A concrete 3D printing device and its usage method

Abstract

This invention relates to the field of 3D printing technology, and its purpose is to provide a concrete 3D printing device and its usage method. This concrete 3D printing device allows for precise adjustment of the printer's output position, resulting in high printing accuracy. The aforementioned concrete 3D printing device includes: a vehicle-mounted platform, a concrete production system, an adjustment system, and a 3D printing system; the concrete production system is mounted on the vehicle-mounted platform; the adjustment system includes a track and a track adjustment mechanism, the track being arranged along the running direction of the vehicle-mounted platform, with one end hinged to the platform and the other end equipped with the track adjustment mechanism; the 3D printing system includes a 3D printer, which is rolled on the track, and its feed inlet is connected to the discharge outlet of the concrete production system. This invention solves the problems of low printing accuracy, poor parallelism of the formed concrete structure, and the need for post-processing in existing vehicle-mounted mobile concrete 3D printing devices, which consume a lot of raw materials and reduce construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of 3D printing technology, specifically to a concrete 3D printing device and its usage method. Background Technology

[0002] 3D printing, also known as additive manufacturing or rapid prototyping, is a technology that uses digital model files as a basis and employs powdered metals or plastics and other bondable materials to construct objects layer by layer. Initially, it was commonly used in mold making and industrial design to create models.

[0003] With the development and maturation of 3D printing technology, its application in the construction field is mainly for generating concrete structures, also known as concrete 3D printing technology. Concrete 3D printing technology eliminates the need for steel reinforcement when molding concrete structures, achieving moldless concrete forming. It combines the advantages of self-compacting concrete (no vibration required) with the ability of shotcrete to manufacture complex components.

[0004] When existing concrete 3D printing equipment is used for printing, especially for strip-shaped concrete structures such as isolation strips, fences, and flower beds, the printing accuracy is low because existing vehicle-mounted mobile concrete 3D printing equipment cannot accurately adjust the output position of the printer during the printing process. This results in poor parallelism of the formed concrete structure, which requires post-printing adjustments. This not only consumes more raw materials but also delays the construction progress and reduces construction efficiency. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the existing vehicle-mounted mobile concrete 3D printing equipment, which has low printing accuracy, poor parallelism of the formed concrete structure, and requires post-processing, which consumes a lot of raw materials and reduces construction efficiency. The present invention provides a concrete 3D printing equipment and its method of use that can precisely adjust the output position of the printer and has high printing accuracy.

[0006] To address the above problems, the present invention provides a concrete 3D printing device, comprising:

[0007] In-vehicle platform;

[0008] The concrete production system is installed on the vehicle-mounted platform;

[0009] The adjustment system includes a track and a track adjustment mechanism. The track is arranged along the running direction of the vehicle platform, with one end hinged to the vehicle platform and the other end provided with the track adjustment mechanism.

[0010] A 3D printing system includes a 3D printer that is rotatably mounted on the track, with its feed inlet connected to the discharge outlet of the concrete production system.

[0011] Optionally, the concrete production system further includes a parallelism measurement system and a control system. The parallelism measurement system includes a parallelism measurement mechanism for the area to be printed, which is located near the area to be printed on the outside of the vehicle platform.

[0012] The control system is mounted on the vehicle platform. The signal input terminal of the control system is communicatively connected to the parallelism measurement system, and the signal output terminal of the control system is communicatively connected to the track adjustment mechanism.

[0013] Optionally, the parallelism measuring mechanism for the area to be printed includes multiple reference stakes, which are spaced apart near the area to be printed and are equidistant from the centerline of the area to be printed.

[0014] Optionally, the reference pile includes: a pile tip, an energy storage device, a controller, a solar panel, a signal light, and a signal transceiver antenna. The energy storage device and the controller are located above the pile tip, and the solar panel is located above the energy storage device and the controller. The signal light and the signal transceiver antenna are disposed in a hole in the middle of the solar panel.

[0015] Optionally, the track adjustment mechanism includes: an adjustment cylinder and an adjustment track, wherein the adjustment cylinder is hinged to an end sleeve at the other end of the track, the adjustment track is fixedly mounted on the vehicle platform, and a roller is hinged to the bottom of the end sleeve, the roller being tactilely connected to the adjustment track.

[0016] Optionally, the adjustment track is arc-shaped.

[0017] Optionally, the 3D printer includes: a base plate, a rotary platform, a rotary drive, and a printing arm. The rotary platform and the rotary drive are disposed on the base plate, and the driving end of the rotary drive is connected to the rotary platform. One end of the printing arm is connected to the rotary platform, and the other end is provided with a printing nozzle, which is located above the area to be printed.

[0018] Optionally, the printing arm is a telescopic arm with a variable length.

[0019] Optionally, a positioner is also provided at the print head.

[0020] Optionally, the 3D printing system further includes a variable amplitude hydraulic cylinder, one end of which is connected to the rotary platform and the other end of which is connected to the printing arm.

