A gantry printing apparatus for metal-concrete composite additive manufacturing

Abstract

The present application relates to the field of additive manufacturing, and particularly to a portal printing equipment for metal-concrete composite additive manufacturing, comprising at least two gantry frames, each of which is connected with at least one mechanical arm, and the moving paths of all the gantry frames are arranged in parallel, each of the gantry frames comprises an elongated beam, the elongated beam can be lifted along the gantry frame, the elongated beams of adjacent gantry frames can be aligned and communicated, the elongated beam is connected with the mechanical arm, the mechanical arm can move along the elongated beam and can be moved to different gantry frames; the mechanical arm drives a concrete printing head or a metal printing head. The present application can realize large-scale 3D printing along the moving path of the gantry frame, and the several gantry frames can be combined as a whole printing equipment through the elongated beam to increase the printing range of the mechanical arm, that is, large-scale 3D printing can be realized along the span direction of the gantry frame, and the several gantry frames can also be printed separately to realize 3D printing of hundreds of meters.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing, and in particular to a gantry printing device for metal-concrete composite additive manufacturing. Background Technology

[0002] Concrete 3D printing technology is an additive manufacturing method that automatically constructs building components or overall structures by extruding concrete material layer by layer without the need for templates. This technology offers advantages such as high construction efficiency, great design freedom, and minimal material waste, making it suitable for complex shapes and customized buildings, and showing great promise in intelligent construction and green building practices.

[0003] Metal 3D printing is an additive manufacturing method that directly creates three-dimensional metal components by melting metal powder or filament layer by layer using heat sources such as lasers, electron beams, or electric arcs. This technology can achieve integrated forming of complex structures, has high material utilization, and is widely used in aerospace, automotive, medical, and other fields, offering advantages such as high precision, lightweight design, and customization.

[0004] In the current technology, there is no equipment that can simultaneously achieve composite additive manufacturing of concrete and metal, making it difficult to achieve efficient synchronization; moreover, existing concrete 3D printers are only suitable for printing scales of ten meters, and existing metal 3D printers are suitable for printing scales of even smaller scales, which cannot be used for large-scale engineering construction and have limitations in industrial application; therefore, there is a need for a composite additive manufacturing printing equipment that integrates metal and concrete and can achieve larger printing scales. Summary of the Invention

[0005] The purpose of this invention is to address the existing problems of the lack of equipment for simultaneously building composite additive manufacturing of concrete and metal, making it difficult to achieve efficient synchronization; and the fact that existing concrete 3D printers are only suitable for printing scales of ten meters and existing metal 3D printers are suitable for even smaller printing scales, thus limiting their industrial application. The invention provides a portal printing equipment for metal-concrete composite additive manufacturing.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A gantry printing apparatus for metal-concrete composite additive manufacturing includes at least two gantry frames, each gantry frame having at least one robotic arm connected to it. The movement paths of all the gantry frames are arranged in parallel. Each gantry frame includes an extension beam that can be raised and lowered along the gantry frame. The extension beams of adjacent gantry frames can be aligned and connected. The robotic arm is connected to the extension beam and can move along the extension beam and to different gantry frames. The robotic arm drives a concrete print head or a metal print head.

[0008] The gantry printing equipment for metal-concrete composite additive manufacturing described in this invention enables large-scale 3D printing along the movement path of the gantry. Several gantry units can be combined into a single printing device via extension beams to increase the printing range of the robotic arm, thus achieving large-scale 3D printing along the span of the gantry. Alternatively, several gantry units can be separated and each performs its own printing operation, achieving 3D printing at the hundred-meter level. The end of the robotic arm can be connected to either a concrete print head or a metal print head, integrating different concrete-metal printing processes into the same device for composite additive manufacturing. The gantry provides a wide range of movement, while the robotic arm provides precise, small-range control, thereby achieving high-precision composite additive manufacturing.

[0009] As a preferred embodiment of the present invention, the gantry includes a track-changing unit; the track-changing unit includes a first powered slide plate, a non-powered slide plate, a module connector, and a docking assembly; the first powered slide plate is movable along the extended beam; the non-powered slide plate is slidably connected to the extended beam, and the non-powered slide plate and the first powered slide plate are connected to the module connector via a locking assembly; the first powered slide plate drives the non-powered slide plate to move along the extended beam, and the robotic arm is connected to the non-powered slide plate; the module connector is used for communication and power connection between the first powered slide plate and the non-powered slide plate; the docking assembly is used for alignment and connection of adjacent extended beams.

[0010] As a further preferred technical solution of the present invention, the module connector includes a module connector female head and a module connector female head; the module connector female head is connected to the first powered slide plate; the module connector female head is connected to the unpowered slide plate, and the module connector female head can be plugged into the module connector female head; the first powered slide plate on the gantry drives the unpowered slide plate to move to the end of the extended beam and unlocks it, and the unpowered slide plate is connected to and driven by the first powered slide plate on the adjacent gantry.

