A mobile printing apparatus for concrete additive manufacturing

Abstract

The present application relates to the field of additive manufacturing, and particularly relates to a mobile printing equipment for concrete additive manufacturing, which comprises a mobile chassis, a concrete printing head and a feeding mechanism; a stand column is connected to the mobile chassis, a lifting slide plate is slidably connected to the stand column, the lifting slide plate can be lifted along the stand column, a mechanical arm and a material receiving pump truck are connected to the lifting slide plate; the material receiving pump truck is connected to the concrete printing head through a hose, and the material receiving pump truck is used for receiving and pumping concrete; the feeding mechanism is used for conveying concrete to the material receiving pump truck; the mechanical arm drives the concrete printing head, and the concrete printing head is used for concrete additive manufacturing. The present application conveys concrete to the material receiving pump truck through the feeding mechanism, and the material receiving pump truck pumps concrete to the concrete printing head. The mobile chassis is arranged to drive the concrete printing head to move in the XY plane, and the stand column is arranged to drive the concrete printing head to move in the Z axis direction, so that the placement position of the concrete printing head in space is greatly expanded.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing, and in particular to a mobile printing equipment for additive manufacturing of concrete. 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] Existing concrete 3D printing technology has limited printing size, and the equipment coverage is insufficient to meet the scale requirements of building components up to 100 meters in length, making it impossible to carry out large-scale engineering construction and limiting its industrial application. Summary of the Invention

[0004] The purpose of this invention is to address the limitations of existing concrete 3D printing technologies, such as limited printing size, insufficient equipment coverage to meet the dimensional requirements of building components up to 100 meters in size, inability to carry out large-scale engineering construction, and limited industrial application. This invention provides a mobile printing equipment for concrete additive manufacturing.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A mobile printing equipment for concrete additive manufacturing includes a mobile chassis, a concrete printing head, and a feeding mechanism. A column is connected to the mobile chassis, and a lifting slide is slidably connected to the column. The lifting slide can move up and down along the column. A robotic arm and a receiving pump are connected to the lifting slide. The receiving pump is connected to the concrete printing head via a hose and is used to receive and pump concrete. The feeding mechanism is used to deliver concrete to the receiving pump. The robotic arm drives the concrete printing head, which is used for concrete additive manufacturing.

[0007] The mobile printing equipment for concrete additive manufacturing described in this invention delivers concrete to a receiving pump truck via a feeding mechanism. The receiving pump truck then pumps concrete to the concrete printing head. The mobile chassis drives the concrete printing head to move in the XY plane, and the column drives it to move along the Z-axis. This significantly expands the placement range of the concrete printing head in space, enabling wide coverage and coarse positioning. Combined with the precise positioning of the robotic arm, the workstation position of the concrete printing head is further expanded, meeting the dimensional requirements of building components up to 100 meters in length. This mobile printing equipment has a simple structure, is easy to use, and delivers excellent results.

[0008] As a preferred embodiment of the present invention, the concrete printing head is a concrete lamination printing head or a concrete jet printing head.

[0009] As a preferred embodiment of the present invention, the feeding mechanism includes a material bucket, a lifting assembly, a lateral movement assembly, a planar rotating component, and a vertical rotating component; the material bucket is loaded with concrete; the lifting assembly is connected to the mobile chassis and located behind the column; the lateral movement assembly is slidably connected to the lifting assembly and can move up and down along the lifting assembly; the planar rotating component is connected to the lateral movement assembly, and the lateral movement assembly drives the planar rotating component to move laterally; the vertical rotating component is connected to the planar rotating component, and the planar rotating component drives the vertical rotating component to rotate in a plane, and the vertical rotating component is connected to and drives the material bucket to rotate in a vertical plane.

[0010] As a further preferred technical solution of the present invention, the planar rotating component is provided with a gripper, the gripper is capable of gripping the material bucket, the planar rotating component drives the gripper to rotate in the horizontal plane, and the gripping part of the gripper is provided with the vertical rotating component, the vertical rotating component contacts the material bucket and is capable of driving the material bucket to rotate in the vertical plane.

