Movable concrete 3D printing equipment

Abstract

The movable concrete 3D printing equipment comprises a driving main machine, a mechanical arm and a printing assembly installed at the movable end of the mechanical arm, and the printing assembly comprises two sets of extrusion heads and a distance adjusting component used for adjusting the distance between the two sets of extrusion heads; the printing assembly further comprises a reinforcement assembly arranged on the opposite side of the distance adjusting part, and the reinforcement assembly comprises a material storing and conveying part which is used for stacking and storing the reinforcing rib pieces and conveying the reinforcing rib pieces to the grabbing position of the material grabbing and discharging part in a grouping mode. The grabbing and placing part is used for grabbing the reinforcing rib sheet on the outermost side from the grabbing position and placing the reinforcing rib sheet on the position, needing to be reinforced, of the printed object; through the design of simultaneous pouring of double heads, synchronous printing of multiple layers of walls can be achieved, and printing of the next layer does not need to be conducted after the previous layer is completed. Especially when a structure with an inner layer and an outer layer is printed, the two sets of extrusion heads finish the outer layer printing task and the inner layer printing task respectively, the construction time and period are effectively shortened, and the printing efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile concrete 3D printing equipment, and in particular to a mobile concrete 3D printing equipment. Background Art

[0002] Extruded concrete 3D printing technology is a process of manufacturing physical objects by extruding materials and stacking them layer by layer under computer control. It has the advantages of no need for templates, less labor input, fewer design restrictions, and is suitable for building special curved surfaces. Since concrete 3D printing technology was first used in construction in 2007, it has achieved rapid development in the construction field in recent years and has become a research hotspot at home and abroad.

[0003] Existing concrete 3D printing equipment usually consists of a drive host, a robotic arm, and an extruder head, and uses a single extruder head for printing. In the printing process of multi-layer walls, each layer (such as the outer layer and the inner layer) needs to be printed one by one, and the printing efficiency is low. Especially for areas with insulation requirements, it is also necessary to set an insulation layer between the outer layer and the inner layer. Therefore, a hollow interlayer must be reserved during printing to facilitate subsequent filling of insulation materials (such as insulation rock wool).

[0004] Compared with the traditional concrete pouring process, the layer-by-layer stacking process causes 3D printed concrete (3DPC) to produce a large number of interlayer interfaces, resulting in low flexural and tensile strength of 3DPC and poor integrity of printed components, which restricts the development and large-scale application of concrete 3D printing technology. Reinforcement is considered to be one of the most effective measures to improve the flexural and tensile properties of 3D printed structures and enhance the integrity of the structure. At present, various methods of strengthening 3DPC, such as fiber reinforcement, transverse reinforcement and longitudinal reinforcement, have been developed at home and abroad. In traditional building construction, the insulation layer usually uses fasteners such as screws to fix the insulation board to the wall to form a complete insulation layer. However, in 3DPC, the method of setting the insulation layer has not yet been implemented, the insulation board lacks effective support during installation, and the traditional reinforcement ribs cannot meet the needs of fixing the insulation board.

[0005] In addition, the accuracy of concrete 3D printing is closely related to the opening size of the extruder head. Generally speaking, the smaller the opening of the extruder head, the higher the printing accuracy, and the thinner the wall thickness that can be printed. At present, existing 3D printing equipment generally uses an extruder head with a fixed opening, which is difficult to adapt to the precise control of concrete flow under different printing requirements. In practical applications, the extruder head with a fixed opening limits the adjustability of the printing thickness, and cannot meet the diverse construction needs when it is necessary to adjust the wall structure or print components of different shapes.

[0006] Therefore, the present invention designs a mobile concrete 3D printing device to overcome the defects in the prior art and achieve more convenient concrete printing. Summary of the invention

[0007] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a mobile concrete 3D printing device, which has high flexibility and adjustability, can accurately control the spacing, caliber and height of the extruder head, and can achieve effective operation in different environments, especially in terms of concrete printing accuracy and structural reinforcement.

[0008] The technical solution adopted by the present invention to solve the above-mentioned problem is: a mobile concrete 3D printing device, including a driving host, a mechanical arm and a printing component installed on the movable end of the mechanical arm, the printing component includes two groups of extruder heads and a spacing adjustment component for adjusting the spacing between the two groups of extruder heads, so that cavities of different widths are formed during pouring and printing.

