CN217581281U - Building 3D printing apparatus and building 3D printing system - Google Patents

Abstract

The application provides a building 3D printing apparatus and building 3D printing system belongs to the technical field that 3D printed. The building 3D printing equipment comprises a movable 3D printing device and a movable power supply device, wherein the movable 3D printing device is used for printing building components; the movable power supply is electrically connected with the movable 3D printing device and used for supplying energy to the movable 3D printing device; wherein, when the mobile 3D printing device moves, the mobile power supply device moves along with the mobile 3D printing device. The movable 3D printing device is powered by adding the movable power supply device, and when the movable 3D printing device moves, the movable power supply device moves along with the movable 3D printing device. Even if the building 3D printing equipment is applied to places with complicated environments such as the field and the like and without power grid coverage, the movable 3D printing device can be powered through the movable power supply device, so that the movable 3D printing device can work normally.

Description

Building 3D printing apparatus and building 3D printing system

Technical Field

The application relates to the technical field of 3D printing, in particular to building 3D printing equipment and a building 3D printing system.

Background

Building 3D (3D printing) printing is developed 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 the problems of high accident rate of a building site, low working quality, difficult management of a construction site, low labor efficiency, shortage of skilled labor and the like in the building industry.

However, the existing building 3D printing device cannot be applied to some complex environments, such as in the field and in places without power grid coverage, and it is difficult to apply building 3D printing technology to print building components.

SUMMERY OF THE UTILITY MODEL

The application provides a building 3D printing apparatus and building 3D printing system to solve the current building 3D printing apparatus that can't be applicable to the field and do not have the place that the electric wire netting covered to be under construction, in order to print the problem of building element.

In a first aspect, the application provides a building 3D printing apparatus, comprising a movable 3D printing device, a movable power supply device, the movable 3D printing device being configured to print a building component; the movable power supply is electrically connected with the movable 3D printing device and is used for supplying energy to the movable 3D printing device; wherein the movable power supply device moves along with the movable 3D printing device when the movable 3D printing device moves.

In the embodiment of the application, the energy is supplied to the movable 3D printing device by additionally arranging the movable power supply device, and when the movable 3D printing device moves, the movable power supply device moves along with the movable 3D printing device. Even if the building 3D printing equipment is applied to places with complicated environments such as the field and the like and without power grid coverage, the movable 3D printing device can be powered through the movable power supply device, so that the movable 3D printing device can work normally. And, because the portable 3D printing device can move in the printing work process, but portable power source device follows portable 3D printing device and removes to can not cause the influence to portable 3D printing device's work.

With reference to the technical solution provided by the first aspect, in some possible embodiments, the movable power supply device includes a first traveling mechanism, a first supporting platform, and an ac power supply, where the first supporting platform is disposed on the first traveling mechanism; alternating current power supply set up in on the first supporting platform, alternating current power supply with but the mobile 3D printing device electricity is connected, alternating current power supply is used for doing but mobile 3D printing device supplies power.

In this application embodiment, drive portable power source device through a running gear and remove, make this portable power source device follow the realization and follow portable 3D printing device and remove to continuously be portable 3D printing device function, and, the problem that the function equipment causes the influence to portable 3D printing device's work can not appear yet.

In combination with the technical solution provided by the first aspect, in some possible embodiments, the first traveling mechanism includes a crawler chassis, and the crawler chassis includes: the crawler type traveling mechanism comprises a chassis body, a crawler type traveling mechanism and a direct-current power supply, wherein the first supporting platform is fixed on the chassis body; the crawler traveling mechanism is arranged on the lower side of the chassis body and used for driving the first traveling mechanism to move; the direct current power supply is arranged in the chassis and used for supplying electric energy to the crawler traveling mechanism.

In the embodiment of the application, the crawler travelling mechanism can adapt to more complex environments, has better off-road capability and is convenient for the movable power supply device to move; meanwhile, the energy is supplied by the direct-current power supply arranged by the converter, and equipment for converting alternating current into direct current is not required, so that energy loss in the conversion process can be avoided.