[0021] Optionally, the 3D printing system further includes a track drive mechanism, which includes a walking wheel motor, a walking drive wheel, a walking gear, a walking wheel, and a stroke encoder. The walking wheel motor is located at the bottom of the base plate, and the driving end of the walking wheel motor is connected to the walking drive wheel. The walking drive wheel meshes with the walking gear, and the walking gear is coaxially connected to the walking wheel. The stroke encoder is located at the end of the walking wheel, and the walking wheel is rotatably mounted on the track.

[0022] Optionally, the track is set on a track foundation, the track foundation is set on the vehicle platform, and a connecting frame is also provided at the bottom of the seat plate. One end of the connecting frame is provided with a reverse hook wheel, and the reverse hook wheel is slidably connected to the bottom surface of the track foundation at the end away from the track.

[0023] Optionally, the concrete production system includes: a raw material conveying mechanism, an admixture conveying mechanism, and a mixing mechanism, wherein the raw material outlet of the raw material conveying mechanism, the admixture outlet of the admixture conveying mechanism, and the mixing inlet of the mixing mechanism are connected.

[0024] Optionally, the raw material conveying mechanism includes: a cement silo, an aggregate silo, an admixture silo, and a screw conveyor. The outlets of the cement silo, aggregate silo, and admixture silo are all connected to the inlet of the screw conveyor, and the outlet of the screw conveyor is connected to the mixing inlet.

[0025] Optionally, the admixture conveying mechanism includes an admixture tank and a water tank, wherein the outlet of the admixture tank and the outlet of the water tank are both connected to the mixing inlet.

[0026] Optionally, the mixing outlet of the mixing mechanism is connected to the feed inlet of the 3D printer via a hose.

[0027] Optionally, a power system is provided on the vehicle platform.

[0028] A method of using a concrete 3D printing device, applied to the concrete 3D printing device, includes the following steps:

[0029] Divide the area to be printed into multiple working segments;

[0030] Multiple reference stakes are set near the first working section of the area to be printed. The reference stakes are set at equal intervals with the center line of the area to be printed. The reference stakes send stake number information to the control system through the controller and signal transceiver antenna. After receiving the position stake number information of each reference stake, the control system automatically superimposes the equidistant distance between the reference stakes and the center line of the area to be printed through the program. The stake number information of the center line of the area to be printed can be accurately obtained. In addition, the size information or three-dimensional map of the area to be printed is input into the control system, and the position and shape information of the area to be printed can be accurately determined.

[0031] The 3D printer prints the first working segment;

[0032] During the printing process, the coordinate information of the print head is obtained in real time by the locator set at the print head. Combined with the determined position and shape information of the area to be printed, the printing work can be automatically and dynamically adjusted under the control of the control system.

[0033] After completing the printing of the first working segment, print the other working segments of the area to be printed according to the above steps.

[0034] Optionally, when the 3D printer is printing, the vehicle platform can stop at the corresponding working section, or the vehicle platform can move along the printing direction while printing.

[0035] Optionally, operators can remotely control the concrete 3D printing equipment via a network to perform printing.

[0036] The present invention has the following advantages:

[0037] 1. The concrete 3D printing equipment provided by this invention includes a vehicle-mounted platform, a concrete production system, an adjustment system, and a 3D printing system. The concrete production system is mounted on the vehicle-mounted platform and is used to produce the concrete required for 3D printing. The adjustment system includes a track and a track adjustment mechanism. One end of the track is hinged to the vehicle-mounted platform, and the other end is equipped with the track adjustment mechanism. The 3D printer in the 3D printing system is rolled on the track, and its feed inlet is connected to the discharge outlet of the concrete production system. The discharge outlet of the concrete production system continuously outputs concrete, and the 3D printer slides on the track to print the required concrete structure. During the printing process, the position of the track can be adjusted by the track adjustment mechanism, allowing the track to rotate around its hinge point with the vehicle-mounted platform to ensure that the parallelism of the 3D printer meets the requirements, especially when printing strip-shaped concrete structures. Because the output position of the 3D printer is adjustable during printing, this concrete 3D printing equipment has high printing accuracy and high working efficiency.

[0038] 2. The concrete 3D printing equipment provided by this invention further includes a parallelism measuring mechanism and a control mechanism. The parallelism measuring mechanism includes a parallelism measuring mechanism for the area to be printed, ensuring that the output position of the 3D printer is along the centerline of the area to be printed, thus ensuring that the parallelism of the printed concrete structure meets the requirements. Furthermore, the control system can receive the measurement signals from the parallelism measuring mechanism and automatically control the track adjustment mechanism to adjust the track, achieving automatic control and adjustment with fast response and high adjustment accuracy.

[0039] 3. The concrete 3D printing equipment provided by this invention includes a parallelism measuring mechanism for the area to be printed, comprising multiple reference stakes set near the area to be printed, with the line connecting the multiple reference stakes parallel to the centerline of the area to be printed. Setting the reference stakes facilitates positioning the centerline of the area to be printed, making inspection easier. Furthermore, the reference stakes are set on the ground near the area to be printed, allowing for recycling after use.

