A multifunctional concrete 3D printing device and its usage method

Abstract

The present invention relates to the field of 3D printing technology, and specifically to a multifunctional concrete 3D printing device and a method of use. A multifunctional concrete 3D printing device comprises: a control structure, including a control room and an arm, wherein the controller of the control room is connected to the arm in a transmission manner to control the movement of the arm; a printing structure, which is arranged on the end of the arm away from the control room, the printing structure is connected to the arm, and the printing structure comprises a printing frame, a nozzle arranged on the printing frame, and at least one adjustable leg arranged on the printing frame, an angle adjustment member and a nozzle lateral swing force member are provided between the printing frame and the arm, and an angle rotation member is provided on the nozzle. The controller controls the extension amount of the leg so that the angle adjustment member drives the printing frame to rotate, and the rotation of the printing frame, the nozzle lateral swing force member, and the angle rotation member rotate so that the nozzle sprays from different angles. The present invention solves the problem that 3D printing equipment cannot efficiently perform non-horizontal surface printing such as slope protection.

Description

Technical Field

[0001] The present invention relates to the field of 3D printing technology, and in particular to a multifunctional concrete 3D printing device and a method for using the same. Background Art

[0002] 3D printing technology has the advantages of fast forming speed, low cost, and less production space in the production of complex structural components such as concrete. Therefore, it has been exploratoryly applied in the fields of construction and bridges. Generally speaking, existing printing is often carried out on flat ground or pre-printed into structural parts in the factory and then assembled on site for model construction. It has poor environmental adaptability and its application in construction environments with complex terrain and narrow areas is still blank. At present, slope protection projects (grid beams) are mostly manual methods, using traditional erection formwork and cast-in-place concrete methods, resulting in slow construction progress, high resource requirements, and low safety. In fact, before the on-site construction process, the bottom of the building to be printed is often not set horizontally, which makes it impossible for 3D printing equipment to print on non-horizontal surfaces such as slope protection. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the 3D printing equipment in the prior art cannot print on non-horizontal surfaces such as slope protection and non-pre-processed foundation ground, thereby providing a multifunctional concrete 3D printing equipment and use method.

[0004] In order to solve the above problems, the present invention provides a multifunctional concrete 3D printing device, comprising:

[0005] The control structure includes a control room and an arm. The relative rotation between each arm section is ensured by a pin and a bearing. The relative movement between the arms is achieved by a cylinder or a wire rope. The controller in the control room is connected to the arm to control the movement of the arm.

[0006] The printing structure is arranged at one end of the arm away from the control room, and the printing structure is connected to the arm. The printing structure includes a printing frame, a nozzle arranged on the printing frame, and at least three adjustable legs arranged on the printing frame. An angle adjustment member and a nozzle lateral swing force member are provided between the printing frame and the arm, and an angle rotation member is provided on the nozzle. The controller controls the extension amount of the legs so that the angle adjustment member drives the printing frame to rotate. The printing frame rotates, the nozzle lateral swing force member, and the angle rotation member rotate to enable the nozzle to spray from different angles.

[0007] Optionally, the angle adjustment member is a ball joint bearing.

[0008] Optionally, a height measuring component is fixedly provided on the side wall of the nozzle, and the height measuring component is communicatively connected with the controller.

[0009] Optionally, a rotating structure is provided between the printing frame and the arm, the rotating structure includes a planetary gear provided on the arm and a rotating gear provided on the printing frame, the planetary gear is meshed with the rotating gear, and the rotating structure is communicatively connected to the controller.

[0010] Optionally, the printing frame includes at least two horizontal beams and two vertical beams, the printing frame is provided with a camera and a nozzle, the horizontal beams and the vertical beams form a truss, the horizontal beams are provided with a horizontal power member, the vertical beams are provided with a longitudinal power member, the camera is set toward the ejection direction of the nozzle, the controller is communicatively connected to the camera, the horizontal beams and the vertical beams are laid with tracks or slide rails, and the horizontal power member and the longitudinal power member are communicatively connected to the controller respectively.

[0011] Optionally, it also includes a material delivery structure, which includes a concrete tank, a delivery pump and a material delivery pipe. The concrete tank and the delivery pump are arranged on the side of the control room. The delivery pipe is arranged at the output end of the delivery pump and is connected to the nozzle after passing through the control room and the arm in sequence. The delivery pump is communicatively connected to the controller.

[0012] Optionally, it also includes a power structure arranged at one end of the control room away from the arm, and a walking structure arranged below the control room, the power structure includes a driving member and a counterweight box, the driving member is communicatively connected to the controller, and the walking structure is rotationally connected to the control room.

[0013] Optionally, it also includes a transverse swing force member and a transverse swing force axis of the nozzle, the spraying transverse swing force axis rotates in the transverse swing fixed shaft sleeve, the nozzle transverse swing force axis is fixedly connected to the transverse swing sleeve, the transverse swing sleeve is fixedly connected to the nozzle bracket and the printing nozzle below it, and when the nozzle transverse swing force axis rotates, it drives the nozzle bracket and the nozzle to swing; the angle rotating member is fixed to the nozzle base through the nozzle base bracket, and the nozzle base drives the printing nozzle to slide linearly on the beam, and the angle rotating member drives the rotating shaft to rotate while driving the rotating shaft bracket and the nozzle below it to rotate, thereby realizing the movement of the printing nozzle in all dimensions.

