CN106320342B - Underground engineering 3D printing apparatus and method - Google Patents
Underground engineering 3D printing apparatus and method Download PDFInfo
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- CN106320342B CN106320342B CN201610891823.7A CN201610891823A CN106320342B CN 106320342 B CN106320342 B CN 106320342B CN 201610891823 A CN201610891823 A CN 201610891823A CN 106320342 B CN106320342 B CN 106320342B
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- 238000010146 3D printing Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000002689 soil Substances 0.000 claims abstract description 37
- 238000010276 construction Methods 0.000 claims abstract description 24
- 238000007639 printing Methods 0.000 claims abstract description 22
- 238000009412 basement excavation Methods 0.000 claims abstract description 21
- 230000003044 adaptive effect Effects 0.000 claims abstract description 19
- 239000003381 stabilizer Substances 0.000 claims description 120
- 238000003801 milling Methods 0.000 claims description 47
- 239000002893 slag Substances 0.000 claims description 24
- 238000005520 cutting process Methods 0.000 claims description 23
- 238000005119 centrifugation Methods 0.000 claims description 12
- 238000007599 discharging Methods 0.000 claims description 12
- 238000005266 casting Methods 0.000 claims description 11
- 210000000452 mid-foot Anatomy 0.000 claims description 8
- 239000004035 construction material Substances 0.000 claims description 7
- 230000005641 tunneling Effects 0.000 claims description 5
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 238000009435 building construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000007596 consolidation process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
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Abstract
The present invention provides a kind of underground engineering 3D printing apparatus and method,It is oriented to adaptive expanding unit by modularization Three-axis drive,Entity building 3D printing device and driving dumping plough driving guider connected to it,And tunnel dumping plough with driving dumping plough with the CNC that driving guider is connect,Solve the problems such as existing 3D printing device and method can not achieve underground engineering soil excavation and structure construction,To realize the automatic excavation construction of underground engineering soil body highly effective and safe,The high-precision automatic construction of underground structure,And the problems such as solving traditional architecture construction efficiency and low the degree of automation,And traditional prints device is solved the immovable extension of horizontal plane range the problems such as,Vertical climb must depend on built external surface of buildings,The printing equipment and mole of the present invention uses modular guidng rail,It can the adaptively extension and removable of three axis,Suitable for a large amount of abnormal complex building constructions constructions under on a large scale.
Description
Technical field
The present invention relates to technical field of building construction, more particularly to a kind of underground engineering 3D printing apparatus and method.
Background technology
China is put into effect in succession a series of includes《National high-tech research development plan (863 Program)》,《National increasing material manufacturing
Industry development promotes plan (2015-2016)》With《Made in China 2025》Equal programmatic documents, using 3D printing technique as
The national strategy first developed.Fall behind currently, the automatization level of construction industry is still aobvious compared with other industry, development is compeled to be essential
Want transition and upgrade.Architectural engineering 3D printing technique has high degree of automation, one-pass molding, building consumptive material and process loss few etc.
Feature is a kind of important means for realizing traditional architecture industry transition and upgrade, be solve building efficiently, it is safety, digitlization, automatic
Change, the intelligent effective way built.
However, existing 3D printing device is only applicable to ground buildings or structures construction, underground engineering 3D currently there is no to beat
Printing equipment is set.Compared with ground buildings or structures, since underground engineering construction is involved in the problems, such as soil excavation and supporting, construction risk is more
Greatly.Therefore, it is that there is an urgent need in the art to the technology of solution hardly possiblies to study a kind of 3D printing device and method applied to underground engineering
Topic.
Invention content
The purpose of the present invention is to provide a kind of underground engineering 3D printing apparatus and method, can solve to use existing 3D
Printing equipment and method can not achieve the problem of underground engineering soil excavation and structure construction.
To solve the above problems, the present invention provides a kind of underground engineering 3D printing device, including：
It is oriented to adaptive expanding unit including modularization Three-axis drive and entity connected to it builds 3D printing device,
Wherein,
The modularization Three-axis drive is oriented to adaptive expanding unit, including：
Open-ended modularity ground guide 110；
The directions the XY driving wheel 120 being set on the modularization ground guide 110；
X, Y, the Z-direction modularization stabilizer guide rail 130 being set on the directions the XY driving wheel 120, each X, Y, the side Z
To the both ends of modularization stabilizer guide rail 130 are correspondingly arranged on X, Y, Z-direction stabilizer guide rail extends connector 160；
It is set to the rotation jacking driving 140 of the lower part of the Z-direction modularization stabilizer guide rail 130, the rotation jacking
Driving 140 is connect with the directions XY driving wheel 120；
It is set to 150, X of Z-direction jacking braking driving, the Y-direction on the top of the Z-direction modularization stabilizer guide rail 130
X, Y-direction driving braking 170 are correspondingly arranged on modularization stabilizer guide rail 130；
The entity builds 3D printing device, including：
The print head guide rail beam 210 being set on the Y-direction modularization stabilizer guide rail 130；
The Y-direction print head guide rail driving 220 and the braking of print head crossbeam being set on the print head guide rail beam 210
230,210 one end of print head guide rail beam is connect with 300 delivery pipe of construction material, and the print head guide rail beam is arranged in the other end
Extend connector 240；
Vertical print head 250 and X-direction print head the driving braking 260 being set on the print head guide rail beam 210,
The X-direction print head driving braking 260 is connect with the vertical print head 250；
Driving dumping plough driving guider, including：
The driving dumping plough guide rail beam 510 being set on the Y-direction modularization stabilizer guide rail 130；
The driving dumping plough Y-direction guide rail driving 520 being set on the driving dumping plough guide rail beam 510 and driving row
Native machine crossbeam braking 530, the casting pipe tunneled in 510 one end of dumping plough guide rail beam is native and rubble outlet 600, another
Setting driving dumping plough guide rail beam in end extends connector 540；
The vertical CNC driving dumping ploughs 400 and driving dumping plough X being set on the driving dumping plough guide rail beam 510
Direction driving braking 550, the driving dumping plough X-direction driving braking 550 are connect with the vertical CNC drivings dumping plough 400.
Further, in above-mentioned apparatus, the CNC drivings dumping plough 400 includes：
Ballistic support device 450；
The milling driving cutterhead 410 being set to outside the ballistic support device 450；
The milling rotary power system 420 and soil and rubble storehouse 430, suction being set in the ballistic support device 450
Spiral soil-discharging device 440, wherein the milling driving cutterhead 410 is connect with milling rotary power system 420, described native and broken
430 one end of stone storehouse is connected to milling driving cutterhead 410, and the other end is connected to the suction spiral soil-discharging device 440.
