Two-component concrete 3D printing device and system

Abstract

The invention discloses a two-component concrete 3D printing device and system, and the device achieves the purpose that a stirrer and an extruder are driven by a single motor through a servo motor, a rotary feeder, a speed reducer, a coupler, a transmission shaft, a synchronous wheel belt set and a speed increaser; the integrated speed increaser is used for accelerating stirring, and the coagulant is introduced through atomization spraying, so that the mixing uniformity degree of the coagulant and concrete double-component printing materials is remarkably improved, the modification effect of the coagulant on the concrete is improved, and the online mixing and continuous extrusion process of double-component concrete 3D printing is truly achieved. According to the system, through the industrial control system, the air compressor, the plunger pump, the screw pump, the mechanical diaphragm pump, the electromagnetic flowmeter, the electromagnetic metering valve, the liquid level sensor, the electric three-way ball valve and other assemblies, automatic operation of the technological process is achieved, the self-cleaning function of the stirrer is achieved, and the labor intensity of workers is relieved.

Description

Technical Field

[0001] The present invention relates to architectural 3D printing technology, and in particular to a two-component concrete 3D printing device and system. Background Art

[0002] Compared with traditional single-component concrete 3D printing technology, the special process of two-component concrete 3D printing technology is to introduce a coagulant at the print head device and mix it with high-flow concrete delivered by a pumping pipeline through an online mixing system before extrusion to modify it, so that the printed material meets the printability requirements and realizes active control of the rheological properties of the printed material.

[0003] Existing two-component concrete 3D printing devices typically integrate the agitator and extruder within the print head, each driven by its own motor. During operation, the agitator thoroughly mixes the two-component materials, and then the extruder motor activates to extrude the materials. However, this type of printing device faces a problem: insufficient mixing capacity, making it difficult to achieve uniform mixing and continuous extrusion of the two-component printing materials within the print head within a short period of time.

[0004] The current device's structural design utilizes dual motors to directly drive the agitator and extruder, resulting in redundant design, low integration, and poor synergy between the mixing and extrusion processes. Furthermore, in the two-component concrete 3D printing process, the equipment often needs to be disassembled to clean residual material from the agitator after printing, increasing labor intensity. Summary of the Invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a two-component concrete 3D printing device that can truly achieve continuous and uniform mixing and extrusion of two-component printing materials in a short period of time, with a high degree of integration and good process synergy; another purpose of the present invention is to provide a two-component concrete 3D printing system to promote the automation of the two-component concrete 3D printing process, while realizing the self-cleaning function of the agitator and reducing the labor intensity of the staff.

[0006] Technical solution: The two-component concrete 3D printing device described in the present invention includes an extruder, an agitator, a servo motor, a rotary feeder, a reducer, a coupling, a transmission shaft, a synchronous belt group, an ejector and a speed increaser; the servo motor, the reducer, the coupling and the transmission shaft are connected in sequence, the transmission shaft is connected to the active synchronous pulley of the synchronous belt group, and the driven synchronous pulley of the synchronous belt group is installed on the outer side of the upper planetary carrier of the speed increaser, driving the speed increaser to rotate; the inner side of the upper planetary carrier is connected to the extrusion shaft of the extruder, driving the extrusion shaft to rotate; the output shaft of the speed increaser is connected to the stirring shaft of the agitator through the ejector, driving the stirring shaft to rotate; the output shaft sleeves of the stirring shaft and the speed increaser are arranged on the outer side of the extrusion shaft, and bearing bushings are provided between the extrusion shaft of the extruder and the output shaft of the speed increaser, and between the extrusion shaft of the extruder and the stirring shaft of the agitator; the rotary feeder is used to mix the coagulant with air and atomize it, and the ejector sprays the coagulant on the concrete surface.

[0007] Furthermore, the upper part of the extrusion shaft of the extruder is a hollow rod, and the lower part is a solid rod. A conveying groove is opened on the side wall of the hollow rod near one end of the solid rod. The inner cavity of the hollow rod is connected with the injection pipe of the injector through the conveying groove, and the top of the hollow rod is installed at the output port of the rotary feeder through the feeder bearing of the rotary feeder.

[0008] Furthermore, the inner diameter of the hollow rod on the upper part of the extrusion shaft of the extruder gradually decreases above the center of the speed increaser, and gradually increases below the center of the speed increaser.

[0009] Furthermore, the rotary feeder includes a main body, an air feed port and a coagulant feed port, the air feed port is connected to the Laval nozzle, and the Laval nozzle, the coagulant feed port and the inlet of the extrusion shaft are not connected and are located in the closed cavity of the main body.

[0010] Furthermore, the speed increaser also includes a lower planetary carrier, a connecting plate, a central shaft, planetary gears and a sun gear; the central shaft passes through the center of the planetary gear and is connected to the upper planetary carrier and the lower planetary carrier by interference fit; the upper and lower planetary carriers are respectively welded to the two ends of the connecting plate; a needle roller bearing is installed in the center of the planetary gear, the outer ring of the needle roller bearing cooperates with the planetary gear, and the inner ring of the needle roller bearing cooperates with the central shaft, and the three sets of planetary gears and the central shaft are evenly distributed with the central axis of the extrusion shaft as the center; the sun gear is located at the center of the three planetary gears and meshes with the planetary gears.