[0014] A method for using a multifunctional concrete 3D printing device comprises: a controller controlling the extension of each leg. When the legs contact the bottom surface of the concrete model to be printed, each leg further extends to a length calculated and set by the controller, causing an angle adjustment member to drive the printing frame to rotate so that the printing frame and the ground surface to print the concrete model maintain a printing angle; then, the controller controls the nozzle's lateral swing force member and angle rotation member to rotate, adjusting the nozzle angle. Through combined control, the desired concrete printing angle is formed.

[0015] Optionally, the following steps are included:

[0016] (1) Select the printing model and parameters. Before printing, input parameters such as the coordinates and inclination angle of the slope area to be printed into the control system, and select the grid beam style to be printed in the control program.

[0017] (2) Equipment positioning and preparation. The equipment stops in the area where concrete needs to be printed. The operator controls the printing arm to extend towards the printing area. At the same time, according to the size and length-width ratio of the printing area, rotate the printing frame to select the rotation angle of the printing frame in the preset control program to match the long-side printing method, short-side printing method, or diagonal printing method, so as to adapt to various-angle slopes and various styles and shapes of slope concrete; preset the starting printing edge line in the system control program, select one side of the printing frame to align with the starting printing edge line, and the program can automatically control the printing frame to move to align with the starting printing edge line; adopt the manual alignment method, that is: observe through personnel or introduce the video signal in the control room through the camera on the boom. The camera is arranged at a suitable position on the printing frame and the boom. The operator observes or the camera displays to align the printing alignment line with the reference printing boundary, which can ensure the alignment and reasonable connection between the concretes printed each time.

[0018] (3) Printing process and adjustment

[0019] After confirming that the printing frame is aligned with the printing area, through the measurement of the altimeter set on the printing frame, when ensuring that the printing frame is parallel to the ground or forms a preset angle, the control system calculates and controls the four corner legs to extend the corresponding length to adjust the printing frame to be parallel to the concrete ground to be printed or form a preset angle, and then print the concrete in a flat or curved surface shape. The legs can reliably support the printing frame to avoid affecting the printing quality due to the vibration of material feeding and printing during the printing process, so as to ensure the printing quality; when each leg contacts the ground and is stressed, the ball hinge at the connection between the boom and the printing frame rotates and makes adaptive adjustments under the reaction force of the support force of the leg and the ground, so as to realize the adaptive leveling of the printing frame angle.

[0020] By pre-setting the printing path and selecting parameters such as the grid beam style, ramp angle, and grid beam cross-sectional dimensions in the control room of the printing control system; using multiple height gauges preset on the printing frame to comprehensively measure the height of the ground within the printing frame area at this time, and transmitting the data to the control system for comparison to confirm the actual height to be printed at each point on the uneven ground. Combining the above settings in the control program, systematically and precisely plan the concrete discharge rate at each point on the printing path and the running speed of the printing nozzle at each point. In this way, if the original ground is lower than the original system plan, the printing nozzle can print more concrete at this point by increasing the concrete discharge rate and reducing the moving speed of the printing nozzle to achieve the original designed concrete printing height, and vice versa; it can also detect and compare the height of the concrete to be printed at this point preset in the system, so as to judge and correct whether the elevation of the printed concrete meets the design requirements, thus ensuring that the surface of the printed concrete is at the same height or prints a concrete surface with an unequal height according to the preset requirements when the printing ground is uneven;

[0021] (4) Circular printing. After this area is printed, after the equipment walking structure moves, the printing frame repeats the above cycle after aligning with the preset alignment line in the controller or the side line of the previously printed concrete module;

[0022] (5) Deviation correction and modification during the printing process. The control room three-dimensionally simulates large grid beams in the preset program and, through the recognition function of the camera, automatically fits the grid beams in the preset program with the actually printed grid beams. When there are differences, a prompt is given, and after the device is corrected, patched, and perfected, subsequent printing is carried out;

[0023] (6) Adjustment during the process of printing curved surface concrete. The 4 legs on the printing frame can perform fast, micro-motion, and unequal-length telescoping at each printing point according to the values pre-calculated by the control program during the printing process, and under the premise of continuous printing, in accordance with the pre-set path plan of the system. The printing frame forms an angle with the ground where the concrete is printed, thus leaving an unequal-height space for printing the concrete, which is convenient for printing concrete with a curved surface shape;

[0024] (7) After use, the printing frame can be folded jointly with the boom and rotated and retracted to the rear of the equipment mobile platform for convenient transportation. When the printing frame is large, several towing wheels are arranged at the tail of the printing frame to facilitate the contact of the towing wheels with the ground after folding. As the equipment mobile platform moves, it is transported over a long distance together with the equipment.