Further, in above-mentioned apparatus, the ballistic support device 450, including：
It connect top braces shell 455 with driving dumping plough guide rail beam 510；
The multiple tracks top braces 454 being set to inside the top braces shell 455；
The midfoot support plate 453 just connect with the bottom of the top braces shell 455；
With 453 edge of midfoot support plate and the external ballistic support shell 452 just connect；
The bottom support plate 451 just connect with the vertical internal middle part of the ballistic support shell 452.
Further, in above-mentioned apparatus, the milling rotary power system 420, including：
It is set to the rotatable cutter head center main shaft 421 at 451 center of portion's support plate；
Milling rotary power transmitting element 423 connects；
Milling power hydraulic motor 422, top and the milling power hydraulic motor on the cutter head center main shaft 421
It is connected by the milling rotary power transmitting element 423 between 422.
Further, in above-mentioned apparatus, cutterhead 410 is tunneled in the milling, including：
The cutterhead wing plate 415 being connect with described 421 times tops of cutter head center main shaft；
Main milling-cutting cutter disc 412,415 bottom margin of cutterhead wing plate is connected with 412 one end of main milling-cutting cutter disc and oblique；
It is set to a series of center cutterheads 411 of 412 central part of main milling-cutting cutter disc；
A series of positive facing cutters 413 being set between 412 center of main milling-cutting cutter disc and edge；
452 bottom circumferential direction of the ballistic support shell is provided with a series of periphery milling-cutting cutter discs 414, the periphery milling-cutting cutter disc
414 axis perpendicular is in cutterhead wing plate 415.
Further, in above-mentioned apparatus, the soil and rubble storehouse 430 are by the cutterhead wing plate 415, bottom support plate
451 and ballistic support shell 452 surround.
Further, in above-mentioned apparatus, the suction spiral soil-discharging device 440, including：
Centrifuge slag absorbing centrifugal pump 442；
It is set to the slag absorbing entrance 441 of 442 lower part of centrifugation slag absorbing centrifugal pump, the outer surface of the slag absorbing entrance 441
It is embedded in inside the bottom support plate 451, is connected to the soil and rubble storehouse 430；
It is set to the screw conveyor shaft 445 in the 442 top axle center of centrifugation slag absorbing centrifugal pump；
The casting sealed cylinder 446 being set to outside the screw conveyor shaft 445；
Spiral power transmitting elements 444；
Screw propulsion dynamicliquid pressure motor 443, the centrifugation slag absorbing centrifugal pump 442 and screw propulsion dynamicliquid pressure motor
It is connected by the spiral power transmitting elements 444 between 443.
Further, in above-mentioned apparatus, the modularization ground guide 110 includes：4 parallel two-by-two to contact with ground
Modularization ground guide 110, two of which be X-direction ground guide 111, two other be Y-direction ground guide 112, institute
State X, Y-direction ground guide 111,112 both ends are correspondingly arranged the ground guide extension for realizing extension ground guide length X, Y-direction
Connector 113,114.
Further, in above-mentioned apparatus, the directions the XY driving wheel 120 includes and the two of which parallel orbit side X
To or Y-direction ground guide 111,112 contact 4 directions XY drive wheel 120.
Further, in above-mentioned apparatus, the X, Y, Z-direction modularization stabilizer guide rail 130 include 4 perpendicular to ground
Z-direction stabilizer guide rail 133, be connected to 4 Z-direction stabilizer guide rails 133 top 2 upper layer X-direction stabilizer guide rails
131 and 2 upper layer Y-direction stabilizer guide rails 132 are connected to 2 sides X of lower layer of the lower part of 4 Z-direction stabilizer guide rails 133
To stabilizer guide rail 131 and 2 lower layer's Y-direction stabilizer guide rails, 132,2 upper layer X-direction stabilizer guide rails 131 and 2 upper layer Y-directions
Stabilizer guide rail 132 connects and composes upper layer rectangle, 2 lower layer's X-direction stabilizer guide rails 131 and 2 lower layer's Y-direction stabilizer guide rails 132
Connect and compose lower layer's rectangle, wherein
One end of every Z-direction stabilizer guide rail 133 drives 140 and 4 XY to drive wheel by rotation jacking respectively
120 consolidations, every 133 other end of Z-direction stabilizer guide rail are connected with 2 Z-direction jacking braking drivings 150, the every upper layer side X
It is set between 2 Z-directions jacking braking driving 150 to stabilizer guide rail 131 and upper layer Y-direction stabilizer guide rail 132；
Every 133 top of Z-direction stabilizer guide rail, which is both provided with, realizes that the Z-direction of 133 length of extension Z-direction stabilizer guide rail is steady
Determine guide rail extension connector 163；
The often end of every X-direction stabilizer guide rail 131 is provided with 2 X-direction driving brakings 171 and realizes that extension X-direction is steady
Determine the X-direction stabilizer guide rail extension connector 161 of 131 length of guide rail；
The often end of every Y-direction stabilizer guide rail 132 is provided with 2 Y-direction driving brakings 172 and realizes that extension Y-direction is steady
Determine the Y-direction stabilizer guide rail extension connector 162 of 132 length of guide rail.
Further, in above-mentioned apparatus, the print head guide rail beam 210 is set to parallel 2 upper layers side Y
To on stabilizer guide rail 132；
The quantity of the Y-direction print head guide rail driving 220 and print head crossbeam braking 230 is respectively 2, and Y-direction is beaten
Print head guide rail driving 220 and print head crossbeam braking 230 are respectively arranged at the print head guide rail beam 210 and 2 upper layers side Y
To the connecting pin of stabilizer guide rail 132；
The vertical print head 250 is set on the print head guide rail beam 210 between 2 print head crossbeam brakings 230,
The vertical print head 250 is set to by X-direction print head driving braking 260 on print head guide rail beam 210.
