Expansion assembly of 3D printing concrete printer and 3D printing robot

Abstract

The utility model discloses an expansion assembly of a 3D printing concrete printer and a 3D printing robot, and relates to the technical field of 3D printing, the expansion assembly comprises an extension frame and a printing cylinder connecting frame, one end of the extension frame is an extension frame mounting position, and the other end of the extension frame is a printing cylinder mounting position; the extension frame comprises at least two layers of mounting beams; the printing cylinder connecting frame is connected to the printing cylinder mounting position and comprises at least two layers of positioning cantilever plates, the positioning cantilever plates are connected with the mounting beam, and the longitudinal position of the printing cylinder connecting frame on the extension frame is adjusted by adjusting the mounting positions of the positioning cantilever plates and the mounting beam. The 3D printing robot comprises the expansion assembly of the 3D printing concrete printer. By arranging the extension frame, the printing plane range can be expanded; the printing cylinder installed on the extension frame can adjust the height of the maximum working plane of the mechanical arm so as to adapt to the situation that the mechanical arm body is lifted, and the assembly is low in transportation cost, high in adjusting efficiency and low in manufacturing cost.

Description

Technical Field

[0001] This utility model relates to the field of 3D printing technology, and more specifically to an extension component of a 3D concrete printer and a 3D printing robot. Background Technology

[0002] 3D printing is an additive manufacturing technology that uses continuous physical layering to create materials. Due to its advantages of speed, intuitiveness, and low cost, 3D printing of materials such as PLA, resin, and metal powders has been widely applied in industrial design, medical, and aerospace fields, bringing about industry innovation. 3D printing of concrete, as an emerging digital construction technology in the construction industry, often uses robotic arms as the printing tool. Robotic arms are typically six-axis and can build at any angle; however, their printing range is limited by their own mobility and height, requiring integration with other mechanisms to expand their printing range, including increasing the printing plane and the printing height.

[0003] Existing mechanisms for expanding the printing range of robotic arms mainly consist of moving platforms such as tracks, trusses, and traveling mechanisms (tracked or wheeled vehicles), which can drive the robotic arm fixed on the platform to perform large-scale planar movements or small-scale height lifting. However, when it is necessary to expand the printing area slightly, existing mechanisms are large in size and weight, resulting in high transportation and manufacturing costs. Moving the arm requires laying new tracks and trusses or starting the vehicle, and repositioning is required after movement, leading to low efficiency. When it is necessary to increase the printing height, existing mechanisms use the method of lifting the entire robotic arm, which consumes a lot of energy and has a limited lifting height. In addition, when the robotic arm body is lifted by the base, vehicle, etc., the maximum working plane height is often high, while the printing range near the ground is small.

[0004] Therefore, how to provide an extension component for 3D concrete printers that can quickly and efficiently expand the printing range of the robotic arm in a small area is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention provides an extension component for a 3D concrete printer and a 3D printing robot, aiming to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An expansion component for a 3D-printed concrete printer includes:

[0008] An extension frame, one end of which is an extension frame mounting position, and the other end of which is a printing cylinder mounting position; the extension frame includes at least two layers of mounting beams;

[0009] A print cylinder connecting frame is connected to the print cylinder mounting position. The print cylinder connecting frame includes at least two layers of positioning cantilever plates, which are connected to the mounting beam. By adjusting the installation positions of the positioning cantilever plates and the mounting beam, the longitudinal position of the print cylinder connecting frame on the extension frame can be adjusted.

[0010] Through the above technical solution, this utility model can expand the printing plane range by setting an extension frame; the printing cylinder installed on the extension frame can adjust the height of the maximum working plane of the robotic arm to adapt to situations where the robotic arm body is raised. The extension frame and printing cylinder each have various types and connection methods, which can be flexibly combined according to printing needs to increase the printing range. Overall, compared with existing mobile platform mechanisms, this extension component has lower transportation costs, higher adjustment efficiency, and lower manufacturing costs.

[0011] Preferably, in the aforementioned extension assembly of a 3D concrete printer, the extension frame is a long rectangular frame structure or a slanted long frame with ends.

[0012] Preferably, in the extension assembly of the aforementioned 3D concrete printer, the printing cylinder mounting position of the extension frame is formed with a U-shaped slot.

[0013] Preferably, in the extended assembly of the aforementioned 3D concrete printer, a U-shaped shaping and fixing plate is fixed on the U-shaped slot.

