Intelligent 3D printing robot for large building

Abstract

The invention discloses an intelligent 3D printing robot for a large building. The intelligent 3D printing robot comprises a robot box body; the driving manipulator is movably assembled at the bottom of the robot box body; the slurry nozzle is connected with the driving manipulator; the slurry supply pipe is in butt joint with external slurry supply equipment and a slurry spray head, and is partially wound on the winch; the ends of the lifting rope are located on the robot box and the winch respectively, and the slurry supply pipe is in butt joint with the lifting rope in parallel through lantern rings at the two ends of a lasso; and the scanners are arranged on the inner wall of the isolation box and used for recognizing the position of the robot box and scanning a printed building model, and the scanners and the winches are controlled in an associated mode through a controller. According to the 3D printing equipment, the problems that the movement flexibility of a printing assembly of existing 3D printing equipment on a large spatial scale is insufficient, printing slurry cannot be sufficiently supplied on the premise that the printing process is not interfered, and the printing requirement of a large object cannot be met can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an intelligent 3D printing robot used for large buildings. Background Art

[0002] Traditional 3D printing equipment usually moves and prints components with a single degree of freedom in a fixed, small area, which limits the size and complexity of the object, and the flexibility of moving the printed components is not high. 3D printed products are usually used for small-sized objects and are suitable for manufacturing precision parts, but are not suitable for the manufacture of large objects, and cannot achieve sufficient supply of printing slurry without interfering with the printing process. Summary of the invention

[0003] The purpose of the present invention is to solve the problems that the printing components of common 3D printing equipment are not flexible enough to move on a larger spatial scale, cannot provide sufficient supply of printing slurry without interfering with the printing process, and cannot meet the printing needs of large objects, and to provide an intelligent 3D printing robot for large buildings.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: an intelligent 3D printing robot for large buildings, comprising:

[0005] A robot box body, a slurry bin is arranged inside the box body, and a plurality of first hanging rings are arranged on the top of the box body;

[0006] A driving manipulator, which is movably mounted at the bottom of the robot box;

[0007] A slurry spray head connected to the driving manipulator, wherein the driving manipulator is used to drive the slurry spray head to move in a three-dimensional space;

[0008] A slurry supply pipe, which is connected to an external slurry supply device, the slurry bin, and a slurry nozzle, and is partially wound on a winch;

[0009] A hanging rope, one end of which is positioned on the first hanging ring, and the other end of which is wound on the hoist at the top of the isolation box, the slurry supply pipe is parallel to the hanging rope through the rings at both ends of the lasso, and a platform for placing the large building to be printed is provided at the bottom of the isolation box;

[0010] Several scanners are arranged on the edge of the platform and the inner side wall and top surface of the isolation box, and are used for position identification of the robot box and scanning of the printed building model. The scanners are linked and controlled with the winch through a controller.

[0011] As a further description of the above technical solution:

[0012] The driving manipulator includes a rotating seat set at the bottom of the robot box and driven by a rotating motor, a vertical frame extending downward from the end surface of the rotating seat, and a swing arm connected to the vertical frame and driven by a rotating motor, and the swing arm is positioned on the positioning seat of the slurry nozzle.

[0013] As a further description of the above technical solution:

[0014] A second lifting ring is arranged on the driving manipulator, and a slurry supply pipe between the slurry bin and the slurry nozzle is passed through the second lifting ring.

[0015] As a further description of the above technical solution:

[0016] An accessory bin is arranged in the robot housing, and a leveling component and an anti-sway component are arranged in the accessory bin.

[0017] As a further description of the above technical solution:

[0018] The leveling assembly includes a counterweight turntable, a motor for rotationally driving the counterweight turntable, and a counterweight block positioned on the counterweight turntable, wherein the motor is positioned at the bottom of the accessory compartment.

[0019] As a further description of the above technical solution:

[0020] A level associated with the controller and the motor is arranged on the robot box.

[0021] As a further description of the above technical solution:

[0022] The anti-sway component is a wind damper, which is positioned in the accessory compartment through a bracket.

[0023] As a further description of the above technical solution:

[0024] The platform is slidably arranged in the isolation box through a driving track.

[0025] As a further description of the above technical solution:

[0026] A rolling door is arranged on the side of the isolation box through the drive of a rolling door machine.

[0027] As a further description of the above technical solution:

[0028] The rolling door is provided with a plurality of air inlet mesh plates, and the isolation box is provided with an exhaust pipeline connected to an external negative pressure device.

