CN213062969U - Building 3D printing equipment - Google Patents
Building 3D printing equipment Download PDFInfo
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- CN213062969U CN213062969U CN202021743950.0U CN202021743950U CN213062969U CN 213062969 U CN213062969 U CN 213062969U CN 202021743950 U CN202021743950 U CN 202021743950U CN 213062969 U CN213062969 U CN 213062969U
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Abstract
The application discloses building 3D printing apparatus. Building 3D printing apparatus includes running gear, supporting platform, industrial robot, lifing arm and prints the shower nozzle. Running gear is located to supporting platform, and supporting platform is located to industrial robot, and industrial robot's execution end is located to the lifing arm, prints the execution end that the lifing arm was located to the shower nozzle in order to go up and down along with the lifing arm. Building 3D printing apparatus, it can remove by oneself, and it is big to print the scope.
Description
Technical Field
The application relates to the technical field of 3D printing, in particular to building 3D printing equipment.
Background
Building 3D printing develops rapidly in recent years because of the advantages of environment-friendly construction process, high efficiency, energy conservation, high automation degree and the like. The building 3D printing technology can solve some serious problems in the building industry, such as high accident rate of a building site, low working quality, difficult management of a construction site, low labor efficiency and shortage of skilled labor.
The existing 3D printing equipment for buildings can be roughly divided into two directions, wherein one is a truss type printer and is also commonly used equipment in the market; secondly, the mechanical arm printer based on industrial robot, but has following shortcoming:
truss printer: the truss needs to be erected before operation, the larger the printed component is, the larger the truss needs to be erected, the workload for erecting the truss is huge, and higher requirements such as levelness and verticality are required for erecting quality.
Mechanical arm printer: currently, there are two application modes of the device: one is to fix the robot at one position, because the arm length of the industrial robot is limited, the arm length with the largest range is only about 4 meters, although the workload of setting up a truss can be saved, the printing range is limited, and larger buildings or components cannot be printed; another is to add ground rails, i.e. the robot is mounted on the rail and can move along the rail, but this method also only has limited range of increasing the printing, and the flatness of the ground surface for laying the rail and the levelness for laying the ground rails are all strict requirements.
SUMMERY OF THE UTILITY MODEL
The application provides a building 3D printing apparatus, it can remove by oneself, and it is big to print the scope.
In a first aspect, the embodiment of the utility model provides a building 3D printing apparatus, include:
a traveling mechanism;
the supporting platform is arranged on the travelling mechanism;
the industrial robot is arranged on the supporting platform;
the lifting arm is arranged at an execution end of the industrial robot; and
and the printing spray head is arranged at the execution end of the lifting arm and is lifted along with the lifting arm.
In the scheme, the building 3D printing equipment moves to the target position through the traveling mechanism when working. The industrial robot performs adaptive actions under the action of a machine language which can be recognized by the industrial robot which is woven in advance, and the printing is completed in cooperation with the lifting of the lifting arm and the working of the printing nozzle. Because building 3D printing apparatus can remove by oneself, so building 3D printing apparatus can remove to the on-the-spot optional position of building and print, prints shower nozzle cooperation industrial robot and lifing arm, accomplishes and prints.
In an alternative embodiment, the running gear comprises a track chassis comprising:
a chassis body;
the crawler traveling mechanisms are arranged on two sides of the chassis body;
the lithium battery is arranged on the chassis body to supply electric energy to the crawler travelling mechanism; and
the position sensor is arranged on the chassis body and used for moving and positioning the crawler chassis;
the supporting platform is fixed on the chassis body.
In an alternative embodiment, the support platform is bolted to the chassis body.
In an optional embodiment, the supporting platform is provided with four horizontal adjusting portions, and the four horizontal adjusting portions are respectively arranged on the periphery of the supporting platform and used for adjusting the levelness of the supporting platform.
In an alternative embodiment, the leveling section includes a telescoping arm and a hydraulic leg;
one end of the telescopic arm is fixed on the side surface of the supporting platform, and the hydraulic support leg is arranged at the other end of the telescopic arm;
the telescopic arm stretches out and draws back along the horizontal direction, and the hydraulic support leg stretches out and draws back along the vertical direction.
In an alternative embodiment, the support platform is provided with an inclinometer.
