An aerial 3D printing robot and a printing method thereof

Abstract

The present application relates to unmanned aerial vehicle and 3D printing technical field, specifically relates to an aerial 3D printing robot and printing method thereof, the aerial 3D printing robot provided by the present application, including material conveying unit and printer unit, the material conveying unit is installed with the printer unit, the printer unit is used for aerial printing;Material conveying unit includes carrying unmanned aerial vehicle and storage bin, the carrying unmanned aerial vehicle is used for heavy flight, the lower end of the carrying unmanned aerial vehicle is installed with the mounting platform;The storage bin is installed at the lower end of the mounting platform;The printer unit includes printing unmanned aerial vehicle and print head, the upper end of the printing unmanned aerial vehicle is hung on the carrying unmanned aerial vehicle through the support assembly, the print head is installed at the lower end of the printing unmanned aerial vehicle through the printing mechanical arm, and the printing unmanned aerial vehicle lower end is also provided with a printing material bin.The carrying unmanned aerial vehicle is separated from the printing unmanned aerial vehicle, and the material conveying pipe is combined to supplement the material, so that the efficiency and quality of the printing operation can be guaranteed;Meanwhile, the present application also provides a printing method.

Description

Technical Field

[0001] This invention relates to the fields of drones and 3D printing technology, specifically to an aerial 3D printing robot and its printing method. Background Technology

[0002] With the rapid development of modern manufacturing technology, 3D printing technology has been widely applied in many industries. In recent years, with the development of drone technology, more and more research and applications have begun to explore the possibility of combining drones with 3D printing technology. As a product of this combination, aerial 3D printing robots are gradually becoming a new innovative technology. Their core advantage lies in their ability to perform flexible and efficient printing operations in the air, making them particularly suitable for tasks that traditional manufacturing methods cannot easily accomplish, such as high-altitude building repair, building additive manufacturing, and the manufacturing of items in hard-to-reach areas.

[0003] Traditional drones are typically used for light-load missions, and their design and flight control systems primarily focus on flight stability, maneuverability, and endurance. However, in 3D printing applications, the requirements have changed significantly. Aerial 3D printing missions require drones to carry large amounts of printing material, print heads, and robotic arms, which not only increases the load but also places higher demands on flight accuracy and stability.

[0004] Traditional drones typically lack the payload capacity to support the weight required for printing jobs, especially when carrying large amounts of printing material, which exacerbates battery consumption and significantly reduces flight time. Furthermore, the weight and complex structure of the print head and robotic arm affect flight stability, particularly during high-precision printing, where even slight changes in attitude can lead to printing errors.

[0005] In view of the above, in order to overcome the above technical problems, the present invention designs an aerial 3D printing robot and its printing method, which solves the above technical problems. Summary of the Invention

[0006] The technical objective of this invention is to provide an aerial 3D printing robot and its printing method, which achieves efficient and precise aerial printing operations through the collaboration of a carrier drone and a printing drone.

[0007] To achieve the above-mentioned technical objectives, the present invention provides the following technical solution: This invention provides an aerial 3D printing robot comprising a material handling unit and a printer unit. The material handling unit is equipped with the printer unit, which is used for aerial printing. The material handling unit includes a carrier drone and a storage bin. The carrier drone is used for carrying a load, and a mounting platform is installed at its lower end. The storage bin is installed at the lower end of the mounting platform. The printer unit includes a printing drone and a print head. The upper end of the printing drone is mounted on the carrier drone via a bracket assembly. The print head is installed at the lower end of the printing drone via a printing robotic arm. A printing material bin is also installed at the lower end of the printing drone. The printing material bin is used to receive printing material from the storage bin and feed it to the print head.

[0008] This invention separates the carrier drone from the printing drone. The carrier drone focuses on providing power and transportation, while the printing drone independently performs the printing task. The design of the print head and the printing robotic arm allows for precise control of the printing process and efficient delivery of materials from the storage bin to the print head, ensuring the continuity and quality of the printing operation.

[0009] The bracket assembly includes release guide posts, a movable bracket, a mounting slide bar, and a mounting bracket. Multiple release guide posts are installed at the lower end of the mounting platform. Release slide rails are installed on the release guide posts. One end of the movable bracket is slidably installed on the release slide rail. One end of the mounting slide bar is slidably installed on the other end of the movable bracket. The upper end of the mounting bracket is slidably installed on the other end of the mounting slide bar. The lower end of the mounting bracket is installed on the printing drone.

