PRINTING SYSTEM

Abstract

A printing system includes a first robot that is movable, a second robot that is arranged and movable on any side of the first robot in a left-right direction, a connecting section that connects the first robot and the second robot, a printing section that is connected to the connecting section and is configured to perform 3D printing, and a supply section that supplies a material to the printing section, wherein the printing section includes an output member that is connected to the supply section and outputs the material, an up-down moving member that moves the output member up and down, and a left-right moving member that moves the up-down moving member, and wherein the first or the second robot is coupled to the supply section.

Description

BACKGROUND OF THE PRESENT DISCLOSURE Field of the present disclosure

[0001] The present disclosure relates to a printing system. Description of the state of the art

[0002] 3D printing refers to the activity of converting electronic information to create a 3D shape in three dimensions through an automated output device. With the development of 3D printing technology, active research is currently being conducted on architectural technologies using 3D printing technology.

[0003] Meanwhile, a conventional 3D printer uses a fixed method for printing products with a frame fixed to the floor. This means that since a product is printed within the machine's workspace, a 3D printer with a large workspace is required to have a workspace that matches the size of a large-scale design when manufacturing the design.

[0004] In addition, an environment where construction work is carried out may be a harsh environment or an environment that is difficult for humans to access, such as a narrow space that people have to pass through, and in the case of a conventional 3D printer, it is difficult to bring the 3D printer into such an environment.

[0005] Accordingly, there is a need to develop a 3D printer that can be moved into a construction environment and produce products based on this movement without requiring a large work area.

[0006] The information included in this background of the present disclosure is provided merely to facilitate understanding of the general background of the present disclosure and should not be construed as an acknowledgment or any form of indication or suggestion that this information constitutes prior art already known to a person skilled in the art. SHORT SUMMARY

[0007] Various embodiments of the present disclosure are directed to providing a printing system that can be applied to various environmental conditions.

[0008] An embodiment of the present disclosure also provides a printing system configured to produce large structures while having a relatively small work area.

[0009] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned here will be clearly understood by those skilled in the art to which the present disclosure relates from the following description.

[0010] According to one aspect of the present disclosure, a printing system includes a first robot that is movable, a second robot that is arranged on a side of the first robot in a first direction and is movable, a connecting portion that connects the first robot and the second robot, a printing portion that is connected to the connecting portion and is configured to perform 3D printing, and a supply portion that supplies a material to the printing portion, wherein the printing portion includes an output member that is connected to the supply portion and discharges the material, an up-down moving member, and a down-down moving member.an up-and-down moving member that moves the output member in the second direction and a first-direction moving member that moves the up-down moving member in the first direction, and wherein one of the first robot and the second robot is coupled to the supply section.

[0011] In another example, the printing system may further comprise a controller electrically connected to at least one of the first robot, the second robot, the connecting portion, and the printing portion, and configured to control an operation of the at least one of the first robot, the second robot, the connecting portion, and the printing portion, wherein another of the first robot and the second robot is coupled to the controller.

[0012] In another example, the supply section may include a storage member that stores the material and a hose member that connects the storage member and the output member, and the storage member may extrude the material into the hose member and supply the material to the output member.

[0013] In another example, the storage element may be located on a top side of one of the first robot and the second robot, the controller may be located on a top side of the other of the first robot and the second robot, and the lengths of the storage element and the controller along a second direction may correspond to each other.

[0014] In another example, one end portion of the connecting element may be connected to the controller, and an opposite end portion of the connecting element may be connected to the storage element.

[0015] In another example, the up-down moving member may include an up-down extension portion connected to the output member and extending in the second direction from the output member, and an up-down moving portion that moves the output member in the second direction by moving the up-down extension portion, and wherein the up-down extension portion engages the up-down moving member by passing through and being coupled to the up-down moving portion.

[0016] In another example, the left-right movement member may include a left-right extension portion extending in the first direction and passing through the up-down movement portion in the first direction, and a left-right movement portion moving the up-down movement portion in its first direction.