[0011] Furthermore, the lower half of the ejector body is connected to the stirring shaft via a shaft-clamping screw, and the upper half of the ejector body is connected to the speed increaser output shaft via a set screw.

[0012] Furthermore, a mixing drum is provided on the outside of the mixer, and a concrete feed pipe and a cleaning pipe are provided on both sides of the mixing drum. The central axis of the concrete feed pipe is at a 45° angle to the central axis of the mixing drum, and the central axis of the cleaning pipe is also at a 45° angle to the central axis of the mixing drum. An exhaust port is also provided on the upper part of the mixing drum for discharging air ejected by the ejector and dissipating heat.

[0013] Furthermore, a helical ribbon stirring blade is provided on the stirring shaft of the stirrer, and the outer diameter of the helical ribbon stirring blade gradually decreases from top to bottom to a set threshold value.

[0014] Furthermore, the bearing bushing is in the shape of a thin-walled hollow tube, and the inner cylindrical surface of the bearing bushing is covered with a friction-reducing layer made of a solid self-lubricating material.

[0015] The two-component concrete 3D printing system of the present invention includes a printing platform, an air compressor, a plunger pump, a screw pump, a mechanical diaphragm pump, an electromagnetic flow meter, an electromagnetic metering valve, a liquid level sensor, an electric three-way ball valve and the above-mentioned two-component concrete 3D printing device.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. The present invention integrates a speed increaser in the printing device to increase the speed of stirring and introduces the coagulant through atomized spraying without affecting the extruder's function of extruding materials, thereby significantly improving the mixing uniformity of the coagulant and the concrete two-component printing material and improving the modification effect of the coagulant on the concrete; 2. The present invention uses a single motor to drive the agitator and the extruder, truly realizing the online mixing and continuous extrusion process of two-component concrete 3D printing, and at the same time, the degree of integration of the printing device and the process synergy of stirring and extrusion are also further improved; 3. The present invention designs a printing system and integrates a cleaning system in the printing system, which promotes the automation of the two-component concrete 3D printing process, realizes the self-cleaning function of the agitator, and reduces the labor intensity of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A sectional view of a front portion of the printing device of the present invention;

[0018] Figure 2 A partial side sectional view of the printing device of the present invention;

[0019] Figure 3 is a structural diagram of the interior of the printing device of the present invention;

[0020] Figure 4 is an axonometric view of the printing device of the present invention;

[0021] Figure 5 A top view of the printing device of the present invention;

[0022] Figure 6 is a cross-sectional view of the speed increaser structure of the present invention;

[0023] Figure 7 is a cross-sectional view of the rotary feeder structure of the present invention;

[0024] Figure 8 is a cross-sectional view of the ejector structure of the present invention;

[0025] Figure 9 Schematic diagram of the two-component concrete 3D printing system of the present invention;

[0026] Figure 10 A schematic diagram of a flow chart of a printing mode of a printing system of the present invention;

[0027] Figure 11 Schematic diagram of the process of the cleaning mode of the printing system of the present invention;

[0028] Figure 12 Schematic diagram of the connection surface of the cleaning fluid connector. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] The two-component concrete 3D printing device of the present invention includes a servo motor 32, a reducer 31, a coupling 27, a transmission shaft 26, an active synchronous pulley 25, a synchronous belt 24, a driven synchronous pulley 22, a rotary feeder 7, a speed increaser 20, an ejector 14, a stirrer 3, and an extruder 2, which are connected in sequence.

[0031] The rotary feeder 7 includes an air feed port 7-3 and a coagulant feed port 7-5. Air is introduced into the air feed port 7-3 via the first rotary feeder input pipe 47 through the air compressor 57. When the air flows through the Laval nozzle 7-2, the flow rate is greatly increased. According to the Bernoulli principle, a pressure drop will be generated at the outlet of the Laval nozzle 7-2. Under the action of the pressure difference, the coagulant is output from the proximal liquid storage tank 50 and is sucked into the rotary feeder 7 through the second rotary feeder input pipe 48 and the coagulant feed port 7-5. The coagulant is then mixed with the air and transported by the air. At the same time, under the interaction between the air and the coagulant, the coagulant is broken and atomized. Finally, the coagulant is sprayed by the ejector 14. An opening is provided above the proximal liquid storage tank 50 to communicate with the atmospheric environment to maintain the pressure difference and allow the coagulant to be continuously input into the rotary feeder 7.

[0032] The rotary feeder 7 also includes a feeder bearing 7-7, a sealing ring 7-6 and a feeder body 7-1. The inner ring of the feeder bearing 7-7 cooperates with the extrusion shaft 2-1, so the extrusion shaft 2-1 and the feeder body 7-1 can rotate relative to each other.