[0040] 4. The concrete 3D printing equipment provided by this invention includes a track adjustment mechanism comprising an adjusting cylinder and an adjusting track. The adjusting cylinder is hinged to an end sleeve at the other end of the track. The arc-shaped adjusting track is fixedly mounted on a vehicle platform, and a roller is hinged to the bottom of the end sleeve. The roller is in rolling connection with the adjusting track, thereby driving the track to rotate around its hinge point with the vehicle platform, thus achieving track adjustment. This track adjustment mechanism is simple and reliable, and can achieve precise track adjustment.

[0041] 5. The concrete 3D printing equipment provided by the present invention has a telescopic printing arm with variable length. A variable amplitude cylinder is also provided between the rotating platform and the printing arm, so that the printing arm can adapt to printing work at different heights and distances, and can print concrete structures of different shapes, with a wide range of applications.

[0042] 6. The method of using the concrete 3D printing equipment provided by the present invention includes the following steps: dividing the area to be printed into multiple working segments; setting multiple reference piles near the first working segment of the area to be printed, setting the multiple reference piles at equal intervals with the center line of the area to be printed, the reference piles sending pile number information to the control system through the controller and signal transceiver antenna, the control system receiving the position pile number information of each reference pile, and then automatically superimposing the equidistant distance between the reference piles and the center line of the area to be printed through the program, so as to accurately obtain the pile number information of the center line of the area to be printed, and adding the size information or three-dimensional map of the area to be printed into the control system, so as to accurately determine the position and shape information of the area to be printed; the 3D printer printing the first working segment; during the printing process, the coordinate information of the printing nozzle is obtained in real time by the locator set at the printing nozzle, and combined with the determined position and shape information of the area to be printed, so as to automatically perform dynamic adjustment and printing under the control of the control system; after completing the printing of the first working segment, printing the other working segments of the area to be printed is carried out according to the above steps. By acquiring the location and station number information of the reference pile, the distance between the reference pile and the center line of the area to be printed, as well as the position and shape of the area to be printed, it can be determined whether the output position of the 3D printer is along the center line of the area to be printed. During the printing process, the printing nozzle can be controlled to make corresponding adjustments. Therefore, the formed concrete structure has high parallelism and high printing accuracy.

[0043] 7. The concrete 3D printing equipment and its usage method provided by this invention allow the vehicle-mounted platform to stop at the corresponding working section during printing, or to move along the printing direction while printing. Stopping the vehicle-mounted platform at the corresponding working section avoids the situation of printing while moving, making it easier to control the output position of the print head and resulting in higher printing accuracy. Printing while moving, on the other hand, improves printing efficiency. The printing mode can be selected according to the actual working conditions.

[0044] 8. The concrete 3D printing equipment and its usage method provided by this invention allow operators to remotely control the equipment via a network. This can meet the needs of harsh environments and other working conditions where manual operation is not suitable, ensuring the safety of personnel. Attached Figure Description

[0045] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1This is a schematic diagram of the concrete 3D printing equipment of the present invention;

[0047] Figure 2 This is a side view of the concrete 3D printing equipment of the present invention;

[0048] Figure 3 This is a schematic diagram showing the connection between the track and the track adjustment mechanism in the concrete 3D printing equipment of the present invention;

[0049] Figure 4 This is a side view of the connection between the track and the track adjustment mechanism in the concrete 3D printing equipment of the present invention;

[0050] Figure 5 This is a schematic diagram of the reference pile in the concrete 3D printing equipment of the present invention;

[0051] Figure 6 This is a schematic diagram of the control system in the concrete 3D printing equipment of the present invention.

[0052] Explanation of reference numerals in the attached figures:

[0053] 1. Vehicle-mounted platform;

[0054] 201. Raw material conveying mechanism; 2011. Cement silo; 2012. Aggregate silo; 2013. Admixture silo; 2014. Screw conveyor; 202. Admixture conveying mechanism; 2021. Admixture box; 2022. Water tank; 203. Mixing mechanism.

[0055] 301. Track; 3011. End sleeve; 3012. Roller; 302. Track adjustment mechanism; 3021. Adjusting cylinder; 3022. Adjusting track; 303. Track foundation; 304. Connecting frame; 305. Anti-hook wheel;

[0056] 401, 3D printer; 4011, base plate; 4012, rotary platform; 4013, rotary drive component; 4014, printing arm; 4015, printing nozzle; 4016, positioner; 402, luffing cylinder; 403, track drive mechanism; 4031, walking wheel motor; 4032, walking drive wheel; 4033, walking gear; 4034, walking wheel; 4035, stroke encoder.

[0057] 5011, reference pile; 50111, pile tip; 50112, energy storage device; 50113, controller; 50114, solar panel; 50115, signal light; 50116, signal transceiver antenna.

[0058] 6. Control system; 601. Display; 602. Control and computing device; 603. Power supply device; 604. Signal transceiver device.

[0059] 7. The area to be printed;

[0060] 8. Power system. Detailed Implementation

[0061] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the 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.

