A full-height 3D printing robot for construction

Abstract

The present invention relates to the technical field of construction engineering, and particularly relates to a full-height 3D printing robot for construction, including: a vehicle frame, wheels, and a printing robotic arm; the wheels are installed around the vehicle frame, the printing robotic arm is installed above the vehicle frame, and further includes a lifting adjustment mechanism, the lifting adjustment mechanism is installed at the top of the vehicle frame, and the printing robotic arm is located at the top of the lifting adjustment mechanism. It solves the problems that the existing printing robots cannot repair the parts that have been printed on the bottom layer during printing, and as the printing position rises, it is necessary to raise the printing frame for re-laying and re-positioning, resulting in time-consuming and laborious work, cumbersome printing, and limiting the printing height; it realizes that the printing robot can be automatically adjusted according to the printing height position, automatically and accurately position and repair the printed parts, without re-laying and adjusting the printing frame, the printing is simple, time-saving and labor-saving, and greatly improves the applicability of the printing robot.

Description

Technical Field

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

[0002] A 3D printing robot for buildings is an automated device that combines advanced manufacturing technology and intelligent control. It can construct building components or entire buildings by layer-by-layer printing according to digital model files. Such robots usually consist of an industrial robotic arm, a mobile chassis, a positioning and navigation system, a feeding system, and a remote controller, etc., and 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 building facilities layer by layer.

[0003] Existing building printing robots all preset a printing frame, and then use the 3D printing robot to gradually print in layers at the bottom. Then, as the printing height increases, the height of the printing robot is raised. However, when the parts that have been printed at the bottom need to be repaired in the above printing method, it is necessary to wait for the overall printing to be completed and then lay the printing frame again to print the parts to be repaired. At the same time, a printing frame needs to be preset for each printing, and precise positioning by manual is required, which wastes a lot of manpower and material resources. At the same time, using this method for printing also limits the printing height, resulting in cumbersome preparation work before printing by the building printing robot and low applicability.

[0004] 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 buildings, which solves the above technical problems. Summary of the Invention

[0005] The technical object to be achieved by the present invention is: to solve the problem that existing printing robots cannot repair the parts that have been printed at the bottom during printing, and as the printing position rises, it is necessary to raise and re-lay the printing frame and re-position it, resulting in time-consuming and laborious work, cumbersome printing, and limiting the printing height; it is realized that the printing robot can be automatically adjusted according to the printing height position, automatically and accurately position and repair the printed parts, without re-laying and adjusting the printing frame, the printing is simple, time-saving and labor-saving, and greatly improves the applicability of the printing robot.

[0006] In order to achieve the above technical object, the present invention provides the following technical solutions:

[0007] A full-height 3D printing robot for construction, comprising: a vehicle frame, wheels and a printing robotic arm; wheels are installed around the vehicle frame, and a printing robotic arm is installed above the vehicle frame. It further includes a lifting and adjusting mechanism, which is installed on the top of the vehicle frame, and the printing robotic arm is located at the top of the lifting and adjusting mechanism. The lifting and adjusting mechanism drives the lifting arm to lift through a hydraulic pump, and according to the printing height and the printing position, the lifting arm is inclined at a certain angle to expand the working range. The inclined 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 inclination of the lifting arm to ensure the balance of the center of gravity of the printing robotic arm at the top of the lifting arm. According to the GPS positioning sensor, the accurate positioning of the printing position is realized.

[0008] The vehicle frame, wheels and printing robotic arm of the present invention are used to meet the flexible operation requirements in different environments. Among them, wheels are installed around the vehicle frame to ensure that the entire device can move smoothly, so as to freely pass through a wide range of site conditions. The printing robotic arm is installed on the top of the vehicle frame, providing core functional support for realizing multi-angle and multi-height printing operations. The printing robotic arm is a 6-axis 3D printing robotic arm, and the 6 degrees of freedom of the printing robotic arm can perform complex spatial movements to adapt to different printing requirements.

[0009] In addition, in order to further improve the flexibility and accuracy of the printing operation, the device also includes a lifting and adjusting mechanism. The lifting and adjusting mechanism is firmly installed on the top of the vehicle frame and is connected to the printing robotic arm to ensure that the printing robotic arm is located at the top of the lifting and adjusting mechanism, so as to realize the rising and multi-directional adjustment of the printing robotic arm. The lifting and adjusting mechanism controls the up and down movement of the lifting arm through the drive of a hydraulic pump, and accurately adjusts the angle inclination of the lifting arm according to the printing height and the current printing position to significantly expand the working range of the printing robotic arm. Through this design, even in the face of complex or irregular working areas, the printing robotic arm can still smoothly complete efficient printing tasks.