[0010] This invention enables the separation process of the printing drone through a combination of release guide posts, slide rails, slide rods, and a movable support assembly. The sliding design of each component ensures a smooth and controllable separation action, avoiding sudden vibrations or instability, and ensuring that the printing drone can detach smoothly and begin independent operation.

[0011] Furthermore, the mounting bracket is connected to the mounting slide rod via a mounting ring at its upper end. A retractable limiting slide post is mounted on the side of the mounting slide rod, which controls the range of movement of the mounting bracket during sliding. The limiting slide post, through its telescopic function, provides a position-limiting mechanism to prevent excessive sliding or loosening of the bracket assembly, ensuring precise positioning of the printing drone during mounting and dismounting.

[0012] Preferably, a detection platform is installed at the lower end of the release slide rail, an infrared detector is installed on the detection platform, and a detection patch is installed on the side of the mounting ring opposite to the infrared detector.

[0013] By combining an infrared detector and a detection layer, the system can monitor the separation status between the printing drone and the carrier drone in real time. The high-precision detection function of the infrared detector ensures accurate separation of the printing drone and avoids malfunctions caused by incomplete separation or misoperation.

[0014] More preferably, a pressure sensor is connected in the vertical direction of the limiting slide column, and the pressure sensor is used to detect the pressure on the limiting slide column.

[0015] The pressure sensor provides real-time monitoring of the separation status of the printing drone, ensuring a smooth and error-free separation process. By detecting pressure changes, the system can calibrate the movement of the support frame in real time before separation, preventing structural damage or unstable flight of the drone due to excessive pressure or unstable operation.

[0016] The printing material bin and the storage bin are provided with a material conveying assembly, which includes a discharge head and a feed head. The discharge head is installed on the discharge port at the lower end of the storage bin, and the feed head is installed on the feed port at the upper end of the printing material bin; the discharge head and the feed head are interlocked with each other.

[0017] Furthermore, an installation guide cylinder is mounted on the release guide post via a bracket, and a telescopic guide tube is provided inside the installation guide cylinder. One end of the telescopic guide tube is connected to the discharge head, and the other end is connected to the feed head. The telescopic guide tube is placed in a spiral shape inside the installation guide cylinder. A stretching component for stretching the discharge head is also mounted on the release guide post via a bracket.

[0018] The stretching assembly includes a stretching cylinder and a stretching bracket. The stretching cylinder is mounted on the bracket of the release guide post, and one end of the stretching bracket is mounted on the output shaft of the stretching cylinder, while the other end is mounted on the discharge head. An elastic steel wire is attached to the spiral-shaped telescopic guide tube. This elastic steel wire is primarily used to provide additional support and prevent the guide tube from deforming or tangling during stretching. The elasticity of the steel wire helps the guide tube return to its original shape when subjected to external force, thereby maintaining the stability of material conveying.

[0019] Based on the above, the printing robotic arm and the printing hopper are symmetrically distributed on the bottom plane of the printing drone; the printing robotic arm is a three-axis robotic arm; the printing robot is controlled by a control system on a carrier robot, and the control system is used to control the movement of the drone and the support assembly.

[0020] Through its robotic arm design and intelligent control system, the printing drone maintains a high degree of flexibility and stability while performing tasks in the air. The three-axis robotic arm enables the drone to handle complex printing tasks while ensuring printing accuracy. The integrated control system provides a high degree of automation, ensuring precise execution of every detail in the printing process, thereby improving both operational efficiency and print quality.

[0021] The present invention also provides a printing method for the above-mentioned aerial 3D printing robot, specifically including the following steps: S1. The carrier drone carries the printing drone and flies into the air, hovering above the printing work area; S2. The control system controls the moving support to move downwards and drives the mounting slide bar to move downwards synchronously. The downward movement of the mounting slide bar causes the mounting support on it to move downwards, thereby causing the detection layer and the infrared detector to be misaligned. S3. The control system receives the signal from the infrared detector and controls the mounting slide bar to move downwards within the moving bracket. When the mounting slide bar moves downwards until the mounting ring contacts the limit slide column, the pressure sensor sends a pressure signal. S4. The control system receives the pressure signal and controls the printing drone to start, the printing drone is lifted, and the pressure sensor signal changes. S5. The limit slider retracts, the printing drone falls vertically and detaches from the mounting slider, and the printing drone flies to the printing work area to print; S6. When the material in the printing hopper is exhausted, the printing drone flies to the bottom of the carrier drone, and the control system controls the output shaft of the stretching cylinder to move downward, thereby causing the discharge head to move downward and connect with the feed head. S7. The control system controls the material storage bin to transport materials. The materials enter the printing bin through the telescopic conduit to complete the material replenishment. S8. The discharge head separates from the feed head, and the printing drone returns to the printing work area to continue printing.

