Movable parallel sand-proof grid printing robot

Abstract

The invention relates to the technical field of building printing robots, in particular to a movable parallel sand-proof grid printing robot which comprises movable crawler belts, a fixing plate, a control table, a translation assembly, an adjusting device, a displacement cross arm, a material supplementing device and a printing device. A control console and an adjusting device are fixedly installed on the fixing plate, the adjusting device is used for judging whether the printing device is horizontal or not according to signals of the infrared spotlight and conducting self-adaptive adjustment, the displacement cross arm is fixedly installed on the adjusting device, the material supplementing device is fixedly installed on one side of the fixing plate, and the displacement cross arm is fixedly installed on the adjusting device. The material supplementing device is used for automatically supplementing materials to the printing device after a printing cycle is completed; and the printing device is fixedly mounted on the displacement cross arm, and is used for pre-stirring raw materials and printing sand-proof grids at the same time.

Description

Technical Field

[0001] This invention relates to the field of building printing robot technology, specifically to a mobile parallel sand-proof grid printing robot. Background Technology

[0002] With the continuous improvement of desert highway wind and sand control standards, concrete 3D printing technology, due to its ability to rapidly mold complex honeycomb structures and achieve integrated factory prefabrication and on-site assembly of sand-resistant grids, is increasingly widely used in linear projects such as desert highway shelterbelt construction and railway subgrade sand fixation. The adaptability of the printing system to the field environment and the ability of multiple units to operate in parallel directly determine the construction efficiency of sand-resistant grids and the level of continuous operation of kilometer-scale projects.

[0003] Existing sand-control grid printing equipment mostly adopts fixed cantilever or gantry steel structures, using pre-embedded tracks in the ground to allow the printing head to move back and forth within a 10-meter span, and employs a single-component concrete conveying process to complete the layer-by-layer stacking of components. However, in the vast desert and Gobi environments, the traditional fixed printing mode has always been a key bottleneck restricting the rapid deployment of large-scale sand control projects: equipment relocation requires repeated disassembly and assembly of the steel frame, making it difficult to adapt to the mobility requirements of multi-point decentralized operations along highways; especially for long-distance linear sand control projects, after each component is printed, the fixed equipment needs to be stopped for curing, hoisting, relocation, and repositioning, resulting in low efficiency between processes and making it impossible to achieve seamless continuous operation of "print-move-reprint".

[0004] Therefore, the present invention provides a mobile parallel anti-sand grid printing robot to solve the above problems. Summary of the Invention

[0005] The technical problem this invention aims to solve is as follows: Existing sand-control grid printing equipment mostly adopts fixed cantilever or gantry steel structures, using pre-embedded tracks in the ground to enable the printing head to move back and forth within a 10-meter span, and employs a single-component concrete conveying process to complete the layer-by-layer stacking of components. However, in the vast desert and Gobi environments, the traditional fixed printing mode has always been a key bottleneck restricting the rapid deployment of large-scale sand control projects: equipment relocation requires repeated disassembly and assembly of the steel frame, making it difficult to adapt to the mobility requirements of multi-point dispersed operations along highways; especially for long-distance linear sand control projects, after each component is printed, the fixed equipment needs to be stopped for maintenance, hoisting, relocation, and repositioning, resulting in low efficiency between processes and making it impossible to achieve seamless continuous operation of "printing-moving-reprinting".

[0006] This invention provides the following technical solution: a mobile parallel sand-resistant grid printing robot, comprising a moving track, a fixed plate, a control console, a translation component, an adjustment device, a displacement crossarm, a feeding device, and a printing device. The fixed plate is fixedly installed between the moving tracks. The control console and the adjustment device are fixedly installed on the fixed plate. The adjustment device is used to determine whether the printing device is horizontal based on the signal from an infrared spotlight and to make adaptive adjustments. The displacement crossarm is fixedly installed on the adjustment device. The feeding device is fixedly installed on one side of the fixed plate and is used to automatically feed the printing device after one printing cycle. The printing device is fixedly installed on the displacement crossarm and is used to pre-stir the raw material while printing the sand-resistant grid.

[0007] Preferably, the adjustment device includes an adjustment plate, an adjustment hydraulic lever, a support plate, a protective chamber, a transparent vacuum tube, mercury beads, an infrared spotlight, a receiving plate, and a signal transmitting device. The adjustment plate is fixedly mounted on the translation assembly, and the adjustment plate is arrayed and fixedly mounted on the adjustment hydraulic cylinder. The support plate is fixedly mounted on the adjustment hydraulic cylinder. A protective chamber is fixedly mounted on the printing device, and a transparent vacuum tube is disposed inside the protective chamber. Mercury beads are disposed inside the transparent vacuum tube. An infrared spotlight is arrayed and fixedly mounted outside the transparent vacuum tube. A receiving plate corresponding to the infrared spotlight is fixedly mounted on the other side of the transparent vacuum tube. A signal transmitting device is fixedly mounted on the other side of the receiving plate. The control console determines whether the printing device is horizontal based on the signal emitted by the receiving plate and makes corresponding adjustments using the adjustment hydraulic cylinder.

[0008] Preferably, the adjusting device is provided in two sets and arranged in relation to each other.

[0009] Preferably, the infrared spotlight located in the middle position is a circular uniform array of infrared spotlights, and the maximum diameter of the ring formed by the infrared spotlights is smaller than the diameter of the mercury bead.

[0010] Preferably, the printing device includes a fixed bracket, a hopper, a feeding assembly, a fixed sleeve, a fixed shell, a rotating motor, a driving wheel, a driven wheel, and a discharge head. The fixed bracket is fixedly mounted on the displacement cross arm. The hopper is fixedly mounted on the fixed bracket, and the bottom of the hopper is conical. The feeding assembly is fixedly mounted on the top of the hopper. A fixed sleeve is fixedly mounted at the discharge port at the bottom of the hopper. A fixed shell is fixedly mounted on the fixed sleeve. A rotating motor is fixedly mounted on the fixed shell. A driving wheel is fixedly mounted at the output end of the rotating motor. A driven wheel is mounted on one side of the driving wheel. The driven wheel is rotatably mounted at the bottom of the hopper. A discharge head is fixedly mounted on the driven wheel.

[0011] Preferably, an inclined guide plate is fixedly installed on the discharge head, and the guide plate is provided with corrugated cutting strips.

[0012] Preferably, the feeding assembly includes a mounting plate, a feed pipe, a support frame, a reducer, a feeding motor, a spiral stirring rod, an observation window, and a monitoring device. The mounting plate is fixedly mounted on the hopper, the feed pipe is fixedly mounted on the mounting plate, the support frame is fixedly mounted on the mounting plate, the reducer is fixedly mounted on the support frame, the feeding motor is mounted on the reducer, the output end of the feeding motor is fixedly connected to the input end of the reducer, the spiral stirring rod is fixedly mounted on the output end of the reducer, an observation window is provided on the mounting plate, and a monitoring device is fixedly mounted on one side of the observation window.

