An electromagnetic adsorption 3D concrete printing device

Abstract

The present invention belongs to the field of concrete 3D printing technology, and specifically relates to an electromagnetic adsorption type 3D concrete printing device. The printing mechanism includes: a slide, both ends of the slide are provided with an electromagnetic adsorption module and a driving wheel, the driving wheel contacts the steel arch frame and rolls along the circumference of the steel arch frame; the electromagnetic adsorption module is provided corresponding to the steel arch frame, and is used to apply magnetic attraction to the steel arch frame, so that the printing mechanism is adsorbed on two adjacent steel arch frames in the tunnel; an extrusion head, the extrusion head is provided on the slide, and the extrusion head can be guided and moved along the extension direction of the slide, the extrusion head is connected to the ground pump station through a pump pipe, and an extrusion pump is provided in the extrusion head, and the extrusion pump is used to extrude concrete into the inner wall of the tunnel. The use of this printing device will not generate dust pollution; it saves the amount of concrete, reduces construction costs, and is more friendly to the construction environment; and through the cooperation between the printing mechanism and the extrusion head, not only the construction error during concrete extrusion is greatly reduced, but also the construction efficiency can be greatly improved.

Description

Technical Field

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

[0002] Tunnel wall shotcrete is a key component of initial support during tunnel construction, primarily used to support and protect the tunnel's inner wall. It boasts advantages such as rapid construction, high density, excellent impermeability, and high economic benefits. Using a pressure spray gun, a concrete mixture containing an accelerating setting agent is sprayed onto the tunnel's inner wall, forming a dense support layer that enhances the stability and durability of the tunnel structure.

[0003] However, the sprayed concrete construction method still has the following problems:

[0004] 1. Large rebound: The rebound of dry shotcrete and wet shotcrete processes is about 40%, resulting in serious waste of concrete materials and increased construction costs;

[0005] 2. Dust pollution: In dry spraying and wet spraying processes, the dust content in the working area is high, which is detrimental to the health of workers and causes serious environmental pollution;

[0006] 3. Construction limitations: Dry spraying and wet spraying processes require more experienced construction workers. In addition, there is a high probability that construction errors will occur during the construction process, and construction efficiency cannot be guaranteed.

[0007] Therefore, it is necessary to provide an improved technical solution to the above-mentioned deficiencies in the prior art. Summary of the Invention

[0008] The purpose of the present invention is to provide an electromagnetic adsorption type 3D concrete printing device to at least solve the above-mentioned problems existing in the prior art.

[0009] In order to achieve the above objectives, the present invention provides the following technical solutions:

[0010] An electromagnetic adsorption 3D concrete printing device includes a printing mechanism and a track-changing mechanism. The printing mechanism is used to extrude concrete between two adjacent steel arches in a tunnel. The track-changing mechanism is used to drive the printing mechanism to move between the adjacent steel arches along the tunnel axis.

[0011] Printing facilities include:

[0012] A slide, wherein both ends of the slide are provided with an electromagnetic adsorption module and a driving wheel, the driving wheel contacts the steel arch frame and rolls along the circumference of the steel arch frame;

[0013] The electromagnetic adsorption module is set corresponding to the steel arch frame, which is used to apply magnetic attraction to the steel arch frame so that the printing mechanism is adsorbed on two adjacent steel arch frames in the tunnel;

[0014] The extrusion head is arranged on the slide and can be guided and moved along the extension direction of the slide. The extrusion head is connected to the ground pump station through a pump pipe. An extrusion pump is provided in the extrusion head, and the extrusion pump is used to extrude concrete toward the inner wall of the tunnel.

[0015] In the electromagnetic adsorption type 3D concrete printing device described above, preferably, the printing mechanism is provided with a first screw assembly, the first screw assembly including a first screw and a first slide, the first screw being rotatably disposed on the slide, the first screw being driven to rotate by a servo motor, the first slide being threadedly assembled on the first screw, and the first slide being fixed to the extrusion head;

[0016] The extrusion head moves along the guide of the slide seat, and by rotating the first screw rod, the first slide and the extrusion head are driven to reciprocate along the first screw rod.

[0017] In the electromagnetic adsorption type 3D concrete printing device as described above, preferably, the track changing mechanism includes a track changing frame, which is arranged on the periphery of the slide and is connected to the slide for relative movement.