Another side according to the present invention provides a kind of Method of printing using above-mentioned underground engineering 3D printing device, including：
By CNC (numerical control device) power control system (being not drawn into figure) to driving dumping plough drive guider with
CNC tunnels dumping plough 400 and sends control instruction, starts Z-direction jacking braking driving 150 and realizes driving dumping plough guide rail beam
510 Z-direction movement, by tunnel dumping plough Y-direction guide rail driving 520 and driving dumping plough crossbeam braking 530 control dig
The movement that Y-direction is realized into dumping plough guide rail beam 510, by tunneling 550 control CNC drivings of dumping plough X-direction driving braking
Dumping plough 400 realizes the movement of X-direction, and by controlling CNC driving dumping ploughs 400, successively milling digging excavation is native in X/Y plane
Simultaneously the soil body is discharged by soil and rubble outlet 600 in body, and realizes the underground engineering soil body from up to down successively along the excavation of Z-direction；
Until underground engineering soil excavation finishes, 3D printing is built to entity by power control system (being not drawn into figure)
Device sends control instruction, starts Z-direction jacking braking driving 150 and realizes movement of the print head guide rail beam 210 in Z-direction,
Y-direction is realized by Y-direction print head guide rail driving 220 and 230 control print head guide rail beam 210 of print head crossbeam braking
It is mobile, the movement of X-direction is realized by 260 control print head 250 of X-direction print head driving braking, by controlling print head 250
Construction material 300 is sprayed in X/Y plane and realizes that underground engineering structure respectively builds cross-sectional layers printing construction, and realizes underground engineering
Structure is bottom-up successively to be printed along Z-direction
Further, in the above-mentioned methods, the method further includes：
If underground engineering structure is more than the driving or print range of the X-direction of printing equipment in X/Y plane, pass through power control
System (being not drawn into figure) processed is oriented to adaptive expanding unit to modularization Three-axis drive and sends control instruction, is driven by the directions XY
Ground guide 111 travels motor car wheel 120 along the X direction, while adjusting 171 extension X-direction driving of X-direction driving braking or printing
Range, the length of X-direction stabilizer guide rail 131 to be exceeded extend connector 113 by X-direction ground guide and lengthen the new X of connection
Direction ground guide standard paragraphs, and connector 161 is extended by X-direction stabilizer guide rail and lengthens the new X-direction stabilizer guide rail of connection
Standard paragraphs, adjusting the directions XY driving wheel 120, ground guide standard paragraphs travel along the X direction, while adjusting X-direction driving braking
171 realization X-direction drivings or print area further expand, if X-direction driving or print range are more than driving dumping plough guide rail
210 range of crossbeam 510 or print head guide rail beam, by tunneling, dumping plough guide rail beam extends connector 540 and print head is horizontal
Beam extends connector 240 and adds connection new driving dumping plough guide rail beam or print head guide rail beam respectively.
Further, in the above-mentioned methods, the method further includes：
If underground engineering structure is more than the driving or print range of the Y-direction of printing equipment in X/Y plane, by described dynamic
Force control system is oriented to adaptive expanding unit to modularization Three-axis drive and sends control instruction, and jacking driving is rotated by controlling
140 realize that driving wheel 120 turns to, and driving wheel 120 by the directions XY, ground guide 112 travels along the Y direction, adjusts simultaneously
172 extension Y-direction driving of Y-direction braking or print range, 132 length of Y-direction stabilizer guide rail to be exceeded pass through Y-direction ground
Guide rail extends connector 114 and lengthens the new Y-direction ground guide standard paragraphs of connection, and passes through Y-direction stabilizer guide rail and extend connection
Part 162, which lengthens, connects new Y-direction stabilizer guide rail standard paragraphs, adjusts the directions XY driving wheel 120 ground guide mark along the Y direction
Quasi- section traveling, while adjusting Y-direction driving braking 172 and realizing that Y-direction driving or print area further expand.
Compared with prior art, the present invention is oriented to adaptive expanding unit by modularization Three-axis drive, connected to it
Entity builds 3D printing device and driving dumping plough driving guider, and is oriented to dress with driving dumping plough driving
Set connection CNC driving dumping plough 400, solve existing 3D printing device and method can not achieve underground engineering soil excavation and
The problems such as structure construction, to realize that the automatic excavation construction of underground engineering soil body highly effective and safe, underground structure are high-precision automatic
The problems such as building, and solving traditional architecture construction efficiency and low the degree of automation, and traditional prints device is solved in horizontal plane
The problems such as range immovable extension, built buildings or structures outer surface must be depended on by vertically climbing, printing of the invention dress
Set and use modular guidng rail with mole, can the adaptively extension and removable of three axis, be suitable for lower a large amount of abnormity on a large scale
Complicated buildings or structures build construction.
Description of the drawings
Fig. 1 is the structure chart of the underground engineering 3D printing device of one embodiment of the invention；
Fig. 2 is the CNC driving dumping plough schematic diagrames of one embodiment of the invention；
Fig. 3 is the 700 earth excavation schematic diagram of plot of one embodiment of the invention；
Fig. 4 is the 800 earth excavation schematic diagram of plot of one embodiment of the invention；
Modularization Three-axis drive is oriented to adaptive expanding unit：
110- modularization ground guides, the directions 111-X ground guide, the directions 112-Y ground guide, the directions 113-X ground
Guide rail extends connector, and the directions 114-Y ground guide extends connector；The directions 120-XY drive wheel, 130-XYZ direction modules
Change stabilizer guide rail, the directions 131-X stabilizer guide rail, the directions 132-Y stabilizer guide rail, the directions 133-Z stabilizer guide rail；140- rotation jackings
Driving；The jacking braking driving of the directions 150-Z；The directions 160-XYZ stabilizer guide rail extends connector, and the directions 161-X stabilizer guide rail expands
Connector is opened up, the directions 162-Y stabilizer guide rail extends connector, and the directions 163-Z stabilizer guide rail extends connector；It drives in the directions 170-XY
Dynamic braking, the driving braking of the directions 171-X, the driving braking of the directions 172-Y；
Entity builds 3D printing device：
210- print head guide rail beams；The print head guide rail driving of the directions 220-Y；230- print head crossbeams are braked；240- is beaten
It prints head guide rail beam and extends connector；250- print heads；The print head driving braking of the directions 260-X；
300- construction materials.
