Curing 3D printing concrete, 3D printing device and printing curing method

Abstract

The invention relates to curing 3D printing concrete, a 3D printing device and a printing curing method, and relates to the field of 3D printing concrete technologies. Based on the concrete printing information, the types of curing materials in the feeding pipes and the corresponding numbers of the feeding pipes are determined; a feeding pipe corresponding to the feeding pipe number is controlled to conduct feeding according to the curing material type, and a current printing coordinate is obtained; searching a corresponding curing device number from a preset curing database based on the curing material type and the current printing coordinate; according to the method, the effects that illumination / temperature is controlled to enable the outer layer material to be rapidly cured, rapid forming of the concrete material in the printing process is achieved, and the structural stability of the concrete material in the printing process is improved are achieved.

Description

Technical Field

[0001] The present application relates to the field of 3D printing concrete technology, and in particular to a solidified 3D printed concrete, a 3D printing device and a printing and solidification method. Background Art

[0002] 3D printing technology is a cutting-edge technology that has developed rapidly in recent years. It uses digital model files to create three-dimensional objects by stacking materials layer by layer. With the advancement of technology, 3D printing has made breakthroughs in material diversity, printing accuracy, production speed and application scope, showing great potential. Especially in the field of architecture, 3D printing concrete technology is promoting fundamental changes in architectural design, production and construction due to its efficient production methods, design flexibility, excellent resource utilization and consistent manufacturing quality. This technology can not only significantly reduce construction cycles and costs, but also achieve precise construction of complex geometric shapes, bringing unprecedented innovation possibilities to architects.

[0003] At present, the most widely used method of 3D printing technology in the field of construction is extrusion 3D printing concrete. Due to the rheological properties of concrete, its support is poor before solidification and it is easy to collapse, so it is difficult to print structures with large heights or large spans. In related technologies, such as an invention patent with Chinese patent number CN111335636A, a 3D construction method for a mesh reinforced concrete curved roof structure is disclosed, which includes the following construction steps: step one, scheme design; step two, establish a curved surface model; step three, 3D print concrete configuration; step four, print concrete curved surface support body; step five, install positioning pins and support bars; step six, assemble the bottom bidirectional fiber steel mesh; step seven, print and form the bottom curved concrete body; step eight, assemble the upper bidirectional fiber steel mesh; step nine, print and form the upper curved concrete body; step ten, edge sealing and finishing.

[0004] The prior art has the following problems: although this construction method can solve the problem of poor support, it is relatively speaking necessary to lay out support members such as steel mesh before printing, which increases the workload and reduces printing efficiency, and there is still room for improvement. Summary of the invention

[0005] In order to improve the existing construction method and solve the problem of poor support, but relatively speaking, it is necessary to lay out support members such as steel mesh before printing, which increases the workload and reduces the printing efficiency. The present application provides a cured 3D printed concrete, a 3D printing device and a printing and curing method.

[0006] In the first aspect, the present application provides a solidified 3D printed concrete, using the following technical solution: A method for curing 3D printed concrete, comprising: Concrete body; and The curing layer is coated on the circumferential outer side wall of the concrete body, and the curing layer includes a bottom and a circumferential side portion, the circumferential side portion is made of a light-curing material and / or a heat-curing material, and the bottom is made of a light-curing material and / or a heat-curing material.

[0007] By adopting the above technical solution, the outer layer material is quickly solidified by controlling the light / temperature, so that the rapid molding of the concrete material during the printing process is achieved, the coagulation and hardening speed of the printed material is accelerated, the risk of deformation and collapse is reduced, and the structural stability of the concrete material during the printing process is improved.

[0008] Optionally, the concrete body is mixed with thermosetting material.

[0009] By adopting the above technical solution, the reason why thermosetting resin can be cured by heating is due to its internal chemical reactions (such as addition or condensation reactions). These reactions are accelerated and promoted by heat to crosslink the resin molecules to form a three-dimensional network structure. Most resins rely on the addition of thermosetting agents for thermal curing, and some resins do not rely on external curing agents, but are cured through their own chemical reactions or heat treatments. The filling material in the middle is mixed with resin and concrete to further enhance the curing effect of the concrete body itself.

[0010] In a second aspect, the present application provides a 3D printing device, which adopts the following technical solution: A 3D printing device for printing a cured 3D printed concrete as described above, comprising: Base; A printing robot arm is arranged on the base; A curing device, disposed on a preset printing track, for quickly curing the printed concrete, wherein the curing device may be a light curing device and / or a heat curing device; and A print head, the print head comprising: A concrete cylinder is fixedly connected to the printing robot arm, one end of the concrete cylinder is provided with a first feeding port for the concrete body to enter, and the other end of the concrete cylinder is provided with a first discharging port for the concrete body to extrude; A sleeve is sleeved on a side of the concrete cylinder close to the first discharge port, the inner circumferential side wall of the sleeve cooperates with the outer circumferential side wall of the concrete cylinder to form a flow channel for the unsolidified solidified layer to flow and a second discharge port for the material corresponding to the solidified layer to be extruded, the second discharge port is arranged on a side of the flow channel close to the first discharge port and is interconnected with the flow channel; and A feed pipe is arranged on the sleeve and communicated with the flow channel. There are several feed pipes for conveying different photocurable materials and heat curable materials.