[0010] During the inclination of the lifting arm, the design of the device also particularly considers the problem of equipment stability. The inclination of the lifting arm will drive the telescopic cylinder and the pushing cylinder at the same time, and these components transmit the power to the driving cylinder, and the driving cylinder is responsible for pushing the counterweight to move in the opposite direction of the inclination of the lifting arm. Through this dynamic balance design, the balance of the center of gravity of the printing robotic arm at the top of the lifting arm is effectively ensured, avoiding the overturning of the device or printing errors caused by the deviation of the center of gravity due to the inclination, thereby significantly improving the printing accuracy and operation safety.

[0011] To achieve precise control of the printing position, the device is also equipped with a GPS positioning sensor, which can obtain the height position of the current device in real time and perform high-precision positioning. Combining with the multi-directional adjustment ability of the lifting adjustment mechanism, the printing robotic arm can quickly and accurately reach the target position, ensuring precise printing operations can be completed in various complex environments. The design of this device provides a broader application prospect for mobile printing devices, especially suitable for construction, engineering, and other fields that require large-area high-precision printing.

[0012] Preferably, the lifting adjustment mechanism includes a bottom box, a top shell, lifting arms, a top plate, telescopic tubes, telescopic cylinders, pushing cylinders, counterweight blocks, and driving cylinders; the bottom box is installed on the top of the vehicle frame, the top shell is installed at the bottom of the bottom box, the top shell is in a cross-shaped structure, a plurality of the lifting arms are respectively installed on the top of the bottom box, and a plurality of the lifting arms are hinged to the bottom of the bottom box, the telescopic tubes are installed at the center position of the top of the top shell, one ends of a plurality of telescopic cylinders are respectively installed on the outer sides of the lifting arms, and the other ends are hinged to the outer sides of the short side surfaces of the top shell, one ends of a plurality of pushing cylinders are respectively installed on the outer sides of the lifting arms, and the other ends are hinged to the outer sides of the long side surfaces of the top shell, the counterweight blocks are movably located inside the bottom box, one ends of a plurality of driving cylinders are hinged to the side surfaces of the counterweight blocks, and the other ends are hinged to the inner walls of the bottom box, and a plurality of the driving cylinders are arranged in pairs around the side surfaces of the counterweight blocks.

[0013] This lifting adjustment mechanism is a core component in the mobile printing device. Through multiple key components, it collaboratively realizes the lifting adjustment function, ensuring the stable operation of the device and precise and efficient printing.

[0014] The bottom box is firmly installed on the top of the vehicle frame, playing a role of bearing and fixing, providing a stable basic structure for the lifting 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. A plurality of lifting arms are respectively installed on the top of the bottom box, and their bottoms are connected to the bottom of the bottom box through hinges, enabling each lifting arm to flexibly adjust the angle within a certain range. The telescopic tubes are installed at the center position of the top of the top shell and serve as a concrete transportation channel, being passively telescoped as the top plate expands and contracts.

[0015] To achieve the flexible movement and tilt adjustment of the lifting arms, the lifting adjustment mechanism is configured with a plurality of telescopic cylinders and pushing cylinders. By tilting the lifting arms, the telescopic cylinders and pushing cylinders are driven to move. Through this layout, the telescopic cylinders and pushing cylinders act on different edges of the top shell respectively. When the lifting arms tilt, they jointly maintain the balance of the entire structure through precise telescopic actions.

[0016] The counterweight is the balance core of the lifting and adjusting mechanism, which is movably installed inside the bottom box. Its function is to balance the center of gravity of the printing robot arm at the top of the lifting arm by dynamically adjusting its position. Around the counterweight, multiple driving cylinders are distributed. These driving cylinders are distributed in pairs on the sides around the counterweight, forming a symmetric distribution structure. When the lifting arm tilts, the driving cylinders will push the counterweight to move in the direction opposite to the tilt according to the 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 both remain stable at a certain angle, avoiding tipping or operation errors caused by the center of gravity deviation.

[0017] Through the collaborative work of the above structure and the dynamic balance control of the counterweight, the operation range of the printing robot arm is expanded, and the safety and accuracy of the printing operation are ensured. It provides strong functional support and reliable guarantee for the mobile printing device.

