3d building printing apparatus

Abstract

The application relates to the technical field of construction machinery, in particular to a 3D building printing device which comprises a lifting system, a truss guide rail, at least one set of a printing arm system and a printing head system; the lifting system comprises a pair of oppositely spaced column devices, the truss guide rail extends along the horizontal direction, and two ends of the truss guide rail are connected with the two column devices respectively and are arranged to move up and down along the extension direction of the column devices; the printing arm system comprises two printing arms which are arranged on the two sides of the truss guide rail respectively, one end of each printing arm is connected with the truss guide rail and is arranged to move reciprocally along the extension direction of the truss guide rail, and the printing head system is arranged on each printing arm; the 3D building printing device has high printing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction machinery, in particular to a 3D building printing device. BACKGROUND

[0002] The existing 3D building printing device is only provided with one printing nozzle, and can only be used for printing operation of one group of buildings at a time, so the working efficiency is low. In addition, the existing 3D building printing device needs to be disassembled and assembled when it is transported and transferred, the operation is complex, and the labor intensity is large. SUMMARY

[0003] The present application aims to overcome at least one of the defects of the prior art, and provide a 3D building printing device with high printing efficiency.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] A 3D building printing device comprises a lifting system, a truss guide rail, at least one set of printing arm system and a printing head system; the lifting system comprises a pair of oppositely spaced column devices, the truss guide rail extends in the horizontal direction, and the two ends are respectively connected with the two column devices and are arranged to move up and down along the extension direction of the column device; the printing arm system comprises two printing arms arranged on the two sides of the truss guide rail, one end of the printing arm is connected with the truss guide rail and is arranged to reciprocate along the extension direction of the truss guide rail, and the printing head system is arranged on each printing arm.

[0006] Further, the 3D building printing device further comprises a first drive; in the printing arm system, the two printing arms are connected with the truss guide rail through a group of first drives, and the first drives drive the two groups of printing arms to move synchronously along the extension direction of the truss guide rail, or the two printing arms are respectively connected with the truss guide rail through two groups of first drives, and the two groups of first drives drive the two groups of printing arms to reciprocate along the extension direction of the truss guide rail respectively.

[0007] Further, the column device comprises a telescopic multi-stage lifting guide rail, and the two ends of the truss guide rail are respectively connected with the last stage guide rails of the two groups of multi-stage lifting guide rails.

[0008] Further, the column device further comprises a walking mechanism arranged at the lower end thereof.

[0009] Further, the printing head system comprises a fine adjustment lifting guide rail arranged on the printing arm and a printing head arranged on the fine adjustment lifting guide rail, and the printing head is arranged to move up and down along the extension direction of the fine adjustment lifting guide rail.

[0010] Further, the printing head is arranged to rotate relative to the fine adjustment lifting guide rail.

[0011] Further, the truss guide rail comprises a guide rail part and a manned frame, one end of a printing arm is connected with the guide rail part and is arranged to reciprocate along the extension direction of the guide rail part, one end of the guide rail part is connected with a column device through the manned frame and the other end is directly connected with the column device, the manned frame is connected with the corresponding column device and is arranged to move up and down along the extension direction of the corresponding column device.

[0012] Alternatively, the two ends of the guide rail part are connected with two column devices through a manned frame respectively.

[0013] Further, the manned frame comprises a frame body, a horizontal adjusting guide rail and a vertical adjusting guide rail, the frame body is connected with the column device and is arranged to move up and down along the extension direction of the column device, the horizontal adjusting guide rail is fixedly arranged on the frame body, the horizontal adjusting guide rail extends along the horizontal direction and is perpendicular to the extension direction of the guide rail part, the vertical adjusting guide rail extends along the vertical direction, the vertical adjusting guide rail is connected with the horizontal adjusting guide rail and is arranged to reciprocate along the extension direction of the horizontal adjusting guide rail, the vertical adjusting guide rail is connected with the guide rail part and the guide rail part is arranged to move up and down along the extension direction of the vertical adjusting guide rail.

[0014] Further, the truss guide rail further comprises a truss channel arranged on the guide rail part, the truss channel extends to the two column devices respectively.

[0015] Further, the printing arm is arranged to rotate around one end connected with the truss guide rail, the rotation plane of the printing arm is perpendicular to the column device, the printing arm has a folding position and is parallel to the truss guide rail in the folding position.

[0016] Further, the printing arm is a multi-stage telescopic structure.

[0017] Further, the printing arm comprises a printing arm track arranged along the extension direction of the printing arm, the printing head system is arranged to reciprocate along the printing arm track.