[0011] By adopting the above technical solution, the outer layer material is quickly solidified by controlling the light / temperature, so that the rapid molding of the concrete material during the printing process is achieved, the coagulation and hardening speed of the printed material is accelerated, the risk of deformation and collapse is reduced, and the structural stability of the concrete material during the printing process is improved.

[0012] In a third aspect, the present application provides a printing and curing method, which adopts the following technical solution: A printing and curing method, using a 3D printing device as described above, comprising: Get concrete printing information; Determine the type of solidified material in the feed pipe and the corresponding feed pipe number based on the concrete printing information; Control the feed tube corresponding to the feed tube number to feed according to the type of curing material, and obtain the current printing coordinates; Find the corresponding curing device number from a preset curing database based on the type of curing material and the current printing coordinates; Control the start-up of the curing device corresponding to the curing device number.

[0013] By adopting the above technical solution, by determining the printing path and then using a curing device to cure during the printing process, the middle concrete body is supported by the circumferential curing layer and remains fixed. The structural strength of the entire concrete printing process is sufficient, which improves the structural strength of the concrete structure and effectively avoids the problem of concrete collapsing during the printing process due to insufficient support capacity and difficulty in maintaining overall structural stability.

[0014] Optionally, the specific method for obtaining concrete printing information includes: Get concrete print drawings; Analyze the printing path based on the concrete printing drawings; Simulate a concrete printing model based on the printing path; Input different preset curing coefficients into the concrete printing model to obtain simulation results; Filter the best simulation results and define the corresponding curing parameters as the optimal curing parameters; The printing path and optimal curing parameters are integrated into concrete printing information for output.

[0015] By adopting the above technical solution, the entire process is simulated in advance, so that different curing requirements correspond to different curing types, ensuring that the curing requirements can be met and improving the intelligence of curing material selection.

[0016] Optionally, the method for controlling the start-up of a curing device corresponding to the curing device number includes: The best simulation result is defined as the optimal simulation result; Determine the ideal degree of cure based on the optimal simulation results; Controlling the curing device to start according to the optimal curing parameters and obtaining the current curing degree of the curing layer after a preset unit time; Calculate and adjust curing parameters based on the current curing degree, the ideal curing degree and the optimal curing parameters; Control the curing device to adjust the curing parameters.

[0017] By adopting the above technical solution, the curing degree of the outer layer resin of the printed strip and the microscopic strain inside the structure are collected in real time. The collected data is combined with an intelligent algorithm to optimize the curing parameters of the curing device, and the optimal curing control strategy is automatically generated, thereby improving the stability and intelligence of the curing.

[0018] Optionally, it also includes inputting different curing coefficients into the concrete printing model and obtaining an optimization method for the optimal simulation result, the method comprising: Segmenting the printing path to determine different printing path segments; Different curing coefficients are input into different printing path segments in the concrete printing model to obtain simulation results, and the simulation results are defined as multi-case simulation results; The optimal multi-case simulation result is defined as the optimal simulation result.

[0019] By adopting the above technical solution, different position states are subdivided during the simulation process, so as to input different curing parameters. For example, the stress at the corner is larger, the curing time should be shorter, and the curing effect should be better, thus improving the meticulousness of the curing effect under different conditions.

[0020] Optionally, a specific method for controlling the start of a curing device corresponding to the curing device number when the circumferential side portion is made of a mixture of a light-curing material and a heat-curing material, the bottom portion is made of a heat-curing material, and the concrete body is doped with a heat-curing material is also included. The method includes: The optimal simulation result corresponding to the circumferential side is defined as the optimal light simulation result, and the optimal simulation result corresponding to the bottom is defined as the optimal thermal simulation result; Controlling the light curing device and the heat curing device corresponding to the curing device number to start simultaneously, and correcting them to their respective adjusted curing parameters, and obtaining a first real-time curing degree of the circumferential side portion; When the first real-time curing degree is the preset required light curing degree, the light curing device is controlled to be turned off, and a second real-time curing degree of the bottom is obtained; When the second real-time curing degree reaches a preset required thermal curing degree, the thermal curing device is controlled to be closed.

[0021] By adopting the above technical solution, the external light-curing layer is cured first, and then the heat-curing device cures the inside and the bottom, so that they do not need to be used synchronously all the time, which saves the use cost and improves the curing effect.

[0022] Optionally, a method for determining whether to control the heat curing device to be turned off when the second real-time curing degree reaches a preset required heat curing degree is also included, the method comprising: The coordinate point corresponding to the printing path when the second real-time curing degree reaches the required thermal curing degree is defined as the current printing coordinate point; Determine the corresponding thermal curing device number and printing coordinate range based on the current printing coordinate point and the corresponding optimal curing parameters; Decomposing based on the printing coordinate range to obtain the printing coordinate segment range; When the current printing coordinate point is not at the end of the printing coordinate segment range, the thermal curing device is controlled to continue heating, and the end of the printing coordinate segment range is the end of the printing coordinate segment range along the printing direction; When the current printing coordinate point is at the end of the printing coordinate segment range, the printing coordinate segment range is defined as the current printing coordinate segment range; Determine the estimated printing coordinate segment range based on the current printing coordinate segment range according to the preset printing order; Determine the printing interval duration based on the current printing coordinate segment range, the expected printing coordinate segment range and the preset printing speed; Based on the optimal curing parameters, the corresponding balance interval duration is found from a preset balance database; When the printing interval is shorter than the equilibrium interval, the heat curing device is controlled to continue heating; When the printing interval is longer than the balance interval, the heat curing device is controlled to be closed.