[0013] Preferably, the spiral stirring rod is fixedly equipped with spiral blades for feeding and a stirring frame for stirring.

[0014] Preferably, the feeding device includes a feeding bucket, a stirring assembly, a discharge port, a feeding pipe, a conveying motor, a conveying threaded rod, and a connecting assembly. The feeding bucket is fixedly installed on the fixed plate, the stirring assembly is installed inside the feeding bucket, the discharge port is opened at the top of the feeding bucket, the feeding pipe is fixedly installed at the discharge port, the conveying motor is fixedly installed on the feeding pipe, the conveying threaded rod is fixedly installed on the conveying motor, and the connecting assembly is fixedly installed at the end of the feeding pipe.

[0015] Preferably, the connecting assembly includes a connecting pipe, a corrugated pipe, a magnetic block, and an electromagnet. The connecting pipe is fixedly installed at the end of the feeding pipe, a corrugated pipe is fixedly installed at the bottom of the connecting pipe, a magnetic block is fixedly installed at the bottom of the corrugated pipe, and the electromagnet is fixedly installed inside the feeding pipe.

[0016] The beneficial effects of this invention are as follows: 1. This invention, by arranging two sets of mutually perpendicular adjustment devices in an orthogonal plane, combined with the high-sensitivity detection mechanism of mercury droplet gravity self-reference and circular uniform array infrared spotlight obstruction, utilizes array-type adjustable hydraulic cylinders for multi-point coordinated fine-tuning, achieving real-time adaptive horizontal correction of the printing device on soft desert foundations; effectively overcoming the risk of printing trajectory deviation and interlayer misalignment caused by equipment overturning, ensuring the continuous horizontal accuracy of the discharge head during the layer-by-layer stacking process, thereby significantly improving the dimensional stability of single-piece sand-proof grid molding and the interlayer bonding reliability of the overall structure, meeting the stringent requirements of large-scale desert highway sand-proofing projects for the geometric accuracy and durability of concrete components.

[0017] 2. This invention integrates the mixing frame and spiral blades into the same spiral mixing rod. Combined with the gravity guidance of the conical hopper and the synergistic effect of the belt-driven rotation mechanism at the discharge head, it achieves simultaneous conveying and mixing of concrete raw materials to prevent segregation and initial setting. Simultaneously, it allows the discharge head to adjust the extrusion direction in real time according to the wavy slice trajectory. Furthermore, the corrugated cutting strips on the inclined guide plate mechanically scrape and texture the surface of the material strips. This significantly enhances the interlayer mechanical interlocking and bonding strength while ensuring uniform extrusion of concrete with a slump of 100-150mm. It effectively avoids printing interruptions caused by aggregate settling in the hopper or blockage at the discharge port, adapting to the process requirements of long-distance continuous deposition molding in desert environments.

[0018] 3. This invention integrates a feeding hopper with a built-in mixing component into the robot base, uses a conveying threaded rod for directional and quantitative feeding, and employs a connection component with corrugated pipe elastic compensation and electromagnet-magnetic block magnetic attraction linkage to achieve rapid and automatic sealing docking and disengagement between the printing device and the feeding station. Continuous feeding of the hopper can be completed without manual intervention. Combined with intelligent scheduling and control of multiple printing cycles from the control console (such as using a multi-grid relay layered printing strategy), it effectively overcomes the limitation of single-unit hopper capacity, enabling continuous automated construction of multiple layers of 400mm high sand-proof grid, significantly improving the automation level, feeding continuity, and overall construction efficiency of large-area sand-proof grid printing operations in desert environments. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is an overall schematic diagram of the present invention; Figure 2 This is a schematic diagram showing the installation positions of the translation component and adjustment device of the present invention; Figure 3 This is a schematic diagram showing the installation position of the protective compartment of the present invention; Figure 4 This is a schematic diagram of the interior of the protective compartment of the present invention; Figure 5 This is a schematic diagram showing the installation position of the adjusting hydraulic cylinder of the present invention; Figure 6 This is a schematic diagram of the printing device of the present invention; Figure 7 This is an enlarged schematic diagram of point A in the present invention; Figure 8 This is a schematic diagram of the bottom of the printing device of the present invention; Figure 9 This is an enlarged schematic diagram of the locking point B of the present invention; Figure 10 This is a schematic diagram of the feeding assembly of the present invention; Figure 11 This is a schematic diagram of the feeding device of the present invention; Figure 12 This is a cross-sectional schematic diagram of the feeding device of the present invention; Figure 13 This is a schematic diagram of the electromagnet installation position according to the present invention; Figure 14 This is a site layout diagram for the project of this invention; Figure 15 This is a schematic diagram of a single sand-proof grid of the present invention.

[0021] In the diagram: 1. Moving track; 2. Fixed plate; 3. Control console; 4. Translation assembly; 5. Adjustment device; 51. Adjustment plate; 52. Adjustment hydraulic lever; 53. Support plate; 54. Protective chamber; 55. Transparent vacuum tube; 56. Mercury beads; 57. Infrared spotlight; 58. Receiver plate; 59. Signal transmitting device; 6. Displacement cross arm; 7. Feeding device; 71. Feeding bucket; 72. Mixing assembly; 73. Discharge port; 74. Feeding pipe; 75. Conveyor motor; 76. Conveyor threaded rod; 77. Connecting assembly; 771. Connecting pipe; 772. Corrugated pipe 773. Magnetic block; 774. Electromagnet; 8. Printing device; 81. Fixed bracket; 82. Hopper; 83. Feeding assembly; 831. Mounting plate; 832. Feed pipe; 833. Support frame; 834. Reducer; 835. Feeding motor; 836. Spiral stirring rod; 8361. Spiral blade; 8362. Stirring frame; 837. Observation window; 838. Monitoring device; 84. Fixed sleeve; 85. Fixed shell; 86. Rotating motor; 87. Drive wheel; 88. Driven wheel; 89. Discharge head; 891. Guide plate; 892. Cutting strip. Detailed Implementation

