CN109057349A - A kind of unmanned plane formula three-dimensional building printer - Google Patents
A kind of unmanned plane formula three-dimensional building printer Download PDFInfo
- Publication number
- CN109057349A CN109057349A CN201810814784.XA CN201810814784A CN109057349A CN 109057349 A CN109057349 A CN 109057349A CN 201810814784 A CN201810814784 A CN 201810814784A CN 109057349 A CN109057349 A CN 109057349A
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- rotor
- extruder
- movement
- pose
- dimensional building
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- 238000007639 printing Methods 0.000 claims abstract description 40
- 230000000712 assembly Effects 0.000 claims abstract description 37
- 238000000429 assembly Methods 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 28
- 230000003044 adaptive effect Effects 0.000 claims abstract description 8
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 claims description 3
- 230000008707 rearrangement Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Architecture (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
Abstract
The invention discloses a kind of unmanned plane formula three-dimensional building printers, it includes printing head (1), materials transfer duct (2), flying platform (3), more rotor angles adjustment component (4), rotor assemblies (5), rotor pose adjustment component (6), sighting device (7), extruder (8) and extruder pose adjustment component (9).The present invention is a kind of unmanned plane formula three-dimensional building printer, environmental information is provided by sighting device (7) to be controlled, the motion path and posture of three-dimensional building printer are controlled by rotor assemblies (5) and rotor pose adjustment component (6), pass through the pose of extruder pose adjustment component (9) control printing head (1), pass through materials transfer duct (2) and extruder (8) conveying building printed material, the shape and size of institute's extruded material are controlled by printing head (1), fast implement adaptive three-dimensional building printing, the building of designated modality is printed in designated position.Freedom of motion of the present invention is high, strong flexibility, and work efficiency is high, at low cost.
Description
Technical field
The present invention relates to a kind of three-dimensional printer, specifically a kind of unmanned plane formula three-dimensional building printer.
Background technique
Existing three-dimensional building printer is all made of tower structure, and working space is limited, is unable to satisfy large scale building
Printing demand, the then working method that integrally splice can only be printed using local module；Further, since machine volume is larger,
Field print can not be carried out, the building block printed also needs entrucking to transport, at high cost, low efficiency.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of unmanned plane formula three-dimensional building printers, pass through
Sighting device provides environmental information and is controlled, and adjusts component by rotor assemblies and rotor pose and controls three-dimensional building printer
Motion path and posture, the pose that component controls printing head is adjusted by extruder pose, by materials transfer duct and
Extruder conveying building printed material, the shape and size of institute's extruded material are controlled by printing head, are fast implemented adaptive
Three-dimensional building printing, print the building of designated modality in designated position.In addition, occurring in one group or two groups of rotor assemblies
When failure, also the relative position that component adjusts each rotor assemblies can be adjusted by more rotor angles, to reach new moving equilibrium
It works on.Freedom of motion of the present invention is high, strong flexibility, and work efficiency is high, at low cost.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of unmanned plane formula three-dimensional building printer,
It is characterized in that, it includes printing head, materials transfer duct, flying platform, more rotor angles adjustment component, rotor assemblies, rotation
Wing pose adjusts component, sighting device, extruder and extruder pose and adjusts component.The present invention is that a kind of unmanned plane formula is three-dimensional
Printer is built, environmental information is provided by sighting device and is controlled, adjusts component control by rotor assemblies and rotor pose
The motion path and posture of three-dimensional building printer processed adjust the pose that component controls printing head by extruder pose, lead to
Materials transfer duct and extruder conveying building printed material are crossed, the shape and ruler of institute's extruded material are controlled by printing head
It is very little, adaptive three-dimensional building printing is fast implemented, prints the building of designated modality in designated position.In addition, at one group
Or two groups of rotor assemblies can also adjust the relative position that component adjust each rotor assemblies by more rotor angles when breaking down,
It is worked on the moving equilibrium for reaching new.Freedom of motion of the present invention is high, strong flexibility, and work efficiency is high, at low cost.