[0011] As a further preferred technical solution of the present invention, the docking assembly includes a transmitter, a receiver, a pin, and a pin hole seat; the transmitter and the receiver are respectively disposed at the docking ends of adjacent extended beams, and the receiver is capable of receiving the light beam emitted by the transmitter; the pin and the pin hole seat are respectively connected to the docking ends of adjacent extended beams, and after the transmitter and the receiver are matched, the pin can extend into the pin hole seat to securely dock the adjacent extended beams.

[0012] As a preferred embodiment of the present invention, the gantry crane further includes a motion unit; the motion unit includes an X-axis assembly, a Y-axis assembly, a Z-axis assembly, and the robotic arm; all the X-axis assemblies are arranged in parallel; the Y-axis assembly is connected to the Z-axis assembly, and the Y-axis assembly is capable of lifting and lowering along the Z-axis assembly; the Z-axis assembly is connected to the X-axis assembly, and the Z-axis assembly is capable of translating along the X-axis assembly; the Y-axis assembly includes the extension beam, and at least one robotic arm is connected to the Y-axis assembly.

[0013] As a further preferred technical solution of the present invention, the gantry also includes a concrete printing unit; the concrete printing unit includes a receiving pump truck and the concrete printing head; the receiving pump truck is connected to the concrete printing head, and the receiving pump truck is used to receive and pump concrete; the concrete printing head is a concrete lamination printing head or a concrete spraying printing head.

[0014] As a further preferred technical solution of the present invention, the gantry frame further includes a feeding unit; the feeding unit includes a material bucket, a lifting assembly, a translation assembly, a transverse assembly, and a rotating assembly; the material bucket is used to hold concrete; the lifting assembly is arranged along the Z-axis assembly; the translation assembly is connected to the lifting assembly, and the lifting assembly drives the translation assembly to move up and down; the translation assembly is provided with a first gripper, which can move along the translation assembly and can grip the material bucket; the transverse assembly is arranged along the Y-axis assembly; the rotating assembly is connected to the transverse assembly, and the transverse assembly drives the rotating assembly to move along the Y-axis assembly; the rotating assembly is provided with a second gripper, which can grip the material bucket; the second gripper can be vertically aligned with the first gripper; the rotating assembly can drive the material bucket to rotate, pouring concrete into the receiving pump truck.

[0015] As a further preferred technical solution of the present invention, the gantry printing equipment for metal-concrete composite additive manufacturing also includes a transport trolley for transporting the material bucket.

[0016] As a preferred technical solution of the present invention, the gantry further includes a metal printing unit; the metal printing unit includes a second power slide plate, a wire reel, and a metal printing head; the second power slide plate is movable along the Y-axis assembly and is connected to the robotic arm; the wire reel is connected to the second power slide plate and has metal wire wound on it; the metal printing head is used to perform fused wire arc additive manufacturing on the metal wire.

[0017] As a preferred technical solution of the present invention, each of the gantry cranes is equipped with an electrical control box, which is electrically connected to the gantry crane, as well as the robotic arm, the concrete printing head and the metal printing head of each gantry crane. All the electrical control boxes are communicatively connected to the host computer.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This invention discloses a gantry printing equipment for metal-concrete composite additive manufacturing. The gantry can achieve large-scale 3D printing along its moving path. Several gantry units can be combined into a single printing device via an extension beam to increase the printing range of the robotic arm, enabling large-scale 3D printing along the span of the gantry. Alternatively, the gantry units can be separated and operate independently, achieving 3D printing at the hundred-meter level. The robotic arm can connect to either a concrete print head or a metal print head, integrating different concrete-metal printing processes into a single device for composite additive manufacturing. The gantry provides a wide range of movement, while the robotic arm provides precise, small-range control, thus achieving high-precision composite additive manufacturing. Attached Figure Description

[0019] Figure 1 Schematic diagram of gantry printing equipment Figure 1 ; Figure 2 Schematic diagram of gantry printing equipment Figure 2 ; Figure 3 This is a structural schematic diagram of the X-axis assembly; Figure 4 This is a schematic diagram of the Y-axis assembly; Figure 5 This is a schematic diagram of the Z-axis assembly; Figure 6 This is a schematic diagram of the extended beam structure; Figure 7 This is a schematic diagram of the structure of a metal wire disc; Figure 8 This is a schematic diagram of the wire feeder. Figure 9 This is a schematic diagram of the welding torch. Figure 10 This is a structural schematic diagram of a concrete printing unit; Figure 11 This is a schematic diagram of the track-changing unit. Figure 12 This is a schematic diagram of the module connector structure; Figure 13 This is a structural diagram of the docking components; Figure 14Schematic diagram of the feeding unit Figure 1 ; Figure 15 Schematic diagram of the feeding unit Figure 2 ; Figure 16 Schematic diagram of the feeding unit Figure 3 ; Figure 17 Schematic diagram of the feeding unit Figure 4 ; Figure 18 This is a schematic diagram of the movement patterns of the transport vehicle.