[0022] like Figures 1 to 15As shown, a mobile parallel sand-proof grid printing robot includes a moving track 1, a fixed plate 2, a control console 3, a translation component 4, an adjustment device 5, a displacement crossarm 6, a feeding device 7, and a printing device 8. The fixed plate 2 is fixedly installed between the moving tracks 1. The control console 3 and the translation component 4 are fixedly installed on the fixed plate 2. The translation component 4 adopts a conventional screw and nut structure. The adjustment device 5 is installed on the translation component 4. The adjustment device 5 is used to determine whether the printing device 8 is horizontal based on the signal from an infrared spotlight 57 and to make adaptive adjustments. The displacement crossarm 6 is fixedly installed on the adjustment device 5. The displacement crossarm 6 uses conventional height and horizontal displacement devices to adjust the position of the printing device 8. The feeding device 7 is fixedly installed on one side of the fixed plate 2. The feeding device 7 is used to automatically replenish the printing device 8 after one printing cycle. The printing device 8 is fixedly installed on the displacement crossarm 6. The printing device 8 is used to pre-stir the raw material while printing the sand-proof grid. The displacement cross arm 6 includes a base, an X-axis moving module, and a Y-axis lifting module. The base is fixedly mounted on the upper surface of the support plate 53 by bolts; the X-axis moving module includes an X-axis servo motor, an X-axis ball screw, an X-axis linear guide, and an X-axis slider. The pitch of the X-axis ball screw is preferably 10mm, and the lead error is no greater than ±0.02mm / 300mm. The X-axis linear guide adopts a heavy-duty linear guide (such as the HIWINHGW series), with a span of no less than 400mm to ensure the rigidity of the cantilever; the Y-axis lifting module is fixedly mounted on the linear guide and includes a Y-axis servo motor, a Y-axis ball screw (pitch 5mm to improve Z-axis positioning accuracy), and a Y-axis slide. The fixed bracket 81 is fixedly mounted on the Y-axis slide. The translation component 4 includes a longitudinal base, a longitudinal servo motor, a longitudinal ball screw, and a longitudinal nut seat. The longitudinal base is welded to the upper surface of the fixed plate 2. The longitudinal ball screw has a stroke of not less than 13000mm (matching the span of 13 transverse sand-proof grids), a pitch of 20mm, and is supported at both ends by bearing seats. The longitudinal nut seat (such as the SFU series nut of TBIMOTION) is embedded at the bottom of the adjusting plate 51. The two sides of the adjusting plate 51 are also slidably engaged with the linear slide rails (such as the THKSR series) laid on the fixed plate 2 through sliders to ensure translation stability. The longitudinal servo motor is connected to the longitudinal ball screw through a coupling and receives pulse signals from the control console 3 to achieve forward and reverse rotation, driving the entire adjusting device 5 and the displacement cross arm 6 above it to move longitudinally (in the direction of the road). After a single block is printed, the moving distance is 10000mm (single block width) plus 100mm (overlap). The control console 3 includes an industrial touch screen all-in-one machine (such as Advantech TPC series) as the host computer, which is connected to a programmable logic controller (PLC) (such as Siemens S7-1200 series) via Ethernet communication. The PLC's digital input module (DI) is connected to the signal transmitting device 59 of the receiving board 58 (each signal is opto-isolated), each limit switch, and the encoder zero-point signal; the digital output module (DO) is connected to the inverter control terminals of the rotary motor 86, the feeding motor 835, and the conveying motor 75, as well as the relay coil of the electromagnet 774, via relays or solid-state relays; the analog output module (AO) is connected to the proportional valve (such as Rexroth 4WR series) of the regulating hydraulic cylinder, outputting a 0-10V voltage signal to control the extension and retraction speed and position of the hydraulic cylinder.

[0023] Control timing logic: (1) Initialization: After the system is powered on, the PLC controls the hydraulic cylinders to retract to the neutral position, and the displacement cross arm 6 returns to the origin (X / Y axis returns to zero). (2) Horizontal detection: The PLC reads the signal of the 58 array on the receiving board. When ≥10 of the 12 signals in the middle ring array are low (blocked) and the signals of the outer linear array are symmetrical and balanced, it is determined to be in a horizontal state. If it is not symmetrical, the PLC calculates the tilt angle θ=arctan(Δh / L) and outputs the corresponding control voltage to the proportional valve of each hydraulic cylinder. (3) Printing control: The PLC executes G code parsing and controls the X / Y three-axis linkage. Every time the Y axis descends 40mm (completes one layer), it pauses for 2 seconds to wait for smoothing, and at the same time starts the rotating motor 86 (the speed is adjustable from 30-60rpm through the frequency converter). (4) Material replenishment control: The PLC monitors the current of the feeding motor 835 or the torque of the spiral stirring rod 836 (via the torque sensor of the reducer 834). When the current exceeds the threshold (indicating that there is insufficient material in the hopper 82) or the monitoring device 838 sends a low material level signal, printing is paused, the displacement cross arm 6 is moved to the material replenishment station (X / Y coordinate preset), the electromagnet 774 is energized, and the conveyor motor 75 is started (the speed is fixed at 30 rpm, and the material replenishment amount is controlled by time, with each batch of material replenishment time being 30 seconds).

[0024] During operation, after the raw materials are prepared, they are added to the feeding device 7. The mixing component 72 stirs and mixes the materials, and the conveying motor 75 drives the conveying threaded rod 76 to rotate, feeding the mixed materials into the hopper 82 through the connecting component 77. Once the hopper 82 is full, the displacement crossarm 6 moves the guiding device to the sand-proof grid marked by the GPS total station. At this point, the printing device 8 is activated, first printing out a portion of the waste material while simultaneously leveling the printing device using a leveling device. After leveling, the printing device 8 prints layer by layer (40mm per layer) according to the slicing trajectory, starting from one end of a single block, until a height of 400mm is reached. This is achieved by the translation component 4 periodically moving the entire displacement crossarm 6 and the printing device 8. Print each layer; after each layer is printed, smooth the surface with a trowel (to ensure adhesion between layers), wait 1-2 hours (for initial setting of the concrete) before printing the next layer (note that the printing cycle can be controlled by a printing robot, i.e., continuously printing the first layer in different sand-proof grids until 1-2 hours later, then returning to the first layer after initial setting to print the second layer, and so on); at the same time, the remaining material in the hopper 82 is monitored by the monitoring device 838, and when replenishment is needed, the printing device 8 is moved to the underside of the connecting component 77 in the replenishment device 7 by the translation component 4 and the cross arm to replenish the material; after printing, cover the surface with a moisturizing film (to prevent rapid evaporation of moisture), cure for 24 hours, and then move it to the assembly area; at the same time, quality inspections must be carried out during the printing process and after the printed products are finished.

