A Variable-Scale Modular 3D Printing Robot of Building Interior Wall

In order to improve the efficiency of construction, a variable-scale modular 3D printing robot of building interior wall is developed. It can realize the building of the non-frame structure and non-bearing wall. The modular robot consists of the mobile lifting module and beam printing module. The mobile lifting module includes the Omni-directional mobile mechanism, double telescopic slide mechanism, top regulating wheel mechanism and elevating drive mechanism. The beam printing module includes the telescopic slide mechanism and mobile printing vehicle mechanism. This robot can achieve full printing of complex curved interior walls under different working conditions. The control system of the printing robot based on PLC includes control module, drive module, auxiliary module, information collection module and power module. Experimental prototype is made and process experiment is carried out. The experiment results show that the structure design of robot is reasonable and the motion is reliable, which can realize the full-size printing function of the wall.