[0020] Marked in the image: 11-Gantry frame, 111-X-axis assembly, 112-Y-axis assembly, 1121-Extended beam, 113-Z-axis assembly, 114-Connecting beam; 12-Concrete printing unit, 121-Concrete printing head, 122-Receiving pump truck; 13-Metal printing unit, 131-Metal print head, 1311-Wire feeder, 1312-Welding torch, 132-Second power slide plate, 133-Metal wire spool; 14-Feeding unit, 141-Bag, 142-Lifting assembly, 143-Translation assembly, 144-Horizontal movement assembly, 145-Rotation assembly; 15-Track changing unit, 151-First powered slide plate, 152-Unpowered slide plate, 153-Module connector female head, 154-Module connector female head, 155-Transmitter, 156-Receiver, 157-Pin shaft, 158-Pin hole seat; 16-Electrical control box; 3-Robotic arm; 4-Transport trolley. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0022] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of the present invention is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a particular device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0023] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," and "parallel" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, or parallel, but rather that it can be slightly tilted or have a deviation. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but that it can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," or "parallel" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0024] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0025] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as two, three, four, five, six, seven, eight, nine, or even more than nine.

[0026] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0027] In related technologies, existing technologies lack equipment capable of simultaneously creating composite additive construction from concrete and metal, making efficient synchronous construction difficult. Furthermore, existing concrete 3D printers are only suitable for printing at the ten-meter level, and existing metal 3D printers are applicable to even smaller printing scales, limiting their ability to handle large-scale engineering projects and thus restricting industrial applications. Therefore, the technical solution of this application was developed, which is described below in conjunction with… Figures 1 to 18 To elaborate.

[0028] Example 1 like Figures 1 to 18 As shown, the gantry printing equipment for metal-concrete composite additive manufacturing according to the present invention includes at least two gantry frames 11.

[0029] Each of the gantry cranes 11 is connected to at least one robotic arm 3. The moving paths of all the gantry cranes 11 are arranged in parallel. The lengths of the moving paths of the gantry cranes 11 can be set to be the same or different.

[0030] like Figures 1 to 17 As shown, the gantry frame 11 includes a motion unit, a concrete printing unit 12, a metal printing unit 13, a feeding unit 14, a track changing unit 15, and an electrical control box 16.

[0031] like Figure 1 and Figure 2 As shown, the motion unit includes an X-axis assembly 111, a Y-axis assembly 112, a Z-axis assembly 113, a connecting beam 114, and a robotic arm 3; the moving path of the gantry printer 1 is along the X-axis, the gantry span direction is along the Y-axis, and the vertical direction is along the Z-axis, with the X-axis, Y-axis, and Z-axis being perpendicular to each other.

[0032] like Figures 1 to 3 As shown, all the X-axis assemblies 111 are arranged in parallel; the X-axis assembly 111 includes a ground rail beam system, an X-axis drive system, an X-axis transmission system, an X-axis guide system, and an X-axis limit system, etc.

[0033] like Figure 2 As shown, the ground rail beam system consists of two sets, each with a length ranging from 30m to 150m, assembled from multiple standard ground rail beams. Each standard ground rail beam is a frame structure formed by two sets of 6-meter-long, 200mm-section square tubes as longitudinal beams and three sets of 0.5-meter-long, 200mm-section square tubes as crossbeams. Roller guides and rack mounting surfaces are welded onto the standard ground rail beams. A single ground rail beam system can bear a load of 30 tons, with an elastic deformation beam of less than 0.5mm / m. The ground rail beam system is laid on the ground, with the track flatness adjusted by adjusting bolts and fixed to the ground using chemical anchors or pre-embedded bolts.

[0034] In one optional implementation, a single set of ground rails includes several supports and several segments, the supports being spaced apart along the length of the ground rails, and one segment being connected to two adjacent supports.

[0035] In one alternative implementation, the support is an adjustable leveling support.

[0036] like Figure 3 As shown, the X-axis drive system includes a drive trolley crossbeam and a power system. Two sets of drive trolley crossbeams are provided, the main body of which is welded and machined from 300×500mm cross-section steel. The power system adopts an absolute servo motor + planetary precision reducer configuration, with the two sets of servo motors driving synchronously.

[0037] like Figure 3 As shown, the X-axis transmission system adopts a high-precision 4M helical gear rack drive and is equipped with a gear rack backlash elimination structure, which can achieve high-load and high-precision transmission.

[0038] like Figure 3 As shown, the X-axis guiding system uses a square guide rail machined on the ground rail beam system and is equipped with 8 sets of 3-way roller mechanisms, which has strong load-bearing capacity and high guiding accuracy.

[0039] like Figure 3 As shown, the X-axis limiting system includes limiting plates, which are set at both ends of the X-axis track beam. The drive trolley beam is equipped with polyurethane hard limiting heads and sensors to ensure the safety of the equipment within the X-axis operating area and prevent it from malfunctioning or being pushed out of its travel range due to human error.

[0040] The X-axis assembly 111 is electrically connected to the electrical control box 16.

[0041] like Figure 1 , Figure 2 and Figure 4 As shown, the Y-axis assembly 112 is connected to the Z-axis assembly 113, the Y-axis assembly 112 is capable of moving up and down along the Z-axis assembly 113, and at least one robotic arm 3 is connected to the Y-axis assembly 112.