[0063] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] Furthermore, 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.

[0065] like Figure 1 , Figure 2 The image shows a preferred embodiment of the concrete 3D printing equipment of the present invention, which can be applied to the construction industry to print concrete structures. Because the output position of the 3D printer in this concrete 3D printing equipment is adjustable, the printing accuracy is high.

[0066] The aforementioned concrete 3D printing equipment includes: a vehicle-mounted platform 1, a concrete production system, an adjustment system, and a 3D printing system. The vehicle-mounted platform 1 is movable, offering greater flexibility compared to existing track-based concrete 3D printing equipment and reducing track installation time. The concrete production system, mounted on the vehicle-mounted platform 1, is used to produce the concrete raw materials required for 3D printing. The adjustment system includes a track 301 and a track adjustment mechanism 302. The track 301 is positioned along the running direction of the vehicle-mounted platform 1, with one end hinged to the platform and the other end connected to the track adjustment mechanism 302. The track adjustment mechanism 302 allows adjustment of the track 301's position, enabling it to rotate around the hinge point. The 3D printing system includes a 3D printer 401, which is rotatably mounted on the track 301. The feed inlet of the 3D printer 401 is connected to the discharge outlet of the concrete production system. During the printing process, the angle of the track 301 can be adjusted by the track adjustment mechanism 302, thereby adjusting the output position of the 3D printer 401 so that it can print accurately at the preset position with high printing precision.

[0067] The vehicle-mounted platform 1 can be equipped with a mature transportation vehicle according to actual printing needs. For example, a dump truck platform or a transport vehicle platform can be selected and slightly modified. The vehicle's running gear can be tire-based, tracked, or other suitable types. The vehicle-mounted platform 1 is also equipped with a power system 8, which can use a conventional fuel or electric system to provide power to the various systems in the equipment.

[0068] Furthermore, the concrete 3D printing equipment also includes a parallelism measurement system and a control system 6. The parallelism measurement system includes a parallelism measurement mechanism for the area to be printed, which is located near the area to be printed 7 outside the vehicle platform 1. The parallelism measurement mechanism can detect in real time whether the output position of the 3D printer 401 is consistent with the center line of the area to be printed 7 during the printing process, thereby determining whether the track 301 needs adjustment and calculating the adjustment amount.

[0069] Specifically, the parallelism measuring mechanism for the area to be printed 7 includes multiple reference stakes 5011. These reference stakes 5011 are spaced apart near the area to be printed 7, and the line connecting them is equidistant from the center line of the area to be printed 7. Regardless of whether the center line of the area to be printed 7 is a straight line or a curve, the line connecting the reference stakes 5011 must have the same shape as the center line, and the spacing between corresponding positions of the two lines must be equal. Specifically, for example... Figure 5As shown, the reference pile 5011 includes: a pile tip 50111, an energy storage component 50112, a controller 50113, a solar panel 50114, a signal light 50115, and a signal transceiver antenna 50116. The energy storage component 50112 and the controller 50113 are located above the pile tip 50111, and the solar panel 50114 is located above the energy storage component 50112 and the controller 50113. The signal light 50115 and the signal transceiver antenna 50116 are installed in the hole in the middle of the solar panel 50114. After generating electricity, the solar panel 50114 processes the power through the controller 50113 and stores it in the energy storage unit 50112 for its own operation. The controller 50113 of the reference pile 5011 can transmit signals and commands to the control system 6 through the signal transceiver antenna 50116. The indicator light 50115 can also flash at night when the energy storage unit 50112 is powered to indicate its specific location. One end of the reference pile 5011 has a pointed tip 50111 so that it can be inserted into the ground to perform its function. By measuring the positions of multiple reference piles 5011 and the distance of the reference piles 5011 from the center line of the area to be printed 7, it is possible to determine whether the output position of the 3D printer 401 is consistent with the center line of the area to be printed 7.

[0070] The control system 6 is mounted on the vehicle platform 1. The signal input terminal of the control system 6 is communicatively connected to the parallelism measurement system, and the signal output terminal of the control system 6 is communicatively connected to the track adjustment mechanism 302. The control system 6 includes both software and hardware, specifically, such as... Figure 6 As shown, the hardware in the control system 6 includes: a display 601, a control and computing device 602, a power supply device 603, and a signal transceiver device 604, etc. The control system 6 can control the operation of the vehicle-mounted platform 1, control the actions of the concrete production system and the 3D printing system through software, and adjust the system's actions based on signals received from the parallelism measurement system. The control system 6 achieves automated control of the entire equipment, providing individual and overall control of each component system, and enabling coordinated operation among the systems.