[0018] Further, the printing arm is a multi-joint mechanical arm, one end of the printing arm is connected with the truss guide rail and the other end is arranged to set the printing head system.

[0019] Further, the printing arm is arranged to rotate around one end connected with the truss guide rail, the printing arm comprises at least two connection arms connected in sequence and arranged to rotate, each connection arm has a folding position and is parallel to the truss guide rail in the folding position.

[0020] Further, the guide rail part is spliced by multiple guide rail units, each guide rail unit is arranged to rotate around the connection with another guide rail unit.

[0021] Further, the guide rail part further comprises a roller mechanism, the folded guide rail part is moved through the roller mechanism.

[0022] Further, the 3D building printing device further comprises a smearing mechanism arranged on the printing arm, the smearing mechanism comprising a smearing lifting rail arranged on the printing arm and a scraper structure arranged on the smearing lifting rail, the scraper structure being arranged to move up and down along the smearing lifting rail.

[0023] Further, the 3D building printing device further comprises a smearing mechanism arranged on the column device, the smearing mechanism comprising a scraper structure arranged to move up and down along the extension direction of the column device.

[0024] Further, the column device further comprises a connecting and leveling mechanism arranged at the lower end thereof, the connecting and leveling mechanism comprising a fixed connecting member and a hydraulic jacking device, the fixed connecting member being used to connect with a pre-buried fixing member on the ground, and the hydraulic jacking device being used to adjust the vertical state of the column device.

[0025] Further, the printing arm has a folding position and is parallel to the truss rail in the folding position, and the printing arm has a working position and is perpendicular to the truss rail in the working position, the two printing arms and the truss rail forming a cross structure.

[0026] The 3D building printing device has two printing arms, each of which is provided with a printing head system, so that two groups of buildings can be printed simultaneously, the printing efficiency is improved, and the two printing arms are arranged on the two sides of the truss rail and connected with the truss rail, so that the force balance of the truss rail is improved and the reliable and stable operation of the 3D building printing device is ensured.

[0027] In addition, the column device comprises a telescopic multi-stage lifting rail, so that the height of the printing head system can be quickly adjusted, and the occupied space is minimized after being retracted, facilitating storage, scene transfer and transportation.

[0028] In addition, the printing arm is in the folding position, so that the occupied space of the 3D building printing device of the embodiment can be reduced, facilitating scene transfer and transportation.

[0029] In addition, the horizontal adjusting rail and the vertical adjusting rail can be used to adjust the state of the rail part, including the horizontal and vertical states, so that the rail part can be used for building printing operation in the correct position and posture, thereby ensuring the printing precision. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position;

[0031] Figure 2 is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position;

[0032] Figure 3 is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position;

[0033] Figure 4 is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position;

[0034] Figure 5 is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position; Figure 4

[0035] Figure 6 is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position;

[0036] Figure 7 is a structural schematic view of the 3d building printing device of the first embodiment of the present application, in which the printing arm is in the working position.

[0037] Explanation of reference numerals

[0038] Lifting system s; first column device 1; multi-stage lifting guide rail 1-1; primary guide rail 1-10; secondary guide rail 1-11; column base 1-2; walking mechanism 1-3; second column device 2;

[0039] Truss guide rail 3; guide rail part 3-0; manned frame 3-1; frame body 3-10; horizontal adjustment guide rail 3-11; vertical adjustment guide rail 3-12;

[0040] Printing arm system a; printing arm 4;

[0041] Printing head system 5; fine adjustment lifting guide rail 5-0; printing head 5-1;

[0042] First drive 6. DETAILED DESCRIPTION

[0043] The following embodiments given in conjunction with the drawings further illustrate the specific embodiments of the 3d building printing device of the present application. The 3d building printing device of the present application is not limited to the descriptions of the following embodiments.