With reference to the technical solution provided by the first aspect, in some possible implementations, the movable 3D printing apparatus includes a second traveling mechanism, a second supporting platform, an industrial robot, and a printing nozzle, where the second supporting platform is disposed on the second traveling mechanism; the industrial robot is arranged on the second supporting platform and is electrically connected with the movable power supply device, and the industrial robot is used for controlling the building 3D printing equipment in building component printing operation; the printing nozzle is arranged at an execution end of a mechanical arm of the industrial robot and used for printing the building component under the control of the industrial robot.

In this application embodiment, drive portable 3D printing device through second running gear and remove for this portable 3D printing device also can remove at the printing in-process, thereby can print large-scale building component more.

With reference to the technical solution provided by the first aspect, in some possible implementations, the architectural 3D printing apparatus further includes: the visual unit is arranged on the second travelling mechanism and used for collecting a target image comprising a preset positioning mark pile when the 3D printing equipment moves to the preset positioning mark pile, and processing the target image to obtain deviation data; the industrial robot is further used for adjusting the posture of the industrial robot according to the deviation data sent by the vision unit.

In the embodiment of the application, gather the target image including the guide stake through the visual element that sets up on second running gear, and obtain deviation data according to the target image, thereby make industrial robot can adjust industrial robot self's gesture according to the deviation data that the visual element sent, make the printing shower nozzle that sets up in industrial robot's lift arm execution end can reach preset position, overcome because of the error that second running gear is difficult to accurate arrival guide stake position and brings, improve and print the precision.

With reference to the technical solution provided by the first aspect, in some possible implementations, the architectural 3D printing apparatus further includes: the light filling lamp set up in be close to on the second running gear the position of vision unit, industrial robot still are used for when light is less than and predetermines the threshold value, and control light filling lamp carries out the light filling.

In the embodiment of the application, supply illumination for the visual cell through setting up the light filling lamp, avoid under the less strong circumstances of light, the unable target image including the guide post that gathers of visual cell, simultaneously, the light that comes from the light filling lamp of guide post reflection can be convenient for more confirm the position of guide post in the target image.

With reference to the technical solution provided by the first aspect, in some possible embodiments, a distance sensor is disposed on the printing nozzle, and is configured to detect a distance between the printing nozzle and the ground and send the distance between the printing nozzle and the ground to a control unit; and the control unit is also used for judging whether printing is finished according to the distance between the printing nozzle and the ground.

In the embodiment of the application, through set up distance sensor on printing the shower nozzle, distance sensor sends the data measured for the control unit, and the control unit can obtain the distance of printing shower nozzle and ground, and then obtains the height of the building element that is printing, is convenient for confirm whether reach and predetermine the printing height, need not artificial the measuring, has improved printing efficiency.

With reference to the technical solution provided by the first aspect, in some possible implementations, the architectural 3D printing apparatus further includes: and the pumping device is arranged on the second supporting platform, is communicated with the printing nozzle through a conveying pipeline, and is used for conveying printing materials for the printing nozzle.

In this application embodiment, through with the pumping equipment who prints the shower nozzle intercommunication, for printing the shower nozzle and carry the printing material, need not the manual work and supply the printing material for printing the shower nozzle, can improve whole printing continuity to improve and print efficiency.

With reference to the technical solution provided by the first aspect, in some possible embodiments, the print head includes a square nozzle and a rotation driving portion; the square nozzle is communicated with the pumping device in a rotating mode, and the rotating driving portion drives the square nozzle to rotate.

In the embodiment of the application, the materials are printed through the square nozzles, so that on one hand, the contact area between different printing layers is larger, and further, the strength of the finally printed building component is improved; on the other hand, the overall contour of the printed building component can be more beautiful.

In a second aspect, the present application provides a building 3D printing system, comprising: the building 3D printing device may further include a master control system and the building 3D printing device as described in the first aspect embodiment and/or any possible implementation manner that incorporates the first aspect embodiment, where the master control system is communicatively connected to the building 3D printing device, and the master control system is configured to control the building 3D printing device to print a preset building component.