[0025] The technical solution of the present invention has the following advantages:

[0026] 1. The multifunctional concrete 3D printing device provided by the present invention includes: a control structure, including a control room and an arm, wherein relative rotation is ensured between each section of the arm by pins and bearings, and relative movement between the arms is achieved by using a cylinder or a wire rope, and the control room is connected to the arm in a transmission manner to control the movement of the arm; a printing structure, which is arranged on the end of the arm away from the control room, and the printing structure is connected to the arm, and the printing structure includes a printing frame, a nozzle arranged on the printing frame, and at least three adjustable legs arranged on the printing frame, an angle adjustment member is provided between the printing frame and the arm, and the nozzle is provided with an angle rotation member, and a controller controls the extension amount of the legs so that the angle adjustment member drives the printing frame to rotate, and the rotation of the printing frame, the lateral swing force member of the nozzle, and the rotation of the angle rotation member enable the nozzle to spray from different angles. When in the printing state, the controller controls the extension amount of the legs to maintain the spatial height required for printing with the ground, and then the angle adjustment part adjusts the printing frame to rotate, so that the rotation of the printing frame drives the nozzle to rotate. At the same time, the controller controls the rotation of the lateral swing force part and the angle rotation part. Under the joint action of the angle rotation part, the nozzle lateral swing force part and the angle rotation part, the nozzle can adapt to different plane angles under the on-site construction state and perform non-horizontal printing.

[0027] 2. In the multifunctional concrete 3D printing device provided by the present invention, the angle adjustment member is a ball joint bearing, which drives the printing frame to rotate through the relative movement between the ball head and the ball seat.

[0028] 3. The multifunctional concrete 3D printing device provided by the present invention has a height measuring component fixedly provided on the side wall of the nozzle, which is communicatively connected to the controller and is used to measure the height of the nozzle to adjust the spraying height of the nozzle.

[0029] 4. The multifunctional concrete 3D printing device provided by the present invention has a rotating structure provided between the printing frame and the arm. The rotating structure includes a planetary gear provided on the arm and a rotating gear provided on the printing frame. The planetary gear and the rotating gear are meshed with each other. The rotating structure is communicatively connected to the controller. The meshing cooperation between the planetary gear and the rotating gear drives the printing frame to rotate.

[0030] 5. The multifunctional concrete 3D printing equipment provided by the present invention comprises a printing frame including at least two horizontal beams and two longitudinal beams, the horizontal beams and the longitudinal beams forming a truss, the printing frame being provided with a camera and a nozzle, the horizontal beams and the longitudinal beams forming a truss, the horizontal beams being provided with a horizontal power member, the longitudinal beams being provided with a longitudinal power member, the camera being arranged in the direction of the nozzle spraying, the controller being connected in communication with the camera, the horizontal beams and the longitudinal beams being provided with tracks or slide rails, the horizontal power member and the longitudinal power member being connected in signal communication with the controller respectively. Tracks or slide rails are laid on the horizontal beams and the longitudinal beams to achieve relative movement between the two, the horizontal beams being driven to move by the horizontal power member, and the longitudinal beams being driven to move by the longitudinal power member. The camera is arranged in the direction of the nozzle spraying, the drive member being connected in communication with the camera, and the camera captures real-time images and transmits them to the controller for easy observation by the operator.

[0031] 6. The multifunctional concrete 3D printing device provided herein also includes a material delivery mechanism comprising a concrete tank, a delivery pump, and a delivery pipe. The concrete tank and delivery pump are located on the side of the control room. The delivery pipe is located at the output end of the delivery pump and connects to the nozzle after passing through the control room and the arm. The delivery pump is in communication with the controller. The controller controls the delivery pump to deliver concrete material from the concrete tank and the delivery pipe to the nozzle.

[0032] 7. The multifunctional concrete 3D printing device provided herein also includes a power structure located at the end of the control chamber facing away from the arm. The power structure comprises a drive member and a counterweight box. The drive member is communicatively connected to the controller. The counterweight box balances the overall structure of the printing device, and the drive member provides power. The device also includes a traveling structure that is rotatably connected to the control chamber, driving the movement and rotation of the control chamber.

[0033] 8. The multifunctional concrete 3D printing device provided by the present invention comprises a nozzle transverse swing force member and a nozzle transverse swing force shaft. The nozzle transverse swing force shaft rotates within a transverse swing fixed shaft sleeve. The nozzle transverse swing force shaft is fixedly connected to the transverse swing sleeve, which is fixedly connected to the nozzle bracket and the print nozzle below it. Rotation of the nozzle transverse swing force shaft drives the nozzle bracket and the print nozzle to swing. The angular rotation member is fixed to the nozzle base via the nozzle base bracket. The nozzle base drives the print nozzle and related mechanisms to slide linearly on the supporting beam and track. The angular rotation member drives the rotation of the shaft, which in turn drives the rotation of the shaft bracket and the print nozzle below it, thereby achieving multi-dimensional movement of the print nozzle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 The top view of the 3D printing device provided in the embodiments of the present invention;

[0036] Figure 2 The structural schematic diagram of the nozzle of the 3D printing device provided in the embodiments of the present invention;

[0037] Figure 3 The structural schematic diagram of the connection between the arm rod and the printing structure of the 3D printing device provided in the embodiments of the present invention;

[0038] Figure 4 The schematic diagram of the printing operation of the 3D printing device provided in the embodiments of the present invention.