Tunnel dumping plough driving guider：
510- tunnels dumping plough guide rail beam；520- tunnels the driving of dumping plough Y-direction guide rail；530- tunnels dumping plough crossbeam
Braking；540- tunnels dumping plough guide rail beam and extends connector；550- tunnels the driving braking of dumping plough X-direction；
600- soil and rubble outlet；
400-CNC tunnels dumping plough：
Cutterhead, the centers 411- cutterhead, the main milling-cutting cutter discs of 412-, the positive facing cutters of 413-, the milling of the peripheries 414- are tunneled in 410- millings
Sharpener disk, 415- cutterhead wing plates；
420- milling rotary power systems：
421- cutter head center main shafts, 422- milling power hydraulic motors, 423- milling rotary power transmitting elements；
430- soil and rubble storehouse；
440- suction spiral soil-discharging devices：
441- slag absorbing entrances, 442- centrifuge slag absorbing centrifugal pump, 443- screw propulsion dynamicliquid pressure motors, 444- spiral power
Transmitting element, 445- screw conveyor shafts, 446- casting sealed cylinders；
450- ballistic support devices：
451- bottom support plates, 452- ballistic support shells, 453- midfoot support plates, 454- top braces shells, the tops 455-
Support.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
As illustrated in fig. 1 and 2, the present invention provides a kind of underground engineering 3D printing device, including modularization Three-axis drive is oriented to
Adaptive expanding unit, entity building 3D printing device and driving dumping plough driving guider connected to it, Yi Jiyu
The driving dumping plough tunnels dumping plough 400 with the CNC of driving guider connection, wherein
The modularization Three-axis drive is oriented to adaptive expanding unit, including：
Open-ended modularity ground guide 110；
The directions the XY driving wheel 120 being set on the modularization ground guide 110；
X, Y, the Z-direction modularization stabilizer guide rail 130 being set on the directions the XY driving wheel 120, each X, Y, the side Z
To the both ends of modularization stabilizer guide rail 130 are correspondingly arranged on X, Y, Z-direction stabilizer guide rail extends connector 160；
It is set to the rotation jacking driving 140 of the lower part of the Z-direction modularization stabilizer guide rail 130, the rotation jacking
Driving 140 is connect with the directions XY driving wheel 120；
It is set to 150, X of Z-direction jacking braking driving, the Y-direction on the top of the Z-direction modularization stabilizer guide rail 130
X, Y-direction driving braking 170 are correspondingly arranged on modularization stabilizer guide rail 130；
The entity builds 3D printing device, including：
The print head guide rail beam 210 being set on the Y-direction modularization stabilizer guide rail 130；
The Y-direction print head guide rail driving 220 and the braking of print head crossbeam being set on the print head guide rail beam 210
230,210 one end of print head guide rail beam is connect with 300 delivery pipe of construction material, and the print head guide rail beam is arranged in the other end
Extend connector 240；
Vertical print head 250 and X-direction print head the driving braking 260 being set on the print head guide rail beam 210,
The X-direction print head driving braking 260 is connect with the vertical print head 250；
Driving dumping plough driving guider, including：
The driving dumping plough guide rail beam 510 being set on the Y-direction modularization stabilizer guide rail 130；
The driving dumping plough Y-direction guide rail driving 520 being set on the driving dumping plough guide rail beam 510 and driving row
Native machine crossbeam braking 530, the casting pipe tunneled in 510 one end of dumping plough guide rail beam is native and rubble outlet 600, another
Setting driving dumping plough guide rail beam in end extends connector 540；
The vertical CNC driving dumping ploughs 400 and driving dumping plough X being set on the driving dumping plough guide rail beam 510
Direction driving braking 550, the driving dumping plough X-direction driving braking 550 are connect with the vertical CNC drivings dumping plough 400.
Specifically, being oriented to the driving dumping plough driving guider that adaptive expanding unit is connect with modularization Three-axis drive and including：
In two parallel Y-direction stabilizer guide rail of top layer, 132 upside, driving dumping plough guide rail beam 510 connected to it and 2 picks are set
520 and 2 driving dumping plough crossbeam brakings 530,510 one end of driving dumping plough guide rail beam are driven into dumping plough Y-direction guide rail
Interior casting pipe is soil and rubble outlet 600, other end setting driving dumping plough guide rail beam extension 540,2 drivings of connector
Setting is perpendicular to driving dumping plough guide rail beam 510 and vertical CNC drivings row connected to it between dumping plough crossbeam braking 530
Native machine 400, CNC tunnel setting driving dumping plough X-direction driving between dumping plough 400 and driving dumping plough guide rail beam 510 and make
Dynamic 550.
Preferably, as shown in Fig. 2, CNC driving dumping ploughs 400 include：
Ballistic support device 450；
The milling driving cutterhead 410 being set to outside the ballistic support device 450；
The milling rotary power system 420 and soil and rubble storehouse 430, suction being set in the ballistic support device 450
Spiral soil-discharging device 440, wherein the milling driving cutterhead 410 is connect with milling rotary power system 420, described native and broken
430 one end of stone storehouse is connected to milling driving cutterhead 410, and the other end is connected to the suction spiral soil-discharging device 440.
Preferably, as shown in Fig. 2, the ballistic support device 450, including：
It connect top braces shell 455 with driving dumping plough guide rail beam 510；
The multiple tracks top braces 454 being set to inside the top braces shell 455；
The midfoot support plate 453 just connect with the bottom of the top braces shell 455；
With 453 edge of midfoot support plate and the external ballistic support shell 452 just connect；
The bottom support plate 451 just connect with the vertical internal middle part of the ballistic support shell 452.
Preferably, as shown in Fig. 2, the milling rotary power system 420, including：
It is set to the rotatable cutter head center main shaft 421 at 451 center of portion's support plate；
Milling rotary power transmitting element 423 connects；
Milling power hydraulic motor 422, top and the milling power hydraulic motor on the cutter head center main shaft 421
It is connected by the milling rotary power transmitting element 423 between 422.
Preferably, as shown in Fig. 2, cutterhead 410 is tunneled in the milling, including：
The cutterhead wing plate 415 being connect with described 421 times tops of cutter head center main shaft；
Main milling-cutting cutter disc 412,415 bottom margin of cutterhead wing plate is connected with 412 one end of main milling-cutting cutter disc and oblique；
It is set to a series of center cutterheads 411 of 412 central part of main milling-cutting cutter disc；
A series of positive facing cutters 413 being set between 412 center of main milling-cutting cutter disc and edge；
452 bottom circumferential direction of the ballistic support shell is provided with a series of periphery milling-cutting cutter discs 414, the periphery milling-cutting cutter disc
414 axis perpendicular is in cutterhead wing plate 415.
Preferably, as shown in Fig. 2, the soil and rubble storehouse 430 by the cutterhead wing plate 415, bottom support plate 451 and are prevented
Shield supporting shell 452 surrounds.
