Rock plate 3D printing pretreatment device and pretreatment method

Abstract

The invention discloses a rock plate 3D printing pretreatment device which comprises a roller conveyor and four processing rooms sequentially arranged along the roller conveyor, and a polishing part, a plasma cleaning part, a laser micro-texture part and a coating deposition part are sequentially arranged in the four processing rooms. A mounting opening is formed in the roller conveyor in each processing room, a positioning mechanism for fixing a rock plate is arranged in each mounting opening, a turnover mechanism for driving the positioning mechanism to turn over is mounted on the roller conveyor, and a multi-degree-of-freedom manipulator is further arranged on the side, located on the roller conveyor, in each processing room. And the rock plate is grabbed by the multi-degree-of-freedom manipulator and placed on the positioning mechanism. And process integration is achieved, automation of the whole process of polishing, cleaning, coarsening and coating is achieved through modular design, and the treatment time is shortened.

Description

Technical Field

[0001] The present invention relates to the field of preprocessing technology, and specifically to a rock slab 3D printing preprocessing device and a preprocessing method. Background Art

[0002] In the fields of construction and decoration, rock slabs are widely used due to their high strength and weather resistance. In recent years, there has been an increasing demand for directly constructing complex textures or functional structures on the surface of rock slabs through 3D printing. Before printing, the rock slabs need to be pre-treated. However, the following problems exist in the pre-treatment of rock slabs:

[0003] (1) Insufficient surface cleaning: Dust or oil easily remains on the surface of the slab, resulting in poor adhesion of the printed layer;

[0004] (2) Roughness is uncontrollable: Traditional grinding processes rely on manual operation, have poor uniformity, and are difficult to adapt to different printing materials (such as metal / polymer-based slurries);

[0005] (3) Low pretreatment efficiency: Multiple processes need to be completed step by step, with a low degree of automation, which makes it difficult to meet mass production needs. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a rock slab 3D printing pretreatment device and pretreatment method to solve the problems mentioned in the above background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A 3D printing pretreatment device for rock slabs comprises a roller conveyor, four processing rooms arranged in sequence along the roller conveyor, wherein the four processing rooms are provided with a grinding section, a plasma cleaning section, a laser microtexturing section and a coating deposition section in sequence; a mounting port is provided on the roller conveyor inside each processing room, and a positioning mechanism for fixing the rock slab is provided in each mounting port, and a flipping mechanism for driving the positioning mechanism to flip is installed on the roller conveyor; a multi-degree-of-freedom manipulator is also provided on one side of the roller conveyor in each processing room, and the rock slab is grasped by the multi-degree-of-freedom manipulator and placed on the positioning mechanism; the grinding section comprises a horizontal displacement mechanism installed in the first processing room, a first slide seat transmission-connected to the horizontal displacement mechanism, a first cylinder installed on the first slide seat, a first lifting plate connected to the telescopic end of the first cylinder, a front-and-rear displacement mechanism installed on the first lifting plate, a second slide seat transmission-connected to the front-and-rear displacement mechanism, and a grinding mechanism installed on the bottom surface of the second slide seat; the plasma cleaning section comprises a plasma generator and an air compressor installed in the second processing room, an air compressor installed in the second processing room, and an air compressor installed in the second processing room. A second cylinder installed on the processing room, a second lifting plate connected to the telescopic end of the second cylinder, and a plasma spray gun array connected to the bottom surface of the second lifting plate. A first cavity connected to the plasma spray gun array is arranged in the second lifting plate. An air inlet pipe is connected to the first cavity. The air inlet pipe is connected to the air compressor through a first hose. The air compressor is connected to the plasma generator through a pipeline. The laser micro-integration structure part includes a third cylinder installed in the third processing room, a laser controller connected to the telescopic end of the third cylinder, a plurality of laser emitting units installed on the bottom surface of the laser controller, and a scanning system installed on the bottom surface of the laser controller. The coating deposition part includes a liquid storage tank installed in the fourth processing room, an ultrasonic atomizer and a metering pump, a fourth cylinder installed in the processing room, a third lifting plate connected to the telescopic end of the fourth cylinder, and a plurality of nozzles installed on the bottom surface of the third lifting plate. A second cavity is arranged in the third lifting plate. A paint inlet pipe is connected to the second cavity. The paint inlet pipe is connected to the metering pump through a second hose. The metering pump, the ultrasonic atomizer and the liquid storage tank are connected in sequence through pipelines.