[0039] Explanation of reference numerals: 1, crawler; 2, traveling structure; 3, control room; 4, delivery pump; 5, concrete tank; 6, driving member; 7, counterweight box; 8, arm rod; 9, planetary gear; 10, slewing gear; 11, longitudinal beam; 12, leg; 13, transverse power member; 14, connecting line; 15, cross beam; 16, nozzle; 17, reinforcing rib; 18, camera; 19, feeding pipe; 20, jet power member; 21, feeding port; 22, height measuring member; 23, rotating shaft bracket; 24, nozzle base bracket; 25, nozzle base; 26, angle rotating member; 27, rotating shaft; 28, transverse swing fixed bushing; 29, transverse swing sleeve; 30, nozzle bracket; 31, nozzle transverse swing power member; 32, nozzle transverse swing power shaft. Specific Embodiments

[0040] The following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0041] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0043] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Example 1

[0045] The multifunctional concrete 3D printing device provided by the present invention includes: a control structure, including a control room 3 and an arm 8, the control room 3 is connected to the arm 8 by transmission to control the movement of the arm 8; a printing structure, provided at one end of the arm 8 away from the control room 3, the printing structure is connected to the arm 8, the printing structure includes a printing frame, a nozzle 16 provided on the printing frame, and at least three retractable legs 12 provided on the printing frame, an angle adjustment member is provided between the printing frame and the arm 8, the nozzle 16 is provided with a nozzle lateral swing force member 31 and an angle rotation member 26, a controller controls the extension amount of the legs 12 so that the angle adjustment member drives the printing frame to rotate, and the rotation of the printing frame, the nozzle lateral swing force member 31, and the angle rotation member 26 causes the nozzle 16 to spray from different angles. When in the printing state, the controller controls the extension amount of the support leg 12 to maintain the space height required for printing with the ground, and then the angle adjustment part adjusts the printing frame to rotate, so that the rotation of the printing frame drives the nozzle 16 to rotate. At the same time, the controller controls the rotation of the nozzle transverse swing force member 31 and the angle rotation member 26. Under the joint action of the angle rotation member and the nozzle transverse swing force member 31 and the angle rotation member 26, the nozzle 16 adapts to different plane angles under the on-site construction state and performs non-horizontal printing.

[0046] Example 2

[0047] like Figure 1- Figure 4 A specific embodiment of the 3D printing device shown includes a control structure comprising a control chamber 3 and an arm 8, a printing structure located on the end of the arm 8 away from the control chamber 3, a traveling structure 2 located below the control chamber 3, and a power structure located on the end of the control chamber 3 away from the arm 8. The arm 8 is a multi-section boom, with relative rotation between each section ensured by pins and bearings. Relative rotation between adjacent booms is achieved using a cylinder or wire rope.

[0048] like Figure 1 As shown, the printing structure includes a printing frame and a nozzle 16 arranged on the printing frame. In order to make the printing frame rotate at an angle, an angle adjustment member is provided on the printing frame. Specifically, the angle adjustment member is a ball joint bearing. In order to drive the printing frame to rotate, a rotating structure is provided between the printing frame and the arm 8. The rotating structure includes a planetary gear 9 arranged on the arm 8, a rotating gear 10 arranged on the printing frame, and a rotating power member that drives the planetary gear 9 to rotate. The planetary gear 9 and the rotating gear 10 are meshed. Specifically, the rotating power member is preferably a servo motor or other suitable motor type. As shown in FIG. Figure 1 As shown, the printing frame includes at least two horizontal beams 15 and two longitudinal beams 11. The horizontal beams 15 and longitudinal beams 11 form a truss. The horizontal beams 15 are equipped with transverse power members 13, and the longitudinal beams 11 are equipped with longitudinal power members. The transverse power members 13 drive the nozzle 16 to move horizontally, and the longitudinal power members drive the horizontal beam 15 to move vertically. Specifically, the transverse power members 13 and the longitudinal power members are preferably servo motors or other suitable motor types. To strengthen the connection between the horizontal beams 15 and the arm 8, reinforcing ribs 17 are provided at the connection between the horizontal beams 15 and the arm 8. To facilitate the support and adjustment of the angle of the printing frame, at least three retractable legs 12 are provided at each end of each longitudinal beam 11. The legs 12 are used to adjust the relative height and angle of the printing frame to the ground, allowing the printing frame to adapt to concrete models of different shapes and angles to be printed, thereby meeting different construction requirements. Specifically, the legs 12 are hydraulically retractable legs. At the same time, the legs 12 also provide good support for the printing frame, preventing print quality from being affected by material feeding or vibration during the printing process. This ensures that the printing frame is parallel to the concrete surface to be printed, or forms a preset angle, thereby printing flat or curved concrete shapes, thereby ensuring print quality. To capture the printed image in real time, a camera 18 is installed at the end of the arm 8 near the printing frame, facing the direction of the spray nozzle 16. To measure the height of the printing frame, several height measuring elements 22 are also installed on the circumferential side walls of the nozzle 16. Each height measuring element 22 measures the ground elevation and the elevation of the printed concrete in different directions, and then feeds this data back to the control room 3 for comparison to confirm the actual height of each point on the uneven ground surface and whether the elevation of the printed concrete meets the design requirements.

