Electromagnetic adsorption type 3D concrete printing device

Abstract

The invention belongs to the technical field of concrete 3D printing, and particularly relates to an electromagnetic adsorption type 3D concrete printing device. The printing mechanism comprises a sliding seat, electromagnetic adsorption modules and driving wheels are arranged at the two ends of the sliding seat, and the driving wheels make contact with the steel arch and roll in the circumferential direction of the steel arch; the electromagnetic adsorption module is arranged corresponding to the steel arches and is used for applying magnetic attraction force to the steel arches, so that the printing mechanism is adsorbed on the two adjacent steel arches in the tunnel; and the extrusion head is arranged on the sliding seat, the extrusion head can move in a guiding mode in the extending direction of the sliding seat, the extrusion head communicates with the ground pump station through a pump pipe, and an extrusion pump is arranged in the extrusion head and used for extruding concrete to the inner wall of the tunnel. By using the printing device, dust pollution cannot be generated; the use amount of concrete is saved, the construction cost is reduced, and the construction environment is more friendly; and through mutual cooperation of the printing mechanism and the extrusion head, the construction error during concrete extrusion is greatly reduced, and the construction efficiency can be greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of concrete 3D printing, and particularly relates to an electromagnetic adsorption type 3D concrete printing device. Background Art

[0002] Spraying concrete on the inner wall of a tunnel is a key link in the initial support during tunnel engineering construction, mainly used for the support and protection of the tunnel inner wall; it has the advantages of fast construction speed, high density, good impermeability performance, and high economic benefits. It forms a dense support layer by spraying a concrete mixture mixed with a quick-setting agent onto the tunnel inner wall using a pressure spray gun to enhance the stability and durability of the tunnel structure.

[0003] However, the following problems still exist in the construction method of spraying concrete: 1. Large rebound amount: The rebound amount of dry spraying and wet spraying processes is about 40%, resulting in serious waste of concrete materials and increased construction costs; 2. Dust pollution: In dry spraying and wet spraying processes, the dust content in the operation area is large, which is harmful to the health of workers and causes serious environmental pollution; 3. Construction limitations: Dry spraying and wet spraying processes require relatively skilled construction workers. In addition, the probability of construction errors by construction workers during the construction process is relatively large, and the construction efficiency cannot be guaranteed.

[0004] Therefore, an improved technical solution is needed to address the above deficiencies in the existing technology. Summary of the Invention

[0005] The purpose of the present invention is to provide an electromagnetic adsorption type 3D concrete printing device to at least solve the above problems existing in the prior art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An electromagnetic adsorption type 3D concrete printing device includes a printing mechanism and a rail-changing mechanism. The printing mechanism is used to extrude concrete between two adjacent steel arch frames in a tunnel, and the rail-changing mechanism is used to drive the printing mechanism to move along the axial direction of the tunnel between adjacent steel arch frames; The printing mechanism includes: A sliding seat, both ends of which are provided with electromagnetic adsorption modules and driving wheels. The driving wheels are in contact with the steel arch frame and roll along the circumferential direction of the steel arch frame; The electromagnetic adsorption modules are arranged corresponding to the steel arch frames and are used to apply a magnetic suction force to the steel arch frames so that the printing mechanism is adsorbed on two adjacent steel arch frames in the tunnel; An extrusion head, which is arranged on the sliding seat and can be guided to move along the extending direction of the sliding seat. The extrusion head is connected to a ground pump station through a pump pipe, and an extrusion pump is arranged in the extrusion head. The extrusion pump is used to extrude concrete onto the tunnel inner wall.

[0007] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, a first lead screw assembly is provided in the printing mechanism. The first lead screw assembly includes a first lead screw and a first slide. The first lead screw is rotatably arranged on the slide base, and the first lead screw is driven to rotate by a servo motor. The first slide is threadedly assembled on the first lead screw, and the first slide is fixed on the extrusion head. The extrusion head moves along the guide of the slide base. By rotating the first lead screw, the first slide and the extrusion head are driven to reciprocate along the first lead screw.

[0008] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, the rail changing mechanism includes a rail changing frame. The rail changing frame is arranged on the periphery of the slide base, and the rail changing frame is movably connected to the slide base relatively.

[0009] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, electromagnetic adsorption modules are arranged at both ends of the rail changing frame. The electromagnetic adsorption modules are used to adsorb the rail changing frame between two adjacent steel arch frames.

