Full-height 3D printing robot for building

Abstract

The invention relates to the technical field of building construction, in particular to a building full-height 3D printing robot which comprises a frame, wheels and a printing mechanical arm. Wheels are installed on the periphery of the frame, a printing mechanical arm is installed above the frame, the printing robot further comprises a lifting adjusting mechanism, the lifting adjusting mechanism is installed at the top of the frame, and the printing mechanical arm is located at the top of the lifting adjusting mechanism. The printed part of the bottom layer cannot be repaired, and along with the rising of the printing position, the printing frame needs to be lifted for re-laying and re-positioning, so that time and labor are consumed, printing is tedious, and the printing height is limited; the printing robot can be automatically adjusted according to the printing height position, printed parts are automatically and accurately positioned and repaired, the printing frame does not need to be laid and adjusted again, printing is easy, time and labor are saved, and the application performance of the printing robot is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a full-height 3D printing robot for construction. Background Art

[0002] 3D printing robots for construction are automated equipment that combines advanced manufacturing technology and intelligent control. They can construct building components or entire buildings by printing layer by layer according to digital model files. Such robots are usually composed of industrial robotic arms, mobile chassis, positioning and navigation systems, feeding systems, and remote controllers. They can perform 3D printing of large-scale buildings in indoor and outdoor environments. They can achieve horizontal walking and vertical lifting, and then complete the printing of construction equipment layer by layer. Existing construction printing robots all use a preset printing frame, and then use a 3D printing robot to gradually print in layers at the bottom, and then raise the height of the printing robot as the printing height increases. However, when the above printing method is faced with the need to repair the part that has been printed on the bottom layer, it is necessary to wait until the overall printing is completed and then lay the printing frame again to print the part to be repaired. At the same time, a preset printing frame is required for each printing, and it needs to be manually positioned accurately, which wastes a lot of manpower and material resources. At the same time, printing in this way also limits the printing height, which leads to cumbersome preparation work before printing by the construction printing robot and low applicability.

[0003] In view of the above situation, in order to overcome the above technical problems, the present invention designs a full-height 3D printing robot for construction, which solves the above technical problems. Summary of the invention

[0004] The technical objectives to be achieved by the present invention are: to solve the problem that the existing printing robot cannot repair the already printed parts of the bottom layer during printing, and as the printing position increases, the printing frame needs to be raised and re-laid, and re-positioned, which is time-consuming and labor-intensive, cumbersome printing, and limits the printing height; to achieve that the printing robot can automatically adjust according to the printing height position, automatically and accurately position and repair the printed parts, without the need to re-lay and adjust the printing frame, printing is simple, and time and labor are saved, greatly improving the applicability of the printing robot.

[0005] In order to achieve the above technical objectives, the present invention provides the following technical solutions: A full-height 3D printing robot for construction comprises: a frame, wheels and a printing mechanical arm; the frame is provided with wheels around it, a printing mechanical arm is provided on the top of the frame, and the frame also comprises a lifting and adjusting mechanism, the lifting and adjusting mechanism is provided on the top of the frame, and the printing mechanical arm is located on the top of the lifting and adjusting mechanism, the lifting and adjusting mechanism drives the lifting arm to lift and lower through a hydraulic pump, and according to the printing height and the printing position, the lifting arm is tilted at a certain angle to expand the working range, and the tilted lifting arm will drive the telescopic cylinder and the pushing cylinder at the same time, and transmit the power to the driving cylinder, and the driving cylinder will push the counterweight to move in the opposite direction of the tilt of the lifting arm to ensure the balance of the center of gravity of the printing mechanical arm on the top of the lifting arm, and then realize the precise positioning of the printing position according to the GPS positioning sensor.

[0006] The frame, wheels and printing robot arm of the present invention are used to meet the flexible operation requirements in different environments. Among them, wheels are installed on all sides of the frame to ensure that the entire device can move smoothly, so that it can move freely under a wide range of site conditions. The printing robot arm is installed on the top of the frame, which provides core functional support for realizing multi-angle and multi-height printing operations. The printing robot arm is a 6-axis 3D printing robot arm. The 6 degrees of freedom of the printing robot arm can perform complex spatial movements to adapt to different printing requirements.

[0007] In addition, in order to further improve the flexibility and accuracy of printing operations, the device also includes a lifting and adjustment mechanism. The lifting and adjustment mechanism is firmly mounted on the top of the frame and connected to the printing robot arm, ensuring that the printing robot arm is located on the top of the lifting and adjustment mechanism, thereby realizing the lifting and multi-directional adjustment of the printing robot arm. The lifting and adjustment mechanism controls the up and down movement of the lifting arm through the drive of the hydraulic pump, and accurately adjusts the angle of the lifting arm according to the printing height and the current printing position, so as to significantly expand the operating range of the printing robot arm. Through this design, the printing robot arm can still successfully complete efficient printing tasks even in complex or irregular working areas.

[0008] The design of the device also takes into account the stability of the equipment during the tilting of the lifting arm. The tilting of the lifting arm will drive the telescopic cylinder and the push cylinder at the same time. These components transmit power to the drive cylinder, which is responsible for pushing the counterweight to move in the opposite direction of the tilting of the lifting arm. Through this dynamic balance design, the center of gravity of the printing robot arm on the top of the lifting arm is effectively balanced, avoiding the overturning of the device or printing errors caused by the center of gravity shift due to tilting, thereby significantly improving printing accuracy and operation safety.