[0049] To control the flow rate of the nozzle 16, a jet power component 20 is provided at the nozzle 16. Specifically, the jet power component 20 is preferably a servo motor or other suitable type of motor. To measure the angle between the printing frame and the horizontal plane, an angle measurer is also included.

[0050] To facilitate the rotation of the nozzle 16, a nozzle yaw power component 31 drives a nozzle yaw power shaft 32 to rotate within a yaw fixed bushing 28. The nozzle yaw power shaft 32 is fixedly connected to a yaw moving sleeve 29, and the yaw moving sleeve 29 is fixedly connected to a nozzle support 30 and the printing nozzle and related mechanisms below it. When the nozzle yaw power shaft 32 rotates, it drives the nozzle support 30 and the printing nozzle 16 to swing. An angle rotating component 26 is fixed to a nozzle base 25 through a nozzle base support 24. The nozzle base 25 drives the printing nozzle and related mechanisms to linearly slide on a support cross beam 15 and tracks. While the angle rotating component 26 drives a rotating shaft 27 to rotate, it also drives a rotating shaft support 23 and the printing nozzle 16 and related mechanisms below it to rotate, thereby realizing the movement of the printing nozzle in all dimensions.

[0051] For ease of control, a controller is provided in the control room 3. Among them, the controller is respectively communicatively connected to a slewing power component, a lateral power component 13, a longitudinal power component, a jet power component 20, a nozzle yaw power component 31, an angle rotating component 26, a camera 18, a height measurer 22, an angle measurer, a nozzle 16, and a leg 12. It should be noted that the connecting line 14 passes through the holes in the angle adjusting component and is connected to various structural parts of the printing frame. To print different trajectories, the preset program in the controller is provided with grid beam styles, slope angles, grid beam cross-sectional dimensions, etc., and a three-dimensional simulated grid beam is preset in the controller. Before printing, parameters such as the coordinates and inclination angles of the slope area to be printed are input into the control system, and the style of the grid beam to be printed is selected in the control program. If it is not available in the style library, a new grid beam style can also be formed by setting specific parameters.

[0052] To provide power for the control room 3, a power structure is also included, which is provided at one end of the control room 3 away from the boom 8. The power structure includes a driving component 6 and a counterweight box 7. Among them, the driving component 6 is communicatively connected to the controller to achieve the linkage control of multiple structures through the controller. It should be noted that it can be modified based on the existing mature construction equipment platform to enable the power structure to provide power for the entire device.

[0053] To supply concrete, a feeding structure is also included. The feeding structure includes a concrete tank 5, a delivery pump 4, and a feed pipe 19. The concrete tank 5 and the delivery pump 4 are provided on the side of the control room 3. The feed pipe 19 is provided at the output end of the delivery pump 4 and is connected to the inlet 21 of the nozzle 16 through the boom 8. The delivery pump 4 is communicatively connected to the controller. Specifically, the delivery pump 4 is a screw pump.

[0054] During the actual operation, on-site personnel operate the controller in the control room 3 to manipulate the crawler 1 of the traveling structure 2 to reach the position to be printed, and control the boom head to extend towards the ground to be printed. The ground to be printed is divided into several printing areas. At the same time, according to the size and length-width ratio of the printing area, the printing frame is rotated by the slewing power component to select the long-side printing mode, short-side printing mode or diagonal printing mode, so as to adapt to various-angle slopes and concrete on slopes of various styles and shapes. The starting printing side line can be preset in the controller. Select one side of the printing frame to align with the starting printing side line, and the program can automatically control the movement of the printing frame to align with the starting printing side line. On-site personnel observe the video signal captured by the camera 18 in real time. After the side of the printing frame is aligned with the line of the printing area, stop the rotation of the printing frame, and the controller plans the printing route. After confirming that the printing frame is aligned with the printing area, the legs 12 at the four corners of the printing frame extend. Through the measurement of the height measuring component 22 provided on the printing frame, when ensuring that the printing frame is parallel to the ground or forms a preset angle, the control system controls the legs 12 at the four corners to extend by corresponding lengths after calculation, so as to adjust the printing frame to be parallel to the concrete ground to be printed or form a preset angle, and then a flat or curved concrete can be printed. When the cylinders of each leg 12 are in contact with the ground and stressed, the ball joint at the connection between the boom 8 and the printing frame rotates and makes adaptive adjustments under the reaction force of the cylinders of the legs 12 and the ground support force, so as to realize the adaptive leveling of the printing frame angle. With such a structural design, there is no need to design and equip a multi-dimensional adjustment mechanism at the ball joint, which is simple, efficient and practical. Multiple height measuring components 22 preset on the printing frame comprehensively measure the height of the ground within the printing frame area at this time. The data is transmitted to the control system of the controller for comparison, and then the actual height to be printed at each point on the uneven ground is confirmed. Combining the above settings in the control program, systematically and precisely plan the concrete discharge rate at each point on the printing path and the running speed of the nozzle 16 at each point. In this way, if the original ground is lower than that planned by the original system, the nozzle 16 can print more concrete at this point by increasing the concrete discharge rate and reducing the moving speed of the nozzle 16 to achieve the original designed concrete printing height, and vice versa. It is also possible to detect and compare the height of the concrete to be printed at this point preset by the system, so as to judge and correct whether the elevation of the printed concrete meets the design requirements. Thus, it is ensured that the surface of the printed concrete is at the same height or prints a curved concrete with unequal heights according to the preset requirements when the printing ground is uneven.