The rotor assemblies include propeller, propeller swivel bearing, propeller carrier and propeller electric rotating
Machine；The Internal and external cycle of propeller swivel bearing is fixed with propeller and propeller carrier bolt respectively, propeller rotating electric machine
Body is bolted on propeller carrier, and output shaft and propeller are keyed, and axial by baffle and bolt
Positioning；Propeller rotating electric machine output shaft, around the rotary motion of its axis, drives propeller relative to spiral relative to its body
The rotation of paddle carrier forms the power perpendicular to rotor assemblies plane by the reaction force of air, is that unmanned plane formula is three-dimensional
The mobile offer precondition of printer is provided.
The rotor pose adjustment component includes that rotor moves typed ball bearing pair, rotor moves telescopic shaft, rotor movement is hydraulic
Flexural pivot and rotor pose adjusting seat；Rotor movement typed ball bearing pair has three groups, and 120 degree of fixing end interval is welded on propeller carrying
On frame；Rotor, which moves hydraulic flexural pivot, three groups, and 120 degree of fixing end interval is welded in rotor pose adjusting seat；Rotor movement
Telescopic shaft has three groups, and both ends move typed ball bearing pair movable end with rotor respectively and rotor moves hydraulic flexural pivot movable end and is welded on one
It rises, to constitute parallel pose adjustment device, rotor moves hydraulic flexural pivot movable end and is secured relative to it end around its centre of sphere
The rotary motion of any axis of point, in conjunction with rotor movement telescopic shaft one end relative to the other end along the linear movement of its axis, spirit
Pose of the adjustment propeller carrier living relative to rotor pose adjusting seat, so as to adjust the born air reaction of rotor assemblies
The direction of power, then by the revolving speed of propeller rotating electric machine come the size of corrective action power, so that unmanned plane formula three be adjusted flexibly
The whole stress of dimension building printer, realizes the movement and hovering under many attitude, reaches and print quickly through barrier
Starting point, and manipulate it and moved along specified path, it is realized adaptively in conjunction with the work of extruder and extruder pose adjustment component
Three-dimensional building printing.
More rotor angles adjustment component includes rotor angle adjustment arm and rotor arm arc movement device；Rotor arm
Arc movement device is made of 360 degree of round sliding rails and four sliding blocks that can be moved freely on the slide rail, rotor arm arcuate movement
The sliding rail of device welds together with flying platform, and one end bolt of sliding block and rotor angle adjustment arm is fixed, rotor angle
The other end of adjustment arm is fixed with rotor pose adjusting seat bolt；Freely fortune of the rotor arm arc movement device sliding block along its sliding rail
It is dynamic, corresponding rotor assemblies are moved by rotor angle adjustment armband and are moved freely along the sliding block of rotor arm arc movement device, are realized
Angle adjustment between adjacent rotor component adjusts unmanned plane formula three-dimensional building when one to two rotor assemblies break down
The relative position of each rotor of printer, is worked on the moving equilibrium for reaching new.
Various shapes sizes can be used in the material extrusion of the printing head, to use different printings to need
It asks.
The described extruder pose adjustment component include include extruder movement typed ball bearing pair, extruder movement telescopic shaft and
Extruder moves hydraulic flexural pivot；Extruder movement typed ball bearing pair has three groups, and 120 degree of fixing end interval is welded on extruder；It squeezes
Machine, which moves hydraulic flexural pivot, out three groups, and 120 degree of fixing end interval is welded on flying platform；Extruder movement telescopic shaft has three
Group, both ends move typed ball bearing pair movable end with extruder respectively and extruder moves hydraulic flexural pivot movable end and welds together, from
And parallel pose adjustment device is constituted, extruder moves hydraulic flexural pivot movable end and is secured relative to it end around its center point times
The rotary motion of meaning axis, in conjunction with extruder movement telescopic shaft one end relative to the other end along the linear movement of its axis, flexibly
Pose of the extruder relative to flying platform is adjusted, so that printing head can be with most under any attitude of flying platform
Good angle carries out material stacking, to guarantee the Forming Quality of three-dimensional building printing.