[0010] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, a second lead screw assembly is arranged between the rail changing frame and the slide base. The second lead screw assembly includes a second lead screw and a second slide. The second lead screw is rotatably arranged at the lower part of the rail changing frame, and the second lead screw is driven to rotate by a servo motor. The second slide is threadedly assembled on the second lead screw, and the second slide is fixed on the upper part of the slide base.

[0011] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, there are two sets of the second lead screw assemblies, and the two sets of second lead screw assemblies are arranged in parallel between the rail changing frame and the slide base.

[0012] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, limiting blocks are hinged on both sides of the driving wheel in the slide base, and the cross-sectional shape of the limiting block is L-shaped. The L-shaped limiting block includes a vertical section and a horizontal section. The vertical section is hinged on the slide base, the horizontal section is buckled under the top edge of the steel arch frame, and a roller is rotatably arranged on the horizontal section. The roller is in rolling contact with the lower surface of the top edge of the steel arch frame.

[0013] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, a turning mechanism is arranged between the limiting block and the slide base. The turning mechanism includes a telescopic rod, a V-shaped rod and a connecting rod. One end of the telescopic rod is hinged on the slide base, and the other end is hinged and connected to an extended end of the V-shaped rod. The V-shaped rod is hinged on the slide base, the opening of the V-shaped rod faces away from the driving wheel, the other extended end of the V-shaped rod is hinged and connected to one end of the connecting rod, and the other end of the connecting rod is hinged on the limiting block.

[0014] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, a torque sensor is provided on the driving wheel, and the torque sensor is used to detect the torque value of the driving wheel; A Hall effect sensor is provided on the electromagnetic adsorption module, and the Hall effect sensor is used to monitor the magnitude of the adsorption force of the electromagnetic adsorption module.

[0015] For the electromagnetic adsorption type 3D concrete printing device as described above, preferably, the printing device further includes a controller, and the extrusion pump, the driving wheel, the servo motor, the telescopic rod, the torque sensor and the Hall effect sensor are all signal-connected to the controller and are controlled by the controller for operation.

[0016] Beneficial effects: Using this printing device will not cause the rebound of concrete, nor will it produce dust pollution; thus, the amount of concrete used is saved, the construction cost is reduced, and the construction environment is more friendly; moreover, through the mutual cooperation of the printing mechanism and the extrusion head, not only the construction error during the extrusion of concrete is greatly reduced, but also the construction efficiency can be significantly improved.

[0017] After the printing device completes the concrete extrusion and printing operation between adjacent steel arch frames, the printing device is moved to the space between the next set of steel arch frames through the rail changing mechanism, and the above-mentioned concrete extrusion and printing operation is repeated; this rail changing mechanism can greatly improve the transfer efficiency of the printing device and contribute to improving the construction efficiency.

[0018] By buckling the limiting block on the top edge of the steel arch frame, the stability of the printing mechanism when moving along the steel arch frame can be ensured, the accident of the printing mechanism falling off the steel arch frame can be avoided, and the safety during the use of the printing device is guaranteed. Description of the drawings

[0019] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. Among them: Figure 1 The front view of the printing device according to an embodiment of the present invention; Figure 2 The side view of the printing device according to an embodiment of the present invention; Figure 3 The enlarged schematic view of the flipping mechanism according to an embodiment of the present invention; Figure 4 The flipping state schematic view of the flipping mechanism according to an embodiment of the present invention; Figure 5 The top view of the printing device according to an embodiment of the present invention; Figure 6For Figure 5 Partial enlarged view in; Figure 7 Schematic diagram of rail changing operation for an embodiment of the present invention

[0020] In the figure: 1. Slide seat; 2. Extrusion head; 3. Driving wheel; 4. Rail changing frame; 5. First lead screw; 6. First slide table; 7. Electromagnetic adsorption module; 8. Rail changing mechanism; 9. Limit block; 10. Roller; 11. Telescopic rod; 12. V-shaped rod; 13. Connecting rod; 14. Second lead screw; 15. Second slide table; 100. Steel arch Specific embodiments

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention

[0022] In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate component. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances

[0023] The present invention will be described in detail below with reference to the drawings and in combination with embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other