[0033] The feeder body 7-1 is fixed above the transmission box 6 by the fifth screw 23, and the Laval nozzle 7-2 is connected to the feeder body 7-1 by the third screw 7-4, so that the positions of the air feed port 7-3 and the coagulant feed port 7-5 will not change, preventing the first rotary feeder input pipe 47 and the second rotary feeder input pipe 48 from being entangled and knotted.

[0034] The upper part of the extrusion shaft 2-1 is a hollow rod, which forms a pipeline for gas and liquid transportation.

[0035] The inner diameter of the hollow rod on the upper part of the extrusion shaft 2-1 gradually decreases above the center of the speed increaser 20, and gradually increases below the center of the speed increaser 20, forming a diffuser structure for decelerating and pressurizing high-speed gas and liquid in the pipeline.

[0036] The sealing ring 7-6 is located between the feeder body 7-1 and the extrusion shaft 2-1, which can effectively prevent leakage.

[0037] The ejector 14 comprises an upper ejection body 14-3, a lower ejection body 14-2 and an ejection pipe 14-6. The extrusion shaft 2-1 is provided with a delivery notch 14-4 at the junction of the upper hollow shaft and the lower solid shaft. The delivery notch 14-4 has three delivery notches 14-4, which are distributed in a uniform manner around the extrusion shaft 2-1 central axis. The upper ejection body 14-3 and the lower ejection body 14-2 are both provided with delivery troughs. When the upper ejection body 14-3 and the lower ejection body 14-2 are combined together by an ejector screw 14-5 and an ejector nut 14-7, the delivery troughs form the ejection pipe 14-6. The ejection pipe 14-6, the ejector screw 14-5 and the ejector nut 14-7 each have three and are distributed in a uniform manner around the extrusion shaft 2-1 central axis.

[0038] During operation, gas and liquid are transported from the hollow shaft portion above extruder shaft 2-1 to delivery slot 14-4. From there, they enter injection pipe 14-6, where they are sprayed out in atomized form. The nozzle-shaped end of injection pipe 14-6 allows the coagulant to be sprayed out in a fan-shaped atomized form, facilitating even distribution of the coagulant on the concrete surface below injector 14, significantly improving the uniformity of mixing between the concrete and the coagulant.

[0039] The ejector 14 also includes a first shaft-holding screw 14-1 and a bearing bushing 15. The lower half of the ejector body 14-2 is connected to the agitator shaft 3-1 through the first shaft-holding screw 14-1, and the upper half of the ejector body 14-3 is connected to the speed increaser output shaft 20-11 through the set screw 17. Therefore, the ejector 14 also acts as a coupling, transmitting power from the speed increaser output shaft 20-11 to the agitator shaft 3-1.

[0040] Two bearing bushings 15 are located within the ejector 14 area, one at the end of the speed-increasing gearbox output shaft 20-11 and the other at the beginning of the agitator shaft 3-1. The bearing bushings 15 are thin-walled hollow tubes, their inner cylindrical surfaces coated with a friction-reducing layer made of a solid, self-lubricating material. The inner cylindrical surface of the bearing bushings 15 mates with the extruder shaft 2-1, while the outer cylindrical surfaces mate with the speed-increasing gearbox output shaft 20-11 and the agitator shaft 3-1, respectively. Therefore, during operation, both the extruder shaft 2-1 and the speed-increasing gearbox output shaft 20-11, as well as the extruder shaft 2-1 and the agitator shaft 3-1, can rotate relative to each other.

[0041] The stirring shaft 3-1 and the speed increaser output shaft 20-11 are both hollow circular tube structures, and the extrusion shaft 2-1 is located at the center of the stirring shaft 3-1 and the speed increaser output shaft 20-11.

[0042] The stirring shaft 3-1 is provided with a spiral stirring blade 3-2. The outer diameter of the spiral stirring blade 3-2 gradually decreases from top to bottom to a set threshold, and always maintains a small gap with the wall of the stirring barrel 13 and the extrusion barrel 12 to reduce the stirring dead zone.

[0043] A mixing drum 13 is provided outside the agitator 3. A concrete feed pipe 34 and a cleaning pipe 35 are arranged on either side of the mixing drum 13. The central axis of the concrete feed pipe 34 is at a 45-degree angle to the central axis of the mixing drum 13, allowing concrete to enter without clogging and quickly reach the center of the agitator 3, improving the mixing effect between the concrete and the coagulant. The central axis of the cleaning pipe 35 is also at a 45-degree angle to the central axis of the mixing drum 13, which helps increase the cleaning area after the cleaning liquid enters and improves the cleaning effect on the upper part of the agitator 3. An exhaust port 33 is also provided on the upper part of the mixing drum 13 to promptly exhaust air ejected by the ejector 14, preventing excessive pressure inside the printing device and providing heat dissipation for the reducer 31 and servo motor 32.

[0044] The stirring speed of the stirrer 3 is increased by the speed increaser 20 to improve the uniformity of mixing the concrete and the setting accelerator.