Preferably, as shown in Fig. 2, the suction spiral soil-discharging device 440, including：
Centrifuge slag absorbing centrifugal pump 442；
It is set to the slag absorbing entrance 441 of 442 lower part of centrifugation slag absorbing centrifugal pump, the outer surface of the slag absorbing entrance 441
It is embedded in inside the bottom support plate 451, is connected to the soil and rubble storehouse 430；
It is set to the screw conveyor shaft 445 in the 442 top axle center of centrifugation slag absorbing centrifugal pump；
The casting sealed cylinder 446 being set to outside the screw conveyor shaft 445；
Spiral power transmitting elements 444；
Screw propulsion dynamicliquid pressure motor 443, the centrifugation slag absorbing centrifugal pump 442 and screw propulsion dynamicliquid pressure motor
It is connected by the spiral power transmitting elements 444 between 443.
It is detailed, as shown in Fig. 2, being wrapped with the CNC driving dumping ploughs 400 that driving dumping plough is connect with driving guider
It includes：The ballistic support device 450 being connect with driving dumping plough guide rail beam 510, top braces shell 455 therein and driving casting
Machine guide rail beam 510 connects, and 455 inside setting multiple tracks top braces 454 of top braces shell, 455 bottom of top braces shell is in
Portion's support plate 453 just connects, and 453 edge of midfoot support plate has just connect with external ballistic support shell 452, and ballistic support shell 452 is vertical
Internal middle part has just connect with bottom support plate 451；The centrally disposed rotatable milling rotary power system of bottom support plate 451
420 cutter head center main shaft 421 passes through on cutter head center main shaft 421 between top and milling power hydraulic motor 422 and phase is arranged
The milling rotary power transmitting element 423 mutually contacted connects；421 times tops of cutter head center main shaft and milling driving cutterhead 410
Cutterhead wing plate 415 connects, and 415 bottom margin of cutterhead wing plate is connected with 412 one end of main milling-cutting cutter disc and oblique, main milling-cutting cutter disc
A series of center cutterheads 411 are arranged in 412 central parts, and a series of positive facing cutters are arranged between 412 center of main milling-cutting cutter disc and edge
413,452 bottom of ballistic support shell is arranged circumferentially a series of periphery milling-cutting cutter discs 414 and its axis perpendicular is in cutterhead wing plate 415；
Multiple suction spiral soil-discharging devices 440, centrifugation slag absorbing centrifugal pump 442 are set between 451 center of bottom support plate and circumferential edge
441 outer surface of slag absorbing entrance of lower part is embedded in inside bottom support plate 451, the 442 top axle center setting of centrifugation slag absorbing centrifugal pump
Screw conveyor shaft 445,445 outside setting casting sealed cylinder 446 of screw conveyor shaft；Centrifugation slag absorbing centrifugal pump 442 is pushed away with spiral
It is connected between power hydraulic motor 443 by the way that the spiral power transmitting elements 444 to contact with each other are arranged；Bottom support plate 451,
Cutterhead wing plate 415 encloses to form soil and rubble storehouse 430 with ballistic support shell 452.
Preferably, the modularization ground guide 110 includes：4 two-by-two the parallel modularization ground contacted with ground lead
Rail 110, two of which are X-direction ground guide 111, and two other is Y-direction ground guide 112, and the X, Y-direction ground are led
Rail 111,112 both ends are correspondingly arranged and realize extension ground guide length X, the ground guide of Y-direction extends connector 113,114.
Preferably, the directions the XY driving wheel 120 includes being led with two of which parallel orbit X-direction or Y-direction ground
4 directions XY that rail 111,112 contacts drive wheel 120.
Preferably, the X, Y, Z-direction modularization stabilizer guide rail 130 include 4 Z-direction stabilizer guide rails perpendicular to ground
133,2 upper layer X-direction stabilizer guide rails 131 and 2 upper layers side Y on the top of 4 Z-direction stabilizer guide rails 133 are connected to
To stabilizer guide rail 132, it is connected to 2 lower layer's X-direction stabilizer guide rails 131 and 2 of the lower part of 4 Z-direction stabilizer guide rails 133
132,2 upper layer X-direction stabilizer guide rails 131 of root lower layer Y-direction stabilizer guide rail and 2 upper layer Y-direction stabilizer guide rails 132 connect structure
At upper layer rectangle, 2 lower layer's X-direction stabilizer guide rails 131 and 2 lower layer's Y-direction stabilizer guide rails 132 connect and compose lower layer's rectangle,
Wherein,
One end of every Z-direction stabilizer guide rail 133 drives 140 and 4 XY to drive wheel by rotation jacking respectively
120 consolidations, every 133 other end of Z-direction stabilizer guide rail are connected with 2 Z-direction jacking braking drivings 150, the every upper layer side X
It is set between 2 Z-directions jacking braking driving 150 to stabilizer guide rail 131 and upper layer Y-direction stabilizer guide rail 132；
Every 133 top of Z-direction stabilizer guide rail, which is both provided with, realizes that the Z-direction of 133 length of extension Z-direction stabilizer guide rail is steady
Determine guide rail extension connector 163；
The often end of every X-direction stabilizer guide rail 131 is provided with 2 X-direction driving brakings 171 and realizes that extension X-direction is steady
Determine the X-direction stabilizer guide rail extension connector 161 of 131 length of guide rail；
The often end of every Y-direction stabilizer guide rail 132 is provided with 2 Y-direction driving brakings 172 and realizes that extension Y-direction is steady
Determine the Y-direction stabilizer guide rail extension connector 162 of 132 length of guide rail.
Preferably, the print head guide rail beam 210 is set to 2 parallel upper layer Y-direction stabilizer guide rails 132
On；
The quantity of the Y-direction print head guide rail driving 220 and print head crossbeam braking 230 is respectively 2, and Y-direction is beaten
Print head guide rail driving 220 and print head crossbeam braking 230 are respectively arranged at the print head guide rail beam 210 and 2 upper layers side Y
To the connecting pin of stabilizer guide rail 132；
The vertical print head 250 is set on the print head guide rail beam 210 between 2 print head crossbeam brakings 230,
The vertical print head 250 is set to by X-direction print head driving braking 260 on print head guide rail beam 210.
