CN209799393U - Robot wisdom 3D building printer - Google Patents
Robot wisdom 3D building printer Download PDFInfo
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- CN209799393U CN209799393U CN201821704913.1U CN201821704913U CN209799393U CN 209799393 U CN209799393 U CN 209799393U CN 201821704913 U CN201821704913 U CN 201821704913U CN 209799393 U CN209799393 U CN 209799393U
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Abstract
The utility model discloses a robot wisdom 3D building printer. The printer includes: six print robot. The six-axis printing robot comprises a robot supporting seat, a robot supporting platform, six mechanical arms, a robot control cabinet, a printing nozzle and a robot pumping pipeline; the robot supporting seat is fixed on the robot supporting platform, and the six mechanical arms are fixed on the robot supporting seat; the printing nozzle is fixedly connected to the tail end of the six-axis mechanical arm; the robot pump material pipeline is arranged along the six-axis mechanical arm, one end of the robot pump material pipeline is communicated with the printing nozzle, and the other end of the robot pump material pipeline is communicated with the feeding hole of the six-axis printing robot; the robot control cabinet is fixed on the robot supporting platform and used for controlling the six-axis mechanical arm and the printing nozzle. The utility model discloses a robot wisdom 3D building printer removes conveniently, is convenient for transport.
Description
Technical Field
The utility model relates to a 3D prints technical field, especially relates to a wisdom 3D building printer of robot.
Background
With the continuous progress of the 3D printing technology, the 3D printing technology is fully developed in various industry fields, and the 3D printing technology is applied to buildings and has the advantages of being green, energy-saving, efficient in forming, environment-friendly in buildings and the like, so that the development of the technology is emphasized by related industries at home and abroad.
Building 3D printing adopts a process similar to Fused Deposition Modeling (FDM), and printing materials are extruded and molded to be stacked layer by layer to form a three-dimensional solid house or component.
The mechanical form that the present building 3D printer adopted all is a truss structure, and the printer of this form is comparatively heavy, and it is inconvenient to remove, is unsuitable for on-the-spot printing to can't realize local materials, can only transport the printing component to the scene and realize the assembly.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot wisdom 3D building printer, it is convenient to remove, the transportation of being convenient for.
in order to achieve the above object, the utility model provides a following scheme:
A robot wisdom 3D building printer includes: the six-axis printing robot comprises a robot supporting seat, a robot supporting platform, six mechanical arms, a robot control cabinet, a printing nozzle and a robot pumping pipeline;
the robot supporting seat is fixed on the robot supporting platform, and the six-axis mechanical arm is fixed on the robot supporting seat; the printing nozzle is fixedly connected to the tail end of the six-axis mechanical arm; the robot pump material pipeline is arranged along the six-axis mechanical arm, one end of the robot pump material pipeline is communicated with the printing nozzle, and the other end of the robot pump material pipeline is communicated with a feeding hole of the six-axis printing robot; the robot control cabinet is fixed on the robot supporting platform and used for controlling the six-axis mechanical arm and the printing nozzle.
Optionally, the printer further comprises a self-feeding stirring and cleaning vehicle and a pumping device; the pumping device is used for stirring the printing materials supplied by the feeding stirring and cleaning vehicle and pumping the printing materials to the six-axis printing robot;
the pumping device comprises a pumping control cabinet, a pumping equipment frame, a stirring motor, a pumping material pipeline, a stirring shaft, a stirring tank, a pumping material screw, a storage bin, a rubber spray head and a three-way valve group;
the pumping control cabinet, the stirring motor and the storage bin are all arranged on the pumping equipment frame, and the pumping equipment frame is used for supporting the pumping control cabinet, the stirring motor and the storage bin; the stirring tank is positioned above the stock bin, a discharge port of the stirring tank is communicated with a feed port of the stock bin through the pumping and pumping pipeline, the discharge port of the stock bin is communicated with the rubber spray head, and the three-way valve group is arranged at the tail end of the rubber spray head; the stirring shaft is arranged in the stirring tank and is used for stirring the printing material under the driving of the stirring motor; the pumping pump material pipeline is used for conveying the printing material stirred in the stirring tank to the storage bin; the material pumping screw is arranged in the stock bin and used for carrying out secondary stirring on the printing material and conveying the printing material to the rubber spray head; the rubber nozzle is communicated with a first inlet of the three-way valve group and is used for conveying the printing material to the three-way valve group; an outlet of the three-way valve group is communicated with a feed inlet of the six-axis printing robot; and the pumping control cabinet is used for controlling the stirring motor and the pumping screw rod.