[0044] As shown in FIGS. Figures 1-3 , 5, it is the first embodiment of the 3d building printing device of the present application, and the 3d building printing device of the embodiment is preferably a 3d building printing device for building printing. ​

[0045] As shown in Figures 1-3 The 3d building printing device of the embodiment 3d comprises a lifting system s, a truss rail 3, at least one set of printing arm system a and printing head system 5; the lifting system s comprises a pair of oppositely spaced column devices, the truss rail 3 extends in the horizontal direction, and the two ends are respectively connected with the two column devices and are arranged to move up and down along the extension direction of the column device, that is, the truss rail 3 can move up and down along the extension direction of the column device on the column device, for adjusting the height of the printing head system 5; the printing arm system a comprises two printing arms 4 arranged on both sides of the truss rail 3 respectively, one end of the printing arm 4 is connected with the truss rail 3 and is arranged to reciprocate along the extension direction of the truss rail 3, that is, the printing arm 4 can reciprocate along the extension direction of the truss rail 3 on the truss rail 3, for adjusting the horizontal position of the printing head system 5 in the extension direction of the truss rail 3, and the printing head system 5 is arranged on each printing arm 4, and the printing head system 5 moves synchronously under the driving of the printing arm 4. Further, the two column devices are respectively a first column device 1 and a second column device 2 arranged symmetrically. It should be pointed out that the column device is detachably connected with the truss rail 3, the truss rail 3 is detachably connected with the printing arm 4, and the printing arm 4 is detachably connected with the printing head system 5.

[0046] The 3d building printing device of the embodiment 3d, the printing arm system a is provided with two printing arms 4, and the printing head system 5 is arranged on each printing arm 4, so that the printing operation of two groups of buildings can be carried out at the same time, the printing efficiency is significantly improved, and the two printing arms 4 are arranged on both sides of the truss rail 3 and connected with the truss rail 3 respectively, so that the force balance of the truss rail 3 is improved, and the reliable and stable operation of the 3d building printing device is ensured.

[0047] As shown in Figures 1-3As shown, the building printing device of the embodiment 3d further comprises a first drive 6; in the printing arm system a, the two printing arms 4 are connected with the truss guide rail 3 through a set of first drives 6, and the first drives 6 drive the two sets of printing arms 4 to move synchronously along the extension direction of the truss guide rail 3. The first drive 6 realizes the synchronous movement of the two printing arms 4 of the printing arm system a along the extension direction of the truss guide rail 3, so that the building printing device of the embodiment 3d can be used to print two sets of symmetrically designed buildings, thereby improving the consistency and aesthetics of the buildings. Further, the first drive 6 can be realized by existing technologies, for example: the first drive 6 comprises a rack arranged on the truss guide rail 3 along the extension direction thereof and a gear arranged on the printing arm 4, the rack is engaged with the gear, and the rotation of the gear can drive the printing arm 4 to move along the extension direction of the truss guide rail 3; or, the first drive 6 comprises a ball screw arranged on the truss guide rail 3 and a nut seat fixed on the printing arm 4, the extension direction of the ball screw is the same as that of the truss guide rail 3 and is threadedly matched with the nut seat, and the rotation of the ball screw can drive the nut seat to drive the printing arm 4 to move along the extension direction of the truss guide rail 3; the first drive 6 can also be realized by other ways, which will not be listed one by one here.

[0048] As shown, Figures 1-3 The column device comprises a column guide rail, and the column guide rail comprises a telescopic multi-stage lifting guide rail. The two ends of the truss guide rail 3 are respectively connected with the last-stage guide rails of the two sets of multi-stage lifting guide rails, and the multi-stage lifting guide rail is telescoped to drive the truss guide rail 3 to move up and down. Further, the multi-stage lifting guide rail of the column device adopts a telescopic pull rod type structure, that is, in the two adjacent and connected stages of guide rails, the secondary stage of guide rails is slidingly inserted in the middle of the upper stage of guide rails, and the secondary stage of guide rails can be extended out of or retracted into the upper stage of guide rails, so that the occupied space is reduced to the greatest extent after being retracted, thereby facilitating storage and transportation. The column device adopts the telescopic multi-stage lifting guide rail, which can further reduce the occupied space of the building printing device of the embodiment 3d, thereby facilitating the transition and transportation.

[0049] As other embodiments, the stages of guide rails of the multi-stage lifting guide rail are arranged in a stacked manner, that is, in the two adjacent and connected stages of guide rails of the multi-stage lifting guide rail, the secondary stage of guide rails is located on one side of the upper stage of guide rails in the horizontal direction. After the multi-stage lifting guide rail is retracted, the stages of guide rails are arranged in a stacked manner in the horizontal direction, and the first stage of guide rails to the last-stage guide rail of the multi-stage lifting guide rail are gradually arranged close to the truss guide rail 3.

[0050] Specifically, as shown, Figures 1-3As shown, the multi-stage lifting track is a two-stage lifting track, which includes a primary guide rail 1-10 and a secondary guide rail 1-11. The primary guide rail 1-10 is fixedly arranged, and the secondary guide rail 1-11 is arranged on the primary guide rail 1-10 and moves up and down along the extension direction of the primary guide rail 1-10. The secondary guide rail 1-11, i.e., the final stage guide rail of the multi-stage lifting guide rail, is connected with the truss guide rail 3. Further, the column device further includes a column base 1-12, and the primary guide rail 1-10 is fixed on the column base 1-12.

