and pile up, so as to produce different building structure.The shaping speed of this forming method is slow, formed precision is low,
And exist due to more coarse etc. shortcomings of the big and caused surfaces externally and internally of the slower material flowability of material solidification speed, so as to
So that the building for printing is in the aspect Shortcomings such as practicality and quality.
That Catalonia advanced Building Research Establishment (IAAC) research team of Barcelona sieve is by using three mobile machines
People carries out the 3D printing of BUILDINGS MODELS, and these three small machines people performs different functions in print procedure respectively, in overall fortune
Coordinate in work mutually, but the respective function of complete independently；But its material object for printing is BUILDINGS MODELS, and non-functional building.
The utility model proposes building can be realized by the way of roboticses and three-dimensional printing technology combine
High quality and high efficiency printing shaping.
Utility model content
The purpose of this utility model is the technological deficiency for overcoming prior art to exist, there is provided a kind of to adopt robot skill
The technique that art and three-dimensional printing technology combine makes the formation system of building.
This utility model is realized with following technological means：
1) set up model：For the building of pre- 3 D-printing, according to key elements such as the functions and design requirement of the building,
Using 3 d modeling software or digital scanning technology and data processing technique, its three-dimensional CAD physical model is set up；
2) model slice layered shaping：Discretization slicing delamination process, slice thickness are carried out to the CAD physical models afterwards
Depending on the key elements such as formed precision, shaping efficiency according to building, so as to obtain a series of sections, then obtained by data processing
The machining informations such as per layer of entity structure information, material distributed intelligence, movement locus；
3) slice information conversion：The structural information of each two dimension slicing is changed into into the processing rail of corresponding robot motion
Mark so that the moulding material information in each two dimension slicing is corresponding with the shower nozzle of corresponding shaping material, with control shower nozzle open with
Close；The motion of the machining tool with the function such as milling, polishing, smooth and control information, with above-mentioned processing of robots track and
Moulding material information etc. merges and forms unified processed file, for realizing the accurate accumulation of each section；
4) print layer by layer and pile up：The printhead of output moulding material is arranged on the mechanical arm with multiple degree of freedom, machine
Tool arm is along certain path implementation forming moving and processing；Machining tool is arranged on the mechanical arm with multiple degree of freedom,
In forming process, the position to needing surfacing carries out the process such as milling, polishing, smooth；Two or more mechanical arm phases
Mutually coordinate the 3 D-printing for realizing the building with certain complicated shape structure.
For described robot prints the forming method and movement locus of building, its method is：According to pre-print
The three-dimensional CAD physical model of Building Design, carries out slicing delamination afterwards to which, obtain per layer structural information, material conveying,
The machining informations such as the plane motion track of mechanical arm, computer controls printhead do what is set according to each layer of structural information
Motion is printed, and concrete or Gypsum Fibrosum or other building moulding materials is selectively extruded according to machining information；Or according to
The three-dimensional CAD physical model of the Building Design of pre-print, obtains structural information, material conveying and the mechanical arm of the building
The machining informations such as space motion path, computer controls machinery arm and printhead do the space motion for setting, and according to processing letter
Breath selectively extrudes concrete or Gypsum Fibrosum or other building moulding materials.
The technical solution of the utility model is as follows：
Include：Data handling system, material conveying device also include：Machining tool 4, printhead mechanical arm 2 are printed
3, suspend cable 8 in midair, mobile slide block 9, outer column 11, the first moving guide rail 1, the second moving guide rail 6, the 3rd moving guide rail 10,
Second mechanical arm 5, the printhead 3 are arranged on 2 leading portion of mechanical arm, and material conveying device is arranged on 2 rear end of mechanical arm, mechanical arm
2 are arranged on the first moving guide rail 1, and machining tool mechanical arm 5 is arranged on the second moving guide rail 6, installs all kinds of on mechanical arm 5
Machining tool 4；It is another kind of then be that the 3rd moving guide rail 10 is installed on outer column 11, suspention cable 8 is installed on the 3rd and leads
On mobile slide block 9 on rail 10, printhead 3 is installed on suspention cable 8.