[0023] By adopting the above technical solution, since the thermal curing device needs to be started in advance, whether the thermal curing is suspended will be judged based on the repeated opening situation. If it will be reopened in a short time, it is better not to shut down to ensure that the corresponding temperature can be supplied in time.

[0024] Optionally, the method for controlling the light curing device and the heat curing device corresponding to the curing device number to start simultaneously includes: Determine a printing cutting path and a printing cutting environment based on the concrete printing model and the printing path; Based on the printing and cutting environment, the corresponding maximum support size is found from the preset support database; Analyze the printing cutting size based on the printing cutting path; When the printing cutting size is larger than the maximum support size, the light curing device and the heat curing device corresponding to the curing device number are controlled to start simultaneously; When the printing cutout size is smaller than the maximum support size, the corresponding light shielding plate is found from the preset shielding database based on the optimal curing parameters; The light curing device and the heat curing device corresponding to the curing device number are controlled to start simultaneously, and a light shielding plate of the printing cutting size is cut out to shield the concrete corresponding to the printing cutting path.

[0025] By adopting the above technical solution, since 3D printing has a certain width, when a certain area will be cut later, light curing operation can be omitted, which reduces the occurrence of difficult cutting due to curing in the later stage and improves the rationality and preference of the curing process.

[0026] In summary, the present application includes at least the following beneficial technical effects: 1. During the printing process, the curing device is used for curing, so that the middle concrete body is supported by the circumferential curing layer and remains fixed. The structural strength of the entire concrete printing process is sufficient, which improves the structural strength of the concrete structure; 2. Simulate the entire process in advance so that different curing requirements correspond to different curing types, ensuring that the curing requirements can be met and improving the intelligence of curing material selection; 3. The external light-curing layer is cured, and then the heat-curing device is used to cure the inside and the bottom, so that it is not necessary to use them synchronously all the time, which saves the use cost and improves the curing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a printing and curing method in an embodiment of the present application.

[0028] Figure 2 It is a schematic diagram of the structure of a cured 3D printed concrete in an embodiment of the present application.

[0029] Figure 3 It is a structural schematic diagram of a 3D printing device in an embodiment of the present application.

[0030] Figure 4 It is a half-section schematic diagram of the printing nozzle in the embodiment of the present application.

[0031] Figure 5 It is a flowchart of a specific method for obtaining concrete printing information in an embodiment of the present application.

[0032] Figure 6 It is a flow chart of a method for starting a curing device corresponding to a curing device number in an embodiment of the present application.

[0033] Figure 7 It is a flow chart of an optimization method for inputting different curing coefficients into a concrete printing model and obtaining an optimal simulation result in an embodiment of the present application.

[0034] Figure 8 It is a flowchart of a specific method for starting a curing device corresponding to a curing device number in an embodiment of the present application.

[0035] Fig. 9 It is a flow chart of a method for determining whether to control the heat curing device to be turned off when the second real-time curing degree reaches a preset required heat curing degree in an embodiment of the present application.

[0036] Fig.10 It is a flow chart of a method for simultaneously starting a light-curing device and a heat-curing device corresponding to a curing device number in an embodiment of the present application.

[0037] Explanation of the reference numerals: 1. concrete body; 2. solidification layer; 21. circumferential side; 22. bottom; 3. base; 4. printing robot arm; 5. solidification device; 6. printing nozzle; 61. concrete cylinder; 611. first feed port; 612. first discharge port; 62. sleeve; 63. feed pipe; 64. second discharge port; 65. flow channel. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 10 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] The present application embodiment discloses a printing and curing method. Figure 1 , a printing and curing method comprises: Step 100: Obtain concrete printing information.

[0040] The concrete printing information is information related to the concrete to be printed. The specific content may include all the information of the concrete to be printed. The acquisition method may be a manual input method or may be implemented in the following steps.

[0041] Step 101: Determine the type of solidified material in the feed pipe 63 and the corresponding feed pipe number based on the concrete printing information.