As shown in Figure 1, another side according to the present invention, also provides a kind of beating using above-mentioned underground engineering 3D printing device
Impression method, the method includes：
By CNC (numerical control device) power control system (being not drawn into figure) to driving dumping plough drive guider with
CNC tunnels dumping plough 400 and sends control instruction, starts Z-direction jacking braking driving 150 and realizes driving dumping plough guide rail beam
510 Z-direction movement, by tunnel dumping plough Y-direction guide rail driving 520 and driving dumping plough crossbeam braking 530 control dig
The movement that Y-direction is realized into dumping plough guide rail beam 510, by tunneling 550 control CNC drivings of dumping plough X-direction driving braking
Dumping plough 400 realizes the movement of X-direction, and by controlling CNC driving dumping ploughs 400, successively milling digging excavation is native in X/Y plane
Simultaneously the soil body is discharged by soil and rubble outlet 600 in body, and realizes the underground engineering soil body from up to down successively along the excavation of Z-direction；
Until underground engineering soil excavation finishes, 3D printing is built to entity by power control system (being not drawn into figure)
Device sends control instruction, starts Z-direction jacking braking driving 150 and realizes movement of the print head guide rail beam 210 in Z-direction,
Y-direction is realized by Y-direction print head guide rail driving 220 and 230 control print head guide rail beam 210 of print head crossbeam braking
It is mobile, the movement of X-direction is realized by 260 control print head 250 of X-direction print head driving braking, by controlling print head 250
Construction material 300 is sprayed in X/Y plane and realizes that underground engineering structure respectively builds cross-sectional layers printing construction, and realizes underground engineering
Structure is bottom-up successively to be printed along Z-direction.
Preferably, the method further includes：
If underground engineering structure is more than the driving or print range of the X-direction of printing equipment in X/Y plane, pass through power control
System (being not drawn into figure) processed is oriented to adaptive expanding unit to modularization Three-axis drive and sends control instruction, is driven by the directions XY
Ground guide 111 travels motor car wheel 120 along the X direction, while adjusting 171 extension X-direction driving of X-direction driving braking or printing
Range, the length of X-direction stabilizer guide rail 131 to be exceeded extend connector 113 by X-direction ground guide and lengthen the new X of connection
Direction ground guide standard paragraphs, and connector 161 is extended by X-direction stabilizer guide rail and lengthens the new X-direction stabilizer guide rail of connection
Standard paragraphs, adjusting the directions XY driving wheel 120, ground guide standard paragraphs travel along the X direction, while adjusting X-direction driving braking
171 realization X-direction drivings or print area further expand, if X-direction driving or print range are more than driving dumping plough guide rail
210 range of crossbeam 510 or print head guide rail beam, by tunneling, dumping plough guide rail beam extends connector 540 and print head is horizontal
Beam extends connector 240 and adds connection new driving dumping plough guide rail beam or print head guide rail beam respectively.
Preferably, the method further includes：
If underground engineering structure is more than the driving or print range of the Y-direction of printing equipment in X/Y plane, by described dynamic
Force control system is oriented to adaptive expanding unit to modularization Three-axis drive and sends control instruction, and jacking driving is rotated by controlling
140 realize that driving wheel 120 turns to, and driving wheel 120 by the directions XY, ground guide 112 travels along the Y direction, adjusts simultaneously
172 extension Y-direction driving of Y-direction braking or print range, 132 length of Y-direction stabilizer guide rail to be exceeded pass through Y-direction ground
Guide rail extends connector 114 and lengthens the new Y-direction ground guide standard paragraphs of connection, and passes through Y-direction stabilizer guide rail and extend connection
Part 162, which lengthens, connects new Y-direction stabilizer guide rail standard paragraphs, adjusts the directions XY driving wheel 120 ground guide mark along the Y direction
Quasi- section traveling, while adjusting Y-direction driving braking 172 and realizing that Y-direction driving or print area further expand.It so can be successively
Adaptive expanding printing device X/Y plane driving or print range to realize the driving of a wide range of a large amount of underground engineerings or beat
Print construction.
It should be noted that modularization Three-axis drive is oriented to adaptive expanding unit, entity building 3D printing device, module
Change Three-axis drive be oriented to adaptive expanding unit and driving dumping plough with drive guider with power control system (in figure not
Draw) communication connection, and power control system can drive wheel 120, rotation jacking driving 140, Z-direction jacking to the directions XY
Braking driving 150, X-direction driving braking 171, Y-direction driving braking 172, Y-direction print head guide rail driving 220, X-direction are beaten
Print head driving braking 260, driving dumping plough Y-direction guide rail driving 520, driving dumping plough crossbeam braking 530, driving dumping plough X
Direction driving braking 550, milling driving cutterhead 410, milling rotary power system 420 and suction spiral soil-discharging device 440 are sent
Control instruction, not within the scope of the invention as claimed because of power control system, therefore not to its structure and connection relation
It is specifically addressed.
The main advantage of the present invention, which is to solve existing 3D printing device and method to can not achieve the underground engineering soil body, to be opened
The problems such as digging and structure construction, to realize that the automatic excavation construction of underground engineering soil body highly effective and safe, underground structure are high-precision
It is automatic to build, and the problems such as solution traditional architecture construction efficiency and low the degree of automation, and traditional prints device is solved in water
The problems such as planar range immovable extension, built buildings or structures outer surface must be depended on by vertically climbing, and of the invention beats
Printing equipment is set uses modular guidng rail with mole, can the adaptively extension and removable of three axis, be suitable for lower a large amount of on a large scale
Abnormal complex buildings or structures build construction.
In one concrete application embodiment, certain building Underground Construction is intended using developed system.It tunnels printing and builds
Flow is made with aforementioned, so cycle successively driving downwards, realizes the excavation of the soil body；Then successively jacking printing upwards, realizes ground
The construction of lower engineering structure.It is the 700 earth excavation schematic diagram of plot of one embodiment of the invention as shown in Figure 3；It is as shown in Figure 4
The 800 earth excavation schematic diagram of plot of one embodiment of the invention.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Obviously, those skilled in the art can carry out invention spirit of the various modification and variations without departing from the present invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the present invention is also intended to including these modification and variations.