[0009] In order to achieve precise printing position control, the device is also equipped with a GPS positioning sensor, which can obtain the current height position of the device in real time and perform high-precision positioning. Combined with the multi-directional adjustment capability of the lifting and adjusting mechanism, the printing robot arm can quickly and accurately reach the target position, ensuring that accurate printing operations can be completed in various complex environments. The design of this device provides a broader application prospect for mobile printing devices, especially for construction, engineering and other fields that require large-area high-precision printing.

[0010] Preferably, the lifting and adjusting mechanism includes a bottom box, a top shell, a lifting arm, a top plate, a telescopic tube, a telescopic cylinder, a pushing cylinder, a counterweight and a driving cylinder; the bottom box is installed on the top of the frame, the top shell is installed on the bottom of the bottom box, the top shell is a cross-shaped structure, a plurality of lifting arms are respectively installed on the top of the bottom box, and a plurality of lifting arms are hinged to the bottom of the bottom box, the telescopic tube is installed at the top center of the top shell, a plurality of telescopic cylinders are respectively installed at one end on the outside of the lifting arm, and the other end is hinged to the outside of the short side of the top shell, a plurality of pushing cylinders are respectively installed at one end on the outside of the lifting arm, and the other end is hinged to the outside of the long side of the top shell, the counterweight is movably located inside the bottom box, a plurality of driving cylinders are hinged at one end to the side of the counterweight, and the other end is hinged to the inner wall of the bottom box, and a plurality of driving cylinders are located on the sides of the counterweight in pairs.

[0011] The lifting and adjusting mechanism is the core component of the mobile printing device. Through multiple key components, the lifting and adjusting function is realized in coordination to ensure the smooth operation of the device and accurate and efficient printing.

[0012] The bottom box is firmly installed on the top of the frame, which plays a role in bearing and fixing, and provides a stable basic structure for the lifting and adjustment mechanism. The top shell is installed at the bottom of the bottom box, and its structure is a cross-shaped design. This form not only enhances the rigidity and stability of the overall structure, but also provides a reasonable space for the connection and arrangement of other components. Multiple lifting arms are installed on the top of the bottom box, and their bottoms are connected to the bottom of the bottom box through hinges, so that each lifting arm can flexibly adjust the angle within a certain range. The telescopic tube is installed at the center of the top of the top shell as a concrete transportation channel, and it is passively retracted as the top plate is retracted.

[0013] In order to achieve flexible movement and tilt adjustment of the lifting arm, the lifting adjustment mechanism is equipped with multiple telescopic cylinders and push cylinders, which are driven to move by the tilt of the lifting arm. Through this layout, the telescopic cylinders and push cylinders act on different edges of the top shell respectively. When the lifting arm is tilted, they jointly maintain the balance of the entire structure through precise telescopic movements.

[0014] The counterweight is the balancing core of the lifting and adjusting mechanism. It is movably installed inside the bottom box. Its function is to balance the center of gravity of the printing robot arm on the top of the lifting arm by dynamically adjusting its position. There are multiple drive cylinders distributed around the counterweight. These drive cylinders are distributed on the sides of the counterweight in pairs, forming a symmetrical distribution structure. When the lifting arm tilts, the drive cylinder will push the counterweight to move in the opposite direction of the tilt based on real-time feedback, thereby dynamically adjusting the center of gravity of the entire lifting and adjusting mechanism to ensure that the lifting arm and the printing robot arm can remain stable at a certain angle, avoiding overturning or operating errors caused by center of gravity offset.

[0015] Through the coordinated work of the above structures and the dynamic balance control of the counterweight, the operating range of the printing robot arm is expanded, and the safety and accuracy of the printing operation are ensured, providing powerful functional support and reliable guarantee for the mobile printing device.

[0016] Preferably, the lifting arm is a three-stage lifting arm, comprising a first arm, a second arm, a third arm and a fourth arm, the first arm, the second arm, the third arm and the fourth arm are respectively located at the four corners of the top of the bottom box, the telescopic cylinder and the pushing cylinder are respectively located on the first arm, the second arm, the third arm and the fourth arm, and the axes of the telescopic cylinder and the pushing cylinder on the first arm, the second arm, the third arm and the fourth arm are perpendicular to each other.

[0017] The three-stage lifting arm can ensure that the printing robot arm can rise to a certain height, so as to print at different locations without laying out the printing frame, saving manpower and material resources. The first arm, the second arm, the third arm and the fourth arm work together to control the flow of hydraulic oil inside each lifting arm, which can not only adjust the height, but also expand the range of the robot arm's operation by tilting.

[0018] Preferably, the telescopic cylinder includes a first cylinder, a second cylinder, a third cylinder and a fourth cylinder, the pushing cylinder includes a first push cylinder, a second push cylinder, a third push cylinder and a fourth push cylinder, and the driving cylinder includes a first movable cylinder, a second movable cylinder, a third movable cylinder, a fourth movable cylinder, a fifth movable cylinder, a sixth movable cylinder, a seventh movable cylinder and an eighth movable cylinder; the first cylinder is connected to the first movable cylinder through a pipeline, the second cylinder is connected to the sixth movable cylinder through a pipeline, the third cylinder is connected to the second movable cylinder through a pipeline, the fourth cylinder is connected to the fifth movable cylinder through a pipeline, the first push cylinder is connected to the seventh movable cylinder through a pipeline, the second push cylinder is connected to the fourth movable cylinder through a pipeline, the third push cylinder is connected to the third movable cylinder through a pipeline, and the fourth push cylinder is connected to the eighth movable cylinder through a pipeline.

[0019] These hydraulic components achieve precise drive and dynamic balance control of the entire lifting device through multi-level distribution and reasonable pipeline connections.

