3D printing robot constructed on roadway sealing wall

Abstract

The invention discloses a 3D printing robot constructed on a roadway sealing wall. The 3D printing robot comprises a crawler belt moving chassis, a mechanical arm, a sliding rail mechanism, a crusher, a cleaning mechanism, a telescopic mechanism, a telescopic supporting leg rod, a laser range finder, an extrusion nozzle, a conveying pipe and a camera. Wherein the mechanical arm is mounted at the center of the upper part of the crawler belt moving chassis; the telescopic mechanism is located behind the crawler belt moving chassis and provided with a sliding rail mechanism. A telescopic supporting leg rod is mounted in front of the crawler belt moving chassis; a crusher is mounted in front of the slide rail mechanism, and a cleaning mechanism is mounted behind the slide rail mechanism; an extrusion nozzle is mounted at the foremost end of the mechanical arm; the camera is positioned beside the front end of the mechanical arm; and the conveying pipe is arranged in the arm section of the mechanical arm. Compared with the prior art, the 3D printing robot can conduct wall chiseling, gravel cleaning and isolation wall building, only a very small amount of manual operation is needed in the whole process, the labor cost is greatly saved, and meanwhile the construction safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to a 3D printing robot, in particular to a 3D printing robot constructed on a closed wall of a tunnel, belonging to the technical field of 3D printing and building construction. Background Art

[0002] Generally speaking, 3D printing and building construction technology refers to an advanced manufacturing method that uses 3D printing technology to build concrete structures. This manufacturing method can not only greatly shorten the construction time, but also improve construction efficiency. With automation and digital design, 3D printing and building construction technology can reduce manpower requirements, reduce material waste, and realize personalized and complex shape construction. The application of 3D printing and building construction technology covers multiple fields such as residential construction, infrastructure and personalized design, showing broad application prospects.

[0003] After the underground mining is completed, in order to isolate the goaf to prevent air short circuit and toxic and harmful gas and liquid outflow, a permanent closed isolation wall needs to be set up to block it. Specifically, the permanent closed isolation wall is usually composed of concrete walls on both sides and a fireproof layer in the middle. In order to ensure the airtightness of the isolation wall, it is necessary to dig trenches around the isolation wall and build additional closed isolation walls to ensure the effectiveness of the isolation wall. At the same time, after the trench is dug, the gravel in the trench below needs to be cleaned.

[0004] In the prior art, permanent enclosed isolation walls of mine tunnels are mostly constructed manually. The traditional enclosed construction method has low work efficiency, high labor intensity for workers and long construction time, and can no longer meet the requirements of safe and efficient production in mines. Summary of the invention

[0005] The purpose of the present invention is to provide a 3D printing robot for construction on the closed wall of the tunnel in order to solve at least one of the above-mentioned technical problems. The 3D printing robot can perform wall chiseling, gravel cleaning and isolation wall construction. The entire process only requires a very small amount of manual operation, which greatly saves labor costs and reduces construction safety risks.

[0006] The present invention achieves the above-mentioned object through the following technical solutions: A 3D printing robot constructed on a closed wall of a tunnel comprises a crawler mobile chassis and a mechanical arm installed above the crawler mobile chassis; A telescopic mechanism is installed on one side of the crawler mobile chassis, and a slide rail mechanism is installed on the telescopic mechanism. A crusher is installed on one side of the slide rail mechanism through a small rotating table, and a cleaning mechanism is installed on the other side of the slide rail mechanism. A retractable outrigger rod is installed on the other side of the crawler mobile chassis; An extrusion nozzle is installed at the front end of the mechanical arm, and a camera is arranged on one side of the extrusion nozzle and installed on the mechanical arm; A material conveying pipe is arranged in the arm section of the mechanical arm.

[0007] As a further technical solution of the present invention: a first leg rod bin and a second leg rod bin are symmetrically arranged in front of the crawler mobile chassis; a first telescopic arm bin and a second telescopic arm bin are symmetrically arranged on the upper rear side of the crawler mobile chassis, and a storage bin is provided on the lower rear side of the crawler mobile chassis.