[0042] The Y-axis assembly 112 is mounted on the Z-axis assemblies 113 on both sides. The Y-axis assembly 112 includes a Y-axis steel beam, a Y-axis drive system, a Y-axis transmission system, a Y-axis guide system, and a Y-axis wiring system.

[0043] like Figure 4As shown, the main body of the Y-axis steel beam uses two sets of rectangular tubes with a cross-section of 300mm×500mm as longitudinal beams, and multiple sets of rectangular tube cross-sections of 200mm×300mm are welded in the middle to form an integral frame structure. One side of the longitudinal beam is extended separately for use in rail docking. This extended longitudinal beam is called the extension beam 1121, that is, each of the gantry frames 11 includes the extension beam 1121. At least one of the robotic arms 3 is connected to the extension beam 1121. The robotic arm 3 can move along the extension beam 1121 and can move to different gantry frames 11.

[0044] like Figure 4 As shown, in this embodiment, three sets of Y-axis guiding mechanisms and Y-axis transmission mechanisms are provided on the Y-axis steel beam, which are respectively connected to the concrete printing unit 12, the metal printing unit 13 and the feeding unit 14; the three sets of Y-axis guiding mechanisms and Y-axis transmission mechanisms can operate independently, and the operation of the concrete printing unit 12, the metal printing unit 13 and the feeding unit 14 on the Y-axis steel beam does not interfere with each other.

[0045] The concrete printing unit 12, the metal printing unit 13, and the feeding unit 14 are all driven to move along the Y-axis beam by an independent Y-axis drive system. The Y-axis drive system includes a servo motor and a reducer; the Y-axis transmission system includes a rack and pinion drive; the Y-axis guide system includes a linear guide rail; and the Y-axis routing system includes a cable chain.

[0046] The Y-axis assembly 112 is electrically connected to the electrical control box 16.

[0047] like Figure 4As shown, the concrete printing unit 12 is located on one side of the extended beam 1121 of the Y-axis crossbeam. The track is a post-welded square track. Two sets of slides, a first powered slide plate 151 and a non-powered slide plate 152, are connected to the extended beam 1121. The first powered slide plate 151 is connected to a power source and houses the Y-axis running motor system. Driven by a servo motor, guided by roller guide rails, and driven by a gear rack, the first powered slide plate 151 moves along the Y-axis crossbeam. The non-powered slide plate 152 is used to mount the concrete printing unit 12. The non-powered slide plate 152 itself is not powered and is moved along the Y-axis crossbeam by the first powered slide plate 151. The metal printing unit 13 is located on the other side of the Y-axis crossbeam, and the Y-axis crossbeam on this side is connected to a second powered slide plate 132. The metal printing unit 13 is arranged back-to-back with the concrete printing unit 12, and the metal printing unit 13 moves along the Y-axis crossbeam via the second powered slide plate 132. The moving path of the feeding unit 14 is configured in the middle of the top surface of the Y-axis beam. That is, the concrete printing unit 12, the metal printing unit 13 and the feeding unit 14 respectively use two sides and one top surface of the Y-axis beam, and their respective moving paths do not interfere with each other.

[0048] like Figure 1 , Figure 2 and Figure 5 As shown, the Z-axis assembly 113 is connected to the X-axis assembly 111, and the Z-axis assembly 113 is capable of translation along the X-axis assembly 111.

[0049] like Figure 5 and Figure 6 As shown, the Z-axis assembly 113 comprises two sets, which are respectively mounted on the drive trolley crossbeam of the X-axis assembly 111. The Z-axis assembly 113 includes a Z-axis column steel beam, a Z-axis lifting drive system, a Z-axis guiding system, and a Z-axis transmission system.

[0050] The Z-axis column steel beam is manufactured by welding two sets of 300×500mm rectangular steel tubes and multiple 200×300mm crossbeams, and is designed with rails and rack mounting surfaces. The lifting and lowering movement of the Y-axis crossbeam on the Z-axis assembly 113 is achieved through a servo motor and reducer drive, gear and rack transmission, linear guide rail guidance, and cable dragging. Mechanical hard limits and electrical soft limits are also provided at the end of the Z-axis stroke to prevent overtravel. The two Z-axis assemblies 113 are connected by the top connecting beam 114 and the Y-axis assembly 112, achieving a stable portal frame structure. The Y-axis assembly 112 rises and falls along the Z-axis column steel beam, thereby enabling the extended beam 1121 to rise and fall along the gantry frame 11.

[0051] The Z-axis assembly 113 is electrically connected to the electrical control box 16.

[0052] like Figure 2 , Figure 4 and Figure 10 As shown, the robotic arm 3 can be an existing mature product, such as a six-axis articulated robot, which will not be described in detail here. The robotic arm 3 drives the concrete printing head 121 or the metal printing head 131; the robotic arm 3 is electrically connected to the electrical control box 16. Not shown, the effective printing range of the robotic arm 3 can be selected according to actual conditions. For example, in some optional embodiments, a robotic arm 3 with a larger arm span can be used, allowing printing of the area between adjacent gantry frames 11, thereby achieving continuous through-printing of the gantry coverage area – adjacent gantry area – gantry coverage area.