[0045] The speed increaser 20 includes an upper planetary carrier 20-3, a lower planetary carrier 20-1, a connecting plate 20-7, an internal gear ring 19, planetary gears 20-8, a sun gear 20-2, a spindle 20-5, a needle roller bearing 20-6, and a spacer 20-9. The internal gear ring 19 is secured to the mixing drum 13 via seven screws 29. There are eight of these screws, evenly distributed around the central axis of the extrusion shaft 2-1.

[0046] During operation, power is output by the servo motor 32 and reduced in speed by the reducer 31 to increase torque. The output end of the reducer 31 is connected to the drive shaft 26 via a coupling 27, transmitting power to the drive shaft 26. The drive shaft 26 is connected to the driving synchronous pulley 25, driving the driving synchronous pulley 25 to rotate. The driving synchronous pulley 25 drives the driven synchronous pulley 22 via the synchronous belt 24. The driven synchronous pulley 22 is connected to the upper planetary carrier 20-3, transmitting power to the upper planetary carrier 20-3.

[0047] The reducer 31 is connected to the mixing drum 13 through the sixth screw 28. The mounting hole is in the shape of a straight slot. One end of the tensioning screw 30 is in contact with the reducer 31. The tensioning screw 30 can be turned to adjust the center distance between the driving synchronous pulley 25 and the driven synchronous pulley 22 to achieve tensioning of the synchronous belt 24 and improve transmission efficiency.

[0048] The upper planet carrier 20-3 is connected to the extrusion shaft 2-1 via the second retaining screw 20-4, transmitting low-speed, high-torque power to the extrusion shaft 2-1. The upper planet carrier 20-3 is welded to the connecting plate 20-7, and the lower planet carrier 20-1 is similarly welded to the connecting plate 20-7. The spindle 20-5 passes through the center of the planetary gears 20-8 and is connected to the upper and lower planet carriers 20-3 and 20-1 through an interference fit. Therefore, the upper planet carrier 20-3, lower planet carrier 20-1, spindle 20-5, and connecting plate 20-7 rotate as a single unit.

[0049] A needle bearing 20-6 is mounted at the center of the planetary gears 20-8. The outer ring of the needle bearing 20-6 engages with the planetary gears 20-8, while the inner ring of the needle bearing 20-6 engages with the spindle 20-5. The spindle 20-5 drives the planetary gears 20-8 in orbit around the extrusion shaft 2-1. Simultaneously, the planetary gears 20-8 rotate themselves in meshing engagement with the inner ring gear 19. There are three planetary gears 20-8 and three spindles 20-5, each evenly distributed around the central axis of the extrusion shaft 2-1. The sun gear 20-2 is located between the three planetary gears 20-8 and meshes with them. Due to the meshing transmission with the three planetary gears 20-8, the sun gear 20-2 rotates at high speed, at a speed several times the orbital speed of the planetary gears 20-8, or the speed of the extrusion shaft 2-1. Preferably, the sun gear 20-2 rotates at a speed 3 to 5 times the orbital speed of the planetary gears 20-8.

[0050] The sun gear 20-2 is connected to the speed increaser output shaft 20-11 in an interference fit, and the sun gear 20-2 drives the speed increaser output shaft 20-11 to rotate at high speed. As mentioned above, the stirring shaft 3-1 and the speed increaser output shaft 20-11 are connected through the ejector 14, so the speed increaser output shaft 20-11 drives the stirring shaft 3-1 to rotate at high speed.

[0051] A planet carrier bearing 20-10 is installed between the speed increaser output shaft 20-11 and the lower planet carrier 20-1, so the speed increaser output shaft 20-11 and the lower planet carrier 20-1 can rotate relative to each other.

[0052] Speed ​​increaser 20 also includes a washer 20-9 in the shape of a circular ring with a central circular hole extending through spindle 20-5. One end face of washer 20-9 contacts needle roller bearing 20-6, and the other end face contacts upper planet carrier 20-3 or lower planet carrier 20-1. This prevents friction between upper planet carrier 20-3 or lower planet carrier 20-1 and planet gear 20-8, thereby improving transmission efficiency. A thin shoulder is designed on speed increaser output shaft 20-11. One end face of this thin shoulder contacts planet carrier bearing 20-10, and the other end face contacts sun gear 20-2, thereby preventing sun gear 20-2 from contacting lower planet carrier 20-1, thereby improving transmission efficiency.

[0053] A main bearing 18 is installed between the lower planetary carrier 20-1 and the mixing drum 13, and a transmission box bearing 21 is installed between the upper planetary carrier 20-3 and the transmission box 6 to support and fix the speed increaser 20, while ensuring that the speed increaser 20, the speed increaser output shaft 20-11, the extrusion shaft 2-1, the stirring shaft 3-1 and the ejector 14 have good concentricity during operation.

[0054] The transmission housing 6 is mounted on the mixing drum 13 by means of the eighth screw 36 to support the rotary feeder 7 and prevent foreign matter such as dust from entering the transmission device and interfering with its operation.