[0051] As shown in FIG. 1, the 3D building printing device includes a printing arm 4 and a column device 2. The printing arm 4 is arranged on the column device 2 and moves up and down along the extension direction of the column device 2. The column device 2 is arranged on a base 1 and moves up and down along the extension direction of the base 1. The column device 2 includes a first driving device 6, a second driving device 7, and a third driving device 8. The first driving device 6 drives the column device 2 to move up and down along the extension direction of the base 1. The second driving device 7 drives the printing arm 4 to move up and down along the extension direction of the column device 2. The third driving device 8 drives the printing arm 4 to rotate around the column device 2. Figures 1-3 As shown in FIG. 1, the 3D building printing device includes a printing arm 4 and a column device 2. The printing arm 4 is arranged on the column device 2 and moves up and down along the extension direction of the column device 2. The column device 2 is arranged on a base 1 and moves up and down along the extension direction of the base 1. The column device 2 includes a first driving device 6, a second driving device 7, and a third driving device 8. The first driving device 6 drives the column device 2 to move up and down along the extension direction of the base 1. The second driving device 7 drives the printing arm 4 to move up and down along the extension direction of the column device 2. The third driving device 8 drives the printing arm 4 to rotate around the column device 2.

[0052] The column device cooperates with the fine lifting guide rail 5-0, which not only realizes the rapid lifting of the printing head 5-1 on a large scale, but also realizes the precise adjustment of the printing head 5-1 on a small scale, thereby ensuring the printing efficiency and the printing precision.

[0053] Further, the printing head 5-1 is rotationally arranged relative to the fine lifting guide rail 5-0. After the printing is completed, the printing head 5-1 is rotated to face the printed and cast wall surface for spraying. Further, the printing head 5-1 includes a head body and a plurality of nozzles detachably connected to the head body. The plurality of nozzles include a printing nozzle for 3D building printing and a spraying nozzle for spraying the wall surface of the 3D printed building. After the printing head 5-1 is rotated to a predetermined angle, the printing nozzle is replaced by the spraying nozzle to spray the wall surface of the printed building. Further, the printing head 5-1 is rotationally arranged relative to the fine lifting guide rail 5-0 in three dimensions, thereby realizing the spraying of the wall surface of the printed building in different directions.

[0054] As other embodiments, the 3D building printing device of the present embodiment further includes a spraying head for spraying the wall surface of the 3D printed building. The spraying head is arranged on the column device and moves up and down along the extension direction of the column device, so that the column device can be used alone for the spraying decoration of the wall surface of the 3D printed building, thereby expanding the use of the 3D building printing device of the present embodiment.

[0055] As shown in FIG. 1, the 3D building printing device includes a printing arm 4 and a column device 2. The printing arm 4 is arranged on the column device 2 and moves up and down along the extension direction of the column device 2. The column device 2 is arranged on a base 1 and moves up and down along the extension direction of the base 1. The column device 2 includes a first driving device 6, a second driving device 7, and a third driving device 8. The first driving device 6 drives the column device 2 to move up and down along the extension direction of the base 1. The second driving device 7 drives the printing arm 4 to move up and down along the extension direction of the column device 2. The third driving device 8 drives the printing arm 4 to rotate around the column device 2. Figures 1-3As shown, the printing arm 4 is rotatably arranged at one end connected with the truss guide rail 3, that is, the printing arm 4 can rotate at the end connected with the truss guide rail 3, the rotation plane of the printing arm 4 is perpendicular to the column device, that is, the printing arm 4 can rotate in the horizontal direction relative to the truss guide rail 3, the printing arm 4 has a folding position and is parallel to the truss guide rail 3 in the folding position; the printing arm 4 is in the folding position, which can reduce the occupied space of the embodiment 3d building printing equipment, facilitate the scene change and transportation. Further, the printing arm 4 also has a working position, and the printing arm 4 is perpendicular to the truss guide rail 3 in the working position, and the two printing arms 4 form a cross structure with the truss guide rail 3. Further, the maximum rotation angle of the printing arm 4 relative to the truss guide rail 3 is 90°.