[0009] Preferably, the extrusion head is provided with a caliber adjustment component, which controls the on and off of the extrusion head and adjusts the size of the opening of the extrusion head.

[0010] Preferably: the caliber adjustment component includes a sealing ring fixed on the extrusion head and a gear swivel rotatably arranged below the sealing ring, a plurality of groups of arc-shaped baffles arranged in an up-and-down staggered manner are arranged between the sealing ring and the gear swivel, an upper connecting block is arranged above one end of the arc-shaped baffle, and a lower connecting block is arranged below the other end, and limiting grooves adapted for rotational connection with the upper connecting block are provided at equal intervals in the circumferential direction below the sealing ring, a plurality of groups of radial sliding grooves adapted for sliding connection with the lower connecting block are provided above the gear swivel, and the gear swivel is adapted for an adjustment steering gear through gear meshing transmission, and the adjustment steering gear drives the gear swivel to rotate relative to the sealing ring, driving the arc-shaped baffle to swing around the limiting groove to block.

[0011] Preferably, a swing servo for driving the spacing adjustment component to swing horizontally is arranged above the spacing adjustment component.

[0012] Preferably, both movable ends of the spacing adjustment component are provided with a group of lifting components for adjusting the height of the extrusion head.

[0013] Preferably: the robotic arm includes a rotating platform installed on a driving host, the rotating platform is connected to a main arm, the main arm is hinged with a first driving arm and is equipped with a first servo for driving the first driving arm to swing, the first driving arm is hinged with a second driving arm and is equipped with a second servo for driving the second driving arm to swing, and the printing assembly is installed at the movable end of the second driving arm.

[0014] Preferably: the printing assembly further includes a reinforcement assembly, the reinforcement assembly includes

[0015] Material storage and feeding components: stack and store the reinforcing ribs, and transport the reinforcing ribs in groups to the grabbing position of the material grabbing and discharging components;

[0016] Material grabbing and unloading parts: grab the outermost reinforcing rib sheet from the grabbing position and place it at the position where the printed object needs to be reinforced.

[0017] Preferably: the material storage and feeding component includes a storage bin, a feed port is arranged above the storage bin, a discharge port is opened at the grabbing position below the storage bin towards the side of the grabbing and discharging component, a baffle is elastically hinged at the lower edge of the discharge port, a conveyor line for conveying the reinforcing rib sheet from the feed port to the discharge port is arranged in the discharge bin, the conveyor line includes two groups of rollers rotatably arranged on the storage bin, a conveying motor for driving any roller to rotate is also arranged on the storage bin, conveyor belts are arranged on the outer shells of the two groups of rollers, and partition plates are arranged at equal intervals on the conveyor belts.

[0018] Preferably: the material grabbing and discharging component includes a lifting cylinder, the cylinder body of the lifting cylinder is installed above the discharge port of the storage bin, the lower end of the piston rod is connected and fixed with a double-axis servo, both ends of the double-axis servo are rotatably connected with a group of grabbing cylinders, and a negative pressure suction cup is arranged on the piston rod of the grabbing cylinder.

[0019] Preferably, the reinforcing rib sheet comprises a base plate, with round holes formed at both ends of the base plate, a narrow opening formed on one side of the round hole and a wide opening formed on the other side, the narrow opening being plug-connected and rotatably matched with the wide opening.

[0020] Compared with the prior art, the present invention has the following advantages and effects:

[0021] The present invention adopts the design of dual-head simultaneous casting, and the equipment can realize the synchronous printing of multi-layer walls, without waiting for the previous layer to be completed before printing the next layer. Especially when printing structures with inner and outer layers (such as hollow walls), two groups of extruders complete the printing tasks of the outer layer and the inner layer respectively, effectively reducing the construction time and cycle, and greatly improving the printing efficiency.

[0022] The extruder head is equipped with a caliber adjustment component and a spacing adjustment component, which can flexibly adjust the caliber of the extruder head and the distance between the two sets of extruder heads to ensure accurate control of the concrete flow and interlayer gap during printing. This design can not only cope with different forms of building structures, but also reserve appropriate cavities during the printing process of the insulation wall so that it can be filled with insulation materials later to meet the building energy-saving needs.