[0009] Preferably, the positioning mechanism includes a positioning frame, with rotating shafts connected on both sides of the positioning frame, and the two rotating shafts are rotatably connected to both sides of the roller conveyor. A plurality of fifth cylinders are installed on the outer walls at both ends of the positioning frame, and the telescopic end of the fifth cylinder is connected to a U-shaped plate, the U-shaped plate is located in the positioning frame, and sixth cylinders are installed on the upper and lower ends of the U-shaped plate, and the telescopic ends of the two sixth cylinders are connected to pressure plates.

[0010] The above technical solution places the rock slab in the positioning frame through a multi-degree-of-freedom manipulator, and then controls the fifth cylinder to extend to drive the U-shaped plate to move toward the rock slab, so that the upper and lower pressure plates are located on the upper and lower sides of the rock slab, and then controls the sixth cylinder to extend to drive the pressure plate to move, and the edges of the rock slab are pressed tightly by the upper and lower pressure plates, thereby keeping the rock slab stable.

[0011] Preferably, the flipping mechanism includes a first motor installed on one side of the roller conveyor, a first transmission shaft connected to the first motor through a coupling, a driving wheel connected to the first transmission shaft, and a driven wheel connected to one of the rotating shafts, and the driving wheel and the driven wheel are connected by a transmission belt; the flipping mechanism also includes a seventh cylinder installed on both sides of the roller conveyor, and a positioning plate connected to the telescopic end of the seventh cylinder, which is extended by the seventh cylinder and can drive the positioning plate to move toward the positioning frame to clamp the positioning frame.

[0012] In the above technical solution, when processing the rock plate, the seventh cylinder is in an extended state so that the positioning plate can be pressed tightly against the positioning frame, thereby keeping the positioning frame stable. When one side of the rock plate is processed, the seventh cylinder is controlled to retract so that the positioning plate leaves the positioning frame, and then the first motor is started to drive the positioning frame to rotate through the cooperation of the driving wheel, the transmission belt and the driven wheel, thereby turning the rock plate over to process the other side of the rock plate.

[0013] Preferably, the output end of the multi-degree-of-freedom manipulator is connected to a gripping plate, a vacuum generator is installed on the top of the gripping plate, and a plurality of vacuum suction cups are connected to the bottom of the gripping plate, and the vacuum suction cups are connected to the vacuum generator through pipelines.

[0014] In the above technical solution, the multi-degree-of-freedom manipulator has multi-directional and multi-height operability. The multi-degree-of-freedom manipulator drives the grabbing plate to move, the vacuum generator generates vacuum negative pressure, and adsorbs the rock plate through the vacuum suction cup, thereby grabbing the rock plate.

[0015] Preferably, the grinding mechanism includes a cover shell installed on the bottom surface of the second slide seat, a second motor installed in the cover shell, a second transmission shaft connected to the second motor through a coupling, and a grinding wheel connected to the second transmission shaft. The bottom of the cover shell is open, and the bottom surface of the grinding wheel extends from the opening to the bottom of the cover shell. The grinding mechanism also includes a dust suction pipe installed on the first lifting plate, a suction nozzle connected to the lower end of the dust suction pipe, a third hose connected to the upper end of the dust suction pipe, and a dust outlet pipe connected to the first processing room, and the third hose is connected to the dust outlet pipe.

[0016] The above technical solution can drive the grinding mechanism to move forward and backward and left and right through the horizontal displacement mechanism and the front and back displacement mechanism, thereby achieving comprehensive grinding of the rock plate. During grinding, the debris generated by grinding can be extracted through an external induced draft fan to prevent the debris from splashing in the processing room.

[0017] Preferably, the scanning system comprises high-resolution CCD cameras mounted on both sides of the bottom surface of the laser controller, with built-in image processing algorithms to identify surface defects and generate compensation paths.

[0018] The above technical solution uses a high-resolution CCD camera to collect surface morphology in real time, feeds it back to the laser controller, and dynamically adjusts the power, frequency and scanning path.

[0019] Preferably, the coating deposition section also includes an infrared spectrometer for spot checking the chemical bonding state of the coating. The infrared spectrometer is installed on the bottom surface of the third lifting plate and is staggered with the nozzle; an exhaust pipe is also installed on the fourth processing room.

[0020] In the above technical solution, the infrared spectrometer is used to randomly check the chemical bonding state of the coating, and the exhaust pipe is connected to the external induced draft fan to extract the paint mist.

