3D building printer and control method thereof

Abstract

A kind of 3D building printer and its control method, including base, lifting device, beam device, displacement device, printing nozzle device, concrete feeding device, counterweight and control system, the lifting device, beam device, displacement device are connected with the control system respectively, the lifting device is connected on the upside of the base, the beam device is rotatably connected on the upside of the lifting device, the counterweight is connected to the short arm of the beam device, the displacement device is connected to the long arm of the beam device, the printing nozzle device is slidably connected to the beam device by the displacement device, the concrete feeding device is connected to the input end of the printing nozzle device, and the output end of the printing nozzle device is vertically arranged downward;The design is higher in printing precision, smaller in volume, and it is convenient to add reinforcing steel and other structural reinforcement when printing building.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building manufacturing, and particularly relates to a 3D building printer and a control method thereof. BACKGROUND

[0002] 3D printing is a technology for constructing objects through layer-by-layer printing based on a digital model file. At present, the principle of a 3D printer is to complete an entity prototype layer by layer according to a CAD model (an electronic model). Specifically, the rapid prototyping technology is to discretize a three-dimensional entity model established on a CAD system, divide the height of the entity model into a plurality of thin layers, use the layer information of different heights to control a layer processing equipment to perform layer processing, and stack the thin layers to obtain a three-dimensional model required for processing. In recent years, a 3D building printer as a new device in the field of 3D printing is mainly used for printing different building structures, aiming to improve efficiency and reduce the amount of manual labor. At present, a common 3D building printer is a truss type building printer, which usually uses a rectangular coordinate for positioning. Although the truss type building printer can realize the function of 3D printing and building of a house, the following technical problems still exist.

[0003] 1. For the truss type building printer using a rectangular coordinate for positioning, the rapid prototyping machine of the rectangular coordinate mechanism uses a polygon to approximate a circle and a circular wall when processing a rotary body part, and the more the polygon is divided, the closer to the circle. However, using a straight line to replace a circular arc itself causes distortion of the contour, especially for a thin-walled part with a circular ring cross section, the radii of the inner circle and the outer circle are not much different, thereby causing low printing precision.

[0004] 2. The main body printed by the existing truss type building printer is a building, thereby causing the printer to have a large volume, be inconvenient to transport, and be difficult to hoist.

[0005] 3. The printing space of the existing truss type building 3D printer is closed, and it is inconvenient to add reinforcing members such as steel bars when printing a building. SUMMARY

[0006] The present application aims to overcome the defects and problems of low printing precision, large volume, and inconvenient printing of the existing technology, and to provide a 3D building printer with high printing precision, small volume, and convenient printing, and a control method thereof.

[0007] To achieve the above object, the technical solution of the present application is as follows.

[0008] A 3D building printer comprises a base, a lifting device, a beam device, a displacement device, a printing nozzle device, a concrete feeding device, a counterweight and a control system, the lifting device, the beam device and the displacement device are connected with the control system respectively, the lifting device is connected to the upper side of the base, the beam device is rotatably connected to the upper side of the lifting device, the counterweight is connected to the short arm of the beam device, the displacement device is connected to the long arm of the beam device, the printing nozzle device is slidably connected to the beam device through the displacement device, the concrete feeding device is connected to the input end of the printing nozzle device, and the output end of the printing nozzle device is arranged vertically downward.

[0009] The lifting device is used to realize the extension and contraction of itself and drive the printing nozzle device to move up and down along the vertical direction.

[0010] The beam device is used to drive the printing nozzle device to make circular movement in the horizontal direction along the axis of the lifting device.

[0011] The displacement device is used to drive the printing nozzle device to slide back and forth along the length direction of the beam device.

[0012] The counterweight is used to realize the force balance when the beam device rotates horizontally.

[0013] The concrete feeding device is used to continuously feed the concrete raw materials to the printing nozzle device.

[0014] The printing nozzle device is used to output the concrete raw materials downward and generate 3D building structure.

[0015] The control system is used to control the lifting device to lift, control the beam device to rotate, control the displacement device to work so that the printing nozzle device moves on the displacement device, control the printing nozzle device to output the concrete raw materials, and control the concrete feeding device to continuously feed the concrete raw materials.