[0018] As described above, in the electromagnetic adsorption type 3D concrete printing device, preferably, both ends of the track changing frame are provided with electromagnetic adsorption modules, and the electromagnetic adsorption modules are used to adsorb the track changing frame between two adjacent steel arch frames.

[0019] As described above, the electromagnetic adsorption type 3D concrete printing device is preferably provided with a second screw assembly between the track changing frame and the slide, the second screw assembly including a second screw and a second thread, the second screw being rotatably arranged at the lower part of the track changing frame, the second screw being driven to rotate by a servo motor, the second slide being threadedly assembled on the second screw, and the second slide being fixed to the upper part of the slide.

[0020] As described above, in the electromagnetic adsorption type 3D concrete printing device, preferably, two sets of the second screw rod assembly are provided, and the two sets of the second screw rod assembly are arranged in parallel between the track changing frame and the slide seat.

[0021] In the electromagnetic adsorption 3D concrete printing device as described above, preferably, both sides of the driving wheel in the slide are hinged with limit blocks, and the cross-sectional shape of the limit blocks is L-shaped;

[0022] The L-shaped limit block includes a vertical section and a horizontal section, wherein the vertical section is hinged on the slide, and the horizontal section is flipped under the top edge of the steel arch frame, and a roller is rotatably provided on the horizontal section, and the roller is in rolling contact with the lower surface of the top edge of the steel arch frame.

[0023] As described above, the electromagnetic adsorption type 3D concrete printing device, preferably, a flip mechanism is provided between the limit block and the slide seat, and the flip mechanism includes a telescopic rod, a V-shaped rod and a connecting rod;

[0024] One end of the telescopic rod is hinged to the slide seat, and the other end is hinged to an extended end of the V-shaped rod;

[0025] The angle of the V-shaped rod is hinged on the slide, the opening of the V-shaped rod faces away from the driving wheel, the other extended end of the V-shaped rod is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the limit block.

[0026] In 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;

[0027] The electromagnetic adsorption module is provided with a Hall effect sensor, and the Hall effect sensor is used to monitor the adsorption force of the electromagnetic adsorption module.

[0028] As described above, the electromagnetic adsorption 3D concrete printing device preferably further includes a controller, and the extrusion pump, drive wheel, servo motor, telescopic rod, torque sensor and Hall effect sensor are all connected to the controller signal and controlled by the controller.

[0029] Beneficial effects:

[0030] The use of this printing device will not cause concrete rebound or generate dust pollution; thereby saving concrete usage, reducing construction costs, and being more friendly to the construction environment; and through the cooperation between the printing mechanism and the extrusion head, not only the construction error during concrete extrusion is greatly reduced, but also the construction efficiency can be greatly improved.

[0031] After the printing device completes the concrete extrusion printing operation between adjacent steel arch frames, the printing device is moved to the next steel arch frame through the track-changing mechanism to repeat the above-mentioned concrete extrusion printing operation; the track-changing mechanism can greatly improve the transportation efficiency of the printing device, which helps to improve construction efficiency.

[0032] By flipping the limit block onto the top edge of the steel arch frame, the stability of the printing mechanism when moving along the steel arch frame can be ensured, and the accident of the printing mechanism falling off the steel arch frame can be avoided, thereby ensuring the safety of the printing device during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings and descriptions that constitute part of this application are intended to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are intended to explain the present invention and do not constitute an undue limitation of the present invention.

[0034] Figure 1 A front view of a printing device that creates one embodiment of the present invention;

[0035] Figure 2 A side view of a printing device that creates one embodiment of the present invention;

[0036] Figure 3 An enlarged schematic diagram of a flip mechanism according to an embodiment of the present invention is provided;

[0037] Figure 4 A schematic diagram of a flipping state of a flipping mechanism according to an embodiment of the present invention is provided;

[0038] Figure 5 A top view of a printing device that creates one embodiment of the present invention;

[0039] Figure 6 for Figure 5 Middle partial enlarged view;

[0040] Figure 7 A schematic diagram of a track changing operation is provided for creating an embodiment of the present invention.