Optionally, the printer further comprises a water washing device; the water washing device is used for washing the pumping device and the six-axis printing robot and humidifying printing materials in the pumping device;
The washing device comprises a washing platform, a washing control cabinet, a buffer water tank, a washing water tank and a washing water pump;
The washing control cabinet, the buffer water tank, the flushing water tank and the flushing water pump are all arranged on the washing platform;
the water outlet of the flushing water tank is communicated with the flushing water pump, and the flushing water pump is communicated with the flushing pipe through a water outlet pipe; the buffer water tank is arranged on the water outlet pipe; the tail end of the flushing pipe is connected with a flushing head; the flushing water tank is used for storing purified water; the flushing head is used for flushing the pumping device and the six-axis printing robot and humidifying the printing materials;
The flushing pipe is also communicated with a second inlet of the three-way valve group and is used for conveying water to the robot pumping pipeline during flushing;
The washing control cabinet is used for controlling the washing water pump.
Optionally, the water washing device further comprises a filtering water tank and a filtering aeration fan; the filtering water tank and the filtering aeration fan are both arranged on the washing platform;
the filtering water tank is used for collecting the wastewater after flushing and filtering the wastewater; and the air outlet of the filtering aeration fan is communicated with the filtering water tank through an aeration pipeline and is used for aerating the filtered water-solid waste liquid.
optionally, a liquid level meter is installed in the flush tank, an output end of the liquid level meter is connected with the water washing control cabinet, and the liquid level meter is used for measuring a water level in the flush tank.
Optionally, be provided with on the outlet pipe and press the installation mouth of pipe that becomes, press and become the installation mouth of pipe and be used for installing pressure transmitter, pressure transmitter is used for detecting the water pressure of outlet pipe.
Optionally, a plurality of first universal wheels are mounted below the pumping device frame.
optionally, a plurality of second universal wheels are mounted below the washing platform.
optionally, the printer further comprises a video monitoring device; the video monitoring device is arranged around the six-axis printing robot and used for monitoring the printing process of the six-axis printing robot.
Optionally, the printer further comprises a main control cabinet, wherein the main control cabinet is connected with the robot control cabinet, the pumping control cabinet and the washing control cabinet and used for sending control instructions to the robot control cabinet, the pumping control cabinet and the washing control cabinet.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect: the utility model discloses a robot wisdom 3D building printer utilizes six printing robot to print, and the line frame formula printer that has relatively removes the convenience, and the transportation of being convenient for is applicable to the on-the-spot printing more. The utility model discloses an add from material loading stirring and cleaning car and pumping installations, realize the proper motion material loading of printer. The utility model discloses still through setting up washing device, realize printing the automatic washing after accomplishing.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a diagram of the overall device structure of an embodiment of the present invention of a robotic intelligent 3D building printer;
FIG. 2 is a schematic diagram of a six-axis printing robot according to an embodiment of the present invention;
FIG. 3 is a block diagram of a pumping device of an embodiment of the robotic smart 3D construction printer of the present invention;
Fig. 4 is the device structure diagram of the washing device of the intelligent 3D building printer of the robot of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a robot wisdom 3D building printer, it is convenient to remove, the transportation of being convenient for.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
fig. 1 is the whole device structure diagram of the intelligent 3D building printer of robot embodiment of the utility model.
A robot wisdom 3D building printer includes: six printing robot 1, from material loading stirring washing car 4, pumping installations 2, water washing device 3, video monitoring device 5 and main control cabinet 6.
the printing main body is a six-axis printing robot 1 which finishes printing the building components; the self-feeding stirring and cleaning vehicle 4, the pumping device 2, the water washing device 3, the video monitoring device 5 and the main control cabinet 6 are all peripheral equipment parts, and the pumping device 2 is used for supplying materials to the six-axis printing robot 1, stirring the materials in real time and preventing the materials from being solidified; the self-feeding stirring and cleaning vehicle 4 is used for realizing self-feeding stirring and transportation of materials and completing the supply of the materials to the pumping device 2; the water washing device 3 is used for completing the washing work after printing, such as the washing of structures like a tank body of the pumping device 2, a printing head at the tail end of the six-axis printing robot 1, a material conveying pipeline and the like, and besides, the water washing device 3 is also used for realizing the real-time humidity adjustment of the printing material, and carrying out operations such as humidification, atomization and the like, so that parameters such as the viscosity of the printing material are kept within a certain range; the video monitoring device 5 is arranged around the six-axis printing robot 1 and is used for monitoring the printing process of the six-axis printing robot 1, so that an operator can monitor the printing condition in real time, and if a printing fault occurs, the printing fault can be quickly processed; the main control cabinet 6 is used for finishing monitoring and instruction output of the six-axis printing robot 1, the self-feeding stirring and cleaning vehicle 4, the pumping device 2, the water washing device 3 and the video monitoring device 5.