[0023] The present invention also integrates a reinforcement assembly, which effectively improves the bending and tensile properties of the concrete structure by accurately placing the reinforcement ribs in the printed structure with the aid of n-shaped ribs, and enhances the integrity and bearing capacity of the printed structure. The reinforcement assembly is particularly suitable for printing tasks that require structural reinforcement, avoiding the problem of insufficient strength of traditional 3D printed concrete. The reinforcement ribs are arranged across the outer layer and the inner layer, which facilitates the manual arrangement of the insulation board. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a structural schematic diagram of a mobile concrete 3D printing device according to an embodiment of the present invention.

[0026] Figure 2 It is a schematic diagram of the structure of the printing component of an embodiment of the present invention.

[0027] Figure 3 Embodiment of the present invention Figure 2 A magnified view of the local structure at point A.

[0028] Figure 4 It is a structural schematic diagram of a reinforcement assembly according to an embodiment of the present invention.

[0029] Figure 5 It is a schematic structural diagram of the aperture adjustment component according to an embodiment of the present invention.

[0030] Figure 6 It is a schematic diagram of the adjustment state of the aperture adjustment component according to an embodiment of the present invention.

[0031] Figure 7 It is a schematic diagram of the change in width of the hollow layer of a hollow wall printed by the device of an embodiment of the present invention.

[0032] Figure 8 It is a schematic diagram of the outer layer refinement operation when the device of an embodiment of the present invention prints a hollow wall.

[0033] Fig. 9 It is a schematic diagram of the arrangement of the insulation panels in the hollow wall in an embodiment of the present invention.

[0034] Fig.10 It is a schematic diagram of the structure of the reinforcing rib sheet in the hollow wall in an embodiment of the present invention in combination with the n-type rib.

[0035] In the figure: driving host 11, mechanical arm 12, printing component 13, conveying pipeline 14, conveying pump 15, extruder 16, hollow wall 21, outer layer 22, inner layer 23, hollow layer 24, spacing adjustment component 25, double-axis double-acting cylinder 26, movable block 27, swing steering gear 31, lifting component 32, linear module 33, slide seat 34, slide block 35, screw motor 36, clamp ring 37, shoulder 38, rotating platform 41, main arm 42, first driving arm 43, first steering gear 44, second driving arm 45, second steering gear 46, caliber adjustment component 51, sealing ring 5 2, gear swivel 53, arc-shaped baffle 54, upper connecting block 55, lower connecting block 56, limiting groove 57, radial slide groove 58, adjusting steering gear 59, reinforcement assembly 61, material storage and feeding component 62, reinforcing rib 63, material grabbing and discharging component 64, base plate 71, round hole 72, narrow mouth 73, wide mouth 74, insulation board 75, n-shaped rib 76, storage bin 81, feed port 82, discharge port 83, baffle 84, conveyor line 85, roller 86, conveying motor 87, conveyor belt 88, partition plate 89, lifting cylinder 91, double-axis steering gear 92, grabbing cylinder 93, negative pressure suction cup 94. DETAILED DESCRIPTION

[0036] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0037] Example: See Figure 1 - Figure 6 The mobile concrete 3D printing device of the present invention comprises a driving host 11, a mechanical arm 12 and a printing assembly 13 installed at the movable end of the mechanical arm 12, wherein the printing assembly 13 comprises two groups of extruder heads 16 and a spacing adjustment component 25 for adjusting the spacing between the two groups of extruder heads 16, so as to form cavities of different widths during pouring and printing. The driving host 11 in this embodiment integrates a concrete storage and stirring device, and is connected to the printing assembly 13 through a concrete conveying pipeline 14, and a driving wheel group is also provided at the bottom thereof to realize basic functions such as the movement of the device.

[0038] Specifically, in the present embodiment, the printing assembly 13 includes a delivery pump 15 connected to a concrete delivery pipeline 14. The output end of the delivery pump 15 is connected to two groups of extruder heads 16 through a pipeline. During the printing process, the two groups of extruder heads 16 extrude concrete at the same time, thereby realizing synchronous printing. For example, when it is necessary to print the outer layer 22 and the inner layer 23 of the hollow wall 21 at the same time, the two groups of extruder heads 16 can complete the printing tasks of the outer layer 22 and the inner layer 23 respectively, without having to wait for the previous layer to be completed before continuing to print the next layer, thereby improving the printing efficiency and significantly shortening the overall construction period.