[0011] As a further preferred technical solution of the present invention, the mobile printing equipment for concrete additive manufacturing also includes a transport trolley, which is used to transport the material bucket from the mixing device to the mobile chassis.

[0012] As a further preferred technical solution of the present invention, the mobile chassis adopts AGV, RGV or IGV, and the transport vehicle adopts AGV, RGV or IGV.

[0013] As a further preferred technical solution of the present invention, the vehicle body of the AGV or the IGV 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 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.

[0014] As a preferred technical solution of the present invention, the column includes a Z-axis assembly, which includes a Z-axis column steel beam, a Z-axis lifting drive system, and a Z-axis guiding system.

[0015] As a preferred embodiment of the present invention, at least three support components are provided around the mobile chassis, and the support components are used for effective support when the mobile printer is working.

[0016] As a preferred technical solution of the present invention, the mobile chassis is provided with an electrical control box, and the mobile chassis, the lifting slide, the robotic arm, the receiving pump truck, the concrete printing head, and the feeding mechanism are respectively electrically connected to the electrical control box.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This invention discloses a mobile printing equipment for concrete additive manufacturing. The equipment delivers concrete to a receiving pump truck via a feeding mechanism, and the receiving pump truck pumps concrete to the concrete printing head. A mobile chassis drives the concrete printing head to move in the XY plane, and a column drives it to move along the Z-axis. This significantly expands the placement range of the concrete printing head in space, enabling wide coverage and coarse positioning. Combined with the precise positioning of the robotic arm, the workstation position of the concrete printing head is further expanded to meet the dimensional requirements of building components up to 100 meters in length. This mobile printing equipment has a simple structure, is easy to use, and delivers excellent results. Attached Figure Description

[0018] Figure 1 A schematic diagram of a mobile printing equipment used for concrete additive manufacturing. Figure 2 Illustration of loading materials for a mobile printer Figure 1 ; Figure 3 Illustration of loading materials for a mobile printer Figure 2 ; Figure 4 This is a schematic diagram of the movement modes of the mobile chassis.

[0019] Marked in the image: 121 - Concrete printing head; 122 - Material receiving pump truck; 141-Material bucket, 142-Lifting assembly, 144-Horizontal movement assembly, 146-Plane rotating component, 147-Vertical rotating component; 21-Mobile chassis, 211-Support components, 22-Columns, 23-Lifting slide, 24-Electrical control box; 3-Robotic arm; 4-Transport trolley. Detailed Implementation

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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 2, 3, 4, 5, 6, 7, 8, or 9, and can even exceed nine.

[0025] 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.

[0026] In related technologies, existing concrete 3D printing technologies have limited printing sizes, and the equipment coverage is insufficient to meet the dimensional requirements of building components up to 100 meters in length, making large-scale engineering construction impossible and limiting industrial applications. Therefore, the technical solution of this application was developed, which is described below in conjunction with... Figures 1 to 4 To elaborate.

[0027] Example 1 like Figures 1 to 4 As shown, the printing equipment for concrete additive manufacturing according to the present invention includes a fixed printing equipment and a mobile printing equipment.

[0028] The fixed printing equipment uses a concrete 3D printer from the prior art, which is generally in a fixed position and uses a robotic arm to perform concrete additive manufacturing within the space of that fixed position.

[0029] like Figure 1 As shown, the mobile printing equipment includes a mobile chassis 21, a concrete printing head 121, and a feeding mechanism. The concrete printing head 121 is used for concrete additive manufacturing. The mobile chassis 21 is an AGV, RGV, or IGV. A column 22 is connected to the mobile chassis 21, and a lifting slide plate 23 is slidably connected to the column 22. The lifting slide plate 23 can move up and down along the column 22. A robotic arm 3 and a receiving pump truck 122 are connected to the lifting slide plate 23. The receiving pump truck 122 is connected to the concrete printing head 121 through a hose and is used to receive and pump concrete. The feeding mechanism is used to deliver concrete into the receiving pump truck 122. The robotic arm 3 drives the concrete printing head 121.