[0014] Preferably, in the aforementioned extension assembly of a 3D concrete printer, the printing cylinder connecting frame is connected to the mounting beam via a longitudinal extension cylinder or a heightening block.

[0015] Preferably, in the above-mentioned expansion assembly of a 3D printed concrete printer, the mounting beam is provided with a guide rail or the mounting beam is made of aluminum profile.

[0016] Preferably, in the above-mentioned extended assembly of a 3D printed concrete printer, the positioning cantilever plate has a slider that is slidably connected to the guide rail, or the positioning cantilever plate has bolt fasteners that are slidably connected to the groove of the aluminum profile.

[0017] Preferably, in the aforementioned extension assembly of a 3D concrete printer, a printing cylinder is connected to the bottom of the printing cylinder connecting frame.

[0018] Preferably, in the aforementioned extension assembly of a 3D concrete printer, the discharge port of the printing cylinder is connected to a modular extension cylinder.

[0019] This utility model also provides a 3D printing robot, which includes the aforementioned extension components of a 3D concrete printer.

[0020] As can be seen from the above technical solution, compared with the prior art, this utility model discloses an extension component for a 3D concrete printer and a 3D printing robot, which has the following beneficial effects:

[0021] 1. The extension frame expands the printing plane, and the length of the extension frame can be adjusted to meet different printing size requirements.

[0022] 2. The upward-extending extension bracket ensures that the print nozzle is vertically downward when printing at a higher position, thus expanding the range of printable heights.

[0023] 3. The track-type extension frame allows the robotic arm to print on the wall within the end range of the robotic arm when the extension frame is installed, which can meet the printing needs of special situations.

[0024] 4. The printing cylinder can move along the extension frame, and its position relative to the robotic arm can be adjusted according to different printing scale requirements.

[0025] 5. The printing cylinder can be equipped with a longitudinal extension cylinder and a modular extension cylinder to expand the printing height range and ensure that both lower and higher positions can be printed.

[0026] 6. The lower end of the printing cylinder can be fitted with printing nozzles of different diameters to accommodate changes in the size of the printed output and the width of the printed strips on a small scale.

[0027] 7. The connection between the printing cylinder and the extension frame is secured using locking points. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 The attached figure is a schematic diagram of the structure of the expansion component of the 3D printing concrete printer provided by this utility model;

[0030] Figure 2 The attached figure is a schematic diagram of the structure of the expansion component of the 3D printed concrete printer provided by this utility model, which adds a modular extension tube.

[0031] Figure 3 The attached figure is a structural schematic diagram of the first embodiment of the present invention.

[0032] Figure 4 The attached figure is a structural schematic diagram of the second form of Embodiment 1 provided by this utility model;

[0033] Figure 5 The attached figure is a structural schematic diagram of Embodiment 2 provided by this utility model;

[0034] Figure 6 The attached figure is a structural schematic diagram of Embodiment 3 provided by this utility model;

[0035] Figure 7 The attached figure is a structural schematic diagram of the first form of Embodiment 4 provided by this utility model;

[0036] Figure 8 The attached figure is a structural schematic diagram of the second form of Embodiment 4 provided by this utility model;

[0037] Figure 9 The attached figure is a structural schematic diagram of the first form of Embodiment 5 provided by this utility model;

[0038] Figure 10 The attached figure is a structural schematic diagram of the second form of Embodiment 5 provided by this utility model;

[0039] Figure 11 The attached figure is a structural schematic diagram of the first embodiment of the present invention, 6.

[0040] Figure 12 The attached figure is a structural schematic diagram of the second form of Embodiment 6 provided by this utility model;

[0041] Figure 13 The attached figure is a schematic diagram showing the effect of printing range using only a conventional printhead provided by this utility model;

[0042] Figure 14 The attached figure is a schematic diagram showing the effect of extending the printing plane using the extension frame provided by this utility model to expand the printing range;

[0043] Figure 15 The attached figure is a schematic diagram showing the effect of expanding the printing range by using an extension frame and a longitudinal extension tube to simultaneously expand the printing plane and height, as provided by this utility model.

[0044] Figure 16 The attached figure is a schematic diagram illustrating the effect of the track-type extension frame provided by this utility model on expanding the printing plane.