[0055] After the preparatory work is completed, the controller starts the conveying pump 4, drives the power components of the cross beam 15 and the longitudinal beam 11 to move, drives the nozzle 16 to spray concrete slurry along the pre-planned route for printing. At the same time, the height measuring component 22 measures the height, and the measured data is transmitted to the controller for comparison to confirm the concave and convex shapes of the surfaces at different positions on the ground, keeping the printing frame parallel to or forming a preset angle with the concrete surface to be printed, so as to control the nozzle 16 to spray concrete slurry with different flow rates, and control the legs 12 to make slight telescopic movements to ensure the best spraying angle of the nozzle 16.

[0056] When the printing of the area to be printed is completed, move to the next area to be printed. The printing frame is aligned with the preset alignment line in the system or the edge line of the previously printed concrete module, and then the above cycle is repeated, moving back and forth until the printing of all the ground areas to be printed is completed. It should be noted that a three-dimensional simulated grid beam preset in the controller is automatically fitted with the grid beam photographed by the camera to give a prompt when there are differences. After correction, patching and improvement, subsequent printing is carried out.

[0057] The control system consists of an equipment mobile platform control system, a material conveying control system, a printing control system, etc. It can be controlled locally or remotely. The control system coordinates and controls the equipment mobile platform, the material conveying system and the printing system through the overall planning of the pre-designed built-in software and hardware.

[0058] It should be noted that when printing a curved or inclined concrete model, during the printing process, the angle measuring device measures the angle value of the printing frame and transmits it to the controller. Each leg 12 of the printing frame adjusts the extended lengths that are not equal according to the value calculated by the controller. On the premise of continuous printing, according to the pre-planned path of the system, at each printing point, it performs rapid, micro-motion, and unequal-length telescoping, so as to form an included angle between the printing frame and the ground to be printed, reserving unequal-height spaces for printing the concrete, thereby facilitating the printing of a concrete model in a curved or inclined shape. The legs 12 can provide reliable support for the printing frame, avoiding the influence of the vibration during material feeding and printing on the printing quality, thus ensuring the printing quality. After each leg 12 contacts the ground and is stressed, the angle adjusting member at the connection between the arm rod and the printing frame rotates and makes adaptive adjustments under the reaction force of the support force between the leg 12 and the ground, thereby realizing the adaptive leveling of the printing frame angle. During the whole process, the angle adjusting member does not need to be designed and equipped with a multi-dimensional adjustment mechanism, and has the advantages of simplicity, high efficiency, and practicality. After printing is completed, the printing device retracts and folds the printing arm, rotates and contracts to the rear of the device for convenient transportation. When the printing frame is relatively large, several trailing wheels can be arranged at the tail to facilitate the contact of the folded trailing wheels with the ground and jointly perform long-distance transportation of the device as the platform moves. Through the above specific implementation process, the present application can print grid beams with various shapes, such as grid beams with the same, regular or irregular cross-sectional shapes, and can well complete the printing work.

[0059] The multi-functional concrete 3D printing device provided by the present invention has the following advantages: (1) By adopting a parallelism measurement and adjustment system, through the connection of the legs 12, the height measuring member 22 and the controller, the problem of low 3D printing accuracy is solved, high-precision printing is realized, and the quality of the concrete printed object is guaranteed; (2) High degree of automation. Through the coordinated work of each structure, from the production of 3D printed concrete to the precise positioning of the printed object, the controller pre-plans the printing route of the model to perform dynamic adjustment during the printing of different concrete structures to achieve automation, and can also control the ejection amount of the concrete slurry of the nozzle 16 according to the height measured by the height measuring member 22; (3) Strong versatility, suitable for printing concrete models with different shapes. Personnel only need to remotely monitor the printing data in real time after the device is started, ensuring the health of the personnel; (4) The overall structure is compact and simple, can adapt to different working platform sites, read relevant printing data in real time, and locate relevant positions, with rich structural functions; (5) High working efficiency, realizing the coordinated work of the printing frame and the controller, improving the working quality, and the printing frame moves freely within the printing area, significantly improving the working efficiency; (6) Reading relevant data of the printing position in real time through the locator to ensure the printing effect.

[0060] As an alternative implementation manner, the angle adjusting member can also be a spherical ball.

[0061] As an alternative embodiment, the delivery pump 4 may also be a pump of other varieties such as a gear pump.

[0062] As an alternative embodiment, the outrigger 12 is of other telescopic forms such as a pneumatic telescopic outrigger, and the outrigger 12 can also be adjusted manually.

