Three-dimensional facade printing mechanical arm capable of quickly positioning

Abstract

The invention relates to a three-dimensional facade printing mechanical arm, in particular to a three-dimensional facade printing mechanical arm capable of being quickly positioned, and belongs to the technical field of 3D printing. Comprising a movable mechanical arm, the movable mechanical arm is installed on a three-axis portal frame in a sliding mode, the machine further comprises a base assembly, a base and a discharging head, the base assembly is installed on the portal frame in a sliding mode, the base is arranged at the bottom of the movable mechanical arm and connected with the base assembly, and the discharging head is installed on an end effector of the movable mechanical arm; the base assembly is divided into a driving base and a positioning base, and the positioning base and the driving base are in relative sliding connection. The discharging head is connected with the driving base through a traction steel wire, and vibration is converted into rotating vibration, so that the mechanical arm base rotates in a single hinged mode and pulls a screw rod in the discharging head at the same time; therefore, the two bases are positioned and driven to operate relatively independently, and the problems that vibration is generated in the positioning process of an existing mechanical arm, and the positioning precision and the quality of a printing layer are affected are solved.

Description

Technical Field

[0001] The present invention relates to a three-dimensional facade printing mechanical arm, in particular to a three-dimensional facade printing mechanical arm capable of rapid positioning, and belongs to the technical field of 3D printing. Background Art

[0002] The 3D building printing robot is a system that combines large-scale 3D printing technology with robotic automation. It is mainly used for direct on-site printing of building components or overall building structures. The core concept is to utilize the flexible movement, precise positioning and continuous material deposition of multi-degree-of-freedom robot arms in the printing of large-scale workpieces.

[0003] In architectural printing, the robot arm often needs to be repositioned between different printing areas, for example, when printing large areas or multi-layer structures, which requires the system to have high-speed and precise positioning capabilities. Existing robot arm designs mainly include rectangular coordinate, SCARA, articulated, Delta and parallel designs, each of which is suitable for different application scenarios. However, when operating with large loads, especially heavy load tasks such as architectural printing, since architectural printing usually involves a large amount of concrete, mortar or other building materials, the system load is large, and the robot arm and mobile platform will vibrate during high-speed movement and acceleration and deceleration, which not only affects the positioning accuracy, but also affects the quality of the printed layer, thereby reducing the printing quality and work efficiency.

[0004] In view of the above situation, in order to overcome the above technical problems, the present invention designs a three-dimensional facade printing robot arm that can be quickly positioned to solve the above technical problems. Summary of the invention

[0005] The technical purpose to be achieved by the present invention is: through a separate base design, by converting vibration into rotational oscillation, the robot arm base is allowed to rotate at a single hinge and simultaneously pull the spiral rod in the discharge head; thereby achieving relatively independent operation of the two bases for positioning and driving, and solving the problem that vibration will be generated during the existing robot arm positioning process, affecting the positioning accuracy and the quality of the printing layer.

[0006] In order to achieve the above technical objectives, the present invention provides the following technical solutions: The present invention provides a three-dimensional facade printing mechanical arm capable of rapid positioning, comprising a movable mechanical arm, the movable mechanical arm being slidably mounted on a three-axis gantry, and further comprising a base assembly, a pedestal and a discharge head, the base assembly being slidably mounted on the gantry, a base being provided at the bottom of the movable mechanical arm, the pedestal being connected to the base assembly, and a discharge head being mounted on the end effector of the movable mechanical arm; the base assembly is divided into: A driving base hinged to the upper portion of the base is used to drive the movable mechanical arm to move.

[0007] The positioning base driven by the gantry guide rail is installed on the gantry guide rail, and the positioning base is slidably connected with the driving base relative to each other; the driving base is driven independently by a control motor and slides synchronously with the positioning base.

[0008] The middle part of the base is connected to the positioning base through an elastic member, and a supporting pressure block is installed at the lower part; a supporting push block is slidably installed on the positioning base, and the supporting push block and the supporting pressure block fit together to form an interlocking plane, and the interlocking plane has multiple inclined surfaces to ensure that the gravity of the base acts on the supporting push block; when the supporting push block retracts, the supporting pressure block loses its support and causes the base to rotate.