[0016] The lifting device comprises a first motor, a first screw rod, a second screw rod, a screw rod sleeve, a top sleeve, a first sleeve, a second sleeve, a third sleeve and a fourth sleeve, upper and lower ends of the screw rod sleeve, the first sleeve, the second sleeve, the third sleeve and the fourth sleeve are open, the second sleeve, the third sleeve and the fourth sleeve are coaxially arranged in turn along the outward direction of the center of the first sleeve, a first top plate is connected to the upper end of the first sleeve, the top sleeve is connected to the upper end of the first top plate, the first motor is connected to the upper end of the first top plate and located in the top sleeve, the upper ends of the second sleeve, the third sleeve and the fourth sleeve are respectively sleeved with a second top plate, a third top plate and a fourth top plate, the second top plate is sleeved on the first sleeve and the upper end face abuts against the lower side of the first top plate, the third top plate is sleeved on the second sleeve and the upper end face abuts against the lower end face of the second top plate, the fourth top plate is sleeved on the third sleeve and the upper end face abuts against the lower end face of the third top plate, the outer peripheral surfaces of the first sleeve, the second sleeve and the third sleeve close to the lower end are respectively sleeved with a first clamping plate, a second clamping plate and a third clamping plate, the outer peripheral surface of the first clamping plate abuts against the inner wall of the second sleeve, the outer peripheral surface of the second clamping plate abuts against the inner wall of the third sleeve, the outer peripheral surface of the third clamping plate abuts against the inner wall of the fourth sleeve, the lower end of the fourth sleeve is connected to the upper side of the base, the output shaft of the first motor is connected with the first screw rod after penetrating through the first top plate, the outer peripheral surface of the first screw rod close to the upper end is threadedly connected with a first screw rod nut, the second screw rod is coaxially connected to the outer side of the first screw rod and the upper end is connected to the lower end of the first screw rod nut, the lower end of the first screw rod is sleeved with a first clamping ring, the outer peripheral surface of the first clamping ring abuts against the inner wall of the second screw rod, the outer peripheral surface of the second screw rod close to the upper end is threadedly connected with a second screw rod nut, the screw rod sleeve is coaxially connected to the outer side of the second screw rod and the upper end is connected to the lower end of the second screw rod nut, the lower end of the second screw rod is sleeved with a second clamping ring, the outer peripheral surface of the second clamping ring abuts against the inner wall of the screw rod sleeve, and the lower end of the screw rod sleeve is fixedly connected with the base after penetrating through the base.

[0017] The crossbeam device comprises a second motor, a printing crossbeam, a rotating sleeve, a rotating shaft, a counterweight crossbeam, the lower end of the rotating sleeve is open, the rotating sleeve is sleeved on the outer surface of the lifting device at the upper end along the axis of the lifting device, bearings are arranged between the inner wall of the rotating sleeve and the outer surface of the lifting device, the rotating shaft is connected to the upper end surface of the lifting device and is coaxially arranged in the rotating sleeve, the second motor is connected to the upper end of the rotating sleeve and the output shaft penetrates through the rotating sleeve and is connected to the upper end of the rotating shaft, the outer surface of the rotating sleeve is symmetrically connected with two mounting plates, mounting grooves are formed on the same side of the two mounting plates, the printing crossbeam and the counterweight crossbeam are connected with connecting plates on one side, the side of the connecting plate is matched with the shape of the mounting groove, and the connecting plate is connected to the mounting plate through bolts.

[0018] The displacement device comprises a third motor, a motor seat, an adjusting support, a sliding rail, a sliding block, a fixed plate, a cover plate and a synchronous belt, the motor seat and the adjusting support are connected to the upper side of the crossbeam device respectively, pulleys are rotatably connected in the motor seat and the adjusting support respectively, the synchronous belt is wound around the outer periphery of the two pulleys, the inner side of the synchronous belt is provided with belt teeth meshing with the gear teeth of the pulleys, the third motor is installed on one side of the motor seat and the output end penetrates through the motor seat and is connected to one end of the pulley, the sliding rail is connected to the upper side of the crossbeam device and is located below the synchronous belt, the sliding block is slidingly connected to the sliding rail and is located outside the synchronous belt, the fixed plate is connected to the upper side of the sliding block through the internal gap of the synchronous belt, the upper side of the fixed plate is provided with a rack meshing with the belt teeth of the synchronous belt, the printing nozzle device is connected to one side of the fixed plate, and the cover plate is abutted to the outer side of the synchronous belt and is buckled to the rack.

[0019] The printing nozzle device comprises a fourth motor, a fixed rod, a connecting rod, a connecting support, a printing head support and a printing barrel, one side of the displacement device is connected with a force sensor, the fixed rod is connected to the lower side of the force sensor, the force sensor is connected with the control system, the connecting support is connected to the lower end of the fixed rod, the connecting rod is detachably connected to the lower side of the connecting support, the printing head support is detachably connected to the lower end of the connecting rod, the printing barrel is connected to the printing head support, the lower end of the printing barrel is open and hollow, the fourth motor is connected to the upper side of the printing barrel and the output shaft penetrates through the printing barrel and is connected with a screw rod, the lower end of the screw rod is flush with the open end of the printing barrel, the outer side of the blade of the screw rod is connected with a stirring frame, and the printing barrel is connected with the output end of the concrete feeding device.

[0020] The force sensor is used for measuring the remaining amount of the concrete raw material in the printing bucket and transmitting the measured data to the control system.

[0021] The concrete feeding device comprises a pump, a feeding pipe, a first support frame and a second support frame, the first support frame is rotationally connected to the short arm of the beam device, the second support frame is connected to the upper side of the displacement device, the force sensors are connected to the first support frame and the second support frame, one end of the feeding pipe is connected to the output end of the pump, the other end of the feeding pipe is connected to the input end of the printing head device, the middle part of the feeding pipe is connected to the two force sensors through the hanging ropes, and the force sensors are connected to the control system.