[0020] Through precise pipe connections, efficient hydraulic coordination is achieved between the telescopic cylinder, the push cylinder and the drive cylinder. The connection between each cylinder not only ensures the accuracy of the single cylinder action, but also enables the entire system to dynamically adjust, quickly respond to the tilting action of the lifting arm, and drive the movement of the counterweight, which not only improves the flexibility and control accuracy of the system, but also greatly improves the stability and adaptability of the printing equipment.

[0021] Preferably, a hydraulic pump is provided inside the top shell, and the hydraulic pump is connected to the lifting arm through a hydraulic oil pipe. A driving pump is provided in the middle of the top shell, and the driving pump is connected to the telescopic tube.

[0022] The hydraulic pump and drive pump inside the top shell provide stable and powerful power support for the telescopic and tilt adjustment of the lifting arm. The hydraulic pump is connected to the lifting arm through multiple hydraulic oil pipes to ensure that the hydraulic oil can be delivered to each lifting arm with minimal loss and the fastest speed. Through the operation of the hydraulic pump, the hydraulic oil is transported to the hydraulic cylinder inside the lifting arm under high pressure, driving the lifting arms at all levels to achieve precise telescopic movement, and at the same time, it can also control the tilt angle of the lifting arm to adapt to different working heights and angle requirements. The power output of the hydraulic pump can be adjusted according to the actual printing height.

[0023] The driving pump is mainly used to transport concrete to the printing robot arm through the telescopic tube, and provide the printing robot arm with a steady supply of concrete materials for printing, ensuring that after the lifting arm is extended to a certain height, concrete can be continuously transported to the top.

[0024] Preferably, electromagnets are installed around the inner wall of the bottom box, and four supporting feet are installed around the outer side of the bottom box.

[0025] By setting an electromagnet in the bottom box, it is used to assist the forward and backward movement of the counterweight block. At the same time, it can ensure that the magnetic force on both sides of the counterweight block can maintain balance during the movement of the counterweight block to prevent the counterweight block from moving sideways. The support feet are used to increase the stability of the entire printing device.

[0026] Preferably, the counterweight block is surrounded by magnet rings, and the outer sides of the magnet rings have the same magnetism. A rectangular frame is provided around the bottom of the counterweight block. A plurality of steel balls are provided at the bottom of the counterweight block, and the diameter of the steel balls is greater than the height of the rectangular frame.

[0027] The magnetism on the outside of the magnet ring is the same, so that it can cooperate with the battery iron and absorb or repel the counterweight by changing the different magnetism on the electromagnet, thereby assisting the movement of the counterweight. The rectangular block at the bottom of the counterweight is used to enclose the steel balls to prevent the steel balls from rolling out from the bottom of the counterweight during the movement of the counterweight. In addition, the diameter of the steel balls is greater than the height of the rectangular frame, so that the counterweight will not directly contact the bottom of the bottom box during the movement, which greatly reduces the friction and resistance of the movement of the counterweight.

[0028] Preferably, the telescopic cylinder and the driving cylinder are extended to extract hydraulic oil, and the telescopic cylinder and the driving cylinder are retracted to push out the hydraulic oil.

[0029] Because the lifting arm will drive the telescopic cylinder to stretch or contract when it is tilted, in order to enable the corresponding driving cylinder to contract when the telescopic cylinder is stretched, the extension of the telescopic cylinder and the driving cylinder will extract hydraulic oil, and the contraction of the telescopic cylinder and the driving cylinder will push out the hydraulic oil.

[0030] Preferably, the pushing cylinder will push out the hydraulic oil when it is extended, and will draw out the hydraulic oil when it is retracted.

[0031] It should be noted that when the lifting arm is tilted, the pushing cylinder will extend. In order to ensure that when the pushing cylinder is extended, the driving cylinder corresponding to the pushing cylinder can be extended at the same time, the hydraulic oil needs to be pushed out when the pushing cylinder is extended and enter the corresponding driving cylinder to make the driving cylinder extend. Conversely, when the pushing cylinder is retracted, the hydraulic oil needs to be extracted and the hydraulic oil in the corresponding driving cylinder is extracted into the pushing cylinder, thereby retracting the driving cylinder.

[0032] Preferably, a GPS positioning sensor is provided on the printing robot arm, and an inclination sensor is provided on the top plate.

[0033] The printing robot is equipped with a GPS positioning sensor, which obtains position information such as height in real time to accurately determine the spatial coordinates of the printing robot. The GPS positioning sensor can be connected to the control system of the device and transmit the acquired position information to the central processing unit, thereby ensuring that the printing robot can accurately move according to the preset path or target point and complete the printing task at the specified location.

[0034] In addition, in order to further improve the tilt angle control and overall stability of the lifting arm, a tilt sensor is specially installed on the top plate. The main function of the tilt sensor is to monitor the horizontal state of the top plate when the lifting arm is tilted in real time, and adjust the extension distance of the lifting arm in real time, so as to ensure the balance and stability of the overall structure.

[0035] The GPS positioning sensor and the inclination sensor work together to form an intelligent monitoring and adjustment system. Through the spatial positioning of the GPS sensor and the angle detection of the inclination sensor, the system can grasp the specific position and posture information of the printing robot arm in real time, thereby achieving precise control of the printing operation in a complex environment.

[0036] The beneficial effects of the present invention are as follows: 1. The present invention arranges a lifting and adjusting mechanism on the frame so that the lifting arm on the lifting and adjusting mechanism can drive the printing robot arm to move upward and automatically adjust the height position during the printing process, so as to be able to print buildings with higher structures. At the same time, the front and rear tilting of the lifting arm can expand the moving range of the printing robot arm, and print at different positions and any part. The printing robot is easy to move and can be reused without presetting the printing frame, which greatly improves the applicability of the printing robot.