[0018] Preferably, the lifting arm is a three-stage lifting arm, which includes 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 cylinders and the pushing cylinders are respectively located on the first arm, the second arm, the third arm, and the fourth arm, and the axes of the telescopic cylinders and the pushing cylinders on the first arm, the second arm, the third arm, and the fourth arm are perpendicular to each other.

[0019] The three-stage lifting arm can ensure that the printing robot arm can rise to a certain height, so as to perform printing at different positions, and there is no need to lay a printing rack, saving manpower and material resources. The common cooperation of the first arm, the second arm, the third arm, and the fourth arm can not only adjust the height by controlling the flow of hydraulic oil inside each lifting arm, but also expand the operation range of the robot arm by tilting.

[0020] Preferably, the telescopic cylinders include a first cylinder, a second cylinder, a third cylinder, and a fourth cylinder, the pushing cylinders include a first push cylinder, a second push cylinder, a third push cylinder, and a fourth push cylinder, and the driving cylinders include a first moving cylinder, a second moving cylinder, a third moving cylinder, a fourth moving cylinder, a fifth moving cylinder, a sixth moving cylinder, a seventh moving cylinder, and an eighth moving cylinder; the first cylinder is connected to the first moving cylinder through a pipeline, the second cylinder is connected to the sixth moving cylinder through a pipeline, the third cylinder is connected to the second moving cylinder through a pipeline, the fourth cylinder is connected to the fifth moving cylinder through a pipeline, the first push cylinder is connected to the seventh moving cylinder through a pipeline, the second push cylinder is connected to the fourth moving cylinder through a pipeline, the third push cylinder is connected to the third moving cylinder through a pipeline, and the fourth push cylinder is connected to the eighth moving cylinder through a pipeline.

[0021] Through the multi-stage distribution and reasonable pipeline connection of these hydraulic components, the precise driving and dynamic balance control of the entire lifting device are realized.

[0022] Through precise pipeline connections, efficient hydraulic cooperation is achieved among the telescopic cylinder, the pushing cylinder, and the driving cylinder. The connection between each cylinder body not only ensures the accuracy of the movement of a single cylinder body but also enables the entire system to dynamically adjust, quickly respond to the tilting movement of the lifting arm, and drive the movement of the counterweight. This not only improves the flexibility and control accuracy of the system but also greatly enhances the stability and adaptability of the printing equipment.

[0023] Preferably, a hydraulic pump is provided inside the top shell. 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 pipe.

[0024] The hydraulic pump and the driving pump inside the top shell. The hydraulic pump provides stable and powerful power support for the telescoping and tilting adjustment of the lifting arm. The hydraulic pump is connected to the lifting arm through multiple hydraulic oil pipes to ensure that hydraulic oil can be transmitted to each lifting arm with minimal loss and the fastest speed. Through the operation of the hydraulic pump, hydraulic oil is conveyed to the hydraulic cylinder inside the lifting arm under high pressure, driving each stage of the lifting arm to achieve precise telescoping movement. At the same time, it can also control the tilting 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.

[0025] The driving pump is mainly used to convey concrete to the printing robotic arm through the telescopic pipe and provide a continuous supply of concrete materials for the printing robotic arm, so as to carry out printing, ensuring that after the lifting arm extends to a certain height, the concrete can be continuously conveyed to the top.

[0026] Preferably, electromagnets are respectively installed around the inner wall of the bottom box, and four support feet are respectively installed around the outside of the bottom box.

[0027] By setting electromagnets in the bottom box to assist the forward and backward movement of the counterweight. At the same time, it can ensure that during the movement of the counterweight, the magnetic forces on both sides of the counterweight can remain balanced, preventing the counterweight from shifting sideways. The support feet are used to increase the stability performance of the entire printing device.

[0028] Preferably, a magnet ring is provided around the counterweight, and the outer sides around the magnet ring have the same magnetism. A rectangular frame is provided around the bottom of the counterweight, and multiple steel balls are provided at the bottom of the counterweight, and the diameter value of the steel balls is greater than the height value of the rectangular frame.

[0029] The magnetic properties of the outer sides of the magnet ring are the same all around. This is to enable mutual cooperation with the battery iron and, by changing the different magnetic properties on the electromagnet, adsorb or repel the counterweight block to assist the movement of the counterweight block. The rectangular block at the bottom of the counterweight block is used to block the steel balls, preventing the steel balls from rolling out from the bottom of the counterweight block during its movement. Moreover, the diameter value of the steel balls is greater than the height value of the rectangular frame, so that the counterweight block does not directly contact the bottom of the bottom box during its movement, greatly reducing the friction and resistance during the movement of the counterweight block.