[0009] The discharging head is connected to the driving base through a traction wire, and the rotational force of the base at the hinge is utilized to pull the discharging screw rod on the discharging head to slide vertically back and forth.

[0010] The elastic member is composed of multiple groups of telescopic rods with tension springs, the bottom end of which is slidably mounted on the positioning base, and the top end is hinged on the base, so that the base of the robot arm is in a semi-separated state during the movement. The elastic member uses elastic elements to buffer and isolate vibrations. At the same time, the positioning slope and supporting plane are designed in the interlocking plane to ensure that the base is always controlled by the supporting push block under the action of gravity; when the supporting push block retracts, the base will rotate slightly to achieve adjustment. It not only optimizes the structural stability under large loads, but also improves the vibration resistance and docking accuracy of the overall system, providing a guarantee for high-quality printing.

[0011] Preferably, the rotation angle of the base toward one side of the driving base does not exceed 10 degrees, and the base rotates toward the opposite side and extends the telescopic rod; thereby ensuring that during the movement and docking process, the base only rotates slightly on one side of the driving base, thereby effectively limiting the position deviation and vibration caused by excessive rotation, and at the same time, the telescopic rod is automatically extended during the rotation in the opposite direction to compensate and adjust the displacement error caused by the rotation. This not only ensures the overall stability and accuracy of the robotic arm, but also uses the telescopic mechanism to achieve dynamic adjustment, so that the system can still maintain good docking accuracy and structural coordination when it is overloaded and moving at high speed.

[0012] Preferably, the interlocking plane has at least two pairs of interlocking positioning inclined planes and two pairs of interlocking supporting planes, so as to achieve uniform distribution of force on the robot arm base when bearing heavy loads; the positioning inclined planes and the supporting planes are alternately arranged and a transition curved surface is provided between the two.

[0013] The positioning bevel is used to ensure that the base can accurately slide to the predetermined position during the positioning process, while the supporting plane bears the main supporting force. The positioning bevel and the supporting plane are arranged alternately and connected by a transition curved surface, so that the two can achieve a smooth transition during the mutual meshing process, reducing the impact and vibration during mechanical meshing, thereby effectively improving the stability of the overall structure and the docking accuracy.

[0014] Preferably, the supporting push block is composed of multiple push blocks, wherein: the first-stage push block is arranged at the bottom and the second-stage push block is slidably mounted inside it, and so on, there is at least a third-stage push block; and each stage of the push blocks is provided with a supporting plane, and the locking and sliding parts between each stage of the push blocks are provided with limiting protrusions for limiting the sliding stroke.

[0015] Preferably, the first-stage push block is driven by a push cylinder, and after the first-stage push block slides, it pushes the second-stage push block through the limiting protrusion on the second-stage push block, thereby pushing and unfolding each stage of the push block step by step.

[0016] Preferably, the supporting push block is provided with a supporting card block having a supporting plane, and the supporting pressure block is provided with a supporting card groove engaged with the supporting card block.

[0017] Preferably, a locking column is slidably provided on the supporting plane of the supporting card block, a locking hole is provided inside the supporting card slot, and the locking column can be inserted into the locking hole to lock the supporting push block and the supporting pressure block.

[0018] When the locking column is inserted into the locking hole, it can effectively lock the relative movement between the supporting push block and the supporting pressure block, thereby preventing instability caused by vibration or external force during positioning and docking, ensuring that the overall structure of the robotic arm remains stable and precise under high load and dynamic operation.

[0019] Preferably, a front push block is provided at the bottom of the first-stage push block, and a matching top block with an adjustable angle is provided at the bottom of the supporting pressure block. The angle of the matching top block is adjustable, so that the structure can adapt to different installation requirements or movement trajectories, thereby improving the adaptability and versatility of the system; when the base is movably rotated, the opposite surfaces of the matching top block and the front top block are parallel to each other.