[0021] The present invention also provides a pretreatment method for 3D printing of rock slabs, comprising the following steps:

[0022] (1) Place the rock slab on a roller conveyor, and transport it to the first processing room through the roller conveyor. Place the rock slab on a positioning mechanism in the processing room through a multi-degree-of-freedom manipulator, fix the rock slab through the positioning mechanism, and grind one side of the rock slab through the grinding unit. Flip the positioning mechanism through the flipping mechanism, and then grind the other side of the rock slab through the grinding unit. After grinding, remove the rock slab from the positioning mechanism through the multi-degree-of-freedom manipulator, place it on the roller conveyor, and continue to transport it to the second processing room through the roller conveyor;

[0023] (2) When the rock slab arrives in the second processing room, the multi-degree-of-freedom manipulator places the rock slab on the positioning mechanism in the processing room, and then the plasma generator works to generate low-temperature plasma containing electrons, ions and active free radicals. The plasma is then sent to the plasma spray gun array through an air compressor, and the surface of the rock slab is bombarded with high-energy plasma. After both sides of the rock slab are bombarded by the plasma, the multi-degree-of-freedom manipulator removes the rock slab from the positioning mechanism and places it on a roller conveyor, which is then transported to the third processing room.

[0024] (3) When the rock slab arrives in the third processing room, the multi-degree-of-freedom manipulator places the rock slab on the positioning mechanism in the processing room. The laser controller starts to work and emits laser to the rock slab through the laser emission unit. The laser pulse causes the surface of the rock slab to partially melt or vaporize, forming periodic pits. The surface morphology is collected through the scanning system and fed back to the laser controller to dynamically adjust the power and frequency. After the laser micro-structuring is completed on both sides of the rock slab, the multi-degree-of-freedom manipulator removes the rock slab from the positioning mechanism and places it on the roller conveyor, which then continues to transport it to the fourth processing room.

[0025] (4) When the slab of rock arrives in the fourth processing room, it is placed on a positioning mechanism in the processing room by a multi-degree-of-freedom robot. The silane coupling agent solution in the liquid storage tank is atomized by an ultrasonic atomizer to form micron-sized droplets, which are sprayed onto the slab of rock through a nozzle and spread to form a film on the surface of the slab of rock. After the solvent evaporates, the silane is hydrolyzed to form Si-OH, which condenses with the hydroxyl groups on the surface of the slab of rock to form covalent bonds Si-O-Si. After both sides of the slab of rock are sprayed, the slab of rock is removed from the positioning mechanism by a multi-degree-of-freedom robot and placed on a roller conveyor, and is continuously output through the roller conveyor, thereby completing the pre-processing before 3D printing.

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

[0027] (1) Process integration: The modular design enables full automation of the “grinding-cleaning-roughening-coating” process, shortening the processing time to 30% of the traditional process.

[0028] (2) High-energy plasma bombards the surface of the rock slab to directly remove attached physical pollutants such as dust and oil. Plasma cleaning replaces chemical cleaning agents, reducing wastewater discharge by 90%.

[0029] (3) Short-pulse lasers are used to ablate periodic micro-pits on the surface to form controllable roughness. The micro-texture increases the actual contact area by 3-5 times and enhances the mechanical interlocking effect.

[0030] (4) By spraying the silane coupling agent, the Si-OH generated by hydrolysis condenses with the hydroxyl groups on the surface of the rock plate to form a covalent bond, which significantly improves the interfacial bonding strength. The nano coating acts as a flexible transition layer to alleviate the difference in thermal expansion coefficient between the 3D printing material and the rock plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of the present invention;

[0032] Figure 2 Schematic diagram of the combination of the processing room, multi-degree-of-freedom manipulator, roller conveyor, positioning mechanism and flipping mechanism;

[0033] Figure 3 It is a top view of the positioning mechanism and the roller conveyor;

[0034] Figure 4 It is a partial schematic diagram of the positioning mechanism;

[0035] Figure 5 is a schematic diagram of the grinding mechanism;

[0036] Figure 6 is a schematic diagram of a plasma cleaning unit;

[0037] Figure 7is a schematic diagram of a laser microstructure;

[0038] Figure 8 is a schematic diagram of a coating deposition section;