[0030] Preferably, when the telescopic cylinder and the driving cylinder extend, they will extract hydraulic oil, and when the telescopic cylinder and the driving cylinder contract, they will push out hydraulic oil.

[0031] Because when the lifting arm tilts, it will drive the telescopic cylinder to stretch or contract. In order to enable the corresponding driving cylinder to contract when the telescopic cylinder stretches, therefore, when the telescopic cylinder and the driving cylinder extend, they will extract hydraulic oil, and when the telescopic cylinder and the driving cylinder contract, they will push out hydraulic oil.

[0032] Preferably, when the pushing cylinder extends, it will push out hydraulic oil, and when the pushing cylinder contracts, it will extract hydraulic oil.

[0033] It should be noted that when the lifting arm tilts, the pushing cylinder will extend. In order to ensure that when the pushing cylinder extends, the corresponding driving cylinder can extend simultaneously, therefore, when the pushing cylinder extends, it needs to push out hydraulic oil and enter the corresponding driving cylinder to make the driving cylinder extend. Conversely, when the pushing cylinder contracts, it needs to extract hydraulic oil and extract the hydraulic oil in the corresponding driving cylinder into the pushing cylinder, so as to make the driving cylinder contract.

[0034] Preferably, a GPS positioning sensor is provided on the printing robotic arm, and an inclination sensor is provided on the top plate.

[0035] A GPS positioning sensor is installed on the printing robotic arm. This sensor real-time obtains position information such as height and is used to accurately determine the current spatial coordinates of the printing robotic arm. The GPS positioning sensor can be connected to the control system of the device and transmit the obtained position information to the central processing unit, so as to ensure that the printing robotic arm can accurately move according to the preset path or target point and complete the printing task at the specified position.

[0036] In addition, in order to further improve the control of the tilt angle of the lifting arm and the overall stability, an inclination sensor is specially installed on the top plate. The main function of the inclination sensor is to real-time monitor the horizontal state of the top plate when the lifting arm tilts and real-time adjust the extended distance of the lifting arm, so as to ensure the balance and stability of the overall structure.

[0037] 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 real-time grasp the specific position and attitude information of the printing robotic arm, so as to achieve precise control of the printing operation in a complex environment.

[0038] The beneficial effects of the present invention are as follows:

[0039] 1. By setting a lifting and adjusting mechanism on the vehicle frame, the lifting arm on the lifting and adjusting mechanism can drive the printing robotic arm to move upward, and automatically adjust the height position during the printing process, enabling the printing of higher-structured buildings. At the same time, the forward and backward inclination of the lifting arm can expand the movement range of the printing robotic arm, and print different positions, print any part, and the movement is convenient and reusable without a preset printing frame, greatly improving the applicability of the printing robot.

[0040] 2. By setting a counterweight block in the bottom box, through the inclined movement of the lifting arm, the telescopic cylinder and the pushing cylinder expand and contract, and drive the driving cylinder to expand and contract at the same time, thereby pushing the counterweight block to move. At the same time, through the cooperation of the electromagnet at the bottom of the bottom box and the magnet ring on the counterweight block, the movement of the counterweight block is assisted, and the friction of the counterweight block during movement is reduced by the steel balls at the bottom of the counterweight block, thus ensuring the center of gravity of the entire printing device, making the printing robotic arm more stable and reliable during the printing process, and greatly improving the stability of the printing device.

[0041] 3. By providing a GPS positioning sensor and an inclination sensor on the printing robotic arm and the top plate, the precise positioning of the printing position is realized, and the docking position of the previous stage can be accurately determined during the segmented printing process, achieving higher-quality printing. At the same time, through the inclination sensor, the printing robotic arm on the top plate is always kept in a horizontal state, greatly improving the stability of the printing robotic arm and the printing quality. Description of the Drawings

[0042] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Now the above and other aspects of the present invention will be described by way of example only with reference to the drawings, where:

[0044] Figure 1 is a three-dimensional structural schematic diagram of the whole of the present invention.

[0045] Figure 2 It is a schematic three - dimensional structure diagram of the lifting and adjusting mechanism of the present invention.

[0046] Figure 3 It is a schematic three - dimensional structure diagram of the lifting and adjusting mechanism of the present invention without a top cover.

[0047] Figure 4 It is a top - view of the internal structure of the bottom box of the present invention.

[0048] Figure 5 It is a top - view of the internal structure of the top shell of the present invention.

[0049] Figure 6 It is a schematic three - dimensional sectional view of the bottom box and the counterweight of the present invention.