[0037] 2. The present invention arranges a counterweight in the bottom box, and through the tilting movement of the lifting arm, the telescopic cylinder and the pushing cylinder are extended and retracted, and the driving cylinder is driven to extend and retract at the same time, thereby pushing the counterweight to move. At the same time, the electromagnet at the bottom of the bottom box cooperates with the magnet ring on the counterweight to assist the movement of the counterweight, and the friction of the movement of the counterweight is reduced by the steel ball at the bottom of the counterweight, thereby ensuring the center of gravity of the entire printing equipment, making the printing robot arm more stable and reliable during the printing process, and greatly improving the stability of the printing equipment.

[0038] 3. The present invention provides a GPS positioning sensor and an inclination sensor on the printing robot arm and the top plate, thereby realizing accurate positioning of the printing position. During the segmented printing process, the docking position of the previous stage can be accurately determined to achieve higher quality printing. At the same time, the inclination sensor is used to ensure that the printing robot arm on the top plate is always in a horizontal state, which greatly improves the stability of the printing robot arm and the quality of printing. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] The above and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0041] Figure 2It is a three-dimensional structural schematic diagram of the lifting and lowering adjustment mechanism of the present invention.

[0042] Figure 3 It is a three-dimensional structural schematic diagram of the lifting and lowering adjustment mechanism of the present invention without a top cover.

[0043] Figure 4 It is a top view of the internal structure of the bottom box of the present invention.

[0044] Figure 5 It is a top view of the internal structure of the top shell of the present invention.

[0045] Figure 6 It is a three-dimensional cross-sectional view of the bottom box and the counterweight block of the present invention.

[0046] Figure 7 It is a cross-sectional view of the telescopic cylinder and the driving cylinder of the present invention.

[0047] Figure 8 It is a cross-sectional view of the push cylinder of the present invention.

[0048] Fig. 9 It is a schematic diagram of the three-dimensional structure of the integral lifting arm of the present invention after it is raised.

[0049] In the figure: 1, frame; 2, wheel; 3, lifting adjustment mechanism; 31, bottom box; 311, electromagnet; 32, top shell; 321, hydraulic pump; 322, driving pump; 33, lifting arm; 331, first arm; 332, second arm; 333, third arm; 334, fourth arm; 34, top plate; 35, telescopic tube; 36, telescopic cylinder; 361, first cylinder; 362, second cylinder; 363, third cylinder; 364, fourth cylinder; 37, push cylinder; 3 71. First push cylinder; 372. Second push cylinder; 373. Third push cylinder; 374. Fourth push cylinder; 38. Counterweight; 381. Magnet ring; 382. Rectangular frame; 383. Steel ball; 39. Drive cylinder; 391. First movable cylinder; 392. Second movable cylinder; 393. Third movable cylinder; 394. Fourth movable cylinder; 395. Fifth movable cylinder; 396. Sixth movable cylinder; 397. Seventh movable cylinder; 398. Eighth movable cylinder; 4. Printing robot arm; 5. Support foot. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. Such terms are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0053] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] The disclosed embodiment aims to solve the problem that the existing printing robot for construction uses a preset printing frame, and then uses a 3D printing robot to gradually print in layers at the bottom, and then raises the height of the printing robot as the printing height increases. However, when the above printing method faces the need to repair the part that has been printed on the bottom layer, it is necessary to wait for the overall printing to be completed before laying the printing frame again to print the repaired part. At the same time, each printing requires a preset printing frame, and it needs to be manually accurately positioned, which wastes a lot of manpower and material resources. At the same time, printing in this way also limits the printing height, which leads to the problem that the preparation work before printing by the printing robot for construction is cumbersome and the applicability is not high. In view of this, the disclosed embodiment proposes a full-height 3D printing robot for construction, by arranging a lifting and adjusting mechanism on the frame, so that the lifting arm on the lifting and adjusting mechanism can drive the printing mechanical arm to move upward, and automatically adjust the height position during the printing process, so as to print a higher structure of the building. At the same time, the front and rear tilting of the lifting arm can expand the moving range of the printing mechanical arm, and print different positions, print any part, and is easy to move and can be reused, without the need for a preset printing frame, which greatly improves the applicability of the printing robot.

[0055] like Figure 1-9As shown, a full-height 3D printing robot for construction includes: a frame 1, wheels 2 and a printing robot arm 4; the frame 1 is equipped with wheels 2 around it, and the printing robot arm 4 is installed on the top of the frame 1, and also includes a lifting and adjusting mechanism 3, the lifting and adjusting mechanism 3 is installed on the top of the frame 1, and the printing robot arm 4 is located on the top of the lifting and adjusting mechanism 3, the lifting and adjusting mechanism 3 drives the lifting arm 33 to lift and lower through a hydraulic pump 321, and according to the printing height and the printing position, the lifting arm 33 is tilted at a certain angle to expand the working range, and the tilted lifting arm 33 will simultaneously drive the telescopic cylinder 36 and the pushing cylinder 37, and transmit the power to the driving cylinder 39, the driving cylinder 39 will push the counterweight block 38 to move in the opposite direction of the tilt of the lifting arm 33 to ensure the balance of the center of gravity of the printing robot arm 4 on the top of the lifting arm 33, and then realize the precise positioning of the printing position according to the GPS positioning sensor.

[0056] The present invention ensures that the equipment can move smoothly and adapt to various site conditions. A printing robot arm 4 is installed on the top of the frame 1. The printing robot arm 4 adopts 6-axis 3D printing technology, has 6 degrees of freedom, can perform complex spatial movements, and meet diverse printing needs.