[0053] like Figure 4 , Figures 7 to 9 As shown, the metal printing unit 13 includes a second powered sliding plate 132, a wire reel 133, a metal printing head 131, and a welding machine; the second powered sliding plate 132 moves along the Y-axis beam, and is connected to the robotic arm 3, with the metal printing head 131 located at the end of the robotic arm 3; the wire reel 133 is connected to the second powered sliding plate 132, and metal wire is wound on the wire reel 133; the metal printing head 131 is used to heat and weld the metal wire. The metal wire is used for fused wire arc additive manufacturing; the metal printing head 131 includes a wire feeder 1311 and a welding torch 1312. The metal wire is led out from the metal wire reel 133 to the wire feeder 1311, the wire feeder 1311 delivers the metal wire to the welding torch 1312, the welding torch 1312 performs fused welding on the metal wire, the welding torch is electrically connected to the welding machine, the welding machine is mounted on the drive trolley crossbeam; the metal printing unit 13 is electrically connected to the electrical control box 16.

[0054] like Figure 10 As shown, the concrete printing unit 12 includes a receiving pump truck 122 and a concrete printing head 121; the receiving pump truck 122 and the robotic arm 3 are mounted on the non-powered sliding plate 152, and the concrete printing head 121 is mounted at the end of the robotic arm 3. The receiving pump truck 122 is connected to the concrete printing head 121 through a hose, and the receiving pump truck 122 is used to receive and pump concrete; the concrete printing head 121 is a concrete layering printing head or a concrete spraying printing head; the concrete printing unit 12 is electrically connected to the electrical control box 16.

[0055] like Figure 11As shown, the track-changing unit 15 includes a first powered sliding plate 151, a non-powered sliding plate 152, a module connector, and a docking assembly. The first powered sliding plate 151 moves along the extended beam 1121, and the non-powered sliding plate 152 is slidably connected to the extended beam 1121. The non-powered sliding plate 152 and the first powered sliding plate 151 can be connected via a locking assembly and the module connector. The first powered sliding plate 151 drives the non-powered sliding plate 152 to move along the extended beam 1121. The module connector is used for communication and power connection between the first powered sliding plate 151 and the non-powered sliding plate 152. The docking assembly is used for alignment and connection of adjacent extended beams 1121. The track-changing unit 15 is designed to allow two gantry printers 1 to share the robotic arm 3 (specifically, in this embodiment, the concrete printing unit 12), reducing costs while meeting the functionality and efficiency requirements of the printing equipment.

[0056] like Figure 12 As shown, the module connector includes a module connector female head 153 and a module connector female head 154; the module connector female head 153 is connected to the first powered slide plate 151; the module connector female head 154 is connected to the unpowered slide plate 152, and the module connector female head 154 can be plugged into the module connector female head 153; the first powered slide plate 151 on the gantry frame 11 drives the unpowered slide plate 152 to move to the end of the extension beam 1121 and unlocks it, and the unpowered slide plate 152 is connected to and driven by the first powered slide plate 151 on the adjacent gantry frame 11.

[0057] like Figure 13 As shown, the docking assembly includes a transmitter 155, a receiver 156, a pin 157, and a pin hole seat 158. The transmitter 155 and the receiver 156 are respectively disposed at the docking ends of adjacent extended beams 1121, and the receiver 156 is capable of receiving the light beam emitted by the transmitter 155. The pin 157 and the pin hole seat 158 ​​are respectively connected to the docking ends of adjacent extended beams 1121. After the transmitter 155 and the receiver 156 are matched, the pin 157 can extend into the pin hole seat 158 ​​to securely dock the adjacent extended beams 1121.

[0058] The track-changing unit 15 is electrically connected to the electrical control box 16.

[0059] When one of the robotic arms 3 needs to change tracks, the electrical control box 16 controls the adjacent gantry 11 to move along the X-axis, causing the ends of the adjacent extended beams 1121 to move closer together. When a signal emitted by the transmitter 155 on one extended beam 1121 is received by the receiver 156 on the other extended beam 1121, the adjacent extended beams 1121 align, and the electrical control box 16 controls the pin 157 to extend into the pin hole seat 158, completing the docking of the adjacent extended beams 1121. After the adjacent extended beams 1121 are docked, the gap between them is about 2mm, which can ensure the unpowered operation. The rollers of the slide plate 152 can pass through effectively while preventing interference between two adjacent gantry cranes 11 when they are working in the X-axis cross direction. Then, the first powered slide plate 151 on one of the extended beams 1121 drives the unpowered slide plate 152 of the robotic arm 3 across the seam. The first powered slide plate 151 on another extended beam 1121 is connected to the unpowered slide plate 152 through the module connector and the locking assembly. The unpowered slide plate 152 is unlocked from the previous first powered slide plate 151 and is driven by the first powered slide plate 151 on the other extended beam 1121.

[0060] like Figures 14 to 17 As shown, the feeding unit 14 includes a material bucket 141, a lifting assembly 142, a translation assembly 143, a transverse assembly 144, and a rotation assembly 145.