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 schematic structural diagram of a building 3D printing apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of an industrial robot according to an embodiment of the present application;

FIG. 3 is a schematic structural view of a lift arm according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a print head according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a second traveling mechanism according to an embodiment of the present disclosure;

fig. 6 is a block diagram illustrating a structure of a 3D printing system for a building according to an embodiment of the present application.

Reference numerals are as follows: 10-building a 3D printing device; 300-a control unit; 110-a first travel mechanism; 120-a first support platform; 130-ac power supply; 210-a second running gear; 220-a second support platform; 230-an industrial robot; 240-printing nozzle; 231-robot base; 232-robot first axis; 233-a second robot shaft; 234-robot third axis; 235-fourth axis of robot; 236-robot fifth axis; 237-robot sixth axis; 238-balance cylinder; 250-a lifting arm; 251-a lifting unit; 252-a drive unit; 253-robotic links; 254-print head mount; 241-a stock bin; 242-square nozzle; 243-rotation driving part; 244-a fixed plate; 245-a level monitoring camera; 246-distance sensor; 400-a pumping device; 500-a visual element; 600-leveling means; 610-horizontal telescopic arm; 620-electric support legs; 630-inclinometer; 1-building a 3D printing system; 20-the master control system.

Detailed Description

The terms "first," "second," and the like are used for descriptive purposes only and not for purposes of indicating or implying relative importance, and do not denote any order or order.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the product of the application is usually placed in when used, and are used only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, should not be construed as limiting the present application.

In the description of the present application, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be understood broadly, e.g., as either a fixed connection or a removable connection, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.

The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a building 3D printing apparatus 10 according to an embodiment of the present disclosure, where the building 3D printing apparatus 10 includes a movable power supply device and a movable 3D printing device.

The movable 3D printing device is used to print the building element. But portable power source is connected with portable 3D printing device electricity, and portable power source is used for portable 3D printing device energy supply. Wherein, when the mobile 3D printing device moves, the mobile power supply device moves along with the mobile 3D printing device.

Even if the building 3D printing device 10 is applied to places with complicated environments such as the field and without power grid coverage, the movable power supply device can continuously supply energy to the movable 3D printing device because the movable power supply device moves along with the movable 3D printing device when the movable 3D printing device moves, and then the movable 3D printing device can always work normally. And, when portable 3D printing device moved in printing work process, portable power supply unit also can follow portable 3D printing device and remove, can not cause the influence to portable 3D printing device's work, also need not remove at portable 3D printing device after, think the position of adjustment power, reduced user's operation, improved user experience.

Optionally, the building 3D printing apparatus 10 may further include a control unit 300, where the control unit 300 is configured to control the movable 3D printing device and the movable power supply device to move, and further control the movable 3D printing device to print the building components according to a pre-designed building structure. It should be noted that, in one embodiment, the mobile 3D printing device and the mobile power supply device may be controlled to move by an industrial control system in the mobile 3D printing device, and the mobile 3D printing device may be controlled to print the building component according to a pre-designed building structure.

In one embodiment, the mobile power device includes a first traveling mechanism 110, a first supporting platform 120, and an ac power source 130, and for understanding, please refer to fig. 1.

The first support platform 120 is disposed on the first travel mechanism 110; the ac power source 130 is disposed on the first supporting platform 120, wherein the ac power source 130 is electrically connected to the movable 3D printing apparatus, and the ac power source 130 is configured to supply power to the movable 3D printing apparatus.

Alternatively, the first traveling mechanism 110 may be any one of a wheel type traveling mechanism, a semi-crawler type traveling mechanism, a wheel-crawler type traveling mechanism, and a crawler type traveling mechanism, and the specific type thereof is not limited herein.

To facilitate understanding of the specific operation principle of the first traveling mechanism 110, the first traveling mechanism 110 will be described as a crawler-type traveling mechanism.

When the first traveling mechanism 110 is a crawler-type traveling mechanism, the first traveling mechanism 110 includes a crawler chassis including a chassis body, a crawler traveling mechanism, and a dc power supply. The first supporting platform is fixed on the chassis body, the crawler traveling mechanism is arranged on the lower side of the chassis body and used for driving the first traveling mechanism to move, and the direct-current power supply is arranged inside the chassis body and used for supplying electric energy for the crawler traveling mechanism.