[0057] The lifting adjustment mechanism 3 drives the lifting arm 33 to move up and down through the hydraulic pump 321, and accurately adjusts the tilt angle of the lifting arm 33 according to the printing height and the current position, significantly expanding the operating range. Even in complex or irregular operating areas, the printing robot 4 can successfully complete efficient printing.

[0058] During the tilting process of the lifting arm 33, the device takes special consideration of the stability issue. The tilted lifting arm 33 drives the telescopic cylinder 36 and the pushing cylinder 37, which in turn transmits power to the driving cylinder 39, which pushes the counterweight 38 to move in the opposite direction of the tilting of the lifting arm 33. This dynamic balance design ensures the stability of the center of gravity at the top of the printing robot arm 4, prevents the center of gravity from shifting due to tilting, avoids the device from tipping over or printing accuracy errors, and thus improves the safety of the operation and the printing accuracy.

[0059] And through the GPS positioning sensor, the height and position of the device can be obtained in real time to achieve high-precision positioning. Combined with the multi-directional adjustment capability of the lifting and adjusting mechanism 3, the printing robot arm 4 can quickly and accurately reach the target position, ensuring that accurate printing tasks can be completed even in complex environments.

[0060] like Figures 2 to 4As shown, the lifting and adjusting mechanism 3 includes a bottom box 31, a top shell 32, a lifting arm 33, a top plate 34, a telescopic tube 35, a telescopic cylinder 36, a push cylinder 37, a counterweight 38 and a drive cylinder 39; the bottom box 31 is installed on the top of the frame 1, the top shell 32 is installed on the bottom of the bottom box 31, the top shell 32 is a cross-shaped structure, a plurality of lifting arms 33 are respectively installed on the top of the bottom box 31, and a plurality of lifting arms 33 are hinged to the bottom of the bottom box 31, and the telescopic tube 35 is installed at the top center of the top shell 32. Position, one end of multiple telescopic cylinders 36 are respectively installed on the outside of the lifting arm 33, and the other end is hinged to the outside of the short side surface of the top shell 32, one end of multiple pushing cylinders 37 are respectively installed on the outside of the lifting arm 33, and the other end is hinged to the outside of the long side surface of the top shell 32, the counterweight block 38 is movably located inside the bottom box 31, one end of multiple driving cylinders 39 is hinged to the side of the counterweight block 38, and the other end is hinged to the inner wall of the bottom box 31, and multiple driving cylinders 39 are located on the sides of the counterweight block 38 in pairs.

[0061] The lifting arm 33 is hinged to the bottom box 31, so that the lifting arm 33 can be tilted, and the lifting arm 33 will rise as the printing height rises according to the operation requirements. When the lifting arm 33 is tilted, the telescopic cylinder 36 and the pushing cylinder 37 will be extended and retracted, and the driving cylinder 39 will push the counterweight block 38 to move in the opposite direction of the tilt according to the real-time feedback, so as to dynamically adjust the center of gravity of the entire lifting adjustment mechanism 3, ensure that the lifting arm 33 and the printing mechanical arm 4 can remain stable at a certain angle, and avoid overturning or operation errors caused by the center of gravity shift.

[0062] like Figure 3 As shown, the lifting arm 33 is a three-stage lifting arm 33, and the lifting arm 33 includes a first arm 331, a second arm 332, a third arm 333 and a fourth arm 334, and the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 are respectively located at the four corners of the top of the bottom box 31, and the telescopic cylinder 36 and the pushing cylinder 37 are respectively located on the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334, and the axes of the telescopic cylinder 36 and the pushing cylinder 37 on the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 are perpendicular to each other.

[0063] The three-stage lifting arm 33 design enables the printing robot arm 4 to be raised to different heights, ensuring that printing operations can be performed at different positions without the need for additional printing racks, providing strong support, and the three-stage lifting arm 33 can be raised to a height of about 17 meters. The first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 work together to control the extension distance of different arms, thereby controlling the tilt angle of the lifting arm 33, and being able to always keep the top plate 34 on the lifting arm 33 in a horizontal state.

[0064] like Figure 3 and Figure 4 As shown, the telescopic cylinder 36 includes a first cylinder 361, a second cylinder 362, a third cylinder 363 and a fourth cylinder 364, the pushing cylinder 37 includes a first pushing cylinder 371, a second pushing cylinder 372, a third pushing cylinder 373 and a fourth pushing cylinder 374, and the driving cylinder 39 includes a first movable cylinder 391, a second movable cylinder 392, a third movable cylinder 393, a fourth movable cylinder 394, a fifth movable cylinder 395, a sixth movable cylinder 396, a seventh movable cylinder 397 and an eighth movable cylinder 398; the first cylinder 361 is connected to the first movable cylinder 391 through a pipeline, The second cylinder 362 is connected to the sixth cylinder 396 through a pipeline, the third cylinder 363 is connected to the second cylinder 392 through a pipeline, the fourth cylinder 364 is connected to the fifth cylinder 395 through a pipeline, the first push cylinder 371 is connected to the seventh cylinder 397 through a pipeline, the second push cylinder 372 is connected to the fourth cylinder 394 through a pipeline, the third push cylinder 373 is connected to the third cylinder 393 through a pipeline, and the fourth push cylinder 374 is connected to the eighth cylinder 398 through a pipeline.