[0020] The parallel relationship between the front push block and the matching top block stabilizes the thrust direction, avoiding uneven force caused by angle deviation, thereby reducing wear and energy loss.

[0021] In terms of the discharge system, the present invention utilizes the rotational force generated by the base at the hinge to connect the discharge head with the driving base through a traction wire, thereby pulling the discharge screw rod installed on the discharge head to slide vertically back and forth. After the positioning is completed, the robotic arm can convert the micro-vibration generated during the movement into auxiliary power that is beneficial to the transportation of printing materials, thereby improving the fluidity of the material during the printing process, ensuring continuous and uniform deposition of the material, and further improving the printing efficiency and the quality of interlayer bonding.

[0022] Preferably, a wire sleeve is installed on the movable mechanical arm, and the wire sleeve is fixed at multiple movable joints of the movable mechanical arm. A traction wire passes through the inside of the wire sleeve to guide the traction wire to pull the discharging spiral rod.

[0023] The beneficial effects of the present invention are as follows: 1. The present invention realizes rapid positioning and precise repositioning under heavy load by separating the mobile base from the robot base. The core lies in the coordinated work of the independently driven positioning base and the follow-up drive base, and the multi-level supporting structure and elastic parts are used to isolate and alleviate vibration, thereby effectively solving the problems of vibration interference and reduced positioning accuracy caused by heavy load, ensuring that the printing robot arm can always maintain high-precision docking and stable movement during 3D facade printing operations.

[0024] 2. The present invention is composed of telescopic rods with multiple groups of tension springs and multi-stage push blocks. Its design not only reduces the unstable factors caused by vibration during movement, but also realizes fast and stable tight docking between the robot arm base and the positioning base after positioning is completed, further improving the overall vibration resistance of the system and the stability of printing after repositioning, and optimizing printing accuracy and operation continuity.

[0025] 3. The present invention utilizes the rotational force generated at the hinge of the base, and drives the spiral rod on the discharge head through a traction wire to realize the vertical reciprocating conveying of the material, and converts the vibration generated during the movement into a power that is beneficial to the conveying of the printing material. It not only improves the fluidity of the printing material and ensures the continuous and uniform deposition of the material, but also further improves the printing efficiency and printing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] The above and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 It is a schematic diagram of the installation of the mechanical arm of the present invention on the gantry guide rail; Figure 2 It is a schematic diagram of the base assembly and the discharge head part of the movable mechanical arm of the present invention; Figure 3 The present invention Figure 2 A side plan view of Figure 4 is a schematic diagram of the articulated rotation angle of the movable mechanical arm base of the present invention; Figure 5 It is a schematic diagram of the structure of the supporting pressing block on the base of the present invention; Figure 6 It is a schematic diagram of the supporting push block of the present invention in a retracted state; Figure 7 It is a schematic diagram of the supporting push block of the present invention in an expanded state; Figure 8 It is a schematic diagram of the installation of the locking column on the supporting push block of the present invention.

[0028] In the figure: 1. movable robotic arm; 2. driving base; 3. positioning base; 4. base; 5. discharging head; 51. wire sleeve; 52. discharging screw rod; 6. elastic member; 61. telescopic rod; 7. supporting pressure block; 71. supporting card slot; 72. locking hole; 73. matching top block; 8. supporting push block; 81. first-stage push block; 811. pushing cylinder; 812. front push block; 82. second-stage push block; 83. third-stage push block; 84. limiting protrusion; 86. supporting card block; 87. locking column; 9. fitting plane; 91. positioning inclined plane; 92. supporting plane; 93. transition curved surface. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] 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.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. Such terms are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0032] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The disclosed embodiments are intended to solve the existing problems in heavy-load operations, especially in heavy-load tasks such as architectural printing. Since architectural printing usually involves a large amount of concrete, mortar or other building materials, the system load is large, and the mechanical arm and the mobile platform will vibrate during high-speed movement and acceleration and deceleration, which not only affects the positioning accuracy, but also affects the quality of the printed layer, thereby reducing the printing quality and work efficiency. In view of this, the disclosed embodiments propose a three-dimensional facade printing mechanical arm that can be quickly positioned. By separating the mobile base from the mechanical arm base, rapid positioning and precise repositioning under heavy load conditions are achieved. The core lies in the use of an independently driven positioning base and a follow-up drive base to work together, and at the same time, a multi-level supporting structure is used to isolate and alleviate vibrations with elastic parts, thereby effectively solving the problems of vibration interference and reduced positioning accuracy caused by heavy loads, and ensuring that the printing mechanical arm can always maintain high-precision docking and stable movement during three-dimensional facade printing operations.

