Lightweight and mobile single-column building profile forming machine and building profile forming method

Abstract

A light and mobile single-column building outline forming machine comprises a feeding system, a forming unit and a motion system. The feeding system provides materials for the forming unit, and the motion system drives the forming unit to move. The motion system comprises a supporting unit and a conveying unit respectively arranged on the ground, and a moving unit arranged on the supporting unit. The supporting unit comprises a printing column matched with the conveying unit and a fixing mechanism arranged at the bottom of the printing column. The moving unit can move in a vertical direction along the printing column. The conveying unit can drive the supporting unit to move between multiple building components of the building outline. The moving unit on the supporting unit can drive the forming unit to move within the range of the building component. Multiple building components are printed in sequence by the forming unit, and the moving range of the forming unit does not need to cover the entire building outline.

Description

Technical Field

[0001] The invention relates to the field of construction, in particular to a light and mobile single-column building profile forming machine and a building profile forming method. Background Art

[0002] Building contour forming equipment is also called 3D building printing equipment. It uses a mobile support platform to drive the forming unit to move, and then the forming unit extrude the material into a wall. However, the moving distance of the mobile support platform is usually limited. If the building occupies a large area, not only is it difficult to cover the entire building, but the adhesion between the printed layers is not enough, which can easily lead to structural fractures. In addition, weather factors such as rainy days and scorching sun can also have an adverse effect on the quality of printing. Summary of the invention

[0003] The purpose of the invention is to overcome the defects of the prior art and provide a light and mobile single-column building profile forming machine.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A light and mobile single-column building outline forming machine comprises a feeding system, a forming unit 4 and a motion system. The feeding system provides materials to the forming unit 4, and the motion system drives the forming unit 4 to move. The motion system comprises a support unit 1 and a conveying unit 2 respectively arranged on the ground, and a moving unit 3 arranged on the support unit 1. The support unit 1 comprises a printing column 11 matched with the conveying unit 2 and a fixing mechanism arranged at the bottom of the printing column 11. The moving unit 3 can move in a vertical direction along the printing column 11. The conveying unit 2 can drive the support unit 1 to move between multiple building components 71 of the building outline. The moving unit 3 on the support unit 1 can drive the forming unit 4 to move within the range of the building component 71, and the multiple building components 71 are printed in sequence through the forming unit 4.

[0006] Preferably, the support unit 1 is provided with a shielding mechanism 5 above the molding unit 4 .

[0007] Preferably, the feeding system includes a main feeding unit and a relay feeding unit, the relay feeding unit is arranged on the supporting unit 1 to provide materials to the molding unit 4, and the main feeding unit is arranged on the ground to provide materials to the relay feeding unit.

[0008] Preferably, the support unit 1 includes a printing column 11 cooperating with the transport unit 2 and a fixing mechanism disposed at the bottom of the printing column 11 cooperating with the ground, and the moving unit 3 can move in a vertical direction along the printing column 11 .

[0009] Preferably, the printing column 11 is arranged perpendicular to the ground, and the fixing mechanism includes a base 12 arranged perpendicular to the printing column and parallel to the ground.

[0010] Preferably, the fixing mechanism further includes a telescopic mechanism and a roller connected to the telescopic mechanism, and when the transport unit 2 moves the support unit 1, the telescopic mechanism drives the roller to contact the ground.

[0011] Preferably, the fixing mechanism further comprises an auger 13 threadedly connected to the printing column 11 and a rotary motor connected to the auger 13 , and the auger 13 can be screwed into the ground to fix the printing column 11 to the ground.

[0012] Preferably, the transport unit 2 includes a walking mechanism 21 , and the transport unit 2 also includes a mechanical arm 22 disposed on the walking mechanism 21 , and the mechanical arm 22 is provided with a locking mechanism that cooperates with the supporting unit 1 .

[0013] Preferably, the transport unit 2 further includes a plurality of mechanical legs 23 disposed on the walking mechanism 21 , and the walking mechanism 21 is fixed to the ground through the mechanical legs 23 after moving.

[0014] Preferably, the moving unit 3 is a robot mounted on the printing column 11 .

[0015] Preferably, the mobile unit 3 includes a rotating mechanism 30, a first driving rod 31 rotatably connected to the rotating mechanism 30, a second driving rod 32 rotatably connected to the first driving rod 31, and a third driving rod 33 rotatably connected to the second driving rod 32. The molding unit 4 is installed on the third driving rod 33. The rotating mechanism 30 can drive the first driving rod 31 to rotate around its own axis. The first driving rod 31 can swing around the rotating mechanism 30, the second driving rod 32 can swing around the second driving rod 32, and the third driving rod 33 can swing around the second driving rod 32.