[0056] As shown in Figures 1-3 , the column device further comprises a walking mechanism 1-3 arranged at the lower end thereof, so that the embodiment 3d building printing equipment can be automatically moved or moved under the traction device, improving the convenience of scene change and transportation. Further, the walking mechanism 1-3 is arranged on the column base 1-2 and can be realized by the prior art, which will not be described in detail here.

[0057] The column device further comprises a connecting and leveling mechanism arranged at the lower end thereof, the connecting and leveling mechanism comprising fixed connecting members (such as bolted) and hydraulic jacks (such as hydraulic telescopic supporting legs), the fixed connecting members being used to connect with the pre-buried fixed members on the ground, and the hydraulic jacks being used to adjust the vertical state of the column device, so as to ensure that the column device maintains the correct posture and is reliably fixed, avoiding the 3d building printing equipment from overturning during use. Further, the connecting and leveling mechanism comprises a base arranged at the lower end of the column device, and at least three groups of fixed connecting members and at least three groups of hydraulic jacks arranged on the base respectively, the three groups of fixed connecting members being respectively located at the three vertices of a triangle, and the three groups of hydraulic jacks being located at the three vertices of a triangle. (Only hydraulic jacks can be arranged, similar to the four telescopic legs of a crane, which has been written here, and the advantage is that the ground does not need to be hardened; or, the fixed connecting members and the hydraulic jacks are arranged at the same time, which should be the combination in actual application, which can ensure the correct posture of the column device and reliably fix it; or, the fixed connecting members are arranged, which has the lowest cost, and only need to pre-bury bolts when the ground is poured. Of course, from the perspective of engineering machinery, the hydraulic jacks and the enlarged base area are the common practice in the mechanical industry.

[0058] As shown in Figures 1-3 , the printing arm 4 comprises a printing arm track arranged in the extension direction of the printing arm 4, and the printing head system 5 is arranged to reciprocate along the printing arm track. Further, as shown in Figures 1-3As shown, the printing arm 4 is a long, narrow frame structure. The print head system 5 is reciprocating along the extension direction of the printing arm 4. That is, the printing arm 4 as a whole serves as a printing arm track, and the print head system 5 can reciprocate along the extension direction of the printing arm 4, moving closer to and further away from the truss guide rail 3, thereby adjusting the horizontal position of the print head system 5 in the extension direction of the printing arm 4. Furthermore, the 3D building printing equipment in this embodiment also includes a second drive, which drives the print head system 5 to reciprocate along the extension direction of the printing arm 4. Furthermore, the second drive can also be implemented using existing technology, and its implementation method can refer to the implementation method of the first drive 6.

[0059] In another embodiment, the printing arm 4 is a triangular frame structure, with one right-angled side connected to the truss guide rail 3 and arranged to reciprocate along the truss guide rail 3, and the other right-angled side serving as the printing arm track.

[0060] In another embodiment, the printing arm 4 is a multi-stage telescopic structure. When the printing arm 4 is in the retracted state, it can further reduce the space occupied and further increase the coverage area of ​​the printing arm 4, thus expanding the application scenarios of the 3D building printing equipment of the present invention.

[0061] like Figures 1-3 As shown in Figure 5, the truss guide rail 3 includes a guide rail portion 3-0 and a manned frame 3-1. One end of the printing arm 4 is connected to the guide rail portion 3-0 and is reciprocating along the extension direction of the guide rail portion 3-0. That is, the printing arm 4 can reciprocate along the extension direction of the guide rail portion 3-0. One end of the guide rail portion 3-0 is connected to a column device via the manned frame 3-1, and the other end is connected to two column devices. The manned frame 3-1 is connected to the corresponding column device and is moving up and down along the extension direction of the corresponding column device. That is, a manned frame 3-1 is provided at one end of the truss guide rail 3, and the manned frame 3-1 can move up and down along the extension direction of the column device, thereby driving the corresponding end of the guide rail portion 3-0 to move up and down. The manned frame 3-1 facilitates technicians to move up and down, observe the printing process, and perform inspection and maintenance of the 3D architectural printing equipment. Furthermore, the manned frame 3-1 is connected to the final stage guide rail of the multi-stage lifting guide rail of the corresponding column device.