[0042] The type of curing material is the type of material of the curing layer 2. Figure 2As shown, what is printed this time is a solidified 3D printed concrete, which includes a concrete body 1 and a solidified layer 2. The concrete body 1 is arranged in a strip shape along the printing direction, and a thermosetting material is doped in the concrete body 1, so that after a thermosetting device is arranged around the concrete body, the solidification of the concrete body 1 can be accelerated. In the embodiment of the present application, the thermosetting material can be a thermosetting epoxy acrylic resin. In addition, thermosetting polyester resin, thermosetting phenolic resin, thermosetting polyurethane resin, thermosetting amino resin, thermosetting polyamide resin, and thermosetting silicone resin can also be used as a substitute for thermosetting epoxy acrylic resin. These thermosetting resins are heated by an external thermosetting device, undergo a cross-linking reaction, and quickly change from a liquid state to a solid state to form a solid material with good mechanical properties and durability. The solidified layer 2 is coated on the circumferential outer wall of the concrete body 1. The solidified layer 2 includes a bottom 22 and a circumferential side portion 21. The circumferential side portion 21 and the bottom portion 22 can be made of a photocurable material or a thermosetting material, or a mixture of a photocurable material and a thermosetting material, so that when one of the curing devices 5 does not exist, the other curing device 5 can also be used for curing. The photocurable material can be a photocurable epoxy acrylic resin. In addition, photocurable acrylic resin, photocurable polyurethane resin, photocurable methacrylate resin, photocurable styrene resin, photocurable polyester resin, photocurable composite resin, high temperature photocurable resin and other photocurable resins can also be used as substitutes for photocurable epoxy acrylic resin. These photocurable resins undergo a cross-linking reaction under ultraviolet light irradiation, and quickly change from a liquid state to a solid state to form a solid material with good mechanical properties and durability.

[0043] The feed pipe number is the number of the feed pipe 63, where the feed pipe 63 corresponding to the feed pipe number is the pipe for feeding the type and type of curing material. Figure 3 As shown, a 3D printing device is shown, which includes a base 3, a printing robot 4, a curing device 5 and a printing nozzle 6. The printing robot 4 is fixedly connected to the base 3. The curing device 5 is installed on the printing track and is used to quickly cure the printed concrete. If the printing material is a light-curing material, the curing device 5 can be a light-curing device, such as an irradiation device that emits ultraviolet light or visible light; if the printing material is a heat-curing material, the curing device 5 can be a heat-curing device.

[0044] Reference Figure 3 and Figure 4, the print head 6 is mounted on the printing mechanical arm 4 so as to perform 3D printing as the printing mechanical arm 4 moves. The print head 6 includes a concrete cylinder 61, a sleeve 62 and a feed pipe 63. The concrete cylinder 61 is fixedly connected to the printing mechanical arm 4. One end of the concrete cylinder 61 is provided with a first feed port 611 for the concrete body 1 to enter, and the other end of the concrete cylinder 61 is provided with a first discharge port 612 for the concrete body 1 to be extruded. The sleeve 62 is sleeved on a side of the concrete cylinder 61 close to the first discharge port 612, and cooperates with the concrete cylinder 61 to form a flow channel 65 for the flow of the unsolidified solidified layer 2. The inner circumferential side wall of the sleeve 62 cooperates with the outer circumferential side wall of the concrete cylinder 61 to form a second discharge port 64 for the material corresponding to the solidified layer 2 to be extruded. The second discharge port 64 is provided on a side of the flow channel 65 close to the first discharge port 612 and is interconnected with the flow channel 65 to supply the material required for the solidified layer 2. The feeding pipe 63 is installed on the sleeve 62 and communicated with the flow channel 65 . There are several feeding pipes 63 for conveying different photocurable materials and heat curable materials into the flow channel 65 .

[0045] The determination method is the method of corresponding attribute matching. For example, if the concrete printing information contains the information of the curing material, then the corresponding matching is performed directly. Since the number of the feed pipe 63 and the curing material that can flow inside are artificially specified in advance, when the information of the curing material is known, the type of curing material is automatically known, and then the corresponding feed pipe number is known according to the corresponding type of curing material. After the refinement here, the curing layer 2 outside the concrete body 1 will be injected in different areas, for example: Figure 2 As shown, the upper part and the two side parts are all of the same type of solidifying material, while the lower part is of another type of solidifying material.

[0046] Step 102: Control the feed tube 63 corresponding to the feed tube number to feed according to the type of solidifying material, and obtain the current printing coordinates.

[0047] The current printing coordinates are the coordinates of the printing position that has been reached during the process of moving along the 3D printing route. The acquisition method can be obtained according to the progress of the printing system and the action of the robot arm.

[0048] Step 103: searching for a corresponding curing device number from a preset curing database based on the type of curing material and the current printing coordinates.

[0049] The curing device number is the number of the curing device 5. The database stores the mapping relationship between the type of curing material, the current printing coordinates and the curing device number. The staff first numbers each curing device 5, and then assumes that the position is a certain curing material based on a certain printing coordinate position, and then reads the number of the curing device 5 that can affect the curing of the material type to form a mapping relationship and store it. When the system receives the corresponding type of curing material and the current printing coordinates, it automatically finds the corresponding curing device number from the database and outputs it.

[0050] Step 104: Control the curing device 5 corresponding to the curing device number to start.

[0051] When printing reaches a certain point, the curing device 5 is started to accelerate the curing.

[0052] Reference Figure 5 ,The specific methods for obtaining concrete printing information include: Step 200: Obtain concrete printing drawings.

[0053] The concrete printing drawing is a structural drawing of the 3D printed concrete. The drawing sets the size and trajectory of the print, as well as the size of the cross-section of the cured 3D printed concrete.

[0054] Step 201: Analyze the printing path based on the concrete printing drawing.