[0029] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0030] 1. The 3D printing robot of the present invention is mainly used for printing large buildings. The printing path is generated by reading the 3D drawings of large buildings, and the printing path is uploaded to the controller in advance. The position of the printing robot is identified by scanning with a scanner, and the printed large buildings are subjected to real-time 3D scanning modeling to obtain the unwinding length of each suspension rope. After that, the unwinding and rewinding actions of the corresponding suspension ropes are realized by a winch, and the three-dimensional position of the robot is roughly adjusted. The position and orientation of the robot are finely adjusted by driving the manipulator, so that the slurry nozzle is aligned with the specified position, and the printing slurry is accurately ejected and the building model is finely molded. Compared with the common large-object printing robot, this design has higher flexibility and printing efficiency, and the quality of large-scale building molding is better.

[0031] 2. When printing large objects, the printing slurry is supplied in real time through the slurry supply pipe to ensure sufficient slurry and uninterrupted printing. The slurry supply pipe is suspended by a hanging rope, and the length and reel of the hanging rope are adjusted by a winch to change the position of the robot to avoid interference with the printing process. The design of the leveling component and the anti-sway component is mainly used to reduce the overall tilt of the robot during printing, reduce the frequency and amplitude of the shaking, so as to reduce the impact of the hanging system's own shaking and the environmental wind on the robot's position and printing stability, so as to achieve stable, flexible, efficient and precise printing of large buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 The figure is a usage status diagram of an intelligent 3D printing robot used for large buildings.

[0034] Figure 2 This is a schematic diagram of the structure of an intelligent 3D printing robot used for large buildings.

[0035] Figure 3 The present invention is a structural schematic diagram of the connection structure between a slurry supply pipe and a winch in an intelligent 3D printing robot used for large buildings.

[0036] Figure 4 A top view of a leveling component in an intelligent 3D printing robot used in large buildings.

[0037] Figure 5A cross-sectional view of a robot box in an intelligent 3D printing robot used in large buildings.

[0038] Figure 6 This is a structural schematic diagram of an isolation box corresponding to an intelligent 3D printing robot used in large buildings.

[0039] Legend:

[0040] 1. Robot box; 11. Slurry bin; 12. First lifting ring; 13. Accessory bin; 2. Driving manipulator; 21. Rotating seat; 22. Stand; 23. Swing arm; 24. Second lifting ring; 3. Slurry nozzle; 31. Positioning seat; 4. Slurry supply pipe; 41. Lasso; 5. Lifting rope; 6. Winch; 7. Scanner; 8. Leveling assembly; 81. Counterweight turntable; 82. Motor; 83. Counterweight block; 84. Level; 9. Anti-sway assembly; 91. Bracket; 10. Isolation box; 101. Platform; 102. Driving track; 103. Rolling door machine; 104. Rolling door; 105. Air inlet mesh plate; 106. Exhaust duct. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0046] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] See also Figure 1-6 The present invention provides a technical solution: an intelligent 3D printing robot for large buildings, comprising:

[0048] The robot box 1 has a slurry bin 11 disposed inside and a plurality of first hanging rings 12 disposed on the top;

[0049] A driving manipulator 2, which is movably mounted at the bottom of the robot box 1;

[0050] A slurry spray head 3, which is connected to the driving manipulator 2, and the driving manipulator 2 is used to drive the slurry spray head 3 to move in a three-dimensional space;

[0051] A slurry supply pipe 4, which is connected to an external slurry supply device, the slurry bin 11 and the slurry nozzle 3, and is partially wound on the winch 6;

[0052] A hanging rope 5, one end of which is positioned on the first hanging ring 12, and the other end is wound on the hoist 6 on the top of the isolation box 10, the slurry supply pipe 4 is parallelly connected to the hanging rope 5 through the rings at both ends of the lasso 41, and a platform 101 for placing the large building to be printed is provided at the bottom of the isolation box 10;

[0053] Several scanners 7 are arranged on the edge of the platform 101 and the inner wall and top surface of the isolation box 10, and are used for position identification of the robot box 1 and scanning the printed building model. The scanner 7 and the winch 6 are associated and controlled by a controller.

[0054] The 3D printing robot of the present invention is mainly used for printing large buildings. The controller pre-programs and designs the printing path, scans and identifies the position of the printing robot through a scanner, and performs real-time 3D scanning and modeling of the printed large buildings to obtain the unwinding length of each suspension rope 5. After that, the corresponding unwinding and rewinding actions are realized through the winch 6 to achieve the coarse adjustment of the three-dimensional position of the robot, and the robot position and orientation are finely adjusted by driving the manipulator, so that the slurry nozzle is aligned with the specified position, and the printing slurry is accurately ejected, so that the building model is finely formed. Compared with the common large-object printing robot, this design has higher flexibility and printing efficiency, and the quality of large-scale building molding is better.