[0041] In the figure: 1. Slide; 2. Extruder head; 3. Drive wheel; 4. Track changing frame; 5. First screw rod; 6. First slide; 7. Electromagnetic adsorption module; 8. Track changing mechanism; 9. Limit block; 10. Roller; 11. Telescopic rod; 12. V-shaped rod; 13. Connecting rod; 14. Second screw rod; 15. Second slide; 100. Steel arch frame. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0043] In the description of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, they can be fixedly connected or detachably connected; they can be directly connected or indirectly connected through an intermediate component. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0045] According to the specific embodiment of the present invention, Figure 1-7 As shown, the present invention provides an electromagnetic adsorption 3D concrete printing device, including a printing mechanism and a track-changing mechanism 8. The printing mechanism is used to extrude concrete between two adjacent steel arch frames 100 in a tunnel, and the track-changing mechanism 8 is used to drive the printing mechanism to move between adjacent steel arch frames 100 along the axial direction of the tunnel.

[0046] Printing facilities include:

[0047] The slide 1 is provided with an electromagnetic adsorption module 7 and a drive wheel 3 at both ends of the slide 1. The drive wheel 3 contacts the steel arch frame 100 and rolls along the circumference of the steel arch frame 100. In this embodiment, two drive 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 drive wheels 3 at each end of the slide 1 is an electric drive wheel 3, and the electric drive wheel 3 can adopt a hub motor structure.

[0048] 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 to the electromagnetic suction cup.

[0049] 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 to the ground pump station through a pump pipe. An extrusion pump is provided in the extrusion head 2, and the extrusion pump is used to extrude concrete toward the inner wall of the tunnel.

[0050] In one embodiment of the present application, the end of the extrusion head 2 is provided with a telescopic tube mechanism, 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 to feed back the monitoring results 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 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, so that the concrete printing operation on the inner wall of the tunnel has better construction quality.

[0051] 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 source, which is not limited here. The extrusion head 2 is connected to a ground concrete pumping station via a pump pipe, and the concrete pumping station pumps concrete to the extrusion head 2 through a pipeline.

[0052] In this printing device, the drive wheels 3 at each end of the printing mechanism contact two adjacent steel arches 100 in the tunnel. Simultaneously, the electromagnetic attraction modules 7 at each end of the printing mechanism apply magnetic attraction to the steel arches 100, allowing the entire printing device to be adsorbed between the two adjacent steel arches 100 without falling off. In this embodiment, the electromagnetic attraction modules 7 in the printing device only provide magnetic attraction and do not contact the steel arches 100.

[0053] The extrusion head 2 moves while extrude concrete toward the inner wall of the tunnel. After the extrusion head 2 runs from one end of the slide 1 to the other end, the drive wheel 3 is controlled to move a distance of the width of the extrusion head 2, so that the extrusion head 2 continues to extrude concrete, and the above process is repeated until the concrete extrusion printing operation between the two adjacent steel arch frames 100 in the tunnel is completed; the process of the extrusion head 2 extruding concrete onto the inner wall of the tunnel is similar to the process of smearing concrete on the inner wall of the tunnel. This process will not cause rebound of the concrete and will not generate dust pollution; thereby saving concrete consumption, reducing construction costs, and being more friendly to the construction environment; and the cooperation between the printing mechanism and the extrusion head 2 not only greatly reduces the construction error during concrete extrusion, but also greatly improves the construction efficiency.

[0054] After the printing device completes the concrete extrusion printing operation between adjacent steel arch frames 100, the printing device is moved to the next steel arch frame 100 through the track changing mechanism 8 to repeat the above concrete extrusion printing operation; the track changing mechanism 8 can greatly improve the transportation efficiency of the printing device, which helps to improve construction efficiency.

[0055] After the printing device moves to the next steel arch frame 100, the construction workers will spray concrete on the steel arch frame 100 and its nearby positions that the extrusion head 2 cannot reach. This setting can greatly reduce the workload of the construction workers and ensure the construction quality of the concrete on the inner wall of the tunnel.

[0056] A first screw rod 5 assembly is provided in the printing mechanism, and the first screw rod 5 assembly includes a first screw rod 5 and a first slide 6. The first screw rod 5 is rotatably set on the slide 1, and the first screw rod 5 is driven to rotate by a servo motor. The first slide 6 is threadedly assembled on the first screw rod 5, and the first slide 6 is fixed on the extruder head 2.

[0057] The extrusion head 2 is guided and moved along the slide 1 , and the first slide 6 and the extrusion head 2 are driven to reciprocate along the first screw 5 by rotating the first screw 5 .