[0063] As an alternative embodiment, the printing carriage can also be manually printed under the control of an operator.

[0064] As an alternative embodiment, printing alignment lines may be provided on the four sides of the printing carriage. The positions of the printing alignment lines are photographed by a camera and transmitted to the controller. An observer observes or the display screen in the control room displays the positions of the printing alignment lines and the reference printing boundary to align the two, ensuring the alignment and reasonable connection between the concretes printed each time.

[0065] To solve the problems faced by the above 3D concrete printing technology in applications under complex geographical conditions such as slope protection, a concrete 3D printing system with good economy, strong applicability, and high working efficiency is required. The present invention is applicable to the printing of many strip-shaped concretes such as concrete grid beams, concrete strip belts, and concrete enclosures in various engineering construction projects with complex terrain conditions. It is an intelligent, automated, and economical 3D printing system with high printing accuracy and strong environmental adaptability. According to actual printing requirements, a printing nozzle with a slewing and bidirectional moving mechanism is connected through a boom structure, supplemented by a height measurement and calibration device and a corresponding control system, comprehensively improving the applicability and practicality of the equipment and realizing the working efficiency of 3D printing concrete under complex geographical conditions.

[0066] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A multifunctional concrete 3D printing device, characterized in that, include: The control structure comprises a control room (3) and an arm (8), wherein relative rotation is ensured between each section of the arm (8) by a pin shaft and a bearing, and relative movement between the arm (8) is achieved by using an oil cylinder or a steel wire rope, and a controller of the control room (3) is connected to the arm (8) in a transmission manner to control the movement of the arm (8); A printing structure is provided on an end of an arm (8) away from a control chamber (3), the printing structure being connected to the arm (8), comprising a printing frame, a nozzle (16) provided on the printing frame, and at least three adjustable legs (12) provided on the printing frame, an angle adjustment member being provided between the printing frame and the arm (8), an angle rotation member (26) and a nozzle transverse swing force member (31) being provided on the nozzle (16), the controller controlling the extension amount of the legs (12) so that the angle adjustment member drives the printing frame to rotate, the printing frame rotates, the nozzle transverse swing force member (31) and the angle rotation member (26) rotate so that the nozzle (16) sprays from different angles.

2. The multifunctional concrete 3D printing device according to claim 1, characterized in that, The angle adjustment member is a ball joint bearing.

3. The multi-functional concrete 3D printing device according to claim 1, characterized in that A height measuring component is fixedly provided on the side wall of the nozzle (16), and the height measuring component is communicatively connected with the controller.

4. The multifunctional concrete 3D printing device according to any one of claims 1 to 3, characterized in that, A rotary structure is provided between the printing frame and the arm (8), the rotary structure comprising a planetary gear (9) provided on the arm (8) and a rotary gear (10) provided on the printing frame, the planetary gear (9) being meshed with the rotary gear (10), and the rotary structure being communicatively connected to a controller.

5. The multi-functional concrete 3D printing device according to claim 4, wherein, The printing frame comprises at least two transverse beams (15) and two longitudinal beams (11), the printing frame is provided with a camera (18) and a nozzle (16), the transverse beams (15) and the longitudinal beams (11) are enclosed to form a truss, the transverse beams (15) are provided with a transverse power member (13), the longitudinal beams (11) are provided with a longitudinal power member, the camera (18) is arranged toward the ejection direction of the nozzle (16), the controller is communicatively connected with the camera (18), the transverse beams (15) and the longitudinal beams (11) are provided with tracks or slide rails, and the transverse power member (13) and the longitudinal power member are communicatively connected with the controller respectively.

6. The multifunctional concrete 3D printing device according to claim 4, wherein, The invention also includes a material delivery structure, which includes a concrete tank (5), a delivery pump (4) and a delivery pipe (19). The concrete tank (5) and the delivery pump (4) are arranged on the side of the control room (3). The delivery pipe (19) is arranged at the output end of the delivery pump (4) and is connected to the nozzle (16) after passing through the arm (8). The delivery pump (4) is communicatively connected to the controller.

7. The multi-functional concrete 3D printing device according to claim 6, wherein, The invention also includes a power structure arranged at one end of the control room (3) away from the arm (8), and a walking structure (2) arranged below the control room, wherein the power structure includes a driving member (6) and a counterweight box (7), the driving member (6) is communicatively connected to the controller, and the walking structure (2) is rotationally connected to the control room (3).

8. The multi-functional concrete 3D printing device according to claim 7, characterized in that, It further includes a nozzle yaw power member (31) and a nozzle yaw power shaft (32). The nozzle yaw power shaft (32) rotates within a yaw fixed bushing (28). The nozzle yaw power shaft (32) is fixedly connected to a yaw moving sleeve (29). The yaw moving sleeve (29) is fixedly connected to a nozzle support (30) and a printing nozzle below it. When the nozzle yaw power shaft (32) rotates, it drives the nozzle support (30) and the nozzle (16) to swing. An angle rotating member (26) is fixed to a nozzle base (25) through a nozzle base support (24). The nozzle base (25) drives the printing nozzle and related mechanisms to linearly slide on a cross beam (15). While the angle rotating member (26) drives a rotating shaft (27) to rotate, it also drives a rotating shaft support (23) and the nozzle (16) below it to rotate, thereby realizing the movement of the printing nozzle in all dimensions.