[0016] Preferably, the moving unit 3 drives the forming unit 4 to print multiple wall stacks 72 layer by layer from bottom to top, and the multiple wall stacks 72 are stacked to form a building component 71. When printing the wall stack 72, the forming unit 4 first performs a leveling operation on the top side of the last printed wall stack 72; the leveling operation includes placing positioning blocks 41 at both ends of the top side of the printed wall stack 72, the bottom sides of the two positioning blocks 41 are respectively parallel to the top side of the wall stack 72, the two positioning blocks 41 are respectively provided with inclined surfaces on the sides close to each other, and then a balance bar 42 is placed between the two positioning blocks 41, so that the two ends of the balance bar 42 are respectively against the inclined surfaces of the two positioning blocks 41, and the angle of the balance bar 42 is detected by the sensor on the forming unit 4.

[0017] Preferably, the relay feeding unit includes a storage chamber 61, a crushing chamber 63 arranged above the storage chamber 61, and an extrusion chamber 62 and a pushing mechanism 64 respectively arranged at both ends of the storage chamber 61, a stirring mechanism is provided in the extrusion chamber 62, and a crushing mechanism is provided in the crushing chamber 63, a feeding port connected to the crushing chamber 63 is provided in the middle of the storage chamber 61, one end of the extrusion chamber 62 is connected to the storage chamber 61, and the other end of the extrusion chamber 62 is connected to the molding unit 4 through a conveying pipe 65, the material of the main feeding unit passes through the crushing chamber 63 and falls into the storage chamber 61, and is then pushed to the extrusion chamber 62 by the pushing mechanism 64 and then sent to the molding unit 4.

[0018] Preferably, the shielding mechanism 5 includes a vertical rotation mechanism 51 installed on the printing column 11, and a plurality of stacked rotating blades 52, and the plurality of rotating blades 52 are respectively connected to the vertical rotation mechanism 51 through horizontal rotation mechanisms 53; the vertical rotation mechanism 51 can drive the plurality of stacked rotating blades 52 to rotate to a horizontal position perpendicular to the printing column 11, and the plurality of horizontal rotation mechanisms 53 respectively drive the corresponding rotating blades 52 to rotate, so that the plurality of rotating blades 52 are respectively rotated to different angles, and a circular shielding structure is formed by the plurality of rotating blades 52.

[0019] The portable and mobile single-column building outline forming machine created by the present invention has a carrying unit that can drive the supporting unit to move to other positions of the building outline where building components need to be printed after the building components are printed. Not only does the moving range of the forming unit on the supporting unit not need to cover the entire building outline, thus reducing costs and equipment floor space, but the moving range of the forming unit is small, which can reduce the printing interval between the wall layers of the building components, and the printing adhesion is also better.

[0020] In addition, the moving unit is a manipulator installed on the printing column. The moving unit can move in the vertical direction along the printing column, and the molding unit is driven to move by the manipulator. Since there is no need to print the entire building wall in a fixed position, only the building parts need to be printed, so the structure of the manipulator can be used. It cannot cover the entire building wall, but it is flexible in operation and can be conveniently installed on the printing column.

[0021] In addition, the support unit is provided with a shielding mechanism corresponding to the upper part of the molding unit, and the shielding mechanism can prevent the adverse effects of scorching sun and rain on printing, so that the molding unit can operate around the clock.

[0022] The invention also provides a method for forming a building outline, which uses the portable single-column building outline forming machine and includes the following steps:

[0023] Step S10: The transport unit 2 drives the support unit 1 to move to a position where the building component 71 needs to be printed;

[0024] Step S11: fix the support unit 1 to the ground;

[0025] Step S13: the moving unit 3 on the supporting unit 1 drives the forming unit 4 to move, and the forming unit 4 prints at least one building component 71 within the moving range of the moving unit 3;

[0026] Step S14: releasing the fixed connection between the support unit 1 and the ground;

[0027] Step S15: the transport unit 2 drives the support unit 1 to move to the next position where the building component 71 needs to be printed;

[0028] Repeat steps S11 to S15 to form a building wall by connecting multiple building components 71.

[0029] Preferably, in step S13, the moving unit 3 drives the forming unit 4 to move in the horizontal direction to print the wall stack 72 of the building component 71. After the wall stack 72 is printed, the moving unit 3 moves in the vertical direction along the supporting unit 1 to print the next wall stack 72 on the top side of the previously printed wall stack 72. The building component 71 is formed by stacking multiple wall stacks 72 from bottom to top.

[0030] Preferably, the method further includes step S8 before step S10 , wherein step S8 can print a strip-shaped foundation layer 73 at the bottom of the building wall, and in step S13 , the molding unit 4 prints the building component 71 on the top side of the strip-shaped foundation layer 73 .

[0031] Preferably, a leveling step S12 is further included before step S13, and the leveling step S12 is as follows: positioning blocks 41 are respectively placed at both ends of the top side of the strip base layer 73, the bottom sides of the two positioning blocks 41 are respectively parallel to the top side of the strip base layer 73, and the two positioning blocks 41 are respectively provided with inclined surfaces on the sides close to each other, and then a balance bar 42 is placed between the two positioning blocks 41, so that the two ends of the balance bar 42 are respectively against the inclined surfaces of the two positioning blocks 41, and the angle of the balance bar 42 is detected by the sensor on the molding unit 4.