Claims (14)
1. a kind of underground engineering 3D printing device, which is characterized in that including：
It is oriented to adaptive expanding unit including modularization Three-axis drive, entity building 3D printing device and driving connected to it are arranged
Native machine driving guider, and tunnel dumping plough with the driving dumping plough with the CNC that driving guider is connect
(400), wherein
The modularization Three-axis drive is oriented to adaptive expanding unit, including：
Open-ended modularity ground guide (110)；
The directions the XY driving wheel (120) being set on the modularization ground guide (110)；
X, Y, the Z-direction modularization stabilizer guide rail (130) being set on the directions the XY driving wheel (120), each X, Y, the side Z
It is correspondingly arranged on X, Y, Z-direction stabilizer guide rail extension connector (160) to the both ends of modularization stabilizer guide rail (130)；
It is set to the rotation jacking driving (140) of the lower part of the Z-direction modularization stabilizer guide rail (130), the rotation jacking
Driving (140) is connect with the directions XY driving wheel (120)；
It is set to the Z-direction jacking braking driving (150) on the top of the Z-direction modularization stabilizer guide rail (130), X, Y-direction
X, Y-direction driving braking (170) are correspondingly arranged on modularization stabilizer guide rail (130)；
The entity builds 3D printing device, including：
The print head guide rail beam (210) being set on the Y-direction modularization stabilizer guide rail (130)；
The Y-direction print head guide rail driving (220) and the braking of print head crossbeam being set on the print head guide rail beam (210)
(230), print head guide rail beam (210) one end is connect with construction material (300) delivery pipe, and the print head, which is arranged, in the other end leads
Rail crossbeam extends connector (240)；
Vertical print head (250) and X-direction print head the driving braking being set on the print head guide rail beam (210)
(260), the X-direction print head driving braking (260) connect with the vertical print head (250)；
Driving dumping plough driving guider, including：
The driving dumping plough guide rail beam (510) being set on the Y-direction modularization stabilizer guide rail (130)；
The driving dumping plough Y-direction guide rail driving (520) being set on the driving dumping plough guide rail beam (510) and driving row
Native machine crossbeam brakes (530), and the casting pipe in described driving dumping plough guide rail beam (510) one end is soil and rubble outlet
(600), other end setting driving dumping plough guide rail beam extension connector (540)；
The vertical CNC driving dumping ploughs (400) and driving dumping plough X being set on the driving dumping plough guide rail beam (510)
Direction driving braking (550), the driving dumping plough X-direction driving braking (550) tunnel dumping plough with the vertical CNC
(400) it connects.
2. underground engineering 3D printing device as described in claim 1, which is characterized in that the CNC driving dumping ploughs (400) are wrapped
It includes：
Ballistic support device (450)；
It is set to the milling driving cutterhead (410) of the ballistic support device (450) outside；
The milling rotary power system (420) and soil that are set in the ballistic support device (450) and rubble storehouse (430), suction
Wrench of a force system soil-discharging device (440), wherein the milling driving cutterhead (410) connect with milling rotary power system (420), institute
It states soil and rubble storehouse (430) one end to be connected to milling driving cutterhead (410), the other end and the suction spiral soil-discharging device
(440) it is connected to.
3. underground engineering 3D printing device as claimed in claim 2, which is characterized in that the ballistic support device (450), packet
It includes：
It connect top braces shell (455) with driving dumping plough guide rail beam (510)；
It is set to the internal multiple tracks top braces (454) of the top braces shell (455)；
The midfoot support plate (453) just connect with the bottom of the top braces shell (455)；
With midfoot support plate (453) edge and the external ballistic support shell (452) just connect；
The bottom support plate (451) just connect with the vertical internal middle part of the ballistic support shell (452).
4. underground engineering 3D printing device as claimed in claim 3, which is characterized in that the milling rotary power system
(420), including：
It is set to the rotatable cutter head center main shaft (421) at bottom support plate (451) center；
Milling rotary power transmitting element (423) connects；
Milling power hydraulic motor (422), top and the milling power hydraulic motor on the cutter head center main shaft (421)
(422) it is connected by the milling rotary power transmitting element (423) between.
5. underground engineering 3D printing device as claimed in claim 4, which is characterized in that the milling driving cutterhead (410), packet
It includes：
With the cutterhead wing plate (415) that top is connect under the cutter head center main shaft (421)；
Main milling-cutting cutter disc (412), cutterhead wing plate (415) bottom margin is connected with main milling-cutting cutter disc (412) one end and oblique；
It is set to a series of center cutterheads (411) of main milling-cutting cutter disc (412) central part；
It is set to a series of positive facing cutters (413) of the main milling-cutting cutter disc (412) between center and edge；
Ballistic support shell (452) bottom circumferential direction is provided with a series of periphery milling-cutting cutter discs (414), the periphery milling-cutting cutter disc
(414) axis perpendicular is in cutterhead wing plate (415).
6. underground engineering 3D printing device as claimed in claim 5, which is characterized in that the soil and rubble storehouse (430) are by institute
Cutterhead wing plate (415), bottom support plate (451) and ballistic support shell (452) is stated to surround.
7. underground engineering 3D printing device as claimed in claim 6, which is characterized in that the suction spiral soil-discharging device
(440), including：
Centrifuge slag absorbing centrifugal pump (442)；
It is set to the slag absorbing entrance (441) of described centrifugation slag absorbing centrifugal pump (442) lower part, the appearance of the slag absorbing entrance (441)
Face is embedded in the bottom support plate (451) inside, is connected to the soil and rubble storehouse (430)；
It is set to the screw conveyor shaft (445) in described centrifugation slag absorbing centrifugal pump (442) top axle center；
It is set to the external casting sealed cylinder (446) of the screw conveyor shaft (445)；
Spiral power transmitting elements (444)；
Screw propulsion dynamicliquid pressure motor (443), the centrifugation slag absorbing centrifugal pump (442) and screw propulsion dynamicliquid pressure motor
(443) it is connected by the spiral power transmitting elements (444) between.
8. underground engineering 3D printing device as described in claim 1, which is characterized in that the modularization ground guide (110)
Including：
4 parallel modularization ground guides (110) contacted with ground two-by-two, two of which are X-direction ground guide (111),
Two other is Y-direction ground guide (112), and the X, Y-direction ground guide (111), (112) both ends are correspondingly arranged realization and expand
Site of an exhibition face rail length X, the ground guide extension connector (113) of Y-direction, (114).