[0022] The beneficial effects of this invention are as follows: 1. This invention achieves efficient aerial 3D printing operations through the collaboration of a carrier drone and a printing drone. The carrier drone is responsible for carrying the load and delivering the printing drone to the work area, while also carrying a material storage bin to provide printing materials. The printing drone is mounted on the carrier drone via a support assembly and independently performs printing tasks within the work area. The support assembly, through structures such as release guide columns, movable supports, and mounting slides, ensures that the printing drone can accurately detach and begin independent operation. This invention optimizes flight stability and material supply methods by coordinating flight control and printing control, thereby solving the technical problems of traditional drones in terms of load capacity, flight stability, and material supply.

[0023] 2. This invention achieves stable separation of the printing drone through structures such as the release guide post, moving bracket, and mounting slide bar. Infrared detectors and pressure sensors work together to ensure smooth separation of the mounting bracket from the printing drone through signal feedback. This function effectively avoids potential misoperations or instability during separation, improving the reliability and accuracy of printing operations.

[0024] 3. This invention makes material supply during the printing process more flexible through the telescopic conduit and the tension cylinder. The control system can automatically fly to the carrier drone to replenish the material when the printing cartridge is depleted, ensuring uninterrupted printing. In addition, the spiral structure of the telescopic conduit and the control of the tension cylinder make the replenishment process more precise and stable, avoiding the negative impact of material supply instability on print quality, thereby ensuring the continuity and efficiency of the operation. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] The above and other aspects of the invention will now be described by way of example only, with reference to the accompanying drawings, in which: Figure 1 This is a structural schematic diagram of the unmanned aerial vehicle (UAV) of the present invention in flight mode; Figure 2 This is a structural schematic diagram of the UAV carrying this invention in a hovering state; Figure 3 This is the present invention. Figure 2 A schematic diagram of the structure at point A; Figure 4 This is the present invention. Figure 2 A frontal plan view; Figure 5 This is the present invention. Figure 4 A schematic diagram of the structure at point B; Figure 6 This is a schematic diagram of the structure of the UAV carried by the present invention; Figure 7 This is a schematic diagram of the internal structure of the material conveying assembly of the present invention; Figure 8 This is a schematic diagram of the structure of the printed drone of this invention; Figure 9 This is a flowchart of the method of the present invention.

[0027] In the diagram: 1. Transport drone; 2. Storage bin; 3. Mounting platform; 4. Material conveying assembly; 41. Discharge head; 42. Feed head; 43. Discharge port; 44. Feed port; 45. Mounting guide tube; 46. Telescopic guide tube; 47. Tensioning assembly; 471. Tensioning cylinder; 472. Tensioning bracket; 5. Printing drone; 6. Print head; 7. Bracket assembly; 71. Release guide post; 72. Release slide rail; 73. Moving bracket; 74. Mounting slide bar; 75. Mounting bracket; 76. Mounting ring; 77. Limiting slide post; 78. Detection platform; 781. Infrared detector; 782. Detection layer; 8. Printing robotic arm; 9. Printing bin. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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 invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and "back side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is conventionally placed during use. These terms are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention.

[0031] It should also be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] This disclosure aims to address the problem that traditional drones often lack the payload capacity to support the weight required for printing operations, especially when carrying large amounts of printing material, leading to increased battery consumption and significantly reduced flight time. Furthermore, the weight and complex structure of the print head and robotic arm affect flight stability, particularly during high-precision printing, where even slight attitude changes can cause printing errors. Therefore, this disclosure proposes an aerial 3D printing robot and its printing method, achieving efficient execution of aerial 3D printing operations through the collaboration of a carrier drone and a printing drone. The carrier drone is responsible for carrying the load and delivering the printing drone to the work area, while also carrying a material storage bin for supplying printing material. The printing drone is mounted on the carrier drone via a support assembly and independently performs printing tasks within the work area. The support assembly, through structures such as release guide pillars, movable supports, and mounting slides, ensures that the printing drone can precisely detach and begin independent operation. This invention optimizes flight stability and material supply methods by coordinating flight control and printing control, thereby solving the technical problems of traditional drones in terms of payload capacity, flight stability, and material supply.