[0061] like Figures 1 to 2 , Figure 14 As shown, the material bucket 141 is used to hold concrete, and the material bucket 141 is transported from the mixing device to the gantry frame 11 by the transport trolley 4. The transport trolley 4 can be an AGV (Automated Guided Vehicle) or an IGV (Intelligent Guided Vehicle).

[0062] like Figure 2 , Figure 5 and Figure 14As shown, the lifting assembly 142 is arranged along the Z-axis assembly 113; the lifting assembly 142 includes a first mounting plate and a lifting servo motor assembly, the lifting servo motor assembly includes a first drive motor, a first gear and rack transmission, and a first linear guide rail, the first linear guide rail and the rack of the first gear and rack transmission are arranged along the Z-axis assembly 113, the first mounting plate is slidably connected to the first linear guide rail, the first mounting plate is provided with the first drive motor and the gear of the first gear and rack transmission, the first drive motor is connected to the gear of the first gear and rack transmission, the gear of the first gear and rack transmission meshes with the rack of the first gear and rack transmission, so as to realize the lifting of the first mounting plate along the Z-axis assembly 113.

[0063] like Figure 2 , Figure 5 , Figure 14 and Figure 15 As shown, the translation component 143 is connected to the lifting component 142, and the lifting component 142 drives the translation component 143 to move up and down. The translation component 143 is provided with a first gripper, which can move along the translation component 143 and can grip the material bucket 141. The translation component 143 includes a drive servo system, a crossbeam, a synchronous belt drive system, and a linear guide rail system. The translation component 143 is a speed multiplier mechanism. The first gripper includes a mounting frame, a servo drive system, a forward and reverse rotary screw system, a linear guide rail system, and a gripper.

[0064] like Figure 2 , Figure 4 , Figure 15 and Figure 16 As shown, the transverse component 144 is disposed along the Y-axis assembly 112; the transverse component 144 includes a second mounting slide plate and a transverse servo motor assembly, the transverse servo motor assembly including a second drive motor, a second gear and rack transmission, and a second linear guide rail, the second linear guide rail and the rack of the second gear and rack transmission are disposed along the top surface of the Y-axis assembly 112, the second mounting slide plate is slidably connected to the second linear guide rail, the second mounting slide plate is disposed with the gear of the second drive motor and the gear of the second gear and rack transmission, the second drive motor is connected to the gear of the second gear and rack transmission, the gear of the second gear and rack transmission meshes with the rack of the second gear and rack transmission, thereby realizing the movement of the second mounting slide plate along the Y-axis assembly 112.

[0065] like Figure 2 , Figure 4 , Figure 16 and Figure 17As shown, the rotating component 145 is connected to the transverse component 144. The transverse component 144 drives the rotating component 145 to move along the Y-axis assembly 112. The rotating component 145 is provided with a second gripper, which can grip the material bucket 141. The second gripper can be vertically aligned with the first gripper. The rotating component 145 can drive the material bucket 141 to rotate and pour concrete into the receiving pump truck 122. The rotating component 145 is connected to the second mounting plate. The rotating component 145 is driven by a motor and a slewing bearing, which can realize the rotation and tilting of the material bucket 141. The structure of the second gripper is similar to that of the first gripper, and the material bucket 141 is gripped by a screw drive.

[0066] The feeding unit 14 is electrically connected to the electrical control box 16.

[0067] When the feeding unit 14 is in operation, after the transport trolley 4 transports the concrete-carrying bucket 141 into position and stops beside the gantry frame 11, the translation component 143 descends along the Z-axis assembly 113, and the first gripper clamps the upper half of the bucket 141, as shown. Figure 14 As shown; next, the translation component 143 rises along the Z-axis assembly 113 and is higher than the position of the Y-axis assembly 112. The translation component 143 drives the material bucket 141 to move above the Y-axis assembly 112. At this time, the second gripper of the transverse component 144 on the Y-axis assembly 112 clamps the lower half of the material bucket 141, as shown. Figure 15 As shown; then, the lateral movement component 144 drives the material bucket 141 to move to the receiving pump truck 122, as shown. Figure 16 As shown, the rotating component 145 drives the material bucket 141 to rotate and tilt, pouring concrete into the receiving pump truck 122.

[0068] All of the electrical control boxes 16 and all of the transport trolleys 4 are respectively connected to the host computer via communication.

[0069] like Figure 18 As shown, the transport vehicle 4 is an AGV or IGV. The vehicle body of the transport vehicle 4 includes four sets of drive components. Each set of drive components includes two wheels. The four sets of drive components are distributed in the front and rear rows of the vehicle body. Each row has two sets of drive components and they are symmetrically arranged along the axis of the vehicle body. Each set of drive components includes a rotating disk. The rotating disk is connected to the two wheels. The rotating disk can rotate relative to the vehicle body, thereby driving the wheels to rotate in the horizontal plane. It can realize at least six walking modes: forward and backward movement, turning in place, left and right movement, gradual turning, gradual diagonal movement, and left and right head tilting, to ensure that the transport vehicle 4 can reach the working position efficiently and flexibly.