[0030] In an optional embodiment, the concrete printhead 121 is a concrete lamination printhead or a concrete spray printhead.

[0031] In one alternative implementation, such as Figures 1 to 3 As shown, the feeding mechanism includes a material bucket 141, a lifting assembly 142, a lateral movement assembly 144, a planar rotating component 146, and a vertical rotating component 147. The material bucket 141 is loaded with concrete. The lifting assembly 142 is connected to the mobile chassis 21 and is located behind the column 22. The lateral movement assembly 144 is slidably connected to the lifting assembly 142 and can move up and down along the lifting assembly 142. The planar rotating component 146 is connected to the lateral movement assembly 144, and the lateral movement assembly 144 drives the planar rotating component 146 to move laterally. The vertical rotating component 147 is connected to the planar rotating component 146, and the planar rotating component 146 drives the vertical rotating component 147 to rotate in a plane. The vertical rotating component 147 is connected to and drives the material bucket 141 to rotate in a vertical plane.

[0032] In one alternative implementation, such as Figure 1 As shown, the mobile printing equipment for concrete additive manufacturing also includes a transport trolley 4, which is used to transport the material bucket 141 from the mixing device to the mobile chassis 21. The transport trolley 4 is an AGV, RGV or IGV.

[0033] like Figure 4 As shown, the AGV or IGV vehicle body 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.

[0034] In one alternative implementation, such as Figure 1 As shown, the column 22 adopts a truss structure, and the portal structure includes two uprights, which are respectively connected to the left and right sides of the movable chassis 21. At least one horizontal connector connects the two uprights, and at least one longitudinal connector connects the column 22 and the lifting assembly 142. Figure 2 As shown, the height of the lifting assembly 142 is greater than the height of the column 22, so that the material bucket 141 can be driven above the receiving pump truck 122.

[0035] In one alternative implementation, such as Figure 1 and Figure 2 As shown, the column 22 includes a Z-axis assembly, which includes a Z-axis column steel beam, a Z-axis lifting drive system, and a Z-axis guide system. The Z-axis column steel beam is made of rectangular steel tubing, and stiffening plates are connected to the rectangular steel tubing. The Z-axis guide system includes a track connected to the rectangular steel tubing, and the lifting slide plate 23 can move along the track. The Z-axis lifting drive system includes a rack, a gear, and a motor. The rack is connected to the rectangular steel tubing and is arranged parallel to the track. The motor is connected to the lifting slide plate 23 and is connected to the gear, which meshes with the rack. The motor can be a servo motor, and the output end of the servo motor is connected to a reducer, and the output end of the reducer is connected to the gear.

[0036] In one alternative implementation, such as Figure 1 and Figure 2 As shown, the lifting assembly 142 also includes the Z-axis assembly, which will not be described in detail here.

[0037] In one alternative implementation, such as Figure 1and Figure 2 As shown, the transverse component 144 includes an X-axis assembly, which includes an X-axis steel beam, an X-axis drive system, an X-axis transmission system, and an X-axis guide system. The main body of the X-axis steel beam uses two sets of rectangular tubes as longitudinal beams, with multiple sets of rectangular tube crossbeams welded in the middle to form an integral frame structure. The X-axis guide mechanism and the X-axis transmission mechanism are installed on the X-axis steel beam. The planar rotating component 146 is driven by the X-axis drive system and moves along the X-axis steel beam. The X-axis drive system includes a servo motor and a reducer. The X-axis transmission system includes a rack and pinion drive. The X-axis guide system includes a linear guide rail. The specific connection relationship of the X-axis assembly can be referred to the Z-axis assembly.