[0039] See also Figure 7, the hollow layer 24 is between the outer layer 22 and the inner layer 23 of the hollow wall 21, and its width is determined by the spacing between the two groups of extruder heads 16. The printing assembly 13 of this embodiment also includes a spacing adjustment component 25 for adjusting the spacing between the two groups of extruder heads 16. The spacing between the two groups of extruder heads 16 is adjusted by the spacing adjustment component 25, and the width of the hollow layer 24 between the outer layer 22 and the inner layer 23 during the printing process can be controlled, thereby ensuring that the width of the hollow layer 24 meets the design requirements. It is particularly important for printing walls or complex structures with insulation layers, and suitable space can be reserved in the wall for filling insulation materials such as rock wool, polyurethane, etc. The insulation layer usually adopts a commonly used installation process. For example, the rock wool can be made into a plate shape and dry-hung through the wall embedded parts, or the polyurethane foaming agent can be poured from the top of the wall when the wall facade structure is completed, thereby improving the thermal insulation performance of the wall and meeting the requirements of building energy conservation.

[0040] The spacing adjustment component 25 can also adjust the distance between the two groups of extruder heads 16 in real time according to actual needs, and cooperate with the movement of the robot arm 12 to form a wall with complex contours such as convex or concave, providing more personalized wall shaping capabilities. Figure 7 In the process of printing the wall, the spacing adjustment component 25 drives a group of extruder heads 16 separately, so that the relative position of the other group of undriven extruder heads 16 remains unchanged. The printing component 13 is driven by the robot arm 12 to print along the inner layer 23. At this time, the undriven extruder heads 16 print the inner layer 23, while the driven extruder heads 16 are responsible for printing the outer layer 22. Therefore, the inner layer 23 with a straight structure and the outer layer 22 with a curved and complex shape can be printed at the same time.

[0041] A swing servo 31 is provided above the spacing adjustment component 25 to drive the horizontal swing thereof. The swing servo 31 can adjust the angle between the connecting line of the two groups of extruder heads 16 and their moving direction. During the printing process, the two groups are always kept in a vertical state, so that the thickness control of the hollow cavity is more stable. A group of lifting components 32 for adjusting the height of the extruder heads 16 are provided at both movable ends of the spacing adjustment component 25. The spacing adjustment component 25 in this embodiment adopts a double-axis compound cylinder 26, and the piston rods at both ends of the double-axis compound cylinder 26 can independently realize telescopic adjustment. The lifting component 32 adopts a linear module 33, which includes a slide 34 on a movable block 27 fixed at both ends of the double-axis compound cylinder 26. The slide 34 is slidably connected to a slider 35 and is installed with a screw motor 36. The screw shaft of the screw motor 36 is threadedly fitted with the slider 35 to drive the slider 35 to move up and down along the slide 34. A pair of clamping rings 37 are provided at one end of the slider 35, and the shoulder 38 of the extruder head 16 is provided between the two sets of clamping rings 37 for clamping and fixing.

[0042] The robotic arm 12 described in this embodiment includes a rotating platform 41 installed on the driving host 11, the rotating platform 41 is connected to a main arm 42, the main arm 42 is hinged with a first driving arm 43 and is equipped with a first servo 44 that drives the first driving arm 43 to swing, the first driving arm 43 is hinged with a second driving arm 45 and is equipped with a second servo 46 that drives the second driving arm 45 to swing, and the printing component 13 is installed at the movable end of the second driving arm 45.

[0043] The extruder head 16 is provided with a caliber adjustment component 51, which controls the on and off of the extruder head 16 and adjusts the size of the opening of the extruder head 16, so that the same extruder head 16 can meet the use requirements of different calibers and can adjust the concrete extrusion flow rate, thereby meeting printing requirements of different precisions. Specifically, the aperture adjustment component 51 includes a sealing ring 52 fixed on the extruder head 16 and a gear swivel 53 rotatably arranged below the sealing ring 52. A plurality of groups of arc-shaped baffles 54 are arranged between the sealing ring 52 and the gear swivel 53, and an upper connecting block 55 is arranged above one end of the arc-shaped baffle 54, and a lower connecting block 56 is arranged below the other end. Limiting grooves 57 rotatably connected to the upper connecting block 55 are provided at equal intervals below the sealing ring 52. A plurality of radial sliding grooves 58 slidably connected to the lower connecting block 56 are provided above the gear swivel 53. The gear swivel 53 is adapted to be equipped with an adjusting steering gear 59 through gear meshing transmission. The adjusting steering gear 59 drives the gear swivel 53 to rotate relative to the sealing ring 52, driving the arc-shaped baffle 54 to swing around the limiting groove 57 to block. Specifically, the arc-shaped baffles 54 are spirally inclined, so that the arc-shaped baffles 54 can be staggered when combined, wherein the upper connecting block 55 is set at the highest point, and the lower connecting block 56 is set at the lowest point.