[0050] Figure 7 It is a sectional view of the telescopic cylinder and the driving cylinder of the present invention.

[0051] Figure 8 It is a sectional view of the pushing cylinder of the present invention.

[0052] Figure 9 It is a schematic three - dimensional structure diagram of the overall lifting arm of the present invention after rising.

[0053] In the figure: 1, vehicle frame; 2, wheels; 3, lifting and adjusting 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, pushing cylinder; 371, first pushing cylinder; 372, second pushing cylinder; 373, third pushing cylinder; 374, fourth pushing cylinder; 38, counterweight; 381, magnet ring; 382, rectangular frame; 383, steel ball; 39, driving cylinder; 391, first driving cylinder; 392, second driving cylinder; 393, third driving cylinder; 394, fourth driving cylinder; 395, fifth driving cylinder; 396, sixth driving cylinder; 397, seventh driving cylinder; 398, eighth driving cylinder; 4, printing robotic arm; 5, support feet. Detailed implementation manners

[0054] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. Therefore, the detailed description of the embodiments of the present invention below is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0055] It should be noted that like reference numerals and letters denote like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0056] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "rear", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the inventive product is usually placed during use. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0057] It should also be noted that in the description of the present invention, unless otherwise clearly defined and limited, the terms "set", "installed", "connected" and "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] The embodiments of the present disclosure aim to solve the problems that existing building printing robots all preset a 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 parts that have been printed at the bottom need to be repaired in the above printing method, it is necessary to wait for the overall printing to be completed and then lay the printing frame again to print the parts to be repaired. At the same time, a printing frame needs to be preset for each printing, and precise positioning needs to be carried out manually, which wastes a lot of manpower and material resources. At the same time, printing in this way also limits the printing height, resulting in cumbersome preparation work before the building printing robot prints and low applicability. In view of this, the embodiments of the present disclosure propose a full-height 3D printing robot for buildings. By setting a lifting and adjusting mechanism on the vehicle frame, the lifting arm on the lifting and adjusting mechanism can drive the printing robotic arm to move upward, and automatically adjust the height position during the printing process, enabling the printing of higher-structured buildings. At the same time, the front and rear inclination of the lifting arm can expand the moving range of the printing robotic arm, print different positions, print any part, and is convenient to move and reusable, without presetting a printing frame, greatly improving the applicable performance of the printing robot.

[0059] As Figures 1-9 shown, a full-height 3D printing robot for buildings includes: a vehicle frame 1, wheels 2, and a printing robotic arm 4; wheels 2 are installed around the vehicle frame 1, a printing robotic arm 4 is installed above the vehicle frame 1, and a lifting and adjusting mechanism 3 is further included. The lifting and adjusting mechanism 3 is installed on the top of the vehicle frame 1, and the printing robotic arm 4 is located at the top of the lifting and adjusting mechanism 3. The lifting and adjusting mechanism 3 drives the lifting arm 33 to lift through a hydraulic pump 321, and according to the printing height and the printing position, the lifting arm 33 is inclined at a certain angle to expand the working range. The inclined lifting arm 33 will simultaneously drive a telescopic cylinder 36 and a pushing cylinder 37, and transmit the power to a driving cylinder 39. The driving cylinder 39 will push a counterweight 38 to move in the opposite direction of the inclination of the lifting arm 33 to ensure the balance of the center of gravity of the printing robotic arm 4 at the top of the lifting arm 33, and realize precise positioning of the printing position according to a GPS positioning sensor.

[0060] The present invention ensures that the equipment can move smoothly and adapt to various site conditions. A printing robotic arm 4 is installed on the top of the vehicle frame 1. The printing robotic arm 4 adopts 6-axis 3D printing technology and has 6 degrees of freedom, capable of performing complex spatial movements to meet diverse printing requirements.

[0061] The lifting and adjusting mechanism 3 drives the up and down movement of the lifting arm 33 through a hydraulic pump 321, and precisely adjusts the inclination angle of the lifting arm 33 according to the printing height and the current position, significantly expanding the working range. Even in complex or irregular working areas, the printing robotic arm 4 can smoothly complete efficient printing.

[0062] During the tilting process of the lifting arm 33, the device particularly considers the stability issue. The tilting lifting arm 33 will drive the telescopic cylinder 36 and the pushing cylinder 37, and then transmit the power to the driving cylinder 39. The driving cylinder 39 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 robotic arm 4, prevents the center of gravity from shifting due to tilting, avoids the device from tipping over or printing precision errors, and thus improves the operation safety and printing precision.