[0017] In another example, a pair of left-right extension sections or

[0018] left-right extension portions may be provided to be spaced apart from each other in a third direction, and the up-down extension portion may be arranged between the pair of left-right extension portions.

[0019] In another example, the connecting portion may include a first connecting member extending in a second extending direction from the first robot, a second connecting member extending in a second direction from the second robot, and a third connecting member connecting the first connecting member and the second connecting member.

[0020] In another example, the first connecting member and the second connecting member may be configured such that their lengths are variable along the up and down direction and the up and down direction, respectively.

[0021] In another example, the first link member may include a first link member extending in the second direction from the first robot, a second link member through which the first link member passes in its interior and whose top is closed, and a first hydraulic pressure supplying portion that moves the second link member upward by supplying hydraulic pressure into an interior of the second link member.

[0022] In another example, a pair of first connecting elements, a pair of second connecting elements and a pair of third connecting elements may be provided, each spaced apart from the other in the third direction, and

[0023] wherein the pressure portion is arranged between the pair of third connecting elements.

[0024] In another example, the moving portion may further comprise a fourth link member extending in the third direction and connecting the pair of first link members, and a fifth link member extending in the third direction and connecting the pair of second link members, wherein the up-down moving member may comprise an up-down extension portion connected to the output member and extending in the second direction from the output member, and an up-down moving portion passing through the up-down extension portion and moving the output member up and down by moving the up-down extension portion in the second direction, wherein the left-right moving member may comprise a left-right extension portion,which extends in the first direction and which passes through the up-down moving section in the first direction, and a left-right moving section which moves the up-down moving section in the first direction, and wherein end portions of the pair of left-right extending sections can be in contact with the fourth connecting member and opposite end portions thereof can be in contact with the fifth connecting member.,

[0025] In another example, the printing system may further include a third robot located on one of a side of the first robot in the first direction or a side of the second robot in the first direction and movable, and the connecting portion may further connect the first robot and the third robot or the second robot and the third robot.

[0026] According to another aspect of the present disclosure, a printing system includes a plurality of robots arranged in the first direction, connecting portions connecting robots arranged side by side among the plurality of robots, and printing portions connected to the connecting portions, and configured to perform 3D printing, wherein the number of the connecting portions and the printing portions may be one less than the number of robots.

[0027] In another example, the printing system may further include a controller electrically connected to at least one of the plurality of robots, the connecting sections, and the printing sections and configured to control an operation of at least one of the plurality of robots, the connecting sections, and the printing sections, and the controller may perform control to designate any one robot among the plurality of robots as a host and designate the remaining robots as guests so that the remaining robots follow the operation of the any one robot.

[0028] In another example, the controller can be placed on top of any robot.

[0029] The methods and apparatus of the present disclosure have additional features and advantages that will be apparent from or further explained in the accompanying drawings included herein and the following detailed description, which together serve to explain certain principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view conceptually illustrating a printing system according to an embodiment of the present disclosure; Fig. 2 shows a view illustrating an example of a state in which an output element in Fig. 1 is raised; Fig. 3 is a view conceptually illustrating an up-down movement element; Fig. Figure 4 shows a conceptually enlarged view of a left-right movement element; Fig. 5 shows a top view conceptually illustrating a left-right movement element; and Fig. 6 shows a view illustrating a printing system with a first, second and third robot.

[0030] It should be understood that the accompanying drawings are not necessarily to scale and present a somewhat simplified representation of various preferred features illustrative of the principles of the disclosure. The predetermined design features of the present disclosure as disclosed herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the particular application and environment of use.

[0031] In the figures, reference numerals refer to the same or equivalent parts of the present disclosure in the different figures of the drawing. DETAILED DESCRIPTION

[0032] Reference will now be made in detail to various embodiments of the present disclosure(s), examples of which are illustrated in the accompanying drawings and described below. Although the present disclosure(s) will be described in connection with embodiments of the present disclosure, it is to be understood that the present description is not intended to limit the present disclosure(s) to those embodiments of the present disclosure. On the contrary, the present disclosure(s) are intended to cover not only the embodiments of the present disclosure, but also various alternatives, modifications, equivalents, and other embodiments which may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0033] Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. When reference numerals are added to components in the drawings, it is understood that the same components will be denoted by the same reference numerals even though they are shown in different drawings. Furthermore, when describing the embodiments of the present disclosure, if it is determined that a detailed description of related known arrangements or configurations and functions might obscure the understanding of the embodiments of the present disclosure, a detailed description will be omitted.