[0022] The force sensor is used for measuring the remaining amount of the concrete raw material in the printing bucket and transmitting the measured data to the control system.

[0023] The control system comprises a host computer, a motion control card, an angle sensor, a driver and a position sensor, the motion control card is connected to the host computer, and the angle sensor, the driver and the position sensor are connected to the motion control card.

[0024] The host computer is used for outputting motion command information to the motion control card.

[0025] The angle sensor is used for acquiring the current angles of the lifting device, the beam device and the displacement device and sending the current angles to the motion control card.

[0026] The position sensor is used for acquiring the current positions of the lifting device, the beam device and the displacement device and sending the current position information to the motion control card.

[0027] The driver is used for driving the lifting device, the beam device and the displacement device to work.

[0028] The motion control card is used for calculating the position and speed required by the motion track of the printing head device according to the current angles and the current positions, calculating the analog quantity size required by the driver and outputting the analog quantity size to the driver, and comparing the current position with the calculated target position to determine whether the target position is reached.

[0029] A control method of a 3D building printer, the control method comprises the following steps:

[0030] S1, establishing a joint coordinate system of a 3D printing model according to a D.H method to obtain a kinematics equation of the 3D printing model.

[0031] S2, the 3D printing model is sliced by using an adaptive slicing algorithm, the thickness and area of each slice are obtained, the thickness of each layer is taken as the movement height of the lifting device, and the area of each layer is taken as the moving range of the beam device and the displacement device;

[0032] S3, the printing path of the 3D building printer is simulated by using simulation software, and the joint position and joint speed of the 3D building printer are obtained;

[0033] S4, the lifting device is controlled to move upward by the thickness of a slice according to the simulated parameters, then the beam device is controlled to rotate and the displacement device is controlled to move transversely, and the printing head device outputs the concrete raw material according to the simulated printing path, until the model of the layer is printed completely;

[0034] S5, the step S4 is repeated until the 3D printing model is completely printed, the beam device and the displacement device are controlled to return to zero, and then the lifting device is controlled to return to the starting height.

[0035] The step S1 comprises the following steps:

[0036] S11, an X-Y plane rectangular coordinate system is established with the center of the base as the origin, and a three-dimensional coordinate system is constructed with the upward direction of the lifting device as the positive direction of the Z axis;

[0037] S12, the position of the output end of the printing head device is obtained according to a position relationship formula, and the position relationship formula is as follows:

[0038] x0=0;

[0039] y0=0;

[0040] z0=h0;

[0041]

[0042]

[0043] h d =h1-h0;

[0044] Wherein, x0 is the starting horizontal coordinate of the output end of the printing head device, y0 is the starting vertical coordinate of the output end of the printing head device, z0 is the starting vertical coordinate of the output end of the printing head device, h0 is the starting height from the base to the output end of the printing head device, x1 is the horizontal coordinate of the output end of the printing head device moving to the next target point, y1 is the vertical coordinate of the output end of the printing head device moving to the next target point, h1 is the vertical coordinate of the output end of the printing head device moving to the next target point, h d is the target height of the lifting device, θ dFor the target angle of rotation of the beam device, l d For the target distance of movement of the beam device;

[0045] S13, respectively, calculate the motion displacement formula of the lifting device, the beam device, the displacement device, the motion displacement formula is as follows:

[0046]

[0047]

[0048]

[0049] Wherein, a1 is the acceleration of the lifting device, h is the moving height of the lifting device;

[0050]

[0051]

[0052]

[0053] Wherein, a2 is the acceleration of the beam device, theta is the rotation angle of the beam device;

[0054]

[0055]

[0056]

[0057] Wherein, a3 is the acceleration of the displacement device, l is the moving distance of the displacement device.

[0058] The step S2 comprises the following steps:

[0059] S21, through the three-dimensional modeling software to the three-dimensional building entity modeling, and generate STL format file;

[0060] S22, using adaptive slicing algorithm to import the STL format three-dimensional model of the slicing software analysis, and set the initial thickness;

[0061] S23, according to the current initial thickness of the three-dimensional model for simulation slicing, and calculate the cross section area of the first layer of the first layer of the first layer, and then calculate the curvature and curvature change rate;

[0062] S24, comparing the curvature and the curvature change rate of the current slice model with the set curvature and the set curvature change rate, if the current curvature and the current curvature change rate are greater than the set curvature and the set curvature change rate, reducing the initial thickness by one unit of slice thickness, repeating step S23, and continuing to compare the curvature and the curvature change rate of the current slice model with the set curvature and the set curvature change rate, if the current curvature and the current curvature change rate are less than the set curvature and the set curvature change rate, taking the current initial thickness as the slice thickness of the first layer; otherwise, reducing the initial thickness by one unit of slice thickness, and continuing to repeat step S23 and compare the curvature and the curvature change rate of the current slice model with the set curvature and the set curvature change rate until the initial thickness is reduced to the minimum layer thickness, taking the minimum layer thickness as the slice thickness of the first layer;