[0039] In the figure: 1- roller conveyor, 2- processing room, 3- grinding part, 301- horizontal displacement mechanism, 302- first slide, 303- first cylinder, 304- first lifting plate, 305- front-rear displacement mechanism, 306- second slide, 307- cover, 308- grinding wheel, 309- dust suction pipe, 310- suction nozzle, 311- third hose, 312- dust outlet pipe, 4- plasma cleaning part, 401- plasma generator, 402- air compressor, 403- second cylinder, 404- second lifting plate, 405- plasma spray gun array, 406- first hose, 5- laser micro-integration part, 501- third cylinder, 502- laser controller, 503- laser emission unit, 50 4-high resolution CCD camera, 6-coating deposition unit, 601-liquid storage tank, 602-ultrasonic atomizer, 603-metering pump, 604-fourth cylinder, 605-third lifting plate, 606-nozzle, 607-second hose, 608-infrared spectrometer, 609-exhaust pipe, 7-positioning mechanism, 701-positioning frame, 702-rotating shaft, 703-fifth cylinder, 704-U-shaped plate, 705-sixth cylinder, 706-pressing plate, 8-turning mechanism, 801-first motor, 802-driving wheel, 803-driven wheel, 804-seventh cylinder, 805-positioning plate, 9-multi-degree-of-freedom manipulator, 901-grabbing plate, 902-vacuum generator, 903-vacuum suction cup. DETAILED DESCRIPTION

[0040] 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.

[0041] Example 1

[0042] See also Figure 1-Figure 8A 3D printing pretreatment device for rock slabs comprises a roller conveyor 1, four processing rooms 2 arranged in sequence along the roller conveyor 1, and a grinding section 3, a plasma cleaning section 4, a laser microtexturing section 5 and a coating deposition section 6 are arranged in sequence in the four processing rooms 2. An installation port is provided on the roller conveyor 1 inside each processing room 2, and a positioning mechanism 7 for fixing the rock slab is provided in each installation port. A flipping mechanism 8 for driving the positioning mechanism to flip is installed on the roller conveyor 1. A multi-degree-of-freedom manipulator 9 is also provided on one side of the roller conveyor in each processing room 2, and a gripping plate 901 is connected to the output end of the multi-degree-of-freedom manipulator 9, a vacuum generator 902 is installed on the top of the gripping plate 901, and a plurality of vacuum suction cups 903 are connected to the bottom of the gripping plate 901, and the vacuum suction cups 903 are connected to the vacuum generator 902 through a pipeline. The multi-degree-of-freedom manipulator 9 has multi-directional and multi-height operability. The multi-degree-of-freedom manipulator 9 drives the grabbing plate 901 to move, the vacuum generator 902 generates vacuum negative pressure, and adsorbs the rock plate through the vacuum suction cup 903, thereby grabbing the rock plate and placing the grabbed rock plate on the positioning mechanism 7.

[0043] Specifically, the positioning mechanism 7 includes a positioning frame 701, and the two sides of the positioning frame 701 are connected with rotating shafts 702. The two rotating shafts 702 are rotatably connected to the two sides of the roller conveyor 1. A plurality of fifth cylinders 703 are installed on the outer walls at both ends of the positioning frame 701. The telescopic end of the fifth cylinder 703 is connected with a U-shaped plate 704. The U-shaped plate 704 is located in the positioning frame 701. The upper and lower ends of the U-shaped plate 704 are installed with sixth cylinders 705, and the telescopic ends of the two sixth cylinders 705 are connected with pressure plates 706. The flipping mechanism 8 includes a first motor 801 installed on one side of the roller conveyor, a first transmission shaft connected to the first motor through a coupling, a driving wheel 802 connected to the first transmission shaft, and a driven wheel 803 connected to one of the rotating shafts. The driving wheel 802 and the driven wheel 803 are connected through a transmission belt. The flipping mechanism 8 also includes a seventh cylinder 804 installed on both sides of the roller conveyor and a positioning plate 805 connected to the telescopic end of the seventh cylinder. The seventh cylinder 804 extends to drive the positioning plate 805 to move toward the positioning frame 701 to clamp the positioning frame 701.

[0044] The rock slab is transported by roller conveyor 1, and position sensors are provided at both ends of each positioning frame 701 for sensing the distance between the rock slab and the positioning frame 701. When the rock slab is close to the positioning frame 701, the position sensor transmits a signal to the overall control system and controls the roller conveyor 1 to stop working. At this time, the rock slab is grabbed by the multi-degree-of-freedom manipulator 9 and placed in the positioning frame 701. In order to align the rock slab with the U-shaped plate 704, a photoelectric sensor can be set in the U-shaped plate 704. When the photoelectric sensor senses the rock slab, the rock slab is in the middle of the U-shaped plate 704. At this time, the multi-degree-of-freedom manipulator 9 stops working, and then controls the fifth cylinder 703 to extend, driving the U-shaped plate 704 to move toward the rock slab, so that the upper and lower pressure plates are located on the upper and lower sides of the rock slab, and then controls the sixth cylinder 705 to extend, driving the pressure plate 706 to move, and the edges of the rock slab are pressed tightly by the upper and lower pressure plates 706, so that the rock slab can remain stable. When processing the rock slab, the seventh cylinder 804 is in an extended state, and the positioning plate 805 is pressed tightly against the positioning frame 701, so that the positioning frame 701 can remain stable. When one side of the rock slab is processed, the seventh cylinder 804 is controlled to retract, so that the positioning plate 805 leaves the positioning frame 701, and then the first motor 801 is started, and the positioning frame is driven to rotate 360 ​​degrees through the cooperation of the driving wheel 802, the transmission belt and the driven wheel 803, so as to flip the rock slab to process the other side of the rock slab.