[0032] Preferably, the plurality of building components 71 respectively include a contour component 76 in a cylindrical structure and a filling component filled in the component contour; and further include step S9 between step S8 and step S10, wherein step S9 is: fixing the contour components 76 of the plurality of building components 71 to the strip-shaped foundation layer 73 respectively; and the molding unit 4 in step S13 is used to print the filling component inside the contour component 76.

[0033] Preferably, the contour component 76 includes two oppositely arranged contour side plates, and two contour end plates respectively connected between the two ends of the contour, the middle part of the contour end plate protrudes outward in the horizontal direction, and contour inclined surfaces are respectively formed at the two ends of the contour end plate, the protrusions of the contour end plates of two adjacent contour components 76 are oppositely arranged, and a filling layer is provided between the contour end plates of two adjacent contour components 76.

[0034] The present invention creates a building outline forming method. After the printing of building components is completed, the transport unit can drive the support unit to move to other positions of the building outline where building components need to be printed. Not only does the moving range of the forming unit on the support unit not need to cover the entire building outline, thus reducing costs and equipment floor space, but the moving range of the forming unit is small, which can reduce the printing interval between the wall layers of the building components, and the printing adhesion is also better. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a portable and movable single-column building contour forming machine according to an embodiment of the present invention;

[0036] Figure 2 It is another structural schematic diagram of the portable and movable single-column building contour forming machine according to the invention;

[0037] Figure 3 It is a side view of a portable and movable single-column building profile forming machine according to an embodiment of the present invention;

[0038] Figure 4 It is a back view of a portable and movable single-column building profile forming machine according to an embodiment of the present invention;

[0039] Figure 5 It is a front view of a portable and movable single-column building profile forming machine according to an embodiment of the present invention;

[0040] Figure 6 This is the first embodiment of the mobile unit created by the present invention;

[0041] Figure 7 It is a second embodiment of the mobile unit created by the present invention;

[0042] Figure 8 It is a perspective view of a building wall of an embodiment of the present invention;

[0043] Fig. 9 It is another perspective view of the building wall of the embodiment of the present invention;

[0044] Fig.10 It is the building wall in the leveling step of the embodiment of the invention;

[0045] Fig.11It is a side view of the shielding mechanism of the embodiment of the present invention;

[0046] Fig.12 It is a top view of the shielding mechanism of the embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following is combined with Figures 1 to 10 The given examples further illustrate the specific implementation of the portable single-column building profile forming machine created by the present invention. The portable single-column building profile forming machine created by the present invention is not limited to the description of the following examples.

[0048] like Figure 1-2 As shown, the light and mobile single-column building outline forming machine created by the present invention includes a feeding system, a forming unit 4 and a motion system. The feeding system provides materials to the forming unit 4, and the motion system drives the forming unit 4 to move, and the building wall is printed through the forming unit 4.

[0049] The motion system includes a support unit 1 and a conveying unit 2 respectively arranged on the ground, and a moving unit 3 arranged on the support unit 1, and a molding unit 4 is arranged on the moving unit 3. The support unit 1 adopts a single-column structure, which is light and easy to move. The conveying unit 2 can drive the support unit 1 to move between multiple building components 71 of the building outline, and the moving unit 3 on the support unit 1 can drive the molding unit 4 to move within the range of the building component 71. Multiple building components 71 are printed in sequence through the molding unit 4, and finally the multiple building components 71 are connected to form a building wall.

[0050] The portable single-column building outline forming machine created by the present invention has a carrying unit 2 that can drive the supporting unit 1 to move to other positions of the building outline where the building component 71 needs to be printed after the building component 71 is printed. Not only does the moving range of the forming unit 4 on the supporting unit 1 not need to cover the entire building outline, thereby reducing the cost and floor space occupied by the equipment, but the moving range of the forming unit 4 is small, which can reduce the printing interval between the wall layers 72 of the building component 71, and the adhesion of the printed building component 71 is also better.

[0051] Furthermore, the support unit 1 is provided with a shielding mechanism 5 corresponding to the top of the molding unit 4, and the shielding mechanism 5 can prevent the adverse effects of scorching sun and rain on printing, so that the molding unit 4 can operate all-weather. Preferably, the shielding mechanism 5 is a foldable umbrella structure, which can be folded up when shielding is not needed, which is convenient for storage and transportation.

[0052] Furthermore, the feeding system includes a main feeding unit and a relay feeding unit. The relay feeding unit is arranged on the support unit 1 to provide materials for the molding unit 4, and the main feeding unit is arranged on the ground or on the transport unit 2 to provide materials for the relay feeding unit. The main feeding unit is preferably a mortar pump. By arranging the relay feeding unit on the support unit 1 to feed the molding unit 4, it can not only avoid the problem of difficulty in feeding the main feeding unit after the support unit 1 is moved to a long distance, but also enable the materials to be centrally stored in the relay feeding unit, thereby ensuring continuous and reliable supply of materials to the molding unit. Preferably, the relay feeding unit is arranged at the bottom of the support unit 1. Of course, the relay feeding unit may not be arranged, and the mortar pump may directly feed the molding unit 4 on the ground, which all belongs to the protection scope of the invention.