[0063] If the current curvature and the current curvature change rate are less than the set curvature and the set curvature change rate, increasing the initial thickness by one unit of slice thickness, repeating step S23, and continuing to compare the curvature and the curvature change rate of the current slice model with the set curvature and the set curvature change rate, if the current curvature and the current curvature change rate are greater than the set curvature and the set curvature change rate, taking the last initial thickness as the slice thickness of the first layer; if the current curvature and the current curvature change rate are less than the set curvature and the set curvature change rate, increasing the initial thickness by one unit of slice thickness, and continuing to repeat step S23 and compare the curvature and the curvature change rate of the current slice model with the set curvature and the set curvature change rate until the initial thickness is increased to the maximum layer thickness, taking the maximum layer thickness as the slice thickness of the first layer.

[0064] S25, slicing the three-dimensional model according to the slice thickness in S24 to obtain the first layer, and taking the initial thickness as the slice thickness of the second layer to simulate the second layer, calculating the cross-sectional area of the second bottom layer and the cross-sectional area of the second slice layer, and then calculating the curvature and the curvature change rate, and then repeating step S24 until the last layer of the three-dimensional model is reached.

[0065] Compared with the prior art, the present application has the following advantages:

[0066] 1. The 3D building printer and its control method, through the rotating movement of the beam device, the linear movement of the printing nozzle device along the beam device and the vertical upward movement of the lifting device, a cylindrical coordinate system is formed in space, thereby realizing three-dimensional control of the printing nozzle device; compared with the 3D printing building robot based on the rectangular coordinate system, the trajectory of the printing nozzle can realize a house building structure with higher precision and a circular cross section; and the structure of the cantilever beam is used to obtain a non-closed printing space, which is convenient for adding reinforcing structures such as steel bars during printing building, and the printing effect can be more intuitively observed; the lifting device adopts a telescopic structure, so that the height and volume of the whole printer are greatly reduced, and the transportation and hoisting of the printer are less difficult. Therefore, the present application has high printing precision, small volume and convenient printing.

[0067] 2. The 3D building printer and its control method, by adopting the mode of multi-stage lead screw and multiple sleeve nesting connection, first, the first motor is rotated to drive the first lead screw to rotate, the first lead screw moves upward in the second lead screw, when the first lead screw moves to the top of the second lead screw, the continuous rotation of the first motor drives the first lead screw and the second lead screw to rotate synchronously, so that the first lead screw and the second lead screw move in the lead screw sleeve, and the whole device gradually rises, at the same time, the outermost fourth sleeve is connected with the base, when the first lead screw and the second lead screw move upward, the multiple sleeves rise from inside to outside in turn, so that the rising process of the device is more stable, the structure design of the clamping plate and the top plate is adopted, when the first sleeve rises, the first clamping plate at the bottom of the first sleeve will gradually rise to contact and abut against the second top plate at the top of the second sleeve, when the first sleeve continues to rise, it will drive the second sleeve to rise synchronously, so as to realize the rising of multiple sleeves, compared with the prior art, the nested installation mode is adopted instead of the conventional lifting structure, so that the overall height is greatly reduced, and the use is more convenient, and the transportation is also facilitated. Therefore, the present application has compact structure, small volume and convenient transportation.

[0068] 3. The 3D building printer and its control method, the beam device adopts the design of cantilever beam, through the connection mode of printing beam, rotating sleeve and counterweight beam, the rotating sleeve rotates along the axis of the lifting device, the printing beam and the counterweight beam are connected outside the rotating sleeve to form long and short arms; by setting the mounting plate and the connecting plate, since the mounting groove is formed on the mounting plate, the connecting plate can move in the mounting groove, so that the installation position of the printing beam and the counterweight beam on the mounting plate can be adjusted, so that the printer is more stable during movement; the printing nozzle device moves through the fixed plate, the fixed plate is engaged with the teeth inside the synchronous belt through the rack, so as to realize synchronous movement, the synchronous belt transmission mode is adopted to control the movement of the printing nozzle device, at the same time, the fixed plate slides on the slide rail through the sliding block, so that the movement process is smoother. Therefore, the present application is convenient to use and has high reliability.

[0069] 4. In this invention, a 3D building printer and its control method are provided. A force sensor is installed inside the printing nozzle device. The weight detected by the force sensor determines the remaining amount of concrete in the printing barrel, facilitating the feeding of the concrete by the concrete feeding device. This ensures continuous and stable concrete output, resulting in a uniform printed building structure. The connecting rod and connecting support are detachably connected, allowing adjustment of the overall height of the printing nozzle device. A stirring frame is included, rotating synchronously with the stirring rod to stir the concrete in the printing barrel. The pump outputs concrete raw materials, which are transported to the printing barrel through a conveying pipe. The conveying pipe is connected to the support frame by a rope to ensure smooth material delivery. A force sensor detects the amount of concrete in the conveying pipe, allowing adjustment of the pump's power. Therefore, this invention provides stable movement and high printing quality.