[0062] Further, the manned frame 3-1 comprises a frame body 3-10, a horizontal adjusting rail 3-11 and a vertical adjusting rail 3-12. The frame body 3-10 is connected with the column device and is arranged to move up and down along the extension direction of the column device. The horizontal adjusting rail 3-11 is fixedly arranged on the frame body 3-10. The horizontal adjusting rail 3-11 extends along the horizontal direction and is perpendicular to the extension direction of the rail part 3-0. The vertical adjusting rail 3-12 extends along the vertical direction. The vertical adjusting rail 3-12 is connected with the horizontal adjusting rail 3-11 and is arranged to move reciprocally along the extension direction of the horizontal adjusting rail 3-11. That is, the vertical adjusting rail 3-12 can move reciprocally along the extension direction of the horizontal adjusting rail 3-11. The vertical adjusting rail 3-12 is connected with the rail part 3-0 and the rail part 3-0 is arranged to move up and down along the extension direction of the vertical adjusting rail 3-12. That is, the end of the rail part 3-0 connected with the vertical adjusting rail 3-12 can move up and down along the extension direction of the vertical adjusting rail 3-12. The horizontal adjusting rail 3-11 and the vertical adjusting rail 3-12 can be used to adjust the state of the rail part 3-0, including the horizontal and vertical states, so that the rail part 3-0 can be used for building printing operation in the correct position and posture, thereby ensuring the printing precision. Further, the frame body 3-10 is fixedly connected with the last rail of the multi-stage lifting rail of the corresponding column device. The multi-stage lifting rail is telescopic to drive the frame body 3-10 to move up and down. The vertical adjusting rail 3-12 is connected with the horizontal adjusting rail 3-11 through a third drive. The third drive drives the vertical adjusting rail 3-12 to move reciprocally along the extension direction of the horizontal adjusting rail 3-11. The third drive can be realized by the prior art, for example, the implementation manner thereof can refer to the implementation manner of the first drive.

[0063] Further, the truss rail 3 further comprises a truss channel arranged on the rail part 3-0. The two ends of the truss channel extend to the two column devices. That is, the truss channel extends along the extension direction of the rail part 3-0. The length of the truss channel is basically the same as that of the rail part 3-0, which is convenient for technicians to pass through, so as to observe the building printing state and to maintain and repair the 3D building printing equipment.

[0064] Further, the rail part 3-0 is spliced by a plurality of rail units. Each rail unit is arranged to rotate around the connection with another rail unit. That is, the rail part 3-0 is a foldable structure. The overall length can be reduced by folding, so as to reduce the length requirement for the transportation equipment. Further, the rail part 3-0 further comprises a roller mechanism. The folded rail part 3-0 is moved by the roller mechanism, so as to realize the transition and transportation.

[0065] The 3D building printing equipment of the embodiment further comprises a stock bin and a stirring and pumping machine. The stock bin, the stirring and pumping machine and the printing head system 5 are sequentially connected. The stock bin and the stirring and pumping machine are arranged on the column device.

[0066] The 3d building printing device of the embodiment 3d further comprises a troweling mechanism, the troweling mechanism comprises a troweling structure, the troweling structure is used for troweling the material (for example, concrete) sprayed on the wall of the printed building, and the troweling structure is arranged to move up and down along the extension direction of the column device. Further, the troweling structure is arranged on the column guide rail of the column device and is arranged to move up and down along the extension direction of the column guide rail. The truss guide rail 3 is detachably connected with the column device, and can be detached and transferred according to needs; and the column device can be used alone and is provided with a troweling mechanism (for example, the troweling mechanism) and a spraying device, and is used for spraying and troweling processes of the 3d building printing device.

[0067] As other embodiments, the 3d building printing device of the embodiment 3d further comprises a troweling mechanism arranged on the printing arm 4, the troweling mechanism comprises a troweling lifting guide rail arranged on the printing arm 4 and a troweling structure arranged on the troweling lifting guide rail, and the troweling structure is arranged to move up and down along the troweling lifting guide rail and is used for troweling the wall of the printed building.

[0068] As other embodiments, the troweling mechanism is independently arranged, and after the 3d building printing device completes printing and spraying, the troweling mechanism performs troweling operation on the wall of the 3d printed building.

[0069] As shown in FIG. 1, Figure 4 the second embodiment of the 3d building printing device of the present application is shown.

[0070] The difference between the 3d building printing device of the embodiment and the first embodiment is that in the printing arm system a, two printing arms 4 are connected with the truss guide rail 3 through two groups of first drives 6, and the two groups of first drives 6 drive the two groups of printing arms 4 to reciprocate along the extension direction of the truss guide rail 3 respectively, so that the two printing arms 4 can move synchronously or asynchronously, that is, the 3d building printing device of the embodiment can print two groups of symmetrically designed buildings at the same time, or can print two groups of differently designed buildings at the same time, thereby expanding the application scenarios of the 3d building printing device of the embodiment.