[0055] The printing path is the path of the concrete printing device when printing. The analysis method can be a direct reading method.

[0056] Step 202: Simulate a concrete printing model based on the printing path.

[0057] The concrete printing model is a model printed by concrete, which can be simulated by finite element analysis software.

[0058] Step 203: Input different preset curing coefficients into the concrete printing model to obtain simulation results.

[0059] The curing coefficient is the coefficient for curing the outer curing layer 2, which includes a series of coefficients such as the solidification speed. It is mainly based on the curing device 5 that theoretically has the corresponding function. The simulation result is the result of the simulation according to the curing coefficient. The simulation result here is stable or toppling, and the toppling can be specific to which position will be toppled. After input, the concrete printing model will automatically perform 3D printing and curing simulation, and then slice each position, read the corresponding stress and shear force and other parameters, and compare them with the corresponding parameter critical values. If the critical value is exceeded, toppling and structural damage will occur.

[0060] Step 204: Filter the best simulation results and define the corresponding curing parameters as the best curing parameters.

[0061] The screening method is to compare the ranges corresponding to the dumping positions, and select the simulation results with smaller ranges or even zero range.

[0062] Step 205: Integrate the printing path and the optimal curing parameters into concrete printing information for output.

[0063] Reference Figure 6 , the method for starting the curing device 5 corresponding to the curing device number includes: Step 300: define the optimal simulation result as the optimal simulation result.

[0064] Step 301: Determine an ideal curing degree based on the optimal simulation results.

[0065] The ideal curing degree is the ideal curing degree, which refers to the curing degree at any moment, that is, it includes the mapping relationship between the moment and the curing degree. When any moment is input, the corresponding ideal curing degree is automatically found and output.

[0066] Step 302: Control the curing device 5 to start according to the optimal curing parameters and obtain the current curing degree of the curing layer 2 after a preset unit time.

[0067] The unit time is the length of time in a certain unit of measurement, for example: 1 second, 1 minute. The current curing degree is the curing degree at this moment. The acquisition method can be obtained by converting multiple parameters. These parameters can be obtained through a series of sensors. For example: near-infrared spectral sensor, micro-strain sensor array, can collect the curing degree of the outer layer of the printed strip and the microscopic strain inside the structure.

[0068] Step 303: Calculate and adjust the curing parameters based on the current curing degree, the ideal curing degree and the optimal curing parameters.

[0069] The curing parameters need to be adjusted because there is a deviation between the curing degree and the ideal curing degree. The calculation method is to divide the current curing degree by the ideal curing degree and multiply it by the optimal curing parameter.

[0070] Step 304: Control the curing device 5 to modify the curing parameters.

[0071] After the correction here, real-time adjustment will continue to be performed according to steps 300-304 to achieve the optimal curing effect.

[0072] Reference Figure 7, and also includes an optimization method for inputting different curing coefficients into the concrete printing model and obtaining the optimal simulation result, the method comprising: Step 400: Segment the printing path to determine printing path segments with different situations.

[0073] The printing path segmentation is the segmentation of the path for different printing situations. The situations here include different line segment types corresponding to the path, such as arc path and straight path, and different widths, such as 8cm wide and 6cm wide printing path segments. The determination method is to compare the situations corresponding to each coordinate, and if the situations corresponding to adjacent coordinates are different, they are automatically cut to be divided into multiple printing path segments.

[0074] Step 401: Input different curing coefficients into different printing path segments in the concrete printing model to obtain simulation results, and define the simulation results as multi-case simulation results.

[0075] The input method is the same as step 203, and will not be described here in detail. The difference between this and the previous step is that the solidification coefficient of each place is set to the coefficient for the corresponding segment, so as to be more refined and the simulation results are better after screening.

[0076] Step 402: Define the optimal multi-case simulation result as the optimal simulation result.

[0077] Reference Figure 8 , and also includes a specific method for starting the curing device 5 corresponding to the curing device number when the circumferential side portion 21 is made of a mixture of light-curing material and heat-curing material, the bottom 22 is made of heat-curing material, and the concrete body 1 is doped with heat-curing material, the method comprising: Step 500 : defining the optimal simulation result corresponding to the circumferential side portion 21 as the optimal light simulation result, and defining the optimal simulation result corresponding to the bottom portion 22 as the optimal thermal simulation result.

[0078] Step 501 : Control the light curing device and the heat curing device corresponding to the curing device number to start simultaneously, and correct them to their respective adjusted curing parameters, and obtain the first real-time curing degree of the circumferential side portion 21 .

[0079] The first real-time curing degree is the curing degree of the circumferential side portion 21 at every moment. The acquisition method is similar to step 302 and is not described in detail here. The reason why the light curing device and the heat curing device corresponding to the control curing device number are started at the same time is that the curing layer 2 contains heat curing material and light curing material, and the concrete body 1 is doped with heat curing material.

[0080] Step 502 : When the first real-time curing degree is the preset required light curing degree, the light curing device is controlled to be turned off, and a second real-time curing degree of the bottom 22 is obtained.