in the figure, the wall 7 is a finished product printed by the six-axis printing robot 1 by using a printing material.
figure 2 is the utility model discloses six printing robot's of robot wisdom 3D building printer embodiment device structure charts.
Referring to fig. 2, the six-axis printing robot 1 includes a robot support base 101, a robot support platform 102, a six-axis robot arm 103, a robot control cabinet 104, a printing nozzle 105, and a robot pumping pipeline 106.
The robot support seat 101 is fixed on the robot support platform 102, and the robot support seat 101 and the robot support platform 102 jointly serve as a base to enable the six-axis mechanical arm 103 to stably operate. The six-axis mechanical arm 103 is fixed on the robot supporting seat 101; the printing spray head 105 is fixedly connected to the tail end of the six-axis mechanical arm 103; the robot pumping pipeline 106 is arranged along the six-axis mechanical arm 103, one end of the robot pumping pipeline 106 is communicated with the printing nozzle 105, and the other end of the robot pumping pipeline 106 is communicated with a feeding hole of the six-axis printing robot 1; the robot control cabinet 104 is fixed on the robot support platform 102 through a control cabinet bracket 213, and is used for controlling the six-axis robot arm 103 and the print head 105.
a plurality of pump material pipe clamps 107 are fixed to the six-axis robot arm 103, and the pump material pipe clamps 107 are used for fixing the robot pump material pipe 106. The robot pumping pipeline 106 is composed of a plurality of sections of pump pipes, and the pump pipes are connected through universal joints 108; the universal joint 108 is used to prevent the robot pumping line 106 from flow instability due to the torsion of the six-axis mechanical arm 103. The robot pump material pipeline 106 is used for conveying printing materials and is a flexible wear-resistant composite rubber pipe.
Fig. 3 is the device structure diagram of the pumping device of the intelligent 3D building printer of the robot of the present invention.
Referring to fig. 3, the pumping device 2 is used to agitate the printing material supplied from the loading agitation and cleaning vehicle 4 and pump the printing material to the six-axis printing robot 1.
The pumping device 2 adopts an integrated mode and is convenient to move.
the pumping device 2 comprises a pumping control cabinet 201, a pumping equipment frame 202, a stirring motor 203, a pumping material pipeline 204, a stirring shaft 205, a stirring tank 206, a pumping material screw 207, a storage bin 208, a rubber spray head 209 and a three-way valve group 210.
The pumping control cabinet 201, the stirring motor 203 and the bin 208 are all arranged on the pumping equipment frame 202, and the pumping equipment frame 202 is used for supporting the pumping control cabinet 201, the stirring motor 203 and the bin 208; the stirring motor 203 is fixed on a motor supporting platform 212, and the motor supporting platform 212 is arranged on the pumping device frame 202; a plurality of first universal wheels 211 are mounted below the pumping device frame 202. The motor support platform 212, the pumping device frame 202 and the first universal wheel 211 together form a support structure of the pumping device 2.
The stirring tank 206 is positioned above the stock bin 208, a discharge hole of the stirring tank 206 is communicated with a feed inlet of the stock bin 208 through the pumping pump pipeline 204, a discharge hole of the stock bin 208 is communicated with the rubber spray head 209, and the three-way valve group 210 is arranged at the tail end of the rubber spray head 209; the stirring shaft 205 is arranged in the stirring tank 206 and is used for stirring the printing material under the driving of the stirring motor 203; the pumping pump material pipeline 204 is positioned below the stirring motor 203 and is used for conveying the stirred printing material in the stirring tank 206 to the stock bin 208; the pump screw 207 is arranged in the stock bin 208 and used for carrying out secondary stirring on the printing material and conveying the printing material to the rubber spray head 209; the rubber spray head 209 is communicated with a first inlet of the three-way valve set 210 and is used for conveying the printing material to the three-way valve set 210; an outlet of the three-way valve group 210 is communicated with a feed inlet of the six-axis printing robot 1; the pumping control cabinet 201 is used for controlling the stirring motor 203 and the pumping screw 207.