[0024] According to a specific embodiment of the present invention, as Figure 1-7 shown, the present invention provides an electromagnetic adsorption type 3D concrete printing device, including a printing mechanism and a rail changing mechanism 8. The printing mechanism is used to extrude concrete between two adjacent steel arches 100 in a tunnel, and the rail changing mechanism 8 is used to drive the printing mechanism to move along the axial direction of the tunnel between adjacent steel arches 100

[0025] The printing mechanism includes: The slide 1 has an electromagnetic adsorption module 7 and a driving wheel 3 at both ends of the slide 1. The driving wheel 3 contacts the steel arch frame 100 and rolls along the circumference of the steel arch frame 100. In the present embodiment, two driving wheels 3 are provided at both ends of the slide 1 to ensure that the slide 1 has good stability when moving. At least one of the two driving wheels 3 at each end of the slide 1 is an electric driving wheel 3, and the electric driving wheel 3 can adopt a hub motor structure.

[0026] The electromagnetic adsorption module 7 is set corresponding to the steel arch frame 100, and is used to apply magnetic attraction to the steel arch frame 100, so that the printing mechanism is adsorbed on two adjacent steel arch frames 100 in the tunnel; in this embodiment, the electromagnetic adsorption module 7 is an electromagnetic suction cup, and the suction force of the electromagnetic suction cup can be adjusted by adjusting the power supply intensity of the electromagnetic suction cup.

[0027] The extrusion head 2 is arranged on the slide 1, and the extrusion head 2 can be guided and moved along the extension direction of the slide 1. The extrusion head 2 is connected with the ground pump station through a pump pipe. An extrusion pump is arranged in the extrusion head 2, and the extrusion pump is used to extrude concrete toward the inner wall of the tunnel.

[0028] In one embodiment of the present application, a telescopic tube mechanism is provided at the end of the extrusion head 2, and a distance sensor is provided at the end face position of the slurry outlet in the telescopic tube mechanism. The distance sensor is used to monitor the distance between the slurry outlet and the inner wall of the tunnel, and feed back the monitoring result to the telescopic tube mechanism in real time. The telescopic tube mechanism dynamically adjusts the distance between the slurry outlet and the inner wall of the tunnel according to the preset spacing interval between the slurry outlet and the inner wall of the tunnel, so as to ensure that the distance between the slurry outlet and the inner wall of the tunnel is always within the preset spacing interval, thereby ensuring that the extrusion head 2 can achieve a better concrete extrusion effect and make the concrete printing operation on the inner wall of the tunnel have better construction quality.

[0029] The printing device can be connected to a ground power supply via a cable, or a lithium battery can be built into the printing mechanism and the track-changing mechanism 8 as a power supply, which is not limited here. The extruder head 2 is connected to a ground concrete pump station via a pump pipe, and the concrete pump station pumps concrete to the extruder head 2 via a pipeline.

[0030] In the printing device, the driving wheels 3 at both ends of the printing mechanism are in contact with two adjacent steel arches 100 in the tunnel respectively, and at the same time, the electromagnetic adsorption modules 7 at both ends of the printing mechanism apply magnetic attraction to the steel arches 100, so that the entire printing device can be adsorbed between the two adjacent steel arches 100 without falling off the steel arches 100. In this embodiment, the electromagnetic adsorption module 7 in the printing device only provides magnetic attraction, and it does not contact the steel arches 100.

[0031] The concrete is extruded onto the inner wall of the tunnel while the extrusion head 2 moves. After the extrusion head 2 runs from one end of the sliding seat 1 to the other end, the displacement of the driving wheel 3 is controlled by a distance equal to the width of one extrusion head 2, so that the extrusion head 2 continues to perform the concrete extrusion operation. Repeat the above process until the concrete extrusion and printing operation between two adjacent steel arch frames 100 in the tunnel is completed. The process of the extrusion head 2 extruding the concrete onto the inner wall of the tunnel is similar to the process of applying the concrete onto the inner wall of the tunnel. This process will not cause the rebound of the concrete and will not generate dust pollution. Thus, the consumption of concrete is saved, the construction cost is reduced, and the construction environment is more friendly. Moreover, through the mutual cooperation of the printing mechanism and the extrusion head 2, not only the construction error during the concrete extrusion is greatly reduced, but also the construction efficiency can be significantly improved.