In an alternative embodiment, the lifting arm comprises:
the multi-section lifting units are sequentially connected;
the lifting driving mechanism is used for driving the multi-section lifting unit to stretch and retract so as to realize lifting;
the nozzle mounting part is arranged on the lifting unit at the tail end and is used for connecting the printing nozzle; and
the pipe connecting flange is arranged on the lifting unit at the head end and is used for being connected with a wrist flange of the industrial robot.
In an alternative embodiment, the print head comprises:
a storage bin;
the fixed plate is arranged on the storage bin and is connected with the spray head mounting part;
a nozzle; and
a rotation driving section;
the nozzle is rotationally connected with the storage bin, and the rotation driving part drives the nozzle to rotate.
In an optional embodiment, the printing nozzle further comprises a feeding driving part and a spiral feeding structure;
the feed bin is located to unloading drive division, and the inside of feed bin is located to spiral blanking structure, and unloading drive division drive spiral blanking structure rotates.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a perspective view of a building 3D printing apparatus in the present embodiment;
FIG. 2 is a perspective view of the traveling mechanism in the present embodiment;
FIG. 3 is a perspective view of the support platform of the present embodiment;
fig. 4 is a perspective view of an industrial robot in this embodiment;
FIG. 5 is a perspective view of the lift arm of the present embodiment;
fig. 6 is a perspective view of the print head in this embodiment.
Icon: 10-building a 3D printing device; 11-a running gear; 12-a support platform; 13-an industrial robot; 14-a lifting arm; 15-printing the spray head;
110-a crawler chassis; 111-a chassis body; 112-crawler running gear; 113-a lithium battery; 114-a position sensor;
120-level adjustment; 121-telescopic arm; 122-hydraulic legs; 123-inclinometer;
130-a base; 131-wrist flange;
140-a lifting drive mechanism; 141-a head mounting portion; 142-a pipe flange; 143-a lifting unit; 144-a servo motor;
150-a silo; 151-fixing plate; 152-a nozzle; 153-a rotation drive; 154-a blanking driving part; 155-spiral blanking structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a building 3D printing device 10, and the building 3D printing device 10 can move by itself and has a large printing range.
Referring to fig. 1, fig. 1 is a perspective view of a 3D printing apparatus 10 for a building according to the present embodiment.
The architectural 3D printing apparatus 10 includes a traveling mechanism 11, a support platform 12, an industrial robot 13, a lifting arm 14, and a printing head 15.
The support platform 12 is provided on the traveling mechanism 11. An industrial robot 13 is provided on the support platform 12. The lift arm 14 is provided at an execution end of the industrial robot 13. The print head 15 is provided at an execution end of the lift arm 14 to be lifted up and down with the lift arm 14.
In the above scheme, the 3D printing apparatus 10 moves to the target position through the traveling mechanism 11 during operation. The industrial robot 13 performs appropriate actions in accordance with the elevation of the elevating arm 14 and the operation of the printing head 15 by the action of the machine language recognizable by the industrial robot 13 which is woven in advance, thereby completing printing. Since the building 3D printing device 10 can move by itself, the building 3D printing device 10 can move to any position of a building site for printing, and the printing nozzle 15 cooperates with the industrial robot 13 and the lifting arm 14 to complete printing.
Referring to fig. 2, fig. 2 is a perspective view of the traveling mechanism 11.
In the present disclosure, the running gear 11 includes a crawler chassis 110, and the crawler chassis 110 includes a chassis body 111, a crawler 112, a lithium battery 113, and a position sensor 114.
The two crawler traveling mechanisms 112 are respectively arranged on two sides of the chassis body 111, and the two crawler traveling mechanisms 112 are driven by respective motors, so that the crawler chassis 110 is ensured to have better cross-country capability and climbing capability, and is suitable for various severe construction environments.
The lithium battery 113 is provided in the chassis body 111 and supplies electric power to the crawler travel mechanism 112.
The position sensor 114 is arranged on the chassis body 111 and used for moving and positioning the crawler chassis 110, in the disclosure, the position sensor 114 is arranged on the front side of the chassis body 111 and connected with a control module of the building 3D printing device 10, the positioning precision is 3-5mm, and the building 3D printing device 10 can be accurately moved to a target position through the mutual matching of the position sensor 114 and the crawler travelling mechanism 112.
For ease of assembly, in the present disclosure, the support platform 12 is bolted to the chassis body 111.
Referring to fig. 3, fig. 3 is a perspective view of the supporting platform 12 in the present embodiment.