[0044] In addition, see Figure 8 The aperture adjustment component 51 can also be used in conjunction with the spacing adjustment component 25 to reduce the opening of the extruder 16 during the printing process of the outer layer 22 to improve its printing accuracy, thereby achieving refined operation of the wall printing structure. Figure 8 The outer layer 22 is printed by the extruder head 16 with a smaller opening. Compared with the inner layer 23, the outer layer 22 has a more complex and delicate contour and is suitable for the exterior appearance design of the exterior.

[0045] The printing component 13 in this embodiment includes but is not limited to providing the following working modes:

[0046] Single head mode: close the opening of any extruder head 16 through the caliber adjustment component 51 and then raise it through the lifting component 32 to avoid affecting the printing of the other extruder head 16, lower the height of the required extruder head 16 through the other lifting component 32, and then drive the printing component 13 through the mechanical arm 12 to drive the extruder head 16 to print. Similar to traditional printing equipment, the difference is that the extruder head 16 in printing can adjust the concrete extrusion flow rate through the caliber adjustment component 51;

[0047] Dual-head mode, which is also divided into multiplexing mode and cross-layer connection mode.

[0048] Reuse mode: Two groups of extruder heads 16 print one after the other. The thickness of a single layer of 3DPC cannot be too thick. Therefore, when the thickness of a single layer remains unchanged, the larger the extrusion flow rate of the concrete from the extruder head 16, the faster the printing speed will be. However, this does not mean that the larger the flow rate, the better. Since concrete has a certain fluidity, in order to reduce the impact of concrete extrusion and cause the lower layer of concrete to break up during pouring, the extruder head 16 is usually close to the surface of the lower concrete layer. When a single extruder head 16 is used, the concrete is extruded from one extruder head 16. Excessive flow rate can easily lead to excessive extrusion force of the concrete, which in turn impacts the lower layer of already solidified concrete, affecting the structural stability of the lower concrete. In actual work, the concrete extrusion flow rate of a single extruder head 16 is limited, which affects the overall printing speed. If a small-caliber is used to print a high-precision structure, the concrete extrusion flow rate is more limited, so it is impossible to take into account the high-precision and high-efficiency printing requirements. In this mode, the first layer of concrete is poured by the front extruder 16, and the second layer of concrete is added by the rear extruder 16. Since the rear extruder 16 follows closely and adds the second layer of concrete, when the total concrete extrusion flow of the two groups of extruder heads 16 is the same, the extrusion flow of a single extruder head 16 can be dispersed, reducing the impact on the lower layer of concrete. At the same time, the two groups of small-caliber extruder heads 16 can maintain a relatively fast printing speed when printing high-precision structures, which can improve the overall printing speed without sacrificing printing accuracy. It is suitable for application scenarios with high requirements for printing accuracy and interlayer strength, and has significant technical advantages and application prospects.

[0049] Cross-layer connection mode: In the process of concrete 3D printing program arrangement, layer-by-layer scanning printing is usually adopted, that is, one layer of concrete is printed each time, and the next layer is printed after the previous layer is completely solidified. However, in actual use, there are situations where the printing plan needs to be temporarily adjusted. For example, when adding partition walls or repairing at different heights of the original structure, this mode adjusts the two groups of extruder heads 16 to different heights through the lifting component 32, so that the first group of extruder heads 16 can continue to perform the printing work of the original level, while the second group of extruder heads 16 can be adjusted to a new basic position to ensure that the newly printed part can be seamlessly connected with the original structure.

[0050] The printing assembly 13 also includes a reinforcement assembly 61, which includes

[0051] The material storage and feeding component 62 is used to stack and store the reinforcing rib sheets 63 , and to transport the reinforcing rib sheets 63 in groups to the grabbing position of the material grabbing and discharging component 64 .

[0052] Material grabbing and releasing component 64: grabs the outermost reinforcing rib sheet 63 from the grabbing position and places it at the position where the printed material needs to be reinforced.