The present invention is a kind of unmanned plane formula three-dimensional building printer, provides environmental information by sighting device and is controlled,
The motion path and posture that component controls three-dimensional building printer are adjusted by rotor assemblies and rotor pose, by squeezing out seat in the plane
Appearance adjusts the pose of component control printing head, by materials transfer duct and extruder conveying building printed material, by beating
The shape and size for printing spray head control institute's extruded material fast implement adaptive three-dimensional building printing, print in designated position
The building of designated modality out.In addition, can also be adjusted by more rotor angles when one group or two groups of rotor assemblies break down
Component adjusts the relative position of each rotor assemblies, is worked on the moving equilibrium for reaching new.Freedom of motion of the present invention is high, clever
Active strong, work efficiency is high, at low cost.
Detailed description of the invention
Fig. 1 is a kind of unmanned plane formula three-dimensional building printing principle schematic diagram provided in an embodiment of the present invention；
In figure: 1, printing head, 2, materials transfer duct, 3, flying platform, 4, more rotor angles adjustment component, 5, rotor group
Part, 6, rotor pose adjustment component, 7, sighting device, 8, extruder, 9, extruder pose adjustment component.
Fig. 2 is rotor assemblies schematic illustration provided in an embodiment of the present invention；
In figure: 5.1, propeller, 5.2, propeller swivel bearing, 5.3, propeller carrier, 5.4, propeller rotating electric machine.
Fig. 3 is that rotor pose provided in an embodiment of the present invention adjusts assembly principle schematic diagram；
In figure: 6.1, rotor movement typed ball bearing pair 6.1,6.2, rotor move telescopic shaft, 6.3, the hydraulic flexural pivot of rotor movement, 6.4, rotation
Wing pose adjusting seat.
Fig. 4 is that more rotor angles provided in an embodiment of the present invention adjust assembly principle schematic diagram；
In figure: 4.1, rotor angle adjusts arm, 4.2, rotor arm arc movement device.
Fig. 5 is quadrotor motor pattern figure provided in an embodiment of the present invention.
Fig. 6 is the three rotor motor pattern figures provided in an embodiment of the present invention when a rotor breaks down.
Fig. 7 ~ 8 are the two rotor motor pattern figures provided in an embodiment of the present invention when two rotors break down.
Fig. 9 is that extruder pose provided in an embodiment of the present invention adjusts assembly principle schematic diagram；
In figure: 9.1, extruder moves typed ball bearing pair, 9.2, extruder movement telescopic shaft, 9.3, the hydraulic flexural pivot of extruder movement.
Figure 10 is flight attitude schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, be a kind of unmanned plane formula three-dimensional building printing principle schematic diagram provided in an embodiment of the present invention, it
Component 4, rotor assemblies 5, rotor pose are adjusted including printing head 1, materials transfer duct 2, flying platform 3, more rotor angles
It adjusts component 6, sighting device 7, extruder 8 and extruder pose and adjusts component 9.The present invention is that a kind of unmanned plane formula three-dimensional is built
Printer is built, environmental information is provided by sighting device 7 and is controlled, component 6 is adjusted by rotor assemblies 5 and rotor pose and is controlled
The motion path and posture of three-dimensional building printer processed adjust the pose that component 9 controls printing head 1 by extruder pose,
By materials transfer duct 2 and the conveying building printed material of extruder 8, the shape of institute's extruded material is controlled by printing head 1
And size, adaptive three-dimensional building printing is fast implemented, prints the building of designated modality in designated position.In addition,
When one group or two groups of rotor assemblies 5 break down, also the phase that component 4 adjust each rotor assemblies 5 can be adjusted by more rotor angles
To position, worked on the moving equilibrium for reaching new.Freedom of motion of the present invention is high, strong flexibility, and work efficiency is high, cost
It is low.
Referring to Fig. 2, being rotor assemblies schematic illustration provided in an embodiment of the present invention, it includes propeller 5.1, spiral
Paddle swivel bearing 5.2, propeller carrier 5.3 and propeller rotating electric machine 5.4；The Internal and external cycle of propeller swivel bearing 5.2
It is fixed respectively with propeller 5.1 and 5.3 bolt of propeller carrier, the body of propeller rotating electric machine 5.4 is bolted
On propeller carrier 5.3, output shaft and propeller 5.1 are keyed, and pass through baffle and bolt axially position；Propeller
5.4 output shaft of rotating electric machine, around the rotary motion of its axis, drives propeller 5.1 to carry relative to propeller relative to its body
Frame 5.3 rotates, and forms the power perpendicular to 5 plane of rotor assemblies by the reaction force of air, builds for unmanned plane formula three-dimensional
The mobile offer precondition of printer is provided.