[0045] The grinding part 3 comprises a horizontal displacement mechanism 301 installed in the first processing room, a first slide 302 connected to the horizontal displacement mechanism, a first cylinder 303 installed on the first slide, a first lifting plate 304 connected to the telescopic end of the first cylinder, a front-rear displacement mechanism 305 installed on the first lifting plate, a second slide 306 connected to the front-rear displacement mechanism, and a grinding mechanism installed on the bottom surface of the second slide. The horizontal displacement mechanism and the front-rear displacement mechanism can both adopt a screw transmission mechanism. The grinding mechanism includes a cover 307 installed on the bottom surface of the second slide, a second motor installed in the cover, a second transmission shaft connected to the second motor through a coupling, and a grinding wheel 308 connected to the second transmission shaft. The bottom of the cover 307 is open, and the bottom surface of the grinding wheel 308 extends from the opening to the bottom of the cover 307. The grinding mechanism also includes a dust suction pipe 309 installed on the first lifting plate, a suction nozzle 310 connected to the lower end of the dust suction pipe, a third hose 311 connected to the upper end of the dust suction pipe, and a dust outlet pipe 312 connected to the first processing room, and the third hose 311 is connected to the dust outlet pipe 312. The horizontal displacement mechanism 301 and the front-to-back displacement mechanism 305 work to drive the grinding mechanism to move forward and backward and left and right, thereby achieving comprehensive grinding of the rock plate. During grinding, the debris generated by grinding can be extracted by an external induced draft fan to prevent the debris from splashing in the processing room.

[0046] The plasma cleaning unit 4 includes a plasma generator 401 and an air compressor 402 installed in the second processing room, a second cylinder 403 installed on the processing room, a second lifting plate 404 connected to the telescopic end of the second cylinder, and a plasma spray gun array 405 connected to the bottom surface of the second lifting plate. The second lifting plate 404 is provided with a first cavity connected to the plasma spray gun array, and the first cavity is connected with an air intake pipe, which is connected to the air compressor 402 through a first hose 406, and the air compressor 402 is connected to the plasma generator 401 through a pipeline. The plasma generator 401 adopts a high-frequency AC power supply (frequency 40kHz, power adjustable range 1-5kW), matching impedance transformer, to ensure stable discharge. The electrode material is a corrosion-resistant tungsten copper alloy, the spacing is 3-5mm, and the surface is covered with a ceramic dielectric layer (thickness 0.5mm) to form a dielectric barrier discharge (DBD) structure. The spray guns are arranged linearly, each group is 300mm long, covering the width of the rock plate. The spray gun outlet is designed as a slit type (width 1mm) to form a wide plasma flow. The high-voltage electric field ionizes the gas molecules to produce electrons, ions and active free radicals (such as O·, OH·, N2 + ) uses low-temperature plasma (temperature <60°C) to directly remove attached physical pollutants such as dust and oil, and achieve chemical decomposition. For example, active free radicals (such as O·, OH·) react with organic pollutants (grease, resin) to undergo oxidation reactions and convert into volatile substances such as CO2 and H2O. Plasma treatment generates polar groups such as hydroxyl (-OH) and carboxyl (-COOH) on the surface of the rock plate, significantly increasing the surface energy. The contact angle is reduced from hydrophobic (>90°) to super hydrophilic (<20°), providing good wetting conditions for subsequent coatings or 3D printing materials.

