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A variable-scale modular 3D printing robot of building interior wall

机译:建筑内墙的可变尺度模块化3D打印机器人

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In order to improve the efficiency of construction, a variable-scale modular 3D printing robot of building interior wall is developed. It can realize the building of the non-frame structure and non-bearing wall. The modular robot consists of the mobile lifting module and beam printing module. The mobile lifting module includes the Omni-directional mobile mechanism, double telescopic slide mechanism, top regulating wheel mechanism and elevating drive mechanism. The beam printing module includes the telescopic slide mechanism and mobile printing vehicle mechanism. This robot can achieve full printing of complex curved interior walls under different working conditions. The control system of the printing robot based on PLC includes control module, drive module, auxiliary module, information collection module and power module. Experimental prototype is made and process experiment is carried out. The experiment results show that the structure design of robot is reasonable and the motion is reliable, which can realize the full-size printing function of the wall.
机译:为了提高施工效率,开发了建筑内墙的可变级模块化3D打印机器人。它可以实现非框架结构和非轴承墙的构建。模块化机器人包括移动提升模块和光束打印模块。移动提升模块包括全向移动机构,双伸缩滑动机构,顶部调节轮机构和升降驱动机构。光束打印模块包括伸缩式滑动机构和移动印刷车辆机构。该机器人可以在不同的工作条件下全面地形成复杂的弯曲内壁。基于PLC的打印机器人的控制系统包括控制模块,驱动模块,辅助模块,信息收集模块和电源模块。进行实验原型,进行工艺实验。实验结果表明,机器人的结构设计合理,运动是可靠的,这可以实现墙壁的全尺寸印刷功能。

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