Referring to Fig. 3, being rotor pose adjustment assembly principle schematic diagram provided in an embodiment of the present invention, it includes rotor fortune
Dynamic typed ball bearing pair 6.1, rotor movement telescopic shaft 6.2, rotor move hydraulic flexural pivot 6.3 and rotor pose adjusting seat 6.4；Rotor fortune
Dynamic typed ball bearing pair 6.1 has three groups, and 120 degree of fixing end interval is welded on propeller carrier 5.3；Rotor moves hydraulic flexural pivot
6.3 have three groups, and 120 degree of fixing end interval is welded in rotor pose adjusting seat 6.4；Rotor movement telescopic shaft 6.2 has three groups,
Its both ends moves 6.1 movable end of typed ball bearing pair with rotor respectively and rotor moves hydraulic 6.3 movable end of flexural pivot and welds together, thus
Parallel pose adjustment device is constituted, rotor moves hydraulic 6.3 movable end of flexural pivot and is secured relative to it end around its center point times
The rotary motion of meaning axis, in conjunction with rotor movement 6.2 one end of telescopic shaft relative to the other end along the linear movement of its axis, flexibly
Pose of the propeller carrier 5.3 relative to rotor pose adjusting seat 6.4 is adjusted, so as to adjust the born air of rotor assemblies 5
The direction of reaction force, then by the revolving speed of propeller rotating electric machine 5.4 come the size of corrective action power, so that nothing be adjusted flexibly
The whole stress of man-machine formula three-dimensional building printer realizes movement and hovering under many attitude, quickly through barrier
Printing starting point is reached, and manipulates it and is moved along specified path, the work in conjunction with extruder 8 and extruder pose adjustment component 9 is real
Now adaptive three-dimensional building printing.
Referring to Fig. 4, being more rotor angle adjustment assembly principle schematic diagrames provided in an embodiment of the present invention, it includes rotor
Angle adjusts arm 4.1 and rotor arm arc movement device 4.2；Rotor arm arc movement device 4.2 is by 360 degree of round sliding rails and four
A sliding block composition that can be moved freely on the slide rail, the sliding rail and flying platform 3 of rotor arm arc movement device 4.2 are welded on one
It rises, one end bolt of sliding block and rotor angle adjustment arm 4.1 is fixed, and rotor angle adjusts the other end and the rotor position of arm 4.1
6.4 bolt of appearance adjusting seat is fixed；4.2 sliding block of rotor arm arc movement device moving freely along its sliding rail, passes through rotor angle
Adjustment arm 4.1 drives corresponding rotor assemblies 5 to move freely along the sliding block of rotor arm arc movement device 4.2, realizes adjacent rotor
Angle adjustment between component 5 adjusts unmanned plane formula three-dimensional building printer when one to two rotor assemblies 5 break down
The relative position of each rotor is worked on the moving equilibrium for reaching new.
Referring to Fig. 5, being quadrotor motor pattern figure provided in an embodiment of the present invention.
Referring to Fig. 6, being the three rotor motor pattern figures provided in an embodiment of the present invention when a rotor breaks down.
Fig. 7 ~ 8 are please referred to, are the two rotor motor patterns provided in an embodiment of the present invention when two rotors break down
Figure.