[0047] The laser micro-assembly unit 5 includes a third cylinder 501 installed in a third processing room, a laser controller 502 connected to the telescopic end of the third cylinder, a plurality of laser emitting units 503 installed on the bottom surface of the laser controller, and a scanning system installed on the bottom surface of the laser controller; the scanning system includes a high-resolution CCD camera 504 installed on both sides of the bottom surface of the laser controller 502, with a built-in image processing algorithm to identify surface defects and generate compensation paths. A fiber laser (wavelength 1064nm, maximum power 500W, pulse frequency 10-100kHz, pulse width 10-100ns) is used to emit laser pulses through the laser emitting unit 503. The laser pulses (energy density 5-20J / cm 2 ) causes local melting / vaporization of the rock surface to form periodic pits (depth 10-50μm, spacing 50-200μm). A high-resolution CCD camera (5 million pixels) with coaxial illumination, sampling frequency 30fps, and built-in image processing algorithm (based on OpenCV) identifies surface defects and generates compensation paths.

[0048] The coating deposition section 6 includes a liquid storage tank 601 installed in the fourth processing room, an ultrasonic atomizer 602 and a metering pump 603, a fourth cylinder 604 installed on the processing room, a third lifting plate 605 connected to the telescopic end of the fourth cylinder, and a plurality of nozzles 606 installed on the bottom surface of the third lifting plate. A second cavity is provided in the third lifting plate, and a paint inlet pipe is connected to the second cavity. The paint inlet pipe is connected to the metering pump 603 through a second hose 607. The metering pump 603, the ultrasonic atomizer 602 and the liquid storage tank 601 are connected in sequence through pipelines. The coating deposition section 6 also includes an infrared spectrometer 608 for spot checking the chemical bonding state of the coating. The infrared spectrometer 608 is installed on the bottom surface of the third lifting plate 605 and is staggered with the nozzle 606; an exhaust pipe 609 is also installed on the fourth processing room 2. Ultrasonic atomizer 602 (frequency 1.7MHz, atomized particle size 1-5μm), nozzle 606 covers the entire surface of the rock plate, ultrasonic vibration breaks the liquid precursor into micron-sized droplets, spreads on the surface of the rock plate to form a film, and the Si-OH generated by the hydrolysis of the silane coupling agent (such as KH-550) condenses with the hydroxyl group on the surface of the rock plate to form a covalent bond (Si-O-Si), which significantly improves the interface bonding strength. The nano coating (50-200nm) serves as a flexible transition layer to alleviate the difference in thermal expansion coefficient between the 3D printing material and the rock plate.

[0049] Example 2

[0050] A pretreatment method for 3D printing of rock slabs, comprising the following steps:

[0051] (1) Place the rock slab on a roller conveyor, and transport it to the first processing room through the roller conveyor. Place the rock slab on a positioning mechanism in the processing room through a multi-degree-of-freedom manipulator, fix the rock slab through the positioning mechanism, and grind one side of the rock slab through the grinding unit. Flip the positioning mechanism through the flipping mechanism, and then grind the other side of the rock slab through the grinding unit. After grinding, remove the rock slab from the positioning mechanism through the multi-degree-of-freedom manipulator, place it on the roller conveyor, and continue to transport it to the second processing room through the roller conveyor;

[0052] (2) When the rock slab arrives in the second processing room, the multi-degree-of-freedom manipulator places the rock slab on the positioning mechanism in the processing room, and then the plasma generator works to generate low-temperature plasma containing electrons, ions and active free radicals. The plasma is then sent to the plasma spray gun array through an air compressor, and the surface of the rock slab is bombarded with high-energy plasma. After both sides of the rock slab are bombarded by the plasma, the multi-degree-of-freedom manipulator removes the rock slab from the positioning mechanism and places it on a roller conveyor, which is then transported to the third processing room.

[0053] (3) When the rock slab arrives in the third processing room, the multi-degree-of-freedom manipulator places the rock slab on the positioning mechanism in the processing room. The laser controller starts to work and emits laser to the rock slab through the laser emission unit. The laser pulse causes the surface of the rock slab to partially melt or vaporize, forming periodic pits. The surface morphology is collected through the scanning system and fed back to the laser controller to dynamically adjust the power and frequency. After the laser micro-structuring is completed on both sides of the rock slab, the multi-degree-of-freedom manipulator removes the rock slab from the positioning mechanism and places it on the roller conveyor, which then continues to transport it to the fourth processing room.

[0054] (4) When the slab of rock arrives in the fourth processing room, it is placed on a positioning mechanism in the processing room by a multi-degree-of-freedom robot. The silane coupling agent solution in the liquid storage tank is atomized by an ultrasonic atomizer to form micron-sized droplets, which are sprayed onto the slab of rock through a nozzle and spread to form a film on the surface of the slab of rock. After the solvent evaporates, the silane is hydrolyzed to form Si-OH, which condenses with the hydroxyl groups on the surface of the slab of rock to form covalent bonds Si-O-Si. After both sides of the slab of rock are sprayed, the slab of rock is removed from the positioning mechanism by a multi-degree-of-freedom robot and placed on a roller conveyor, and is continuously output through the roller conveyor, thereby completing the pre-processing before 3D printing.