[0053] See also Fig. 9 and Fig.10 In this embodiment, the reinforcing rib sheet 63 includes a base plate 71, and circular holes 72 are provided at both ends of the base plate 71. A narrow opening 73 is provided on one side of the circular hole 72, and a wide opening 74 is provided on the other side. The narrow opening 73 is plugged into and rotatably adapted with the wide opening 74. During the printing process of the hollow wall 21, in order to fill the insulation board 75 in the hollow layer 24, it is necessary to separate the height of the hollow layer 24 to meet the interlayer height and the width of the insulation board 75, so as to achieve the installation support of the insulation board 75. Specifically, during the laying, firstly, two continuous groups of reinforcing rib sheets 63 are laid on the outer layer 22 and the inner layer 23 of the hollow wall 21, respectively, and then the reinforcing rib sheet 63 for separation is added, so that the wide openings 74 at both ends are respectively plugged into the narrow openings 73 of the reinforcing rib sheets 63 on the outer layer 22 and the inner layer 23 of the hollow wall 21. Subsequently, the concrete is poured, and the insulation board 75 is filled between the outer layer 22 and the inner layer 23 until the height of the poured wall is flush with the upper edge of the insulation board 75, and the laying operation of the reinforcing rib sheet 63 is repeated. The circular hole 72 of the reinforcing rib sheet 63 in this embodiment can also be used for planting reinforcement. Inserting the n-shaped reinforcement 76 into the circular hole 72 can increase the structural strength (tensile strength, shear strength and bending strength) of the outer layer 22 and the inner layer 23 of the hollow wall 21 on the one hand, and can improve the installation stability of the reinforcing rib sheet 63 on the other hand.

[0054] See also Figure 4The material storage and feeding component 62 includes a storage bin 81, a feed port 82 is arranged above the storage bin 81, a discharge port 83 is opened at the grabbing position below the storage bin 81 toward the side of the grabbing and discharging component 64, and a baffle 84 is elastically hinged at the lower edge of the discharge port 83. A conveying line 85 for conveying the reinforcing rib sheet 63 from the feed port 82 to the discharge port 83 is arranged in the discharge bin, and the conveying line 85 includes two groups of rollers 86 rotatably arranged on the storage bin 81, and a conveying motor 87 for driving any roller 86 to rotate is also arranged on the storage bin 81. Conveying belts 88 are arranged on the outer shells of the two groups of rollers 86, and spacer plates 89 are arranged at equal intervals on the conveying belts 88. When the conveying motor 87 drives the roller 86 to drive the conveyor belt 88 to run, the spacer 89 pushes the reinforcing ribs 63 to the discharge port 83 in groups, and the baffles 84 at the discharge port 83 block the reinforcing ribs 63. In this embodiment, three groups of baffles 84 are provided, and two groups of spacers 89 are provided, which respectively support the surface of the substrate 71 between the two groups of narrow openings 73 of the reinforcing ribs 63. The baffles 84 and the spacers 89 are staggered, so that the two groups of spacers 89 can pass between adjacent baffles 84 when the conveyor belt 88 is running. The baffle 84 is hinged to the lower edge of the discharge port 83 by a torsion spring. The baffle 84 maintains a vertical initial position under the elastic force of the torsion spring, and receives the reinforcing ribs 63 at the discharge port 83. At this time, the reinforcing ribs 63 are in the grabbing position.

[0055] The material grabbing and discharging component 64 includes a lifting cylinder 91, the cylinder body of the lifting cylinder 91 is installed above the discharge port 83 of the storage bin 81, the lower end of the piston rod is connected and fixed with a double-axis servo engine 92, both ends of the double-axis servo engine 92 are rotatably connected with a group of grabbing cylinders 93, and a negative pressure suction cup 94 is arranged on the piston rod of the grabbing cylinder 93. During grabbing, the lifting cylinder 91 drives the double-axis steering gear 92 to move up and down, so that the cylinder body of the grabbing cylinder 93 and the shaft connection position of the digital axis steering gear are flush with the discharge port 83 of the discharge bin, and then the double-axis steering gear 92 drives the grabbing cylinder 93 to rotate so that the piston rod of the grabbing cylinder 93 is directly opposite to the reinforcing rib sheet 63 at the grabbing position. After the piston rod of the grabbing cylinder 93 is extended, the negative pressure suction cup 94 is attached to the two ends of the reinforcing rib sheet 63 and then negatively adsorbed. Then, the double-axis steering gear 92 drives the grabbing cylinder 93 to swing upward and be pulled out of the discharge port 83, and then continue to swing to the lowest position. The piston rod of the lifting cylinder 91 then pushes the double-axis steering gear 92 to place the reinforcing rib sheet 63 in the target position, and the negative pressure suction cup 94 releases the adsorption of the reinforcing rib sheet 63 to complete the reinforcement operation.