[0070] This embodiment describes a gantry printing equipment for metal-concrete composite additive manufacturing. Large-scale 3D printing can be achieved along the moving path of the gantry 11. Several gantry 11 units can be combined into a single printing device via the extension beam 1121 to increase the printing range of the robotic arm 3, thus achieving large-scale 3D printing along the span of the gantry 11. Alternatively, several gantry 11 units can be separated and each performs its own printing operation, achieving 3D printing at the hundred-meter level. The end of the robotic arm 3 can be connected to either the concrete printing head 121 or the metal printing head 131, integrating different concrete-metal printing processes into the same device for composite additive manufacturing. The gantry 11 provides a wide range of movement, while the robotic arm 3 provides precise, small-range control, thereby achieving high-precision composite additive manufacturing.

[0071] Example 2 Not shown, the gantry printing equipment for metal-concrete composite additive manufacturing described in this invention differs from Embodiment 1 in that, in this embodiment, the robotic arm 3 shared by two adjacent and dockable extended beams 1121 is used to drive the metal print head 131.

[0072] Example 3 Not shown, the gantry printing equipment for metal-concrete composite additive manufacturing described in this invention differs from Embodiment 1 or Embodiment 2 in that, in this embodiment, the longitudinal beams on both sides of the Y-axis assembly 112 are both extended beams 1121, with one side of the extended beam 1121 used to house the concrete printing head 121, and the other side of the extended beam 1121 used to house the metal printing head 131.

[0073] In one optional embodiment, the gantry printing equipment for metal-concrete composite additive manufacturing includes two gantry printers 1; the extension beams 1121 on each side of the two gantry printers 1 can be docked, enabling the robotic arms 3 on both sides to move onto either the first or second gantry printer 1 for operation. This means that with four gantry printers 1, the extension beams 1121 of the two adjacent gantry printers on the left can be docked, and the extension beams 1121 of the two adjacent gantry printers on the right can be docked. Similarly, with six gantry printers 1, three sets of adjacent pairs of extension beams 1121 can be docked; with eight gantry printers 1, four sets of adjacent pairs of extension beams 1121 can be docked; and so on.

[0074] In one optional embodiment, the gantry printing equipment for metal-concrete composite additive manufacturing includes three gantry printers 1; wherein the extension beam 1121 on one side of the first and second gantry printers 1 can be connected, enabling the robotic arm 3 on that side to move onto either the first or second gantry printer 1 for operation; the extension beam 1121 on the other side of the second and third gantry printers 1 can be connected, enabling the robotic arm 3 on that side to move onto either the second or third gantry printer 1 for operation. This means that with four gantry printers 1, the first and second gantry printers 1 share the robotic arm 3 on the first side, the second and third gantry printers 1 share the robotic arm 3 on the second side, and the third and fourth gantry printers 1 share the robotic arm 3 on the first side. When there are five gantry printers 1, the first and second gantry printers 1 share the robotic arm 3 on the first side; the second and third gantry printers 1 share the robotic arm 3 on the second side; the third and fourth gantry printers 1 share the robotic arm 3 on the first side; and the fourth and fifth gantry printers 1 share the robotic arm 3 on the second side. This continues, with each adjacent gantry printer 1 sharing the robotic arm 3 on an alternate side between the first and second sides.

[0075] In one alternative embodiment, the gantry printing equipment for metal-concrete composite additive manufacturing includes four gantry printers 1; the robotic arms 3 can be shared on both sides of two adjacent sets of two gantry printers 1; or the robotic arms 3 can be shared on staggered sides of four gantry printers 1.

[0076] In one alternative embodiment, the gantry printing equipment for metal-concrete composite additive manufacturing includes five gantry printers 1; it can be configured as two sets of two adjacent gantry printers 1 sharing the robotic arm 3 on both sides, plus one separate gantry printer 1; it can also be configured as one set of two adjacent gantry printers 1 sharing the robotic arm 3 on both sides, plus three separate gantry printers 1; it can also be configured as one set of two adjacent gantry printers 1 sharing the robotic arm 3 on both sides, plus three other gantry printers 1 sharing the robotic arm 3 on staggered sides; it can also be configured as four gantry printers 1 sharing the robotic arm 3 on staggered sides, plus one separate gantry printer 1; or it can be configured as five gantry printers 1 sharing the robotic arm 3 on staggered sides.

[0077] In one alternative embodiment, the gantry printing equipment for metal-concrete composite additive manufacturing includes more than five of the aforementioned gantry printers 1, and can be configured analogously with the case of five of the aforementioned gantry printers 1, which will not be described in detail here.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gantry printing device for metal-concrete composite additive manufacturing, characterized in that, include: At least two gantry cranes (11), each gantry crane (11) is connected to at least one robotic arm (3), the movement paths of all the gantry cranes (11) are arranged in parallel, each gantry crane (11) includes an extension beam (1121), the extension beam (1121) can be raised and lowered along the gantry crane (11), the extension beams (1121) of adjacent gantry cranes (11) can be aligned and connected, the extension beam (1121) is connected to the robotic arm (3), the robotic arm (3) can move along the extension beam (1121) and can move to different gantry cranes (11); The robotic arm (3) drives the concrete printing head (121) or the metal printing head (131).

2. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 1, characterized in that, The gantry (11) includes a track-changing unit (15); The track-changing unit (15) includes a first powered sliding plate (151), a non-powered sliding plate (152), a module connector, and a docking assembly; The first powered sliding plate (151) is capable of moving along the extended beam (1121); The non-powered sliding plate (152) is slidably connected to the extended beam (1121). The non-powered sliding plate (152) and the first powered sliding plate (151) can be connected to the module connector through a locking assembly. The first powered sliding plate (151) drives the non-powered sliding plate (152) to move along the extended beam (1121). The robotic arm (3) is connected to the non-powered sliding plate (152). The module connector is used for communication and power connection between the first powered skateboard (151) and the unpowered skateboard (152); The docking assembly is used for the alignment and connection of adjacent extended beams (1121).

3. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 2, characterized in that, The module connector includes a module connector female head (153) and a module connector female head (154); The module connector female head (153) is connected to the first power slide plate (151); The module connector sub-head (154) is connected to the non-powered slide plate (152), and the module connector sub-head (154) can be plugged into the module connector female head (153); The first powered sliding plate (151) on the gantry (11) drives the unpowered sliding plate (152) to move to the end of the extended beam (1121) and unlocks it. The unpowered sliding plate (152) is connected to and driven by the first powered sliding plate (151) on the adjacent gantry (11).

4. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 2, characterized in that, The docking assembly includes a transmitter (155), a receiver (156), a pin (157), and a pin hole seat (158); The transmitter (155) and the receiver (156) are respectively located at the docking ends of adjacent extended beams (1121), and the receiver (156) is capable of receiving the light beam emitted by the transmitter (155); The pin (157) and the pin hole seat (158) are respectively connected to the mating ends of the adjacent extended beams (1121). After the transmitter (155) and the receiver (156) are matched, the pin (157) can extend into the pin hole seat (158) to firmly connect the adjacent extended beams (1121).

5. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 1, characterized in that, The gantry (11) also includes a motion unit; The motion unit includes an X-axis assembly (111), a Y-axis assembly (112), a Z-axis assembly (113), and the robotic arm (3); All of the aforementioned X-axis assemblies (111) are arranged in parallel; The Y-axis assembly (112) is connected to the Z-axis assembly (113), and the Y-axis assembly (112) can move up and down along the Z-axis assembly (113); The Z-axis assembly (113) is connected to the X-axis assembly (111), and the Z-axis assembly (113) is capable of translating along the X-axis assembly (111); The Y-axis assembly (112) includes the extended beam (1121), and at least one of the robotic arms (3) is connected to the Y-axis assembly (112).

6. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 5, characterized in that, The gantry (11) also includes a concrete printing unit (12); The concrete printing unit (12) includes a receiving pump truck (122) and the concrete printing head (121); The receiving pump truck (122) is connected to the concrete printing head (121), and the receiving pump truck (122) is used to receive and pump concrete; The concrete print head (121) is a concrete lamination print head or a concrete spray print head.

7. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 6, characterized in that, The gantry (11) also includes a feeding unit (14); The feeding unit (14) includes a material bucket (141), a lifting assembly (142), a translation assembly (143), a transverse assembly (144), and a rotating assembly (145); The hopper (141) is used to hold concrete; The lifting assembly (142) is disposed along the Z-axis assembly (113); The translation component (143) is connected to the lifting component (142). The lifting component (142) drives the translation component (143) to rise and fall. The translation component (143) is provided with a first gripper. The first gripper can move along the translation component (143) and can hold the material bucket (141). The transverse component (144) is disposed along the Y-axis assembly (112); The rotating assembly (145) is connected to the transverse assembly (144). The transverse assembly (144) drives the rotating assembly (145) to move along the Y-axis assembly (112). The rotating assembly (145) is provided with a second gripper. The second gripper can hold the material bucket (141). The second gripper can be aligned vertically with the first gripper. The rotating assembly (145) can drive the material bucket (141) to rotate and pour concrete into the receiving pump truck (122).

8. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 7, characterized in that, It also includes a transport trolley (4) for transporting the material bucket (141).

9. The gantry printing equipment for metal-concrete composite additive manufacturing according to claim 5, characterized in that, The gantry (11) also includes a metal printing unit (13); The metal printing unit (13) includes a second power slide plate (132), a metal wire spool (133), and the metal print head (131); The second powered slide (132) is movable along the Y-axis assembly (112), and the second powered slide (132) is connected to the robotic arm (3); The wire reel (133) is connected to the second power slide plate (132), and a metal wire is wound on the wire reel (133); The metal printhead (131) is used to perform fused wire arc additive manufacturing on the metal filament.

10. The gantry printing equipment for metal-concrete composite additive manufacturing according to any one of claims 1-9, characterized in that, Each of the gantry cranes (11) is equipped with an electrical control box (16), which is electrically connected to the gantry crane (11), as well as the robotic arm (3), the concrete printing head (121) and the metal printing head (131) of each gantry crane (11). All the electrical control boxes (16) are communicatively connected to the host computer.

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