Referring to Fig. 9, being extruder pose adjustment assembly principle schematic diagram provided in an embodiment of the present invention, it includes
Extruder moves typed ball bearing pair 9.1, extruder movement telescopic shaft 9.2 and extruder and moves hydraulic flexural pivot 9.3；Extruder sport ball
Hinge pair 9.1 has three groups, and 120 degree of fixing end interval is welded on extruder 8；Extruder, which moves hydraulic flexural pivot 9.3, three groups,
120 degree of fixing end interval is welded on flying platform 3；Extruder movement telescopic shaft 9.2 has three groups, both ends respectively with extruder
Movement 9.1 movable end of typed ball bearing pair and extruder move hydraulic 9.3 movable end of flexural pivot and weld together, to constitute parallel pose
Device is adjusted, extruder moves hydraulic 9.3 movable end of flexural pivot and is secured relative to it the rotation that end bypasses any axis of its center point
Extruder is adjusted flexibly along the linear movement of its axis relative to the other end in conjunction with extruder movement 9.2 one end of telescopic shaft in movement
8 pose relative to flying platform 3, so that printing head 1 can be with optimal angle under any attitude of flying platform 3
Degree carries out material stacking, to guarantee the Forming Quality of three-dimensional building printing.As shown in Figure 10, the present invention can be under various angles
Hovering, and since the direction of rotor assemblies can change, so unmanned plane hovers in the sky or can protect in mobile
Hold many attitude.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (6)
1. a kind of unmanned plane formula three-dimensional building printer, which is characterized in that it includes printing head (1), materials transfer duct
(2), flying platform (3), more rotor angles adjustment component (4), rotor assemblies (5), rotor pose adjustment component (6), vision dress
Set (7), extruder (8) and extruder pose adjustment component (9)；Environmental information is provided by sighting device (7) to be controlled,
The motion path and posture that three-dimensional building printer is controlled by rotor assemblies (5) and rotor pose adjustment component (6), by squeezing
The pose of seat in the plane appearance adjustment component (9) control printing head (1) out is built by materials transfer duct (2) and extruder (8) conveying
Printed material is built, the shape and size of institute's extruded material are controlled by printing head (1), fast implement adaptive three-dimensional building
Printing, prints the building of designated modality in designated position；When one group or two groups of rotor assemblies (5) break down, may be used also
The relative position of each rotor assemblies (5) is adjusted by more rotor angles adjustment component (4), and work is continued with the moving equilibrium for reaching new
Make.
2. a kind of unmanned plane formula three-dimensional building printer according to claim 1, which is characterized in that the rotor assemblies
It (5) include propeller (5.1), propeller swivel bearing (5.2), propeller carrier (5.3) and propeller rotating electric machine
(5.4)；The Internal and external cycle of propeller swivel bearing (5.2) is solid with propeller (5.1) and propeller carrier (5.3) bolt respectively
Fixed, the body of propeller rotating electric machine (5.4) is bolted on propeller carrier (5.3), output shaft and spiral
Paddle (5.1) key connection, and pass through baffle and bolt axially position；Propeller rotating electric machine (5.4) output shaft is relative to its body
Around the rotary motion of its axis, drives propeller (5.1) to rotate relative to propeller carrier (5.3), pass through the anti-work of air
The power perpendicular to rotor assemblies (5) plane is firmly formed, the movement for unmanned plane formula three-dimensional building printer provides premise
Condition.
3. a kind of unmanned plane formula three-dimensional building printer according to claim 1, which is characterized in that the rotor pose
Adjustment component (6) includes rotor movement typed ball bearing pair (6.1), rotor movement telescopic shaft (6.2), the hydraulic flexural pivot (6.3) of rotor movement
And rotor pose adjusting seat (6.4)；Rotor movement typed ball bearing pair (6.1) has three groups, and 120 degree of fixing end interval is welded on spiral
On paddle carrier (5.3)；Rotor, which moves hydraulic flexural pivot (6.3), three groups, and 120 degree of fixing end interval is welded on rotor pose tune
On bed rearrangement (6.4)；Rotor movement telescopic shaft (6.2) has three groups, both ends moved respectively with rotor typed ball bearing pair (6.1) movable end and
Rotor moves hydraulic flexural pivot (6.3) movable end and welds together, to constitute parallel pose adjustment device, rotor movement is hydraulic
Flexural pivot (6.3) movable end is secured relative to it the rotary motion that end bypasses any axis of its center point, flexible in conjunction with rotor movement
Relative to the other end, along the linear movement of its axis, propeller carrier (5.3) is adjusted flexibly relative to rotor in axis (6.2) one end
The pose of pose adjusting seat (6.4) so as to adjust the direction of the born air reaction force of rotor assemblies (5), then passes through spiral
The revolving speed of paddle rotating electric machine (5.4) carrys out the size of corrective action power, so that unmanned plane formula three-dimensional building printer be adjusted flexibly
Whole stress realizes movement and hovering under many attitude, reaches printing starting point quickly through barrier, and manipulate its edge
Specified path movement realizes that adaptive three-dimensional building is beaten in conjunction with the work of extruder (8) and extruder pose adjustment component (9)
Print.
