A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
PRINTING APPARATUS, PRINTING ROBOT, AND CONTROL METHOD
The invention belongs to the technical field of building printing, and particularly relates to a printing device, a robot and a control method, and the printing device comprises a mixing extrusion bin which is provided with a feeding port and a discharging port; the extrusion nozzle is movably arranged at the discharge port and is communicated with the interior of the mixing extrusion bin through the discharge port so as to facilitate discharging; the direction-changing assembly comprises a direction-changing driving part and a direction-changing transmission part, the direction-changing driving part is arranged outside the mixing extrusion bin, one end of the direction-changing transmission part is connected with the direction-changing driving part, the other end of the direction-changing transmission part is connected with the extrusion nozzle, and the direction-changing driving part can drive the direction-changing transmission part to move; and the extrusion nozzle is driven to rotate around the axis of the discharge port. According to the scheme, the proper rotation direction of the extrusion nozzle can be selected according to the printing path and when the bent angle of the line is printed or the gradient curve is printed, continuous curve printing is achieved, the printing efficiency can be effectively improved, and the higher printing yield can be obtained.
本申请属于建筑打印技术领域，具体涉及一种打印装置、机器人和控制方法，包括：混合挤出仓，设有进料口和出料口；挤出嘴，活动设于所述出料口处，并通过所述出料口与所述混合挤出仓的内部连通，以便于出料；变向组件，包括变向驱动件和变向传动件，所述变向驱动件设于所述混合挤出仓的外部，所述变向传动件的一端与所述变向驱动件相连，另一端与所述挤出嘴连接，所述变向驱动件能够驱动所述变向传动件运动，以带动所述挤出嘴绕所述出料口的轴线进行转动。本申请的方案可根据打印路径，以及在打印线条的弯角或者打印渐变曲线时，选择挤出嘴的合适转动方向，实现连续曲线打印，可有效的增加打印效率以及获得更高的打印成品率。
PRINTING APPARATUS, PRINTING ROBOT, AND CONTROL METHOD
The invention belongs to the technical field of building printing, and particularly relates to a printing device, a robot and a control method, and the printing device comprises a mixing extrusion bin which is provided with a feeding port and a discharging port; the extrusion nozzle is movably arranged at the discharge port and is communicated with the interior of the mixing extrusion bin through the discharge port so as to facilitate discharging; the direction-changing assembly comprises a direction-changing driving part and a direction-changing transmission part, the direction-changing driving part is arranged outside the mixing extrusion bin, one end of the direction-changing transmission part is connected with the direction-changing driving part, the other end of the direction-changing transmission part is connected with the extrusion nozzle, and the direction-changing driving part can drive the direction-changing transmission part to move; and the extrusion nozzle is driven to rotate around the axis of the discharge port. According to the scheme, the proper rotation direction of the extrusion nozzle can be selected according to the printing path and when the bent angle of the line is printed or the gradient curve is printed, continuous curve printing is achieved, the printing efficiency can be effectively improved, and the higher printing yield can be obtained.
本申请属于建筑打印技术领域，具体涉及一种打印装置、机器人和控制方法，包括：混合挤出仓，设有进料口和出料口；挤出嘴，活动设于所述出料口处，并通过所述出料口与所述混合挤出仓的内部连通，以便于出料；变向组件，包括变向驱动件和变向传动件，所述变向驱动件设于所述混合挤出仓的外部，所述变向传动件的一端与所述变向驱动件相连，另一端与所述挤出嘴连接，所述变向驱动件能够驱动所述变向传动件运动，以带动所述挤出嘴绕所述出料口的轴线进行转动。本申请的方案可根据打印路径，以及在打印线条的弯角或者打印渐变曲线时，选择挤出嘴的合适转动方向，实现连续曲线打印，可有效的增加打印效率以及获得更高的打印成品率。
PRINTING APPARATUS, PRINTING ROBOT, AND CONTROL METHOD
打印装置、打印机器人和控制方法
MA YANPING (author) / WANG TONGQUAN (author) / GU YIYI (author) / CHEN XIANG'AN (author) / ZHANG JIYANG (author)
2023-04-28
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
/
B28C
Tonaufbereitung
,
PREPARING CLAY
/
B33Y
ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
,
Additive (generative) Fertigung, d. h. die Herstellung von dreidimensionalen [3D] Bauteilen durch additive Abscheidung, additive Agglomeration oder additive Schichtung, z. B. durch 3D- Drucken, Stereolithografie oder selektives Lasersintern
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