[0032] After the printing device completes the concrete extrusion and printing operation between two adjacent steel arch frames 100, the printing device is moved between the next set of steel arch frames 100 through the rail changing mechanism 8, and the above-mentioned concrete extrusion and printing operation is repeated. The rail changing mechanism 8 can greatly improve the transfer efficiency of the printing device and contribute to improving the construction efficiency.

[0033] After the printing device is moved between the next set of steel arch frames 100, for the steel arch frame 100 and its nearby positions that the extrusion head 2 cannot reach, the construction workers spray the concrete supplementally. With such a setting, the working intensity of the construction workers can be greatly reduced, and the construction quality of the concrete on the inner wall of the tunnel can be ensured.

[0034] The printing mechanism is provided with a first lead screw 5 assembly. The first lead screw 5 assembly includes a first lead screw 5 and a first slide table 6. The first lead screw 5 is rotatably arranged on the sliding seat 1. The first lead screw 5 is driven to rotate by a servo motor. The first slide table 6 is threadedly assembled on the first lead screw 5, and the first slide table 6 is fixed on the extrusion head 2.

[0035] The extrusion head 2 moves along the guide of the sliding seat 1. By rotating the first lead screw 5, the first slide table 6 and the extrusion head 2 are driven to reciprocate along the first lead screw 5.

[0036] In an embodiment of the present application, the first lead screw 5 is parallel to the extending direction of the sliding seat 1. Since the extrusion head 2 moves along the guide of the sliding seat 1, the extrusion head 2 will not rotate relative to the sliding seat 1. Among them, at least one surface of the extrusion head 2 and the sliding seat 1 can be set to be in contact with each other for the extrusion head 2 to move along the guide of the sliding seat 1. Alternatively, a guide rod can be arranged in the sliding seat 1, where the guide rod is parallel to the first lead screw 5, and the extrusion head 2 is sleeved outside the guide rod, so that the extrusion head 2 moves along the guide rod. Then, when the first lead screw 5 rotates, the extrusion head 2 and the first slide table 6 will not rotate around the first lead screw 5, but will reciprocate along the first lead screw 5.

[0037] In this embodiment, the first lead screw 5 is driven by a servo motor to rotate, and the servo motor is arranged in the slide block 1.

[0038] In other embodiments, two sets of first lead screw 5 assemblies may also be arranged in parallel in the slide block 1, and the extrusion head 2 is driven to move synchronously by the two sets of first lead screw 5 assemblies.

[0039] The rail changing mechanism 8 includes a rail changing frame 4, the rail changing frame 4 is arranged on the periphery of the slide block 1, and the rail changing frame 4 is movably connected to the slide block 1 relatively.

[0040] Electromagnetic adsorption modules 7 are arranged at both ends of the rail changing frame 4, and the electromagnetic adsorption modules 7 are used to adsorb the rail changing frame 4 between two adjacent steel arch frames 100.

[0041] In an embodiment of the present application, by energizing the electromagnetic adsorption modules 7 at both ends of the rail changing frame 4, the rail changing frame 4 is firmly adsorbed between two adjacent steel arch frames 100, and a good supporting effect can be provided during the rail changing process of the printing mechanism.

[0042] In this embodiment, both ends of the rail changing frame 4 are in a C-shaped structure, and the end of the slide block 1 is located in the C-shaped structure at the end of the rail changing frame 4, that is, the C-shaped structure at the end of the rail changing frame 4 semi-surrounds the end of the slide block 1; an electromagnetic adsorption module 7 is arranged on each of the two protruding ends of the C-shaped structure at the end of the rail changing frame 4. With such a setting, it is more convenient for the electromagnetic adsorption module 7 arranged at the end of the rail changing frame 4 to firmly adsorb and closely adhere to the steel arch frame 100, so that the rail changing frame 4 can provide sufficient supporting effect.

[0043] A second lead screw 14 assembly is arranged between the rail changing frame 4 and the slide block 1. The second lead screw 14 assembly includes a second lead screw 14 and a second thread. The second lead screw 14 is rotatably arranged at the lower part of the rail changing frame 4. The second lead screw 14 is driven by a servo motor to rotate. The second slide table 15 is threadedly assembled on the second lead screw 14, and the second slide table 15 is fixed on the upper part of the slide block 1.