The dc power supply may be any type of dc power supply, for example, a large capacity lithium battery.

Crawler travel mechanism can include track, drive wheel and DC motor, utilizes DC power supply to be the DC motor energy supply for DC electrode drive wheel rotates, and then drives the track and rotate, and crawler travel mechanism sets up in the downside of chassis body, and crawler travel mechanism's speed at chassis body downside is different, can realize turning to. The specific implementation principle of the crawler belt traveling mechanism is well known to those skilled in the art, and is not described herein again for the sake of brevity.

In one embodiment, the first support platform 120 may be fixed to the first travel mechanism 110 by a connector, such as a bolt, connected to the first travel mechanism 110; alternatively, when the first supporting platform 120 is made of a metal material, the first supporting platform 120 may be fixed to the first traveling mechanism 110 by welding.

When the first traveling mechanism 110 is a crawler traveling mechanism including a crawler chassis, and the crawler chassis includes a chassis body, a crawler traveling mechanism, and a dc power supply, the first support platform 120 may be fixed to the chassis body of the first traveling mechanism 110.

In one embodiment, the output voltage of the ac power source 130 needs to be greater than or equal to a preset threshold, and the amount of power stored in the ac power source 130 needs to support the mobile 3D printing apparatus to operate for a preset time period, where a specific value of the preset threshold may be determined according to the operating voltage of the mobile 3D printing apparatus, for example, when the operating voltage of the mobile 3D printing apparatus is 220V, the output voltage of the ac power source 130 needs to be greater than or equal to 220V. The preset time period may be selected according to actual requirements, for example, when the movable 3D printing device needs 2 hours to print the target building element, the preset time period needs to be greater than or equal to 2 hours.

Alternatively, the ac power source 130 may be a device that stores electric energy and outputs ac power, such as the ac power source 130; alternatively, the power generating device may be a solar power generator, a wind power generator, a diesel power generator, etc., and the specific type of the ac power source 130 may be selected according to actual needs, and the specific type is not limited herein.

In one embodiment, the movable 3D printing apparatus includes a second walking mechanism 210, a second supporting platform 220, an industrial robot 230, and a print head 240, wherein the second supporting platform 220 is disposed on the second walking mechanism 210; an industrial robot 230 is arranged on the second supporting platform 220, the industrial robot 230 is electrically connected with the movable power supply device, and the industrial robot 230 is used for controlling the building 3D printing equipment 10 in building component printing operation; the print head 240 is provided at an execution end of a robot arm of the industrial robot 230 for printing the building component under the control of the industrial robot 230. For example, the industrial robot 230 controls the position of the print head 240 by controlling the posture of its own robot arm, and controls the print head 240 to output a printing material to perform a printing operation after the print head 240 reaches a preset position. The second traveling mechanism 210 drives the movable 3D printing device to move, so that the movable 3D printing device can also move in the printing process, and larger building components can be printed.

The specific implementation principle of the second traveling mechanism 210 and the second supporting platform 220 is the same as that of the first traveling mechanism 110 described above, and for brevity, the detailed description thereof is omitted here.

In one embodiment, the industrial robot 230 may be any type of industrial robot commonly used in 3D printing of buildings on the market, as long as the position of the printing head 240 can be controlled to move and the printing head 240 can be controlled to print the building component, for example, the industrial robot 230 may be a six-axis robot.

In order to facilitate printing of large building components, the industrial robot 230 needs to be sufficiently long in arm length, for example, an industrial robot 230 having an arm length of 3 m may be selected.

The industrial robot 230 may be connected to the second support platform 220 by a connecting member such as a bolt, or the industrial robot 230 may be directly welded to the second support platform 220 when the second support platform 220 is made of a metal material.

For the understanding of the industrial robot 230, the structure of the industrial robot 230 will be described by taking a six-axis industrial robot 230 as an example, and refer to fig. 2.