[0071] like Figure 3 , Figure 4 As shown, the track adjustment mechanism 302 includes an adjusting cylinder 3021 and an adjusting track 3022. The adjusting cylinder 3021 is hinged to an end sleeve 3011 at the other end of the track 301. The adjusting track 3022 is fixedly mounted on the vehicle platform 1, and a roller 3012 is hinged to the bottom of the end sleeve 3011. The roller 3012 is tactilely connected to the adjusting track 3022. Specifically, in this embodiment, the adjusting track 3022 is arc-shaped. When the adjusting cylinder 3021 extends or retracts, it drives the roller 3012 to roll within the adjusting track 3022, thereby causing the track 301 to rotate around its hinge point with the vehicle platform 1, thus achieving the purpose of adjusting the output position of the 3D printer 401.

[0072] Furthermore, the 3D printer 401 includes: a base plate 4011, a rotary platform 4012, a rotary drive 4013, and a printing arm 4014. The rotary platform 4012 and the rotary drive 4013 are mounted on the base plate 4011, and the rotary platform 4012 is mounted on the base plate 4011 via a bearing below. The driving end of the rotary drive is connected to the rotary platform 4012 and is used to drive the rotary platform 4012 to rotate. One end of the printing arm 4014 is connected to the rotary platform 4012, and the other end is provided with a printing nozzle 4015, which is located above the area to be printed 7. A positioner 4016 is also provided at the printing nozzle 4015. During printing, the printing nozzle 4015 should be located above the center line of the area to be printed 7. The positioner 4016 facilitates precise acquisition of the position of the printing nozzle 4015, thereby enabling precise adjustment.

[0073] In addition, the 3D printing system also includes a variable-amplitude hydraulic cylinder 402, one end of which is connected to the rotary platform 4012, and the other end is connected to the printing arm 4014. By setting the variable-amplitude hydraulic cylinder 402, the working height of the printing arm 4014 can be changed, and the printing arm 4014 is a telescopic arm with a variable length, making its working range variable. The telescopic printing arm 4014 and the variable-amplitude hydraulic cylinder 402 enable precise adjustment of the position of the printing nozzle 4015, allowing the 3D printing system to adapt to printing operations at different heights and distances.

[0074] Track 301 is mounted on track base 303, which is mounted on vehicle platform 1. A connecting frame 304 is also provided at the bottom of the seat plate 4011. One end of the connecting frame 304 is equipped with a reverse hook wheel 305, which is slidably connected to the bottom surface of the track base 303 at the end furthest from track 301. The upper part of the reverse hook wheel 305 contacts and slides against the lower surface of the protruding part of the track base 303, preventing the 3D printer 401 from tipping over and preventing operational jamming caused by uneven weight distribution on track 301.

[0075] Furthermore, the 3D printing system also includes a track drive mechanism 403, which comprises a wheel motor 4031, a drive wheel 4032, a gear 4033, a wheel 4034, and a stroke encoder 4035. The wheel motor 4031 is located at the bottom of the base plate 4011, and its drive end is connected to the drive wheel 4032. The drive wheel 4032 meshes with the gear 4033, and the gear 4033 is coaxially connected to the wheel 4034. The wheel 4034 rolls on the track 301. The stroke encoder 4035 is located at the end of the wheel 4034. The stroke encoder 4035 can accurately determine and transmit the position signal of the 3D printer 401 to the control system 6 so that the control system 6 can analyze and issue control commands. By setting the track drive mechanism 403, the 3D printer 401 can be driven to roll on the track 301.

[0076] The concrete production system includes: a raw material conveying mechanism 201, an admixture conveying mechanism 202, and a mixing mechanism 203. The raw material outlet of the raw material conveying mechanism 201, the admixture outlet of the admixture conveying mechanism 202, and the mixing inlet of the mixing mechanism 203 are connected.

[0077] The raw material conveying mechanism 201 includes: a cement silo 2011, an aggregate silo 2012, an admixture silo 2013, and a screw conveyor 2014. The cement silo 2011, aggregate silo 2012, and admixture silo 2013 are arranged side by side on the vehicle platform 1. The discharge ports of the cement silo, aggregate silo, and admixture silo are all connected to the feed port of the screw conveyor. The discharge port of the screw conveyor is connected to the mixing inlet. The screw conveyor 2014 conveys cement, aggregate, and admixture to the mixing mechanism 203 for mixing.

[0078] The admixture conveying mechanism 202 includes an admixture tank 2021 and a water tank 2022, which are arranged side by side on the vehicle platform 1. The admixture tank 2021 is divided into an admixture sample tank and an admixture production tank, and the added admixtures include, for example, accelerators. The discharge port of the admixture tank and the water outlet of the water tank are both connected to the mixing inlet through pipelines.

[0079] The mixing unit 203 mixes cement, aggregates, admixtures, additives, and water to form concrete. The mixing outlet of the mixing unit 203 is connected to the feed inlet of the 3D printer 401 via a hose. After being pressurized by a concrete pump, the produced concrete is transported to the 3D printer 401 for printing. Because the position of the 3D printer 401 changes during the printing process, a hose is used to connect the 3D printer 401 and the mixing unit 203.