And a second inlet of the three-way valve group 210 is communicated with the water washing device 3 and used for conveying water in the water washing device 3 to the six-axis printing robot 1 during water washing.
During operation, the pumping control cabinet 201 receives a control instruction from the main control cabinet 6, and sends a control instruction to the stirring motor 203 and the pumping screw 207, and feeds back state parameter information in real time. After receiving the command, the stirring motor 203 starts to rotate to drive the stirring shaft 205 to stir, so that the printing material is in a dynamic environment to prevent condensation. The printing material of the stirring tank 206 is conveyed to a bin 208 through a pumping and pumping pipeline 204, a pumping screw 207 in the bin 208 transfers the printing material to a rubber nozzle 209 through stirring, and the printing material coming out of the rubber nozzle 209 is used for conveying to the six-axis printing robot 1.
Fig. 4 is a device configuration diagram of the water washing device 3 according to the embodiment of the robot smart 3D construction printer of the present invention.
referring to fig. 4, the water washing apparatus 3 functions as follows:
1. The pumping device 2 and the six-axis printing robot 1 are cleaned, and the printing material in the pumping device 2 is humidified.
2. and carrying out secondary filtration on the waste after water washing to realize the recycling of the material.
The water washing device 3 comprises a water washing platform 301, a water washing control cabinet 302, a buffer water tank 303, a flushing water tank 304, a flushing water pump 305, a filtering water tank 306 and a filtering aeration fan 307.
The washing control cabinet 302, the buffer water tank 303, the flushing water tank 304, the flushing water pump 305, the filtering water tank 306 and the filtering aeration fan 307 are all installed on the washing platform 301. A plurality of second universal wheels 308 are mounted below the washing platform 301.
The flush tank 304 is 304 stainless steel. The water outlet of the flushing water tank 304 is communicated with the flushing water pump 305, and the flushing water pump 305 is communicated with a flushing pipe through a water outlet pipe; buffering water pitcher 303 is installed on the outlet pipe, buffering water pitcher 303 is used for stabilizing water pressure, for taking the pressure liquid to provide a buffer media, can effectively reduce the liquid to the harm of equipment of taking the pressure. The tail end of the flushing pipe is connected with a flushing head; the flushing water tank 304 is used for storing clean water; the flushing head is used for flushing the pumping device 2 and the six-axis printing robot 1 and humidifying the printing materials; a liquid level meter is installed in the flush tank 304, an output end of the liquid level meter is connected with the water washing control cabinet 302, and the liquid level meter is used for measuring the water level in the flush tank 304. The top of the flushing water tank 304 is provided with a flushing tank cover 309, a water replenishing port 310 and a flange 311; the flush tank cap 309 covers the top opening of the flush tank 304; the water replenishing port 310 is a water replenishing inlet port of the flush water tank 304, is communicated with a purified water pipe, and is used for replenishing purified water into the flush water tank 304; the flange 311 is used for mounting the level gauge. A discharge pipe orifice 312 is arranged at the bottom of the side surface of the flushing water tank 304; the discharge pipe opening 312 is used for communicating with a discharge pipe to discharge the impurities in the flushing water tank 304.
The flush tube is also in communication with a second inlet of the three-way valve block 210 for delivering water to the robot pump line 106 during flushing.
As an optional implementation mode, the flushing pipe comprises three paths, namely a cleaning pipe, a humidifying pipe and a water gun pipe; the one end of scavenge pipe, the one end of humidification pipe and the one end of squirt pipe all communicate with the outlet pipe, and the other end of scavenge pipe is connected and is washd the shower nozzle, and humidification shower nozzle is connected to the other end of humidification pipe, and the other end of squirt pipe is connected and is washed the squirt. The cleaning spray head is used for cleaning the pumping device 2, the humidifying spray head is used for humidifying materials, and the washing water gun is used for washing a structure which is difficult to clean.
the wash control cabinet 302 is used to control the rinse pump 305.