As shown in fig. 2, the industrial robot 230 includes a robot base 231, a robot first axis 232, a robot second axis 233, a robot third axis 234, a robot fourth axis 235, a robot fifth axis 236, a robot sixth axis 237, and a balancing cylinder 238, and an industrial control system (not shown in the figure) as a control center, wherein the robot base 231 is fixed on the second support platform 220 by bolts, and the balancing cylinder 238 is used for balancing the moment of inertia of the robot arm to stabilize the center of gravity of the industrial robot 230. Wherein, the print head 240 is connected with the sixth shaft 237 of the robot through a connecting piece. The specific implementation principle and structure of the six-axis industrial robot 230 are well known to those skilled in the art, and are not described herein again for brevity.

The control unit can be used for controlling the movable 3D printing device and the movable power supply device to move, and can also be used for controlling the movable 3D printing device to print the building components according to a pre-designed building constructed structure.

In an embodiment, the tooling of the industrial robot 230 further includes a lifting arm, please refer to fig. 3, and fig. 3 is a schematic structural diagram of a lifting arm 250 according to an embodiment of the present disclosure.

The lifting arm 250 includes a multi-stage lifting unit 251, a driving unit 252, a robot link 253, and a print head mounting 254. The multi-section lifting unit 251 is connected in sequence, and is driven by the driving unit 252 to complete the extension or contraction of the lifting arm 250 in cooperation with each other. The robot link 253 is disposed at the lowermost end of the lifting arm 250, and the lifting arm 250 is connected to the execution end of the arm of the industrial robot 230 through the robot link 253. The print head mounting member 254 is provided at the uppermost end of the lifting arm 250, and the lifting arm 250 is connected to the print head 240 through the print head mounting member 254. The driving unit 252 is disposed at a bottom end of the lifting arm 250.

The driving unit 252 may include an ac motor and a decelerator, which are connected to the control unit 300 by cables, and realize accurate adjustment and control of the height of the lifting arm 250 by extending and shortening the lifting arm 250 under the control of the control unit 300.

Optionally, the lifting arm 250 comprises five lifting units 251, and when in use, the lifting arm 250 is always kept vertical. Wherein the fully retracted length of the lifting arm 250 is 1.5 meters and the fully extended length is 5 meters.

In order to reduce the weight of the lifting arm 250 and thus the industrial robot 230, the lifting unit 251 may be made of an aluminum alloy.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a print head 240 according to an embodiment of the present disclosure, where the print head 240 includes a storage bin 241, a square nozzle 242, and a rotation driving portion 243.

The square nozzle 242 is rotatably connected to the hopper 241, and the rotation driving unit 243 drives the square nozzle 242 to rotate.

In the present disclosure, the rotation driving unit 243 is a driving structure in which a motor is coupled to a gear, and can precisely control the rotation angle of the nozzle.

When printing, the printing nozzle 240 moves under the action of the industrial robot 230 and the lifting arm 250 to print out the designed components, and the rotation driving portion 243 can drive the nozzle to rotate, so that the working posture of the nozzle is consistent with the walking direction of the printing nozzle 240 when printing, the interlayer bonding force of the printed finished product is increased, the integrity of the printed finished product is enhanced, and materials are saved.

The specific implementation principle of the print head 240 is well known to those skilled in the art, and is not described herein again for the sake of brevity.

Optionally, a fixing plate 244 is further disposed on the printing nozzle 240, and the fixing plate 244 is configured to cooperate with a printing nozzle mounting component 254 disposed on an executing end of a mechanical arm of the industrial robot 230 to complete fixing of the printing nozzle 240.

Optionally, a material level monitoring camera 245 is further disposed on the printing nozzle 240, and the material level monitoring camera 245 is configured to monitor the printing material in the bin 241 and transmit the monitoring image to the control unit 300, so that the control unit 300 determines whether the printing material still exists in the bin 241.

Optionally, a distance sensor 246 is further disposed on the print head 240, and the distance sensor 246 is configured to detect a distance between the print head 240 and the ground and transmit the distance between the print head 240 and the ground to the industrial robot 230. Correspondingly, industrial robot 230 still is used for judging whether accomplishing the printing according to printing the distance of shower nozzle 240 and ground to need not the manual work and measure whether building element reaches and predetermine the printing height, reduced user's the operation degree of difficulty, improved user experience.