[0038] In one alternative implementation, such as Figure 2 and Figure 3 As shown, the planar rotating component 146 includes a first mounting plate, a first slewing bearing system, a second mounting plate, and a gripper. The gripper is capable of gripping the material bucket 141. The planar rotating component 146 drives the gripper to rotate in the horizontal plane. Specifically, the top of the first mounting plate is connected to the transverse moving assembly 144 and is driven to move along the X-axis steel beam. The bottom of the first mounting plate is connected to the first slewing bearing system, the bottom of the first slewing bearing system is connected to the second mounting plate, and the gripper is connected to the second mounting plate. The first mounting plate and the second mounting plate are connected through the first slewing bearing system. The relative rotation of the mounting plate within a plane; the gripper includes a mounting frame, a servo drive system, a forward and reverse rotary screw system, a linear guide system, and a gripper. The mounting frame is connected to the second mounting plate. The servo drive system, the forward and reverse rotary screw system, and the linear guide system are mounted on the mounting frame. The gripper is slidably connected to the linear guide system and connected to the forward and reverse rotary screw system. The servo drive system drives the two grippers to move closer or further apart along the linear guide system via the forward and reverse rotary screw system, thereby clamping or releasing the material bucket 141. Figure 3 As shown, the gripping part of the gripper (i.e. the gripper) is provided with the vertical plane rotating component 147. The vertical plane rotating component 147 contacts the material bucket 141 and can drive the material bucket 141 to rotate in the vertical plane. The vertical plane rotating component 147 can specifically adopt a second slewing bearing system. The first slewing bearing system and the second slewing bearing system are existing technologies, and their specific structures will not be described in detail here.

[0039] In one alternative implementation, such as Figure 1 As shown, at least three support components 211 are provided around the mobile chassis 21, and the support components 211 are used for effective support when the mobile printer 2 is working.

[0040] In an alternative implementation, 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.

[0041] In one alternative implementation, such as Figure 1 As shown, the mobile chassis 21 is equipped with an electrical control box 24. The mobile chassis 21, the lifting slide plate 23, the robotic arm 3, the material receiving pump truck 122, the concrete printing head 121, the feeding mechanism, and the transport trolley 4 are electrically connected to the electrical control box 24.

[0042] At work, such as Figure 1 As shown, according to the instructions of the electrical control box 24, the transport trolley 4 transports the concrete-filled bucket 141 to the side of the mobile chassis 21; the lateral movement assembly 144 descends along the lifting assembly 142, and the grippers of the planar rotating component 146 clamp the concrete bucket 141 on the transport trolley 4; as Figure 2 As shown, the lateral movement assembly 144 rises to the top along the lifting assembly 142, and the lifting slide plate 23 rises to the top along the column 22; as Figure 2 As shown, the planar rotating component 146 moves along the transverse moving component 144 and rotates and unfolds relative to the transverse moving component 144, causing the material bucket 141 to move above the receiving pump truck 122. The vertical rotating component 147 drives the material bucket 141 to rotate and pour concrete into the receiving pump truck 122. Then, the vertical rotating component 147 resets, the planar rotating component 146 resets, and the transverse moving component 144 resets. The lifting slide plate 23 moves along the column 22 to the working height, the moving chassis 21 moves to the working position, the robotic arm 3 drives the concrete printing head 121 to the designated position, the receiving pump truck 122 pumps concrete to the concrete printing head 121, and the concrete printing head 121 performs concrete additive manufacturing. The movement data of the horizontal moving component 144 driving the planar rotating component 146, the unfolding rotation data of the planar rotating component 146, and the tilting rotation data of the vertical rotating component 147 can be preset in the electrical control box 24, or limit switches or other control devices can be introduced for trigger control, or a vision system can be introduced for machine learning control.