[0070] 5. In this invention, a 3D architectural printer and its control method employ a combination of horizontal rotational motion and horizontal movement. When processing surfaces of revolution, the cross-sectional contour of the part can be completed in one pass, resulting in high printing speed. It can print arbitrary graphic entities composed of curves of revolution and straight lines. Within the same equipment dimensions, the working range of the cylindrical coordinate system becomes very large, and the printing trajectory is a true circle, not an approximate polygon. Simultaneously, the control design is relatively simple. The 3D printing technology using layered software in the cylindrical coordinate system obtains the radius and rotation angle of the cross-section by controlling the parameters of the motor operation. The parameters for controlling the motor operation only require the rotation angle of the crossbeam device and the distance the printing nozzle moves along the printing crossbeam, thus simplifying the control design. Therefore, this invention offers a large printing range and is easy to use. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the structure of the 3D building printer in this invention.

[0072] Figure 2 This is a structural schematic diagram of the lifting device and the base in this invention.

[0073] Figure 3 This is a cross-sectional schematic diagram of the lifting device and the base in this invention.

[0074] Figure 4 yes Figure 3 A schematic diagram of the structure at point A in the middle.

[0075] Figure 5 yes Figure 3 A schematic diagram of the structure at point B.

[0076] Figure 6 yes Figure 3 A schematic diagram of the structure at point C.

[0077] Figure 7 is a partial structure diagram of the first screw rod, the second screw rod and the screw rod sleeve in the application.

[0078] Figure 8 is a structure diagram of the second top plate, the third top plate and the fourth top plate in the application.

[0079] Figure 9 is a structure diagram of the beam device in the application.

[0080] Figure 10 is a structure diagram of the printing beam and the counterweight beam in the application.

[0081] Figure 11 is a cross-sectional view of the rotating sleeve and the mounting plate in the application.

[0082] Figure 12 is a structure diagram of the displacement device in the application.

[0083] Figure 13 is a partial cross-sectional view of the displacement device in the application.

[0084] Figure 14 is a structure diagram of the fixing plate and the sliding block in the application.

[0085] Figure 15 is a structure diagram of the printing head device in the application.

[0086] Figure 16 is a structure diagram of the beam device, the displacement device and the concrete feeding device in the application.

[0087] Figure 17 is a connection diagram of the control system in the application.

[0088] In the figure: lifting device 1, first motor 101, first screw rod 102, second screw rod 103, screw rod sleeve 104, top sleeve 105, first sleeve 106, second sleeve 107, third sleeve 108, fourth sleeve 109, first top plate 110, second top plate 111, third top plate 112, fourth top plate 113, first clamping plate 114, second clamping plate 115, third clamping plate 116, first screw rod nut 117, second screw rod nut 118, first clamping ring 119, second clamping ring 120, nut connecting key 121, nut cover 122, sleeve key 123, base 2, beam device 3, second motor 31, printing beam 32, rotating sleeve 33, rotating shaft 34, counterweight beam 35, bearing 36, mounting plate 37, mounting groove 38, connecting plate 39, displacement device 4, third motor 41, motor seat 42, adjusting support 43, sliding rail 44, sliding block 45, fixed plate 46, cover plate 47, synchronous belt 48, pulley 49, belt teeth 410, rack 411, drag chain 412, printing head device 5, fourth motor 51, fixed rod 52, connecting rod 53, connecting support 54, printing head support 55, printing barrel 56, spiral rod 57, stirring frame 58, concrete feeding device 6, pump 61, feed pipe 62, first support frame 63, second support frame 64, hanging rope 65, counterweight 7, control system 8, upper computer 81, motion control card 82, angle sensor 83, driver 84, position sensor 85, force sensor 9, distribution box 10. DETAILED DESCRIPTION

[0089] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0090] Embodiment 1

[0091] Reference Figures 1 to 17 A 3D building printer, comprising a base 2, a lifting device 1, a beam device 3, a displacement device 4, a printing head device 5, a concrete feeding device 6, a counterweight 7 and a control system 8, the lifting device 1, the beam device 3 and the displacement device 4 are connected with the control system 8 respectively, the lifting device 1 is connected to the upper side of the base 2, the beam device 3 is rotationally connected to the upper side of the lifting device 1, the counterweight 7 is connected to the short arm of the beam device 3, the displacement device 4 is connected to the long arm of the beam device 3, the printing head device 5 is slidingly connected to the beam device 3 through the displacement device 4, the concrete feeding device 6 is connected to the input end of the printing head device 5, and the output end of the printing head device 5 is arranged vertically downward.

[0092] The lifting device 1 is used to realize the extension and contraction of itself and drive the printing head device 5 to move up and down along the vertical direction.

[0093] The beam device 3 is used to drive the printing head device 5 to move horizontally along the axis of the lifting device 1.

[0094] The displacement device 4 is used to drive the printing head device 5 to slide back and forth along the length direction of the beam device 3.

[0095] The counterweight 7 is used to balance the force when the beam device 3 rotates horizontally.

[0096] The concrete feeding device 6 is used to continuously feed the printing head device 5 with concrete raw materials.