[0058] In an embodiment of the present application, the first screw rod 5 is parallel to the extending direction of the slide base 1. Since the extrusion head 2 moves along the guide of the slide base 1, the extrusion head 2 will not rotate relative to the slide base 1. Among them, it can be set that at least one surface of the extrusion head 2 and the slide base 1 are in contact with each other for the extrusion head 2 to move along the guide of the slide base 1; alternatively, a guide rod can be provided in the slide base 1, where the guide rod is parallel to the first screw rod 5, and the extrusion head 2 is sleeved around the guide rod to make the extrusion head 2 move along the guide rod. Then, when the first screw rod 5 rotates, the extrusion head 2 and the first slide table 6 will not rotate around the first screw rod 5 but move reciprocally along the first screw rod 5.

[0059] In this embodiment, the first screw rod 5 is driven to rotate by a servo motor, and the servo motor is arranged in the slide base 1.

[0060] In other embodiments, two sets of first screw rod 5 assemblies can also be arranged in parallel in the slide base 1, and the extrusion head 2 is driven to move by the two sets of first screw rod 5 assemblies synchronously.

[0061] The rail changing mechanism 8 includes a rail changing frame 4. The rail changing frame 4 is arranged on the periphery of the slide base 1, and the rail changing frame 4 is movably connected to the slide base 1 relatively.

[0062] Electromagnetic adsorption modules 7 are arranged at both ends of the rail changing frame 4. The electromagnetic adsorption modules 7 are used to adsorb the rail changing frame 4 between two adjacent steel arch frames 100.

[0063] 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, which can provide a good supporting effect during the rail changing process of the printing mechanism.

[0064] In this embodiment, both ends of the rail changing frame 4 are of a C-shaped structure, and the end of the slide base 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 base 1; an electromagnetic adsorption module 7 is respectively arranged on each of the two extending 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.

[0065] A second screw rod 14 assembly is arranged between the rail changing frame 4 and the slide base 1. The second screw rod 14 assembly includes a second screw rod 14 and a second thread. The second screw rod 14 is rotatably arranged at the lower part of the rail changing frame 4. The second screw rod 14 is driven to rotate by a servo motor. The second slide table 15 is threadedly assembled on the second screw rod 14, and the second slide table 15 is fixed on the upper part of the slide base 1.

[0066] In one embodiment of the present application, a second screw rod 14 assembly is provided between the track changing frame 4 and the slide 1 to enable relative movement between the track changing frame 4 and the slide 1 to facilitate track changing operations.

[0067] There are two sets of second screw rod 14 assemblies, and the two sets of second screw rod 14 assemblies are arranged in parallel between the track changing frame 4 and the slide seat 1.

[0068] In one embodiment of the present application, when the printing device needs to change tracks, at this time, the power supply intensity of the electromagnetic adsorption module 7 in the printing mechanism is first increased so that the printing mechanism is firmly adsorbed on the steel arch frame 100; then, by controlling the servo motors in the two sets of second screw rods 14 assemblies, the two second screw rods 14 rotate synchronously. Since the slide 1 is firmly fixed on the steel arch frame 100 at this time, the second screw rod 14 drives the track changing frame 4 to move axially along the tunnel until the two ends of the track changing frame 4 are aligned with the next steel arch frame 100.

[0069] Then, power is supplied to the electromagnetic adsorption module 7 in the track-changing mechanism 8, so that the track-changing frame 4 is firmly adsorbed between the next steel arch frame 100, and power is stopped to the electromagnetic adsorption module 7 in the printing mechanism, so that the printing mechanism is disconnected from the steel arch frame 100. Then, by controlling the servo motors in the two sets of second screw rods 14 assemblies, the two second screw rods 14 are rotated synchronously. Since the track-changing frame 4 is firmly fixed between the next steel arch frame 100, the second slide 15 drives the slide 1 to move along the axial direction of the tunnel until the two ends of the slide 1 are aligned with the next steel arch frame 100. In this way, the track-changing operation is completed, and the concrete extrusion operation can be repeated. The track-changing operation and the concrete extrusion operation are performed alternately until the concrete extrusion operation on the inner wall of the tunnel is completed.

[0070] In the slide 1 , both sides of the driving wheel 3 are hinged with limit blocks 9 , and the cross-section of the limit blocks 9 is L-shaped.