[0033] Example 1: As Figure 1-9 As shown, in this embodiment, the aerial 3D printing robot system consists of a material handling unit and a printer unit. The printer unit is mounted on the material handling unit and is used for aerial printing. The material handling unit includes a carrier drone 1 and a storage bin 2. The carrier drone 1 is responsible for carrying the load and transporting the printer unit to the work area via a mounting platform 3. The storage bin 2 is installed at the lower end of the mounting platform 3 and is used to store the printing material to ensure a continuous supply of material during operation. The printer unit includes a printing drone 5 and a print head 6. The upper end of the printing drone 5 is connected to the carrier drone 1 via a support assembly 7, which ensures the stable mounting and precise separation of the printing drone 5. The print head 6 is mounted at the lower end of the printing drone 5 via a printing robotic arm 8. The printing robotic arm 8 adopts a three-axis structure, ensuring that the print head 6 can be freely adjusted in three degrees of freedom to achieve printing control. A printing material bin 9 is also installed at the lower end of the printing drone 5 to receive printing material from the storage bin 2 and supply material to the print head 6, ensuring a stable supply of material during the printing process.

[0034] like Figure 2-5As shown, the support assembly 7 enables stable connection and separation between the printing drone 5 and the carrier drone 1. The support assembly 7 includes release guide posts 71, a movable support 73, a mounting slide bar 74, a mounting bracket 75, and a mounting ring 76. Four release guide posts 71 are installed near the four corners at the bottom of the mounting platform 3 to provide ample internal installation space. Release slide rails 72 are mounted on the release guide posts 71. These release slide rails 72 are rectangular and electromagnetic rails. By applying magnetic force and changing the magnetism, the movable support 73, which is slidably mounted on them, slides vertically. Thus, the function of the release slide rails 72 is to guide the movement of the movable support 73 and the mounting slide bar 74.

[0035] like Figure 5 As shown, both ends of the movable bracket 73 are rectangular collars. One end of the movable bracket 73 is slidably mounted on the release slide rail 72, and one end of the mounting slide rod 74 is slidably mounted on the other end of the movable bracket 73. The mounting slide rod 74 also uses an electromagnetic guide rail to apply a pushing force to the movable bracket 73. Since the movable bracket 73 moves to the detection platform 78 at the bottom of the release guide post 71 and stops, the mounting slide rod 74 slides downward relative to the movable bracket 73, thereby driving the mounting bracket 75 on it to move downward.

[0036] Based on the above, the mounting slide 74 is connected to the printing drone 5 via the mounting bracket 75. The mounting bracket 75 synchronously moves the printing drone 5 downwards, thereby moving it away from the airflow interference zone below the carrier drone 1, and the printing drone 5 descends to the waiting area. The lower end of the mounting bracket 75 is connected to the printing drone 5 via a mounting ring 76. The function of the mounting ring 76 is to ensure that the printing drone 5 can be stably mounted on the carrier drone 1.

[0037] like Figure 8 As shown, to ensure a precise separation process, a retractable limiting slide post 77 is installed on the side of the mounting slide bar 74. The limiting slide post 77 provides positioning control to prevent excessive movement of the mounting ring 76. A detection platform 78 is installed at the lower end of the release slide rail 72, and an infrared detector 781 is installed on the detection platform 78. The infrared detector 781 works in conjunction with the detection patch 782 on the side of the mounting ring 76 to detect the relative position between the printing drone 5 and the support assembly 7. Once the infrared detector 781 fails to detect the detection patch 782, it indicates that the printing drone 5 is descending and about to enter a ready-to-fly state, thereby ensuring the accuracy of the separation process.

[0038] A pressure sensor (not shown in the figure) is connected vertically to the limiting slide 77 to monitor the pressure change of the limiting slide 77 in real time, ensuring uniform force during separation and preventing excessive pressure from affecting the printing drone 5; at the same time, it ensures that the printing drone 5 can take off in a stable state. That is, when the printing drone 5 descends to the waiting area, the weight of the printing drone 5 is distributed on the limiting slide 77. The pressure sensor receives the signal of the printing drone 5, thereby the control system starts the printing drone 5 to take off. When the printing drone 5 gains lift, the pressure signal of the pressure sensor weakens. At this time, through the analysis and comparison of the set pressure threshold and the drone's takeoff attitude, after the printing drone 5 is lifted smoothly, the pressure signal of the pressure sensor weakens further, and the control system controls the limiting slide 77 to retract, the mounting ring 76 loses its limit, and the printing drone 5 is in the unlocked state. After a slight descent, the printing drone 5 detaches from the carrier drone 1.