9. A method for using a multi-functional concrete 3D printing device, which is used for using the multi-functional concrete 3D printing device described in claim 1, and is characterized in that: The controller controls each leg (12) to extend. When the bottom surface of the concrete model to be printed comes into contact, each leg (12) extends by a length calculated and set by the controller, causing the angle adjusting member to drive the printing frame to rotate so that the printing frame maintains a printing angle with the ground of the concrete model to be printed. Immediately afterwards, the controller controls the nozzle yaw power member (31) and the angle rotating member (26) to rotate, adjusts the angle of the nozzle (16), and through combined control, forms the required concrete printing angle.

10. The method for using a multi-functional concrete 3D printing device according to claim 9, characterized in that, It includes the following steps: (1) Select a printing model and parameters. Before printing, input the coordinates of the slope area to be printed and the parameters of the inclination angle into the control system, and select the grid beam style to be printed in the control program. (2) Equipment positioning and preparation. The equipment stops in the area where concrete needs to be printed. The operator controls the printing arm to extend towards the printing area. At the same time, according to the size and length-width ratio of the printing area, rotate the printing frame to select the rotation angle of the printing frame in the preset control program to match the long-side printing method, short-side printing method, or diagonal printing method, so as to adapt to various angle slopes and various styles and shapes of slope concrete. Preset the starting printing side line in the system control program, select one side of the printing frame to align with the starting printing side line, and the program can automatically control the printing frame to move to align with the starting printing side line; or adopt the manual alignment method, that is: through personnel observation or by introducing the video signal in the control room (3) from the camera (18) on the boom. The camera (18) is arranged at a suitable position on the printing frame and the boom (8). By personnel observation or the display of the camera (18), align the printing alignment line with the reference printing boundary, which can ensure the alignment and reasonable connection between each printed concrete. (3) Printing process and adjustment After confirming that the printing frame is aligned with the printing area, through the measurement of the altimeter set on the printing frame, when ensuring that the printing frame is parallel to the ground or forms a preset angle, the control system controls the outstretching of the legs (12) at the four corners by calculation to adjust the printing frame to be parallel to the concrete ground to be printed or form a preset angle, and then print concrete in a flat or curved shape. The legs (12) can reliably support the printing frame to avoid affecting the printing quality due to the vibration of material feeding and printing during the printing process, so as to ensure the printing quality. When each leg (12) contacts the ground and is stressed, the ball joint at the connection between the arm rod (8) and the printing frame rotates and makes adaptive adjustments under the reaction force of the supporting force of the leg (12) on the ground, so as to realize the adaptive leveling of the angle of the printing frame. By setting the printing path and selecting parameters such as grid beam style, slope angle, and grid beam section size in advance in the printing control system of the control room (3); multiple altimeters preset on the printing frame comprehensively measure the height of the ground in the printing frame area at this time, and the data is transmitted to the control system for comparison to confirm the actual height to be printed at each point on the uneven ground. Combining the above settings in the control program, systematically and accurately plan the concrete discharge rate at each point on the printing path and the running speed of the printing nozzle (16) at each point. In this way, if the original ground is lower than the original system plan, the printing nozzle (16) can print more concrete at this point by increasing the concrete discharge rate and reducing the moving speed of the printing nozzle (16) to achieve the original designed concrete printing height, and vice versa. It can also detect and compare with the preset height of the concrete to be printed at this point, so as to judge and correct whether the elevation of the printed concrete meets the design requirements, so as to ensure that the surface of the printed concrete is at the same height or prints concrete with an unequal height curved surface shape according to the preset requirements when the printed ground is uneven. (4) Circular printing. After this area is printed, after the equipment walking structure (2) moves, the printing frame repeats the above cycle after aligning with the alignment line preset in the controller or the edge line of the concrete module printed last. (5) Deviation correction and adjustment during the printing process. The control room (3) three-dimensionally simulates large grid beams in the preset program and automatically fits the grid beams in the preset program with the actually printed grid beams through the recognition function of the camera (18). When there are differences, a prompt is given, and after the device is corrected, repaired, and improved, subsequent printing is carried out. (6) Adjustment during the process of printing curved concrete. The 4 legs (12) on the printing frame can perform rapid, micro-motion, and unequal-length telescoping at each printing point according to the values pre-calculated by the control program during the printing process, and under the premise of uninterrupted printing, in accordance with the pre-planned path of the system. The printing frame forms an angle with the ground where the concrete is printed, thus reserving unequal-height space for printing the concrete, which is convenient for printing concrete with a curved surface shape. After use, the printing rack can be folded jointly with the arm rod (8) and rotated and retracted to the rear of the equipment mobile platform for convenient transportation. When the printing rack is large, several trailing wheels are arranged at the tail of the printing rack so that the trailing wheels can contact the ground after folding. Along with the movement of the equipment mobile platform, long-distance transportation of the equipment can be carried out together.

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