4. a kind of unmanned plane formula three-dimensional building printer according to claim 1, which is characterized in that more rotors folder
Angle adjustment component (4) includes rotor angle adjustment arm (4.1) and rotor arm arc movement device (4.2)；Rotor arm arcuate movement
Device (4.2) is made of 360 degree of round sliding rails and four sliding blocks that can be moved freely on the slide rail, rotor arm arc movement device
(4.2) sliding rail welds together with flying platform (3), and sliding block and one end bolt of rotor angle adjustment arm (4.1) are fixed,
The other end of rotor angle adjustment arm (4.1) is fixed with rotor pose adjusting seat (6.4) bolt；Rotor arm arc movement device
(4.2) sliding block moving freely along its sliding rail drives corresponding rotor assemblies (5) along rotor by rotor angle adjustment arm (4.1)
The sliding block of arm arc movement device (4.2) moves freely, the angle adjustment between adjacent rotor component (5) is realized, when one to two
When a rotor assemblies (5) are broken down, the relative position of each rotor of unmanned plane formula three-dimensional building printer is adjusted, to reach new
Moving equilibrium works on.
5. a kind of unmanned plane formula three-dimensional building printer according to claim 1, which is characterized in that the printing head
(1) various shapes sizes can be used in material extrusion, to use different printing demands.
6. a kind of unmanned plane formula three-dimensional building printer according to claim 1, which is characterized in that the extrusion seat in the plane
It includes extruder movement typed ball bearing pair (9.1), extruder movement telescopic shaft (9.2) and extruder fortune that appearance, which adjusts component (9) to include,
Hydrodynamic pressure flexural pivot (9.3)；Extruder movement typed ball bearing pair (9.1) has three groups, and 120 degree of fixing end interval is welded on extruder (8)
On；Extruder, which moves hydraulic flexural pivot (9.3), three groups, and 120 degree of fixing end interval is welded on flying platform (3)；Extruder
Movement telescopic shaft (9.2) has three groups, and typed ball bearing pair (9.1) movable end is moved with extruder respectively for both ends and extruder movement is hydraulic
Flexural pivot (9.3) movable end welds together, to constitute parallel pose adjustment device, extruder moves hydraulic flexural pivot (9.3)
Movable end is secured relative to it the rotary motion that end bypasses any axis of its center point, moves telescopic shaft (9.2) in conjunction with extruder
Relative to the other end, along the linear movement of its axis, pose of the extruder (8) relative to flying platform (3) is adjusted flexibly in one end,
So that printing head (1) can carry out material stacking with optimal angle under any attitude of flying platform (3), to protect
Demonstrate,prove the Forming Quality of three-dimensional building printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810814784.XA CN109057349A (en) | 2018-07-23 | 2018-07-23 | A kind of unmanned plane formula three-dimensional building printer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810814784.XA CN109057349A (en) | 2018-07-23 | 2018-07-23 | A kind of unmanned plane formula three-dimensional building printer |
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| CN110485743A (en) * | 2019-08-28 | 2019-11-22 | 王丁 | A method of can replace artificial engineering unwrapping wire |
| WO2020029666A1 (en) * | 2018-08-10 | 2020-02-13 | 博湃建筑科技（上海）有限公司 | Building contour formation machine and building printing method |
| CN111674040A (en) * | 2020-07-21 | 2020-09-18 | 新乡医学院三全学院 | A 3D printing spray device |
| CN112277309A (en) * | 2020-10-26 | 2021-01-29 | 浙江大学台州研究院 | Flight type 3D printer |
| CN115008906A (en) * | 2022-06-30 | 2022-09-06 | 南京航空航天大学 | A multi-color inkjet printing device for aircraft |
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