[0063] And through the GPS positioning sensor, the height and position of the device can be obtained in real time to achieve high-precision positioning. Combining with the multi-directional adjustment ability of the lifting adjustment mechanism 3, the printing robotic arm 4 can quickly and accurately reach the target position, ensuring that precise printing tasks can be completed even in complex environments.

[0064] As Figures 2 to 4 shown, the lifting adjustment 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 pushing cylinder 37, a counterweight 38 and a driving cylinder 39; the bottom box 31 is installed on the top of the vehicle frame 1, the top shell 32 is installed at the bottom of the bottom box 31, the top shell 32 is a cross-shaped structure, a plurality of the lifting arms 33 are respectively installed on the top of the bottom box 31, and a plurality of the lifting arms 33 are hinged to the bottom of the bottom box 31. The telescopic tube 35 is installed at the center position of the top of the top shell 32. One ends of a plurality of telescopic cylinders 36 are respectively installed on the outer sides of the lifting arms 33, and the other ends are hinged to the outer sides of the short side surfaces of the top shell 32. One ends of a plurality of the pushing cylinders 37 are respectively installed on the outer sides of the lifting arms 33, and the other ends are hinged to the outer sides of the long side surfaces of the top shell 32. The counterweight 38 is movably located inside the bottom box 31. One ends of a plurality of the driving cylinders 39 are hinged to the side surfaces of the counterweight 38, and the other ends are hinged to the inner walls of the bottom box 31, and a plurality of the driving cylinders 39 are arranged in pairs around the four side surfaces of the counterweight 38.

[0065] The lifting arm 33 is hinged to the bottom box 31, which allows the lifting arm 33 to tilt. And according to the operation requirements, as the printing height increases, the lifting arm 33 will also rise. When the lifting arm 33 tilts, it will cause the telescopic cylinder 36 and the pushing cylinder 37 to expand and contract, and the driving cylinder 39 will push the counterweight 38 to move in the direction opposite to the tilt according to the real-time feedback, thereby dynamically adjusting the center of gravity of the entire lifting adjustment mechanism 3 to ensure that the lifting arm 33 and the printing robotic arm 4 can maintain stability at a certain angle and avoid tipping over or operation errors caused by the center of gravity shift.

[0066] As Figure 3As shown, the lifting arm 33 is a three-stage lifting arm 33, which includes a first arm 331, a second arm 332, a third arm 333, and a fourth arm 334. 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. 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.

[0067] The three-stage lifting arm 33 is designed such that the printing robotic arm 4 can be lifted to different heights, ensuring that printing operations can be performed at different positions without laying an additional printing frame, providing strong support force, and the three-stage lifting arm 33 can be lifted to a height of about 17m. The first arm 331, the second arm 332, the third arm 333, and the fourth arm 334 work together to control the inclination angle of the lifting arm 33 by controlling the extension distances of different arms, and can always keep the top plate 34 of the lifting arm 33 in a horizontal state.

[0068] As 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 push cylinder 371, a second push cylinder 372, a third push cylinder 373, and a fourth push cylinder 374. The driving cylinder 39 includes a first driving cylinder 391, a second driving cylinder 392, a third driving cylinder 393, a fourth driving cylinder 394, a fifth driving cylinder 395, a sixth driving cylinder 396, a seventh driving cylinder 397, and an eighth driving cylinder 398. The first cylinder 361 is connected to the first driving cylinder 391 through a pipeline. The second cylinder 362 is connected to the sixth driving cylinder 396 through a pipeline. The third cylinder 363 is connected to the second driving cylinder 392 through a pipeline. The fourth cylinder 364 is connected to the fifth driving cylinder 395 through a pipeline. The first push cylinder 371 is connected to the seventh driving cylinder 397 through a pipeline. The second push cylinder 372 is connected to the fourth driving cylinder 394 through a pipeline. The third push cylinder 373 is connected to the third driving cylinder 393 through a pipeline. The fourth push cylinder 374 is connected to the eighth driving cylinder 398 through a pipeline.

[0069] 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 simultaneously. 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 to contract, and the hydraulic oil will be pushed into the first moving cylinder 391 and the second moving cylinder 392, causing the first moving cylinder 391 and the second moving cylinder 392 to extend 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, causing the hydraulic oil inside the fifth moving cylinder 395 and the sixth moving cylinder 396 to be drawn out. The fifth moving cylinder 395 and the sixth moving cylinder 396 will contract and drive the counterweight 38 to move.