[0081] The required light curing degree is the artificially set curing degree that the curing layer 2 needs to reach. When this degree is reached, the outer curing layer 2 is relatively strong and has a certain degree of stable support. The second real-time curing degree is the curing degree of the bottom 22 at every moment. Figure 2 As shown, the solidified material layer at the bottom 22 may not receive sufficient ultraviolet light due to being blocked by the concrete above and the solidified material layers in the three surrounding directions, resulting in the material in the bottom 22 area not being completely solidified. Therefore, when the first real-time solidification degree reaches the required light-curing degree, the second real-time solidification degree is not fully reached, so it is necessary to continue solidification. At this time, the light-curing effect of the bottom 22 and the concrete body 1 is not great, so thermal curing can be adopted, and the light-curing device is controlled to be closed.

[0082] Step 503: When the second real-time curing degree reaches a preset required thermal curing degree, the thermal curing device is controlled to be turned off.

[0083] The required heat curing degree is the artificially set curing degree that needs to be reached by curing. The difference between this and the required light curing degree is that the curing methods of both parties are different. The values ​​corresponding to the curing degrees can be the same, or they can be set according to the strength required at the actual location.

[0084] The reason for this setting here is that, under normal circumstances, the curing response speed of light-curing materials is faster than that of heat-curing materials, and they can provide more timely support; and the transmittance of thermal energy is better than that of light energy, and the heat can be transferred deeper into the structure, so that the inner layer material can be fully cured and the overall structural strength can be improved.

[0085] Reference Fig. 9 , and also includes a method for determining whether to control the heat curing device to be turned off when the second real-time curing degree reaches a preset required heat curing degree, the method comprising: Step 600: defining a coordinate point corresponding to the printing path when the second real-time curing degree reaches the required thermal curing degree as a current printing coordinate point.

[0086] Step 601: Determine the corresponding thermal curing device number and printing coordinate range based on the current printing coordinate point and the corresponding optimal curing parameters.

[0087] The printing coordinate range is the range of the curing coordinates that can be affected by the thermal curing device number. The method of determining the thermal curing device number is similar to step 103 and is not described here. The printing coordinate range is reversely derived from the database mentioned in step 103, that is, when the thermal curing device number is known, the corresponding printing coordinates are automatically reversely searched according to the corresponding mapping relationship, and these printing coordinates are collected to form the printing coordinate range.

[0088] Step 602: Decompose based on the printing coordinate range to obtain a printing coordinate segment range.

[0089] The printing coordinate segment range is the range of continuous printing coordinates in the printing coordinate range, that is, when the printing coordinate range is discontinuous, it is split into multiple range segments, and then each range segment is a printing coordinate segment range.

[0090] Step 603: When the current printing coordinate point is not at the end of the printing coordinate segment range, control the thermal curing device to continue heating.

[0091] The end of the printing coordinate segment range is the end of the printing coordinate segment range along the printing direction.

[0092] When the current printing coordinate point is not the end of the printing coordinate segment range, it means that a heat curing device is still needed when printing the next point. In this case, there is no need to turn off the heat curing device and continue heating.

[0093] Step 604: When the current printing coordinate point is at the end of the printing coordinate segment range, define the printing coordinate segment range as the current printing coordinate segment range.

[0094] When the current printing coordinate point is the end of the printing coordinate segment range, it means that the next printing coordinate does not require a heat curing device, and it is necessary to determine whether the heat curing device needs to be turned off.

[0095] Step 605: Determine the estimated printing coordinate segment range based on the current printing coordinate segment range according to the preset printing order.

[0096] The printing order is the order of printing coordinates. Here, the printing order is the order of each coordinate along the direction of the printing path. The expected printing coordinate segment range is the segment after the current printing coordinate segment range. The determination method is to sort all the segment ranges according to the printing order, and then directly determine the next one of the current printing coordinate segment range.

[0097] Step 606: Determine the printing interval duration based on the current printing coordinate segment range, the expected printing coordinate segment range and the preset printing speed.

[0098] The printing speed is the speed of 3D printing, and the unit of the printing speed here is m / s. The printing interval is the interval from the end of the current printing coordinate segment range to the beginning of the expected printing coordinate segment range. The method of determining is to subtract the starting point of the expected printing coordinate segment range from the coordinate point at the end of the current printing coordinate segment range along the printing path, and then divide it by the printing speed.

[0099] Step 607: Find the corresponding balance interval duration from a preset balance database based on the optimal curing parameters.

[0100] The balance interval duration is the balance duration between the energy consumed from closing the heat curing device to opening the heat curing device and reaching the required temperature and the energy consumed by keeping the heat curing device on, that is, both are the same duration, but one is turned on and off, and the other is the energy consumed by keeping it on. Here, more energy is bound to be consumed during the startup and heating process. The database stores the mapping relationship between the optimal curing parameters and the balance interval duration. Two methods of experiments were conducted by staff in this field to calculate and measure the real-time energy consumption. When the system receives the corresponding optimal curing parameters, it automatically searches the database for the corresponding balance interval duration and outputs it.

[0101] Step 608: When the printing interval duration is less than the equilibrium interval duration, control the thermal curing device to continue heating.

[0102] When the printing interval is shorter than the equilibrium interval, it indicates that the energy consumed to maintain heating is low, so the heat curing device is controlled to continue heating.