[0044] In an embodiment of the present application, a second lead screw 14 assembly is arranged between the rail changing frame 4 and the slide block 1, and the relative movement between the rail changing frame 4 and the slide block 1 can be realized, so as to facilitate the rail changing operation.

[0045] Two sets of second lead screw 14 assemblies are arranged, and the two sets of second lead screw 14 assemblies are arranged in parallel between the rail changing frame 4 and the slide block 1.

[0046] In an embodiment of the present application, when the printing device needs to change tracks, at this time, first increase the power supply intensity of the electromagnetic adsorption module 7 in the printing mechanism to firmly adsorb the printing mechanism on the steel arch 100; then control the servo motors in the two sets of second lead screw 14 assemblies to synchronously rotate the two second lead screws 14. Since the carriage 1 is firmly fixed on the steel arch 100 at this time, the second lead screw 14 drives the track-changing frame 4 to move along the tunnel axis until both ends of the track-changing frame 4 are aligned with the next steel arch 100.

[0047] Then supply power to the electromagnetic adsorption module 7 in the track-changing mechanism 8 to firmly adsorb the track-changing frame 4 between the next steel arches 100, and stop supplying power to the electromagnetic adsorption module 7 in the printing mechanism to disconnect the printing mechanism from the steel arch 100; then control the servo motors in the two sets of second lead screw 14 assemblies to synchronously rotate the two second lead screws 14. Since the track-changing frame 4 is firmly fixed between the next steel arches 100, the second slide 15 drives the carriage 1 to move along the tunnel axis until both ends of the carriage 1 are aligned with the next steel arch 100; thus, the track-changing operation is completed, and the concrete extrusion operation can be repeated. The track-changing operation and the concrete extrusion operation are carried out alternately until the concrete extrusion operation on the inner wall of the tunnel is completed.

[0048] On both sides of the driving wheel 3 in the carriage 1, a limiting block 9 is hinged, and the cross-sectional shape of the limiting block 9 is L-shaped.

[0049] The L-shaped limiting block 9 includes a vertical section and a horizontal section. The vertical section is hinged to the carriage 1, the horizontal section is turned over under the top edge of the steel arch 100, and a roller 10 is rotatably arranged on the horizontal section, and the roller 10 is in rolling contact with the lower surface of the top edge of the steel arch 100.

[0050] In an embodiment of the present application, the cross-section of the steel arch 100 is I-shaped or H-shaped. When the printing mechanism performs concrete extrusion printing operation between two adjacent steel arches 100, the L-shaped limiting block 9 is turned over on the top edge of the steel arch 100, which can ensure the stability of the printing mechanism when moving along the steel arch 100, can avoid accidents of the printing mechanism falling off the steel arch 100, and ensure the safety during the use of the printing device.

[0051] A turning mechanism is arranged between the limiting block 9 and the carriage 1, and the turning mechanism includes a telescopic rod 11, a V-shaped rod and a connecting rod 13.

[0052] One end of the telescopic rod 11 is hinged to the carriage 1, and the other end is hinged to an extended end of the V-shaped rod.

[0053] The V-shaped rod 12 is angularly hinged to the carriage 1, the opening of the V-shaped rod 12 faces away from the driving wheel 3, the other extended end of the V-shaped rod 12 is hinged to one end of the connecting rod 13, and the other end of the connecting rod 13 is hinged to the limiting block 9.

[0054] In one embodiment of the present application, when the telescopic rod 11 is extended, the limit block 9 is located below the slide 1. At this time, the horizontal section in the limit block 9 is buckled on the top edge of the steel arch frame 100, so that the printing device is buckled on the steel arch frame 100 as a whole, so as to ensure the safety of the concrete extrusion printing operation process. When it is necessary to perform a track change operation, the telescopic rod 11 is controlled to shrink, and the V-shaped rod 12 drives the connecting rod 13 and the limit block 9 to flip 180 degrees, so that the bottom surface of the limit block 9 is flush with the bottom surface of the slide 1. At this time, the limit block 9 no longer limits the top edge of the steel arch frame 100, which can avoid the printing mechanism from interfering with the steel arch frame 100 when the track is changed, and ensure the smooth progress of the track change operation. After the track change operation is completed, the telescopic rod 11 is controlled to extend, and the limit block 9 is flipped 180 degrees, so that the limit block 9 is buckled on the top edge of the steel arch frame 100, completing the safety limit function of the entire printing device.