[0034] The present embodiment provides a three-dimensional facade printing robot arm capable of rapid positioning, comprising a movable robot arm 1, which is slidably mounted on a three-axis gantry, a base assembly, a base 4 and a discharge head 5, wherein the base assembly is slidably mounted on the gantry, a base 4 is provided at the bottom of the movable robot arm 1, and the base 4 is connected to the base assembly, and the base assembly is divided into: A driving base 2 hinged to the upper portion of the base 4 is used to drive the movable mechanical arm 1 to move; The positioning base 3 driven by the gantry guide rail is installed on the gantry guide rail, and the positioning base 3 is connected to the driving base 2 in a relative sliding manner; the driving base 2 is driven separately by the control motor and slides synchronously with the positioning base 3; Specifically, a discharging head 5 is installed on the end effector of the movable robot arm 1; the discharging head 5 is connected to the driving base 2 through a traction wire, and the rotational force of the base 4 at the hinge is used to pull the discharging screw rod 52 on the discharging head 5 to slide vertically back and forth.

[0035] In this embodiment, the discharge head 5 is an existing screw rod discharge, and the discharge is achieved by driving the screw rod in the center of the discharge barrel to rotate by a motor. The spiral discharge rod of the present invention can slide up and down in the vertical direction, that is, the transmission rod of the spiral discharge rod is assembled through a key groove and has vertical freedom. By sliding in the vertical direction, the spiral discharge rod is stirred up and down inside the discharge head 5, thereby avoiding the problem of condensation of building materials or unsmooth discharge.

[0036] In this embodiment, the elastic member 6 is composed of multiple groups of telescopic rods 61 with tension springs; the middle part of the base 4 is connected to the positioning base 3 through the telescopic rod 61, and a supporting pressure block 7 is installed at the lower part; the bottom end of the telescopic rod 61 is slidably installed on the positioning base 3, and the top end is hinged on the base 4. A supporting push block 8 is slidably installed on the positioning base 3, and the supporting push block 8 and the supporting pressure block 7 are fitted together to form an interlocking plane 9, which has two inclined surfaces and two planes to ensure that the gravity of the base 4 acts on the supporting push block 8; when the supporting push block 8 retracts, the supporting pressure block 7 loses its support and causes the base 4 to rotate. In this embodiment, the rotation angle of the base 4 toward the driving base 2 is 9 degrees.

[0037] It is worth noting that the bottom of the multiple groups of telescopic rods 61 in this embodiment has an integrated slider, through which the connection between the telescopic rods 61 and the positioning base 3 is a relative sliding connection, thereby ensuring that there is no hard connection between the positioning base 3 and the driving base 2, and both have a relatively sliding contact and matching relationship, thereby reducing the motion load of the positioning base 3 during positioning and movement.

[0038] In this embodiment, the engaging plane 9 is provided with two pairs of engaging positioning inclined surfaces 91 and two pairs of engaging supporting planes 92 ; the positioning inclined surfaces 91 and the supporting planes 92 are alternately arranged and a transition curved surface 93 is provided therebetween.

[0039] In this embodiment, the supporting push block 8 is composed of three-level push blocks, wherein: the first-level push block 81 is arranged at the bottom and the second-level push block 82 is slidably installed inside it, and the third-level push block 83 is installed in the same way; and each level of the push blocks is provided with a supporting plane 92, and the locking and sliding parts between each level of the push blocks are provided with a limit protrusion 84 for limiting the sliding stroke.

