Mechanical arm device based on concrete 3D printing

Abstract

The utility model discloses a mechanical arm device based on concrete 3D printing. The mechanical arm device comprises a base and a rotating table connected with the base. The rotating table is connected with an arm section; the arm section is connected with a force transmission arm; wherein the arm sections comprise a first arm section, a second arm section, a third arm section and a fourth arm section, the four arm sections are rotationally connected end to end, a first motor is installed in the base, a second motor is installed on the first arm section, a third motor is installed on the second arm section, a fourth motor is installed on the third arm section, and a spray head is rotationally installed on the fourth arm section; material conveying pipes are arranged in the arm section, the material conveying pipe arranged at the initial position is rotationally communicated with a feeding pipe, and the material conveying pipe arranged at the tail end position is rotationally communicated with the spray head. The utility model designs a brand-new mechanical arm structure, and the mechanical arm unit can drive the printing unit to perform printing actions at various angles, so that the printing unit completes forming printing at various angles, and the defect that an existing concrete 3D printer cannot perform forming printing at various angles is overcome.

Description

Technical Field

[0001] The utility model relates to a robotic arm device, in particular to a robotic arm device based on concrete 3D printing, belonging to the technical field of concrete 3D printing. Background Technique

[0002] Generally speaking, concrete 3D printing refers to an advanced manufacturing method that uses 3D printing technology to construct concrete structures, which can greatly shorten the construction time and improve the construction efficiency.

[0003] Concrete 3D printing technology combines 3D printing and traditional building materials science. It stacks concrete layer by layer through an automated robotic arm or rail system to gradually construct complex structures. Its core lies in precisely controlling the extrusion process of concrete to achieve high-precision and efficient construction. The birth of this technology stems from the construction industry's demand for faster, more economical, and more sustainable construction methods. With automation and digital design, concrete 3D printing can reduce the labor demand, reduce material waste, and at the same time achieve the construction of personalized and complex shapes. Its applications cover multiple fields such as residential buildings, infrastructure, and personalized design, showing broad application prospects.

[0004] In the prior art, the concrete 3D printer is a gantry printer, usually composed of a large frame structure. An X, Y, Z three-axis motion system is installed on the frame, and the print head is installed on the X-axis or Y-axis and can move along these axes. It is only suitable for concrete printing in a single and simple environment, unable to work in complex and harsh environments, and the machine is relatively large and cannot work in small spaces. In addition, the existing concrete 3D printing robotic arm is driven by a single stepping motor, which has high requirements for the motor performance and the structure is not reliable enough. And the concrete feeding pipe is generally arranged outside the robotic arm. Due to the relatively harsh environment of concrete 3D printing, the feeding pipe is easily damaged. Content of the Utility Model

[0005] The purpose of the utility model is to provide a robotic arm device based on concrete 3D printing for the problems that the existing concrete 3D printers cannot work in complex and harsh environments and the machines are relatively large and cannot work in small spaces.

[0006] To solve the above technical problems, the utility model provides the following technical solution: A robotic arm device based on concrete 3D printing, including a base and a rotating table connected to the base;

[0007] The rotating table is connected with an arm segment, and a force-transmitting arm is connected to the arm segment;

[0008] Among them, the arm section includes a first arm section, a second arm section, a third arm section and a fourth arm section. The first arm section, the second arm section, the third arm section and the fourth arm section are rotatably connected in a head-to-tail manner. And a first motor is installed in the base, a second motor is installed on the first arm section, a third motor is installed on the second arm section, a fourth motor is installed on the third arm section, and a nozzle is rotatably installed on the fourth arm section.

[0009] The second arm section, the third arm section and the fourth arm section are internally provided with a feed pipe. The feed pipe at the starting position is rotatably connected to a feed inlet pipe, and the feed pipe at the end position is rotatably connected to the nozzle.

[0010] As a further technical solution of the present invention: the first arm section at the starting position is rotatably connected to the rotating table; the second arm section is rotatably installed on the first arm section; the third arm section is installed on the second arm section in a sliding manner with a square groove and a square shaft; the fourth arm section is rotatably installed on the third arm section.

[0011] As a further technical solution of the present invention: a first motor is provided in the base; a second motor is provided at the rotational connection between the rotating table and the first arm section; a third motor is provided at the rotational connection between the first arm section and the second arm section; a fourth motor is provided at the rotational connection between the fourth arm section and the third arm section.

[0012] As a further technical solution of the present invention: the force transmission arm includes a first transmission rod and a second transmission rod rotatably connected to the first transmission rod;

[0013] Among them, a fifth motor is provided at the rotational connection between the first transmission rod and the first arm section.

[0014] As a further technical solution of the present invention: the second arm section is rotatably installed with the second transmission rod.

[0015] As a further technical solution of the present invention: a sleeve is sleeved behind the third arm section.