The filtering water tank 306 is a secondary filtering water tank, and the filtering water tank 306 is used for collecting the wastewater after flushing, performing secondary filtering on the wastewater, and recycling the sand and stone with the particle size larger than a set diameter; the air outlet of the filter aeration fan 307 is communicated with the filter water tank 306 through an aeration line 313, and is used for aerating the filtered water-solid waste liquid, namely, air is introduced into the filter water tank 306, so that the air and the flushed water are flushed oppositely, the filter screen is prevented from being blocked, and meanwhile, the accumulation of particles at the bottom of the filter water tank 306 can be reduced. A drain line 314 and a drain line 315 are also installed on the filtered water tank 306; the drain line 314 is used to drain waste water and the blowdown line 315 is used to drain waste.
Be provided with on the outlet pipe and press and become installation mouth of pipe 316, it is used for installing pressure transmitter to press to become installation mouth of pipe 316, pressure transmitter is used for detecting the water pressure of outlet pipe. The pressure transmitter is connected with the washing control cabinet 302 and is used for transmitting the water pressure value to the washing control cabinet 302.
In operation, the washing control cabinet 302 receives the instruction from the main control cabinet 6, and sends control commands to the components of the washing apparatus 3, and feeds back the parameter status information of the washing apparatus 3 in real time. In the printing process, the water washing device 3 realizes the operations of atomization and humidification according to the viscosity parameter of the printing material, so that the state of the printing material is maintained at a stable value. After printing, the washing device 3 is controlled by two closed loops, the robot pump material pipeline 106 and the printing spray head 105 are used as a loop, the pumping device 2 is used as a loop, the two loops simultaneously carry out cleaning work, and the working efficiency is improved by 50%. Pipeline washs the very important part in the whole printing process, because the building prints the material from the nature, and the residual material can solidify because not clear up in the structure such as pipeline, box and print shower nozzle 105 after printing the completion, influences the next use. The cleaning efficiency is more critical, and if the cleaning is slower, the cleaning is not completed before the printing material begins to solidify, the next use is seriously influenced. Therefore, the utility model discloses also can prolong the life of device greatly when improving cleaning efficiency.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect: the utility model discloses a robot wisdom 3D building printer utilizes six printing robot 1 to print, and the line frame formula printer that has relatively removes conveniently, and the transportation of being convenient for is applicable to the on-the-spot printing more. The utility model discloses an add from material loading stirring and cleaning car 4 and pumping installations 2, realize the proper motion material loading of printer. The utility model discloses still through setting up washing unit 3, realize printing the automatic washing after the completion.
The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. the utility model provides a robot wisdom 3D building printer which characterized in that includes: the six-axis printing robot comprises a robot supporting seat, a robot supporting platform, six mechanical arms, a robot control cabinet, a printing nozzle and a robot pumping pipeline;
the robot supporting seat is fixed on the robot supporting platform, and the six-axis mechanical arm is fixed on the robot supporting seat; the printing nozzle is fixedly connected to the tail end of the six-axis mechanical arm; the robot pump material pipeline is arranged along the six-axis mechanical arm, one end of the robot pump material pipeline is communicated with the printing nozzle, and the other end of the robot pump material pipeline is communicated with a feeding hole of the six-axis printing robot; the robot control cabinet is fixed on the robot supporting platform and used for controlling the six-axis mechanical arm and the printing nozzle.
2. The robotic intelligent 3D building printer of claim 1, further comprising a self-loading agitation cleaning cart and a pumping device; the pumping device is used for stirring the printing materials supplied by the feeding stirring and cleaning vehicle and pumping the printing materials to the six-axis printing robot;
The pumping device comprises a pumping control cabinet, a pumping equipment frame, a stirring motor, a pumping material pipeline, a stirring shaft, a stirring tank, a pumping material screw, a storage bin, a rubber spray head and a three-way valve group;
The pumping control cabinet, the stirring motor and the storage bin are all arranged on the pumping equipment frame, and the pumping equipment frame is used for supporting the pumping control cabinet, the stirring motor and the storage bin; the stirring tank is positioned above the stock bin, a discharge port of the stirring tank is communicated with a feed port of the stock bin through the pumping and pumping pipeline, the discharge port of the stock bin is communicated with the rubber spray head, and the three-way valve group is arranged at the tail end of the rubber spray head; the stirring shaft is arranged in the stirring tank and is used for stirring the printing material under the driving of the stirring motor; the pumping pump material pipeline is used for conveying the printing material stirred in the stirring tank to the storage bin; the material pumping screw is arranged in the stock bin and used for carrying out secondary stirring on the printing material and conveying the printing material to the rubber spray head; the rubber nozzle is communicated with a first inlet of the three-way valve group and is used for conveying the printing material to the three-way valve group; an outlet of the three-way valve group is communicated with a feed inlet of the six-axis printing robot; and the pumping control cabinet is used for controlling the stirring motor and the pumping screw rod.