[0008] As a further technical solution of the present invention: the mechanical arm includes a base, a large rotating table, a motor box, a first arm segment, a second arm segment, a conversion ring, a first conduit, a second conduit, a third arm segment, a first hydraulic rod and a second hydraulic rod; Wherein, the large rotating platform is located above the base, and a motor box is rotatably installed at the center above the large rotating platform; The first arm section is rotatably mounted on the motor box, and the second arm section is rotatably connected to the first arm section; The second arm section has two holes with the same diameter as the outer diameter of the feed pipe; The conversion ring is rotatably mounted on the second arm segment; The inner diameter of the first conduit is the same as the outer diameter of the second conduit, and the two can move relative to each other; Two identical first hydraulic rods and second hydraulic rods are symmetrically mounted on the first conduit and the second conduit; The third arm section is rotatably mounted on the second guide tube.

[0009] As a further technical solution of the present invention: the slide rail mechanism includes a breaker slide rail mechanism and a cleaning slide rail mechanism.

[0010] As a further technical solution of the present invention: the breaker slide rail mechanism includes a first slide rail, a large slider, a second slide rail a, a second slide rail b, a third slide rail a and a third slide rail b; The large slider is slidably mounted on the first slide rail, the second slide rail a and the second slide rail b are symmetrically slidably mounted on the first slide rail, and the third slide rail a and the third slide rail b are symmetrically slidably mounted on the second slide rail a and the second slide rail b.

[0011] As a further technical solution of the present invention: the cleaning slide rail mechanism includes a fourth slide rail, a fifth slide rail a, a fifth slide rail b, a small slider, a first folding rod a, a first folding rod b, a second folding rod a, a second folding rod b, a slide rail hydraulic rod a and a slide rail hydraulic rod b; The small slider is slidably mounted on the fourth slide rail, the fifth slide rail a and the fifth slide rail b are symmetrically rotatably mounted on both sides of the fourth slide rail, and support frames are provided on both sides of the rear of the fourth slide rail; The first folding rod a and the second folding rod a are rotatably mounted, and the first folding rod b and the second folding rod b are rotatably mounted; The first folding rod a and the first folding rod b are symmetrically rotatably mounted above the support frames on both sides of the rear of the fourth slide rail; The second folding rod a and the second folding rod b are symmetrically rotatably mounted above the fifth slide rail a and the fifth slide rail b respectively; The slide rail hydraulic rod a and the slide rail hydraulic rod b are symmetrically rotatably mounted on the fourth and fifth slide rails a and the fourth and fifth slide rails b respectively.

[0012] As a further technical solution of the present invention: the telescopic mechanism includes slide rails a and b adapted to the breaker slide rail mechanism, slide rails c and d adapted to the cleaning slide rail mechanism, and telescopic arms a and b adapted to the first telescopic arm bin and the second telescopic arm bin.

[0013] As a further technical solution of the present invention: the cleaning mechanism comprises a housing and an internal spiral rod; Wherein, the outer shell comprises a shell body and a discharge port, and the outer shell wraps the upper side portion of the internal spiral rod; The internal spiral rod comprises a main spiral rod and a spiral baffle. The spiral baffle is 1 / 2 the length of the main spiral rod and is located at the lower half of the main spiral rod.

[0014] As a further technical solution of the present invention: it also includes a laser rangefinder installed above the crawler mobile chassis; Wherein, the laser rangefinder comprises a first laser rangefinder, a second laser rangefinder and a third laser rangefinder; The first laser rangefinder is located at the front center above the crawler mobile chassis, and is composed of a laser head, a connecting rod, and a base; the second laser rangefinder and the third laser rangefinder are symmetrically installed at the center of the disc above the second slide rail a and the second slide rail b, and are composed of a laser head and a base.

[0015] The beneficial effects of the present invention are: 1) Two sections of relatively movable conduits are added to the front end of the robot arm, and driven by two symmetrical hydraulic rods. The robot arm has a wider range of motion and can better adapt to the narrow working environment of the tunnel. A conversion ring is added between the second arm section of the robot arm and the first conduit. The opening of the conversion ring rotates to the designated feed pipe orifice to realize the switching of concrete materials and fireproof materials, which has higher work efficiency; 2) The crusher and cleaning mechanism are driven by a slide rail mechanism, which takes up less space than traditional hydraulic mechanical arms. The robot is more stable when working and can provide greater driving force. The cleaning mechanism adopts a new mechanical structure, which is different from the traditional excavator structure. It can clean the gravel faster due to the narrow grooves chiseled by the crusher. The mechanism is smaller and occupies less space. The cleaning mechanism and the rear cleaning slide rail mechanism are installed on the telescopic mechanism and can be retracted into the crawler mobile chassis body when not working, saving space and improving space utilization. The folding part of the cleaning slide rail mechanism uses the dead point principle of the four-bar mechanism, which is more stable and safer when unfolded; 3) Different from the traditional retractable outrigger rod, this robot only adds an outrigger rod at the other end of the crusher and cleaning mechanism relative to the crawler mobile chassis body to stabilize the reaction force of the crusher and cleaning mechanism when they are working. The outrigger rod is more targeted and the robot is lighter and more flexible; 4) Compared with the existing feed pipe, the feed pipe of this device can be disassembled. In view of the particularity of materials in 3D printing and building construction technology, the feed pipe needs to be cleaned frequently. The design of this device is easy to disassemble and clean. The feed pipe is located in the arm section, eliminating the influence of the external environment on the feed pipe, and the feed pipe is safer and more durable; 5) A small camera is installed on the side of the front end of the robotic arm, which can not only observe the printing situation of the robot, but also capture the working conditions of the crusher and cleaning mechanism in real time through the movement of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a stereogram of an embodiment of the present invention; Figure 2 is a perspective view of an embodiment of a mechanical arm of the present invention; Figure 3 is a front view of the slide rail mechanism of the present invention; Figure 4 is a top view of the slide rail mechanism of the present invention; Figure 5 is a three-dimensional diagram of the telescopic mechanism of the present invention; Figure 6 1. The front view and the rear view of the crawler mobile chassis of the present invention; Figure 7 It is a three-dimensional diagram of the cleaning mechanism of the present invention; Figure 8 is a three-dimensional diagram of an embodiment of a cleaning mechanism housing of the present invention; Fig. 9 It is a three-dimensional diagram of the spiral rod of the cleaning mechanism of the present invention; Fig.10 It is a three-dimensional diagram of the conversion circle of the present invention; Fig.11 It is a stereogram of the laser rangefinder of the present invention In the figure: 1. Tracked mobile chassis, 1-1. First outrigger rod compartment, 1-2. Second outrigger rod compartment, 1-3. First telescopic arm compartment, 1-4. Second telescopic arm compartment, 1-5. Storage compartment; 2. Mechanical arm, 2-1. Base, 2-2. Large rotating table, 2-3. Motor box, 2-4. First arm section, 2-5. Second arm section, 2-6. Conversion ring, 2-6-1. Conversion ring opening, 2-6-2. Rotation center, 2-7. First guide tube, 2-8. Second guide tube, 2-9. Third arm section, 2-10. First hydraulic rod, 2-11. Second hydraulic rod; 3. Slide rail mechanism, 3-1. First slide rail, 3-2. Large slider, 3-3. Second slide rail a, 3-4. Second slide rail b, 3-5. Third slide rail a, 3-6. Third slide rail b, 3-7. Fourth slide rail, 3-8. Fifth slide rail a, 3-9. Fifth slide rail b, 3-10. Small slider, 3-11. First folding rod a, 3-12. Second folding rod a, 3-13. Slide rail hydraulic rod a, 3-14. First folding rod b, 3-15. Second folding rod b, 3-16. Slide rail hydraulic rod b; 4. Telescopic mechanism, 4-1. Slide rail a, 4-2. Slide rail b, 4-3. Slide rail c, 4-4. Slide rail d, 4-5. Telescopic arm a, 4-6. Telescopic arm b; 5. Crusher; 6. cleaning mechanism, 6-1. outer shell, 6-1-1. shell, 6-1-2. discharge port, 6-2. internal spiral rod, 6-2-1. main spiral rod, 6-2-2. spiral baffle; 7. Retractable outrigger rod; 8. Laser rangefinder, 8-1. Laser head, 8-2. Connecting rod, 8-3. Base; 9. Small rotating table, 10. Extrusion nozzle, 11. Feed pipe, 12. Camera. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Embodiment 1, as Figure 1As shown, this embodiment provides a 3D printing robot for construction on a closed wall of a tunnel, the 3D printing robot includes a crawler mobile chassis 1, a mechanical arm 2, a slide rail mechanism 3, a telescopic mechanism 4, a crusher 5, a cleaning mechanism 6, a telescopic leg rod 7, a laser rangefinder 8, a small rotating table 9, an extrusion nozzle 10, a feed pipe 11 and a camera 12; Among them, the robot arm 2 is installed at the center above the crawler mobile chassis 1, the telescopic mechanism 4 is located at the rear (left side) of the crawler mobile chassis 1, and a slide rail mechanism 3 is installed thereon, and the slide rail mechanism 3 can be retracted into the body of the crawler mobile chassis 1, and a telescopic leg rod 7 is installed in front of the crawler mobile chassis 1 (right side), a crusher 5 is installed in front of the slide rail mechanism 3 (left side) through a pin rotating table 9, and a cleaning mechanism 6 is installed at the rear (right side) of the slide rail mechanism 3. An extrusion nozzle 10 is installed at the front end of the robot arm 2, a camera 12 is located on the side of the front end of the robot arm 2, and a feed pipe 11 is arranged inside the arm section of the robot arm 2.

[0019] Embodiment 2: In addition to all the technical features of Embodiment 1, this embodiment also includes: like Figure 6 As shown, a leg rod bin adapted to the telescopic leg rod 7 is provided in front of the crawler mobile chassis 1 (the leg rod bin includes a first leg rod bin 1-1 and a second leg rod bin 1-2 symmetrically arranged), and the telescopic leg rod 7 can be stored in the leg rod bin when not in use; A telescopic arm bin (the telescopic arm bin includes a symmetrically arranged first telescopic arm bin 1-3 and a second telescopic arm bin 1-4) adapted to the telescopic arm of the telescopic mechanism 4 (the telescopic arm includes a telescopic arm a4-5 and a telescopic arm b4-6) is provided on the upper rear side of the crawler mobile chassis 1; A storage bin 1-5 adapted to the cleaning mechanism 6 and the cleaning slide rail mechanism is provided at the rear lower side of the crawler mobile chassis 1. When not in use, the cleaning mechanism 6 and the cleaning slide rail mechanism can be retracted into the storage bin 1-5 by a telescopic arm.

[0020] Embodiment 3: In addition to all the technical features of Embodiment 2, this embodiment also includes: like Fig.11 As shown, a laser rangefinder 8 is installed above the crawler mobile chassis 1, and the laser rangefinder 8 includes a first laser rangefinder 81, a second laser rangefinder 82 and a third laser rangefinder 83; wherein the first laser rangefinder 81 is located at the front end center above the crawler mobile chassis 1, and is composed of a laser head 8-1, a connecting rod 8-2, and a base 8-3; the second laser rangefinder 82 and the third laser rangefinder 83 are symmetrically installed at the center of the disc above the second slide rail a3-3 and the second slide rail b3-4, and are composed of a laser head 8-1 and a base 8-3.

[0021] In this embodiment, the first laser rangefinder 81 is used to scan the road conditions when the 3D printing robot moves forward, so as to guide the 3D printing robot to move forward; the second laser rangefinder 82 and the third laser rangefinder 83 are used to scan the working surface of the tunnel during operation, obtain the distance data of the tunnel contour, transmit it to the host computer for data storage, and then the host computer software couples and calculates the measurement data and the sensor motion data to complete the cross-sectional contour splicing to form the three-dimensional morphology of the tunnel closed wall construction position. Finally, after post-processing, the software slices the closed wall to generate the printing path and the working G code.

[0022] Embodiment 4: In addition to all the technical features of Embodiment 3, this embodiment also includes: The slide rail mechanism 3 comprises a breaker slide rail mechanism and a cleaning slide rail mechanism.

[0023] like Figure 1 and Figure 3 As shown, the breaker slide rail mechanism is located in front of the slide rail mechanism 3, which includes a first slide rail 3-1, a large slider 3-2, a second slide rail a3-3, a second slide rail b3-4, a third slide rail a3-5 and a third slide rail b3-5; Among them, the large slider 3-2 is slidably installed on the first slide rail 3-1, the second slide rail a3-3 and the second slide rail b3-4 are symmetrically slidably installed on the first slide rail 3-1, and the third slide rail a3-5 and the third slide rail b3-6 are symmetrically slidably installed on the second slide rail a3-3 and the second slide rail b3-4.

[0024] In this embodiment, after the robot moves to the designated working position, the retractable leg rod 7 is extended to support the ground, and the breaker hammer provided in the crusher 5 is moved to the upper part of the ground through the breaker hammer slide rail mechanism to chisel the tunnel floor and carve out grooves; then the breaker hammer changes direction through the small rotating table 9 installed on the large slider 3-2, and moves to the walls on both sides and above through the breaker hammer slide rail mechanism to chisel the walls on both sides and above.

[0025] like Figure 4 As shown, the cleaning rail mechanism is located behind the rail mechanism 3, which includes the fourth rail 3-7, the fifth rail (the fifth rail includes the fifth rail a3-8 and the fifth rail b3-9), the small slider 3-10, the first folding rod (the first folding rod includes the first folding rod a3-11 and the first folding rod b3-14), the second folding rod (the second folding rod includes the second folding rod a3-12 and the second folding rod b3-15) and the rail hydraulic rod (the rail hydraulic rod includes the rail hydraulic rod a3-13 and the rail hydraulic rod b3-16); The small slider 3-10 is slidably mounted on the fourth slide rail 3-7, the fifth slide rail is symmetrically rotated and mounted on both sides of the fourth slide rail 3-7, and support frames are provided on both sides of the rear of the fourth slide rail 3-7; The first folding rod a3-11 and the second folding rod a3-12 are rotatably installed, the first folding rod b3-14 and the second folding rod b3-15 are rotatably installed, the first folding rod a3-11 and the first folding rod b3-14 are symmetrically rotatably installed above the support frames on both sides behind the fourth slide rail 3-7, the second folding rod a3-12 and the second folding rod b3-15 are symmetrically rotatably installed above the fifth slide rail a3-8 and the fifth slide rail b3-9 respectively, and the slide rail hydraulic rod (the slide rail hydraulic rod includes the slide rail hydraulic rod a3-13 and the slide rail hydraulic rod b3-16) is symmetrically rotatably installed on the fourth slide rail and the fifth slide rail (the fifth slide rail includes the fifth slide rail a3-8 and the fifth slide rail b3-9).

[0026] In the embodiment, after the crusher 5 has chiseled grooves in the surrounding walls, the cleaning mechanism 6 and the cleaning slide rail mechanism are extended through the telescopic arm to leave the storage bin 1-5 and reach the working position, and the fifth slide rails on both sides are unfolded by the slide rail hydraulic rod. At this time, the mechanism composed of the fifth slide rail and the first folding rod and the second folding rod is in the dead point position, and the cleaning mechanism 6 begins to clean the gravel in the groove on the ground below. After the cleaning is completed, the cleaning mechanism 6 and the cleaning slide rail mechanism are retracted into the storage bin 1-5 through the telescopic arm, and the telescopic leg rod 7 is retracted into the leg rod bin.

[0027] like Figure 5 As shown, the telescopic mechanism 4 is provided with a slide rail compatible with the breaker slide rail mechanism in front (the slide rail includes a slide rail a4-1 and a slide rail b4-2), a slide rail compatible with the cleaning slide rail mechanism is provided at the lower rear side (the slide rail includes a slide rail c4-3 and a slide rail d4-4), and a telescopic arm compatible with the telescopic arm bin is provided at the upper rear side (the telescopic arm includes a telescopic arm a4-5 and a telescopic arm b4-6).

[0028] like Figure 7 , Figure 8 and Fig. 9 As shown, the cleaning mechanism includes an outer shell 6-1 and an internal spiral rod 6-2; the outer shell 6-1 includes a shell body 6-1-1 and a discharge port 6-1-2, and the outer shell 6-1 wraps the upper 2 / 3 part of the internal spiral rod 6-2; the internal spiral rod 6-2 includes a main spiral rod 6-2-1 and a spiral baffle 6-2-2, and the spiral baffle 6-2-2 is 1 / 2 of the length of the main spiral rod 6-2-1 and is located in the lower half of the main spiral rod 6-2-1.

[0029] In the embodiment, the cleaning mechanism 6 moves to the top of the groove through the cleaning slide rail mechanism, the lower part of the spiral rod slowly moves into the groove, the internal spiral rod 6-2 starts to rotate, and the small gravel in the groove is brought to the top of the spiral rod through the spiral blades and spiral baffles 6-2-2 on both sides of the lower spiral rod, and the gravel is discharged to the side of the groove through the discharge port.

[0030] Embodiment 5, in addition to all the technical features of Embodiment 4, this embodiment also includes: Figure 2 As shown, the mechanical arm 2 includes a base 2-1, a large rotating table 2-2, a motor box 2-3, a first arm segment 2-4, a second arm segment 2-5, a conversion ring 2-6, a first guide tube 2-7, a second guide tube 2-8, a third arm segment 2-9 and a hydraulic rod (the hydraulic rod includes a first hydraulic rod 2-10 and a second hydraulic rod 2-11); The large rotating platform 2-2 is located above the base 2-1, and a motor box 2-3 is rotatably installed at the center of the top thereof. The large rotating platform 2-2 can drive the motor box 2-3 to rotate, thereby realizing the rotation of the robot arm 2 in all directions; The first arm section 2-4 is rotatably mounted on the motor box 2-3, and the second arm section 2-5 is rotatably connected to the first arm section 2-4; The second arm section 2-5 has two holes with the same diameter as the outer diameter of the feed pipe 11. The conversion ring 2-6 is rotatably mounted on the second arm section 2-5. The inner diameter of the first conduit 2-7 is the same as the outer diameter of the second conduit 2-8, and the two can move relative to each other. Two identical first hydraulic rods 2-10 and second hydraulic rods 2-11 are symmetrically mounted on the first conduit 2-7 and the second conduit 2-8; The third arm section 2-9 is rotatably mounted on the second guide tube 2-8.

[0031] In this embodiment, after the trench is excavated and the gravel below is cleaned, the conversion ring opening 2-6-1 of the conversion ring 2-6 takes the rotation center 2-6-2 as the center (such as Fig.10 As shown in the figure, the robot 2 rotates to the orifice of the concrete feeding pipe 11, and the concrete enters the first conduit 2-7 and the second conduit 2-8. The robot 2 moves the extrusion nozzle 10 to the top of the groove, and drives the extrusion nozzle 10 to move during the printing process. The extrusion nozzle 10 extrude the concrete printing material to perform the printing operation, and the construction of the first concrete wall is completed; then, the conversion ring opening 2-6-1 rotates to the orifice of the fireproof material feeding pipe 11, and the fireproof material enters the first conduit 2-7 and the second conduit 2-8. The robot 2 continues to perform the second layer printing operation to complete the construction of the second fireproof layer; then, the conversion ring opening 2-6-1 rotates to the orifice of the concrete feeding pipe 11, and the concrete enters the first conduit 2-7 and the second conduit 2-8. The robot 2 performs the third layer printing operation to complete the construction of the third concrete wall; finally, the side camera 12 of the robot 2 is used to check the molding of the closed wall. After meeting the requirements, the robot 2 is retracted and the robot leaves the lane.

[0032] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A 3D printing robot for construction on a closed wall of a tunnel, comprising a crawler mobile chassis (1) and a mechanical arm (2) mounted above the crawler mobile chassis (1); characterized in that: A telescopic mechanism (4) is installed on one side of the crawler mobile chassis (1), and a slide rail mechanism (3) is installed on the telescopic mechanism (4); a crusher (5) is installed on one side of the slide rail mechanism (3) via a small rotating table (9); and a cleaning mechanism (6) is installed on the other side of the slide rail mechanism (3); A retractable leg rod (7) is installed on the other side of the crawler mobile chassis (1); An extrusion nozzle (10) is installed at the front end of the mechanical arm (2), and a camera (12) is provided on one side of the extrusion nozzle (10) and installed on the mechanical arm (2); A material conveying pipe (11) is provided in the arm section of the mechanical arm (2).

2. The 3D printing robot according to claim 1, characterized in that: A first leg rod bin (1-1) and a second leg rod bin (1-2) are symmetrically arranged at the front of the crawler mobile chassis (1); a first telescopic arm bin (1-3) and a second telescopic arm bin (1-4) are symmetrically arranged at the upper rear side of the crawler mobile chassis (1); and a storage bin (1-5) is provided at the lower rear side of the crawler mobile chassis (1).

3. The 3D printing robot according to claim 1, characterized in that: The mechanical arm (2) comprises a base (2-1), a large rotating platform (2-2), a motor box (2-3), a first arm section (2-4), a second arm section (2-5), a conversion ring (2-6), a first guide tube (2-7), a second guide tube (2-8), a third arm section (2-9), a first hydraulic rod (2-10) and a second hydraulic rod (2-11); The large rotating platform (2-2) is located above the base (2-1), and a motor box (2-3) is rotatably mounted at the center above the large rotating platform (2-2); The first arm section (2-4) is rotatably mounted on the motor box (2-3), and the second arm section (2-5) is rotatably connected to the first arm section (2-4); The second arm section (2-5) has two holes with the same diameter as the outer diameter of the material delivery pipe (11) formed inside; The conversion ring (2-6) is rotatably mounted on the second arm section (2-5); The inner diameter of the first conduit (2-7) is the same as the outer diameter of the second conduit (2-8), and the two can move relative to each other; Two identical first hydraulic rods (2-10) and second hydraulic rods (2-11) are symmetrically mounted on the first conduit (2-7) and the second conduit (2-8); The third arm section (2-9) is rotatably mounted on the second guide tube (2-8).

4. The 3D printing robot according to claim 2, characterized in that: The slide rail mechanism (3) comprises a breaker slide rail mechanism and a cleaning slide rail mechanism.

5. The 3D printing robot according to claim 4, characterized in that: The breaker hammer slide rail mechanism comprises a first slide rail (3-1), a large sliding block (3-2), a second slide rail a (3-3), a second slide rail b (3-4), a third slide rail a (3-5) and a third slide rail b (3-6); The large slider (3-2) is slidably mounted on the first slide rail (3-1), the second slide rail a (3-3) and the second slide rail b (3-4) are symmetrically slidably mounted on the first slide rail (3-1), and the third slide rail a (3-5) and the third slide rail b (3-6) are symmetrically slidably mounted on the second slide rail a (3-3) and the second slide rail b (3-4).

6. The 3D printing robot according to claim 5, characterized in that: The cleaning slide rail mechanism comprises a fourth slide rail (3-7), a fifth slide rail a (3-8), a fifth slide rail b (3-9), a small slider (3-10), a first folding rod a (3-11), a first folding rod b (3-14), a second folding rod a (3-12), a second folding rod b (3-15), a slide rail hydraulic rod a (3-13) and a slide rail hydraulic rod b (3-16); The small slider (3-10) is slidably mounted on the fourth slide rail (3-7), the fifth slide rail a (3-8) and the fifth slide rail b (3-9) are symmetrically rotatably mounted on both sides of the fourth slide rail (3-7), and support frames are provided on both sides of the rear of the fourth slide rail (3-7); The first folding rod a (3-11) and the second folding rod a (3-12) are rotatably mounted, and the first folding rod b (3-14) and the second folding rod b (3-15) are rotatably mounted; The first folding rod a (3-11) and the first folding rod b (3-14) are symmetrically rotatably mounted above the support frames on both sides of the rear of the fourth slide rail (3-7); The second folding rod a (3-12) and the second folding rod b (3-15) are symmetrically rotatably mounted above the fifth slide rail a (3-8) and the fifth slide rail b (3-9) respectively; The slide rail hydraulic rod a (3-13) and the slide rail hydraulic rod b (3-16) are symmetrically rotatably mounted on the fourth slide rail (3-7) and the fifth slide rail a (3-8) and on the fourth slide rail (3-7) and the fifth slide rail b (3-9), respectively.

7. The 3D printing robot according to claim 6, characterized in that: The telescopic mechanism (4) comprises a slide rail a (4-1) and a slide rail b (4-2) adapted to the breaker slide rail mechanism, a slide rail c (4-3) and a slide rail d (4-4) adapted to the cleaning slide rail mechanism, and a telescopic arm a (4-5) and a telescopic arm b (4-6) adapted to the first telescopic arm bin (1-3) and the second telescopic arm bin (1-4).

8. The 3D printing robot according to claim 1, characterized in that: The cleaning mechanism (6) comprises an outer shell (6-1) and an internal spiral rod (6-2); The outer shell (6-1) comprises a shell body (6-1-1) and a discharge port (6-1-2), and the outer shell (6-1) wraps the upper part of the internal spiral rod (6-2); The internal spiral rod (6-2) comprises a main spiral rod (6-2-1) and a spiral baffle (6-2-2); the spiral baffle (6-2-2) is 1 / 2 the length of the main spiral rod (6-2-1) and is located at the lower half of the main spiral rod (6-2-1).

9. The 3D printing robot according to claim 1, characterized in that: It also includes a laser rangefinder (8) installed above the crawler mobile chassis (1); Wherein, the laser rangefinder (8) comprises a first laser rangefinder (81), a second laser rangefinder (82) and a third laser rangefinder (83); The first laser rangefinder (81) is located at the center of the front end above the crawler mobile chassis (1), and is composed of a laser head (8-1), a connecting rod (8-2), and a base (8-3); the second laser rangefinder (82) and the third laser rangefinder (83) are symmetrically installed at the center of the disc above the second slide rail a (3-3) and the second slide rail b (3-4), and are composed of a laser head (8-1) and a base (8-3).

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