[0080] This embodiment also provides a method for using a concrete 3D printing device. When the area to be printed 7 is a linear structure, the method includes the following steps:

[0081] Step 1: Divide the area to be printed (7) into multiple working segments;

[0082] When high printing accuracy is required (error reaches the centimeter level), it is difficult for the equipment to keep the 3D printer 401 parallel to the center line of the area to be printed 7 while moving and printing. Therefore, the vehicle platform 1 is first stopped near the printing start end of the first working segment, and then the area to be printed 7 is divided into multiple working segments, and multiple working segments are printed in sequence.

[0083] Step 2: Set multiple reference stakes 5011 near the first working section of the area to be printed 7, so that the multiple reference stakes are equally spaced from the center line of the area to be printed. The reference stakes 5011 send the stake number information to the control system 6 through the controller 50113 and the signal transceiver antenna 50116. After receiving the position stake number information of each reference stake 5011, the control system 6 automatically superimposes the equidistant distance between the reference stakes 5011 and the center line of the area to be printed 7 through the program, so as to accurately obtain the stake number information of the center line of the area to be printed 7. In addition, by inputting the size information or three-dimensional map of the area to be printed 7 into the control system 6, the position and shape information of the area to be printed 7 can be accurately determined.

[0084] First, set up multiple reference stakes 5011 near the first working section of the area to be printed 7. Insert the reference stakes 5011 into the ground through the stake tip 50111. Since the reference stakes 5011 are equipped with signal lights 50115, they can be used day or night.

[0085] Multiple reference stakes 5011 are set at equal intervals with the center line of the area to be printed 7. Specifically, when the area to be printed 7 is a straight structure, the line connecting the reference stakes 5011 is a straight line and the center line of the area to be printed 7 is also a straight line, and the two lines are parallel to each other. When the area to be printed 7 is a non-straight structure, the line connecting the reference stakes 5011 has the same shape as the center line of the area to be printed 7, and the distance between the corresponding reference stakes 5011 and the corresponding position on the center line is equal.

[0086] The control system 6 can accurately determine the position and shape of the area to be printed 7 based on the location and pile number information of the benchmark pile 5011 and the size information (length, width and height information) of the area to be printed 7, so as to facilitate control during printing and ensure printing accuracy.

[0087] Step 3: 3D printer 401 prints the first working segment;

[0088] The concrete production system supplies concrete raw materials to the 3D printer 401, which are then transported to the first working section of the printing area 7 through the printing nozzle 4015 of the 3D printer 401.

[0089] Step 4: During the printing process, the coordinate information of the print head 4015 is obtained in real time by the locator 4016 set at the print head 4015. Combined with the determined position and shape information of the area to be printed 7, the printing work can be automatically dynamically adjusted and printed under the control of the control system 6.

[0090] The coordinate information of the print head 4015, which is acquired in real time by the positioner 4016 at the print head 4015, is compared with the station number information of the center line of the area to be printed 7. This information serves as the basis for the adjustment of the control system 6. The comparison determines the angle adjustment of the track adjustment mechanism 302, the extension and retraction of the amplitude cylinder 402, the extension and retraction of the print arm 4014, and the rotation angle of the rotary platform 4012, thereby achieving the goal of keeping the print head 4015 aligned with the center line of the area to be printed 7. The track adjustment mechanism 302 is for coarse adjustment of the print head 4015. When the area to be printed 7 is a straight structure, the track 301 is adjusted by the track adjustment mechanism 302 to make the print head 4015 print along the center line of the area to be printed 7. However, when the area to be printed 7 is not a straight structure, it is difficult to ensure that the print head 4015 prints along the center line of the area to be printed 7 by simply adjusting the track 301. Therefore, it is necessary to further adjust the position of the print head 4015 more precisely. The extension and retraction of the luffing cylinder 402, the extension and retraction of the printing arm 4014, and the rotation angle of the rotary platform 4012 are adjusted for precise control. This precise adjustment of the print head 4015 ensures that the print head 4015 prints along the centerline of the area to be printed (7) when the area to be printed (7) is not a straight line, thus guaranteeing printing accuracy. By combining coarse and precise adjustments, the adjustment amount of the precise adjustment mechanism can be effectively reduced, significantly improving adjustment accuracy and work efficiency.

[0091] Step 5: After completing the printing of the first working segment, print the other working segments of the area to be printed 7 according to the steps above.

[0092] After completing the work of the first work segment, the vehicle platform 1 moves to the next work segment and prints each work segment according to the steps described above.