[0043] The present invention discloses a mobile printing equipment for concrete additive manufacturing. Concrete is fed into a receiving pump truck 122 via a feeding mechanism, and then pumped into a concrete printing head 121 by the receiving pump truck 122. The concrete printing head 121 is driven to move in the XY plane by a mobile chassis 21, and to move along the Z-axis by a column 22. This greatly expands the spatial placement of the concrete printing head 121, enabling wide coverage and coarse positioning. Combined with the fine positioning of the robotic arm 3, the workstation position of the concrete printing head 121 is expanded to meet the dimensional requirements of building components up to 100 meters in length. This mobile printing equipment has a simple structure, is easy to use, and has good performance.

[0044] 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 mobile printing equipment for concrete additive manufacturing, characterized in that, Includes a mobile chassis (21), a concrete printing head (121), and a feeding mechanism; The mobile chassis (21) is connected to a column (22), and a lifting slide plate (23) is slidably connected to the column (22). The lifting slide plate (23) can move up and down along the column (22). A robotic arm (3) and a material receiving pump truck (122) are connected to the lifting slide plate (23). The receiving pump truck (122) is connected to the concrete printing head (121) via a hose, and the receiving pump truck (122) is used to receive and pump concrete; The feeding mechanism is used to deliver concrete into the receiving pump truck (122); The robotic arm (3) drives the concrete printing head (121), which is used for concrete additive manufacturing.

2. The mobile printing equipment for concrete additive manufacturing according to claim 1, characterized in that, The concrete print head (121) is a concrete lamination print head or a concrete spray print head.

3. The mobile printing equipment for concrete additive manufacturing according to claim 1, characterized in that, The feeding mechanism includes: Container (141), for loading concrete; The lifting assembly (142) is connected to the mobile chassis (21) and located behind the column (22); A lateral movement component (144) is slidably connected to the lifting component (142) and is capable of moving up and down along the lifting component (142); A planar rotating component (146) is connected to the transverse assembly (144), and the transverse assembly (144) drives the planar rotating component (146) to transverse; A vertical rotating component (147) is connected to the planar rotating component (146). The planar rotating component (146) drives the vertical rotating component (147) to rotate in the plane. The vertical rotating component (147) is connected to and drives the material bucket (141) to rotate in the vertical plane.

4. The mobile printing equipment for concrete additive manufacturing according to claim 3, characterized in that, The planar rotating component (146) is provided with a gripper, which can grip the material bucket (141). The planar rotating component (146) drives the gripper to rotate in the horizontal plane. The gripping part of the gripper is provided with the vertical rotating component (147). The vertical rotating component (147) contacts the material bucket (141) and can drive the material bucket (141) to rotate in the vertical plane.

5. The mobile printing equipment for concrete additive manufacturing according to claim 3, characterized in that, It also includes a transport trolley (4) for transporting the material bucket (141) from the mixing device to the mobile chassis (21).

6. The mobile printing equipment for concrete additive manufacturing according to claim 5, characterized in that, The mobile chassis (21) is an AGV, RGV or IGV, and the transport vehicle (4) is an AGV, RGV or IGV.

7. The mobile printing equipment for concrete additive manufacturing according to claim 6, characterized in that, The AGV or IGV vehicle body 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.

8. The mobile printing equipment for concrete additive manufacturing according to claim 1, characterized in that, The column (22) includes a Z-axis assembly, which includes a Z-axis column steel beam, a Z-axis lifting drive system, and a Z-axis guiding system.

9. The mobile printing equipment for concrete additive manufacturing according to claim 1, characterized in that, The mobile chassis (21) is provided with at least three support components (211) around its perimeter, which are used to provide effective support for the mobile printer (2) when it is in operation.

10. The mobile printing equipment for concrete additive manufacturing according to any one of claims 1-9, characterized in that, The mobile chassis (21) is equipped with an electrical control box (24). The mobile chassis (21), the lifting slide plate (23), the robotic arm (3), the material receiving pump truck (122), the concrete printing head (121), and the feeding mechanism are electrically connected to the electrical control box (24).

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