[0034] A printing system according to an embodiment of the present disclosure may be a printing system for 3D printing. As an embodiment of the present disclosure, the printing system according to an embodiment of the present disclosure may be a printing system for 3D printing that produces structures for use on construction sites.

[0035] In the patent specification, a forward / backward direction, a left / right direction, and a vertical direction are referred to for convenience of description, and they may be directions perpendicular to each other. However, the directions are determined relative to a direction in which the printing system is arranged, and the up / down direction does not necessarily mean the vertical direction.

[0036] Fig. 1 is a view conceptually illustrating a printing system according to an embodiment of the present disclosure. Fig. 2 shows a view illustrating an example of a state in which an output element in Fig. 1 is raised.

[0037] The printing system according to an embodiment of the present disclosure may include a first robot 100, a second robot 200, a connecting section 300, a printing section 400, and a supply section 500. The first robot 100 may be a mobile robot. As an embodiment of the present disclosure, the first robot 100 may be a robot configured to walk or run on four legs. The second robot 200 may be located to the left and right of the first robot 100 in either direction. The second robot 200 may be a mobile robot. As an embodiment of the present disclosure, the second robot 200 may be a robot configured to walk or run on four legs. The first robot 100 and the second robot 200 may be robots of the same type.

[0038] The connecting portion 300 may be a portion that connects the first robot 100 and the second robot 200. Since the connecting portion 300 connects the first robot 100 and the second robot 200, resistance to an impact applied in the left-right direction may become stronger than when an operation of the first robot 100 or the second robot 200 is performed alone. As one embodiment of the present disclosure, the connecting portion 300 may have an "n" shape when viewed from its front side.

[0039] The printing section 400 may be connected to the connecting section 300 and may perform 3D printing. The supply section 500 may be configured to supply a material to the printing section 400. Accordingly, the material may be cement or concrete, but is not limited thereto, and various materials, such as plastic and metal, may be used. Meanwhile, the first robot 100 or the second robot 200 may be coupled to the supply section 500.

[0040] Fig. Figure 3 shows a view conceptually illustrating an up-down movement element. Fig. Figure 4 shows a view conceptually representing a left-right movement element. Fig. Figure 5 shows a view conceptually illustrating the left-right movement element from above.

[0041] The printing section 400 may include an output member 410, an up-down movement member 420, and a left-right movement member 430. The output member 410 may be a member connected to the supply section 500 and configured to output a material. The up-down movement member 420 may be a member configured to move the output member 410 up and down. The left-right movement member 430 may be a member configured to move the up-down movement member 420 left and right.

[0042] The printing system according to an embodiment of the present disclosure may further include a controller 600. The controller 600 may be electrically connected to at least one of the first robot 100, the second robot 200, the connecting portion 300, or the printing portion 400 and may be configured to control an operation of the at least one of the first robot 100, the second robot 200, the connecting portion 300, or the printing portion 400.

[0043] The controller 600 may include a processor and a memory. The processor may include a microprocessor, such as a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or a central processing unit (CPU). The memory may store control instructions that form the basis for generating commands for controlling the operation of at least one of the first robot 100, the second robot 200, the connecting section 300, and the printing section 400 in the processor. The memory may be a data storage device, such as a hard disk drive (HDD), a solid state drive (SSD), a volatile medium, or a non-volatile medium.

[0044] The other of the first robot 100 and the second robot 200 may be coupled to the controller 600. For example, if the controller 600 is coupled to the first robot 100, the supply section 500 may be coupled to the second robot 200, and if the controller 600 is coupled to the second robot 200, the supply section 500 may be coupled to the first robot 100.