[0055] A spiral blade 2-2 is arranged at the lower part of the extrusion shaft 2-1 to extrude the two-component printing material evenly mixed by the stirrer 3 through the nozzle 11, and the two-component printing material falls onto the printing platform 60, and is stacked layer by layer to complete the printing process.

[0056] An extrusion barrel 12 is provided outside the extruder 2. The extrusion barrel 12 is connected to the nozzle 11 through the first screw 1 and the second nut 10. The extrusion barrel 12 is connected to the mixing barrel 13 through the fourth screw 9 and the first nut 4. Each component is easy to disassemble, and the internal agitator 3 and extruder 2 are easy to replace.

[0057] A square peephole 16 is provided in the mixing drum 13, connected to the peepplate 8 via a second screw 5. After removing the peepplate 8, the stirring state of the agitator 3 can be observed through the square peephole 16. An Allen wrench can then be inserted through the square peephole 16. The servo motor 32 is then activated to rotate the ejector 14 to the desired position. Finally, the first axle-clamping screw 14-1 on the lower ejector body 14-2 is tightened to quickly remove and install the agitator 3. Similarly, after removing the transmission housing 6 and the driven synchronous pulley 22, the extruder 2 can be quickly removed and installed by tightening the second axle-clamping screw 20-4 on the upper planetary carrier 20-3.

[0058] The two-component concrete 3D printing system of the present invention includes a printing platform 60, an air compressor 57, a plunger pump 39, a screw pump 40, a mechanical diaphragm pump 53, an electromagnetic flowmeter 61, an electromagnetic metering valve 50-1, a liquid level sensor 50-2, an electric three-way ball valve 49 and the above-mentioned two-component concrete 3D printing device.

[0059] The printing system working mode can be divided into printing mode and cleaning mode.

[0060] The workflow in the printing mode includes a preparation phase S01 and a printing phase S02.

[0061] The preparation phase S01 includes the following steps:

[0062] 100. Prepare printing materials.

[0063] Prepare high-fluidity concrete and a setting accelerator, then place the high-fluidity concrete at the screw pump hopper 41 and store the setting accelerator in the second liquid storage tank 56 to prepare for subsequent steps.

[0064] 101. Draw the CAD model of the printed sample.

[0065] The three-dimensional model of the printed sample is designed using CAD software through the user terminal device. The three-dimensional model of the printed sample must not exceed the moving range of the X-axis frame 54, the Y-axis frame 59, and the Z-axis frame 52.

[0066] 102. Use slicing software to slice and generate G code.

[0067] Plan the printing path, print strip layer thickness and other information, and then use the slicing software on the user terminal device to slice the three-dimensional model of the printed sample and generate G code information that can indicate the movement of the X-axis frame 54, Y-axis frame 59, and Z-axis frame 52.

[0068] 103. Set the extruder and agitator speed.

[0069] The extruder 2 speed is rationally planned based on the print path and print strip thickness. Under the action of the speed increaser 20, the agitator 3 speed is several times that of the extruder 2. The extruder 2 speed can vary over time based on printing requirements. The desired extruder 2 speed information is input into the user terminal system. The user terminal system automatically generates the agitator 3 speed information based on the extruder 2 speed information and the speed increaser 20 transmission ratio information and displays it on the user terminal interface. The user terminal system then converts the extruder 2 speed information into the servo motor 32 speed information based on the speed ratio of the reducer 31.

[0070] 104. Set the concrete and accelerator feed rates.

[0071] The optimal concrete feed rate is calculated based on the extrusion rate and extruder 2 speed. The optimal two-component printing material ratio is also calculated based on the desired rheological properties of the printing material and the mechanical properties of the printed sample. The concrete feed rate can be adjusted over time based on printing requirements. The concrete feed rate and two-component printing material ratio are then input into the user terminal system. The system automatically generates the accelerator feed rate based on these information and displays it on the user terminal interface.

[0072] After completing all the steps in the preparation stage, click the "Start Printing" button on the user terminal interface. The user terminal system sends a "Start Printing" signal to the industrial control system and sends the G code information, servo motor 32 speed information, concrete feed amount information and accelerator feed amount information to the industrial control system.

[0073] The industrial control system consists of a programmable logic controller (PLC) and a numerical control system (CNC).

[0074] The printing stage S02 includes the following steps:

[0075] 200. Adjust the operating status of the electric three-way ball valve.

[0076] After receiving the "Start Printing" signal from the user terminal, the industrial control system sends a control signal to the electric three-way ball valve 49. This valve comprises an actuator 49-2 and a valve body 49-1. The valve body 49-1 has three valve ports, connected to one end of the air compressor output pipe 58, the first rotary feeder input pipe 47, and the second plunger pump output pipe 44, respectively.

[0077] After receiving the control signal, the electric three-way ball valve actuator 49-2 controls the rotation of the ball valve in the electric three-way ball valve body 49-1, the air compressor output pipe 58 and the first rotary feeder input pipe 47 are connected, and other pipelines in the electric three-way ball valve body 49-1 are blocked.

[0078] 201. Adjust the motor speed of the mechanical diaphragm pump and the operating status of the electromagnetic metering valve.