Alternatively, the distance sensor 246 detects the distance between the printing head 240 and the ground, and transmits the distance between the printing head 240 and the ground to the control unit 300. Accordingly, the control unit 300 is further configured to determine whether printing is completed according to the distance between the printing head 240 and the ground, so that it is not necessary to manually measure whether the building element reaches a preset printing height.

In one embodiment, the building 3D printing apparatus 10 further includes a pumping device 400, as shown in fig. 1, the pumping device 400 is disposed on the second supporting platform 220, and the pumping device 400 is communicated with the printing nozzle 240 through a material conveying pipeline, and is used for conveying a printing material to the printing nozzle 240. The specific implementation principle of the pumping device 400 is well known to those skilled in the art, and is not described herein again for the sake of brevity.

It is understood that after the printing material is delivered to the printing nozzle 240 by the pumping device 400, the cartridge 241 may not be separately disposed on the printing nozzle 240, that is, the printing nozzle 240 includes the square nozzle 242 and the rotary driving portion 243. The square nozzle 242 is rotatably communicated with the pumping device 400, and the rotation driving part 243 drives the square nozzle 242 to rotate. The specific implementation principle and structure of the square nozzle 242 and the rotation driving portion 243 are the same as the implementation principle and structure of the square nozzle 242 and the rotation driving portion 243 in the print head 240, and are not described herein again for brevity.

In one embodiment, the 3D printing apparatus 10 for building further includes a vision unit 500, as shown in fig. 5, the vision unit 500 is disposed on the second traveling mechanism 210, and is configured to collect a target image including a positioning stake when the 3D printing apparatus moves to a preset positioning stake, and process the target image to obtain deviation data. Accordingly, the industrial robot 230 is also used to adjust the attitude of the print head 240 according to the deviation data sent from the vision unit 500.

Alternatively, after acquiring the target image, the vision unit 500 directly transmits the target image to the industrial robot 230, so that the industrial robot 230 processes the target image to obtain deviation data, and adjusts the posture of the print head 240 according to the deviation data transmitted by the vision unit 500.

The target image including the positioning mark pile is acquired through the visual unit 500 arranged on the second walking mechanism 210, so that the industrial robot 230 can adjust the posture of the industrial robot according to the target image and the preset standard image, the printing nozzle 240 arranged at the execution end of the lifting arm 250 can reach the preset position, the error caused by the fact that the second walking mechanism 210 is difficult to accurately reach the position of the positioning mark pile is overcome, and the printing precision is improved.

The preset positioning pegs are used for enabling the building 3D printing device 10 to determine the position of the positioning pegs, the positioning pegs are arranged before the building 3D printing device 10 performs printing, and the specific arrangement mode of the positioning pegs is well known by those skilled in the art and is not described herein again. The vision unit 500 may be any type of camera, and the specific type of vision unit 500 is not limited herein.

Optionally, building 3D printing apparatus 10 still includes the light filling lamp, sets up in the position that is close to vision unit 500 on second running gear 210, and the light filling lamp is connected with industrial control system electricity of industrial robot 230, and industrial robot 230 still is used for when light is less than and predetermines the threshold value, and control light filling lamp carries out the light filling.

Supplementary illumination is 500 for visual unit through setting up the light filling lamp, avoids under the less strong circumstances of light, and visual unit 500 can't gather the target image including the guide post, and simultaneously, the light that comes from the light filling lamp of guide post reflection can be convenient for more confirm the position of guide post in the target image.

Can detect the ambient light intensity through setting up light intensity sensor at building 3D printing apparatus 10, industrial control system or the control unit 300 is detecting when the ambient light intensity is less than predetermineeing the threshold value, and control light filling lamp is opened.

Or, when the current time is within the preset range, the industrial control system or the control unit 300 controls the light supplement lamp to be turned on to supplement light. For example, when the current time is after 6 pm and before 7 am, the industrial control system or the control unit 300 controls the light supplement lamp to turn on for light supplement. The preset range can be set according to actual requirements, for example, the illumination duration in summer and winter is different, the preset range can be properly expanded in winter, and the preset range can be properly reduced in summer, and the specific range is not limited here.