The printhead 3 of output moulding material is one or more, printhead 3 is had installed in one or more multiple
2 leading portion of printhead mechanical arm of degree of freedom；2 rear end of printhead mechanical arm is arranged on the material conveying device that printhead 3 coordinates,
Printhead mechanical arm 2 is arranged on gantry type frame by rack pinion, or ball leading screw driving, or worm and gear
The modes such as transmission are moving, it is also possible to carry crawler belt movement, or move on the space orbit of laying.
Machining tool 4 be milling cutter, scraper or other have the instrument of the effect such as milling, polishing, smooth, can be a list
One instrument or combined tool, or multiple instruments with difference in functionality；Machining tool 4 is installed along with printhead 3
On machining tool mechanical arm 2.
Beneficial effect
This utility model method combines three-dimensional printing technology using roboticses, realizes the quick, efficient, high of building
The printing shaping of quality.This utility model is particularly suited for the printing shaping of the building of labyrinth, in landscape sculpture, small-sized
Such building forming field such as building, artificial hillock has a wide range of applications.
Description of the drawings
Shown in Fig. 1 is that robot prints building formation system schematic diagram；
Shown in Fig. 2 is the robot printing shaping system schematic for suspending printhead using outer column in midair.
Wherein：1 is the first moving guide rail, and 2 is printhead mechanical arm, and 3 is printhead, and 4 is machining tool, and 5 are processing work
Tool mechanical arm, 6 is the second moving guide rail, and 7 is the building for printing, and 8 are suspention cable, and 9 are movement slide block, and 10 is the 3rd movement
Guide rail, 11 is outer column.
Specific embodiment
With reference to the accompanying drawings and examples utility model is originally further described.
Embodiment 1：
To illustrate as a example by 1, using two mechanical arms：Printhead 3 is installed, another processing work on printhead mechanical arm 2
Machining tool 4 is installed on tool mechanical arm 5, mechanical arm 2 moves linearly along guide rail 10, mechanical arm 5 is moved along 6 straight line of guide rail
It is dynamic；Under control of the computer, printhead 3 simultaneously extrude under the driving of mechanical arm 2 construction materials such as appropriate concrete by
Gradually pile up building 7；At the same time, machining tool 4 under the driving of mechanical arm 5 carry out polishing on the surface of building 7, light
The work such as suitable, smooth, so that building 7 has higher surface quality and Forming Quality；Two mechanical arms are in computer
Under control, until completing the printing shaping of building.
In printing shaping process, the structure of mechanical arm 2 and mechanical arm 5 and motion flexibly can be selected as the case may be
Select, crawler-type mobile, wheel type mobile, pinion and-rack movement, Worm-gear type movement or other move modes can be selected；Figure
Although in 1 by taking line slideway as an example, actually in running, it is also possible to which line slideway is replaced by curvilinear guide, gantry
Formula guide rail etc. can realize the mode of mechanical arm accurate movement.
Embodiment 2：
When printhead and its heavier material conveying device, very big load can be caused to make its operation receive shadow greatly to mechanical arm
Ring.For such situation, it is the operation load for mitigating mechanical arm, it is of the invention to adopt outer column to suspend printhead mode in midair to improve machine
The Operating ettectiveness of tool arm.As shown in Figure 2.
Printhead is dragged by the suspention cable 8 on slide block 9, and the guide rail 10 along column 11 is moved.This kind of method
Suitable for concrete printhead, Gypsum Fibrosum printhead, or other cause as printhead and its material conveying device load big
The difficult occasion of mechanical arm operation.
In this instance, it is also possible to replace outer column 11 and guide rail 10, the mechanical arm mainly to undertake mitigation with another mechanical arm
The loading commissions of printhead mechanical arm, printhead mechanical arm mainly undertake printing shaping task, and both complete building at cooperation
Print procedure.
As a example by the above is only using a printhead mechanical arm and a machining tool mechanical arm, this utility model is illustrated
Implementation process.If using two and the printhead mechanical arm of the above, and/or the machining tool mechanical arm of two and the above,
And/or during other printhead sus-pensions making buildings, implementation process is similar with above-mentioned implementation, can do appropriate change.