[0071] The L-shaped limit block 9 includes a vertical section and a horizontal section, wherein the vertical section is hinged on the slide 1, and the horizontal section is flipped under the top edge of the steel arch frame 100, and a roller 10 is rotatably provided on the horizontal section, and the roller 10 is in rolling contact with the lower surface of the top edge of the steel arch frame 100.

[0072] In one embodiment of the present application, the cross-section of the steel arch frame 100 is I-shaped or H-shaped. When the printing mechanism performs concrete extrusion printing operations between two adjacent steel arch frames 100, the L-shaped limit block 9 is flipped over on the top edge of the steel arch frame 100, which can ensure the stability of the printing mechanism when moving along the steel arch frame 100, avoid the accident of the printing mechanism falling off the steel arch frame 100, and ensure the safety of the printing device during use.

[0073] A turning mechanism is provided between the limiting block 9 and the slide 1 , and the turning mechanism includes a telescopic rod 11 , a V-shaped rod and a connecting rod 13 .

[0074] One end of the telescopic rod 11 is hinged to the slide 1 , and the other end is hinged to an extended end of the V-shaped rod.

[0075] The angle of the V-shaped rod 12 is hinged on the slide 1, and 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 hingedly connected to one end of the connecting rod 13, and the other end of the connecting rod 13 is hingedly connected to the limit block 9.

[0076] In one embodiment of the present application, when the telescopic rod 11 is extended, the stop block 9 is positioned below the slide 1. The horizontal section of the stop block 9 then flips over onto the top edge of the steel arch 100, securing the entire printing device to the steel arch 100 and ensuring safety during the concrete extrusion printing process. When a track change is required, the telescopic rod 11 is controlled to retract, and the V-shaped rod 12 drives the connecting rod 13 and the stop block 9 to flip 180 degrees, aligning the bottom surface of the stop block 9 with the bottom surface of the slide 1. The stop block 9 no longer limits the top edge of the steel arch 100, preventing interference between the stop block 9 and the steel arch 100 during the track change, ensuring smooth track change. After the track change is complete, the telescopic rod 11 is controlled to extend, flipping the stop block 9 180 degrees so that the stop block 9 flips over onto the top edge of the steel arch 100, completing the safety limit function for the entire printing device.

[0077] 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.

[0078] The driving wheel 3 is provided with a torque sensor, which is used to detect the torque value of the driving wheel 3 .

[0079] The electromagnetic adsorption module 7 is provided with a Hall effect sensor, which is used to monitor the adsorption force of the electromagnetic adsorption module 7 .

[0080] 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.

[0081] 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.

[0082] 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.

[0083] When the printing device is in use, the operation process of the printing device is as follows:

[0084] Step 1: Align the drive wheel 3 and the electromagnetic adsorption module 7 with two adjacent steel arches 100 in the tunnel. Then, current is supplied to the electromagnetic adsorption module 7 of the printing mechanism to adsorb the printing mechanism onto the steel arches 100. Then, the telescopic rod 11 is controlled to extend so that the limit block 9 flips over and buckles onto the top edge of the steel arch 100.

[0085] Step 2: Control the extrusion pump in the extrusion head 2 to extrude concrete toward the inner wall of the tunnel, and at the same time control the servo motor in the printing mechanism to drive the extrusion head 2 to move from one end of the slide 1 to the other end;

[0086] Step 3: Control the driving wheel 3 to move a distance equal to the width of the extrusion head 2, and repeat steps 2 to 3 until the concrete extrusion printing operation between two adjacent steel arches 100 is completed;

[0087] Step 4: First, increase the power supply intensity of the electromagnetic adsorption module 7 in the printing mechanism so that the printing mechanism is firmly adsorbed on the steel arch frame 100; then, by controlling the servo motors in the two sets of second screw rods 14 assemblies, the two second screw rods 14 rotate synchronously. Since the slide 1 is firmly fixed on the steel arch frame 100 at this time, the second screw rods 14 drive the track changing frame 4 to move along the axial direction of the tunnel until the two ends of the track changing frame 4 are aligned with the next steel arch frame 100;

[0088] Step 5: Then, power is supplied to the electromagnetic adsorption module 7 in the track-changing mechanism 8, so that the track-changing frame 4 is firmly adsorbed between the next steel arch frame 100, and power is stopped to the electromagnetic adsorption module 7 in the printing mechanism, so that the printing mechanism is disconnected from the steel arch frame 100; then, by controlling the servo motors in the two sets of second screw rods 14 assemblies, the two second screw rods 14 are rotated synchronously. Since the track-changing frame 4 is firmly fixed between the next steel arch frame 100, the second slide 15 drives the slide 1 to move axially along the tunnel until both ends of the slide 1 are aligned with the next steel arch frame 100;

[0089] Step 6: Repeat steps 2 to 5 to complete the concrete extrusion operation on the inner wall of the tunnel;

[0090] In step 7, the construction workers spray additional concrete at the position near the steel arch 100 that the extrusion head 2 cannot reach.