[0040] like Figure 3 and Figure 6As shown, the first-stage push block 81 is driven by a push cylinder 811. After sliding, the first-stage push block 81 pushes the second-stage push block 82 through the limiting protrusion 84 on the second-stage push block 82, and then gradually pushes and unfolds the third-stage push block 83. Specifically, a groove is provided in the middle part of the first-stage push block 81 for installing the second-stage push block 82. The second-stage push block 82 and the first-stage push block 81 are engaged with each other through the concave-convex matching guide rail guide groove, and the guide rail guide groove is provided with a limiting protrusion 84 and a limiting groove for limiting, which are adapted to each other to realize the linkage extension and retraction of each stage of the push blocks.

[0041] like Figures 5 to 7 As shown, a supporting block 86 having a supporting plane 92 is provided on the supporting push block 8 , and a supporting groove 71 engaged with the supporting block 86 is provided on the supporting pressure block 7 .

[0042] like Figure 8 As shown, a locking column 87 is slidably provided on the supporting plane 92 of the supporting card block 86 , and a locking hole 72 is provided inside the supporting card slot 71 . The locking column 87 can be inserted into the locking hole 72 to lock the supporting push block 8 and the supporting pressure block 7 .

[0043] like Figure 4 As shown, a front push block 812 is provided at the bottom of the first-stage push block 81, and a matching top block 73 with an adjustable angle is provided at the bottom of the supporting pressure block 7; when the base 4 is movable and rotated, the opposite surfaces of the matching top block 73 and the front top block are parallel to each other.

[0044] like Figure 1 and Figure 2 As shown, a wire sleeve 51 is installed on the movable robotic arm 1, and the wire sleeve 51 is fixed at multiple movable joints of the movable robotic arm 1. In order to ensure that the traction wire correctly transmits the traction force, the wire sleeve should be reasonably arranged according to the movable joints of the movable robotic arm 1. Specifically, a universally hinged fixing ring can be set at the joint. Through the redundant design, the wire sleeve 51 is hinged and limited on the movable robotic arm 1 in sections, which can not only follow the movement of the robotic arm, but also accurately transmit the traction force of the hinged rotation of the base 4.

[0045] In the present embodiment, a traction steel wire passes through the inside of the steel wire sleeve 51 to guide the traction steel wire to pull the discharging spiral rod 52; in the present embodiment, the traction steel wire is made of stainless steel wire rope, which is made of 316 steel wire by drawing and twisting; one end of the traction steel wire is connected to the hinge shaft on the upper part of the base 4, and the other end is connected to the spiral discharging rod on the discharging head 5 (not shown in the figure, located at the top center of the discharging head 5). In order to make the traction steel wire pull the spiral discharging rod to slide up and down, technical personnel in this field can install corresponding guide devices on the discharging head 5, such as pulleys and guide brackets, so that the traction steel wire can correctly pull the spiral discharging rod.

[0046] During the working process of the movable robotic arm 1 in the present embodiment, when the discharge construction is carried out normally, the positioning base 3 and the driving base 2 are interlocked and locked with each other. At this time, the driving of the movable robotic arm 1 on the gantry guide rail for moving the processing path is completed by the driving base 2. At this time, the movement of the movable robotic arm 1 is a low-speed discharge movement state. After the positioning base 3 is positioned in advance and the positioning sensor of the movable robotic arm 1 itself is positioned, the discharge position accuracy of the discharge head 5 is guaranteed, and the low-speed movement of the driving base 2 will not cause greater positioning interference.

[0047] Based on the above, at this time, the cylinder 811 is pushed forward to make the plane at the front end of the front push block 812 slide forward, and the front push block 812 thereby pushes the matching top block 73, thereby driving the supporting pressure block 7 to move, and further makes the base 4 rotate upward along the hinge axis to reset in the vertical direction. At the same time, the positioning inclined surfaces 91 on each level of push blocks (first-level push block 81, second-level push block 82 and third-level push block 83) contact with the positioning inclined surfaces 91 on the supporting pressure block 7 in turn, thereby forming an interlocking plane 9. In this process, the transition curved surface 93 at the front end of the positioning inclined surface 91 will first contact with the corresponding transition fillet or positioning inclined surface 91 or supporting plane 92 on the supporting pressure block 7, thereby flexibly and with low friction pushing the supporting pressure block 7 to move to a suitable posture, thereby ensuring that the positioning inclined surface 91 on the supporting push block 8 can smoothly engage with the positioning inclined surface 91 on the supporting pressure block 7.