[0071] As shown in FIG. 1, Figure 6 the third embodiment of the 3d building printing device of the present application is shown.

[0072] The difference between the 3d building printing device of the embodiment and the first embodiment is that the printing arm 4 is a multi-joint mechanical arm, one end of the printing arm 4 is connected with the truss guide rail 3, and the other end is provided with the printing head system 5.

[0073] The printing arm 4 is rotatably arranged at one end connected with the truss guide rail 3, and comprises at least two connecting arms rotatably connected in sequence, each of the connecting arms has a folding position and is parallel to the truss guide rail 3 in the folding position. Further, the rotation plane of each of the connecting arms is perpendicular to the column device. Further, the rotation angle range of the printing arm 4 relative to the truss guide rail 3 is 0-180°.

[0074] Specifically, the printing arm 4 comprises two connecting arms.

[0075] The fine adjustment lifting track 5-0 of the printing head system 5 is fixedly arranged on the printing arm 4.

[0076] As shown in Figure 7 It is a fourth embodiment of the 3D building printing device.

[0077] The difference between the 3D building printing device of the embodiment and the second embodiment is that the printing arm 4 is a multi-joint mechanical arm, one end of the printing arm 4 is connected with the truss guide rail 3, and the other end is provided with the printing head system 5.

[0078] The printing arm 4 is rotatably arranged at one end connected with the truss guide rail 3, and comprises at least two connecting arms rotatably connected in sequence, each of the connecting arms has a folding position and is parallel to the truss guide rail 3 in the folding position. Further, the rotation plane of each of the connecting arms is perpendicular to the column device. Further, the rotation angle range of the printing arm 4 relative to the truss guide rail 3 is 0-180°.

[0079] Specifically, the printing arm 4 comprises two connecting arms.

[0080] The fine adjustment lifting track 5-0 of the printing head system 5 is fixedly arranged on the printing arm 4.

[0081] It is a fourth embodiment of the 3D building printing device.

[0082] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific implementation of the present application cannot be limited to these descriptions. For ordinary skilled persons in the technical field to which the present application belongs, a number of simple deductions or replacements can be made without departing from the concept of the present application, and all of them should be regarded as falling within the protection scope of the present application.

Claims

1. A 3D building printing device, comprising a lifting system (s), a truss guide rail (3), at least one set of printing arm system (a) and a printing head system (5); the lifting system (s) comprises a pair of oppositely spaced column devices, the truss guide rail (3) extends horizontally, and the two ends are respectively connected with the two column devices and are arranged to move up and down along the extension direction of the column device; characterized in that: The printing arm system (a) comprises two printing arms (4) arranged on both sides of the truss guide rail (3) respectively, one end of the printing arm (4) is connected with the truss guide rail (3) and is arranged to reciprocate along the extension direction of the truss guide rail (3), and the printing head system (5) is arranged on each printing arm (4); The truss guide rail (3) comprises a guide rail part (3-0) and a manned frame (3-1), one end of the printing arm (4) is connected with the guide rail part (3-0) and is arranged to reciprocate along the extension direction of the guide rail part (3-0), one end of the guide rail part (3-0) is connected with a column device through the manned frame (3-1) and the other end is directly connected with the column device, and the manned frame (3-1) is connected with the corresponding column device and is arranged to move up and down along the extension direction of the corresponding column device; or, the two ends of the guide rail part (3-0) are connected with two column devices through a manned frame (3-1) respectively. The manned frame (3-1) comprises a frame body (3-10), a horizontal adjusting guide rail (3-11) and a vertical adjusting guide rail (3-12), the frame body (3-10) is connected with the column device and is arranged to move up and down along the extension direction of the column device, the horizontal adjusting guide rail (3-11) is fixedly arranged on the frame body (3-10), the horizontal adjusting guide rail (3-11) extends along the horizontal direction and is perpendicular to the extension direction of the guide rail part (3-0), the vertical adjusting guide rail (3-12) extends along the vertical direction, the vertical adjusting guide rail (3-12) is connected with the horizontal adjusting guide rail (3-11) and is arranged to reciprocate along the extension direction of the horizontal adjusting guide rail (3-11), and the vertical adjusting guide rail (3-12) is connected with the guide rail part (3-0) and the guide rail part (3-0) is arranged to move up and down along the extension direction of the vertical adjusting guide rail (3-12).