[0025] The parameters of printing device 8 are as follows: Table 1: Printing Device Parameters ; By arranging two sets of mutually perpendicular adjustment devices 5 in an orthogonal plane, combined with the high-sensitivity detection mechanism of mercury beads 56 acting as a gravity self-reference and circular uniform array infrared spotlights 57 blocking, and utilizing array-type adjustable hydraulic cylinders for multi-point coordinated fine-tuning, real-time adaptive horizontal correction of the printing device 8 on the soft desert foundation was achieved. This effectively overcame the risks of printing trajectory deviation and interlayer misalignment caused by equipment overturning, ensuring the continuous horizontal accuracy of the discharge head 89 during the layer-by-layer stacking process, thereby significantly improving the dimensional stability of the sand-proof grid block forming and the interlayer stability of the overall structure. The bonding reliability meets the stringent requirements of large-scale desert highway sand control projects for the geometric accuracy and durability of concrete components. Simultaneously, by integrating the mixing frame 8362 and the spiral blades 8361 into the same spiral mixing rod 836, and coordinating the gravity guidance of the conical hopper 82 with the belt-driven rotation mechanism at the discharge head 89, the concrete raw materials are simultaneously conveyed and mixed to prevent segregation and initial setting. This allows the discharge head 89 to adjust the extrusion direction in real time according to the wavy slice trajectory, and utilizes the corrugated cutting strips 892 on the inclined guide plate 891 to guide the material... The surface of the strip is mechanically scraped and textured; thus, while ensuring uniform extrusion of concrete with a slump of 100-150mm, the mechanical interlocking and bonding strength between layers are significantly enhanced, effectively avoiding printing interruptions caused by aggregate settling in the hopper 82 or blockage of the outlet 73, adapting to the process requirements of long-distance continuous deposition molding in desert environments; finally, by fixing the feeding bucket 71 of the built-in mixing component 72 to the robot base, the feed screw rod 76 is used for directional and quantitative pushing, and with the elastic compensation of the corrugated pipe 772 and the electromagnet 774, the process is completed. - The magnetic block 773 magnetic linkage connection component 77 realizes the rapid automatic sealing docking and disconnection between the printing device 8 and the material replenishment station, and can complete the continuous material replenishment of the hopper 82 without manual intervention; combined with the intelligent scheduling control of multiple printing cycles by the control console 3 (such as adopting a multi-grid relay layer printing strategy), it effectively breaks through the limitation of the hopper capacity of a single device, realizes the continuous automated construction of a single sand-proof grid with a layer height of 400mm and multiple layers, and significantly improves the automation level, material supply continuity and overall construction efficiency of large-area sand-proof grid printing operations in desert environments.

[0026] like Figures 1 to 5As shown, the adjustment device 5 includes an adjustment plate 51, an adjustment hydraulic rod 52, a support plate 53, a protective chamber 54, a transparent vacuum tube 55, a mercury bead 56, an infrared spotlight 57, a receiving plate 58, and a signal transmitting device 59. The adjustment plate 51 is fixedly installed on the translation component 4 and is used to fix the adjustment hydraulic cylinder. Simultaneously, a nut that cooperates with the translation component 4 is provided inside the adjustment plate 51, meaning that the translation component 4 drives the entire adjustment device 5 to reciprocate through the forward and reverse rotation of the motor. The adjustment hydraulic cylinders are fixedly installed in an array on the adjustment plate 51. The adjustment hydraulic cylinders are used to fine-tune the support plate 53, thereby making the printing device 8 horizontal. The support plate 53 is fixedly installed on the adjustment hydraulic cylinder. The support plate 53 is used to support the displacement cross wall. The protective chamber 54 is fixedly installed on the printing device 8. Specifically, the protective chamber 54... A protective chamber 54 is fixedly mounted on the fixed shell 85. A transparent vacuum tube 55 is installed inside the protective chamber 54, and mercury beads 56 are placed inside the transparent vacuum tube 55. The mercury beads 56 are used to block the rays of the infrared spotlights 57. An array of infrared spotlights 57 is fixedly mounted outside the transparent vacuum tube 55, and the infrared spotlights 57 emit rays towards the receiving plate 58. A receiving plate 58 corresponding to the infrared spotlights 57 is fixedly mounted on the other side of the transparent vacuum tube 55, and a signal transmitting device 59 is fixedly mounted on the other side of the receiving plate 58. The signal transmitting device 59 transmits the information received by the receiving plate 58 to the control console 3. The control console 3 uses the signal emitted by the receiving plate 58 to determine whether the printing device 8 is horizontal and adjusts it accordingly using the adjusting hydraulic cylinder. The control console 3 stores a PID control algorithm. When the receiving board 58 detects the offset of the mercury bead 56, it converts the offset vector (ΔX, ΔY) into the extension and retraction of the three adjusting hydraulic cylinders (ΔL1, ΔL2, ΔL3), and solves the geometric relationship of the spatial triangle: L i =L0+k·(d i -d0); Where L0 is the reference length, di is the distance from each receiving plate 58 to the center of the mercury bead 56, and k is the adjustment coefficient. The control console 3 controls the stepless extension and retraction of each hydraulic cylinder through a proportional valve until the receiving plate 58 in the middle position can no longer receive infrared signals (i.e., the mercury bead 56 returns to the center), thus realizing closed-loop control; The transparent vacuum tube 55 is made of high borosilicate glass with an inner diameter D1 of 10-15 mm, a wall thickness of 2-3 mm, and a length of 50-80 mm. Both ends are sealed using a vacuum sealing process, and the internal vacuum level is ≤10⁻³ Pa. The mercury beads 56 are made of high-purity mercury (purity ≥99.999%) with a diameter D2 of 8-12 mm, satisfying D2 / D1=0.75-0.85. This means the gap between the mercury beads 56 and the tube wall on one side is 1-2 mm, ensuring the mercury beads 56 can roll freely under gravity while avoiding a decrease in detection sensitivity due to excessive gaps. The inner wall of the transparent vacuum tube 55 undergoes a mercury-repellent treatment (such as coating with a polytetrafluoroethylene film or silanization treatment) to reduce the adhesion between mercury and glass, ensuring that the mercury beads 56 respond instantly to tilting. The infrared spotlights 57 groups include a central ring array of 12-16 spotlights evenly distributed in a 360° pattern, forming a ring with a diameter of 6-8 mm, and linear arrays of spotlights on both sides (3-5 on each side, spaced 5 mm apart). The diameter of the ring is 2-4 mm smaller than the diameter of the mercury beads 56, ensuring that the mercury beads 56 completely block the light from the central spotlight when horizontal. The receiving board 58 uses a photodiode array (such as a BPW34 silicon photodiode), corresponding one-to-one with the spotlights, spaced 20-30 mm apart. During operation, infrared spotlight 57 emits infrared rays towards receiver plate 58. If the printing device 8 is horizontal, then mercury bead 56 is located at the center of the vacuum tube. Therefore, receiver plate 58 located in the middle cannot receive the infrared rays emitted by infrared spotlight 57, which means that the printing device 8 is horizontal. If the other receiver plates 58 receive the infrared rays emitted by infrared spotlight 57, it means that the printing device 8 is not horizontal. At this time, the control console 3 calculates the adjustment range of the adjusting hydraulic cylinder based on which receiver plate 58 received the infrared rays emitted by infrared spotlight 57, and achieves the leveling work by extending and retracting the adjusting hydraulic cylinder at different positions. The aforementioned adjustment device 5, employing a combination of mercury beads 56 gravity self-balancing and infrared array occlusion detection, achieves real-time, high-precision automatic detection of the horizontal state of the printing device 8. Utilizing arrayed adjustment hydraulic cylinders for multi-point coordinated fine-tuning, it can quickly and accurately complete adaptive horizontal adjustment. Without manual intervention, it maintains the horizontal accuracy of the printing device 8 even in complex conditions such as soft desert foundations, effectively avoiding printing trajectory deviation and interlayer misalignment caused by equipment tilting, significantly improving the dimensional accuracy and construction quality of sand-resistant grid printing.