[0070] Meanwhile, 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, causing 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 to be pushed out. The hydraulic oil will enter the third moving cylinder 393, the fourth moving cylinder 394, the seventh moving cylinder 397, and the eighth moving cylinder 398, and cause the third moving cylinder 393, the fourth moving cylinder 394, the seventh moving cylinder 397, and the eighth moving cylinder 398 to extend, thereby assisting in pushing the counterweight 38 to move and ensuring that the counterweight 38 does not move to both sides.

[0071] As Figure 5 shown, a hydraulic pump 321 is provided inside the top shell 32. 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. The driving pump 322 is connected to the telescopic pipe 35.

[0072] The driving pump 322 sends the concrete into the print head end of the printing robotic arm 4 through the telescopic pipe 35 and conveys 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. The first arm 331, the second arm 332, the third arm 333, and the fourth arm 334 will rise simultaneously.

[0073] As Figure 6 shown, electromagnets 311 are respectively installed around the inner wall of the bottom box 31, and four support feet 5 are respectively installed around the outside of the bottom box 31.

[0074] According to the moving direction of the counterweight 38, the electromagnets 311 will generate different magnetic fields, which can ensure that during the movement of the counterweight 38, the magnetic forces on both sides of the counterweight 38 can be kept balanced, preventing the counterweight 38 from shifting sideways.

[0075] When the lifting arm 33 rises and prints at a certain position, the four support feet 5 around the outer side of the bottom box 31 can be extended through hydraulic drive and contact the ground, thereby supporting the entire printing device and greatly improving the overall stability. When it is necessary to change the position for printing, the four support feet 5 can be retracted through hydraulic drive, enabling the entire vehicle body to move and change the position.

[0076] As Figure 6 shown, a magnet ring 381 is provided around the counterweight 38, and the outer sides around the magnet ring 381 have the same magnetism. A rectangular frame 382 is provided around the bottom of the counterweight 38. A plurality of steel balls 383 are provided at the bottom of the counterweight 38, and the diameter value of the steel balls 383 is greater than the height value of the rectangular frame 382.

[0077] During the movement of the counterweight 38, the steel balls 383 at the bottom of the counterweight 38 will roll on the bottom of the bottom box 31, reducing the friction of the movement of the counterweight 38. At the same time, the electromagnets 311 on the front and rear sides inside the bottom box 31 will be energized to generate magnetic force. The electromagnet 311 on the side of the moving direction of the counterweight 38 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 opposite to the moving direction of the counterweight 38 will generate the same magnetism as the magnet ring 381 on the counterweight 38 and repel 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 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, making the center of gravity of the entire vehicle frame 1 opposite to the inclination direction of the lifting arm 33, and thus ensuring the stability of the printing robotic arm 4 on the top plate 34 and expanding the working range of the printing robotic arm 4.

[0078] As Figure 7 shown, when the telescopic cylinder 36 and the drive cylinder 39 extend, they will extract hydraulic oil, and when the telescopic cylinder 36 and the drive cylinder 39 contract, they will push out hydraulic oil.

[0079] When the telescopic cylinder 36 stretches, it will extract hydraulic oil from the drive cylinder 39, thereby causing the drive cylinder 39 to contract; when the telescopic cylinder 36 contracts, it will push out the hydraulic oil and transmit it to the drive cylinder 39, causing the drive cylinder 39 to extend synchronously.

[0080] This two-way flow mechanism of hydraulic oil is achieved through the close linkage of the telescopic cylinder 36 and the drive cylinder 39, ensuring that their movements are always coordinated.

[0081] As Figure 8 shown, when the push cylinder 37 extends, it will push out hydraulic oil, and when the push cylinder 37 contracts, it will extract hydraulic oil.

[0082] When the lifting arm 33 tilts, the push cylinder 37 will extend accordingly. To ensure that the corresponding drive cylinder 39 can also extend synchronously when the push cylinder 37 extends, 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 contracts, it is necessary to pump the hydraulic oil back from the drive cylinder 39 into the push cylinder 37, so that the drive cylinder 39 contracts synchronously.

[0083] This process of hydraulic oil flow is achieved through a 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 telescopic process.

[0084] The printing robotic arm 4 is provided with a GPS positioning sensor, and the top plate 34 is provided with an inclination sensor.

[0085] The printing robotic arm 4 is integrated with a GPS positioning sensor, which can real-time obtain position information such as height for accurately positioning the specific coordinates of the printing robotic arm 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 robotic arm 4 can accurately move according to the pre-set path or target point and precisely complete the printing task at the predetermined position.