Because the construction environment is abominable, the ground of being under construction is uneven, and in order to guarantee printing quality, supporting platform 12 disposes four level (l) ing portion 120, and four l o 'clock (l) ing portion 120 locate supporting platform 12 respectively all around for adjust supporting platform 12's levelness.
When the 3D printing apparatus 10 is moved to the target position, the leveling unit 120 starts to operate to level the support platform 12.
In the present disclosure, the leveling part 120 includes a telescopic arm 121 and a hydraulic leg 122.
One end of the telescopic arm 121 is fixed to the side of the support platform 12, and the hydraulic leg 122 is provided at the other end of the telescopic arm 121.
The telescopic arm 121 is horizontally telescopic, and the hydraulic leg 122 is vertically telescopic.
Building 3D printing apparatus 10 is when removing by oneself, and flexible arm 121 contracts, guarantees that building 3D printing apparatus 10 has less width, effectively improves building 3D printing apparatus 10's the ability of crossing obstacles, does benefit to building 3D printing apparatus 10 and passes narrow space. When the levelness of the supporting platform 12 needs to be adjusted, the telescopic arm 121 is unfolded, the hydraulic support leg 122 is supported on the ground, and the levelness can be adjusted by adjusting the length of the hydraulic support leg 122.
In the present disclosure, the support platform 12 is configured with an inclinometer 123, and the inclinometer 123 can detect the levelness of the support platform 12 and feed back the levelness data obtained by detection to the control module of the building 3D printing apparatus 10 to control the telescopic length of the hydraulic leg 122.
Referring to fig. 4, fig. 4 is a perspective view of the industrial robot 13 in the present embodiment.
In the present disclosure, the industrial robot 13 is a multi-axis manipulator, and can perform various motions such as rotation and swing.
The industrial robot 13 is disposed at the center of the supporting platform 12, and the base 130 of the industrial robot 13 is connected to the supporting platform 12 by bolts.
The industrial robot 13 is located at the center of the supporting platform 12, so that the industrial robot 13 can work stably, and the building 3D printing equipment 10 is prevented from overturning. The industrial robot 13 has the characteristics of easy operation and high precision. In the present disclosure, the industrial robot 13 has an arm length of 3 meters, and since the 3D printing apparatus 10 for construction can move by itself, a large arm length is not required.
Referring to fig. 5, fig. 5 is a perspective view of the lifting arm 14 in the present embodiment.
The lift arm 14 includes a lift driving mechanism 140, a head mounting portion 141, a pipe connecting flange 142, and a multi-stage lift unit 143.
The multi-section lifting units 143 are connected in sequence, and the lifting driving mechanism 140 is used for driving the multi-section lifting units 143 to extend and contract to realize lifting. The head mounting portion 141 is provided at a distal end (uppermost end) of the lifting unit 143 to connect the printing head 15. The pipe flange 142 is provided at the head end (lowermost end) of the lifting unit 143, and is connected to the wrist flange 131 of the industrial robot 13.
In the present disclosure, the lifting driving mechanism 140 includes a servo motor 144, and the servo motor 144 is connected with a control module of the architectural 3D printing apparatus 10 to precisely adjust the lifting height of the lifting arm 14.
In the present disclosure, the lifting arm 14 includes five sections of lifting units 143, and when in use, the lifting arm 14 is used vertically. The fully retracted length of the lifting arm 14 is 1.5 meters and the fully extended length is 5 meters. The material of the lifting unit 143 is aluminum alloy, which ensures that the lifting arm 14 is light in weight and reduces the work load of the industrial robot 13.
Referring to fig. 6, fig. 6 is a perspective view of the print head 15 in the present embodiment.
The print head 15 includes a magazine 150, a fixing plate 151 provided to the magazine 150, nozzles 152, and a rotation driving portion 153.
The fixing plate 151 is coupled to the head mounting portion 141 by a bolt, the nozzle 152 is rotatably coupled to the hopper 150, and the rotation driving portion 153 drives the nozzle 152 to rotate.
In the present disclosure, the rotation driving unit 153 is a driving structure in which a motor is coupled to a gear, and can precisely control the rotation angle of the nozzle 152.
When printing, print shower nozzle 15 and move under industrial robot 13 and lift arm 14's effect to print out the component of design, rotate drive division 153 and can drive nozzle 152 and rotate, so that when printing, the work gesture of nozzle 152 keeps unanimous with the walking direction who prints shower nozzle 15, increases and prints off-the-shelf cohesion, strengthens off-the-shelf wholeness, material saving simultaneously.