[0093] In other embodiments, when the printing area 7 is a non-linear structure, the centerline and shape model parameters of the non-linear structure can be input into the control system 6 first. The control software in the control system 6 will decompose the printing steps step by step and divide the area to be printed 7 into multiple working segments with approximately straight centerlines, completing the printing of non-linear segments and spatial curved surfaces segment by segment. Specifically, the control system 6 has built-in printing design control software, which contains printing models of various curves and shapes. When a certain non-linear structure is to be printed, a curve and shape model is selected, and the dimensions and key parameters are input. The design and display of the structure to be printed are completed in the printing design control software. The control software will then decompose the printing steps step by step according to the specific situation of the structure to be printed. In the printing process, the overall steps are similar to steps one to five above. The main difference is that the centerline of the non-linear structure's curve is found to be an approximate straight centerline by finding the centerline from left to right. Based on this, the reference stakes 5011 are installed near the area to be printed 7 at equal intervals. The station number information is sent to the control system 6 via the built-in controller 50113 and signal transceiver antenna 50116. After receiving the station number information of each reference station 5011, the control system 6 automatically superimposes the equidistant distance between the reference station 5011 and the center line of the area to be printed 7, adds the non-linear segments, spatial curved surface shapes of the area to be printed, and shape models of the area to be printed input in the reference station 5011, and the approximate straight center line marked on the drawing. Using this approximate straight center line as the coordinate line, the position, shape, and coordinate information of the area to be printed can be accurately determined. The print head 4015 is initially positioned using the approximate straight center line as the basic reference, and then dynamically adjusted and printed according to the actual center line during actual printing. The advantage of this printing method is higher printing accuracy.

[0094] In other embodiments, under harsh environmental conditions and other necessary circumstances, this device can also achieve unmanned printing mode, that is, without on-site operators to control the equipment, operators remotely control the concrete 3D printing equipment through the network to print, and if necessary, operators can intervene remotely, thereby realizing unmanned construction.

[0095] In other embodiments, provided that the device is equipped with highly sensitive mechanical, hydraulic, and electrical components, it can also achieve continuous printing when the vehicle platform 1 is moving slowly, that is, printing while moving, which further improves work efficiency and ensures the continuity of printing.

[0096] Advantages of this patent:

[0097] (1) High printing accuracy. By innovatively adopting a parallelism measurement and adjustment system, the problem of low accuracy in concrete 3D printing has been solved, ensuring the quality of concrete prints.

[0098] (2) High degree of equipment automation. Through the coordinated operation of various working systems, automation can be achieved from 3D printed concrete production to precise positioning of the printed object, as well as dynamic adjustments during the printing of concrete structures of different shapes. The printer nozzle can be autonomously adjusted according to the actual site conditions to ensure high-quality printing. After the equipment is started, the staff only needs to remotely monitor the printing data in real time, which improves the health and safety of the workers.

[0099] (3) High versatility. It adopts the collaborative operation of multiple working platforms and is suitable for printing concrete components of different shapes.

[0100] (4) The system has a simple and compact structure, rich functions, strong adaptability to work platform sites, and low system cost.

[0101] (5) High work efficiency. The 3D printer 401, together with other systems, is integrated on the vehicle platform 1 and works collaboratively through the control system 6. The 3D printer 401 can move freely along the printing area, which significantly improves work efficiency.

[0102] (6) Real-time positioning. The 4016 locator reads the printing position data in real time to ensure printing quality.

[0103] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A concrete 3D printing apparatus, characterized by, The application relates to a vehicle-mounted platform (1), a concrete production system arranged on the vehicle-mounted platform (1), an adjusting system comprising a track (301) and a track adjusting mechanism (302), the track (301) being arranged along the running direction of the vehicle-mounted platform (1) and being hingedly connected to one end of the vehicle-mounted platform (1) and being provided with the track adjusting mechanism (302) at the other end, a 3D printing system comprising a 3D printer (401), the 3D printer (401) being rollingly arranged on the track (301) and having a feeding port in communication with the discharge port of the concrete production system, a parallelism measuring system and a control system (6), the parallelism measuring system comprising a to-be-printed area parallelism measuring mechanism arranged near a to-be-printed area (7) outside the vehicle-mounted platform (1), the to-be-printed area parallelism measuring mechanism comprising a plurality of reference piles (5011) arranged near the to-be-printed area (7) at equal intervals along the center line of the to-be-printed area (7), and the control system (6) being arranged on the vehicle-mounted platform (1), the signal input end of the control system (6) being in communication connection with the parallelism measuring system, and the signal output end of the control system (6) being in communication connection with the track adjusting mechanism (302). The reference pile (5011) comprises a pile tip (50111), an energy storage member (50112), a controller (50113), a solar panel (50114), a signal lamp (50115) and a signal transceiving antenna (50116), the energy storage member (50112) and the controller (50113) are located above the pile tip (50111), the solar panel (50114) is located above the energy storage member (50112) and the controller (50113), and the signal lamp (50115) and the signal transceiving antenna (50116) are arranged in the hole in the middle of the solar panel (50114). The track adjusting mechanism (302) comprises an adjusting oil cylinder (3021) and an adjusting track (3022), the adjusting oil cylinder (3021) is hingedly connected to an end sleeve (3011) at the other end of the track (301), the adjusting track (3022) is fixedly arranged on the vehicle-mounted platform (1), the bottom of the end sleeve (3011) is hingedly provided with a rolling wheel (3012), and the rolling wheel (3012) is rollingly connected to the adjusting track (3022). The adjusting track (3022) is in the shape of a circular arc. ​ ​ ​ ​ 2. The concrete 3D printing apparatus according to claim 1, characterized in that, ​ 3. The concrete 3D printing apparatus according to claim 1, characterized in that, ​ 4. The concrete 3D printing apparatus according to claim 3, characterized in that, ​ 5. The concrete 3D printing apparatus according to claim 1, characterized in that, The 3D printer (401) comprises a seat plate (4011), a rotating platform (4012), a rotating drive (4013) and a printing arm (4014), the rotating platform (4012) and the rotating drive (4013) are arranged on the seat plate (4011), and the rotating drive end is connected with the rotating platform (4012), one end of the printing arm (4014) is connected with the rotating platform (4012), and the other end is provided with a printing nozzle (4015), and the printing nozzle (4015) is located above a to-be-printed area (7).