[0086] To further enhance the performance of the lifting arm 33 in terms of tilt angle control and overall stability, an inclination sensor is specially configured on the top plate 34. The core function of this sensor is to real-time monitor the horizontal state of the top plate 34 when the lifting arm 33 is operating at an inclination, and dynamically adjust the telescopic distance of the lifting arm 33 according to the monitoring results, thereby effectively maintaining the balance and stability of the system.

[0087] During the operation of the present invention: When performing 3D printing, first, start the printing robotic arm 4. The printing robotic arm 4 first prints on all sides. The driving pump 322 inside the top shell 32 sends concrete through the telescopic pipe 35 to the printing head end of the printing robotic arm 4 and conveys the concrete for printing. As the printing height increases, the hydraulic pump 321 will drive the lifting arm 33 to rise simultaneously with the increase in the printing position. The first arm 331, the second arm 332, the third arm 333, and the fourth arm 334 will rise simultaneously and are precisely positioned through the GPS positioning sensor on the top of the printing robotic arm 4, thereby performing printing. When the printing position is relatively far away, the entire lifting arm 33 will tilt, and the tilt angle of the top plate 34 is detected by the tilt sensor on the top plate 34. Then, the extension heights of the first arm 331, the second arm 332, the third arm 333, and the fourth arm 334 are controlled so that the top plate 34 can always remain horizontal, and the printing robotic arm 4 can be closer to the printing position. The position to be printed is precisely positioned through the GPS positioning sensor. If the distance from the printing position is relatively far, the rotation of the wheels 2 on the vehicle frame 1 will drive the entire printing device to move.

[0088] 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 simultaneously. 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 to contract, and the hydraulic oil will be pushed into the first moving cylinder 391 and the second moving cylinder 392, causing the first moving cylinder 391 and the second moving cylinder 392 to extend 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, causing the hydraulic oil inside the fifth moving cylinder 395 and the sixth moving cylinder 396 to be drawn out. The fifth moving cylinder 395 and the sixth moving cylinder 396 will contract and drive the counterweight 38 to move.

[0089] Meanwhile, 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 is pushed out. The hydraulic oil will enter the inside of the third moving cylinder 393, the fourth moving cylinder 394, the seventh moving cylinder 397, and the eighth moving cylinder 398, and cause the third moving cylinder 393, the fourth moving cylinder 394, the seventh moving cylinder 397, and the eighth moving cylinder 398 to extend, thereby assisting in pushing the counterweight 38 to move, ensuring that the counterweight 38 does not move to both sides. During the movement of the counterweight 38, the steel balls 383 at the bottom of the counterweight 38 will roll on the bottom of the bottom box 31, reducing the friction of the counterweight 38 during movement. At the same time, the electromagnets 311 on the front and rear sides inside the bottom box 31 will be energized and generate magnetic forces. The electromagnet 311 on one side in the moving direction of the counterweight 38 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 opposite side in the moving direction of the counterweight 38 will generate the same magnetism as the magnet ring 381 on the counterweight 38 and repel 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 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, making the center of gravity of the entire vehicle frame 1 opposite to the inclination direction of the lifting arm 33, thus ensuring the stability of the printing robot arm 4 on the top plate 34 and at the same time expanding the working range of the printing robot arm 4.

[0090] Similarly, the lifting arm 33 can also be tilted backward. Through the upper GPS positioning sensor on the printing robot arm 4, the precise positioning of the printing position can be realized, and the docking position of the previous stage can be accurately determined during the segmented printing process, thereby achieving higher-quality printing.

[0091] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 then the telescopic cylinder (36) and the pushing cylinder (37) will drive 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; 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 top 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 top of the bottom box (31); the telescopic tube (35) is mounted on the top shell (32); At the top center, one end of a plurality of telescopic cylinders (36) is respectively mounted 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 a plurality of pushing cylinders (37) is respectively mounted 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 a plurality of driving cylinders (39) is 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 two driving cylinders (39) are mounted on each of the sides around the counterweight block (38).

2. A full-height 3D printing robot for construction according to claim 1, 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.

3. A full-height 3D printing robot for construction according to claim 1, 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.

4. A full-height 3D printing robot for construction according to claim 1, 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).

5. A full-height 3D printing robot for construction according to claim 1, 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).

6. A full-height 3D printing robot for construction according to claim 1, 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).

7. A full-height 3D printing robot for construction according to claim 1, 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.

8. A full-height 3D printing robot for construction according to claim 1, 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.

9. A full-height 3D printing robot for construction according to claim 1, 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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