9. underground engineering 3D printing device as claimed in claim 8, which is characterized in that the directions the XY driving wheel (120)
It include 4 directions the XY driving wheel contacted with two of which parallel orbit X-direction or Y-direction ground guide (111), (112)
(120)。
10. underground engineering 3D printing device as claimed in claim 9, which is characterized in that the X, Y, Z-direction modularization are stablized
Guide rail 130 include 4 perpendicular to ground Z-direction stabilizer guide rail (133), be connected to 4 Z-direction stabilizer guide rails (133)
Top 2 upper layer X-direction stabilizer guide rails (131) and 2 upper layer Y-direction stabilizer guide rails (132), be connected to 4 sides Z
2 lower layer's X-direction stabilizer guide rails (131) to the lower part of stabilizer guide rail (133) and 2 lower layer's Y-direction stabilizer guide rails (132), 2
Root upper layer X-direction stabilizer guide rail (131) and 2 upper layer Y-direction stabilizer guide rails (132) connect and compose upper layer rectangle, 2 lower layer X
Direction stabilizer guide rail (131) and 2 lower layer's Y-direction stabilizer guide rails (132) connect and compose lower layer's rectangle, wherein
One end of every Z-direction stabilizer guide rail (133) jacks driving (140) by the rotation respectively and drives wheel with 4 XY
(120) it consolidates, every Z-direction stabilizer guide rail (133) other end is connected with 2 Z-direction jacking brakings and drives (150), every
Upper layer X-direction stabilizer guide rail (131) and upper layer Y-direction stabilizer guide rail (132) are set to 2 Z-directions jacking braking driving
(150) between；
It is both provided at the top of every Z-direction stabilizer guide rail (133) and realizes that the Z-direction of extension Z-direction stabilizer guide rail (133) length is steady
Determine guide rail extension connector (163)；
The often end of every X-direction stabilizer guide rail (131) is provided with 2 X-direction driving brakings (171) and realizes that extension X-direction is steady
Determine the X-direction stabilizer guide rail extension connector (161) of guide rail (131) length；
The often end of every Y-direction stabilizer guide rail (132) is provided with 2 Y-direction driving brakings (172) and realizes that extension Y-direction is steady
Determine the Y-direction stabilizer guide rail extension connector (162) of guide rail (132) length.
11. underground engineering 3D printing device as claimed in claim 10, which is characterized in that the print head guide rail beam
(210) it is set on 2 parallel upper layer Y-direction stabilizer guide rails (132)；
The quantity of the Y-direction print head guide rail driving (220) and print head crossbeam braking (230) is respectively 2, and Y-direction is beaten
Print head guide rail driving (220) and print head crossbeam braking (230) are respectively arranged at the print head guide rail beam (210) and 2
The connecting pin of upper layer Y-direction stabilizer guide rail (132)；
The vertical print head (250) is set to the print head guide rail beam (210) between 2 print head crossbeam brakings (230)
On, the vertical print head (250) drives braking (260) to be set to print head guide rail beam by the X-direction print head
(210) on.
12. a kind of Method of printing using the underground engineering 3D printing device as described in any one of claim 1 to 11, feature exists
In, the method includes：
Dumping plough (400) is tunneled to driving dumping plough driving guider and CNC send control by CNC power control systems
Instruction starts Z-direction jacking braking driving (150) and realizes that driving dumping plough guide rail beam (510) in the movement of Z-direction, passes through
Tunnel dumping plough Y-direction guide rail driving (520) and driving dumping plough crossbeam braking (530) control driving dumping plough guide rail beam
510 realize the movement of Y-direction, and controlling CNC by driving dumping plough X-direction driving braking (550) tunnels dumping plough (400) realization
The movement of X-direction tunnels dumping plough (400) in X/Y plane by controlling CNC and successively the milling digging excavation soil body and passes through soil
And the soil body is discharged in rubble outlet (600), and realize the underground engineering soil body from up to down successively along the excavation of Z-direction；
Until underground engineering soil excavation finishes, building 3D printing device to entity by the power control system sends control
Instruction starts Z-direction jacking braking driving (150) and realizes that print head guide rail beam (210) in the movement of Z-direction, passes through Y-direction
Print head guide rail drives (220) and print head crossbeam braking (230) control print head guide rail beam (210) to realize the shifting of Y-direction
It is dynamic, drive braking (260) to control the movement that print head (250) realizes X-direction by X-direction print head, by controlling print head
(250) construction material (300) is sprayed in X/Y plane and realizes that underground engineering structure respectively builds cross-sectional layers printing construction, and realizes ground
Lower engineering structure is bottom-up successively to be printed along Z-direction.
13. the Method of printing of underground engineering 3D printing device as claimed in claim 12, which is characterized in that the method is also wrapped
It includes：
If underground engineering structure is more than the driving or print range of the X-direction of printing equipment in X/Y plane, pass through the power control
System processed is oriented to adaptive expanding unit to modularization Three-axis drive and sends control instruction, and wheel (120) is driven by the directions XY
Ground guide (111) travels along the X direction, while adjusting X-direction driving braking (171) extension X-direction driving or print range,
The length of X-direction stabilizer guide rail (131) to be exceeded extends connector (113) by X-direction ground guide and lengthens the new X of connection
Direction ground guide standard paragraphs, and the new X-direction stabilization of connector (161) lengthening connection is extended by X-direction stabilizer guide rail and is led
Rail standard paragraphs, adjusting the directions XY driving wheel (120), ground guide standard paragraphs travel along the X direction, while adjusting X-direction driving
Braking (171) realizes that X-direction driving or print area further expand, if X-direction driving or print range are more than driving casting
Machine guide rail beam (510) or print head guide rail beam (210) range extend connector by tunneling dumping plough guide rail beam
(540) connection new driving dumping plough guide rail beam or print head are added respectively and is led with print head crossbeam extension connector (240)
Rail crossbeam.
14. the Method of printing of underground engineering 3D printing device as claimed in claim 12, which is characterized in that the method is also wrapped
It includes：
If underground engineering structure is more than the driving or print range of the Y-direction of printing equipment in X/Y plane, pass through the power control
System processed is oriented to adaptive expanding unit to modularization Three-axis drive and sends control instruction, and jacking driving is rotated by controlling
(140) realize that driving wheel (120) turns to, driving wheel (120) by the directions XY, ground guide (112) travels along the Y direction,
Y-direction braking (172) extension Y-direction driving is adjusted simultaneously or print range, Y-direction stabilizer guide rail (132) length to be exceeded are led to
It crosses Y-direction ground guide extension connector (114) and lengthens the new Y-direction ground guide standard paragraphs of connection, and stablized by Y-direction
Guide rail extends connector (162) and lengthens the new Y-direction stabilizer guide rail standard paragraphs of connection, adjusts the directions XY and drives wheel (120) edge
Y-direction ground guide standard paragraphs traveling, while adjust Y-direction driving braking (172) realize Y-direction driving or print area into
One step expands.
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| CN108868837B (en) * | 2018-04-28 | 2019-07-19 | 中国矿业大学 | An underground space construction system |
| CN110984576B (en) * | 2019-11-21 | 2021-04-30 | 中欧国际建工集团有限公司 | An on-site concrete 3D printing device |
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| CN103331817B (en) * | 2013-07-01 | 2016-12-28 | 北京交通大学 | The 3D Method of printing of engineering structure |
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