[0065] When the lifting arm 33 tilts forward, the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will tilt in the same direction at the same time. At this time, the first cylinder 361 and the third cylinder 363 connected to the first arm 331 and the fourth arm 334 will be pushed and contracted, and push the hydraulic oil into the first cylinder 391 and the second cylinder 392, so that the first cylinder 391 and the second cylinder 392 extend out and push the counterweight 38 to move. The second cylinder 362 and the fourth cylinder 364 connected to the second arm 332 and the third arm 333 will be stretched, and the hydraulic oil will be drawn into the second cylinder 362 and the fourth cylinder 364, so that the hydraulic oil in the fifth cylinder 395 and the sixth cylinder 396 is drawn out, and the fifth cylinder 395 and the sixth cylinder 396 will contract and drive the counterweight 38 to move.

[0066] At the same time, the first push cylinder 371, the second push cylinder 372, the third push cylinder 373 and the fourth push cylinder 374 connected to the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will be stretched, so that the hydraulic oil inside the first push cylinder 371, the second push cylinder 372, the third push cylinder 373 and the fourth push cylinder 374 will be pushed out, and the hydraulic oil will enter the third cylinder 393, the fourth cylinder 394, the seventh cylinder 397 and the eighth cylinder 398, and make the third cylinder 393, the fourth cylinder 394, the seventh cylinder 397 and the eighth cylinder 398 extend out, thereby assisting in pushing the counterweight block 38 to move and ensuring that the counterweight block 38 will not move to both sides.

[0067] like Figure 5As shown, a hydraulic pump 321 is provided inside the top shell 32 , and the hydraulic pump 321 is connected to the lifting arm 33 through a hydraulic oil pipe. A driving pump 322 is provided in the middle of the top shell 32 , and the driving pump 322 is connected to the telescopic tube 35 .

[0068] The driving pump 322 delivers the concrete to the print head end of the printing robot 4 through the telescopic tube 35, and transports the concrete for printing. As the printing height increases, the hydraulic pump 321 will drive the lifting arm 33 to rise together with the printing position, and the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will rise at the same time.

[0069] like Figure 6 As shown, electromagnets 311 are installed around the inner wall of the bottom box 31 , and four supporting legs 5 are installed around the outer side of the bottom box 31 .

[0070] Depending on the direction of movement of the counterweight 38, the electromagnet 311 will generate different magnetism, which can ensure that the magnetic forces on both sides of the counterweight 38 can remain balanced during the movement of the counterweight 38, thereby preventing the counterweight 38 from shifting sideways.

[0071] When the lifting arm 33 rises and prints at a certain position, the four supporting feet 5 on the four sides of the outer side of the bottom box 31 can be extended by hydraulic drive and contact the ground, so as to support the entire printing device, which greatly improves the overall stability. When the position needs to be changed for printing, the four supporting feet 5 can be retracted by hydraulic drive, so that the entire vehicle body can move and change position.

[0072] like Figure 6 As shown, the counterweight block 38 is surrounded by a magnet ring 381 , and the outer sides of the magnet ring 381 have the same magnetism. A rectangular frame 382 is provided around the bottom of the counterweight block 38 . A plurality of steel balls 383 are provided at the bottom of the counterweight block 38 , and the diameter of the steel balls 383 is greater than the height of the rectangular frame 382 .

[0073] When the counterweight 38 is moving, the steel ball 383 at the bottom of the counterweight 38 will roll at the bottom of the bottom box 31 to reduce the friction of the counterweight 38. At the same time, the electromagnets 311 at the front and rear sides of the bottom box 31 will be energized and generate magnetic force. The electromagnet 311 on the side of the counterweight 38 moving in the direction of movement will generate a magnetic force different from that of the magnet ring 381 on the counterweight 38 and adsorb the counterweight 38. The electromagnet 311 on the side of the counterweight 38 moving in the opposite direction of movement will generate a magnetic force different from that of the magnet ring 381 on the counterweight 38. The electromagnets 311 on both sides of the bottom box 31 will generate the same magnetism as the magnet ring 381 on the counterweight 38 and repel the counterweight 38, so as to ensure the balance of the magnetic forces on both sides during the movement of the counterweight 38, thereby assisting the movement of the counterweight 38, so that the center of gravity of the entire frame 1 is opposite to the inclination direction of the lifting arm 33, thereby ensuring the stability of the printing robot arm 4 on the top plate 34 and expanding the operating range of the printing robot arm 4.

[0074] like Figure 7 As shown, the telescopic cylinder 36 and the driving cylinder 39 extend to extract the hydraulic oil, and the telescopic cylinder 36 and the driving cylinder 39 contract to push out the hydraulic oil.

[0075] When the telescopic cylinder 36 is extended, hydraulic oil is extracted from the driving cylinder 39, thereby causing the driving cylinder 39 to contract; and when the telescopic cylinder 36 is contracted, the hydraulic oil is pushed out and transmitted to the driving cylinder 39, causing the driving cylinder 39 to extend synchronously.

[0076] This bidirectional flow mechanism of hydraulic oil is achieved through the close linkage of the telescopic cylinder 36 and the driving cylinder 39, ensuring that their movements always remain coordinated.

[0077] like Figure 8 As shown, the pushing cylinder 37 will push out the hydraulic oil when it is extended, and the pushing cylinder 37 will draw out the hydraulic oil when it is retracted.

[0078] When the lifting arm 33 tilts, the push cylinder 37 will extend accordingly. In order to ensure that when the push cylinder 37 extends, the corresponding drive cylinder 39 can also extend synchronously, the hydraulic oil inside the push cylinder 37 will be pushed into the corresponding drive cylinder 39, so that the drive cylinder 39 extends synchronously; conversely, when the push cylinder 37 retracts, the hydraulic oil needs to be pumped back from the drive cylinder 39 into the push cylinder 37, so that the drive cylinder 39 retracts synchronously.