[0055] When printing large objects, the printing slurry is supplied in real time through the slurry supply pipe to ensure sufficient slurry and uninterrupted printing. The slurry supply pipe is hung in conjunction with the suspension rope, and the length of the suspension rope and the position of the robot are adjusted synchronously by the winch to ensure continuous printing and avoid interruptions.

[0056] The driving manipulator 2 includes a rotating seat 21 set at the bottom of the robot box 1 and driven by a rotating motor, a stand 22 extending downward from the end surface of the rotating seat 21, and a swing arm 23 connected to the stand 22 and driven by a rotating motor, and the swing arm 23 is positioned on the positioning seat 31 of the slurry nozzle 3. This design can realize highly flexible position adjustment of the slurry nozzle 3, ensuring accurate alignment during printing.

[0057] The driving manipulator 2 is provided with a second hanging ring 24, and the slurry supply pipe 4 between the slurry bin 11 and the slurry nozzle 3 is passed through the second hanging ring 24, so as to position the slurry supply pipe 4 locally to prevent the structure movement from interfering with the printing process.

[0058] In one embodiment, the robot box 1 is provided with an accessory compartment 13, and the accessory compartment 13 is provided with a leveling component 8 and an anti-sway component 9. This embodiment is mainly designed for the suspension system of the 3D printing robot and the stability of the robot position adjustment in three-dimensional space by the suspension rope 5, so as to reduce the influence of the sway of the suspension system itself and the environmental wind force on the structure.

[0059] The leveling assembly 8 includes a counterweight turntable 81 , a motor 82 for rotationally driving the counterweight turntable 81 , and a counterweight block 83 positioned on the counterweight turntable 81 . The motor 82 is positioned at the bottom of the accessory compartment 13 .

[0060] The robot box 1 is provided with a level meter 84 associated with the controller and the motor 82 .

[0061] When the robot position coarse adjustment structure composed of the lifting rope 5 and the winch 6 - driving manipulator 2 is in operation, the horizontal degree of the robot box 1 is monitored in real time through the spirit level 84, and the monitored horizontal degree data is transmitted to the controller. The controller controls the motor 82 to realize the rotation of the counterweight turntable 81, and the spatial position of the counterweight block 83 in the robot box 1 is changed synchronously to realize the adjustment of the overall center of gravity of the robot, thereby overcoming the influence of the hanging system of the lifting rope 5 and the winch 6, and the external wind force on the horizontal degree of the robot box 1. When the level reaches the set range, the pump in the robot box 1 can be driven to pump out the slurry, and it is sprayed out by the slurry nozzle 3 for precise printing.

[0062] The anti-sway component 9 is a wind damper, which is positioned in the accessory compartment 13 through a bracket 91. This design is mainly to reduce the shaking of the robot during printing. Based on the dynamic balance mechanism, the amplitude and frequency of the shaking of the 3D printing robot caused by external wind and the shaking of the hanging system itself are reduced, so as to achieve stable, flexible, efficient and accurate printing of large buildings.

[0063] The platform 101 is slidably disposed inside the isolation box 10 via a driving track 102 . After printing is completed, the printed large building can be moved out via the driving track 102 , thereby realizing rapid transfer of the large building.

[0064] In one embodiment, a rolling door 104 is provided on the side of the isolation box 10 driven by a rolling door machine 103 .

[0065] The rolling door 104 is provided with a plurality of air inlet mesh plates 105, and the isolation box 10 is provided with an exhaust duct 106 connected to an external negative pressure device. The above design is mainly aimed at isolating and uniformly collecting waste gas, waste residue and other wastes generated by the long manufacturing cycle corresponding to the printing of large buildings, so as to achieve green and pollution-free manufacturing. Before printing, the rolling door 104 is unfolded and lowered by the rolling door machine 103 to achieve the closure of the isolation box 10, and then the printing work can be carried out; during and after printing, the waste in the isolation box 10 is extracted through the exhaust duct 106 by the external negative pressure device, and centrally processed, so that negative pressure is formed in the exhaust duct to avoid waste gas overflow and pollution of the environment; after the set purification storage time is reached, the rolling door 104 is raised again, and the printed building is taken out. In addition, a filter plate is provided on the air inlet mesh plate 105 to prevent the incoming air from polluting the printed building.