[0103] Step 609: When the printing interval duration is greater than the equilibrium interval duration, control the thermal curing device to be turned off.

[0104] When the printing interval is longer than the equilibrium interval, it means that the energy consumed to maintain heating is high, so the heat curing device is controlled to be turned off.

[0105] Reference Fig.10 , the method for controlling the light curing device and the heat curing device corresponding to the curing device number to start simultaneously includes: Step 700: Determine a printing and cutting path and a printing and cutting environment based on the concrete printing model and the printing path.

[0106] The printed excision path is the path that needs to be excised. Since the width of the 3D printing device is fixed, some parts are redundant and need to be manually excised later. The determination method is to simulate the printing path to form a preliminary model, and then compare it with the concrete printing model to obtain the excision path.

[0107] The printing cutting environment is the situation of the path around the printing cutting path, such as corners, straight lines, inclinations, etc. The determination method is to determine the coordinates of the surrounding according to the printing cutting path, and then obtain it according to the change trend of the corresponding coordinates.

[0108] Step 701: Find the corresponding maximum support size from a preset support database based on the printing and cutting environment.

[0109] The maximum support size is the size at which this position can still maintain a certain structural strength under the support of the surrounding environment if all the surroundings are solidified. The mapping relationship between the printing and cutting environment and the maximum support size is stored in the database. The staff in this field masks the cutting position in each different environment according to different masking sizes, and then observes whether a stable structure can still be maintained to obtain the maximum masking size that can maintain a stable structure, which is recorded as the maximum support size. When the system receives the corresponding printing and cutting environment, it automatically searches the database for the corresponding maximum support size and outputs it.

[0110] Step 702: Analyze the print cut-off size based on the print cut-off path.

[0111] The printed cutting size is the length of the printed cutting path. The analysis method is to read directly.

[0112] Step 703: When the printing cutting size is larger than the maximum support size, the light curing device and the heat curing device corresponding to the curing device number are controlled to start simultaneously.

[0113] When the print cut size is larger than the maximum support size, it means that if this area is not cured, the structure will be unstable, so the light curing device and heat curing device corresponding to the curing device number are controlled to start at the same time.

[0114] Step 704: When the printing cutout size is smaller than the maximum support size, a corresponding light shielding plate is searched from a preset shielding database based on the optimal curing parameters.

[0115] The light shielding plate is a plate that can completely shield the light corresponding to the optimal curing parameters, where the light includes not only color but also intensity. The database stores the mapping relationship between the optimal curing parameters and the light shielding plate. The staff in this field conducts experiments with different light shielding plates under the illumination of each curing parameter, receives the corresponding light intensity at the rear, and records it when no light intensity is received. When the system receives the corresponding optimal curing parameters, it automatically finds the corresponding light shielding plate from the database and outputs it.

[0116] You can also just take a piece of board that completely blocks any light for output.

[0117] When the print cut size is smaller than the maximum support size, it means that the structure can be stable even without curing.

[0118] Step 705: Control the light curing device and the heat curing device corresponding to the curing device number to start simultaneously, and cut out a light shielding plate of the printing and cutting size to shield the concrete corresponding to the printing and cutting path.

[0119] The purpose of blocking the light after cutting out the light blocking plate of the printed cutting size is to prevent this part of the printed cutting path from solidifying too quickly and facilitate cutting in the subsequent process. In addition, since the printed cutting size is smaller than the maximum support size, it will not cause structural instability.

[0120] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A solidified 3D printed concrete, characterized in that: include: Concrete body (1); as well as A curing layer (2) is coated on the circumferential outer side wall of the concrete body (1), the curing layer (2) comprising a bottom (22) and a circumferential side portion (21), the circumferential side portion (21) being made of a light-curing material and / or a heat-curing material, and the bottom (22) being made of a light-curing material and / or a heat-curing material.

2. The cured 3D printed concrete according to claim 1, characterized in that: The concrete body (1) is doped with thermosetting material.

3. A 3D printing device for printing a cured 3D printed concrete as claimed in claim 1 or 2, characterized in that: include: Base (3); A printing robot arm (4) is arranged on the base (3); A curing device (5) is arranged on a preset printing track and is used to quickly cure the printed concrete. The curing device (5) may be a light curing device and / or a heat curing device; as well as A printing nozzle (6), the printing nozzle (6) comprising: A concrete cylinder (61) is fixedly connected to the printing robot arm (4); one end of the concrete cylinder (61) is provided with a first feed inlet (611) for the concrete body (1) to enter, and the other end of the concrete cylinder (61) is provided with a first discharge outlet (612) for the concrete body (1) to be extruded; A sleeve (62) is sleeved on a side of the concrete cylinder (61) close to the first discharge port (612), the inner circumferential side wall of the sleeve (62) cooperates with the outer circumferential side wall of the concrete cylinder (61) to form a flow channel (65) for the flow of the unsolidified solidified layer (2) and a second discharge port (64) for the material corresponding to the solidified layer (2) to be extruded, the second discharge port (64) being arranged on a side of the flow channel (65) close to the first discharge port (612) and being in communication with the flow channel (65); and A feed pipe (63) is provided on the sleeve (62) and is in communication with the flow channel (65). There are a plurality of feed pipes (63) for conveying different light-curing materials and heat-curing materials.