[0079] The flow process of the hydraulic oil is achieved through reasonable pipeline design and an efficient hydraulic control system, ensuring that the push cylinder 37 and the drive cylinder 39 always maintain consistency during the extension and retraction process.

[0080] The printing robot arm 4 is provided with a GPS positioning sensor, and the top plate 34 is provided with a tilt sensor.

[0081] The printing robot 4 is integrated with a GPS positioning sensor, which can obtain position information such as height in real time, and is used to accurately locate the specific coordinates of the printing robot 4 in space. Through linkage with the device control system, the GPS positioning sensor transmits the collected position information to the central processing unit, ensuring that the printing robot 4 can accurately move according to the pre-set path or target point and accurately complete the printing task at the predetermined position.

[0082] In order to further enhance the performance of the lifting arm 33 in terms of tilt angle control and overall stability, a tilt sensor is specially configured on the top plate 34. The core function of the sensor is to monitor the horizontal state of the top plate 34 in real time when the lifting arm 33 is tilting, and dynamically adjust the telescopic distance of the lifting arm 33 according to the monitoring results, so as to effectively maintain the balance and stability of the system.

[0083] The present invention is in the working process: when performing 3D printing, first, start the printing robot arm 4, the printing robot arm 4 first prints around, the driving pump 322 inside the top shell 32 sends concrete to the printing head end of the printing robot arm 4 through the telescopic tube 35, and transports the concrete for printing, as the printing height increases, the hydraulic pump 321 will drive the lifting arm 33 to rise together with the increase of the printing position, the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will rise at the same time, and the GPS positioning sensor on the top of the printing robot arm 4 will be used for accurate positioning. When the printing position is far away, the entire lifting arm 33 will tilt, and the tilt angle of the top plate 34 will be detected by the inclination sensor on the top plate 34, and then the extension height of the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will be controlled, so that the top plate 34 can always remain in a horizontal state, and the printing robot arm 4 can be closer to the printing position, and the GPS positioning sensor can be used to accurately locate the position to be printed. If the distance to the printing position is far, the rotation of the wheels 2 on the frame 1 will drive the entire printing device to move.

[0084] When the lifting arm 33 tilts forward, the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will tilt in the same direction at the same time. At this time, the first cylinder 361 and the third cylinder 363 connected to the first arm 331 and the fourth arm 334 will be pushed and contracted, and push the hydraulic oil into the first cylinder 391 and the second cylinder 392, so that the first cylinder 391 and the second cylinder 392 extend out and push the counterweight 38 to move. The second cylinder 362 and the fourth cylinder 364 connected to the second arm 332 and the third arm 333 will be stretched, and the hydraulic oil will be drawn into the second cylinder 362 and the fourth cylinder 364, so that the hydraulic oil in the fifth cylinder 395 and the sixth cylinder 396 is drawn out, and the fifth cylinder 395 and the sixth cylinder 396 will contract and drive the counterweight 38 to move.

[0085] At the same time, the first push cylinder 371, the second push cylinder 372, the third push cylinder 373 and the fourth push cylinder 374 connected to the first arm 331, the second arm 332, the third arm 333 and the fourth arm 334 will be stretched, so that the hydraulic oil inside the first push cylinder 371, the second push cylinder 372, the third push cylinder 373 and the fourth push cylinder 374 will be pushed out, and the hydraulic oil will enter the third movable cylinder 393, the fourth movable cylinder 394, the seventh movable cylinder 397 and the eighth movable cylinder 398, and make the third movable cylinder 393, the fourth movable cylinder 394, the seventh movable cylinder 397 and the eighth movable cylinder 398 extend out, thereby assisting in pushing the counterweight block 38 to move and ensuring that the counterweight block 38 will not move to both sides. During the movement of the counterweight block 38, the steel ball 383 at the bottom of the bottom box 31 will roll at the bottom of the bottom box 31 to reduce the friction of the movement of the counterweight block 38. At the same time, The electromagnets 311 on the front and rear sides of 31 will be energized and generate magnetic force, and the electromagnet 311 on the side of the moving direction of the counterweight block 38 will generate a magnetic force different from the magnet ring 381 on the counterweight block 38, and adsorb the counterweight block 38, and the electromagnet 311 on the side of the opposite direction of the movement of the counterweight block 38 will generate the same magnetism as the magnet ring 381 on the counterweight block 38, and repel the counterweight block 38. The electromagnets 311 on both sides of the bottom box 31 will generate the same magnetism as the magnet ring 381 on the counterweight block 38, and repel the counterweight block 38, so as to ensure the balance of magnetic forces on both sides during the movement of the counterweight block 38, thereby assisting the movement of the counterweight block 38, so that the center of gravity of the entire frame 1 is opposite to the tilt direction of the lifting arm 33, thereby ensuring the stability of the printing robot arm 4 on the top plate 34, and at the same time, expanding the operating range of the printing robot arm 4.

[0086] Similarly, the lifting arm 33 can also be tilted backwards, and the upper GPS positioning sensor on the printing robot arm 4 can be used to accurately position the printing position. During the segmented printing process, the docking position of the previous stage can be accurately determined, thereby achieving higher quality printing.