[0048] In addition, the supporting block 86 with a supporting plane 92 in the middle part of the supporting push block 8 is a component used to provide the main vertical supporting force. Specifically, as the supporting push block 8 is pushed forward and engaged with the supporting pressure block 7, the supporting block 86 will also be inserted into the supporting slot 71, and then the supporting planes 92 of the two will engage with each other to form an engaged surface.

[0049] In this embodiment, when the movable robot arm 1 completes part of the work and needs to be repositioned or returned to the initial positioning point, the driving base 2 needs to be quickly moved and reset, and the control system sends a command to control the push cylinder 811 to retract, thereby driving the push blocks of each level (the first-level push block 81, the second-level push block 82 and the third-level push block 83) to retract in sequence, and the base 4 of the movable robot arm 1 contacts the bottom support and locks, and the base 4 rotates downward along the hinge axis. Under the elastic support of the multiple groups of telescopic rods 61 in the middle of the base 4, the base 4 tilts as a whole state, and the rotation angle is 9 degrees inward, at this time, the motor on the driving base 2 drives the driving base 2 to move alone, and the positioning base 3 is driven alone by the driving member on the gantry guide rail. Since the upper part of the driving base 2 is in sliding contact with the positioning base 3, the middle part is slidably connected with the positioning base 3 through the bottom of the telescopic rod 61, and the lower part is engaged with the supporting push block 8 and the supporting pressure block 7, once the engagement connection at the lower part is released, the driving base 2 and the positioning base 3 are separated from each other, thereby improving the movement accuracy of the positioning base 3 and reducing the load on the positioning base 3.

[0050] It is worth noting that when contact locking is required, the control system sends an instruction to first control the locking column 87 to reset and retract, and then perform subsequent actions.

[0051] In this embodiment, based on the above, after the supporting card block 86 is engaged with the supporting card slot 71, in order to ensure the stability in the horizontal direction, a locking column 87 that can automatically control the sensing extension is installed on the top of the supporting card block 86. The specific control scheme is not repeated in this invention. Those skilled in the art can use a pressure sensor or a photoelectric sensor installed on the supporting plane 92 to sense the signal generator of the locking state. As for the driving component, a micro cylinder can be set inside the supporting push block 8 for unified pushing and retraction. Further, once the supporting card block 86 is inserted into the supporting card slot 71, the positioning base 3 and the driving base 2 fit and lock each other, and the micro cylinder drives the locking column 87 to insert upward into the locking hole 72, thereby realizing the locking of the horizontal freedom of the supporting push block 8 and the supporting pressure block 7.

[0052] The description herein is provided to enable one of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to one of ordinary skill in the art, and the general principles defined herein may be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but should be given the broadest scope consistent with the principles and novel features disclosed herein.

[0053] Although one or more exemplary embodiments of the present disclosure have been described with reference to the drawings, persons skilled in the art will recognize that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the following claims.

[0054] Although the present disclosure has been described in detail above with general descriptions and specific implementation methods, it is obvious to those skilled in the art that some modifications or improvements may be made based on the embodiments of the present disclosure. Therefore, these modifications or improvements made without departing from the spirit of the present disclosure are within the scope of protection claimed by the present disclosure.

[0055] The foregoing is merely an excerpt from the disclosure that these modifications may be made to the invention in light of the above detailed description. The terms used in the appended claims should not be construed to limit the invention to the specific embodiments disclosed in the specification. Instead, the scope of the invention will be determined entirely by the appended claims, which will be interpreted in accordance with established principles of claim interpretation.