[0045] According to an embodiment of the present disclosure, printing can be performed in various environmental conditions that are difficult for humans to access, since printing is performed by a structure in which the first robot 100 and the second robot 200 are coupled to the printing section 400. Since the first robot 100 and the second robot 200 can be moved, even the movement areas of the robots can become work areas, so that a large structure can be manufactured despite a relatively small work area. The components are described in more detail below. Feed section 500

[0046] The supply section 500 may include a storage element 510 and a tubing element 520. The storage element 510 may be configured to store a material within its interior. The tubing element 520 may be an element that interconnects the storage element 510 and the output element 410. The storage element 510 may supply the material to the output element 410 through an actuator operatively connected to the controller 600 to extrude the material into an interior of the tubing element 520. The actuator may be, for example, an electric actuator, a hydraulic actuator, or a pneumatic actuator.

[0047] The storage element 510 may be located on a top surface of one of the first robot 100 and the second robot 200. Accordingly, the controller 600 may be located on a top surface of the other of the first robot 100 and the second robot 200. The lengths of the storage element 510 and the controller 600 along the up and down directions may correspond to each other. Print section 400

[0048] The up-down movement element 420 may include an up-down extension section 421 and an up-down movement section 422. The up-down extension section 421 may be connected to the output element 410 and extend upwardly from the output element 410. The up-down movement section 422 may be configured to move the output element 410 up and down by moving the up-down extension section 421 up and down. Since the printing system according to an embodiment of the present disclosure can move the output element 410 up and down, it can print a design or structure that extends upwardly and downwardly. Furthermore, since the printing system itself can be moved forward and backward, designs / structures that extend forwardly and backwardly can also be printed.

[0049] As one embodiment of the present disclosure, the up-down extension portion 421 may pass through the up-down movement portion 422. Of course, various forms of modification are possible as long as the up-down movement portion 422 can move the up-down extension portion 421.

[0050] For example, a screw thread may be formed on an outer peripheral surface of the up-down extension portion 421, and the up-down moving portion 422, which includes an actuator operatively connected to the controller 600, may rotate the up-down extension portion 421 by operating the actuator of the up-down moving portion 422 to move the up-down extension portion 451. The actuator of the up-down moving portion 422 may include a motor 425 that engages with an outer peripheral surface of the up-down extending portion 421 and includes a rotatable portion 427 that is disposed inside the up-down moving portion 422 and engages with the screw thread formed on the outer peripheral surface of the up-down extending portion 421.Accordingly, when the motor rotates, the rotatable portion rotates by the motor, and thus the outer peripheral surface of the up-down extension portion 421 can move in the up and down direction.

[0051] The left-right movement member 430 may include a left-right extension portion 431 and a left-right movement portion 432. The left-right extension portion 431 may extend in the left-right direction and may be configured to pass through the up-down movement portion 422 in the left-right direction. The left-right movement portion 432 may be configured to move the up-down movement portion 422 in its left-right direction.

[0052] As one embodiment of the present disclosure, the left-right movement portion 432 may include an actuator such as a pinion gear 433 and a pinion motor 434 operatively connected to the controller 600 and rotating the pinion gear 433. The pinion gear 433 may be connected to a rack 435 coupled to the connecting member 300. When viewed in the up-and-down direction, a portion of the pinion gear 433 may protrude from the left-right movement portion 432. When the pinion gear 433 is rotated by the pinion motor 434, the up-and-down movement portion 432 may be moved in its left-and-right direction.

[0053] The up-down moving section 422 may be disposed inside the left-right moving section 432. Accordingly, the up-down moving section 422 may be moved in its left-right direction when the left-right moving section 432 is moved in the left-right direction.

[0054] A pair of left-right extension portions 431 are provided and may be spaced apart from each other in the front and rear directions. The up-down extension portion 421 may be disposed between the pair of left-right extension portions 431. Connecting section 300

[0055] One end portion of the connecting portion 300 may be connected to the controller 600, and an opposite end portion of the connecting portion 300 may be connected to the storage element 510. Accordingly, one end portion of the connecting portion 300 may be any one of the lower end portions of the connecting portion 300, and the opposite end portion of the connecting portion 300 may be another one of the lower end portions of the connecting portion 300.