[0087] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A full-height 3D printing robot for construction, comprising: A vehicle frame (1), wheels (2) and a printing mechanical arm (4); the vehicle frame (1) is provided with wheels (2) around its periphery, the printing mechanical arm (4) being provided above the vehicle frame (1), and the vehicle frame (1) further comprising a lifting and adjusting mechanism (3), the lifting and adjusting mechanism (3) being provided on the top of the vehicle frame (1), and the printing mechanical arm (4) being located on the top of the lifting and adjusting mechanism (3), the lifting and adjusting mechanism (3) driving the lifting arm (33) to lift and lower through a hydraulic pump (321), and making the lifting arm (33) tilt at a certain angle according to the printing height and the printing position, so as to expand the working range, and the tilted lifting arm (33) will simultaneously drive the telescopic cylinder (36) and the pushing cylinder (37), and transmit the power to the driving cylinder (39), and the driving cylinder (39) will push the counterweight (38) to move in the opposite direction of the tilt of the lifting arm (33), so as to ensure the balance of the center of gravity of the printing mechanical arm (4) on the top of the lifting arm (33), and then realize the accurate positioning of the printing position according to the GPS positioning sensor.

2. A full-height 3D printing robot for construction according to claim 1, characterized in that: The lifting and adjusting mechanism (3) comprises a bottom box (31), a top shell (32), a lifting arm (33), a top plate (34), a telescopic tube (35), a telescopic cylinder (36), a pushing cylinder (37), a counterweight (38) and a driving cylinder (39); the bottom box (31) is mounted on the top of the vehicle frame (1); the top shell (32) is mounted on the bottom of the bottom box (31); the top shell (32) is a cross-shaped structure; a plurality of lifting arms (33) are respectively mounted on the top of the bottom box (31); and the plurality of lifting arms (33) are hinged to the bottom of the bottom box (31); the telescopic tube (35) is mounted on the top shell ( At the top center position of the housing (32), one end of a plurality of telescopic cylinders (36) are respectively mounted on the outside of the lifting arms (33), and the other end is hinged to the outside of the short side surface of the top shell (32); one end of a plurality of pushing cylinders (37) are respectively mounted on the outside of the lifting arms (33), and the other end is hinged to the outside of the long side surface of the top shell (32); the counterweight block (38) is movably located inside the bottom box (31); one end of a plurality of driving cylinders (39) are hinged to the side surface of the counterweight block (38), and the other end is hinged to the inner wall of the bottom box (31); and the plurality of driving cylinders (39) are located in pairs on the sides of the counterweight block (38).

3. A full-height 3D printing robot for construction according to claim 2, characterized in that: The lifting arm (33) is a three-stage lifting arm (33), comprising a first arm (331), a second arm (332), a third arm (333) and a fourth arm (334), wherein the first arm (331), the second arm (332), the third arm (333) and the fourth arm (334) are respectively located at four corners of the top of the bottom box (31), the telescopic cylinder (36) and the pushing cylinder (37) are respectively located on the first arm (331), the second arm (332), the third arm (333) and the fourth arm (334), and the axes of the telescopic cylinder (36) and the pushing cylinder (37) on the first arm (331), the second arm (332), the third arm (333) and the fourth arm (334) are perpendicular to each other.

4. A full-height 3D printing robot for construction according to claim 2, characterized in that: The telescopic cylinder (36) comprises a first cylinder (361), a second cylinder (362), a third cylinder (363) and a fourth cylinder (364); the pushing cylinder (37) comprises a first pushing cylinder (371), a second pushing cylinder (372), a third pushing cylinder (373) and a fourth pushing cylinder (374); the driving cylinder (39) comprises a first movable cylinder (391), a second movable cylinder (392), a third movable cylinder (393), a fourth movable cylinder (394), a fifth movable cylinder (395), a sixth movable cylinder (396), a seventh movable cylinder (397) and an eighth movable cylinder (398); the first cylinder (361) is connected to the first movable cylinder (391) via a pipeline. 91), the second cylinder (362) is connected to the sixth cylinder (396) through a pipeline, the third cylinder (363) is connected to the second cylinder (392) through a pipeline, the fourth cylinder (364) is connected to the fifth cylinder (395) through a pipeline, the first push cylinder (371) is connected to the seventh cylinder (397) through a pipeline, the second push cylinder (372) is connected to the fourth cylinder (394) through a pipeline, the third push cylinder (373) is connected to the third cylinder (393) through a pipeline, and the fourth push cylinder (374) is connected to the eighth cylinder (398) through a pipeline.

5. A full-height 3D printing robot for construction according to claim 2, characterized in that: A hydraulic pump (321) is provided inside the top shell (32), and the hydraulic pump (321) is connected to the lifting arm (33) through a hydraulic oil pipe. A driving pump (322) is provided in the middle of the top shell (32), and the driving pump (322) is connected to the telescopic tube (35).

6. A full-height 3D printing robot for construction according to claim 2, characterized in that: Electromagnets (311) are respectively installed around the inner wall of the bottom box (31), and four supporting legs (5) are respectively installed around the outer side of the bottom box (31).

7. A full-height 3D printing robot for construction according to claim 2, characterized in that: The counterweight block (38) is provided with a magnet ring (381) around it, and the outer sides of the magnet ring (381) have the same magnetism. A rectangular frame (382) is provided around the bottom of the counterweight block (38). A plurality of steel balls (383) are provided at the bottom of the counterweight block (38), and the diameter of the steel balls (383) is greater than the height of the rectangular frame (382).

8. A full-height 3D printing robot for construction according to claim 2, characterized in that: The telescopic cylinder (36) and the driving cylinder (39) are extended to extract hydraulic oil, and the telescopic cylinder (36) and the driving cylinder (39) are retracted to push out the hydraulic oil.

9. A full-height 3D printing robot for construction according to claim 2, characterized in that: The pushing cylinder (37) will push out the hydraulic oil when it is extended, and will draw out the hydraulic oil when it is retracted.

10. A full-height 3D printing robot for construction according to claim 2, characterized in that: The printing mechanical arm (4) is provided with a GPS positioning sensor, and the top plate (34) is provided with an inclination sensor.

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