[0055] In this embodiment, a clearance space is provided on the slide 1 and the limit block 9 for setting up the flip mechanism; and the telescopic rod 11 can be an electric push rod. In other embodiments, the telescopic rod 11 can also be a telescopic rod 11 structure such as a pneumatic rod or a hydraulic rod.

[0056] A torque sensor is provided on the driving wheel 3 , and the torque sensor is used to detect the torque value of the driving wheel 3 .

[0057] The electromagnetic adsorption module 7 is provided with a Hall effect sensor, and the Hall effect sensor is used to monitor the adsorption force of the electromagnetic adsorption module 7 .

[0058] In one embodiment of the present application, the torque on the driving wheel 3 is detected by a torque sensor to determine the pressure of the printing device on the steel arch frame 100, and the adsorption force applied by the electromagnetic adsorption module 7 to the steel arch frame 100 is detected by a Hall effect sensor. The detection data is fed back in real time by the two sensors to control the power supply intensity of the electromagnetic adsorption module 7, so that the adsorption force of the electromagnetic adsorption module 7 is controlled within a reasonable range to facilitate the use of the printing device.

[0059] The printing device also includes a controller. The extrusion pump, the driving wheel 3, the servo motor, the telescopic rod 11, the torque sensor and the Hall effect sensor are all connected to the controller signal and are controlled by the controller.

[0060] In one embodiment of the present application, a programming program is provided in the controller, and the operation of the printing device is uniformly controlled by the controller to make the operation of the printing device more efficient.

[0061] When the printing device is in use, the operation process of the printing device is as follows: Step 1: First, align the driving wheel 3 and the electromagnetic adsorption module 7 with two adjacent steel arch frames 100 in the tunnel. Then, pass an electric current into the electromagnetic adsorption module 7 of the printing mechanism to make the printing mechanism adsorb on the steel arch frame 100. Then, control the telescopic rod 11 to extend, so that the limit block 9 is turned over and buckled on the top edge of the steel arch frame 100. Step 2: Control the extrusion pump in the extrusion head 2 to extrude concrete onto the inner wall of the tunnel. At the same time, control the servo motor in the printing mechanism to work, driving the extrusion head 2 to move from one end of the sliding seat 1 to the other end. Step 3: Control the driving wheel 3 to move a distance equal to the width of the extrusion head 2, and repeat Steps 2 - 3 until the concrete extrusion and printing operation between two adjacent steel arch frames 100 is completed. Step 4: First, increase the power supply intensity of the electromagnetic adsorption module 7 in the printing mechanism to make the printing mechanism firmly adsorb on the steel arch frame 100. Then, by controlling the servo motors in the two sets of second lead screw 14 assemblies, make the two second lead screws 14 rotate synchronously. Since the sliding seat 1 is firmly fixed on the steel arch frame 100 at this time, the second lead screw 14 drives the rail-changing frame 4 to move along the axial direction of the tunnel until both ends of the rail-changing frame 4 are aligned with the next bay of the steel arch frame 100. Step 5: Then, supply power to the electromagnetic adsorption module 7 in the rail-changing mechanism 8 to make the rail-changing frame 4 firmly adsorb between the next bay of the steel arch frame 100, and stop supplying power to the electromagnetic adsorption module 7 in the printing mechanism to disconnect the printing mechanism from the steel arch frame 100. Then, by controlling the servo motors in the two sets of second lead screw 14 assemblies, make the two second lead screws 14 rotate synchronously. Since the rail-changing frame 4 is firmly fixed between the next bay of the steel arch frame 100, the second sliding table 15 drives the sliding seat 1 to move along the axial direction of the tunnel until both ends of the sliding seat 1 are aligned with the next bay of the steel arch frame 100. Step 6: Repeat Steps 2 - 5 to complete the concrete extrusion operation on the inner wall of the tunnel. Step 7: The construction personnel spray supplementary concrete at the position near the steel arch frame 100 that the extrusion head 2 cannot reach.