Claims (7)
1. robot prints building formation system, including：Data handling system, material conveying device, it is characterised in that also wrap
Include：Machining tool (4), printhead mechanical arm (2), printhead (3), suspention cable (8), mobile slide block (9), outer column
(11), the first moving guide rail (1), the second moving guide rail (6), the 3rd moving guide rail (10)；Printhead (3) installs printhead machinery
Arm (2) leading portion, material conveying device are arranged on printhead mechanical arm (2) rear end, and printhead mechanical arm (2) is installed in the first movement
On guide rail (1), machining tool mechanical arm (5) installs each on the second moving guide rail (6), on machining tool mechanical arm (5)
Class machining tool (4)；
2. formation system according to claim 1, it is characterised in that the 3rd moving guide rail (10) can also be installed on outer
On column (11), suspention cable (8) is installed on the mobile slide block (9) on the 3rd moving guide rail (10), printhead (3) is installed
In suspention cable (8).
3. formation system according to claim 1 and 2, it is characterised in that the printhead (3) of output moulding material is
Or it is multiple.
4. formation system according to claim 1 and 2, it is characterised in that printhead mechanical arm (2) is installed in planer-type frame
By rack pinion on frame, or ball leading screw driving, or the mode such as Worm Wheel System is moving, it is also possible to carry
Crawler belt is moved, or is moved on the space orbit of laying.
5. formation system according to claim 1 and 2, it is characterised in that machining tool (4) is milling cutter, scraper or other
There is the instrument of the effect such as milling, polishing, smooth, can be single instrument or combined tool, or it is multiple with different work(
The instrument of energy.
6. formation system according to claim 1, it is characterised in that printhead mechanical arm (2) and machining tool mechanical arm
(5) can be one or more.
7. formation system according to claim 1, it is characterised in that first moving guide rail (1), the second moving guide rail
(6), the 3rd moving guide rail (10) can be line slideway or be curvilinear guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620073564.2U CN206048448U (en) | 2016-01-26 | 2016-01-26 | Robot prints building formation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620073564.2U CN206048448U (en) | 2016-01-26 | 2016-01-26 | Robot prints building formation system |
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| Publication Number | Publication Date |
|---|---|
| CN206048448U true CN206048448U (en) | 2017-03-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201620073564.2U Active CN206048448U (en) | 2016-01-26 | 2016-01-26 | Robot prints building formation system |
Country Status (1)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443735A (en) * | 2017-07-25 | 2017-12-08 | 中国建筑股份有限公司 | A kind of vehicular builds 3D printing equipment |
| CN111216215A (en) * | 2020-01-16 | 2020-06-02 | 华创智造(天津)科技有限公司 | Concrete 3D printing robot |
| CN113677492A (en) * | 2019-03-27 | 2021-11-19 | 普茨迈斯特工程有限公司 | Method for producing a building element, system for producing a building element and a building element |
| CN114535498A (en) * | 2022-03-03 | 2022-05-27 | 南京航空航天大学 | Composite manufacturing method for increasing and decreasing materials of frozen sand mold |
-
2016
- 2016-01-26 CN CN201620073564.2U patent/CN206048448U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443735A (en) * | 2017-07-25 | 2017-12-08 | 中国建筑股份有限公司 | A kind of vehicular builds 3D printing equipment |
| CN107443735B (en) * | 2017-07-25 | 2023-05-12 | 中国建筑股份有限公司 | Vehicle-mounted building 3D printing equipment |
| CN113677492A (en) * | 2019-03-27 | 2021-11-19 | 普茨迈斯特工程有限公司 | Method for producing a building element, system for producing a building element and a building element |
| CN111216215A (en) * | 2020-01-16 | 2020-06-02 | 华创智造(天津)科技有限公司 | Concrete 3D printing robot |
| CN114535498A (en) * | 2022-03-03 | 2022-05-27 | 南京航空航天大学 | Composite manufacturing method for increasing and decreasing materials of frozen sand mold |
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