[0053] like Figure 2-5 The preferred embodiment of the support unit 1 is shown, and the support unit 1 comprises a printing column 11 matched with the transport unit 2 and a fixing mechanism arranged at the bottom of the printing column 11 and matched with the ground. The moving unit 3 is arranged on the printing column 11, and the moving unit 3 can move up and down along the printing column 11. A shielding mechanism 5 is arranged on the top of the printing column 11. The support unit 1 adopts a simple column structure, and the column does not need to be removed during transportation. It only needs to release the fixing mechanism with the ground, and then move to a new printing position and then re-fix and print other building components 71, and connect multiple building components 71 to form a building wall.

[0054] Furthermore, the printing column 11 is arranged perpendicularly to the ground, and the fixing mechanism includes a base 12 arranged perpendicularly to the printing column and parallel to the ground. The base can balance the printing column 11, which can not only prevent the printing column 11 from tilting, but also improve the stability of the printing column 11 and improve the printing accuracy of the molding unit.

[0055] Furthermore, the fixing mechanism also includes a telescopic mechanism and a roller connected to the telescopic mechanism. When the printing column 11 is fixed to the ground, the telescopic mechanism drives the roller away from the ground. When the transport unit 2 moves the support unit 1, the telescopic mechanism drives the roller to contact the ground. The friction between the support unit 1 and the ground is reduced through the rolling cooperation between the roller and the ground, making it easier for the transport unit 2 to drive the support unit 1 to move.

[0056] Preferably, the fixing mechanism also includes a track laid on the ground and cooperating with the roller, and a positioning system for positioning the roller is provided on the track, and the positioning system can be preset at the position where printing is required, and feedback is given or the roller is locked when the support unit 1 moves into position. Of course, the telescopic mechanism may not be provided, and the roller can remain in contact with the ground, and the transport unit 2 locks the roller after moving the support unit 1 to ensure the stability of the support unit 1.

[0057] Furthermore, the fixing mechanism further includes an auger 13 threadedly connected to the printing column 11, and a rotating motor connected to the auger 13. When the printing column 11 is fixed to the ground, the auger 13 can be screwed into the ground to fix the printing column 11 to the ground, and when the transport unit 2 moves the support unit 1, the auger 13 can be screwed out of the ground to facilitate the transport of the support unit 1. The auger 13 can not only improve the reliability of the connection between the printing column 11 and the auger 13, but also can be retracted to the inner side of the printing column 11 when the auger 13 leaves the ground, which is convenient for storage and transportation.

[0058] like Figure 2-5 A preferred embodiment of the transport unit 2 is shown, wherein the transport unit 2 includes a walking mechanism 21. When the support unit 1 is fixed to the ground through the fixing mechanism, the walking mechanism 21 can directly drive the support unit 1 to move by pushing or pulling. When the support unit 1 moves to a predetermined position, it is fixed to the ground through the fixing mechanism.

[0059] Furthermore, the transport unit 2 also includes a robotic arm 22 arranged on the walking mechanism 21, and the robotic arm 22 is provided with a locking mechanism that cooperates with the printing column 11 of the support unit 1. After the walking mechanism 21 drives the robotic arm 21 to move to the position where printing is required, the robotic arm 21 is connected to the printing column 11 through the locking mechanism, and then the printing column 11 is driven by the robotic arm 21 to move to the position where printing is required.

[0060] The mechanical arm 22 can not only drive the printing column 11 to move horizontally, but also drive the printing column 11 to move up and down. When the ground is complex, the flexibility of the transport unit 2 in transporting the printing column 11 can be improved. In addition, when the previous building component 71 is printed, if the movement range of the mechanical arm 22 can cover the position of the next building component 71 to be printed, the walking mechanism 21 can be kept still. When all the building components 71 within the movement range of the mechanical arm 22 are printed, the walking mechanism 21 drives the mechanical arm 22 to move.

[0061] Furthermore, the transport unit 2 also includes a plurality of mechanical legs 23 arranged on the walking mechanism 21. After the walking mechanism 21 moves, the mechanical legs 23 are used to fix it to the ground, thereby improving the stability of the walking mechanism 21 and facilitating the mechanical arm 22 to drive the printing column 11 to move.

[0062] Furthermore, the traveling mechanism 21 includes traveling wheels and tracks mounted on the traveling wheels. The traveling wheels drive the tracks to rotate to move the traveling mechanism 21. The traveling mechanism 21 has the characteristics of high adhesion and high reliability, and reduces the adverse effects of the ground environment on the printing operation.

[0063] like Figure 3A preferred embodiment of the robot arm 22 is shown. The robot arm 22 includes a first telescopic mechanism and a second telescopic mechanism which are rotatably mounted on the walking mechanism 21 respectively. The end of the first telescopic mechanism is provided with a locking mechanism which cooperates with the support unit 1. The second telescopic mechanism is connected to the middle part of the first telescopic mechanism. When the first telescopic mechanism is telescoped, it drives the locking mechanism to approach and move away from the support unit. When the second telescopic mechanism is telescoped, it drives the first telescopic mechanism to rotate up and down.