[0097] The printing head device 5 is used to output the concrete raw materials downward and generate a 3D building structure.

[0098] The control system 8 is used to control the lifting device 1 to lift and lower, control the beam device 3 to rotate, control the displacement device 4 to work so that the printing head device 5 moves on the displacement device 4, control the printing head device 5 to output the concrete raw materials, and control the concrete feeding device 6 to continuously feed the printing head device 5 with the concrete raw materials.

[0099] A control method of a 3D printer, the control method comprising the following steps:

[0100] S1, according to the D.H method, the center of the base 2 is taken as the origin to establish an X-Y plane rectangular coordinate system, and the upward direction of the lifting device 1 is taken as the positive direction of the Z axis to construct a three-dimensional coordinate system; the position of the output end of the printing head device 5 is obtained according to the position relationship formula, and the position relationship formula is as follows:

[0101] x0=0;

[0102] y0=0;

[0103] z0=h0;

[0104]

[0105]

[0106] h d =h1-h0;

[0107] Wherein, x0 is the initial horizontal coordinate of the output end of the printing head device 5, y0 is the initial vertical coordinate of the output end of the printing head device 5, z0 is the initial vertical coordinate of the output end of the printing head device 5, h0 is the initial height from the output end of the printing head device 5 to the base 2, x1 is the horizontal coordinate of the output end of the printing head device 5 when it moves to the next target point, y1 is the vertical coordinate of the output end of the printing head device 5 when it moves to the next target point, h1 is the vertical coordinate of the output end of the printing head device 5 when it moves to the next target point, and h dθ is a target height of movement of the lifting device 1 d l is a target angle of rotation of the cross beam device 3 d is a target distance of movement of the cross beam device 3

[0108] S13, respectively calculate the motion displacement formula of the lifting device 1, the cross beam device 3 and the displacement device 4, and the motion displacement formula is as follows:

[0109]

[0110]

[0111]

[0112] Wherein, a1 is the acceleration of the lifting device 1, h is the movement height of the lifting device 1

[0113]

[0114]

[0115]

[0116] Wherein, a2 is the acceleration of the cross beam device 3, and θ is the rotation angle of the cross beam device 3

[0117]

[0118]

[0119]

[0120] Wherein, a3 is the acceleration of the displacement device 4, and l is the movement distance of the displacement device 4

[0121] S2, the three-dimensional building is modeled by three-dimensional modeling software, and an STL format file is generated; the three-dimensional model imported into the slicing software is analyzed by using adaptive slicing algorithm, and the initial thickness is set, and the thickness of each layer is taken as the movement height of the lifting device 1, and the area of each layer is taken as the movement range of the cross beam device 3 and the displacement device 4,

[0122] According to the current initial thickness, the three-dimensional model is simulated and sliced, and the cross-sectional area of the bottom layer and the cross-sectional area of the first slicing layer are calculated, and then the curvature and the curvature change rate are calculated;

[0123] The curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature. If the current curvature and rate of change of curvature are greater than the set curvature and rate of change of curvature, the initial thickness is reduced by one unit of slice thickness. Step S23 is repeated, and the curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature. If the current curvature and rate of change of curvature are less than the set curvature and rate of change of curvature, the current initial thickness is used as the slice thickness of the first layer. Otherwise, the initial thickness is reduced by one unit of slice thickness, and step S23 is repeated, and the curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature, until the initial thickness is reduced to the minimum layer thickness. The minimum layer thickness is then used as the slice thickness of the first layer.

[0124] If the current curvature and rate of change of curvature are less than the set curvature and rate of change of curvature, the initial thickness is increased by one unit of slice thickness, step S23 is repeated, and the curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature. If the current curvature and rate of change of curvature are greater than the set curvature and rate of change of curvature, the previous initial thickness is used as the slice thickness of the first layer. If the current curvature and rate of change of curvature are less than the set curvature and rate of change of curvature, the initial thickness is increased by one unit of slice thickness, and step S23 is repeated, and the curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature, until the initial thickness is increased to the maximum layer thickness, and the maximum layer thickness is used as the slice thickness of the first layer.

[0125] The three-dimensional model is sliced ​​into the first layer according to the slicing thickness in the above steps. At the same time, the initial thickness is used as the slicing thickness of the second layer. The model in the second layer is simulated and sliced. The cross-sectional area of ​​the second bottom layer and the cross-sectional area of ​​the second slice layer are calculated. The curvature and the rate of change of curvature are then calculated. The above steps are repeated until the last layer of the three-dimensional model is reached.

[0126] S3. Simulate the printing path of the 3D printer using simulation software to obtain physical parameters such as joint position and joint speed of the 3D printer.

[0127] S4. The control system 8 controls the lifting device 1 to move upward by the thickness of one slice according to the simulated parameters. Then, the control system 8 controls the beam device 3 to rotate and the displacement device 4 to move laterally. The control system 8 controls the printing nozzle device 5 to output concrete raw materials according to the simulated printing path until the model of that layer is printed.