[0056] The connecting portion 300 may include a first connecting element 310, a second connecting element 320, and a third connecting element 330. The first connecting element 310 may extend upward from the first robot 100. The second connecting element 320 may extend upward from the second robot 200. The third connecting element 330 may connect the first connecting element 310 and the second connecting element 320 to each other.

[0057] The first link member 310 and the second link member 320 may be configured such that their lengths are variable along the up and down directions. Since the lengths of the first link member 310 and the second link member 320 can be changed along the vertical direction, a range in which the printing section 400 can be moved along the up and down directions can be further increased.

[0058] As an embodiment of the present disclosure, the first link member 310 may include a first link member 311 and a second link member 312. The first link member 311 may extend upward from the first robot 100. The second link member 312 may be a portion through which the first link member 311 can pass and whose top is closed.

[0059] As a component for moving the second link member 312 upward, the first link member 310 may include a first hydraulic pressure supply portion. The first hydraulic pressure supply portion may move the second link member 312 upward by supplying hydraulic pressure to the interior of the second link member 312.

[0060] The second connecting member 320 may include a (2-1)th connecting portion 321 and a (2-2)th connecting portion 322. The (2-1)th connecting portion 321 may extend upward from the second robot 200. The (2-2)th connecting portion 322 may be a portion through which the (2-1)th connecting portion 321 can pass and whose top is closed.

[0061] As a component for moving the (2-2)th connecting portion 322 upward, the second connecting member 320 may include a second hydraulic pressure supply portion. The second hydraulic pressure supply portion may move the (2-2)th connecting portion 322 upward by supplying hydraulic pressure to the interior of the (2-2)th connecting portion 322.

[0062] In one embodiment of the present disclosure, the first hydraulic pressure supply portion and the second hydraulic pressure supply portion are operatively connected to the controller 600 to control the hydraulic pressure to an interior of the second connecting member 312 and the hydraulic pressure to an interior of the (2-2)th connecting portion 322.

[0063] A pair of first connecting members 310, a pair of second connecting members 320, and a pair of third connecting members 330 may be provided such that they are spaced apart from each other forward and backward, respectively. The pressure portion 400 may be arranged between the pair of third connecting members 330.

[0064] The connecting portion 300 may further include a fourth connecting element 340 and a fifth connecting element 350. The fourth connecting element 340 may extend forward and backward and may connect the pair of first connecting elements 310. The fifth connecting element 350 may extend forward and backward and may connect the pair of second connecting elements 320.

[0065] The ends of the pair of left-right extension portions 431 may be in contact with the fourth connecting member 340, and opposite end portions thereof may be in contact with the fifth connecting member 350.

[0066] Fig. 6 shows a printing system comprising a first, a second, and a third robot. As in Fig. 6, the printing system according to an embodiment of the present disclosure may include not only two robots, but also more robots.

[0067] The following describes in detail a case involving two or more robots. The drawing shows a case involving three robots, but more robots are possible as needed. Components identical or equivalent to those described above are given the same or equivalent reference numerals, and detailed descriptions are omitted.

[0068] The printing system according to one embodiment of the present disclosure may include a plurality of robots arranged left and right. As one embodiment of the present disclosure, the printing system may include a first robot 100, a second robot 200, and a third robot 700. The third robot may be arranged in a different one of the left and right directions of the first robot or in a different one of the left and right directions of the second robot.

[0069] Hereinafter, as shown in the drawings, a case will be described in detail in which the order of arrangement is from the left side to the third robot 700, the first robot 100, and the second robot 200.

[0070] The connecting portion 300 may connect robots arranged adjacent to each other among the plurality of robots. That is, the connecting portion may be configured to further connect the first robot and the third robot, or the second robot and the third robot.