[0064] Specifically, the first telescopic mechanism includes a first telescopic seat 221 rotatably connected to the traveling mechanism 21, and a first telescopic rod 222 movably arranged in the first telescopic seat 221, one end of the first telescopic rod 222 is connected to the first hydraulic cylinder, and the other end of the first telescopic rod 222 is connected to the locking mechanism, and the second telescopic mechanism includes a second telescopic seat 223 rotatably connected to the traveling mechanism 21, and a second telescopic rod 224 movably arranged in the second telescopic seat 223, one end of the second telescopic rod 224 is connected to the second hydraulic cylinder, and the other end of the second telescopic rod 224 is hinged to an end of the first telescopic seat 221 away from the traveling mechanism 21. The second hydraulic cylinder can drive the second telescopic rod 224 to extend or retract the second telescopic seat 223, and at the same time drive the first telescopic seat 221 to drive the first telescopic rod 222 to swing up or down, and the first hydraulic cylinder can drive the first telescopic rod 222 to extend or retract the first telescopic seat 221.

[0065] Furthermore, the walking mechanism 21 is provided with a rotating seat, and the mechanical arm 22 is installed on the rotating seat. The rotating seat drives the mechanical arm 22 to rotate, which not only facilitates the adjustment of the angle of the support unit 1 and makes the transportation process more flexible, but also, if the moving distance is small, the rotating seat can be used to drive the mechanical arm 22 to rotate, and there is no need to move the walking mechanism 21, thereby improving the working efficiency.

[0066] Preferably, the handling unit 2 can be a spider crane structure, which has the characteristics of low cost and easy acquisition. Of course, the handling unit 2 can also adopt other crane equipment, which all belong to the protection scope of the invention.

[0067] The mobile unit 3 created by the present invention is a manipulator installed on the printing column 11. The mobile unit 3 can move in the vertical direction along the printing column 11, and the molding unit 4 is driven to move by the manipulator. Since it is not necessary to print the entire building wall at a fixed position, only the building component 71 needs to be printed, so that the structure of the manipulator can be adopted. It cannot cover the entire building wall, but it is flexible in operation and can be conveniently installed on the printing column 11. The manipulator of the mobile unit 3 can purchase an existing industrial manipulator.

[0068] like Figure 6-7A preferred embodiment of the mobile unit 3 is shown, wherein the mobile unit 3 includes a rotating mechanism 30, a first driving rod 31 rotatably connected to the rotating mechanism 30, a second driving rod 32 rotatably connected to the first driving rod 31, and a third driving rod 33 rotatably connected to the second driving rod 32. The molding unit 4 is mounted on the third driving rod 33. The rotating mechanism 30 can drive the first driving rod 31 to rotate around its own axis. The first driving rod 31 can swing around the rotating mechanism 30, the second driving rod 32 can swing around the second driving rod 32, and the third driving rod 33 can swing around the second driving rod 32.

[0069] Further, if Figure 7 As shown, the axis of the rotating mechanism 30 is arranged parallel to the printing column 11, and a fixing seat 10 for fixing the rotating mechanism 30 is arranged on one side of the printing column 11. By arranging the axis of the rotating mechanism 30 parallel to the printing column 11, the angle between the molding unit 4 and the top surface of the building component 71 can be reduced, thereby improving the printing quality. Of course, Figure 6 The axis of the middle rotating mechanism 30 is vertically arranged to the printing column 11, which all belongs to the protection scope of the invention.

[0070] like Figure 7 The preferred embodiment of the relay feeding unit is shown, and the relay feeding unit includes a storage chamber 61, a crushing chamber 63 arranged above the storage chamber 61, and an extrusion chamber 62 and a pushing mechanism 64 respectively arranged at both ends of the storage chamber 61. A stirring mechanism is arranged in the extrusion chamber 62, and a crushing mechanism is arranged in the crushing chamber 63. A feeding port connected to the crushing chamber 63 is arranged in the middle of the storage chamber 61. One end of the extrusion chamber 62 is connected to the storage chamber 61, and the other end of the extrusion chamber 62 is connected to the molding unit 4 through a conveying pipe 65. The material of the main feeding unit falls into the storage chamber 61 through the crushing chamber 63, and is then pushed to the extrusion chamber 62 by the pushing mechanism 64 and then sent to the molding unit 4. By feeding the molding unit 4 through the relay feeding unit, the length of the conveying pipe 65 can be significantly shortened, and the difficulty of feeding can be reduced.

[0071] like Figure 8-9 As shown, the invention also provides a method for forming a building outline, wherein the transport unit 2 drives the support unit 1 to move between multiple building components 71 of the building outline, the moving unit 3 on the support unit 1 drives the forming unit 4 to move within the range of the building component 71, the forming unit 4 sequentially prints multiple building components 71, and finally connects the multiple building components 71 to form a building wall, which specifically includes the following steps:

[0072] Step S10: The transport unit 2 drives the support unit 1 to move to a position where the building component 71 needs to be printed;

[0073] Step S11: fix the support unit 1 to the ground;

[0074] Step S13: the moving unit 3 on the supporting unit 1 drives the forming unit 4 to move, and the forming unit 4 prints at least one building component 71 within the moving range of the moving unit 3;

[0075] Step S14: releasing the fixed connection between the support unit 1 and the ground;

[0076] Step S15: The transport unit 2 drives the support unit 1 to move to the next position where the building component 71 needs to be printed. The position may be adjacent to the building component 71 printed in step S14 or may be spaced apart.