3. The robotic intelligent 3D building printer of claim 2, further comprising a water washing device; the water washing device is used for washing the pumping device and the six-axis printing robot and humidifying printing materials in the pumping device;
The washing device comprises a washing platform, a washing control cabinet, a buffer water tank, a washing water tank and a washing water pump;
The washing control cabinet, the buffer water tank, the flushing water tank and the flushing water pump are all arranged on the washing platform;
The water outlet of the flushing water tank is communicated with the flushing water pump, and the flushing water pump is communicated with the flushing pipe through a water outlet pipe; the buffer water tank is arranged on the water outlet pipe; the tail end of the flushing pipe is connected with a flushing head; the flushing water tank is used for storing purified water; the flushing head is used for flushing the pumping device and the six-axis printing robot and humidifying the printing materials;
The flushing pipe is also communicated with a second inlet of the three-way valve group and is used for conveying water to the robot pumping pipeline during flushing;
The washing control cabinet is used for controlling the washing water pump.
4. The robotic smart 3D building printer of claim 3, wherein the washing device further comprises a filter water tank and a filter aeration fan; the filtering water tank and the filtering aeration fan are both arranged on the washing platform;
the filtering water tank is used for collecting the flushed wastewater and filtering the wastewater; and the air outlet of the filtering aeration fan is communicated with the filtering water tank through an aeration pipeline and is used for aerating the filtered water-solid waste liquid.
5. The robotic intelligent 3D building printer of claim 3, wherein a level gauge is mounted in said flush tank, an output end of said level gauge is connected to said water washing control cabinet, and said level gauge is used for measuring a water level in said flush tank.
6. The robot wisdom 3D building printer of claim 3, characterized in that be provided with on the outlet pipe and press and become the installation mouth of pipe, press and become the installation mouth of pipe and be used for installing pressure transmitter, pressure transmitter is used for detecting the water pressure of outlet pipe.
7. The robotic intelligent 3D building printer of claim 2, wherein a first plurality of universal wheels are mounted below the pumping device frame.
8. The robotic intelligent 3D building printer of claim 3, wherein a plurality of second universal wheels are mounted below the washing platform.
9. the robotic intelligent 3D building printer of claim 1, further comprising a video monitoring device; the video monitoring device is arranged around the six-axis printing robot and used for monitoring the printing process of the six-axis printing robot.
10. The robot intelligent 3D building printer according to claim 3, further comprising a main control cabinet, wherein the main control cabinet is connected with the robot control cabinet, the pumping control cabinet and the washing control cabinet, and is used for sending control commands to the robot control cabinet, the pumping control cabinet and the washing control cabinet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821704913.1U CN209799393U (en) | 2018-10-22 | 2018-10-22 | Robot wisdom 3D building printer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821704913.1U CN209799393U (en) | 2018-10-22 | 2018-10-22 | Robot wisdom 3D building printer |
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| CN209799393U true CN209799393U (en) | 2019-12-17 |
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| CN201821704913.1U Active CN209799393U (en) | 2018-10-22 | 2018-10-22 | Robot wisdom 3D building printer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112206357A (en) * | 2020-09-25 | 2021-01-12 | 清华大学 | Tissue engineering skin biological ink, preparation method, regeneration method and system |
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2018
- 2018-10-22 CN CN201821704913.1U patent/CN209799393U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112206357A (en) * | 2020-09-25 | 2021-01-12 | 清华大学 | Tissue engineering skin biological ink, preparation method, regeneration method and system |
| CN112206357B (en) * | 2020-09-25 | 2021-12-28 | 清华大学 | Tissue engineering skin regeneration system |
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Effective date of registration: 20220408 Address after: 100000 room 1101-11, floor 11, building 18, District 17, No. 188, South Fourth Ring West Road, Fengtai District, Beijing Patentee after: Beijing Space Zhizhu Technology Co.,Ltd. Address before: Room 308, building 4, No. 30, walnut garden, guandongdian North Street, Chaoyang District, Beijing 100026 Patentee before: BEIJING MILESTONE TECHNOLOGY Co.,Ltd. |
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