[0071] As an embodiment of the present disclosure, the connecting portion 300 may include a first connecting portion 300a and a second connecting portion 300b. The first connecting portion 300a may connect the first robot 100 and the second robot 200. The second connecting portion 300b may connect the first robot 100 and the third robot 700. The first connecting portion 300a and the second connecting portion 300b may have corresponding shapes to each other.

[0072] The printing section 400 may be connected to the connecting section 300 and may perform 3D printing. As an embodiment of the present disclosure, the printing section 400 may include a first printing section 400a and a second printing section 400b. The first printing section 400a may be connected to the first connecting section 300a. The second printing section 400b may be connected to the second connecting section 300b. The first printing section 400a and the second printing section 400b may have corresponding shapes to each other.

[0073] The supply section 500 may include a first supply section 500a and a second supply section 500b. The first supply section 500a may be configured to supply the first printing section 400a with the material. The second supply section 500b may be configured to supply the second printing section 400b with the material. The first supply section 500a may be housed on an upper surface of the second robot 200, and the second supply section 500b may be housed on an upper surface of the third robot 700. The first supply section 500a and the second supply section 500b may have corresponding shapes.

[0074] As discussed, the number of connecting sections 300 and printing sections 400 can be one less than the number of robots.

[0075] The controller 600 may designate any one of the plurality of robots as a host and designate the remaining robots as guests. The controller 600 may perform control such that the remaining robots follow an operation of the one robot. As one embodiment of the present disclosure, a robot may be a robot on / at which the controller 600 is housed.

[0076] As one embodiment of the present disclosure, the controller 600 may be housed on / at the first robot 100. Accordingly, the controller 600 may designate the first robot 100 as the host and designate the second robot 200 and the third robot 700 as guests. The controller 600 may perform control such that the second robot 200 and the third robot 700 follow an operation of the first robot. As one embodiment of the present disclosure, the second robot 200 and the third robot 700 may be moved forward when the first robot 100 is moved forward.

[0077] The controller 600 may perform control such that the remaining connection portions follow the operation of any one connection portion. As an embodiment of the present disclosure, the controller may perform control such that the second connection portion 300b follows the operation of the first connection portion 300a.

[0078] The controller 600 may perform control such that the remaining printing sections follow an operation of any one printing section. As an embodiment of the present disclosure, the controller may perform control such that the second printing section 400b follows an operation of the first printing section 400a.

[0079] The controller 600 may perform control such that the remaining supply sections follow the operation of any one supply section. As an embodiment of the present disclosure, the controller may perform control such that the second supply section 500b follows the operation of the first supply section 500a.

[0080] Since the controller 600 is configured to perform control so that the remaining robots follow an operation of any one robot, the efficiency of control increases, and stable control is possible compared with the case where the controller 600 is configured to control all the operations of the robots.

[0081] According to an embodiment of the present disclosure, printing can be applied to various environmental conditions, and large structures can be manufactured despite a relatively small work area because it is performed via a setup in which a printing section is coupled to a movable robot.

[0082] In various embodiments of the present disclosure, the control device may be implemented in the form of hardware or software, or may be implemented in a combination of hardware and software.

[0083] Furthermore, the terms "unit", "module", etc., encompassed in the patent specification mean units for processing at least one function or operation, which may be implemented by hardware, software, or a combination thereof.

[0084] In one embodiment of the present disclosure, the vehicle may be referred to as being based on a concept including various means of transportation. In some cases, the vehicle may be understood as being based on a concept that includes not only various land transportation means such as cars, motorcycles, trucks, and buses traveling on roads, but also various means of transportation such as airplanes, drones, ships, etc.

[0085] For ease of explanation and precise definition in the appended claims, the terms "top," "bottom," "inside," "outside," "upward," "downward," "front," "backward," "rearward," "inside," "outside," "inward," "outward," "internal," "external," "inner," "outer," "forward," and "backward" are used to describe features of the embodiments with reference to the positions of such features as illustrated in the figures. It is further understood that the term "connect" or its derivatives refer to both direct and indirect connection.