[0077] Repeat steps S11 to S15 to form a building wall by connecting multiple building components 71.

[0078] The building contour forming method created by the present invention can print building components 71 in sequence along the length direction of the building wall, or classify the building components 71 according to standards such as forming difficulty, structural strength, terrain height, etc., and then print them separately according to the categories. It can effectively overcome the problems of large operating range and excessive operating height. It is not only very flexible, but also the quality after printing is more reliable.

[0079] Further, in step S13, the moving unit 3 drives the forming unit 4 to move in the horizontal direction to print the wall stack 72 of the building component 71. After the wall stack 72 is printed, the moving unit 3 moves in the vertical direction on the supporting unit 1, driving the forming unit 4 to move in the vertical direction, and prints the next wall stack 72 on the top side of the previously printed wall stack 72. The building component 71 is formed by stacking multiple wall stacks 72 from bottom to top.

[0080] Furthermore, it also includes step S8 before step S10, step S8 can print the strip foundation layer 73 at the bottom of the building wall, in step S13 the molding unit 4 prints the building component 71 on the top side of the strip foundation layer 73, and the strip foundation layer 73 can be cast by traditional technology.

[0081] Preferably, the strip-shaped foundation layer 73 is provided with a steel bar support 74 at the middle or the connection of the building wall. The steel bar support 74 can improve the structural strength and earthquake resistance of the building wall.

[0082] Preferably, the strip-shaped foundation layer 73 is provided with pre-buried pipes for water and electric circuits at the connection points of the building components 71 .

[0083] Furthermore, the method further includes step S12 before step S13, wherein step S12 is used to collect the angle of the top side of the strip foundation layer 73, and then the building component 71 is printed on the top side of the strip foundation layer 73 through step S13. By leveling the top side of the strip foundation layer 73, it can be ensured that the building component 71 can be piled up continuously in the later stage, and the flatness of each layer can be ensured. ;

[0084] Step S12 includes: placing positioning blocks 41 at both ends of the top side of the strip base layer 73, the bottom sides of the two positioning blocks 41 are respectively parallel to the top side of the strip base layer 73, and the two positioning blocks 41 are respectively provided with inclined surfaces on the sides close to each other, and then placing a balance bar 42 between the two positioning blocks 41, so that the two ends of the balance bar 42 are respectively against the inclined surfaces of the two positioning blocks 41, and the angle of the balance bar 42 is detected by the sensor on the molding unit 4.

[0085] As a preferred embodiment of the building component 71 of the present invention, the plurality of building components 71 respectively include a contour component 76 with a cylindrical structure, and a filling component (not shown in the figure) filled in the component contour.

[0086] The contour component 76 can be printed on the strip base layer 73 through the molding unit 4, and the bottom of the contour component 76 is naturally fixed to the strip base layer 73, and then the filling component is printed on the inner side of the contour component 76 or added by other means. In this embodiment, the contour component 76 is preferably printed on-site by the molding unit 4.

[0087] The outline component 76 may also be a prefabricated component. After being transported to the site, the bottom of the outline component 76 is fixed to the strip-shaped base layer 73 , and then the filling component is printed on the inner side of the outline component 76 .

[0088] Furthermore, the method further includes step S9 between step S8 and step S10 , wherein step S9 is: fixing the contour parts 76 of the plurality of building parts 71 to the strip-shaped foundation layer 73 respectively; and the molding unit 4 in step S13 is used to print the filling part inside the contour part 76 .

[0089] Furthermore, the contour component 76 includes two contour side panels that are arranged opposite to each other, and two contour end panels that are respectively connected between the two ends of the contour. The middle part of the contour end panel protrudes outward in the horizontal direction, and contour slopes are respectively formed at the two ends of the contour end panel. The protrusions of the contour end panels of two adjacent contour components 76 are arranged opposite to each other, and a filling layer (not shown in the figure) is provided between the contour end panels of two adjacent contour components 76. The filling layer is later filled between the contour end panels of two adjacent contour components 76, similar to the cutting line of concrete, to prevent cracking. Preferably, the thickness of the contour slope is greater than that of the contour side panel. Of course, the building component 71 may not include the contour component 76, and the building component 71 may also be directly printed by concrete or other building materials, which all fall within the protection scope of the invention.

[0090] like Figure 11-12 The preferred embodiment of the shielding mechanism 5 is shown. The shielding mechanism 5 comprises a vertical rotating mechanism 51 mounted on the printing column 11, and a plurality of stacked rotating blades 52. The plurality of rotating blades 52 are respectively connected to the vertical rotating mechanism 51 through horizontal rotating mechanisms 53.