[0016] As a further technical solution of the present invention: the second arm section, the third arm section and the fourth arm section are internally provided with holes having the same outer dimension as the outer circumference of the feed pipe.

[0017] The beneficial effects of the present invention are:

[0018] 1) This technical solution creates a new type of concrete 3D printing robotic arm structure. The second arm section is driven to move by a stepping motor in the front and a connecting force transmission arm in the back at the same time, which is more reliable in structure and reliable in driving movement;

[0019] 2) Compared with the existing material conveying pipes, the material conveying pipe of this device can be disassembled. Considering the particularity of the materials in concrete 3D printing, the material conveying pipe needs to be cleaned frequently. The design of this device facilitates disassembly and cleaning. Moreover, since the material conveying pipe is located inside the arm segment, the influence of the external environment on the material conveying pipe is eliminated, making the material conveying pipe safer and more durable.

[0020] 3) A collar is added at the connection between the third arm segment and the second arm segment, and the two can slide relative to each other by 2 mm. Considering the relatively large error characteristics of concrete 3D printing itself, adding a collar can play a role in buffering and shock absorption, increasing the service life of the machine.

[0021] 4) Due to the flexibility of the robotic arm, it can operate in a restricted space, such as indoor decoration or other construction projects in restricted spaces. Moreover, the robotic arm unit can drive the printing unit to perform printing actions at various angles, enabling the printing unit to complete forming prints at various angles, making up for the defect that existing concrete 3D printers cannot perform forming prints at various angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the front view of the embodiment of the present utility model;

[0023] Figure 2 is the top view of the embodiment of the present utility model;

[0024] Figure 3 is the left view of the embodiment of the present utility model;

[0025] Figure 4 is the right view of the embodiment of the present utility model;

[0026] Figure 5 is Figure 3 the schematic cross-sectional structure view of A-A of

[0027] In the figure: 1, base; 2, rotating table; 3, second motor; 4, first transmission rod; 5, second transmission rod; 6, first arm segment; 7, third motor; 8, second arm segment; 9, material conveying pipe; 10, collar; 11, third arm segment; 12, fourth motor; 13, fourth arm segment; 14, nozzle; 15, first motor; 16, fifth motor; 17, second motor wire; 18, third motor wire; 19, fourth motor wire. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To facilitate problem-solving, an embodiment of the present utility model provides a plastic injection molding machine with a demolding mechanism. The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] Embodiment 1, as Figures 1 to 5 shown, the present utility model provides a robotic arm device based on concrete 3D printing. The robotic arm device includes a base 1, a rotating table 2, arm segments, a force transmission arm, and a material delivery pipe 9;

[0030] Among them, the base 1 is movably connected to the rotating table 2. The arm segments include a first arm segment 6, a second arm segment 8, a third arm segment 11, and a fourth arm segment 13. The four arm segments are rotatably connected end to end. A first motor 15 is installed in the base 1, a second motor 3 is installed on the first arm segment 6, a third motor 7 is installed on the second arm segment 8, a fourth motor 12 is installed on the third arm segment 11, and a nozzle 14 is rotatably installed on the fourth arm segment.

[0031] A material delivery pipe 9 is disposed inside the second arm segment 8, the third arm segment 11, and the fourth arm segment 13. The material delivery pipe 9 at the starting position is rotatably connected to a feed pipe, and the material delivery pipe 9 at the end position is rotatably connected to the nozzle 14.

[0032] Embodiment 2, in addition to including all the technical features in Embodiment 1, further includes:

[0033] The arm segments include a first arm segment 6, a second arm segment 8, a third arm segment 11, and a fourth arm segment 13. The four arm segments constitute the main movable arm members of the robotic arm device. The front, back, up, and down movements of the robotic arm are achieved through the mutual rotation of the four arm segments. Specifically:

[0034] The first arm segment 6 is rotatably installed on the rotating table 2, and the two are matched by a pin. The first arm segment 6 can rotate relative to the rotating table 2 around the pin;

[0035] The second arm segment 8 is rotatably installed on the first arm segment 6, and the two are matched by a pin. The second arm segment 8 can rotate relative to the first arm segment 6 around the pin.

[0036] The third arm segment 11 is installed on the second arm segment 8 in a sliding manner with a square groove and a square shaft. The third arm segment 11 cannot rotate relative to the second arm segment and can only move back and forth by 2 mm.

[0037] The fourth arm segment 13 is rotatably mounted on the third arm segment 11, and the two are cooperated through a pin. The fourth arm segment 13 can rotate relative to the third arm segment 11 around the pin.

[0038] A nozzle 14 is rotatably mounted on the fourth arm segment 13. There is a thread at the inner hole behind the nozzle 14, and there is a matching thread at the outer shaft of the fourth arm segment 13. The nozzle 14 can be mounted on the fourth arm segment 13 through the thread.