[0128] S5, repeat step S4 until the 3D model is completely printed. Control system 8 controls the beam device 3 and displacement device 4 to return to zero. Then control system 8 controls the lifting device 1 to return to the starting height.

[0129] Example 2:

[0130] The basic content is equivalent to Example 1, except that:

[0131] See Figures 2 to 8The lifting device 1 comprises a first motor 101, a first screw rod 102, a second screw rod 103, a screw rod sleeve 104, a top sleeve 105, a first sleeve 106, a second sleeve 107, a third sleeve 108 and a fourth sleeve 109, the upper and lower ends of the screw rod sleeve 104, the first sleeve 106, the second sleeve 107, the third sleeve 108 and the fourth sleeve 109 are open, the second sleeve 107, the third sleeve 108 and the fourth sleeve 109 are coaxially arranged in turn along the outward direction of the center of the first sleeve 106, the upper end of the first sleeve 106 is connected with a first top plate 110, the screw rod sleeve 104 is connected to the upper end of the first top plate 110, the first motor 101 is connected to the upper end of the first top plate 110 and located in the screw rod sleeve 104, the upper ends of the second sleeve 107, the third sleeve 108 and the fourth sleeve 109 are respectively sleeved with a second top plate 111, a third top plate 112 and a fourth top plate 113, the second top plate 111 is sleeved on the first sleeve 106 and the upper end face abuts against the lower side of the top plate, the third top plate 112 is sleeved on the second sleeve 107 and the upper end face abuts against the lower end face of the second top plate 111, the fourth top plate 113 is sleeved on the third sleeve 108 and the upper end face abuts against the lower end face of the third top plate 112, the outer circumferential surface of the first sleeve 106, the second sleeve 107 and the third sleeve 108 close to the lower end is respectively sleeved with a first clamping plate 114, a second clamping plate 115 and a third clamping plate 116, the outer circumferential surface of the first clamping plate 114 abuts against the inner wall of the second sleeve 107, the outer circumferential surface of the second clamping plate 115 abuts against the inner wall of the third sleeve 108, the outer circumferential surface of the third clamping plate 116 abuts against the inner wall of the fourth sleeve 109, the lower end of the fourth sleeve 109 is connected to the upper side of the base 2, the output shaft of the first motor 101 is connected with the first screw rod 102 after penetrating through the first top plate 110, the outer circumferential surface of the first screw rod 102 close to the upper end is threadedly connected with a first screw rod nut 117, the second screw rod 103 is coaxially connected to the outer side of the first screw rod 102 and the upper end is connected to the lower end of the first screw rod nut 117, the lower end of the first screw rod 102 is sleeved with a first clamping ring 119, the outer circumferential surface of the first clamping ring 119 abuts against the inner wall of the second screw rod 103, the outer circumferential surface of the second screw rod 103 close to the upper end is threadedly connected with a second screw rod nut 118, the screw rod sleeve 104 is coaxially connected to the outer side of the second screw rod 103 and the upper end is connected to the lower end of the second screw rod nut 118, the lower end of the second screw rod 103 is sleeved with a second clamping ring 120, the outer circumferential surface of the second clamping ring 120 abuts against the inner wall of the screw rod sleeve 104, the lower end of the screw rod sleeve 104 is fixedly connected with the base 2 after penetrating through the base 2.

[0132] Example 3:

[0133] The basic content is the same as in Example 1, except that:

[0134] See Figures 9 to 11 The crossbeam device 3 includes a second motor 31, a printing crossbeam 32, a rotating sleeve 33, a rotary shaft 34, and a counterweight crossbeam 35. The lower end of the rotating sleeve 33 is open. The rotating sleeve 33 is sleeved on the outer peripheral surface of the upper end of the lifting device 1 along the axis of the lifting device 1. A bearing 36 is provided between the inner wall of the rotating sleeve 33 and the outer peripheral surface of the lifting device 1. The rotary shaft 34 is connected to the upper end surface of the lifting device 1 and is coaxially arranged inside the rotating sleeve 33. The motor 31 is connected to the upper end of the rotating sleeve 33, and the output shaft passes through the rotating sleeve 33 and is connected to the upper end of the rotary shaft 34. Two mounting plates 37 are symmetrically connected to the outer circumference of the rotating sleeve 33. Mounting grooves 38 are provided on the same side of the two mounting plates 37. One side of the printing beam 32 and the counterweight beam 35 are connected to a connecting plate 39. One side of the connecting plate 39 matches the shape of the mounting groove 38. The connecting plate 39 is connected to the mounting plate 37 by bolts.