[0062] It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0063] The above are only the preferred embodiments of the present invention, and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. An electromagnetic adsorption type 3D concrete printing device, characterized in that, It includes a printing mechanism and a rail-changing mechanism. The printing mechanism is used to extrude concrete between two adjacent steel arch frames in the tunnel, and the rail-changing mechanism is used to drive the printing mechanism to move along the axial direction of the tunnel between adjacent steel arch frames; The printing mechanism includes: A sliding seat, with electromagnetic adsorption modules and driving wheels arranged at both ends of the sliding seat. The driving wheels are in contact with the steel arch frame and roll along the circumferential direction of the steel arch frame; The electromagnetic adsorption modules are arranged corresponding to the steel arch frames and are used to apply magnetic suction force to the steel arch frames so that the printing mechanism is adsorbed on two adjacent steel arch frames in the tunnel; An extrusion head, which is arranged on the sliding seat, and the extrusion head can be guided to move along the extending direction of the sliding seat. The extrusion head is connected to the ground pumping station through a pump pipe, and an extrusion pump is arranged in the extrusion head. The extrusion pump is used to extrude concrete onto the inner wall of the tunnel.

2. The electromagnetic adsorption type 3D concrete printing device according to claim 1, wherein A first lead screw assembly is arranged in the printing mechanism. The first lead screw assembly includes a first lead screw and a first sliding table. The first lead screw is rotatably arranged on the sliding seat, the first lead screw is driven to rotate by a servo motor, the first sliding table is threadedly assembled on the first lead screw, and the first sliding table is fixed on the extrusion head; The extrusion head is guided to move along the sliding seat. By rotating the first lead screw, the first sliding table and the extrusion head are driven to reciprocate along the first lead screw.

3. The electromagnetic adsorption type 3D concrete printing device according to claim 2, wherein, The rail-changing mechanism includes a rail-changing frame, which is arranged on the periphery of the sliding seat, and the rail-changing frame is movably connected to the sliding seat relatively.

4. The electromagnetic adsorption type 3D concrete printing device according to claim 3, wherein Electromagnetic adsorption modules are arranged at both ends of the rail-changing frame, and the electromagnetic adsorption modules are used to adsorb the rail-changing frame between two adjacent steel arch frames.

5. The electromagnetic adsorption type 3D concrete printing device according to claim 4, wherein, A second lead screw assembly is arranged between the rail-changing frame and the sliding seat. The second lead screw assembly includes a second lead screw and a second sliding table. The second lead screw is rotatably arranged at the lower part of the rail-changing frame, the second lead screw is driven to rotate by a servo motor, the second sliding table is threadedly assembled on the second lead screw, and the second sliding table is fixed on the upper part of the sliding seat.

6. The electromagnetic adsorption type 3D concrete printing device according to claim 5, wherein, There are two sets of the second lead screw assemblies, and the two sets of second lead screw assemblies are arranged in parallel between the rail-changing frame and the sliding seat.

7. The electromagnetic adsorption type 3D concrete printing device according to claim 5, wherein Limit blocks are hinged on both sides of the driving wheel in the sliding seat, and the cross-sectional shape of the limit block is L-shaped; The L-shaped limit block includes a vertical section and a horizontal section. The vertical section is hinged on the sliding seat, the horizontal section is turned over under the top edge of the steel arch frame, and a roller is rotatably arranged on the horizontal section. The roller is in rolling contact with the lower surface of the top edge of the steel arch frame.

8. The electromagnetic adsorption type 3D concrete printing device according to claim 7, wherein A flipping mechanism is arranged between the limit block and the sliding seat. The flipping mechanism includes a telescopic rod, a V-shaped rod and a connecting rod; One end of the telescopic rod is hinged on the sliding seat, and the other end is hinged and connected to an extending end of the V-shaped rod; The V-shaped rod is angularly hinged on the sliding seat, the opening of the V-shaped rod faces away from the driving wheel, the other extending end of the V-shaped rod is hinged and connected to one end of the connecting rod, and the other end of the connecting rod is hinged on the limit block.

9. The electromagnetic adsorption type 3D concrete printing device according to claim 8, wherein, A torque sensor is arranged on the driving wheel, and the torque sensor is used to detect the torque value of the driving wheel; A Hall effect sensor is arranged on the electromagnetic adsorption module, and the Hall effect sensor is used to monitor the adsorption force magnitude of the electromagnetic adsorption module.

10. The electromagnetic adsorption type 3D concrete printing device according to claim 9, characterized in that, The printing device further includes a controller, and the extrusion pump, the driving wheel, the servo motor, the telescopic rod, the torque sensor and the Hall effect sensor are all signal-connected to the controller and are controlled and operated by the controller.

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