[0039] Embodiment 3. In addition to all the technical features included in Embodiment 2, this embodiment further includes:

[0040] A first motor 15 is provided inside the base 1. The first motor 15 is used to drive the rotating table 2 to rotate, so as to realize the four-week rotation of the robotic arm.

[0041] A second motor 3 is provided at the rotational connection between the rotating table 2 and the first arm segment 6. The second motor 3 is used to drive the first arm segment 6 to rotate. The second motor 3 is connected with a second motor wire 17; a third motor 7 is provided at the rotational connection between the first arm segment 6 and the second arm segment 8. The third motor 7 is used to drive the second arm segment 8 to rotate. The third motor 7 is connected with a third motor wire 18; a fourth motor 12 is provided at the rotational connection between the fourth arm segment 13 and the third arm segment 11. The fourth motor 12 is used to drive the fourth arm segment 13 to rotate. The fourth motor 12 is connected with a fourth motor wire 19.

[0042] Embodiment 4. In addition to all the technical features included in Embodiment 3, this embodiment further includes:

[0043] The force transmission arm includes a first transmission rod 4 and a second transmission rod 5 rotatably connected to the first transmission rod 4;

[0044] Among them, a fifth motor 16 is provided at the rotational connection between the first transmission rod 4 and the first arm segment 6. The fifth motor 15 is used to drive the first transmission rod 4 to rotate. The second transmission rod 5 is rotatably mounted on the second arm segment 8 through a pin, and the second transmission rod 5 is rotatably mounted on the first transmission rod 4 through a pin, so as to realize the transmission of force.

[0045] A sleeve 10 is sleeved behind the third arm segment 11. The sleeve 10 has elastic deformation in the axial direction, and plays a role in buffering and decompressing within an acceptable error during the concrete 3D printing process.

[0046] The second arm segment 8, the third arm segment 11 and the fourth arm segment 13 are internally provided with holes having the same outer diameter as the outer diameter of the material conveying pipe 9 for installing the material conveying pipe 9.

[0047] It should be noted here that: Sealing flanges are provided at the rotational connection of the material conveying pipe 9 with each adjacent material conveying pipe 9 and at the rotational connection of the nozzle 14. The sealing flanges are hermetically and rotatably connected to the feed pipe, the material conveying pipe 9 and the nozzle 14, so as to realize the sealing performance during the concrete conveying process.

[0048] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and the present utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claims involved.

[0049] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robotic arm device based on concrete 3D printing, comprising a base (1) and a rotating table (2) connected to the base (1); characterized in that: The rotating platform (2) is connected to an arm section, and the arm section is connected to a force transmission arm; The arm segments include a first arm segment (6), a second arm segment (8), a third arm segment (11) and a fourth arm segment (13); the first arm segment (6), the second arm segment (8), the third arm segment (11) and the fourth arm segment (13) are rotatably connected in an end-to-end manner; a second motor (3) is mounted on the first arm segment (6), a third motor (7) is mounted on the second arm segment (8), a fourth motor (12) is mounted on the third arm segment (11), and a nozzle (14) is rotatably mounted on the fourth arm segment (13); The second arm section (8), the third arm section (11) and the fourth arm section (13) are provided with a material conveying pipe (9) therein; the material conveying pipe (9) at the starting position is rotatably connected to a material feeding pipe, and the material conveying pipe (9) at the end position is rotatably connected to the nozzle (14).

2. The robotic arm device according to claim 1, characterized in that: The first arm segment (6) placed at the starting position is rotatably connected to the rotating platform (2); the second arm segment (8) is rotatably mounted on the first arm segment (6); the third arm segment (11) is mounted on the second arm segment (8) in a manner that a square groove and a square shaft slide on each other; and the fourth arm segment (13) is rotatably mounted on the third arm segment (11).

3. The robotic arm device according to claim 1, characterized in that: A first motor (15) is provided in the base (1); a second motor (3) is provided at the rotation connection between the rotating platform (2) and the first arm segment (6); a third motor (7) is provided at the rotation connection between the first arm segment (6) and the second arm segment (8); and a fourth motor (12) is provided at the rotation connection between the fourth arm segment (13) and the third arm segment (11).

4. The robotic arm device according to claim 1, characterized in that: The force transmission arm comprises a first transmission rod (4) and a second transmission rod (5) rotatably connected to the first transmission rod (4); Wherein, a fifth motor (16) is provided at the rotational connection between the first transmission rod (4) and the first arm section (6).

5. The robotic arm device according to claim 4, characterized in that: The second arm section (8) is rotatably mounted on the second transmission rod (5).

6. The robotic arm device according to claim 1, characterized in that: A sleeve (10) is sleeved at the rear of the third arm section (11).

7. The robotic arm device according to claim 1, characterized in that: The second arm segment (8), the third arm segment (11) and the fourth arm segment (13) are provided with holes having the same size as the outer ring of the material conveying pipe (9).

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