[0045] in:

[0046] 1-Extension rack;

[0047] 11-Extension rack mounting position; 12-Printer tube mounting position; 121-U-shaped slot; 13-Mounting beam; 131-Guide rail; 132-Slider; 14-U-shaped shaping and fixing plate;

[0048] 2-Printer tube connector;

[0049] 21-Positioning cantilever plate; 22-Longitudinal extension tube; 23-Heightening block;

[0050] 3-Printing tube;

[0051] 4- Modular extension tube. Detailed Implementation

[0052] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0053] See appendix Figure 1 To be continued Figure 2 This utility model discloses an extension component for a 3D concrete printer, comprising:

[0054] Extension frame 1, one end of extension frame 1 is extension frame mounting position 11, and the other end of extension frame 1 is printing cylinder mounting position 12; extension frame 1 includes at least two layers of mounting beams 13;

[0055] Printer tube connecting frame 2 is connected to the printer tube mounting position 12. The printer tube connecting frame 2 includes at least two layers of positioning cantilever plates 21. The positioning cantilever plates 21 are connected to the mounting beam 13. By adjusting the installation position of the positioning cantilever plates 21 and the mounting beam 13, the longitudinal position of the printer tube connecting frame 2 on the extension frame 1 can be adjusted.

[0056] The extension frame 1 is connected to the end flange of the robotic arm via the extension frame mounting position 11.

[0057] The bottom of the printing tube connector 2 is connected to the printing tube 3.

[0058] The extension frame 1 expands the original printing range of the robotic arm and reduces the risk of self-collision during the operation of the robotic arm.

[0059] Example 1:

[0060] See appendix Figure 3 and attached Figure 4 In this embodiment, the extension frame 1 is a long rectangular frame structure.

[0061] To clearly illustrate the structure, in this embodiment and the following embodiments, the extension frame 1 has two layers of mounting beams 13.

[0062] To further optimize the above technical solution, a slider 132 is slidably connected to the guide rail 131, and the slider 132 is connected to the positioning cantilever plate 21. For printed parts of different sizes, the printing cylinder 3 can be fixed at any position of the extension frame 1 by the slider 132 installed on the guide rail 131.

[0063] In this embodiment, the printing cylinder connecting frame 2 has two layers of positioning cantilever plates 21. Figure 3 The diagram shows the connection between the lower positioning cantilever plate 21 and the slider 132 on the guide rail 131 on the upper mounting beam 13; Figure 4 The diagram shows the connection between the upper positioning cantilever plate 21 and the slider 132 on the guide rail 131 on the lower mounting beam 13.

[0064] Example 2:

[0065] This embodiment is a further improvement on embodiment 1: see appendix. Figure 5 The printing tube connecting frame 2 is connected to the mounting beam 13 via the longitudinal extension tube 22. Figure 5 The diagram shows the connection between the upper positioning cantilever plate 21 and the longitudinal extension tube 22, and the slider 132 on the guide rail 131 on the lower mounting beam 13.

[0066] Example 3:

[0067] This embodiment is a further improvement on the basis of embodiment 1, or in other words, this embodiment is a parallel solution to embodiment 2. The printing tube connecting frame 2 is connected to the mounting beam 13 through the heightening block 23. Figure 6 The diagram shows the connection between the lower positioning cantilever plate 21 and the heightening block 23, and the slider 132 on the guide rail 131 on the upper mounting beam 13.

[0068] Example 4:

[0069] The difference between this embodiment and embodiment 1 is that the mounting beam 13 is an aluminum profile, and the positioning cantilever plate 21 has bolts and fasteners that are slidably connected to the grooves of the aluminum profile.

[0070] In this embodiment, the groove structure of the aluminum profile is used to naturally form a sliding groove for mating connection.

[0071] In this embodiment, the structure of the longitudinal extension tube 22 or the heightening block 23 can be added as in Embodiment 2 or Embodiment 3.

[0072] like Figure 7 The diagram shows the lower positioning cantilever plate 21 connected to the heightening block 23, and then connected to the upper aluminum profile groove by bolt fasteners.

[0073] like Figure 8The diagram shows the upper positioning cantilever plate 21 connected to the heightening block 23, and then connected to the groove of the lower aluminum profile by bolt fasteners.

[0074] Example 5:

[0075] In this embodiment, the printing cylinder mounting position 12 of the extension frame 1 is formed with a U-shaped slot 121.

[0076] To further optimize the above technical solution, a U-shaped shaping and fixing plate 14 is fixed on the U-shaped slot 121.