The supplementary lighting lamp may be any kind of LED (Light-Emitting Diode) lamp or neon lamp, and the specific type thereof is not limited herein.

In one embodiment, the 3D printing apparatus 10 further includes a set of leveling devices 600, each leveling device 600 includes a horizontal telescopic arm 610 and an electric leg 620, and for easy understanding, refer to fig. 5.

Wherein, the flexible arm 610 of level is flexible along the horizontal direction, and electronic landing leg 620 is flexible along vertical direction, and the one end of the flexible arm 610 of level is fixed in the side of second supporting platform 220, and electronic landing leg 620 locates the other end of the flexible arm 610 of level. The extension and contraction of the horizontal telescopic arm 610 and the motorized leg 620 are controlled by the control unit 300 of the movable 3D printing apparatus.

It is understood that the motorized legs 620 may be extended and contracted in the vertical direction, so that the 3D printing apparatus 10 may be lifted in the vertical direction, and the second support platform 220 may be leveled by adjusting the height of the motorized legs 620. Because flexible arm 610 of level can be followed the horizontal direction and stretched out and draw back, and, electric leg 620 locates the one end of flexible arm 610 of level, also when flexible arm 610 of level stretches out and draws back along the horizontal direction, drive electric leg 620 horizontal migration, thereby can help electric leg 620 to find suitable fulcrum in the complex environment, and simultaneously, can make the focus of building 3D printing apparatus 10 fall on all the time in the area that the fulcrum of flexible arm 610 of each level and bottom surface encloses, prevent that building 3D printing apparatus 10 from causing the focus unstability because of industrial robot 230's action.

Optionally, the building 3D printing apparatus 10 further includes an inclinometer 630, the inclinometer 630 is disposed on the second supporting platform 220, and the inclinometer 630 is electrically connected to the control unit 300 of the movable 3D printing device, so that the control unit 300 of the movable 3D printing device controls each leveling device 600 according to data fed back by the inclinometer 630, so as to level the surface of the second supporting platform 220.

The inclinometer 630 may be any type of inclinometer 630, such as a biaxial inclinometer, and the specific type of inclinometer 630 is not limited herein.

The levelness of the second supporting platform 220 is adjusted through the inclinometer 630 and the leveling device 600, and the adjustment precision of 2mm/m (the error per meter is within 2 mm) can be achieved.

When printing a small-sized component using the above-described building 3D printing apparatus 10, before the printing work is started, the structure of the building component to be printed is programmed into a machine language recognizable by the industrial robot 230 and is introduced into the industrial robot 230. In the printing process, the first traveling mechanism 110 and the second traveling mechanism 210 drive the whole set of building 3D printing equipment 10 to move into the printing area, the horizontal telescopic arm 610 of the leveling device 600 extends out, the electric supporting leg 620 falls down, the building 3D printing equipment 10 is lifted up, the second supporting platform 220 is adjusted to be horizontal, and then the industrial control system of the industrial robot 230 or the control unit 300 of the building 3D printing equipment 10 drives the whole set of printing equipment to start printing.

When the building 3D printing device 10 is used to print a large component, before the printing operation is started, the structure of the building component to be printed is reasonably separated according to the working range of the printing device and different positioning points, and is compiled into a machine language recognizable by the industrial robot 230, and is imported into the industrial robot 230, and then positioning stakes are buried in the printing area according to the coordinates of the positioning points. In the printing process, the first traveling mechanism 110 and the second traveling mechanism 210 drive the whole set of building 3D printing equipment 10 to move to a first positioning standard pile embedded in advance, the horizontal telescopic arm 610 of the leveling device 600 extends, the electric support leg 620 falls down, the building 3D printing equipment 10 is lifted up, the second support platform 220 is adjusted to be horizontal, the control unit 300 obtains a position deviation and an angle deviation generated when the building 3D printing equipment 10 is in place through an image including the first positioning standard pile and a preset standard image acquired by the vision unit 500, the control unit 300 correspondingly offsets a body coordinate system through the position deviation and the angle deviation to compensate the deviation, and then the industrial control system of the industrial robot 230 or the control unit 300 of the building 3D printing equipment 10 drives the whole set of printing equipment to start printing. And after the printing work at the first positioning mark pile is finished, moving to the second positioning mark pile, and repeating the operation until the printing is finished.