4. A printing and curing method, using a 3D printing device as claimed in claim 3, characterized in that: include: Get concrete printing information; Determining the type of solidified material in the feed pipe (63) and the corresponding feed pipe number based on the concrete printing information; Controlling the feed pipe (63) corresponding to the feed pipe number to feed material according to the type of curing material, and obtaining the current printing coordinates; Find the corresponding curing device number from a preset curing database based on the type of curing material and the current printing coordinates; The curing device (5) corresponding to the curing device number is controlled to start.

5. A printing and curing method according to claim 4, characterized in that: Specific methods for obtaining concrete printing information include: Get concrete print drawings; Analyze the printing path based on the concrete printing drawings; Simulate a concrete printing model based on the printing path; Input different preset curing coefficients into the concrete printing model to obtain simulation results; Filter the best simulation results and define the corresponding curing parameters as the optimal curing parameters; The printing path and optimal curing parameters are integrated into concrete printing information for output.

6. A printing and curing method according to claim 5, characterized in that: The method for controlling the start-up of a curing device (5) corresponding to a curing device number comprises: The best simulation result is defined as the optimal simulation result; Determine the ideal degree of cure based on the optimal simulation results; Controlling the curing device (5) to start according to the optimal curing parameters and obtaining the current curing degree of the curing layer (2) after a preset unit time; Calculate and adjust curing parameters based on the current curing degree, the ideal curing degree and the optimal curing parameters; The control curing device (5) is modified to adjust the curing parameters.

7. A printing and curing method according to claim 6, characterized in that: Also included is an optimization method for inputting different curing coefficients into a concrete printing model and obtaining an optimal simulation result, the method comprising: Segmenting the printing path to determine different printing path segments; Different curing coefficients are input into different printing path segments in the concrete printing model to obtain simulation results, and the simulation results are defined as multi-case simulation results; The optimal multi-case simulation result is defined as the optimal simulation result.

8. A printing and curing method according to claim 6, characterized in that: Also included is a specific method for controlling the start of the curing device (5) corresponding to the curing device number when the circumferential side portion (21) is made of a mixture of light-curing material and heat-curing material, the bottom portion (22) is made of heat-curing material, and the concrete body (1) is doped with heat-curing material, the method comprising: The optimal simulation result corresponding to the circumferential side portion (21) is defined as the optimal light simulation result, and the optimal simulation result corresponding to the bottom portion (22) is defined as the optimal thermal simulation result; Controlling the light curing device and the heat curing device corresponding to the curing device number to start simultaneously, and correcting them to their respective adjusted curing parameters, and obtaining a first real-time curing degree of the circumferential side portion (21); When the first real-time curing degree is the preset required light curing degree, the light curing device is controlled to be turned off, and a second real-time curing degree of the bottom (22) is obtained; When the second real-time curing degree reaches a preset required thermal curing degree, the thermal curing device is controlled to be closed.

9. A printing and curing method according to claim 8, characterized in that: The invention also includes a method for determining whether to control the heat curing device to be turned off when the second real-time curing degree reaches a preset required heat curing degree, the method comprising: The coordinate point corresponding to the printing path when the second real-time curing degree reaches the required thermal curing degree is defined as the current printing coordinate point; Determine the corresponding thermal curing device number and printing coordinate range based on the current printing coordinate point and the corresponding optimal curing parameters; Decomposing based on the printing coordinate range to obtain the printing coordinate segment range; When the current printing coordinate point is not at the end of the printing coordinate segment range, the thermal curing device is controlled to continue heating, and the end of the printing coordinate segment range is the end of the printing coordinate segment range along the printing direction; When the current printing coordinate point is at the end of the printing coordinate segment range, the printing coordinate segment range is defined as the current printing coordinate segment range; Determine the estimated printing coordinate segment range based on the current printing coordinate segment range according to the preset printing order; Determine the printing interval duration based on the current printing coordinate segment range, the expected printing coordinate segment range and the preset printing speed; Based on the optimal curing parameters, the corresponding balance interval duration is found from a preset balance database; When the printing interval is shorter than the equilibrium interval, the heat curing device is controlled to continue heating; When the printing interval is longer than the balance interval, the heat curing device is controlled to be closed.

10. A printing and curing method according to claim 8, characterized in that: The method for controlling the light curing device and the heat curing device corresponding to the curing device number to start simultaneously includes: Determine a printing cutting path and a printing cutting environment based on the concrete printing model and the printing path; Based on the printing and cutting environment, the corresponding maximum support size is found from the preset support database; Analyze the printing cutting size based on the printing cutting path; When the printing cutting size is larger than the maximum support size, the light curing device and the heat curing device corresponding to the curing device number are controlled to start simultaneously; When the printing cutout size is smaller than the maximum support size, the corresponding light shielding plate is found from the preset shielding database based on the optimal curing parameters; The light curing device and the heat curing device corresponding to the curing device number are controlled to start simultaneously, and a light shielding plate of the printing cutting size is cut out to shield the concrete corresponding to the printing cutting path.

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