[0027] like Figure 3As shown, the adjustment device 5 is provided in two sets and arranged perpendicularly to each other. By arranging two sets of mutually perpendicular adjustment devices 5 in an orthogonal plane, the synchronous detection and independent adjustment of the horizontal deviation of the printing device 8 in different degrees of freedom are realized. This not only accurately positions the tilt angle of the equipment in any direction, but also quickly completes multi-dimensional attitude correction through the coordinated extension and retraction of the two sets of adjustment hydraulic cylinders. This significantly improves the response speed and adjustment accuracy of horizontal adjustment, effectively avoids the detection blind spot of a single set of adjustment devices 5 in non-sensitive directions, and ensures the continuous stability of printing operations on the soft desert foundation.

[0028] like Figure 4 As shown, the infrared spotlight 57 located in the middle position is a circular uniform array of infrared spotlights 57, and the maximum diameter of the ring formed by the infrared spotlights 57 is smaller than the diameter of the mercury bead 56. The circular uniform array of infrared spotlights 57 allows for the detection of minute movements of the mercury bead 56, increasing detection accuracy. Specifically, when the infrared spotlight 57 in the middle position detects a slight shift in the mercury bead 56, it can react promptly and make adjustments. By setting the infrared spotlight 57 in the middle position as a circular uniform array with the maximum diameter of the ring smaller than the diameter of the mercury bead 56, the mercury bead 56 completely covers the central area of ​​the array in a horizontal reference state. When the mercury bead 56 shifts slightly, it immediately blocks infrared rays from different directions, thereby accurately capturing the minute displacement vector of the mercury bead 56 in any direction. This significantly improves the sensitivity and accuracy of horizontal detection, ensuring that slight tilting of the equipment can be promptly identified and quickly triggered to adjust the hydraulic cylinder for attitude correction, effectively avoiding adjustment lag caused by blind spots in detection.

[0029] like Figures 6 to 10As shown, the printing device 8 includes a fixed bracket 81, a hopper 82, a feeding assembly 83, a fixed sleeve 84, a fixed housing 85, a rotating motor 86, a driving wheel 87, a driven wheel 88, and a discharge head 89. The fixed bracket 81 is fixedly mounted on the displacement cross arm 6 and is used to fix the printing device 8 on the displacement cross arm 6. The hopper 82 is fixedly mounted on the fixed bracket 81, and the bottom of the hopper 82 is conical. The feeding assembly 83 is fixedly mounted on the top of the hopper 82 and is used to convey the raw material to the discharge head 89 for printing. The fixed sleeve 84 is fixedly mounted on the discharge port 73 at the bottom of the hopper 82 and is used to fix the housing 85. A fixed housing 85 is fixedly installed on the upper part of the material hopper 82. The fixed housing 85 is used to install a rotary motor 86 and internally installs a drive wheel 87 and a driven wheel 88. The rotary motor 86 is fixedly installed on the fixed housing 85. The drive wheel 87 is fixedly installed at the output end of the rotary motor 86. The driven wheel 88 is installed on one side of the drive wheel 87. The driven wheel 88 is rotatably installed at the bottom of the material hopper 82. The drive wheel 87 and the driven wheel 88 are connected by a transmission belt. A discharge head 89 is fixedly installed on the driven wheel 88. The top of the discharge head 89 is connected to the discharge port 73 at the bottom of the material hopper 82. It should be noted that the feeding head can be replaced according to the actual terrain height or the height of the moving track 1 to ensure that the printing work can be carried out normally.

[0030] During operation, the staff activates the feeding device 7 to deliver raw materials into the hopper 82. The raw materials are guided to the outlet 73 by the feeding component 83 and the conical bottom. The raw materials are then evenly extruded into the printing station through the discharge head 89. At the same time, the rotating motor 86 drives the drive wheel 87 to rotate. The drive wheel 87 drives the driven wheel 88 and the discharge head 89 to rotate synchronously through the transmission belt, which can adjust the discharge direction of the discharge head 89. The displacement cross arm 6 drives the fixed bracket 81 and the entire printing device 8 to move according to the preset trajectory to achieve continuous deposition molding. When printing is paused or a single block task is completed, the feeding component 83 stops feeding materials, and the rotating motor 86 stops after a delay to ensure that the residual material in the discharge head 89 is emptied. By employing a structural design that combines a conical hopper 82 with a top feeding assembly 83, the dual effects of gravity and forced conveying ensure smooth material flow and prevent bridging and blockage. Simultaneously, by integrating a rotating mechanism driven by a rotating motor 86 via belt transmission at the discharge head 89, the discharge head 89 can adjust its extrusion direction in real time according to trajectory requirements during printing, effectively adapting to complex curves and corners in the printing path, significantly improving printing flexibility and forming accuracy. Furthermore, the delayed stop function of the rotating motor 86 allows it to continue rotating after material feeding stops to thoroughly empty residual material from the discharge head 89, effectively preventing concrete from solidifying and clogging the head, ensuring reliable continuous operation.

[0031] like Figures 8 to 9As shown, an inclined guide plate 891 is fixedly installed on the discharge head 89, and a corrugated cutting strip 892 is provided on the guide plate 891. By setting an inclined guide plate 891 with corrugated cutting strip 892 on the discharge head 89, the surface of the extruded concrete strip is simultaneously mechanically scraped and textured during the printing process, so that the surface of the strip forms a regular concave-convex structure, which significantly increases the interlayer bonding area and mechanical interlocking effect. At the same time, the inclined guide plate 891 applies guiding and micro-pressure force to the extruded material, ensuring that the strip is accurately positioned and improving the laying density, thereby effectively improving the interlayer bonding strength and overall structural stability of concrete, and avoiding the risk of interlayer delamination caused by smooth interfaces.