[0091] The vertical rotation mechanism 51 can drive the multiple stacked rotating blades 52 to rotate to a horizontal position perpendicular to the printing column 11, and the multiple horizontal rotation mechanisms 53 respectively drive the corresponding rotating blades 52 to rotate, so that the multiple rotating blades 52 are rotated to different angles, and a 360-degree circular shielding structure is formed by the multiple rotating blades 52;

[0092] When the shielding mechanism 5 is not needed, the multiple horizontal rotating mechanisms 53 respectively drive the corresponding rotating blades 52 to rotate the multiple rotating blades 52 to a stacked angle so that they can be opened and folded like a fan. The multiple stacked rotating blades 52 are then driven by the vertical rotating mechanism 51 to rotate to a vertical position parallel to the printing column 11, which can not only shield the printed building below, but also facilitate storage and transportation.

[0093] The above content is a further detailed description of the invention in combination with specific preferred implementation methods, and it cannot be determined that the specific implementation of the invention is limited to these descriptions. For ordinary technicians in the technical field to which the invention belongs, several simple deductions or substitutions can be made without departing from the concept of the invention, which should be regarded as falling within the scope of protection of the invention.

Claims

1. A portable single-column building contour forming machine, characterized in that: The invention comprises a feeding system, a molding unit (4) and a motion system, wherein the feeding system provides materials to the molding unit (4), the motion system drives the molding unit (4) to move, the motion system comprises a support unit (1) and a conveying unit (2) respectively arranged on the ground, and a moving unit (3) arranged on the support unit (1), wherein the support unit (1) comprises a printing column (11) matched with the conveying unit (2) and a fixing mechanism arranged at the bottom of the printing column (11), and the moving unit (3) can move in a vertical direction along the printing column (11), and the conveying unit (2) can move in a vertical direction along the printing column (11). The transport unit (2) can drive the support unit (1) to move between multiple building components (71) of the building outline, and the moving unit (3) on the support unit (1) can drive the molding unit (4) to move within the range of the building components (71), and the molding unit (4) can print multiple building components (71) in sequence; the transport unit (2) includes a walking mechanism (21), and the transport unit (2) also includes a mechanical arm (22) arranged on the walking mechanism (21), and the mechanical arm (22) is provided with a locking mechanism that cooperates with the support unit (1).

2. The portable single-column building contour forming machine according to claim 1, characterized in that: The support unit (1) is provided with a shielding mechanism (5) corresponding to the upper side of the molding unit (4).

3. The portable single-column building contour forming machine according to claim 1 is characterized in that: The feeding system comprises a main feeding unit and a relay feeding unit, wherein the relay feeding unit is arranged on the support unit (1) to provide materials for the molding unit (4), and the main feeding unit is arranged on the ground to provide materials for the relay feeding unit.

4. The portable single-column building contour forming machine according to claim 1, characterized in that: The fixing mechanism arranged at the bottom of the printing column (11) cooperates with the ground.

5. The portable single-column building contour forming machine according to claim 1, characterized in that: The printing column (11) is arranged perpendicularly to the ground, and the fixing mechanism comprises a base (12) arranged perpendicularly to the printing column and parallel to the ground.

6. The portable single-column building profile forming machine according to claim 4, characterized in that: The fixing mechanism also includes a telescopic mechanism and a roller connected to the telescopic mechanism. When the transport unit (2) moves the support unit (1), the telescopic mechanism drives the roller to contact the ground.

7. The portable single-column building profile forming machine according to claim 4, characterized in that: The fixing mechanism also includes an auger (13) threadedly connected to the printing column (11), and a rotating motor connected to the auger (13). The auger (13) can be screwed into the ground to fix the printing column (11) to the ground.

8. The portable single-column building contour forming machine according to claim 1, characterized in that: The transport unit (2) further comprises a plurality of mechanical legs (23) arranged on the walking mechanism (21); the walking mechanism (21) is fixed to the ground via the mechanical legs (23) after movement.

9. The portable single-column building contour forming machine according to claim 4, characterized in that: The moving unit (3) is a robot arm installed on the printing column (11).

10. The portable single-column building profile forming machine according to claim 1 or 9, characterized in that: The moving unit (3) comprises a rotating mechanism (30), a first driving rod (31) rotatably connected to the rotating mechanism (30), a second driving rod (32) rotatably connected to the first driving rod (31), and a third driving rod (33) rotatably connected to the second driving rod (32); the molding unit (4) is mounted on the third driving rod (33); the rotating mechanism (30) can drive the first driving rod (31) to rotate around its own axis; the first driving rod (31) can swing around the rotating mechanism (30); the second driving rod (32) can swing around the second driving rod (32); and the third driving rod (33) can swing around the second driving rod (32).

11. The portable single-column building profile forming machine according to claim 1, characterized in that: The moving unit (3) drives the forming unit (4) to print a plurality of wall stacks (72) layer by layer from bottom to top, and the building component (71) is formed by stacking the plurality of wall stacks (72). When printing the wall stacks (72), the forming unit (4) first performs a leveling operation on the top side of the last printed wall stack (72); the leveling operation includes placing positioning blocks (41) at both ends of the top side of the printed wall stack (72), the bottom sides of the two positioning blocks (41) are respectively parallel to the top side of the wall stack (72), the two positioning blocks (41) are respectively provided with inclined surfaces on the sides close to each other, and then a balance bar (42) is placed between the two positioning blocks (41), so that the two ends of the balance bar (42) are respectively against the inclined surfaces of the two positioning blocks (41), and the angle of the balance bar (42) is detected by the sensor on the forming unit (4).