[0039] It is worth noting that ground operators control the flight of printing drone 5 by transmitting signals from the signal base station on the remote-controlled carrier drone 1, thereby improving the signal control stability of printing drone 5, avoiding the need to use a separate control and remote control system to control printing drone 5, and also avoiding interference between the signals of the two drones.

[0040] To ensure a continuous supply of materials during the printing process, a material conveying assembly 4 is installed between the storage bin 2 and the printing bin 9. The material conveying assembly 4 includes an outlet head 41 and an inlet head 42. The outlet head 41 is installed at the outlet 43 of the storage bin 2, and the inlet head 42 is installed at the inlet 44 of the printing bin 9. The two are connected by a telescopic conduit 46.

[0041] In this embodiment, an installation guide cylinder 45 is mounted on the release guide post 71 via a bracket. A telescopic guide tube 46 is disposed within the installation guide cylinder 45. One end of the telescopic guide tube 46 is connected to the discharge head 41, and the other end is connected to the inlet head 42. The telescopic guide tube 46 is spirally positioned within the installation guide cylinder 45. A stretching assembly 47 for stretching the discharge head 41 is also mounted on the release guide post 71 via a bracket. The stretching assembly 47 includes a stretching cylinder 471 and a stretching bracket 472. The stretching cylinder 471 is mounted on the bracket of the release guide post 71, and one end of the stretching bracket 472 is mounted on the output shaft of the stretching cylinder 471, and the other end is mounted on the discharge head 41. An elastic steel wire is attached to the spiral-shaped telescopic guide tube 46. The spiral-shaped telescopic guide tube 46 can extend or retract according to the relative position between the printing drone 5 and the carrier drone 1 during flight, ensuring stable material delivery throughout the mission. The telescopic conduit 46 is also equipped with an elastic steel wire (not shown in the figure) to enhance the stability of the conduit and prevent it from deforming or knotting during operation.

[0042] Through the coordination of the control system, all tasks in the printing process are executed efficiently. The flight control system controls the drone's flight using the existing PX4 flight control system, ensuring that the drone can fly precisely to the work area. The flight control system monitors the drone's attitude, position, and flight path in real time and provides feedback through sensors to ensure flight stability. During printing, the control system adjusts the movement of the print head 6 and the material flow rate through communication between the onboard control board and the ground control board to ensure printing accuracy and quality. The printing robotic arm 8 precisely adjusts the position and printing speed of the print head 6 through the control system to achieve complex printing tasks.

[0043] The aerial 3D printing robot system in this embodiment effectively solves the problems of stability, accuracy, and material supply in high-altitude printing operations. Through a precise support separation mechanism and an efficient material conveying system, combined with the coordinated operation of the flight control system and the printing control system, the system ensures efficient execution of printing operations. This system has strong automation capabilities and flexibility, can adapt to various operating environments, and provides a new aerial manufacturing solution.

[0044] The working process in this embodiment is as follows: First, the carrier drone 1 carries the printing drone 5 and the storage bin 2 to the target work area. The flight control system ensures that the drone arrives at the work area stably through path planning. The control system controls the movement of the moving bracket 73 and the mounting slide bar 74 through the bracket assembly 7, so that the printing drone 5 can be smoothly separated from the carrier drone 1. During the separation process, the infrared detector 781 and the pressure sensor monitor the contact between the printing drone 5 and the bracket assembly 7 in real time to ensure accurate separation. After separation, the printing robotic arm 8 controls the print head 6 to print, and the material is continuously supplied to the printing bin 9 through the material conveying system. During the printing process, the control system adjusts the position, speed and material flow of the print head 6 according to real-time data to ensure the accurate execution of the printing task.