[0032] like Figure 10 As shown, the feeding assembly 83 includes a mounting plate 831, a feed pipe 832, a support frame 833, a reducer 834, a feeding motor 835, a spiral stirring rod 836, an observation window 837, and a monitoring device 838. The mounting plate 831 is fixedly mounted on the hopper 82, and the mounting plate 831 is used to seal the hopper 82 and support the feeding motor 835. The feed pipe 832 is fixedly mounted on the mounting plate 831. The support frame 833 is fixedly mounted on the mounting plate 831. The reducer 834 is fixedly mounted on the support frame 833. The feeding motor 835 is mounted on the reducer 834. The output end of the feeding motor 835 is fixedly connected to the input end of the reducer 834. The spiral stirring rod 836 is fixedly mounted on the output end of the reducer 834. An observation window 837 is provided on the mounting plate 831, and a monitoring device 838 is fixedly mounted on one side of the observation window 837. During operation, the staff activates the feeding device 7 to transport the raw materials into the hopper 82 through the feed pipe 832. At the same time, the feeding motor 835 is started. After being reduced in speed and torque by the reducer 834, the feeding motor 835 drives the spiral stirring rod 836 to rotate. The spiral stirring rod 836 pushes the raw materials in the hopper 82 downward and stirs them simultaneously to prevent segregation. The raw materials are guided through the conical hopper 82 to the bottom outlet 73. The monitoring device 838 monitors the height and flow status of the raw materials in the hopper 82 in real time through the observation window 837. After the printing task is completed, the feeding motor 835 stops running and the spiral stirring rod 836 stops feeding. By connecting the feeding motor 835 to the spiral mixing rod 836 via the reducer 834, stable feeding under high resistance conditions is ensured by utilizing the principle of speed reduction and torque increase. At the same time, the rotation of the spiral mixing rod 836 achieves the dual function of conveying and mixing simultaneously, effectively preventing segregation and initial setting of concrete raw materials in the silo 82. In conjunction with the visual monitoring system composed of the observation window 837 and the monitoring device 838, the material height and flow status in the silo 82 can be monitored in real time, achieving precise material supply control. In addition, the mounting plate 831 integrates sealing, support and installation functions, making the feeding assembly 83 and the silo 82 form an integrated and compact structure, simplifying the equipment layout and improving space utilization.

[0033] like Figure 10 As shown, the spiral stirring rod 836 is fixedly equipped with spiral blades 8361 for feeding and stirring frame 8362 for stirring. By integrating the spiral blades 8361 and stirring frame 8362 on the spiral stirring rod 836, an integrated composite function of axial forced conveying and radial full stirring is realized. This allows the material to be continuously sheared and stirred while being conveyed downstream, effectively preventing concrete aggregate segregation and initial setting of the slurry, and ensuring the uniformity and continuity of the discharge. At the same time, dual operations can be completed using a single stirring rod, simplifying the drive transmission structure, reducing redundant parts, lowering the equipment failure rate and energy consumption, and significantly improving the integration and reliability of the feeding system.

[0034] like Figures 11 to 13 As shown, the feeding device 7 includes a feeding bucket 71, a stirring assembly 72, a discharge port 73, a feeding pipe 74, a conveying motor 75, a conveying threaded rod 76, and a connecting assembly 77. The feeding bucket 71 is fixedly installed on the fixing plate 2. The stirring assembly 72 is installed inside the feeding bucket 71. The top of the feeding bucket 71 has a discharge port 73. The feeding pipe 74 is fixedly installed at the discharge port 73. The conveying motor 75 is fixedly installed on the feeding pipe 74. The conveying threaded rod 76 is fixedly installed on the conveying motor 75. The connecting assembly 77 is fixedly installed at the end of the feeding pipe 74. During operation, workers load concrete raw materials into the feeding bucket 71 and start the mixing component 72 to continuously mix the raw materials to prevent initial setting. At the same time, the conveying motor 75 is started, which drives the conveying threaded rod 76 to rotate and push the raw materials in the feeding bucket 71 through the discharge port 73 along the feeding pipe 74. When the printing device 8 moves to the feeding station, the connecting component 77 is sealed and connected to the feeding end of the printing device 8. The raw materials enter the material hopper 82 of the printing device 8 through the connecting component 77 to complete the quantitative feeding. After the feeding is completed, the conveying motor 75 stops running, and the mixing component 72 keeps running intermittently to maintain the fluidity of the raw materials. By fixing the feeding bucket 71 to the equipment base and incorporating the mixing component 72, and cooperating with the threaded rod directional pushing mechanism driven by the conveying motor 75, continuous anti-condensation mixing and precise quantitative feeding of concrete raw materials are achieved. The quick-sealing docking of the connecting component 77 and the printing device 8 effectively avoids material spillage and secondary pollution during the feeding process, significantly improving the automation and continuity of the feeding operation. At the same time, the intermittent operation mode of the mixing component 72 maintains the fluidity of the raw materials while reducing energy consumption, ensuring the stability of material performance under long-term waiting conditions, and effectively supporting the reliability of large-scale continuous printing operations.

[0035] like Figures 11 to 13 As shown, the connecting assembly 77 includes a connecting pipe 771, a corrugated pipe 772, a magnetic block 773, and an electromagnet 774. The connecting pipe 771 is fixedly installed at the end of the feeding pipe 74, and the corrugated pipe 772 is fixedly installed at the bottom of the connecting pipe 771. The magnetic block 773 is fixedly installed at the bottom of the corrugated pipe 772, and the electromagnet 774 is fixedly installed inside the feeding pipe 832. The lower end face of the magnetic block 773 is provided with an annular groove, in which a food-grade fluororubber O-ring (3mm in cross-sectional diameter, Shore A hardness 70A) is embedded. The upper end face of the electromagnet 774 is provided with an annular boss. When attracted, the O-ring is compressed and deformed to form a double seal of radial and end face, preventing concrete slurry from overflowing.