In the present disclosure, the print head 15 further includes a feeding driving portion 154 and a spiral feeding structure 155.
The discharging driving part 154 is provided in the hopper 150, the spiral discharging structure 155 is provided in the hopper 150, and the discharging driving part 154 drives the spiral discharging structure 155 to rotate.
The material extruding structure of the print head 15 is extruded by the spiral discharging structure 155, so that the printing material is extruded from the bin 150 into the nozzle 152, thereby stacking the 3D printed product.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A building 3D printing device, comprising:
a traveling mechanism;
the supporting platform is arranged on the travelling mechanism;
the industrial robot is arranged on the supporting platform;
the lifting arm is arranged at the execution end of the industrial robot; and
and the printing spray head is arranged at the execution end of the lifting arm so as to lift along with the lifting arm.
2. The architectural 3D printing apparatus of claim 1,
the running gear includes crawler chassis, crawler chassis includes:
a chassis body;
the crawler traveling mechanisms are arranged on two sides of the chassis body;
the lithium battery is arranged on the chassis body and used for supplying electric energy to the crawler travelling mechanism; and
the position sensor is arranged on the chassis body and used for moving and positioning the crawler chassis;
the supporting platform is fixed on the chassis body.
3. The architectural 3D printing apparatus of claim 2,
the supporting platform is connected to the chassis body through bolts.
4. The architectural 3D printing apparatus of claim 1,
the supporting platform is provided with four horizontal adjusting parts, and the four horizontal adjusting parts are respectively arranged on the periphery of the supporting platform and used for adjusting the levelness of the supporting platform.
5. The architectural 3D printing apparatus of claim 4,
the horizontal adjusting part comprises a telescopic arm and a hydraulic supporting leg;
one end of the telescopic arm is fixed on the side surface of the supporting platform, and the hydraulic support leg is arranged at the other end of the telescopic arm;
the telescopic arm stretches out and draws back along the horizontal direction, and the hydraulic support leg stretches out and draws back along the vertical direction.
6. The architectural 3D printing apparatus of claim 4,
the support platform is configured with an inclinometer.
7. The architectural 3D printing apparatus of claim 1,
the lifting arm includes:
the lifting units are connected in sequence;
the lifting driving mechanism is used for driving the lifting units to stretch and retract so as to realize lifting;
the nozzle mounting part is arranged at the tail end of the lifting unit and is used for connecting the printing nozzle; and
and the pipe connecting flange is arranged at the head end of the lifting unit and is used for being connected with a wrist flange of the industrial robot.
8. The architectural 3D printing apparatus of claim 7,
the printing nozzle includes:
a storage bin;
the fixed plate is arranged on the storage bin and connected with the spray head mounting part;
a nozzle; and
a rotation driving section;
the nozzle can be rotationally connected with the storage bin, and the rotation driving part drives the nozzle to rotate.
9. The architectural 3D printing apparatus of claim 8,
the printing nozzle also comprises a discharging driving part and a spiral discharging structure;
the unloading drive division is located the feed bin, spiral blanking structure locates the inside of feed bin, the unloading drive division drive spiral blanking structure rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021743950.0U CN213062969U (en) | 2020-08-19 | 2020-08-19 | Building 3D printing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021743950.0U CN213062969U (en) | 2020-08-19 | 2020-08-19 | Building 3D printing equipment |
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| Publication Number | Publication Date |
|---|---|
| CN213062969U true CN213062969U (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021743950.0U Active CN213062969U (en) | 2020-08-19 | 2020-08-19 | Building 3D printing equipment |
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| CN (1) | CN213062969U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670443A (en) * | 2022-03-04 | 2022-06-28 | 湖南中联重科智能高空作业机械有限公司 | 3D printing equipment, 3D printing system and 3D printing method |
-
2020
- 2020-08-19 CN CN202021743950.0U patent/CN213062969U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670443A (en) * | 2022-03-04 | 2022-06-28 | 湖南中联重科智能高空作业机械有限公司 | 3D printing equipment, 3D printing system and 3D printing method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220407 Address after: 100000 room 1101-11, floor 11, building 18, District 17, No. 188, South Fourth Ring West Road, Fengtai District, Beijing Patentee after: Beijing Space Zhizhu Technology Co.,Ltd. Address before: Room 308, building 4, No. 30, walnut garden, guandongdian North Street, Chaoyang District, Beijing Patentee before: BEIJING MILESTONE TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |