Novel 3D printing building robot and control method thereof

Abstract

The invention discloses a novel 3D printing building robot and a control method thereof, and the building robot comprises a printing spray head device which is used for extruding concrete for printing; the transverse telescopic device is used for transversely stretching out and drawing back and driving the printing nozzle device to transversely move; the vertical telescopic device is arranged on the lower side of the transverse telescopic device and used for vertically stretching out and drawing back and driving the transverse telescopic device to vertically move. The rotating device is arranged on the lower side of the vertical telescopic device and used for driving the vertical telescopic device to rotate in the horizontal plane. According to the design, through the transverse telescopic mechanism and the vertical telescopic mechanism, contraction and extension of the overall structure can be achieved, the overall structure is small after contraction, the foundation height is low, overall machine hoisting and turnover transportation are facilitated, and in-situ printing can be conducted without disassembly and assembly; after the robot is stretched, the working space is large, a single machine can print a building or a component product with a large area, and multiple machines can cooperate to print a building with a larger area; by adopting light materials and optimal design, the whole machine is light in weight and can be placed on a floor for high-rise building printing.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing construction technology, and in particular to a novel 3D printing construction robot and a control method thereof. Background Art

[0002] In recent years, 3D printing construction technology, as an emerging technology in the field of construction, is mainly used in the production of building components. Its special process manufacturing method combines digitization and automation, which can realize the production of building components with complex spatial structures. It also has the characteristics of saving materials and high construction efficiency. Although 3D printing construction technology has obvious advantages, it also has the following shortcomings: the existing 3D printing construction robots are mostly truss structures. When printing circular building components, they cannot print a true circle and the printing accuracy is relatively poor. At the same time, because the existing 3D printing construction robots have more parts and a larger overall size, they occupy a larger area, are difficult to assemble and disassemble, and are not easy to transport and hoist. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects and problems of poor printing accuracy and large footprint in the prior art, and to provide a new 3D printing construction robot with high printing accuracy and small footprint and a control method thereof.

[0004] To achieve the above objectives, the technical solution of the present invention is: a new 3D printing construction robot, including a printing nozzle device, an automatic feeding system, a horizontal telescopic device, a vertical telescopic device, and a rotating device;

[0005] The printing nozzle device is arranged on one side of the transverse telescopic device, and the printing nozzle device is used to store concrete and extrude concrete downward for printing;

[0006] The automatic feeding system is used to deliver concrete to the printing nozzle device;

[0007] The transverse extension device is used to realize its own transverse extension and drive the print head device to move transversely;

[0008] The vertical telescopic device is arranged at the lower side of the horizontal telescopic device, and the vertical telescopic device is used to realize its own vertical telescopic movement and drive the horizontal telescopic device to move vertically;

[0009] The rotating device is arranged at the lower side of the vertical telescopic device, and is used to drive the vertical telescopic device to rotate horizontally along its circumference.

[0010] The rotating device includes a base, a driving gear, a rotating platform, a rotating motor, and a slewing bearing. The rotating platform is rotatably arranged on the upper side of the base and connected to the vertical telescopic device. The rotating motor is installed on the upper side of the base. The driving gear is arranged on the output shaft of the rotating motor. The outer ring of the slewing bearing is connected to the base. The inner ring of the slewing bearing is connected to the rotating platform and is circumferentially provided with internal teeth, and the internal teeth are meshed and connected with the driving gear.

[0011] The rotating device also includes a fixed seat, a transmission shaft, a driving pulley, a driven pulley, and a synchronous belt. The fixed seat is arranged on the upper side of the base, the transmission shaft is rotatably connected to the fixed seat, the driven pulley and the driving gear are respectively sleeved on the outer circumference of the transmission shaft, the driving pulley is sleeved on the output shaft of the rotating motor, and the synchronous belt is wound around the outer circumferences of the driven pulley and the driving pulley.

[0012] The vertical telescopic device comprises a first telescopic frame, a second telescopic frame, a nut connecting plate and two screw modules, the first telescopic frame is connected to the upper side of the rotating device, the two screw modules are symmetrically connected to the upper side of the rotating device, the two sides of the nut connecting plate are respectively connected to the output ends of the two screw modules, the second telescopic frame is connected to the upper side of the nut connecting plate, and the lateral telescopic device is connected to the upper side of the second telescopic frame;

[0013] The screw module includes a screw drive motor, a screw driving pulley, a screw driven pulley, a screw synchronous belt, a ball screw, and a nut seat. The screw drive motor is installed on the rotating device, one end of the ball screw is rotatably connected to the rotating device, and the other end is rotatably connected to the outer side of the first telescopic frame, the screw driving pulley is connected to the output shaft of the screw drive motor, the screw driven pulley is sleeved on the non-threaded section of the ball screw, the screw synchronous belt is wound around the outer circumferential surfaces of the screw driving pulley and the screw driven pulley, the nut seat is threadedly connected to the threaded section of the ball screw, and the two sides of the nut connecting plate are respectively connected to the two nut seats.

[0014] The vertical telescopic device also includes a third telescopic frame, a telescopic synchronous belt and two telescopic pulleys, the two telescopic pulleys are respectively located at the upper and lower parts of the second telescopic frame and are rotatably connected to the second telescopic frame, the telescopic synchronous belt is wound around the outer circumferences of the two telescopic pulleys, one side of the telescopic synchronous belt is connected to the first telescopic frame through a pressure plate fixing member, the third telescopic frame is horizontally arranged, the second telescopic frame is U-shaped, the two inner side walls of the second telescopic frame are vertically connected to the inner guide rails, the outer side of the second telescopic frame is connected to the inner slider and the fixed plate, the second telescopic frame is slidably connected to the inner guide rail through the inner slider, and the fixed plate is connected to the telescopic synchronous belt.

[0015] The transverse telescopic device comprises a driving module, a first transverse telescopic section and a second transverse telescopic section;

[0016] The driving module includes a driving frame, a steering frame, and a transverse telescopic motor. The transverse telescopic motor and the steering frame are respectively installed on the driving frame. The steering frame is rotatably connected with a first wheel shaft, a second wheel shaft, and a third wheel shaft. The two ends of the first wheel shaft are respectively sleeved with a first driven pulley and a first driving gear, the two ends of the second wheel shaft are respectively sleeved with a second driving pulley and a second driving gear, the two ends of the third wheel shaft are respectively sleeved with a third driving pulley and a third driving gear, the output shaft of the transverse motor is connected with the first driving pulley, the outer peripheral surfaces of the first driving pulley and the first driven pulley are meshed and connected with the first synchronous belt, the second driving gear is meshed and connected to the first driving gear, and the third driving gear is meshed and connected to the second driving gear, and the fourth wheel shaft and the fifth wheel shaft are rotatably connected to the driving frame, the two ends of the fourth wheel shaft are respectively sleeved with a second driven pulley and a fourth driving pulley, the two ends of the fifth wheel shaft are respectively sleeved with the third driven pulley and the fifth driving pulley. The transmission gear of claim 1, wherein the outer circumferential surfaces of the second driving pulley and the second driven pulley are meshed and connected with the second synchronous belt, and the outer circumferential surfaces of the third driving pulley and the third driven pulley are meshed and connected with the third synchronous belt. One end of the first transverse telescopic section is connected to one side of the driving frame, and the other end of the first transverse telescopic section is rotatably connected to the fourth driven pulley and the fifth driven pulley, the outer circumferential surfaces of the fourth driving pulley and the fourth driven pulley are meshed and connected with the fourth synchronous belt, and the outer circumferential surfaces of the fifth driving pulley and the fifth driven pulley are meshed and connected with the fifth synchronous belt. The second transverse telescopic section is slidably connected to the first transverse telescopic section, and the print head device is connected to one end of the second transverse telescopic section, one side of the fourth synchronous belt and the fifth synchronous belt are respectively connected to the left and right sides of the second transverse telescopic section through a synchronous belt connecting piece, and the other sides of the fourth synchronous belt and the fifth synchronous belt are connected to counterweight blocks, and the two counterweight blocks are respectively slidably connected to the left and right sides of the first transverse telescopic section.

[0017] The first transverse telescopic section includes two first transverse telescopic frames and a first connecting frame, the two first transverse telescopic frames are respectively connected to one side of the driving frame, the two first transverse telescopic frames are connected to each other through the first connecting frame, the outer side of the first transverse telescopic frame is connected to a first transverse telescopic guide rail, the first transverse telescopic guide rail is slidably connected to a first transverse telescopic slider, the first transverse telescopic slider is connected to a counterweight mounting frame, the counterweight is arranged on the counterweight mounting frame, the first transverse telescopic frame is vertically connected to a first connecting plate at the upper side of the middle part, a first connecting rod is connected between the first connecting plate and the first transverse telescopic frame, and the upper side of the first connecting frame is connected to the first slider;

[0018] The second transverse telescopic section includes two second transverse telescopic frames and a second connecting frame. The two second transverse telescopic frames are slidably connected to the upper side of the first sliding block. The two second transverse telescopic frames are connected to each other through the second connecting frame. The upper side of the second transverse telescopic frame located in the middle is vertically connected with a second connecting plate. A second connecting rod is connected between the second connecting plate and the second transverse telescopic frame.

[0019] The transverse telescopic device also includes a transverse telescopic third section, which is located between the transverse telescopic first section and the transverse telescopic second section, the transverse telescopic first section includes two third transverse telescopic frames and a third connecting frame, the two third transverse telescopic frames are slidably connected to the upper side of the first slider, the two third transverse telescopic frames are connected to each other through the third connecting frame, the third transverse telescopic frame is located at the upper side of the middle part and is vertically connected with a third connecting plate, a third connecting rod is connected between the third connecting plate and the third transverse telescopic frame, the upper side of the third connecting frame is connected with a second slider, the two second transverse telescopic frames are slidably connected to the upper side of the second slider, and the synchronous belt connecting member spans the upper side of the third transverse telescopic frame and is located between the third transverse telescopic frame and the third connecting plate.

[0020] The print head device includes a print head frame, a print head motor, a transmission shaft, a stirring shaft, a feeding shell, and a print head. The print head frame is connected to the output end of the lateral telescopic device, and the print head motor and the feeding shell are respectively installed on the upper and lower parts of the print head frame. The output shaft of the print head motor is connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the stirring shaft. The stirring shaft is located in the feeding shell, and the lower end of the feeding shell is communicated with the print head. The input port of the feeding shell is connected to the automatic feeding system.

[0021] A novel control method for a 3D printing construction robot, the control method comprising the following steps:

[0022] S1. Import the 3D model of the building to be printed, and slice the 3D model into multiple layers according to the set printing height, with the thickness of each layer as the movement height of the vertical telescopic device;

[0023] S2, controlling the vertical telescopic device to work, so that the transverse telescopic device and the print head device move upward by the thickness of one slice, and then controlling the rotation device and the transverse telescopic device to work, so that the print head device moves according to the set trajectory, and at the same time controlling the print head device to output concrete raw materials downward until the model printing of this layer is completed;

[0024] S3, after the printing of the building in the current slice is completed, repeat the step S2 until the printing of the building to be printed is completed;

[0025] S4, after printing is completed, the horizontal telescopic device is controlled to shrink, and then the vertical telescopic device is controlled to shrink, and at the same time, the rotating device is controlled to rotate, so that the horizontal telescopic device, the vertical telescopic device, and the rotating device return to the starting point.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. In a novel 3D printing construction robot and its control method of the present invention, the horizontal and vertical movement of the printing nozzle device is realized by a vertical telescopic device and a horizontal telescopic device, so that the overall structure can be contracted and extended. After contraction, the overall volume will become smaller, so that the overall footprint is small, the base height is low, it is convenient for the whole machine to be hoisted and transported, and it can be printed in situ without disassembly. After extension, the robot has a large working space, a single machine can realize the printing of buildings or component products with a larger area, and multiple machines can also realize the printing of buildings with a larger area in collaboration. Due to the lightweight structure and light weight of the whole machine, it can be placed on the floor for high-rise building printing, and at the same time, with the rotation of the rotating device, the printing nozzle device can not only realize the printing of conventional buildings, but also can realize the printing of circular buildings and high-rise buildings, with high printing accuracy and wide printing range. Therefore, the present invention has high printing accuracy and small footprint.

[0028] 2. In a novel 3D printing construction robot and control method thereof of the present invention, by adopting a slewing bearing, the rotating motor and the driving gear can be placed in the slewing bearing, so that the overall volume becomes relatively small, and at the same time, the rotating motor drives the driving pulley to rotate, and the motor driving force is transmitted to the driving gear through the synchronous belt transmission, with high transmission efficiency and relatively stable operation. The rotation of the driving gear drives the inner ring of the slewing bearing to rotate, and then drives the vertical telescopic device to rotate. Therefore, the present invention has a small volume and a stable working process.

[0029] 3. In a novel 3D printing construction robot and its control method of the present invention, the vertical telescopic device adopts a two-stage telescopic method. When lifting, the second telescopic frame is driven by the screw drive to achieve lifting. The second telescopic frame and the third telescopic frame are driven by a synchronous belt, so that when the second telescopic frame is lifted, the third telescopic frame is lifted synchronously on the second telescopic frame, so that the lateral telescopic device can be quickly moved to the set height. The screw is matched with a synchronous belt as a transmission method, and the high load-bearing capacity and self-locking characteristics of the trapezoidal screw are utilized, and the structure is compact and stable; the second telescopic frame adopts a U-shaped structure, which can achieve a large range of lifting and lowering of the lateral telescopic device. This structure has strong retractability and compact structure, and can greatly reduce the base height of the lateral telescopic device and the base height of the end printing nozzle device, effectively reducing the jitter of the printing nozzle device, and improving stability and printing accuracy. Therefore, the present invention has high working efficiency, stable structure, and high printing accuracy.

[0030] 4. In a new type of 3D printing construction robot and its control method of the present invention, the lateral telescopic device adopts a two-stage telescopic method. After the lateral telescopic second section slides on the lateral telescopic third section through the synchronous belt drive, when the synchronous belt connector abuts against the third connecting plate, it will drive the lateral telescopic second section to slide on the lateral telescopic first section, thereby increasing the working range of the robot; the transmission method driven by the synchronous belt is adopted, and the fourth and fifth synchronous belts are connected to the lateral telescopic first section on one side and the counterweight block on the other side. When the lateral telescopic second section is extended, the counterweight block moves in the opposite direction, so that the center of gravity of the equipment is always kept within a certain range of the rotation center, which helps to reduce the excessive sagging when the lateral telescopic device is extended, and helps to improve the printing accuracy. Therefore, the present invention has high working efficiency, stable structure and high printing accuracy.

[0031] 5. In a novel 3D printing construction robot and control method thereof, after concrete is input into the feeding housing through the automatic feeding system, the printing nozzle motor drives the stirring shaft to rotate continuously to avoid the concrete solidification and failure to extrude. At the same time, the stirring shaft can make the concrete extrusion rate relatively stable. Therefore, the present invention has high reliability and stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of a novel 3D printing construction robot of the present invention.

[0033] Figure 2 It is a schematic diagram of the structure of the base and the rotating platform in the present invention when viewed from above.

[0034] Figure 3 It is a schematic diagram of the structure of the base and the rotating platform in the present invention when viewed from above.

[0035] Figure 4It is a structural schematic diagram of the rotating platform in the present invention.

[0036] Figure 5 It is a structural schematic diagram of a slewing bearing, a rotating motor, a driving gear, a driving pulley, a driven pulley and a synchronous belt in the present invention.

[0037] Figure 6 It is a structural schematic diagram of the vertical telescopic device in the present invention.

[0038] Figure 7 It is a structural schematic diagram of the rotating platform and the first telescopic frame in the present invention.

[0039] Figure 8 It is a partially enlarged schematic diagram of the screw rod module in the present invention.

[0040] Fig. 9 It is a structural schematic diagram of the first telescopic frame, the second telescopic frame and the third telescopic frame in the present invention.

[0041] Fig.10 It is a structural schematic diagram of the lateral telescopic device and the printing nozzle device in the present invention.

[0042] Fig.11 It is a partial structural schematic diagram of the counterweight block and the first transverse telescopic frame in the present invention.

[0043] Fig.12 It is a structural schematic diagram of the first section of transverse telescopic in the present invention.

[0044] Fig.13 It is a structural schematic diagram of the driving module in the present invention.

[0045] Fig.14 It is a partial structural schematic diagram of the driving module in the present invention.

[0046] Fig.15 It is a structural schematic diagram of the second section of the transverse telescopic structure in the present invention.

[0047] Fig.16 It is a structural schematic diagram of the third section of the transverse telescopic structure in the present invention.

[0048] Fig.17 It is a schematic diagram of the structure of the printing nozzle device in the present invention.

[0049] In the figure: rotating device 1, base 101, rotating platform 102, rotating motor 103, driving gear 104, slewing bearing 105, internal teeth 106, fixed seat 107, transmission shaft 108, driving pulley 109, driven pulley 110, synchronous belt 111, mounting hole 112, dust plate 113, washer 114, vertical telescopic device 2, screw module 201, screw drive motor 2011, screw driving pulley 2012, screw driven pulley 2013, screw synchronous belt 2014, nut seat 2015, ball screw 2016, screw drive reducer 2017, coupling 2018, tension rod 2019, first Telescopic frame 202, second telescopic frame 203, nut connecting plate 204, third telescopic frame 205, telescopic synchronous belt 206, telescopic pulley 207, inner guide rail 208, inner slider 209, fixed plate 210, pressure plate fixing part 211, outer guide rail 212, outer slider 213, synchronous belt tensioning device 214, transverse telescopic device 3, drive module 31, drive frame 3101, steering frame 3102, first wheel axle 3103, second wheel axle 3104, third wheel axle 3105, fourth wheel axle 3106, fifth wheel axle 3107, first drive gear 3108, second drive gear 3109, third drive gear 3110, first drive gear 3111, second drive gear 3112, third drive gear 3113, third drive gear 3114, third drive gear 3115, third drive gear 3116, third drive gear 3117, third drive gear 3118, third drive gear 3119, third drive gear 3120, third drive gear 3121, third drive gear 3122, third drive gear 3123, third drive gear 3124, third drive gear 3125, third drive gear 3126, third drive gear 3127, third drive gear 3128, third drive gear 3129, third drive gear 3130, third drive gear 3131, third drive gear 3132, third drive gear 3133, third drive gear 3134, third drive gear 3135, third drive gear 3136, third drive gear 3137, third drive gear 3138, third drive gear 3139, third drive gear 3140, third drive gear 3141, third drive gear 3142, third drive A driving pulley 3111, a second driving pulley 3112, a third driving pulley 3113, a fourth driving pulley 3114, a fifth driving pulley 3115, a first driven pulley 3116, a second driven pulley 3117, a third driven pulley 3118, a fourth driven pulley 3119, a fifth driven pulley 3120, a first synchronous belt 3121, a second synchronous belt 3122, a third synchronous belt 3123, a fourth synchronous belt 3124, a fifth synchronous belt 3125, a transverse telescopic motor 3126, a transverse telescopic first section 32, a first transverse telescopic frame 321, a first connecting frame 322, a first transverse telescopic guide rail 323, a first transverse telescopic Slider 324, counterweight mounting frame 325, first slider 326, first connecting plate 327, first connecting rod 328, second transverse telescopic section 33, second transverse telescopic frame 331, second connecting frame 332, second connecting plate 333, second connecting rod 334, third transverse telescopic section 34, third transverse telescopic frame 341, third connecting frame 342, third connecting plate 343, third connecting rod 344, second slider 345, synchronous belt connector 35, counterweight 36, force transmission block 37, print head device 4, print head frame 41, print head motor 42, transmission shaft 43, stirring shaft 44, feeding shell 45, print head 46. DETAILED DESCRIPTION

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] Embodiment 1:

[0052] See also Figures 1 to 17 , a new type of 3D printing construction robot, including a printing nozzle device 4, an automatic feeding system, a horizontal telescopic device 3, a vertical telescopic device 2, and a rotating device 1;

[0053] The printing nozzle device 4 is arranged on one side of the transverse telescopic device 3, and the printing nozzle device 4 is used to store concrete and extrude the concrete downward for printing;

[0054] The automatic feeding system is used to deliver concrete to the printing nozzle device 4;

[0055] The transverse extension device 3 is used to realize its own transverse extension and drive the print head device 4 to move transversely;

[0056] The vertical telescopic device 2 is arranged at the lower side of the horizontal telescopic device 3, and the vertical telescopic device 2 is used to realize its own vertical telescopic movement and drive the horizontal telescopic device 3 to move vertically;

[0057] The rotating device 1 is disposed at the lower side of the vertical telescopic device 2 , and the rotating device 1 is used to drive the vertical telescopic device 2 to rotate horizontally along its circumference.

[0058] A novel control method for a 3D printing construction robot, the control method comprising the following steps:

[0059] S1, importing a 3D model of a building to be printed, and slicing the 3D model into multiple layers according to a set printing height, with the thickness of each layer being used as the movement height of the vertical telescopic device 2;

[0060] S2, control the vertical telescopic device 2 to work, so that the transverse telescopic device 3 and the print head device 4 move upward by the thickness of one slice, then control the rotating device 1 and the transverse telescopic device 3 to work, so that the print head device 4 moves according to the set trajectory, and at the same time control the print head device 4 to output the concrete raw material downward until the model printing of this layer is completed;

[0061] S3, after the printing of the building in the current slice is completed, repeat the step S2 until the printing of the building to be printed is completed;

[0062] S4, after printing is completed, the horizontal telescopic device 3 is controlled to shrink, and then the vertical telescopic device 2 is controlled to shrink, and at the same time, the rotating device 1 is controlled to rotate, so that the horizontal telescopic device 3, the vertical telescopic device 2, and the rotating device 1 return to the starting point.

[0063] Embodiment 2:

[0064] The basic content is the same as that of Example 1, except that:

[0065] See also Figures 1 to 5 The rotating device 1 includes a base 101, a rotating platform 102, a rotating motor 103, a driving gear 104, and a slewing bearing 105. The rotating platform 102 is rotatably arranged on the upper side of the base 101 and connected to the vertical telescopic device 2. The rotating motor 103 is installed on the upper side of the base 101. The driving gear 104 is arranged on the output shaft of the rotating motor 103. The outer ring of the slewing bearing 105 is connected to the base 101. The inner ring of the slewing bearing 105 is connected to the rotating platform 102 and is circumferentially provided with internal teeth 106, and the internal teeth 106 are meshed and connected with the driving gear 104.

[0066] The rotating device 1 also includes a fixed seat 107, a transmission shaft 108, a driving pulley 109, a driven pulley 110, and a synchronous belt 111. The fixed seat 107 is arranged on the upper side of the base 101, the transmission shaft 108 is rotatably connected to the fixed seat 107, the driven pulley 110 and the driving gear 104 are respectively sleeved on the outer circumference of the transmission shaft 108, the driving pulley 109 is sleeved on the output shaft of the rotating motor 103, and the synchronous belt 111 is wound around the outer circumference of the driven pulley 110 and the driving pulley 109.

[0067] In this embodiment, the base 101 has a square shape, and washers 114 are provided at its four bottom corners. The nuts on the washers 114 are installed in the base 101. The height of the washers 114 is adjusted by rotating the washers 114 to level the base 101. The rotating platform 102 also has a square shape, and a mounting hole 112 is provided at the center of its upper end surface. The rotating motor 103 can be placed in the rotating platform 102 for installation through the mounting hole 112. A dustproof plate 113 is installed in the mounting hole 112. The rotating motor 103 adopts a flat disc motor. The fixing seat 107 adopts an inverted U-shaped design. The driving gear 104 is located in the fixing seat 107. The two side walls of the fixing seat 107 are connected to the upper side of the base 101. The outer ring of the slewing bearing 105 is threadedly connected to the upper side of the base 101 by bolts, and the inner ring is threadedly connected to the rotating platform 102 by bolts.

[0068] When in use, the rotating motor 103 drives the driving pulley 109 to rotate, and the driving pulley 109 transmits the driving force of the rotating motor 103 to the driven pulley 110 through the synchronous belt 111 to rotate, thereby rotating the transmission shaft 108 and the driving gear 104. The rotation of the driving gear 104 drives the inner ring of the slewing support bearing 105 to rotate and then drives the rotating platform 102 to rotate. The rotating platform 102 drives the vertical telescopic device above it to rotate horizontally.

[0069] Embodiment 3:

[0070] The basic content is the same as that of Example 2, except that:

[0071] See also Figures 6 to 9 The vertical telescopic device 2 includes a first telescopic frame 202, a second telescopic frame 203, a nut connecting plate 204 and two screw modules 201, the first telescopic frame 202 is connected to the upper side of the rotating device 1, the two screw modules 201 are symmetrically connected to the upper side of the rotating device 1, the two sides of the nut connecting plate 204 are respectively connected to the output ends of the two screw modules 201, the second telescopic frame 203 is connected to the upper side of the nut connecting plate 204, and the lateral telescopic device 3 is connected to the upper side of the second telescopic frame 203;

[0072] The screw module 201 includes a screw drive motor 2011, a screw driving pulley 2012, a screw driven pulley 2013, a screw synchronous belt 2014, a ball screw 2016, and a nut seat 2015. The screw drive motor 2011 is installed on the rotating device 1. One end of the ball screw 2016 is rotatably connected to the rotating device 1, and the other end is rotatably connected to the outer side of the first telescopic frame 202. The screw driving pulley 2012 is connected to the output shaft of the screw drive motor 2011. The screw driven pulley 2013 is sleeved on the non-threaded section of the ball screw 2016. The screw synchronous belt 2014 is wound around the outer circumference of the screw driving pulley 2012 and the screw driven pulley 2013. The nut seat 2015 is threadedly connected to the threaded section of the ball screw 2016. Both sides of the nut connecting plate 204 are respectively connected to the two nut seats 2015.

[0073] The vertical telescopic device 2 also includes a third telescopic frame 205, a telescopic synchronous belt 206 and two telescopic pulleys 207. The two telescopic pulleys 207 are respectively located at the upper and lower parts of the second telescopic frame 203 and are rotatably connected to the second telescopic frame 203. The telescopic synchronous belt 206 is wound around the outer circumference of the two telescopic pulleys 207. One side of the telescopic synchronous belt 206 is connected to the first telescopic frame 202 through a pressure plate fixing member 211. The third telescopic frame 205 is horizontally arranged, and the second telescopic frame 203 is U-shaped. The two inner side walls of the second telescopic frame 203 are vertically connected with inner guide rails 208. The outer side of the second telescopic frame 203 is connected with an inner slider 209 and a fixed plate 210. The second telescopic frame 203 is slidably connected to the inner guide rail 208 through the inner slider 209, and the fixed plate 210 is connected to the telescopic synchronous belt 206.

[0074] In this embodiment, the output end of the screw drive motor 2011 is connected to a screw drive reducer 2017, the output shaft of the screw drive reducer 2017 and the lower end of the ball screw 2016 are connected to a coupling 2018, the center of the screw driving pulley 2012 and the screw driven pulley 2013 are provided with a wheel shaft, the wheel shaft of the screw driving pulley 2012 is connected to the output shaft of the screw drive reducer 2017 through the coupling 2018, the wheel shaft of the screw driven pulley 2013 is connected to the ball screw 2016, and the outer side of the screw synchronous belt 2014 is also provided with a tensioning rod 2019, the tensioning rod 2019 It is threadedly connected to the rotating platform 2 by bolts, and the position of the tensioning rod 2019 is adjusted by turning the bolts to adjust the tension of the screw synchronous belt 2014. An outer guide rail 212 is also provided on the outer side of the second telescopic frame 203, and an outer slider 213 is slidably connected to the outer guide rail 212. The outer slider 213 is fixedly connected to the first telescopic frame 202. A wheel axle is provided at the center of the telescopic pulley 207, and both ends of the wheel axle are connected to a synchronous belt tensioning device 214. The synchronous belt tensioning device 214 is threadedly connected to the second telescopic frame 203, and the tension of the telescopic synchronous belt 206 is adjusted by adjusting the height of the synchronous belt tensioning device 214.

[0075] When in use, the screw drive motor 2011 drives the screw active pulley 2012 to rotate, and transmits the driving force to the screw driven pulley 2013 through the screw synchronous belt 2014, thereby driving the ball screw 2016 to rotate. Since the ball screw 2016 is threadedly connected to the nut seat 2015, it will drive the nut seat 2015 and the nut connecting plate 204 to rise and fall, thereby driving the second telescopic frame 203 to rise and fall on the first telescopic frame 202. At the same time, since one side of the telescopic synchronous belt 206 is fixedly connected to the first telescopic frame 202, it will drive the telescopic synchronous belt 206 to rise and fall, thereby making the third telescopic frame 205 rise and fall on the second telescopic frame 203, and then drive the lateral telescopic device 3 to rise and fall.

[0076] Embodiment 4:

[0077] The basic content is the same as that of Example 1, except that:

[0078] See also Figures 10 to 16 , the transverse telescopic device 3 includes a driving module 31, a transverse telescopic first section 32 and a transverse telescopic second section 33;

[0079] The driving module 31 includes a driving frame 3101, a steering frame 3102, and a transverse telescopic motor 3126. The transverse telescopic motor 3126 and the steering frame 3102 are respectively installed on the driving frame 3101. The steering frame 3102 is rotatably connected with a first axle 3103, a second axle 3104, and a third axle 3105. The two ends of the first axle 3103 are respectively sleeved with a first driven pulley 3116 and a first driving gear 3108. The two ends of the second axle 3104 are respectively sleeved with a second driving pulley 3112 and a second driving gear 3109. The two ends of the third axle 3105 are respectively sleeved with a third driving pulley 3116 and a first driving gear 3108. 13. The third driving gear 3110, the output shaft of the horizontal motor is connected to the first driving pulley 3111, the outer circumferences of the first driving pulley 3111 and the first driven pulley 3116 are meshedly connected with the first synchronous belt 3121, the second driving gear 3109 is meshedly connected to the first driving gear 3108, the third driving gear 3110 is meshedly connected to the second driving gear 3109, the fourth wheel shaft 3106 and the fifth wheel shaft 3107 are rotatably connected to the driving frame 3101, the two ends of the fourth wheel shaft 3106 are respectively sleeved with the second driven pulley 3117 and the fourth driving pulley 3114, the fifth wheel shaft 3107 is meshedly connected to the first driving gear 3108, the third driving gear 3110 is meshedly connected to the second driving gear 3109, the fourth wheel shaft 3106 and the fifth wheel shaft 3107 are rotatably connected to the driving frame 3101, the second driven pulley 3117 and the fourth driving pulley 3114 are respectively sleeved at the two ends of the fourth wheel shaft 3106, and the fifth wheel shaft 3107 is meshedly connected to the first driving gear 3108. The two ends are respectively sleeved with a third driven pulley 3118 and a fifth driving gear 104, the outer circumferences of the second driving pulley 3112 and the second driven pulley 3117 are meshedly connected with a second synchronous belt 3122, the outer circumferences of the third driving pulley 3113 and the third driven pulley 3118 are meshedly connected with a third synchronous belt 3123, one end of the transverse telescopic first section 32 is connected to one side of the driving frame 3101, and the other end of the transverse telescopic first section 32 is rotatably connected with a fourth driven pulley 3119 and a fifth driven pulley 3120, the outer circumferences of the fourth driving pulley 3114 and the fourth driven pulley 3119 are meshedly connected with a fourth synchronous belt 3123. 124, the outer circumferential surfaces of the fifth driving pulley 3115 and the fifth driven pulley 3120 are meshedly connected with a fifth synchronous belt 3125, the second transverse telescopic section 33 is slidably connected to the first transverse telescopic section 32, the print head device 4 is connected to one end of the second transverse telescopic section 33, one side of the fourth synchronous belt 3124 and the fifth synchronous belt 3125 are respectively connected to the left and right sides of the second transverse telescopic section 33 through a synchronous belt connector 35, the other sides of the fourth synchronous belt 3124 and the fifth synchronous belt 3125 are respectively connected to a counterweight 36, and the two counterweights 36 are respectively slidably connected to the left and right sides of the first transverse telescopic section 32;

[0080] The first transverse telescopic section 32 includes two first transverse telescopic frames 321 and a first connecting frame 322. The two first transverse telescopic frames 321 are respectively connected to one side of the driving frame 3101, and the two first transverse telescopic frames 321 are connected to each other through the first connecting frame 322. The outer side of the first transverse telescopic frame 321 is connected to a first transverse telescopic guide rail 323, and the first transverse telescopic slider 324 is slidably connected to the first transverse telescopic guide rail 323. The first transverse telescopic slider 324 is connected to a counterweight mounting frame 325, and the counterweight 36 is arranged on the counterweight mounting frame 325. The first connecting plate 327 is vertically connected to the upper side of the middle part of the first transverse telescopic frame 321, and a first connecting rod 328 is connected between the first connecting plate 327 and the first transverse telescopic frame 321. The upper side of the first connecting frame 322 is connected to a first slider 326;

[0081] The second transverse telescopic section 33 includes two second transverse telescopic frames 331 and a second connecting frame 332. The two second transverse telescopic frames 331 are slidably connected to the upper side of the first sliding block 326. The two second transverse telescopic frames 331 are connected to each other through the second connecting frame 332. The second transverse telescopic frame 331 is vertically connected to a second connecting plate 333 on the upper side of the middle part. A second connecting rod 334 is connected between the second connecting plate 333 and the second transverse telescopic frame 331.

[0082] The transverse telescopic device 3 also includes a transverse telescopic third section 34, which is located between the transverse telescopic first section 32 and the transverse telescopic second section 33. The transverse telescopic third section 34 includes two third transverse telescopic frames 341 and a third connecting frame 342. The two third transverse telescopic frames 341 are slidably connected to the upper side of the first slider 326, and the two third transverse telescopic frames 341 are connected to each other through the third connecting frame 342. The third transverse telescopic frame 341 is located at the upper side of the middle part and is vertically connected with a third connecting plate 343. A third connecting rod 344 is connected between the third connecting plate 343 and the third transverse telescopic frame 341. A second slider 345 is connected to the upper side of the third connecting frame 342. The two second transverse telescopic frames 331 are slidably connected to the upper side of the second slider 345. The synchronous belt connecting member 35 spans the upper side of the third transverse telescopic frame 341 and is located between the third transverse telescopic frame 341 and the third connecting plate 343.

[0083] In this embodiment, a force transmission block 37 is connected to the inner side of the third transverse telescopic frame 341, and two force transmission blocks 37 are arranged on the outer side of the second transverse telescopic frame 331. The force transmission block 37 on the third transverse telescopic frame 341 is located between the two force transmission blocks 37 of the second transverse telescopic frame 331. When the second transverse telescopic frame 331 slides forward, the force transmission block 37 at the rear of the second transverse telescopic frame 331 abuts against the force transmission block 37 on the third transverse telescopic frame 341, which will drive the third transverse telescopic frame 341 to move. When the second transverse telescopic frame 331 contracts, the force transmission block 37 at the front of the second transverse telescopic frame 331 abuts against the force transmission block 37 on the third transverse telescopic frame 341, which will drive the third transverse telescopic frame 341 to contract. The front side of 321 is threadedly connected to two transverse telescopic pulley tensioning devices, the fourth driven pulley 3119 and the fifth driven pulley 3120 are respectively rotatably connected to the two transverse telescopic pulley tensioning devices, and the tension of the fourth synchronous belt 3124 and the fifth synchronous belt 3125 can be adjusted by adjusting the distance of the transverse telescopic pulley tensioning device on the first transverse telescopic frame 321. A telescopic guide rail is provided at the lower side of the third transverse telescopic frame 341, and a first slider 344 is slidably connected to the telescopic guide rail. A telescopic guide rail is provided at the lower side of the second transverse telescopic frame 331, and a second slider 345 is slidably connected to the telescopic guide rail. The output end of the transverse telescopic motor 3126 is connected to the transverse telescopic reducer, and the output end of the transverse telescopic reducer is connected to the first active pulley 3111;

[0084] The transverse telescopic motor 3126 drives the transverse telescopic reducer to rotate, thereby driving the first driving pulley 3111, the first driving pulley 3111 drives the first driven pulley 3116 to rotate through the first synchronous belt 3121, the first driven pulley 3116 drives the first driving gear 3108 to rotate through the first wheel shaft 3103, the first driving gear 3108 drives the second driving gear 3109 to rotate, the second driving gear 3109 rotates to drive the third driving gear 3110 to rotate, the second driving gear 3109 rotates in opposite directions to the third driving gear 3110, the second driving gear 3109 drives the second driving pulley 3112 to rotate through the second wheel shaft 3104, the third driving gear 3110 drives the third driving pulley 3113 to rotate through the third wheel shaft 3105, the second driving pulley 31121 drives the second driven pulley 3117 to rotate through the second synchronous belt 3122, and the third driving pulley 3110 rotates. 113 drives the third driven pulley 3118 to rotate through the third synchronous belt 3123, the second driven pulley 3117 drives the fourth driving pulley 3114 to rotate through the fourth wheel shaft 3106, the third driven pulley 3118 drives the fifth driving pulley 3115 to rotate through the fifth wheel shaft 3107, the fourth driving pulley 3114 drives the fourth driven pulley 3119 to rotate through the fourth synchronous belt 3124, the fifth driving pulley 3115 drives the fifth driven pulley 3120 to rotate through the fifth synchronous belt 3125, the fourth synchronous belt 3124 and the fifth synchronous belt 3125 have opposite directions, and while the fourth synchronous belt 3124 and the fifth synchronous belt 3125 rotate, they drive the second transverse telescopic section 33 to move transversely, and after moving to contact with the force transmission block 37, they drive the third transverse telescopic section 34 to move transversely, and while the second transverse telescopic section 33 moves transversely, the counterweight block 36 moves in the opposite direction to play a balancing role.

[0085] Embodiment 5:

[0086] The basic content is the same as that of Example 1, except that:

[0087] See also Fig.17 The print head device 4 includes a print head frame 41, a print head motor 42, a transmission shaft 43, a stirring shaft 44, a feeding shell 45, and a print head 46. The print head frame 41 is connected to the output end of the lateral telescopic device 3, and the print head motor 42 and the feeding shell 45 are respectively installed on the upper and lower parts of the print head frame 41. The output shaft of the print head motor 42 is connected to one end of the transmission shaft 43, and the other end of the transmission shaft 43 is connected to the stirring shaft 44. The stirring shaft 44 is located in the feeding shell 45, and the lower end of the feeding shell 45 is connected to the print head 46. The input port of the feeding shell 45 is connected to the automatic feeding system.

[0088] In this embodiment, a bearing device and a print head motor mounting plate are also provided. The print head frame 41 is fixedly connected to the third horizontal telescopic frame 341, the print head motor mounting plate is fixedly connected to the print head frame 41, the print head motor 42 is fixedly connected to the print head motor mounting plate, the output shaft of the print head motor 42 is connected to one end of the transmission shaft 43 through a motor shaft coupling, and the other end of the transmission shaft 43 is connected to the stirring shaft 44 through a stirring shaft coupling, the bearing device is fixedly connected to the print head frame 41, and the bearing device is matched with the transmission shaft 43.

[0089] Embodiment 6:

[0090] The basic content is the same as that of Example 1, except that:

[0091] The automatic feeding system includes a concrete pump truck, a delivery pipeline, and a laser sensor. The concrete pump truck on the ground is connected to the print head device 4 through a delivery pipeline. The print head device 4 is equipped with two laser sensors for detecting the remaining amount of concrete in the feeding shell 45 so as to feed the material into the feeding shell 45 in time. The specific implementation method is as follows: the lowest position height and the highest position height of the concrete in the feeding shell 45 are pre-set, and the detection distance of the two laser sensors is adjusted so that the longest distance of their detection is at the lowest position height and the highest position height respectively. When the concrete in the feeding shell is lower than the lowest position height, the two laser sensors do not detect signals. At this time, the concrete pump truck on the ground is controlled to feed the material into the feeding shell. When the concrete in the feeding shell 45 is higher than the set highest position height, the two laser sensors both detect signals, and at this time, the feeding into the feeding shell 45 is stopped.

Claims

1. A new type of 3D printing construction robot, Features: It comprises a printing nozzle device (4), an automatic feeding system, a horizontal telescopic device (3), a vertical telescopic device (2), and a rotating device (1); The printing nozzle device (4) is arranged on one side of the transverse telescopic device (3), and the printing nozzle device (4) is used to store concrete and extrude the concrete downward for printing; The automatic feeding system is used to deliver concrete to the printing nozzle device (4); The transverse extension device (3) is used to realize its own transverse extension and drive the printing head device (4) to move transversely; The vertical telescopic device (2) is arranged on the lower side of the transverse telescopic device (3), and the vertical telescopic device (2) is used to realize its own vertical telescopic movement and drive the transverse telescopic device (3) to move vertically; The rotating device (1) is arranged on the lower side of the vertical telescopic device (2), and the rotating device (1) is used to drive the vertical telescopic device (2) to rotate horizontally along its circumference.

2. A novel 3D printing construction robot according to claim 1, Features: The rotating device (1) comprises a base (101), a driving gear (104), a rotating platform (102), a rotating motor (103), and a slewing bearing (105); the rotating platform (102) is rotatably arranged on the upper side of the base (101) and connected to the vertical telescopic device (2); the rotating motor (103) is installed on the upper side of the base (101); the driving gear (104) is arranged on the output shaft of the rotating motor (103); the outer ring of the slewing bearing (105) is connected to the base (101); the inner ring of the slewing bearing (105) is connected to the rotating platform (102) and is provided with internal teeth (106) along the circumferential direction; the internal teeth (106) are meshed and connected with the driving gear (104).

3. A novel 3D printing construction robot according to claim 2, Features: The rotating device (1) further comprises a fixed seat (107), a transmission shaft (108), a driving pulley (109), a driven pulley (110), and a synchronous belt (111); the fixed seat (107) is arranged on the upper side of the base (101); the transmission shaft (108) is rotatably connected to the fixed seat (107); the driven pulley (110) and the driving gear (104) are respectively sleeved on the outer circumference of the transmission shaft (108); the driving pulley (109) is sleeved on the output shaft of the rotating motor (103); and the synchronous belt (111) is wound around the outer circumferences of the driven pulley (110) and the driving pulley (109).

4. A novel 3D printing construction robot according to claim 1, Features: The vertical telescopic device (2) comprises a first telescopic frame (202), a second telescopic frame (203), a nut connecting plate (204) and two screw modules (201), the first telescopic frame (202) is connected to the upper side of the rotating device (1), the two screw modules (201) are symmetrically connected to the upper side of the rotating device (1), the two sides of the nut connecting plate (204) are respectively connected to the output ends of the two screw modules (201), the second telescopic frame (203) is connected to the upper side of the nut connecting plate (204), and the transverse telescopic device (3) is connected to the upper side of the second telescopic frame (203); The screw module (201) comprises a screw drive motor (2011), a screw driving pulley (2012), a screw driven pulley (2013), a screw synchronous belt (2014), a ball screw (2016), and a nut seat (2015); the screw drive motor (2011) is mounted on the rotating device (1); one end of the ball screw (2016) is rotatably connected to the rotating device (1) and the other end is rotatably connected to the outer side of the first telescopic frame (202); the screw driving pulley (2012) is rotatably connected to the outer side of the first telescopic frame (202); 012) is connected to the output shaft of the screw drive motor (2011), the screw driven pulley (2013) is sleeved on the non-threaded section of the ball screw (2016), the screw synchronous belt (2014) is wound around the outer circumference of the screw driving pulley (2012) and the screw driven pulley (2013), the nut seat (2015) is threadedly connected to the threaded section of the ball screw (2016), and the two sides of the nut connecting plate (204) are respectively connected to the two nut seats (2015).

5. A novel 3D printing construction robot according to claim 4, Features: The vertical telescopic device (2) further comprises a third telescopic frame (205), a telescopic synchronous belt (206) and two telescopic pulleys (207), wherein the two telescopic pulleys (207) are respectively located at the upper part and the lower part of the second telescopic frame (203) and are both rotatably connected to the second telescopic frame (203), the telescopic synchronous belt (206) is wound around the outer circumference of the two telescopic pulleys (207), and one side of the telescopic synchronous belt (206) is connected to the first telescopic frame (205) through a pressure plate fixing member (211). 02), the third telescopic frame (205) is arranged horizontally, the second telescopic frame (203) is U-shaped, the two inner side walls of the second telescopic frame (203) are vertically connected with inner guide rails (208), the outer side of the second telescopic frame (203) is connected with an inner slider (209) and a fixed plate (210), the second telescopic frame (203) is slidably connected to the inner guide rail (208) through the inner slider (209), and the fixed plate (210) is connected to the telescopic synchronous belt (206).

6. A novel 3D printing construction robot according to claim 1, Features: The transverse telescopic device (3) comprises a driving module (31), a first transverse telescopic section (32) and a second transverse telescopic section (33); The driving module (31) comprises a driving frame (3101), a steering frame (3102), and a transverse telescopic motor (3126); the transverse telescopic motor (3126) and the steering frame (3102) are respectively mounted on the driving frame (3101); a first axle (3103), a second axle (3104), and a third axle (3105) are rotatably connected to the steering frame (3102); two ends of the first axle (3103) are respectively sleeved with a first driven pulley (3116) and a first driving gear (3108); two ends of the second axle (3104) are respectively sleeved with a second driving pulley (3112) and a second driving gear (3109); and the third axle (3105) is rotatably connected to the steering frame (3102). The two ends of the lateral telescopic motor (3126) are respectively sleeved with a third active pulley (3113) and a third driving gear (3110), the output shaft of the lateral telescopic motor (3126) is connected to the first active pulley (3111), the outer circumferences of the first active pulley (3111) and the first driven pulley (3116) are meshedly connected with a first synchronous belt (3121), the second driving gear (3109) is meshedly connected to the first driving gear (3108), the third driving gear (3110) is meshedly connected to the second driving gear (3109), the driving frame (3101) is rotatably connected with a fourth wheel shaft (3106) and a fifth wheel shaft (3107), the two ends of the fourth wheel shaft (3106) are meshedly connected to the first driving gear (3108), the third driving gear (3110) is meshedly connected to the second driving gear (3109), and the fourth wheel shaft (3106) is rotatably connected to the first driving gear (3108). The ends of the fifth wheel shaft (3107) are respectively sleeved with a second driven pulley (3117) and a fourth driving pulley (3114); the two ends of the fifth wheel shaft (3107) are respectively sleeved with a third driven pulley (3118) and a fifth driving pulley (3115); the outer circumferences of the second driving pulley (3112) and the second driven pulley (3117) are meshedly connected with a second synchronous belt (3122); the outer circumferences of the third driving pulley (3113) and the third driven pulley (3118) are meshedly connected with a third synchronous belt (3123); one end of the transverse telescopic first section (32) is connected to one side of the driving frame (3101); the other end of the transverse telescopic first section (32) is rotatably connected to the fourth driven pulley (3116); and the other end of the transverse telescopic first section (32) is rotatably connected to the fourth driven pulley (3117). 119), a fifth driven pulley (3120), the outer circumferences of the fourth driving pulley (3114) and the fourth driven pulley (3119) are meshedly connected with a fourth synchronous belt (3124), the outer circumferences of the fifth driving pulley (3115) and the fifth driven pulley (3120) are meshedly connected with a fifth synchronous belt (3125), the second transverse telescopic section (33) is slidably connected to the first transverse telescopic section (32), the print head device (4) is connected to one end of the second transverse telescopic section (33), and one side of the fourth synchronous belt (3124) and the fifth synchronous belt (3125) are respectively connected to the left and right sides of the second transverse telescopic section (33) through a synchronous belt connector (35),The other sides of the fourth synchronous belt (3124) and the fifth synchronous belt (3125) are both connected with counterweight blocks (36), and the two counterweight blocks (36) are respectively slidably connected to the left and right sides of the transverse telescopic first section (32).

7. A novel 3D printing construction robot according to claim 6, Features: The first transverse telescopic section (32) comprises two first transverse telescopic frames (321) and a first connecting frame (322). The two first transverse telescopic frames (321) are respectively connected to one side of the driving frame (3101). The two first transverse telescopic frames (321) are connected to each other via the first connecting frame (322). The outer side of the first transverse telescopic frame (321) is connected to a first transverse telescopic guide rail (323). The first transverse telescopic guide rail (323) is slidably connected to the first transverse telescopic guide rail (323). The first transverse telescopic slider (324) is connected to a counterweight mounting frame (325), the counterweight (36) is arranged on the counterweight mounting frame (325), the first transverse telescopic frame (321) is vertically connected to a first connecting plate (327) at the upper side of the middle part, a first connecting rod (328) is connected between the first connecting plate (327) and the first transverse telescopic frame (321), and the upper side of the first connecting frame (322) is connected to a first slider (326); The second transverse telescopic section (33) comprises two second transverse telescopic frames (331) and a second connecting frame (332). The two second transverse telescopic frames (331) are slidably connected to the upper side of the first sliding block (326). The two second transverse telescopic frames (331) are connected to each other through the second connecting frame (332). The upper side of the second transverse telescopic frame (331) located in the middle is vertically connected to a second connecting plate (333). A second connecting rod (334) is connected between the second connecting plate (333) and the second transverse telescopic frame (331).

8. A novel 3D printing construction robot according to claim 7, Features: The transverse telescopic device (3) further comprises a transverse telescopic third section (34), the transverse telescopic third section (34) being located between the transverse telescopic first section (32) and the transverse telescopic second section (33), the transverse telescopic third section (34) comprising two third transverse telescopic frames (341) and a third connecting frame (342), the two third transverse telescopic frames (341) being slidably connected to the upper side of the first sliding block (326), the two third transverse telescopic frames (341) being connected to each other via the third connecting frame (342), the third transverse telescopic frames (341) A third connecting plate (343) is vertically connected to the upper side located in the middle part, a third connecting rod (344) is connected between the third connecting plate (343) and the third transverse telescopic frame (341), a second slider (345) is connected to the upper side of the third connecting frame (342), two second transverse telescopic frames (331) are slidably connected to the upper side of the second slider (345), and the synchronous belt connecting member (35) spans the upper side of the third transverse telescopic frame (341) and is located between the third transverse telescopic frame (341) and the third connecting plate (343).

9. A novel 3D printing construction robot according to claim 1, Features: The print head device (4) comprises a print head frame (41), a print head motor (42), a transmission shaft (43), a stirring shaft (44), a feeding shell (45), and a print head (46). The print head frame (41) is connected to the output end of the transverse telescopic device (3). The print head motor (42) and the feeding shell (45) are respectively installed on the upper and lower parts of the print head frame (41). The output shaft of the print head motor (42) is connected to one end of the transmission shaft (43), and the other end of the transmission shaft (43) is connected to the stirring shaft (44). The stirring shaft (44) is located in the feeding shell (45). The lower end of the feeding shell (45) is connected to the print head (46), and the input port of the feeding shell (45) is connected to the automatic feeding system.

10. A control method for the novel 3D printing construction robot according to claim 1, Features: The control method comprises the following steps: S1, importing a 3D model of a building to be printed, and slicing the 3D model into multiple layers according to a set printing height, with the thickness of each layer serving as the movement height of the vertical telescopic device (2); S2, controlling the vertical telescopic device (2) to operate, so that the transverse telescopic device (3) and the printing nozzle device (4) move upward by the thickness of a slice layer, and then controlling the rotating device (1) and the transverse telescopic device (3) to operate, so that the printing nozzle device (4) moves according to a set trajectory, and at the same time controlling the printing nozzle device (4) to output concrete raw materials downward until the printing of the model of the layer is completed; S3, after the printing of the building in the current slice is completed, repeat the step S2 until the printing of the building to be printed is completed; S4, after printing is completed, the horizontal telescopic device (3) is controlled to shrink, and then the vertical telescopic device (2) is controlled to shrink, and at the same time, the rotating device (1) is controlled to rotate, so that the horizontal telescopic device (3), the vertical telescopic device (2), and the rotating device (1) return to the starting point.

Images