[0077] In this embodiment, the printing cylinder connecting frame 2 has multiple layers of positioning cantilever plates 21. Adjacent layers of positioning cantilever plates 21 are connected to the upper and lower layers of mounting beams 13, respectively, to improve the stability of the structure.

[0078] like Figure 9 and Figure 10 The diagram shows two different vertical heights.

[0079] To further optimize the above technical solutions, such as Figure 9 As shown, the discharge port of the printing cylinder 3 is connected to a modular extension cylinder 4.

[0080] Example 6:

[0081] See appendix Figure 11 and attached Figure 12 In this embodiment, the extension frame 1 is an oblique long strip frame.

[0082] In this embodiment, the printing tube connecting frame 2 has two layers of positioning cantilever plates 21. The longitudinal height can be adjusted by increasing or decreasing the number of modular extension tubes 4.

[0083] Since concrete printing additive manufacturing requires the printing nozzle to be as vertically downward as possible, the upward extension frame provided in this embodiment can effectively solve the problem that the end of the robotic arm cannot be adjusted to be vertically downward when it is raised. Furthermore, the lifting height can be adjusted by adjusting the length of the extension frame, thus achieving printing at a higher position.

[0084] In the above embodiments, the connection points are all fastened and positioned using bolts.

[0085] See appendix Figure 13 To be continued Figure 16 This indicates the effect of the extension component in this invention on expanding the printing range. (Appendix) Figure 13 This demonstrates the printing range using only a standard printhead, with... Figure 14 This demonstrates the printing range after expanding the printing plane using an extension frame. Figure 15 This demonstrates the printing range achieved by simultaneously expanding the printing plane and height using an extension frame and a longitudinal extension tube.

[0086] Appendix Figure 16 This illustrates the effect of the track-type extension frame in expanding the printing plane. The left figure shows that the printing range of other extension frames is located on the outer ring of the robotic arm's end, and the wall in the area at the end of the robotic arm (shown by the dotted line) cannot be printed. The right figure shows that after using the track-type extension frame, the wall in the area at the end of the robotic arm can also be printed, which is achieved by moving the printing cylinder on the slide rail.

[0087] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0088] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An extension component for a 3D concrete printer, characterized in that, include: An extension frame (1) is provided, with one end of the extension frame (1) being an extension frame mounting position (11) and the other end of the extension frame (1) being a printing cylinder mounting position (12); the extension frame (1) includes at least two layers of mounting beams (13); Printer tube connecting frame (2) is connected to the printer tube mounting position (12). The printer tube connecting frame (2) includes at least two layers of positioning cantilever plates (21). The positioning cantilever plates (21) are connected to the mounting beam (13). By adjusting the installation positions of the positioning cantilever plates (21) and the mounting beam (13), the longitudinal position of the printer tube connecting frame (2) on the extension frame (1) can be adjusted.

2. The expansion component of a 3D concrete printer according to claim 1, characterized in that, The extension frame (1) is a long rectangular frame structure or a diagonal long frame with ends.

3. An extension component for a 3D concrete printer according to claim 1, characterized in that, The printing cylinder mounting position (12) of the extension frame (1) is formed with a U-shaped slot (121).

4. An extension component for a 3D concrete printer according to claim 3, characterized in that, A U-shaped shaping and fixing plate (14) is fixed on the U-shaped slot (121).

5. An extension component for a 3D concrete printer according to claim 1, characterized in that, The printing cylinder connecting frame (2) is connected to the mounting beam (13) via a longitudinal extension cylinder (22) or a heightening block (23).

6. An extension component for a 3D concrete printer according to claim 1, characterized in that, The mounting beam (13) is provided with a guide rail (131) or the mounting beam (13) is made of aluminum profile.

7. An extension component for a 3D concrete printer according to claim 6, characterized in that, The guide rail (131) is slidably connected to a slider (132), the slider (132) is connected to the positioning cantilever plate (21), or the positioning cantilever plate (21) has bolts that are slidably connected to the groove of the aluminum profile.

8. An extension component for a 3D concrete printer according to claim 1, characterized in that, The bottom of the printing tube connector (2) is connected to the printing tube (3).

9. An extension component for a 3D concrete printer according to claim 8, characterized in that, The outlet of the printing cylinder (3) is connected to a modular extension cylinder (4).

10. A 3D-printed robot, characterized in that, An extension component of a 3D printed concrete printer as described in any one of claims 1-9.

Images