[0079] After receiving the "Start Printing" signal from the user terminal, the industrial control system sends a control signal to the mechanical diaphragm pump 53, adjusting the motor speed of the mechanical diaphragm pump 53. The coagulant in the second liquid storage tank 56 begins to be pumped into the proximal liquid storage tank body 50-3 via the second liquid storage tank output pipe 55 and the proximal liquid storage tank input pipe 51. When the liquid level reaches the high level of the liquid level sensor 50-2, the liquid level sensor 50-2 sends a signal to the industrial control system. Upon receiving this signal, the industrial control system sends a control signal to the mechanical diaphragm pump 53 to stop pumping.

[0080] After receiving the "Start Printing" signal from the user terminal, the industrial control system sends a control signal to the electromagnetic metering valve 50-1. The electromagnetic metering valve 50-1 can be controlled by its actuator and has an integrated flow meter. The electromagnetic metering valve 50-1 has two valve ports: one connected to the discharge port of the proximal storage tank 50-3, and the other connected to the second rotary feeder input pipe 48.

[0081] After receiving the control signal, the electromagnetic metering valve 50 - 1 opens, and the discharge port of the proximal storage tank body 50 - 3 and the second rotary feeder input pipe 48 are connected.

[0082] 202. Adjust the servo motor speed.

[0083] After receiving the servo motor 32 speed information from the user terminal system, the industrial control system sends a control signal to the servo motor 32. Upon receiving the control signal, the servo motor 32 begins operating at a speed consistent with the servo motor 32 speed information. Under the power output of the servo motor 32, the extruder 2 begins operating at a speed consistent with the extruder 2 speed information. Under the power of the speed increaser 20, the agitator 3 begins operating at a speed consistent with the agitator 3 speed information described in step 103.

[0084] 203. Adjust the speed of the air compressor motor and the screw pump motor.

[0085] After receiving the concrete feed and coagulant feed information from the user terminal system, the industrial control system converts the concrete feed and coagulant feed information into the motor speeds of the screw pump 40 and the air compressor 57, respectively, based on the metering relationships between the motor speed of the screw pump 40 and the concrete feed, and the motor speed of the air compressor 57 and the air flow rate. The industrial control system then sends control signals to the screw pump 40 and the air compressor 57, adjusting their motor speeds to match the motor speeds of the screw pump 40 and the air compressor 57, respectively. Concrete and air begin to be fed into the printing device 45 via the screw pump output pipe 43 and the first rotary feeder input pipe 47, respectively. At the same time, the high-speed airflow creates a pressure drop at the outlet of the Laval nozzle 7-2. Under this pressure differential, the coagulant is discharged from the proximal liquid storage tank 50 and drawn into the rotary feeder 7 via the second rotary feeder inlet pipe 48. The coagulant is then mixed with air and carried by the air. The interaction between the air and the coagulant causes the coagulant to be broken down and atomized. Finally, the coagulant is sprayed by the ejector 14. The proximal liquid storage tank 50 is provided with an opening above it that communicates with the atmosphere to maintain the pressure differential and allow the coagulant to be continuously supplied to the rotary feeder 7.

[0086] The atomized coagulant is sprayed onto the concrete surface by the injector 14, and then the concrete and coagulant are further mixed and uniformly stirred by the mixer 3. The uniformly mixed coagulant and concrete two-component printing material is extruded by the extruder 2 and deposited on the printing platform 60.

[0087] The information collection system includes a liquid level sensor 50-2, an electromagnetic metering valve 50-1, and an electromagnetic flowmeter 61. The electromagnetic flowmeter 61 measures the concrete flow rate in real time and feeds this information back to the industrial control system. The industrial control system compares this information with the concrete feed rate and converts the difference between the two into speed adjustment information for the screw pump 40 motor. The industrial control system then sends a control signal to the screw pump 40, fine-tuning the motor speed to ensure that the concrete flow rate consistently approaches the concrete feed rate.

[0088] The electromagnetic metering valve 50-1 is used to measure the flow rate of the coagulant passing through in real time, and feed back the real-time flow rate information of the coagulant to the industrial control system. The industrial control system compares the real-time flow rate information of the coagulant with the coagulant feed amount, and converts the difference between the real-time flow rate of the coagulant and the coagulant feed amount into the air compressor 57 motor speed adjustment information. Then the industrial control system sends a control signal to the air compressor 57 to fine-tune the motor speed of the air compressor 57 so that the real-time flow rate of the coagulant continues to approach the coagulant feed amount.

[0089] When the coagulant level in the proximal liquid storage tank 50-3 reaches the low level of the liquid level sensor 50-2, the liquid level sensor 50-2 sends a refill signal to the industrial control system. Upon receiving the refill signal, the industrial control system sends a control signal to the mechanical diaphragm pump 53, adjusting the motor speed of the mechanical diaphragm pump 53. The mechanical diaphragm pump 53 begins operation, pumping the coagulant from the second liquid storage tank 56 into the proximal liquid storage tank 50-3. When the liquid level reaches the high level of the liquid level sensor 50-2, the liquid level sensor 50-2 sends a signal to the industrial control system. The industrial control system then sends a control signal to the mechanical diaphragm pump 53 to stop pumping.