[0086] The term "and / or" may include a combination of a plurality of related listed items, or any plurality of related listed items. For example, "A and / or B" includes all three cases, such as "A," "B," and "A and B."

[0087] In this specification, unless otherwise specified, a singular term includes a plural term unless the context clearly indicates otherwise.

[0088] In embodiments of the present disclosure, "at least one of A and B" may refer to "at least one of A or B" or to "at least one of combinations of at least one of A and B." Furthermore, "one or more of A and B" may refer to "one or more of A or B" or "one or more combinations of one or more of A and B."

[0089] In the embodiment of the present disclosure, it is to be understood that a term such as "comprising" or "having" is intended to indicate the presence of the features, numbers, steps, operations, elements, parts, or combinations thereof described in the specification, and does not exclude the possibility of adding or having one or more other features, numbers, steps, operations, elements, parts, or combinations thereof.

[0090] According to an embodiment of the present disclosure, components may be combined with each other to be realized as a unit, or some components may be omitted.

[0091] The foregoing descriptions of specific embodiments of the present disclosure have been presented for purposes of illustration and description. They are not exhaustive and are not intended to limit the present disclosure to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings. The embodiments were chosen and described in order to explain certain principles of the invention and their practical application in order to enable others skilled in the art to make and use various embodiments of the present disclosure, as well as various alternatives and modifications thereof. It is intended that the scope of the present disclosure be determined by the claims appended hereto and their equivalents. DESCRIPTION OF REFERENCE SYMBOLS 100 first robots 200 second robots 300 connecting part 300a first connecting part 300b second connecting part 310 first connecting element 311 first connecting element 312 second connecting element 320 second connecting element 321 (2-1)-th connecting section 322 (2-2)-th connecting section 330 third connecting element 340 fourth connecting element 350 fifth connecting element 400 print sections 400a first printing section 400b second printing section 410 Output element 420 Up-down movement element 421 Up-down extension section 422 Up-down movement section 425 engine 427 rotating section 430 Left-right movement element 431 Left-right extension section 432 Left-right movement section 433 pinion 434 pinion motor 435 rack 500 feed section 500a first feed section 500b second feed section 510 storage element 520 hose element 600 control 700 third robot