[0036] The electromagnet 774 is a DC chuck type electromagnet 774 (such as model P80 / 38, rated voltage 24VDC, suction force ≥80kg), which is embedded in the inner wall of the feed pipe 832 (specifically, in the mounting groove opened in the lower side wall of the feed pipe 832), with its outer surface flush with the inner wall of the feed pipe 832, and is waterproofed by epoxy resin potting; the magnetic block 773 is made of low carbon steel, with its outer diameter matching the inner diameter of the feed pipe 832 (such as tolerance H7 / g6), and its surface is galvanized for rust prevention, and is fixed to the lower end of the corrugated pipe 772 by threaded connection; The electromagnet 774 is connected to the I / O port of the control console 3 via a relay module. When the displacement cross arm 6 moves to the feeding station, the control console 3 outputs a high-level signal, the relay is activated, and the electromagnet 774 is energized (24VDC, current 2-3A), generating a magnetic force to attract the magnetic block 773. At the same time, the bellows 772 is compressed (the pre-compression is designed to be 5-10mm), achieving a combination of soft and hard sealing compensation. After feeding is completed, the control console 3 cuts off the output, the electromagnet 774 is de-energized and demagnetized, the magnetic force disappears, the bellows 772 elastically recovers and pushes the magnetic block 773 away, allowing the printing device 8 to be moved freely. During operation, the operator moves the printing device 8 to the replenishment station via the control console 3. The electromagnet 774 is energized and becomes magnetic, attracting and fixing itself to the magnetic block 773. At the same time, the corrugated pipe 772 is compressed and deformed to compensate for the docking posture error, forming a sealed channel between the connecting pipe 771 and the feed pipe 832. The conveying motor 75 starts and drives the conveying threaded rod 76 to push the raw material along the replenishment pipe 74. The raw material enters the feed pipe 832 through the connecting pipe 771, the corrugated pipe 772 and the magnetic block 773 to complete the replenishment. After the replenishment is completed, the electromagnet 774 is de-energized and demagnetized, the corrugated pipe 772 elastically resets, and the printing device 8 is moved away to continue printing. By employing the magnetic attraction between electromagnet 774 and magnetic block 773, rapid and automatic docking of the feeding tube 74 and feed tube 832 is achieved, establishing a sealed channel without manual intervention, significantly improving the automation and efficiency of the feeding operation. The elastic deformation characteristics of the bellows 772 effectively compensate for the positional error between the printing device 8 and the feeding station, reducing the alignment accuracy requirements and ensuring reliable docking even with a certain degree of equipment offset. At the same time, the magnetic connection method, through the control logic of energized engagement and de-energized separation, achieves rapid disengagement after feeding, avoiding wear problems of mechanical clips and other structures. Combined with the automatic reset function of the bellows 772, it provides a stable and reliable connection guarantee for continuous cyclic feeding operations.

[0037] The overall work process is as follows: During the work, the first step is to use Revit software to create a wave-shaped structural model of a single sand-proof grid (e.g., Figure 2 As shown), the dimensions are 10000mm (horizontal) × 3077mm (vertical) × 400mm (height). Cura3D slicing software was used, with the following parameters set: layer height 40mm, bandwidth 100mm, and printing speed 70mm / s. The trajectory was planned to print layer by layer along the vertical direction (3077mm direction) in a wavy trajectory. After the preliminary preparations were completed, the data was imported into the computer inside console 3. Then, site preparation work is carried out. After the desert ground is leveled, a 100mm thick crushed stone cushion layer (compaction degree ≥90%) is laid to prevent the ground from collapsing during printing. The positions of 325 sand-blocking grids (13 horizontal lines and 25 vertical lines) are marked using a GPS total station, and the outline of each grid is marked. A 100m² raw material area is set up next to the printing site (≤50m away from each printer), and raw material warehouse 82 and wastewater sedimentation tank (to collect wastewater from washing desert sand) are set up. At this point, raw material preparation begins. The concrete must meet the following requirements: 3D printing characteristics (flowability, setting time, interlayer bonding), sand-proofing function (durability, wind erosion resistance), and desert environment adaptability (utilization of local materials, salt resistance). Specific requirements are as follows: Table 2: Concrete Requirements ; Desert sand is used to partially replace medium sand (replacement rate 30%-50%). This is achieved by increasing cement usage and optimizing admixtures to compensate for the low fineness modulus and poor fluidity of desert sand. Mix proportions (kg / m³) (taking 40% desert sand replacement as an example): Table 3: Raw material ratios: ; Desert sand treatment: A vibrating screen (5mm mesh) is set up on-site to screen the desert sand and remove particles larger than 5mm; a water washing device (flowing water rinsing) is used to reduce the mud content (≤3%) and salt content (≤0.5%); mix proportion adjustment: the cement dosage is increased to 450kg / m³ (originally 400kg / m³) to compensate for the large specific surface area and high water demand of desert sand; an air-entraining agent (0.1kg / m³) is added to introduce micro air bubbles (3%-5% air content) to improve the fluidity and frost resistance of concrete (due to the large temperature difference between day and night in the desert); desert sand and medium sand are mixed in a 1:1 ratio (total sand content 720kg / m³) to balance the fineness modulus (approximately 2.2 after mixing) and ensure reasonable concrete gradation.

[0038] After the raw materials are prepared, they are added to the feeding device 7. The mixing component 72 stirs and mixes the materials, and the conveying motor 75 drives the conveying threaded rod 76 to rotate, feeding the mixed materials into the hopper 82 through the connecting component 77. Once the hopper 82 is full, the guide device is moved to the sand-proof grid marked by the GPS total station via the displacement cross arm 6. The printing device 8 is then activated, first printing out a portion of the waste material while simultaneously leveling the printing device using the leveling device. After leveling, the printing device 8 prints layer by layer (40mm per layer) according to the slicing trajectory, starting from one end of a single block, until a height of 400mm is reached. This is achieved by the translation component 4 pushing the entire displacement cross arm 6 and the printing device 8 to move periodically, completing the printing of each layer. After printing one layer, smooth the surface with a trowel (to ensure adhesion between layers), wait 1-2 hours (for initial setting of the concrete) before printing the next layer (note that the printing cycle can be controlled by a printing robot, i.e., continuously printing the first layer in different sand-proof grids until 1-2 hours later, then returning to the first layer after initial setting to print the second layer, and so on); simultaneously, the remaining material in the hopper 82 is monitored by the monitoring device 838. When replenishment is needed, the printing device 8 is moved to the underside of the connecting component 77 in the replenishment device 7 by the translation component 4 and the cross arm; after printing, cover the surface with a moisturizing film (to prevent rapid evaporation of moisture), cure for 24 hours, and then move it to the assembly area; at the same time, quality inspections must be carried out during and after printing, as shown in Tables 4 and 5. Each cell in a cycle Each printing unit 8 is equipped with a feeding device 7 (capacity 1.5m³ / batch). After each batch of concrete is mixed, the concrete is poured into the printer hopper (hopper capacity 1.5m³) through the feeding device 7 to ensure continuous printing (interval between batches ≤10 minutes).