[0090] 204. Adjust the speed of the X-axis, Y-axis, and Z-axis frame motors.

[0091] After receiving the G-code information sent by the user terminal system, the industrial control system sends a control signal to the X-axis frame 54, Y-axis frame 59, and Z-axis frame 52 motors. The X-axis frame 54, Y-axis frame 59, and Z-axis frame 52 motors drive the X-axis frame 54, Y-axis frame 59, and Z-axis frame 52 to move, thereby driving the printing device to move and print along the planned printing path.

[0092] After the G code information is executed, the industrial control system sends a control signal to the servo motor 32, the air compressor 57 and the screw pump 40 to stop their operation, and the printing task is completed.

[0093] After the printing task is completed, the printing system enters the cleaning mode.

[0094] The workflow in the cleaning mode includes a preparation phase S03 and a cleaning phase S04.

[0095] The preparation phase S03 includes the following steps:

[0096] 300. Prepare cleaning fluid.

[0097] The cleaning liquid is stored in the first liquid storage tank 37 in preparation for subsequent steps.

[0098] 301. Set the cleaning fluid flow rate.

[0099] A reasonable cleaning liquid flow rate is planned according to the contamination degree of the agitator 3, and then the cleaning liquid flow rate information is input into the user terminal system.

[0100] 302. Set cleaning time.

[0101] A reasonable cleaning time is planned according to the contamination degree of the agitator 3, and then the cleaning time information is input into the user terminal system.

[0102] After completing the steps of the preparation phase S03, click the "Start Cleaning" button on the user terminal interface, and the user terminal system sends a "Start Cleaning" signal to the industrial control system, and sends the cleaning liquid flow information and cleaning time information to the industrial control system.

[0103] The cleaning stage S04 includes the following steps:

[0104] 400. Adjust the operating status of the electric three-way ball valve.

[0105] After receiving the “start cleaning” signal from the user terminal, the industrial control system sends a control signal to the electric three-way ball valve 49 .

[0106] After receiving the control signal, the electric three-way ball valve actuator 49-2 controls the rotation of the ball valve in the electric three-way ball valve body 49-1, the second plunger pump output pipe 44 and the first rotary feeder input pipe 47 are connected, and other pipelines in the electric three-way ball valve body 49-1 are blocked.

[0107] 401. Adjust the operating status of the electromagnetic metering valve.

[0108] After receiving the "start cleaning" signal from the user terminal, the industrial control system sends a control signal to the electromagnetic metering valve 50-1.

[0109] After the electromagnetic metering valve 50-1 receives the control signal, the valve is closed, and the discharge port of the proximal liquid storage tank body 50-3 and the second rotary feeder input pipe 48 are blocked to prevent the coagulant in the proximal liquid storage tank body 50-3 from being sucked into the rotary feeder 7 during the cleaning process.

[0110] 402. Adjust the servo motor speed.

[0111] After receiving the “start cleaning” signal from the user terminal, the industrial control system sends a control signal to the servo motor 32 .

[0112] After receiving the control signal, the servo motor 32 starts to drive the agitator 3 and the extruder 2 to rotate at a certain speed to improve the cleaning effect and discharge the cleaning liquid in time.

[0113] 403. Adjust the speed of the plunger pump motor.

[0114] After the industrial control system receives the cleaning fluid flow information sent by the user terminal system, it converts the cleaning fluid flow information into the plunger pump 39 motor speed information by referring to the plunger pump 39 motor speed-cleaning fluid flow measurement relationship, and then sends a control signal to the plunger pump 39 to make the plunger pump 39 motor rotate at a speed that matches the plunger pump 39 motor speed information.

[0115] After receiving a control signal from the industrial control system, plunger pump 39 begins pumping. Cleaning fluid is drawn from first reservoir 37 through first reservoir output pipe 38 into plunger pump 39. A portion of the high-pressure cleaning fluid is then pumped through Y-shaped pipe connector 62, first plunger pump output pipe 42, and cleaning fluid connector 46 into printing device 45.

[0116] A plurality of spray holes 46 - 1 are formed on the connection surface between the cleaning liquid joint 46 and the cleaning pipe 35 , and the high-pressure cleaning liquid is sprayed onto the upper portion of the agitator 3 through the spray holes 46 - 1 , thereby improving the cleaning effect.

[0117] Another part of the high-pressure cleaning liquid flows in sequence through the Y-type pipe joint 62, the second plunger pump output pipe 44, the electric three-way ball valve 49, the first rotary feeder input pipe 47, the rotary feeder 7, the hollow pipe on the upper part of the extrusion shaft 2-1, and is finally directly sprayed by the injector 14 to clean the agitator 3.

[0118] After the set cleaning time has passed, the industrial control system sends a control signal to the plunger pump 39, causing the plunger pump 39 motor to stop running, the plunger pump 39 stops working, and the cleaning task is completed.