Claims

[1] Printing system, comprising: a first robot that is mobile; a second robot located on one side of the first robot in a first direction and movable; a connecting portion connecting the first robot and the second robot; a printing section connected to the connecting section and configured to perform 3D printing; and a supply section arranged to supply a material to the printing section, the print section comprising: an output member connected to the feed section and configured to output the material; an up-down movement element configured to move the output element in a second direction; and a left-right moving member engaged with the up-down moving member and configured to move the up-down moving member in the first direction, and wherein one of the first robot and the second robot is coupled to the feed section. [2] The printing system of claim 1, further comprising: a controller electrically connected to at least one of the first robot, the second robot, the connecting section, and the printing section and configured to control an operation of the at least one of the first robot, the second robot, the connecting section, and the printing section, wherein another of the first robot and the second robot is coupled to the controller. [3] Printing system according to claim 2, wherein the supply section operatively connected to the controller comprises: a storage element arranged to store the material; and a hose element connecting the storage element and the output element, and wherein the storage element extrudes the material into the tube element and supplies the material to the output element. [4] Printing system according to claim 3, wherein the storage element is located on an upper side of the first robot or the second robot, wherein the controller is located on a top side of another of the first robot and the second robot, and wherein the lengths of the memory element and the controller along the second direction correspond to each other. [5] Printing system according to claim 4, wherein an end portion of the connecting portion is connected to the controller, and wherein an opposite end portion of the connecting portion is connected to the storage element. [6] The printing system of claim 1, wherein the up-down moving member comprises: an up-down extension portion connected to the output member and extending in the second direction from the output member; and an up-down moving portion engaged with the up-down extending portion and configured to move the output member by moving the up-down extending portion in the second direction, and wherein the up-down extension portion engages with the up-down movement portion by passing through and being coupled to the up-down movement portion. [7] The printing system of claim 6, wherein the left-right movement element comprises: a left-right extension portion extending in the first direction and configured to pass through and engage with the up-down movement portion in the first direction; and a left-right movement section configured to move the up-down movement section in the first direction. [8] Printing system according to claim 7, wherein a pair of left-right extension portions are provided to be spaced apart from each other in a third direction, and wherein the up-down extension portion is disposed between the pair of left-right extension portions. [9] The printing system according to claim 7, wherein the left-right moving section comprises: a pinion; a pinion motor connected to the pinion and operatively connected to a controller to rotate the pinion; and a rack coupled to the connecting part, which engages with the pinion. [10] Printing system according to claim 6, wherein a screw thread is formed on an outer peripheral surface of the up-down extension portion, and a rotatable portion is arranged in an interior of the up-down movement portion and is engaged with the screw thread, and wherein an actuator operatively connected to a controller is coupled to the rotatable portion to move the up-down extension portion in the second direction. [11] The printing system according to claim 1, wherein the connecting portion comprises: a first connecting element extending in the second direction from the first robot; a second connecting element extending in the second direction from the second robot; and a third connecting element connecting the first connecting element and the second connecting element. [12] The printing system according to claim 11, wherein the first connecting member and the second connecting member are arranged such that the lengths of the first connecting member and the second connecting member are variable along the second direction. [13] The printing system of claim 12, wherein at least one of the first connecting member and the second connecting member comprises: a first connecting element extending in the second direction from the first robot; a second connecting element through which the first connecting element passes in an interior of the second connecting element and whose top side is closed; and a first hydraulic pressure supply section configured to move the second link member in the second direction by supplying hydraulic pressure to an interior of the second link member. [14] A printing system according to claim 11, wherein a pair of first connecting members, a pair of second connecting members and a pair of third connecting members are provided such that they are spaced apart from each other in a third direction, and wherein the printing section is arranged between the pair of third connecting members. [15] The printing system according to claim 14, wherein the connecting portion further comprises: a fourth connecting element extending in the third extension direction and connecting the pair of first connecting elements; and a fifth connecting element extending in the third direction and connecting the pair of second connecting elements, wherein the up-down movement element comprises: an up-down extension portion connected to the output member and extending in the second direction from the output member; and an up-down moving portion passing through the up-down extending portion in the second direction and configured to move the output member in the second direction by moving the up-down extending portion in the second direction, where the left-right movement element includes: a left-right extension portion extending in the first direction and passing through and engaging with the up-down movement portion in the first direction; and a left-right moving section engaged with the up-down moving section and configured to move the up-down moving section in the first direction, and wherein end portions of the pair of left-right extension portions are in contact with the fourth connecting member and opposite end portions of the pair of left-right extension portions are in contact with the fifth connecting member. [16] The printing system of claim 1, further comprising: a third robot located on one of a side of the first robot in the first direction or a side of the second robot in the first direction and movable, wherein the connecting portion further connects the first robot and the third robot or the second robot and the third robot to each other. [17] Printing system, comprising: a plurality of robots arranged in a first direction; connecting portions connecting robots arranged adjacent to each other among the plurality of robots; and Printing sections connected to the connecting sections and configured to perform 3D printing, where the number of connecting sections and printing sections is one less than the number of robots. [18] The printing system of claim 17, further comprising: a controller electrically connected to at least one of the plurality of robots, the connecting sections and the printing sections and configured to control an operation of the at least one of the plurality of robots, the connecting sections and the printing sections, wherein the controller is configured to perform control to designate any one robot among the plurality of robots as a host and designate remaining robots among the plurality of robots as guests, such that the remaining robots follow an operation of the any one robot. [19] The printing system of claim 18, wherein the controller is housed on a top surface of any robot. [20] A printing system according to claim 17, wherein each printing section comprises: an output member connected to the feed section and configured to output the material; an up-down movement element configured to move the output element in a second direction; and a left-right moving member engaged with the up-down moving member and configured to move the up-down moving member in the first direction.

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