[0055] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0056] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rock plate 3D printing pretreatment device, characterized in that: It comprises a roller conveyor (1), four processing rooms (2) arranged in sequence along the roller conveyor (1), and the four processing rooms (2) are provided with a grinding section (3), a plasma cleaning section (4), a laser micro-texturing section (5) and a coating deposition section (6) in sequence; A mounting opening is provided on the roller conveyor (1) inside each processing room (2), and a positioning mechanism (7) for fixing the rock plate is provided in each mounting opening. A turning mechanism (8) for driving the positioning mechanism to turn over is installed on the roller conveyor (1), and a multi-degree-of-freedom manipulator (9) is also provided on one side of the roller conveyor in each processing room (2), and the rock plate is grasped by the multi-degree-of-freedom manipulator (9) and placed on the positioning mechanism (7); The grinding section (3) comprises a horizontal displacement mechanism (301) installed in a first processing room, a first slide seat (302) transmission-connected to the horizontal displacement mechanism, a first cylinder (303) installed on the first slide seat, a first lifting plate (304) connected to the telescopic end of the first cylinder, a front-rear displacement mechanism (305) installed on the first lifting plate, a second slide seat (306) transmission-connected to the front-rear displacement mechanism, and a grinding mechanism installed on the bottom surface of the second slide seat; The plasma cleaning unit (4) comprises a plasma generator (401) and an air compressor (402) installed in a second processing room, a second cylinder (403) installed on the processing room, a second lifting plate (404) connected to the telescopic end of the second cylinder, and a plasma spray gun array (405) connected to the bottom surface of the second lifting plate, wherein a first cavity in communication with the plasma spray gun array is provided in the second lifting plate (404), an air intake pipe is connected to the first cavity, the air intake pipe is connected to the air compressor (402) via a first hose (406), and the air compressor (402) is connected to the plasma generator (401) via a pipeline; The laser micro-assembly unit (5) comprises a third cylinder (501) installed in a third processing room, a laser controller (502) connected to the telescopic end of the third cylinder, a plurality of laser emitting units (503) installed on the bottom surface of the laser controller, and a scanning system installed on the bottom surface of the laser controller; The coating deposition section (6) comprises a liquid storage tank (601) installed in a fourth processing room, an ultrasonic atomizer (602) and a metering pump (603), a fourth cylinder (604) installed on the processing room, a third lifting plate (605) connected to the telescopic end of the fourth cylinder, and a plurality of nozzles (606) installed on the bottom surface of the third lifting plate. A second cavity is provided in the third lifting plate, and a paint inlet pipe is connected to the second cavity. The paint inlet pipe is connected to the metering pump (603) through a second hose (607). The metering pump (603), the ultrasonic atomizer (602) and the liquid storage tank (601) are connected in sequence through pipelines.

2. A rock plate 3D printing pretreatment device according to claim 1, characterized in that: The positioning mechanism (7) comprises a positioning frame (701), the two sides of the positioning frame (701) are connected with rotating shafts (702), the two rotating shafts (702) are rotatably connected to the two sides of the roller conveyor (1), a plurality of fifth cylinders (703) are installed on the outer walls at both ends of the positioning frame (701), the telescopic ends of the fifth cylinders (703) are connected with U-shaped plates (704), the U-shaped plates (704) are located in the positioning frame (701), the upper and lower ends of the U-shaped plates (704) are both installed with sixth cylinders (705), and the telescopic ends of the two sixth cylinders (705) are both connected with pressure plates (706).

3. A rock plate 3D printing pretreatment device according to claim 2, characterized in that: The flipping mechanism (8) comprises a first motor (801) installed on one side of the roller conveyor, a first transmission shaft connected to the first motor through a coupling, a driving wheel (802) connected to the first transmission shaft, and a driven wheel (803) connected to one of the rotating shafts, wherein the driving wheel (802) and the driven wheel (803) are connected through a transmission belt. The flipping mechanism (8) also comprises a seventh cylinder (804) installed on both sides of the roller conveyor, and a positioning plate (805) connected to the telescopic end of the seventh cylinder, which is extended by the seventh cylinder (804) to drive the positioning plate (805) to move in the direction of the positioning frame (701) so as to clamp the positioning frame (701).