[0045] When the material in the printing hopper 9 is about to run out, the printing drone 5 will fly back to the carrier drone 1. The control system will then use the tension cylinder 471 to control the connection between the discharge head 41 and the feed head 42 to replenish the material. After replenishment, the printing drone 5 will return to the work area to continue printing, ensuring that the printing task is not interrupted. Through the automated operation of the control system and the component design, the aerial 3D printing robot in this embodiment can complete high-precision printing tasks in complex environments, and is widely applicable to applications such as high-altitude building repair and remote manufacturing.

[0046] Example 2: Based on Example 1 above, as follows... Figure 9 As shown, this embodiment also provides a printing method, specifically, The carrier drone 1, carrying the printing drone 5, flies into the air and hovers above the printing work area. The control system controls the moving bracket 73 to descend, simultaneously driving the mounting slide 74 downwards. The downward movement of the mounting slide 74 causes the mounting bracket 75 on it to descend, thereby causing the detection layer 782 to be misaligned with the infrared detector 781. The control system receives the signal from the infrared detector 781 and controls the mounting slide 74 to descend within the moving bracket 73. When the mounting slide 74 descends to the point where the mounting ring 76 contacts the limiting slide post 77, the pressure sensor sends a pressure signal. The control system receives the pressure signal and controls the printing drone. 5. Upon startup, the printing drone 5 is lifted, and the pressure sensor signal changes; the limit slide 77 retracts, the printing drone 5 falls vertically and detaches from the mounting slide 74, and the printing drone 5 flies to the printing work area to print; when the material in the printing hopper 9 is exhausted, the printing drone 5 flies below the carrier drone 1, the control system controls the output shaft of the tension cylinder to descend, and then the discharge head 41 descends and connects with the feed head 42; the control system controls the storage hopper 2 to transport material, and the material enters the printing hopper 9 through the telescopic conduit 46 to complete the replenishment; the discharge head 41 detaches from the feed head 42, and the printing drone 5 returns to the printing work area to continue printing.

[0047] like Figure 9 The aforementioned printing method includes the following steps: S1. The carrier drone 1 carries the printing drone 5 and flies into the air, with the carrier drone 1 hovering above the printing work area; S2. The control system controls the moving bracket 73 to move downward and drives the mounting slide bar 74 to move downward synchronously. The downward movement of the mounting slide bar 74 causes the mounting bracket 75 on it to move downward, thereby causing the detection layer 782 and the infrared detector 781 to be misaligned. S3. The control system receives the signal from the infrared detector 781 and controls the mounting slide 74 to move downward within the movable bracket 73. The mounting slide 74 moves downward until the mounting ring 76 contacts the limiting slide 77, and the pressure sensor sends a pressure signal. S4. The control system receives the pressure signal and controls the printing drone 5 to start. The printing drone 5 is lifted, and the pressure sensor signal changes. S5. The limiting slide bar 77 retracts, the printing drone 5 falls vertically and detaches from the mounting slide bar 74, and the printing drone 5 flies to the printing work area to print. S6. When the material in the printing hopper 9 is exhausted, the printing drone 5 flies to the bottom of the carrier drone 1, and the control system controls the output shaft of the stretching cylinder to move downward, thereby causing the discharge head 41 to move downward and connect with the feed head 42. S7. The control system controls the material storage bin 2 to transport materials. The materials enter the printing bin 9 through the telescopic conduit 46 to complete the material replenishment. S8, the discharge head 41 separates from the feed head 42, and the printing drone 5 returns to the printing work area to continue printing.

[0048] The description herein is provided to enable those skilled in the art to implement or use the present disclosure. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other variations without departing from the scope of the disclosure. Therefore, this 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.

[0049] Although one or more exemplary embodiments of this disclosure have been described with reference to the accompanying drawings, those skilled in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of this disclosure as defined by the appended claims.

[0050] Although the present disclosure has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to the embodiments of the present disclosure, which will be obvious to those skilled in the art. Therefore, such modifications or improvements made without departing from the spirit of the present disclosure are all within the scope of protection claimed by the present disclosure.