Claims

1. A three-dimensional facade printing robot arm capable of rapid positioning, comprising a movable robot arm (1), wherein the movable robot arm (1) is slidably mounted on a three-axis gantry, and characterized in that: It also comprises a base assembly, a pedestal (4) and a discharge head (5), wherein the base assembly is slidably mounted on the gantry, a base (4) is provided at the bottom of the movable mechanical arm (1), the base (4) is connected to the base assembly, and a discharge head (5) is installed on the end effector of the movable mechanical arm (1); the base assembly is divided into: A driving base (2) hinged to the upper portion of the base (4), used for driving the movable mechanical arm (1) to move; A positioning base (3) driven by the gantry guide rail is mounted on the gantry guide rail, the positioning base (3) being slidably connected to the driving base (2) relative to one another; the driving base (2) is driven independently by a control motor and slides synchronously with the positioning base (3); The middle part of the base (4) is connected to the positioning base (3) via an elastic member (6), and a supporting pressure block (7) is installed at the lower part; a supporting push block (8) is slidably installed on the positioning base (3), and the supporting push block (8) and the supporting pressure block (7) fit together to form an interlocking plane (9), and the interlocking plane (9) has a plurality of inclined surfaces, so as to ensure that the gravity of the base (4) acts on the supporting push block (8); when the supporting push block (8) retracts, the supporting pressure block (7) loses its support, causing the base (4) to rotate; The discharge head (5) is connected to the driving base (2) via a traction wire, and the rotational force of the base (4) at the hinge is used to pull the discharge screw rod (52) on the discharge head (5) to slide vertically back and forth.

2. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 1, characterized in that: The elastic member (6) is composed of a plurality of groups of telescopic rods (61) with tension springs. The bottom end of the elastic member (6) is slidably mounted on the positioning base (3), and the top end is hinged on the base (4).

3. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 2, characterized in that: The base (4) rotates toward one side of the driving base (2) at an angle of no more than 10 degrees, and rotates toward the opposite side to extend the telescopic rod (61).

4. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 1, characterized in that: The interlocking plane (9) has at least two pairs of interlocking positioning inclined planes (91) and two pairs of interlocking supporting planes (92); the positioning inclined planes (91) and the supporting planes (92) are arranged alternately and a transition curved surface (93) is provided between the two.

5. A three-dimensional facade printing robot arm capable of rapid positioning according to any one of claims 1 to 4, characterized in that: The supporting push block (8) is composed of a multi-stage push block, wherein: A first-stage push block (81) is arranged at the bottom and a second-stage push block (82) is slidably mounted therein, and at least a third-stage push block (83) is provided therein by analogy; and each stage push block is provided with a supporting plane (92), and a limiting protrusion (84) for limiting the sliding stroke is provided at the engaging and sliding position between each stage push blocks.

6. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 5, characterized in that: The first-stage push block (81) is driven by a push cylinder (811); after sliding, the first-stage push block (81) pushes the second-stage push block (82) via the limiting protrusion (84) on the second-stage push block (82), thereby pushing and unfolding each stage of the push block step by step.

7. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 6, characterized in that: The supporting push block (8) is provided with a supporting card block (86) having a supporting plane (92), and the supporting pressure block (7) is provided with a supporting card slot (71) engaged with the supporting card block (86).

8. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 7, characterized in that: A locking column (87) is slidably disposed on the supporting plane (92) of the supporting card block (86), a locking hole (72) is provided inside the supporting card slot (71), and the locking column (87) can be inserted into the locking hole (72) to lock the supporting push block (8) and the supporting pressure block (7).

9. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 5, characterized in that: A front push block (812) is provided at the bottom of the first-stage push block (81), and a matching top block (73) with an adjustable angle is provided at the bottom of the supporting pressure block (7); when the base (4) is movable and rotated, the opposite surfaces of the matching top block (73) and the front top block are parallel to each other.

10. The three-dimensional facade printing robot arm capable of rapid positioning according to claim 1, characterized in that: A steel wire sleeve (51) is installed on the movable mechanical arm (1), and the steel wire sleeve (51) is fixed at multiple movable joints of the movable mechanical arm (1). A traction steel wire runs inside the steel wire sleeve (51) to guide the traction steel wire to pull the discharge screw rod (52).

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