4. A rock plate 3D printing pretreatment device according to claim 3, characterized in that: The output end of the multi-degree-of-freedom manipulator (9) is connected to a gripping plate (901), a vacuum generator (902) is installed on the top of the gripping plate (901), a plurality of vacuum suction cups (903) are connected to the bottom of the gripping plate (901), and the vacuum suction cups (903) are connected to the vacuum generator (902) through a pipeline.

5. A rock plate 3D printing pretreatment device according to claim 4, characterized in that: The grinding mechanism comprises a cover shell (307) installed on the bottom surface of the second slide seat, a second motor installed in the cover shell, a second transmission shaft connected to the second motor through a coupling, and a grinding wheel (308) connected to the second transmission shaft. The bottom of the cover shell (307) is open, and the bottom surface of the grinding wheel (308) extends from the opening to the bottom of the cover shell (307). The grinding mechanism also comprises a dust suction pipe (309) installed on the first lifting plate, a suction nozzle (310) connected to the lower end of the dust suction pipe, a third hose (311) connected to the upper end of the dust suction pipe, and a dust outlet pipe (312) connected to the first processing room, and the third hose (311) is connected to the dust outlet pipe (312).

6. A rock plate 3D printing pretreatment device according to claim 5, characterized in that: The scanning system comprises high-resolution CCD cameras (504) mounted on both sides of the bottom surface of the laser controller (502), with built-in image processing algorithms to identify surface defects and generate compensation paths.

7. A rock plate 3D printing pretreatment device according to claim 6, characterized in that: The coating deposition section (6) further comprises an infrared spectrometer (608) for spot checking the chemical bonding state of the coating. The infrared spectrometer (608) is installed on the bottom surface of the third lifting plate (605) and is arranged alternately with the nozzle (606). An exhaust pipe (609) is also installed on the fourth processing room (2).

8. A pretreatment method for 3D printing pretreatment of rock slabs according to claim 7, characterized in that: The following steps are involved: (1) Place the rock slab on a roller conveyor, and transport it to the first processing room through the roller conveyor. Place the rock slab on a positioning mechanism in the processing room through a multi-degree-of-freedom manipulator, fix the rock slab through the positioning mechanism, and grind one side of the rock slab through the grinding unit. Flip the positioning mechanism through the flipping mechanism, and then grind the other side of the rock slab through the grinding unit. After grinding, remove the rock slab from the positioning mechanism through the multi-degree-of-freedom manipulator, place it on the roller conveyor, and continue to transport it to the second processing room through the roller conveyor; (2) When the rock slab arrives in the second processing room, the multi-degree-of-freedom manipulator places the rock slab on the positioning mechanism in the processing room, and then the plasma generator works to generate low-temperature plasma containing electrons, ions and active free radicals. The plasma is then sent to the plasma spray gun array through an air compressor, and the surface of the rock slab is bombarded with high-energy plasma. After both sides of the rock slab are bombarded by the plasma, the multi-degree-of-freedom manipulator removes the rock slab from the positioning mechanism and places it on a roller conveyor, which is then transported to the third processing room. (3) When the rock slab arrives in the third processing room, the multi-degree-of-freedom manipulator places the rock slab on the positioning mechanism in the processing room. The laser controller starts to work and emits laser to the rock slab through the laser emission unit. The laser pulse causes the surface of the rock slab to partially melt or vaporize, forming periodic pits. The surface morphology is collected through the scanning system and fed back to the laser controller to dynamically adjust the power and frequency. After the laser micro-structuring is completed on both sides of the rock slab, the multi-degree-of-freedom manipulator removes the rock slab from the positioning mechanism and places it on the roller conveyor, which then continues to transport it to the fourth processing room. (4) When the slab of rock arrives in the fourth processing room, it is placed on a positioning mechanism in the processing room by a multi-degree-of-freedom robot. The silane coupling agent solution in the liquid storage tank is atomized by an ultrasonic atomizer to form micron-sized droplets, which are sprayed onto the slab of rock through a nozzle and spread to form a film on the surface of the slab of rock. After the solvent evaporates, the silane is hydrolyzed to form Si-OH, which condenses with the hydroxyl groups on the surface of the slab of rock to form covalent bonds Si-O-Si. After both sides of the slab of rock are sprayed, the slab of rock is removed from the positioning mechanism by a multi-degree-of-freedom robot and placed on a roller conveyor, and is continuously output through the roller conveyor, thereby completing the pre-processing before 3D printing.

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