[0066] In summary, due to the adoption of the above technical solution, the intelligent 3D printing robot for large buildings in this embodiment has the following beneficial effects compared with the prior art:

[0067] 1. The 3D printing robot of the present invention is mainly used for printing large buildings. The printing path is generated by reading the 3D drawings of large buildings, and the printing path is uploaded to the controller in advance. The position of the printing robot is identified by scanning with a scanner, and the large building is subjected to real-time 3D scanning modeling to obtain the unwinding length of each suspension rope. After that, the unwinding and rewinding are performed by a winch to achieve the rough adjustment of the robot's three-dimensional position, and the fine adjustment of the robot's position and orientation is achieved by driving the manipulator, so that the slurry nozzle is aligned with the specified position, and the printing slurry is accurately ejected, so that the building model is finely formed. Compared with the common large-object printing robot, this design has better flexibility, higher printing efficiency, and higher quality of large-scale building forming.

[0068] 2. When printing large objects, the slurry supply pipe is used to realize real-time supply of printing slurry to ensure sufficient supply of slurry and uninterrupted printing. The slurry supply pipe is suspended by a hanging rope, and the length of the hanging rope and the synchronous retraction and unwinding adjustment of the robot position are realized through a winch to achieve continuous printing and avoid printing interruptions. The design of the leveling component and the anti-sway component is mainly used to reduce the overall tilt of the robot during printing, reduce the frequency and amplitude of the robot's shaking, so as to reduce the impact of the hanging system's own shaking and the environmental wind on the robot's movement and printing stability, so as to achieve stable, flexible, efficient and precise printing of large buildings.

[0069] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent 3D printing robot for large buildings, characterized in that: include: A robot box body, a slurry bin is arranged inside the box body, and a plurality of first hanging rings are arranged on the top of the box body; A driving manipulator, which is movably mounted at the bottom of the robot box; A slurry spray head connected to the driving manipulator, wherein the driving manipulator is used to drive the slurry spray head to move in a three-dimensional space; A slurry supply pipe, which is connected to an external slurry supply device, the slurry bin, and a slurry nozzle, and is partially wound on a winch; A hanging rope, one end of which is positioned on the first hanging ring, and the other end of which is wound on the hoist at the top of the isolation box, the slurry supply pipe is parallel to the hanging rope through the rings at both ends of the lasso, and a platform for placing the large building to be printed is provided at the bottom of the isolation box; Several scanners are arranged on the edge of the platform and the inner side wall and top surface of the isolation box, and are used for position identification of the robot box and scanning of the printed building model. The scanners are linked and controlled with the winch through a controller.

2. The intelligent 3D printing robot for large buildings according to claim 1, characterized in that: The driving manipulator includes a rotating seat set at the bottom of the robot box and driven by a rotating motor, a vertical frame extending downward from the end surface of the rotating seat, and a swing arm connected to the vertical frame and driven by a rotating motor, and the swing arm is positioned on the positioning seat of the slurry nozzle.

3. The intelligent 3D printing robot for large buildings according to claim 1, characterized in that: A second lifting ring is arranged on the driving manipulator, and a slurry supply pipe between the slurry bin and the slurry nozzle is passed through the second lifting ring.

4. The intelligent 3D printing robot for large buildings according to claim 1, characterized in that: An accessory bin is arranged in the robot housing, and a leveling component and an anti-sway component are arranged in the accessory bin.

5. The intelligent 3D printing robot for large buildings according to claim 4, characterized in that: The leveling assembly includes a counterweight turntable, a motor for rotationally driving the counterweight turntable, and a counterweight block positioned on the counterweight turntable, wherein the motor is positioned at the bottom of the accessory compartment.

6. The intelligent 3D printing robot for large buildings according to claim 5, characterized in that: A level associated with the controller and the motor is arranged on the robot box.

7. The intelligent 3D printing robot for large buildings according to claim 4, characterized in that: The anti-sway component is a wind damper, which is positioned in the accessory compartment through a bracket.

8. The intelligent 3D printing robot for large buildings according to claim 1, characterized in that: The platform is slidably arranged in the isolation box through a driving track.

9. The intelligent 3D printing robot for large buildings according to claim 1, characterized in that: A rolling door is arranged on the side of the isolation box through the drive of a rolling door machine.

10. The intelligent 3D printing robot for large buildings according to claim 9, characterized in that: The rolling door is provided with a plurality of air inlet mesh plates, and the isolation box is provided with an exhaust pipeline connected to an external negative pressure device.

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