As shown in fig. 6, the present application also provides a building 3D printing system 1, which includes a master control system 20 and a building 3D printing device 10.

The main control system 20 is in communication connection with the building 3D printing device 10, and the main control system 20 is used for controlling the building 3D printing device 10 to print preset building components.

The host system 20 may be an electronic device with data processing capability, such as a tablet computer, an industrial tablet computer, a server, etc., and the specific type of the host system 20 is not limited herein.

The implementation principle and the resulting technical effects of the architectural 3D printing apparatus 10 provided in the embodiment of the present application are clearly described above, and for a brief description, no part of this embodiment is mentioned, and reference may be made to the corresponding contents in the foregoing architectural 3D printing apparatus 10 embodiment.

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 to the present application 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 (10)

1. A building 3D printing device, comprising:

a movable 3D printing device for printing the building component;

the movable power supply device is electrically connected with the movable 3D printing device and is used for supplying energy to the movable 3D printing device;

wherein the movable power supply device moves along with the movable 3D printing device when the movable 3D printing device moves.

2. The architectural 3D printing apparatus of claim 1, wherein the movable power supply device comprises:

a first travel mechanism;

a first support platform disposed on the first travel mechanism;

alternating current power supply, alternating current power supply set up in on the first supporting platform, alternating current power supply with but the mobile 3D printing device electricity is connected, alternating current power supply is used for doing but the mobile 3D printing device power supply.

3. The architectural 3D printing apparatus of claim 2, wherein the first travel mechanism comprises a crawler chassis comprising:

the first supporting platform is fixed on the chassis body;

the crawler travelling mechanism is arranged on the lower side of the chassis body and used for driving the first travelling mechanism to move;

the direct current power supply is arranged inside the chassis body and used for supplying electric energy to the crawler traveling mechanism.

4. The architectural 3D printing apparatus of claim 1, wherein the moveable 3D printing device comprises:

a second traveling mechanism;

the second supporting platform is arranged on the second walking mechanism;

the industrial robot is arranged on the second supporting platform and is electrically connected with the movable power supply device, and the industrial robot is used for controlling the building 3D printing equipment in the building component printing operation;

and the printing spray head is arranged at an execution end of a mechanical arm of the industrial robot and is used for printing the building component under the control of the industrial robot.

5. The architectural 3D printing device of claim 4, further comprising:

the visual unit is arranged on the second travelling mechanism and used for collecting a target image comprising a preset positioning mark pile when the 3D printing equipment moves to the preset positioning mark pile, and processing the target image to obtain deviation data;

the industrial robot is further used for adjusting the posture of the industrial robot according to the deviation data sent by the vision unit.

6. The building 3D printing device according to claim 4, wherein a distance sensor is arranged on the printing nozzle and used for detecting the distance between the printing nozzle and the ground and sending the distance between the printing nozzle and the ground to an industrial robot;

and the industrial robot is also used for judging whether printing is finished according to the distance between the printing nozzle and the ground.

7. The architectural 3D printing device of claim 4, further comprising:

and the pumping device is arranged on the second supporting platform, is communicated with the printing nozzle through a conveying pipeline and is used for conveying printing materials to the printing nozzle.

8. The architectural 3D printing device of claim 4, further comprising:

a control unit for controlling the movable 3D printing device and the movable power supply device to move.

9. The building 3D printing device according to claim 8, wherein a distance sensor is arranged on the printing nozzle and used for detecting the distance between the printing nozzle and the ground and sending the distance between the printing nozzle and the ground to a control unit;

the control unit is also used for judging whether printing is finished according to the distance between the printing nozzle and the ground.

10. A building 3D printing system, comprising:

the building 3D printing device of any one of claims 1-9, and a master control system, the master control system and the building 3D printing device are in communication connection, and the master control system is used for controlling the building 3D printing device to print preset building components.

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