Claims

1. A two-component concrete 3D printing device, comprising an extruder (2), a stirrer (3) and a servo motor (32), characterized in that: The invention also includes a rotary feeder (7), a reducer (31), a coupling (27), a transmission shaft (26), a synchronous belt group, an ejector (14) and a speed increaser (20); the servo motor (32), the reducer (31), the coupling (27) and the transmission shaft (26) are sequentially connected, the transmission shaft (26) is connected to the driving synchronous belt pulley (25) of the synchronous belt group, and the driven synchronous belt pulley (22) of the synchronous belt group is installed on the outer side of the upper planetary frame of the speed increaser (20) to drive the speed increaser (20) to rotate; the inner side of the upper planetary frame is connected to the extruder ( The invention relates to a concrete mixing device comprising a plurality of concrete mixing devices, wherein the plurality of concrete mixing devices are connected to the extrusion shaft of the extruder (2) and the extrusion shaft of the speed increaser (20), driving the extrusion shaft to rotate; the output shaft of the speed increaser (20) is connected to the stirring shaft of the stirrer (3) through the ejector (14), driving the stirring shaft to rotate; the stirring shaft and the output shaft of the speed increaser (20) are sleeved on the outside of the extrusion shaft, and bearing bushings (15) are provided between the extrusion shaft of the extruder (2) and the output shaft of the speed increaser (20), and between the extrusion shaft of the extruder (2) and the stirring shaft of the stirrer (3); the rotary feeder (7) is used to mix the coagulant with air and atomize them, and the ejector (14) sprays the coagulant on the surface of the concrete.

2. The two-component concrete 3D printing device according to claim 1, characterized in that: The upper part of the extrusion shaft of the extruder (2) is a hollow rod, and the lower part is a solid rod. A conveying slot is opened on the side wall of the hollow rod near one end of the solid rod. The inner cavity of the hollow rod is connected to the injection pipe of the injector (14) through the conveying slot. The top of the hollow rod is installed at the output port of the rotary feeder (7) through the feeder bearing of the rotary feeder (7).

3. The two-component concrete 3D printing device according to claim 2, characterized in that: The inner diameter of the hollow rod on the extrusion shaft of the extruder (2) gradually decreases above the center of the speed increaser (20), and gradually increases below the center of the speed increaser (20).

4. The two-component concrete 3D printing device according to claim 2, characterized in that: The rotary feeder (7) comprises a feeder body, an air feed port and a coagulant feed port, wherein the air feed port is connected to a Laval nozzle, and the Laval nozzle, the coagulant feed port and the inlet of the extrusion shaft are not connected and are located in a closed cavity of the feeder body.

5. The two-component concrete 3D printing device according to claim 1, characterized in that: The speed increaser (20) further comprises a lower planetary carrier, a connecting plate, a spindle, planetary gears and a sun gear; the spindle passes through the center of the planetary gears and is connected to the upper planetary carrier and the lower planetary carrier by interference fit; the upper and lower planetary carriers are respectively welded to the two ends of the connecting plate; a needle roller bearing is installed in the center of the planetary gear, the outer ring of the needle roller bearing is matched with the planetary gear, and the inner ring of the needle roller bearing is matched with the spindle, and the three sets of planetary gears and the spindle are evenly distributed with the central axis of the extrusion shaft as the center; the sun gear is located at the center of the three planetary gears and meshes with the planetary gears.

6. The two-component concrete 3D printing device according to claim 1, characterized in that: The lower half of the ejector body (14) is connected to the stirring shaft via a shaft-holding screw, and the upper half of the ejector body is connected to the speed increaser output shaft via a set screw.

7. The two-component concrete 3D printing device according to claim 1, characterized in that: The mixer (3) is provided with a mixing drum (13) on the outside. A concrete feed pipe (34) and a cleaning pipe (35) are provided on both sides of the mixing drum (13). The central axis of the concrete feed pipe (34) is at a 45° angle to the central axis of the mixing drum (13). The central axis of the cleaning pipe (35) is also at a 45° angle to the central axis of the mixing drum (13). An exhaust port (33) is also provided on the upper part of the mixing drum (13) for discharging air ejected by the ejector (14) and for heat dissipation.

8. The two-component concrete 3D printing device according to claim 7, characterized in that: The stirring shaft of the stirrer (3) is provided with a spiral-ribbon stirring blade, and the outer diameter of the spiral-ribbon stirring blade gradually decreases from top to bottom to a set threshold value.

9. The two-component concrete 3D printing device according to claim 1, characterized in that: The bearing bushing (15) is in the shape of a thin-walled hollow tube, and the inner cylindrical surface of the bearing bushing (15) is covered with a friction-reducing layer made of a solid self-lubricating material.

10. A two-component concrete 3D printing system, characterized in that: The invention comprises a printing platform, an air compressor, a plunger pump, a screw pump, a mechanical diaphragm pump, an electromagnetic flow meter, an electromagnetic metering valve, a liquid level sensor, an electric three-way ball valve and the two-component concrete 3D printing device according to any one of claims 1 to 9.

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