6. The concrete 3D printing device according to claim 5, characterized in that, The printing arm (4014) is a telescopic arm with variable length.

7. The concrete 3D printing apparatus according to claim 5, characterized in that, The printing nozzle (4015) is also provided with a positioner (4016).

8. The concrete 3D printing apparatus according to claim 5, characterized in that, The 3D printing system further comprises a variable-amplitude oil cylinder (402), one end of the variable-amplitude oil cylinder (402) is connected with the rotating platform (4012), and the other end is connected with the printing arm (4014).

9. The concrete 3D printing apparatus according to claim 5, characterized in that, The 3D printing system further comprises a track driving mechanism (403), the track driving mechanism (403) comprises a walking wheel motor (4031), a walking driving wheel (4032), a walking gear (4033), a walking wheel (4034) and a stroke encoder (4035), the walking wheel motor (4031) is arranged at the bottom of the seat plate (4011), the walking wheel motor driving end is connected with the walking driving wheel (4032), the walking driving wheel (4032) is engaged with the walking gear (4033), the walking gear (4033) is coaxially connected with the walking wheel (4034), the stroke encoder (4035) is arranged at the end of the walking wheel (4034), and the walking wheel (4034) is arranged to roll on the track (301).

10. The concrete 3D printing apparatus according to claim 5, characterized in that, The track (301) is arranged on a track base (303), the track base (303) is arranged on the vehicle-mounted platform (1), the bottom of the seat plate (4011) is further provided with a connecting frame (304), one end of the connecting frame (304) is provided with a reverse hook wheel (305), and the reverse hook wheel (305) is slidingly connected with the bottom surface of the track base (303) away from one end of the track (301).

11. The concrete 3D printing apparatus according to claim 1, characterized in that, The concrete production system comprises a raw material conveying mechanism (201), an additive conveying mechanism (202) and a stirring mechanism (203), and the raw material outlet of the raw material conveying mechanism (201), the additive outlet of the additive conveying mechanism (202) and the stirring inlet of the stirring mechanism (203) are in communication.

12. The concrete 3D printing device according to claim 11, characterized in that, The raw material conveying mechanism (201) comprises a cement tank (2011), an aggregate tank (2012), an admixture tank (2013) and a screw conveyor (2014), the cement tank outlet, the aggregate tank outlet and the admixture tank outlet are in communication with the screw conveyor inlet, and the screw conveyor outlet is in communication with the stirring inlet.

13. The concrete 3D printing device according to claim 12, characterized in that, The admixture conveying mechanism (202) comprises an admixture tank (2021) and a water tank (2022), and the admixture tank outlet and the water tank outlet are communicated with the stirring inlet.

14. The concrete 3D printing apparatus according to claim 11, characterized in that, The stirring outlet of the stirring mechanism (203) is communicated with the feeding inlet of the 3D printer (401) through a hose.

15. The concrete 3D printing device according to any one of claims 1-14, characterized in that, The vehicle-mounted platform (1) is provided with a power system (8).

16. A method for using a concrete 3D printing device, applied to the concrete 3D printing device of any one of claims 1-15, characterized in that, The method comprises the following steps: Divide the printing area (7) into multiple work sections. A plurality of reference piles (5011) are arranged near the first work section of the printing area (7), and the reference piles (5011) are arranged at equal intervals with the center line of the printing area (7). The reference piles (5011) send pile number information to the control system (6) through the controller (50113) and the signal transceiver antenna (50116). After the control system (6) receives the position pile number information of each reference pile (5011), the equal interval distance between the reference pile (5011) and the center line of the printing area (7) is automatically superimposed through the program, so that the pile number information of the center line of the printing area (7) can be accurately obtained. In addition, the size information or three-dimensional diagram of the printing area (7) is input into the control system (6), so that the position and shape information of the printing area (7) can be accurately determined. The 3D printer (401) performs printing work on the first work section. During the printing process, the 3D printer (401) performs printing work on the first work section. After the printing work of the first work section is completed, the other work sections of the printing area (7) are printed according to the above steps.

17. The method of claim 16, wherein When the 3D printer (401) performs printing work, the vehicle-mounted platform (1) stops at the corresponding work section, or the vehicle-mounted platform (1) moves along the printing direction while performing printing.

18. The method of claim 16, wherein The operator remotely controls the concrete 3D printing equipment to perform printing through the network.

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