2. The 3D building printing apparatus according to claim 1, characterized in that: The 3D building printing equipment further comprises a first drive (6); in the printing arm system (a), the two printing arms (4) are connected with the truss guide rail (3) through a group of first drives (6), and the first drives (6) drive the two groups of printing arms (4) to move synchronously along the extension direction of the truss guide rail (3), or the two printing arms (4) are connected with the truss guide rail (3) through two groups of first drives (6) respectively, and the two groups of first drives (6) drive the two groups of printing arms (4) to reciprocate along the extension direction of the truss guide rail (3) respectively.

3. The 3D construction printing apparatus according to claim 1, characterized in that: The column device comprises a column guide rail, and the column guide rail comprises a telescopic multi-stage lifting guide rail (1-1), and the two ends of the truss guide rail (3) are connected with the last stage guide rails of two groups of multi-stage lifting guide rails (1-1) respectively.

4. The 3D construction printing apparatus according to claim 3, characterized in that: The column device further comprises a walking mechanism (1-3) arranged at the lower end thereof.

5. The 3D building printing apparatus according to claim 1, characterized in that: The printing head system (5) comprises a fine adjustment lifting guide rail (5-0) arranged on the printing arm (4) and a printing head (5-1) arranged on the fine adjustment lifting guide rail (5-0), and the printing head (5-1) is arranged to move up and down along the extension direction of the fine adjustment lifting guide rail (5-0).

6. The 3D building printing apparatus according to claim 5, characterized in that: The printing head (5-1) is arranged to rotate relative to the fine adjustment lifting guide rail (5-0).

7. The 3D building printing apparatus according to claim 1, characterized in that: The truss guide rail (3) further comprises a truss channel arranged on the guide rail part (3-0), and the truss channel extends to the two column devices respectively at the two ends.

8. The 3d building printing device according to any one of claims 1-7, characterized in that: The printing arm (4) is rotatably arranged at one end connected with the truss guide rail (3), and the rotation plane of the printing arm (4) is perpendicular to the column device.

9. The 3D construction printing apparatus according to claim 8, characterized in that: The printing arm (4) is a multi-stage telescopic structure.

10. The 3D building printing apparatus according to claim 8, characterized in that: The printing arm (4) comprises a printing arm track arranged along the extension direction of the printing arm (4), and the printhead system (5) is arranged to reciprocate along the printing arm track.

11. The 3d building printing device according to any one of claims 1-7, characterized in that: The printing arm (4) is a multi-joint mechanical arm, one end of the printing arm (4) is connected with the truss guide rail (3), and the other end is provided with the printhead system (5).

12. The 3D building printing apparatus according to claim 11, characterized in that: The printing arm (4) is rotatably arranged at one end connected with the truss guide rail (3), and the printing arm (4) comprises at least two connection arms rotatably connected in sequence, each connection arm has a folding position and is parallel to the truss guide rail (3) in the folding position.

13. The 3d building printing device according to any one of claims 1-7, characterized in that: The guide rail part (3-0) is spliced by a plurality of guide rail units, and each guide rail unit is rotatably arranged at the connection with another guide rail unit.

14. The 3D building printing apparatus according to claim 13, characterized in that: The guide rail part (3-0) further comprises a roller mechanism, and the folded guide rail part (3-0) is moved by the roller mechanism.

15. The 3d building printing device according to any one of claims 1-7, characterized in that: The 3D building printing equipment further comprises a leveling mechanism arranged on the printing arm (4), the leveling mechanism comprising a leveling lifting guide rail arranged on the printing arm (4) and a scraper structure arranged on the leveling lifting guide rail, the scraper structure being arranged to move up and down along the leveling lifting guide rail.

16. The 3d building printing device according to any one of claims 1-7, characterized in that: The 3D building printing equipment further comprises a leveling mechanism arranged on the column device, the leveling mechanism comprising a scraper structure, the scraper structure being arranged to move up and down along the extension direction of the column device.

17. The 3d building printing device according to any one of claims 1-7, characterized in that: The column device further comprises a connecting and leveling mechanism arranged at the lower end thereof, the connecting and leveling mechanism comprising a fixed connecting piece and a hydraulic jacking, the fixed connecting piece being used to connect with a pre-buried fixing piece on the ground, and the hydraulic jacking being used to adjust the vertical state of the column device.

18. The 3D construction printing apparatus according to claim 1, characterized in that: The printing arm (4) has a folding position and is parallel to the truss guide rail (3) in the folding position, and the printing arm (4) also has a working position, the printing arm (4) being perpendicular to the truss guide rail (3) in the working position, and the two printing arms (4) and the truss guide rail (3) form a cross structure.

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