[0039] Table 4: Key Parameter Control ; Assembly sequence: First, assemble 25 pieces longitudinally (perpendicular to the road direction), then connect 13 pieces laterally (along the road direction); Joint treatment: The printing tracks of adjacent single pieces overlap by 100mm (width 100mm) to form an integral structure; Fixing measures: Pour a 100mm thick concrete pad at the bottom of the sand-proof grid to bond it to the desert foundation (to prevent wind erosion and movement). Table 5: Process Quality Inspection ; Table 6: Finished Product Quality Inspection ; Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A mobile parallel sand-proof grid printing robot, characterized in that, The device includes a moving track (1), a fixed plate (2), a control console (3), a translation component (4), an adjustment device (5), a displacement cross arm (6), a feeding device (7), and a printing device (8). The fixed plate (2) is fixedly installed between the moving tracks (1). The control console (3) and the translation component (4) are fixedly installed on the fixed plate (2). The adjustment device (5) is installed on the translation component (4). The adjustment device (5) is used to determine whether the printing device (8) is horizontal based on the signal of the infrared spotlight (57) and make adaptive adjustments. The displacement cross arm (6) is fixedly installed on the adjustment device (5). The feeding device (7) is fixedly installed on one side of the fixed plate (2). The feeding device (7) is used to automatically feed the printing device (8) after one printing cycle is completed. The printing device (8) is fixedly installed on the displacement cross arm (6). The printing device (8) is used to print anti-sand grids while pre-stirring the raw materials.

2. The mobile parallel sand-proof grid printing robot according to claim 1, characterized in that: The adjustment device (5) includes an adjustment plate (51), an adjustment hydraulic rod (52), a support plate (53), a protective chamber (54), a transparent vacuum tube (55), a mercury bead (56), an infrared spotlight (57), a receiving plate (58), and a signal transmitting device (59). The adjustment plate (51) is fixedly installed on the translation assembly (4), and the adjustment hydraulic cylinders are fixedly installed in an array on the adjustment plate (51). The support plate (53) is fixedly installed on the adjustment hydraulic cylinders. The printing device (8) has a protective chamber (54) fixedly installed on it. (54) A transparent vacuum tube (55) is provided inside, and mercury beads (56) are provided inside the transparent vacuum tube (55); an infrared spotlight (57) is fixedly installed on the outside of the transparent vacuum tube (55), and a receiving board (58) corresponding to the infrared spotlight (57) is fixedly installed on the other side of the transparent vacuum tube (55). A signal transmitting device (59) is fixedly installed on the other side of the receiving board (58). The control console (3) determines whether the printing device (8) is horizontal by the signal emitted by the receiving board (58) and makes corresponding adjustments by adjusting the hydraulic cylinder.

3. The mobile parallel sand-proof grid printing robot according to claim 2, characterized in that: The adjustment device (5) is provided in two sets and arranged perpendicular to each other.

4. A mobile parallel sand-proof grid printing robot according to claim 3, characterized in that: The infrared spotlight (57) located in the middle position is a circular uniform array of infrared spotlights (57), and the maximum diameter of the ring formed by the infrared spotlights (57) is smaller than the diameter of the mercury bead (56).

5. A mobile parallel sand-resistant grid printing robot according to claim 4, characterized in that: The printing device (8) includes a fixed bracket (81), a hopper (82), a feeding assembly (83), a fixed sleeve (84), a fixed shell (85), a rotating motor (86), a drive wheel (87), a driven wheel (88), and a discharge head (89). The fixed bracket (81) is fixedly installed on the displacement cross arm (6). The hopper (82) is fixedly installed on the fixed bracket (81), and the bottom of the hopper (82) is conical. The feeding assembly (83) is fixedly installed on the top of the hopper (82). A fixed sleeve (84) is fixedly installed at the bottom outlet (73) of the hopper (82). A fixed shell (85) is fixedly installed on the fixed sleeve (84). A rotating motor (86) is fixedly installed on the fixed shell (85). A drive wheel (87) is fixedly installed at the output end of the rotating motor (86). A driven wheel (88) is installed on one side of the drive wheel (87). The driven wheel (88) is rotatably installed at the bottom of the hopper (82). A discharge head (89) is fixedly installed on the driven wheel (88).

6. A mobile parallel sand-proof grid printing robot according to claim 3, characterized in that: An inclined guide plate (891) is fixedly installed on the discharge head (89), and a corrugated cutting strip (892) is provided on the guide plate (891).

7. A mobile parallel sand-proof grid printing robot according to claim 6, characterized in that: The feeding assembly (83) includes a mounting plate (831), a feed pipe (832), a support frame (833), a reducer (834), a feeding motor (835), a spiral stirring rod (836), an observation window (837), and a monitoring device (838). The mounting plate (831) is fixedly installed on the hopper (82), the feed pipe (832) is fixedly installed on the mounting plate (831), and the support frame (833) is fixedly installed on the mounting plate (831). A reducer (834) is fixedly installed on the support frame (833), a feeding motor (835) is installed on the reducer (834), the output end of the feeding motor (835) is fixedly connected to the input end of the reducer (834), a spiral stirring rod (836) is fixedly installed on the output end of the reducer (834), an observation window (837) is provided on the mounting plate (831), and a monitoring device (838) is fixedly installed on one side of the observation window (837).

8. A mobile parallel sand-proof grid printing robot according to claim 7, characterized in that: The spiral stirring rod (836) is fixedly equipped with spiral blades (8361) for feeding and stirring frame (8362) for stirring.

9. A mobile parallel sand-proof grid printing robot according to claim 8, characterized in that: The feeding device (7) includes a feeding bucket (71), a stirring assembly (72), a discharge port (73), a feeding pipe (74), a conveying motor (75), a conveying threaded rod (76), and a connecting assembly (77). The feeding bucket (71) is fixedly installed on the fixing plate (2). The stirring assembly (72) is installed inside the feeding bucket (71). The top of the feeding bucket (71) has a discharge port (73). The feeding pipe (74) is fixedly installed at the discharge port (73). The conveying motor (75) is fixedly installed on the feeding pipe (74). The conveying threaded rod (76) is fixedly installed on the conveying motor (75). The connecting assembly (77) is fixedly installed at the end of the feeding pipe (74).

10. A mobile parallel sand-proof grid printing robot according to claim 9, characterized in that: The connecting assembly (77) includes a connecting pipe (771), a corrugated pipe (772), a magnetic suction tube, and an electromagnet (774). The connecting pipe (771) is fixedly installed at the end of the feeding pipe (74). The corrugated pipe (772) is fixedly installed at the bottom of the connecting pipe (771). The magnetic suction tube is fixedly installed at the bottom of the corrugated pipe (772). The electromagnet (774) is fixedly installed inside the feed pipe (832).

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