12. The portable single-column building profile forming machine according to claim 3, characterized in that: The relay feeding unit comprises a storage chamber (61), a crushing chamber (63) arranged above the storage chamber (61), and an extrusion chamber (62) and a pushing mechanism (64) respectively arranged at both ends of the storage chamber (61); a stirring mechanism is arranged in the extrusion chamber (62), and a crushing mechanism is arranged in the crushing chamber (63); a feeding port communicating with the crushing chamber (63) is arranged in the middle of the storage chamber (61); one end of the extrusion chamber (62) is communicated with the storage chamber (61); the other end of the extrusion chamber (62) is connected with the molding unit (4) through a feeding pipe (65); the material of the main feeding unit passes through the crushing chamber (63) and falls into the storage chamber (61), and is then pushed to the extrusion chamber (62) by the pushing mechanism (64) and then delivered to the molding unit (4).

13. The portable single-column building profile forming machine according to claim 2, characterized in that: The shielding mechanism (5) comprises a vertical rotation mechanism (51) mounted on a printing column (11), and a plurality of stacked rotating blades (52), wherein the plurality of rotating blades (52) are respectively connected to the vertical rotation mechanism (51) via horizontal rotation mechanisms (53); the vertical rotation mechanism (51) can drive the plurality of stacked rotating blades (52) to rotate to a horizontal position perpendicular to the printing column (11), and the plurality of horizontal rotation mechanisms (53) respectively drive the corresponding rotating blades (52) to rotate, so that the plurality of rotating blades (52) are respectively rotated to different angles, and a circular shielding structure is formed by the plurality of rotating blades (52).

14. A method for forming a building profile, characterized in that: The portable single-column building profile forming machine according to any one of claims 1 to 13 is used, and comprises the following steps: Step S10: the transport unit (2) drives the support unit (1) to move to a position where the building component (71) needs to be printed; Step S11: fixing the support unit (1) to the ground; Step S13: the moving unit (3) on the supporting unit (1) drives the forming unit (4) to move, and the forming unit (4) prints at least one building component (71) within the moving range of the moving unit (3); Step S14: releasing the fixed connection between the support unit (1) and the ground; Step S15: the transport unit (2) drives the support unit (1) to move to the next position where the building component (71) needs to be printed; Repeat steps S11 to S15 to form a building wall by connecting multiple building components (71).

15. The method for forming a building contour according to claim 14, characterized in that: In the step S13, the moving unit (3) drives the forming unit (4) to move in the horizontal direction to print the wall stack (72) of the building component (71); after the wall stack (72) is printed, the moving unit (3) moves in the vertical direction along the supporting unit (1) to print the next wall stack (72) on the top side of the previously printed wall stack (72); and the building component (71) is formed by stacking a plurality of wall stacks (72) from bottom to top.

16. The method for forming a building contour according to claim 14, characterized in that: The method further comprises a step S8 before the step S10, wherein the step S8 can print a strip-shaped foundation layer (73) at the bottom of the building wall, and in the step S13, the molding unit (4) prints the building component (71) on the top side of the strip-shaped foundation layer (73).

17. The method for forming a building contour according to claim 16, characterized in that: The method further includes a leveling step S12 before step S13, wherein the leveling step S12 comprises: placing positioning blocks (41) at the two ends of the top side of the strip-shaped foundation layer (73), the bottom sides of the two positioning blocks (41) are respectively parallel to the top side of the strip-shaped foundation layer (73), and the two positioning blocks (41) are respectively provided with inclined surfaces on the sides close to each other, and then placing a balancing rod (42) between the two positioning blocks (41), so that the two ends of the balancing rod (42) are respectively against the inclined surfaces of the two positioning blocks (41), and detecting the angle of the balancing rod (42) by means of a sensor on the molding unit (4).

18. The method for forming a building contour according to claim 16, characterized in that: The plurality of building components (71) respectively include a cylindrically-shaped contour component (76) and a filling component filled in the component contour; and further include a step S9 between step S8 and step S10, wherein step S9 is: fixing the contour components (76) of the plurality of building components (71) to the strip-shaped foundation layer (73) respectively; and the molding unit (4) in step S13 is used to print the filling component inside the contour component (76).

19. The method for forming a building contour according to claim 18, characterized in that: The contour component (76) includes two contour side plates that are arranged opposite to each other, and two contour end plates that are respectively connected between the two ends of the contour. The middle part of the contour end plate protrudes outward in the horizontal direction, and contour inclined surfaces are respectively formed at the two ends of the contour end plate. The protrusions of the contour end plates of two adjacent contour components (76) are arranged opposite to each other, and a filling layer is provided between the contour end plates of two adjacent contour components (76).

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