[0091] It will be understood that the above description is merely exemplary and the embodiments of the present application do not limit this.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, 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 3D concrete printing device, characterized in that: It includes a printing mechanism and a track-changing mechanism. The printing mechanism is used to extrude concrete between two adjacent steel arches in the tunnel. The track-changing mechanism is used to drive the printing mechanism to move between adjacent steel arches along the tunnel axis. Printing facilities include: A slide, wherein both ends of the slide are provided with an electromagnetic adsorption module and a driving wheel, the driving wheel contacts the steel arch frame and rolls along the circumference of the steel arch frame; The electromagnetic adsorption module is set corresponding to the steel arch frame, which is used to apply magnetic attraction to the steel arch frame so that the printing mechanism is adsorbed on two adjacent steel arch frames in the tunnel; An extrusion head, the extrusion head is arranged on a slide and can be guided and moved along the extension direction of the slide. The extrusion head is connected to a ground pump station through a pump pipe. An extrusion pump is provided in the extrusion head, and the extrusion pump is used to extrude concrete into the inner wall of the tunnel. The printing mechanism is provided with a first screw assembly, the first screw assembly includes a first screw and a first slide. The first screw is rotatably arranged on the slide and is driven to rotate by a servo motor. The first slide is threadedly assembled on the first screw, and the first slide is fixed to the extrusion head; The extrusion head moves along the guide of the slide, and by rotating the first screw, the first slide and the extrusion head are driven to reciprocate along the first screw. The track changing mechanism includes a track changing frame, which is arranged on the periphery of the slide and is connected to the slide for relative movement. A second screw rod assembly is arranged between the track changing frame and the slide. The second screw rod assembly includes a second screw rod and a second thread. The second screw rod is rotatably arranged at the lower part of the track changing frame. The second screw rod is driven to rotate by a servo motor. The second slide is threadedly assembled on the second screw rod, and the second slide is fixed to the upper part of the slide.

2. The electromagnetic adsorption type 3D concrete printing device according to claim 1, characterized in that: Both ends of the track-changing frame are provided with electromagnetic adsorption modules, which are used to adsorb the track-changing frame between two adjacent steel arch frames.

3. The electromagnetic adsorption type 3D concrete printing device according to claim 2, characterized in that: The second screw rod assembly is provided with two sets, and the two sets of second screw rod assemblies are arranged in parallel between the track changing frame and the slide seat.

4. The electromagnetic adsorption type 3D concrete printing device according to claim 2, characterized in that: Limit blocks are hinged on both sides of the driving wheel in the slide, and the cross-section of the limit blocks is L-shaped; The L-shaped limit block includes a vertical section and a horizontal section, wherein the vertical section is hinged on the slide, and the horizontal section is flipped under the top edge of the steel arch frame, and a roller is rotatably provided on the horizontal section, and the roller is in rolling contact with the lower surface of the top edge of the steel arch frame.

5. The electromagnetic adsorption type 3D concrete printing device according to claim 4, characterized in that: A flip mechanism is provided between the limit block and the slide seat, and the flip mechanism comprises a telescopic rod, a V-shaped rod and a connecting rod; One end of the telescopic rod is hinged to the slide seat, and the other end is hinged to an extended end of the V-shaped rod; The angle of the V-shaped rod is hinged on the slide, the opening of the V-shaped rod faces away from the driving wheel, the other extended end of the V-shaped rod is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the limit block.

6. The electromagnetic adsorption type 3D concrete printing device according to claim 5, characterized in that: The driving wheel is provided with a torque sensor, which is used to detect the torque value of the driving wheel; The electromagnetic adsorption module 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. The electromagnetic adsorption type 3D concrete printing device according to claim 6, characterized in that: The printing device further includes a controller, and the extrusion pump, driving wheel, servo motor, telescopic rod, torque sensor and Hall effect sensor are all connected to the controller signal and are controlled by the controller.

Images