[0056] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A mobile concrete 3D printing device, comprising a driving host, a mechanical arm, and a printing assembly installed at the movable end of the mechanical arm, characterized in that: The printing assembly includes two groups of extruder heads and a spacing adjustment component for adjusting the spacing between the two groups of extruder heads, so that cavities of different widths are formed during pouring and printing; The printing assembly also includes a reinforcement assembly arranged on the opposite side of the spacing adjustment component, and the reinforcement assembly includes Material storage and feeding components: stack and store the reinforcing ribs, and transport the reinforcing ribs in groups to the grabbing position of the material grabbing and discharging components; Material grabbing and unloading parts: grab the outermost reinforcing rib sheet from the grabbing position and place it at the position where the printed object needs to be reinforced.

2. The mobile concrete 3D printing device according to claim 1, characterized in that: The extrusion head is provided with a caliber adjustment component, which controls the on and off of the extrusion head and adjusts the size of the opening of the extrusion head.

3. A mobile concrete 3D printing device according to claim 2, characterized in that: The aperture adjustment component includes a sealing ring fixed on the extrusion head and a gear swivel rotatably arranged below the sealing ring. A plurality of groups of arc-shaped baffles arranged in an alternating manner up and down are arranged between the sealing ring and the gear swivel. An upper connecting block is arranged above one end of the arc-shaped baffle, and a lower connecting block is arranged below the other end. Limiting grooves adapted to be rotatably connected to the upper connecting block are provided at equal intervals in the circumferential direction below the sealing ring. A plurality of radial sliding grooves adapted to be slidably connected to the lower connecting block are provided above the gear swivel. The gear swivel is adapted to be equipped with an adjusting steering gear through gear meshing transmission. The adjusting steering gear drives the gear swivel to rotate relative to the sealing ring, driving the arc-shaped baffle to swing around the limiting groove to block.

4. The mobile concrete 3D printing device according to claim 1, characterized in that: A swing steering gear for driving the spacing adjustment component to swing horizontally is arranged above the spacing adjustment component.

5. The mobile concrete 3D printing device according to claim 1, characterized in that: Both movable ends of the spacing adjustment component are provided with a group of lifting components for adjusting the height of the extrusion head.

6. The mobile concrete 3D printing device according to claim 1, characterized in that: The robotic arm includes a rotating platform installed on a driving host, the rotating platform is connected to a main arm, the main arm is hinged with a first driving arm and is equipped with a first servo for driving the first driving arm to swing, the first driving arm is hinged with a second driving arm and is equipped with a second servo for driving the second driving arm to swing, and the printing assembly is installed at the movable end of the second driving arm.

7. The mobile concrete 3D printing device according to claim 1, characterized in that: The material storage and feeding component includes a storage bin, a feed port is arranged above the storage bin, a discharge port is opened at the grabbing position below the storage bin toward the side of the grabbing and discharging component, a baffle is elastically hinged on the lower edge of the discharge port, a conveyor line for conveying the reinforcing ribs from the feed port to the discharge port is arranged in the discharge bin, the conveyor line includes two groups of rollers rotatably arranged on the storage bin, a conveying motor for driving any roller to rotate is also arranged on the storage bin, conveyor belts are arranged on the outer shells of the two groups of rollers, and partition plates are arranged at equal intervals on the conveyor belts.

8. The mobile concrete 3D printing device according to claim 9, characterized in that: The material grabbing and discharging component includes a lifting cylinder, the cylinder body of the lifting cylinder is installed above the discharge port of the storage bin, the lower end of the piston rod is connected and fixed with a double-axis servo, both ends of the double-axis servo are rotatably connected with a group of grabbing cylinders, and a negative pressure suction cup is arranged on the piston rod of the grabbing cylinder.

9. The mobile concrete 3D printing device according to claim 7, characterized in that: The reinforcing rib sheet comprises a base plate, and circular holes are provided at both ends of the base plate. A narrow opening is provided on one side of the circular hole, and a wide opening is provided on the other side. The narrow opening and the wide opening are plug-connected and rotatably matched.

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