Claims

1. An aerial 3D printing robot, characterized in that, It includes a material handling unit and a printer unit, wherein the material handling unit is equipped with a printer unit, and the printer unit is used for air printing; The material handling unit includes a transport drone (1) and a storage bin (2). The transport drone (1) is used for carrying a load and a mounting platform (3) is installed at the lower end of the transport drone (1). The storage bin (2) is installed at the lower end of the mounting platform (3). The printer assembly includes a printing drone (5) and a print head (6). The upper end of the printing drone (5) is mounted on the carrier drone (1) via a bracket assembly (7). The print head (6) is installed at the lower end of the printing drone (5) via a printing robotic arm (8). A printing hopper (9) is also installed at the lower end of the printing drone (5). The printing hopper (9) is used to receive printing materials from the storage hopper (2) and supply materials to the print head (6). The bracket assembly (7) includes a release guide post (71), a movable bracket (73), a mounting slide bar (74), and a mounting bracket (75). Multiple release guide posts (71) are installed at the lower end of the mounting platform (3). A release slide rail (72) is installed on the release guide post (71). One end of the movable bracket (73) is slidably installed on the release slide rail (72). One end of the mounting slide bar (74) is slidably installed on the other end of the movable bracket (73). The upper end of the mounting bracket (75) is slidably installed on the other end of the mounting slide bar (74). The lower end of the mounting bracket (75) is installed on the printing drone (5). The mounting bracket (75) is connected to the mounting slide rod (74) via a mounting ring (76) at its upper end. A retractable limiting slide rod (77) is installed on the side of the mounting slide rod (74). A detection platform (78) is installed at the lower end of the release slide rail (72), an infrared detector (781) is installed on the detection platform (78), and a detection patch (782) is installed on the side of the mounting ring (76) opposite to the infrared detector (781). A pressure sensor is connected in the vertical direction of the limiting slide (77), and the pressure sensor is used to detect the pressure on the limiting slide (77); A conveying assembly (4) is provided between the printing hopper (9) and the storage hopper (2). The conveying assembly (4) includes a discharge head (41) and a feed head (42). The discharge head (41) is installed on the discharge port (43) at the lower end of the storage hopper (2), and the feed head (42) is installed on the feed port (44) at the upper end of the printing hopper (9). The discharge head (41) and the feed head (42) are interlocked. The release guide post (71) is mounted with an installation guide cylinder (45) via a bracket. A telescopic guide tube (46) is provided inside the installation guide cylinder (45). One end of the telescopic guide tube (46) is connected to the discharge head (41), and the other end is connected to the feed head (42). The telescopic guide tube (46) is placed in a spiral shape inside the installation guide cylinder (45). The release guide post (71) is also mounted with a stretching component for stretching the discharge head (41) via a bracket. The stretching assembly (47) includes a stretching cylinder (471) and a stretching bracket (472). The stretching cylinder (471) is mounted on the bracket of the release guide post (71). One end of the stretching bracket (472) is mounted on the output shaft of the stretching cylinder (471), and the other end is mounted on the discharge head (41). An elastic steel wire is attached to the spiral telescopic guide tube (46). The printing robotic arm (8) and the printing hopper (9) are symmetrically distributed on the bottom plane of the printing drone (5); the printing robotic arm (8) is a three-axis robotic arm; the printing robot is controlled by the control system on the carrier robot, and the control system is used to control the movement of the drone and the support assembly (7).

2. A printing method for the aerial 3D printing robot of claim 1, characterized in that, Includes the following steps: S1. The carrier drone (1) carries the printing drone (5) and flies into the air, with the carrier drone (1) hovering above the printing work area; S2. The control system controls the moving bracket (73) to move downward and drives the mounting slide (74) to move downward synchronously. The downward movement of the mounting slide (74) causes the mounting bracket (75) on it to move downward, thereby detecting that the adhesive layer (782) and the infrared detector (781) are misaligned. S3. The control system receives the signal from the infrared detector (781) and controls the mounting slide (74) to move downward in the moving bracket (73). The mounting slide (74) moves downward until the mounting ring (76) contacts the limiting slide (77), and the pressure sensor sends a pressure signal. S4. The control system receives the pressure signal and controls the printing drone (5) to start. The printing drone (5) is lifted, and the pressure sensor pressure signal changes. S5. The limiting slide bar (77) retracts, the printing drone (5) falls vertically and detaches from the mounting slide bar (74), and the printing drone (5) flies to the printing work area to print; S6. When the material in the printing hopper (9) is exhausted, the printing drone (5) flies to the bottom of the carrier drone (1), and the control system controls the output shaft of the stretching cylinder to move downward, so that the discharge head (41) moves downward and connects with the feed head (42). S7. The control system controls the storage bin (2) to transport materials. The materials enter the printing bin (9) through the telescopic conduit (46) to complete the replenishment. S8. The discharge head (41) separates from the feed head (42), and the printing drone (5) returns to the printing work area to continue printing.

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