PRINTING APPARATUS, PRINTING ROBOT, AND CONTROL METHOD

• Main Authors: MA YANPING, GU YIYI, WANG TONGQUAN, CHEN XIANG'AN, ZHANG JIYANG
• Format: Patent
• Language: Chinese; English
• Published: 28.04.2023
• Subjects: ADDITIVE MANUFACTURING TECHNOLOGY; ADDITIVE MANUFACTURING, i.e. MANUFACTURING OFTHREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVEAGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING,STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING; BUILDING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIRUSE; FIXED CONSTRUCTIONS; FORMS; HANDLING BUILDING MATERIALS ON THE SITE; PERFORMING OPERATIONS; PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL,e.g. PLASTER; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTINGBUILDINGS; SCAFFOLDING; SHUTTERING; TRANSPORTING; WORKING CEMENT, CLAY, OR STONE

The invention belongs to the technical field of building printing, and particularly relates to a printing device, a robot and a control method, and the printing device comprises a mixing extrusion bin which is provided with a feeding port and a discharging port; the extrusion nozzle is movably arranged at the discharge port and is communicated with the interior of the mixing extrusion bin through the discharge port so as to facilitate discharging; the direction-changing assembly comprises a direction-changing driving part and a direction-changing transmission part, the direction-changing driving part is arranged outside the mixing extrusion bin, one end of the direction-changing transmission part is connected with the direction-changing driving part, the other end of the direction-changing transmission part is connected with the extrusion nozzle, and the direction-changing driving part can drive the direction-changing transmission part to move; and the extrusion nozzle is driven to rotate around the axis of t