[0135] Example 4:

[0136] The basic content is the same as in Example 1, except that:

[0137] See Figures 12 to 14 The displacement device 4 includes a third motor 41, a motor base 42, an adjusting support 43, a slide rail 44, a slider 45, a fixing plate 46, a cover plate 47, and a synchronous belt 48. The motor base 42 and the adjusting support 43 are respectively connected to the upper side of the crossbeam device 3. Pulleys 49 are rotatably connected inside the motor base 42 and the adjusting support 43. The synchronous belt 48 is wound around the outer circumference of the two pulleys 49. The inner side of the synchronous belt 48 is provided with belt teeth 410 that mesh with the gear teeth of the pulleys 49. The third motor 41 is installed on one side of the motor base 42 and its output end passes through the motor base 42. The slide rail 44 is connected to the upper side of the crossbeam 3 and located below the synchronous belt 48. The slider 45 is slidably connected to the slide rail 44 and located outside the synchronous belt 48. The fixing plate 46 passes through the internal gap of the synchronous belt 48 and is connected to the upper side of the slider 45. The upper side of the fixing plate 46 is provided with a rack 411 that meshes with the teeth of the synchronous belt 48. The print head device 5 is connected to one side of the fixing plate 46. The cover plate 47 abuts against the outer side of the synchronous belt 48 and is fastened to the rack 411. The displacement device 4 is also provided with a drag chain 412, one end of which is fixedly installed on the printing crossbeam 32 and the other end is connected to the fixing plate 46.

[0138] Example 5:

[0139] The basic content is equivalent to example 1, except that:

[0140] Referring to Figure 15 , the printing head device 5 comprises a fourth motor 51, a fixed rod 52, a connecting rod 53, a connecting support 54, a printing head support 55, and a printing barrel 56. One side of the displacement device 4 is connected with a force sensor 9. The fixed rod 52 is connected to the lower side of the force sensor 9. The force sensor 9 is connected with the control system 8. The connecting support 54 is connected to the lower end of the fixed rod 52. The connecting rod 53 is detachably connected to the lower side of the connecting support 54. The printing head support 55 is detachably connected to the lower end of the connecting rod 53. The printing barrel 56 is connected to the printing head support 55. The lower end of the printing barrel 56 is open and hollow. The fourth motor 51 is connected to the upper side of the printing barrel 56, and the output shaft of the fourth motor 51 is connected with a screw rod 57 after penetrating through the printing barrel 56. The lower end of the screw rod 57 is flush with the open end of the printing barrel 56. The outer side of the blade of the screw rod 57 is connected with a stirring frame 58. The printing barrel 56 is in communication with the output end of the concrete feeding device 6.

[0141] The force sensor 9 is used for measuring the remaining amount of the concrete raw material in the printing barrel 56 and transmitting the measured data to the control system 8.

[0142] Example 6:

[0143] The basic content is equivalent to example 1, except that:

[0144] Referring to Figure 16 , the concrete feeding device 6 comprises a pump 61, a feeding pipe 62, a first support frame 63, and a second support frame 64. The first support frame 63 is rotationally connected to the short arm of the beam device 3. The second support frame 64 is connected to the upper side of the displacement device 4. The first support frame 63 and the second support frame 64 are both connected with a force sensor 9. One end of the feeding pipe 62 is connected to the output end of the pump 61. The other end of the feeding pipe 62 is in communication with the input end of the printing head device 5. The middle part of the feeding pipe 62 is connected with two force sensors 9 through a hanging rope 65. The force sensor 9 is connected with the control system 8.

[0145] The force sensor 9 is used for measuring the remaining amount of the concrete raw material in the feeding pipe 62 and transmitting the measured data to the control system 8.

[0146] The control system 8 comprises a host computer 81, a motion control card 82, an angle sensor 83, a driver 84 and a position sensor 85, the motion control card 82 is connected with the host computer 81, the angle sensor 83, the driver 84 and the position sensor 85 are connected with the motion control card 82 respectively,

[0147] The host computer 81 is used for outputting motion command information to the motion control card 82.

[0148] The angle sensor 83 is used for acquiring the current angle of the lifting device 1, the beam device 3 and the displacement device 4 and sending the current angle to the motion control card 82.

[0149] The position sensor 85 is used for acquiring the current position of the lifting device 1, the beam device 3 and the displacement device 4 and sending the current position information to the motion control card 82.

[0150] The driver 84 is used for driving the lifting device 1, the beam device 3 and the displacement device 4 to work respectively.

[0151] The motion control card 82 is used for calculating the position and speed required by the motion track of the printing nozzle device 5 through the current angle and the current position, calculating the analog quantity size required to be output to the driver 84 and outputting to the driver 84, and comparing the current position with the calculated target position to judge whether the target position is reached.

[0152] The application also comprises a distribution box 10, the 3D building printer is powered through the distribution box 10, the outer periphery of the first screw nut 117 and the second screw 103 is provided with a key groove, the key groove is provided with a nut connecting key 121, the outer periphery of the first screw nut 117 and the second screw 103 is provided with a nut cover 122, the outer periphery of the second screw nut 118 and the screw sleeve 104 is provided with a key groove, the key groove is provided with a nut connecting key 121, the outer periphery of the second screw nut 118 and the screw sleeve 104 is provided with a key groove, the inner wall of the second top plate 111, the third top plate 112 and the fourth top plate 113 is provided with a sliding groove in the vertical direction, the outer periphery of the first sleeve 106, the second sleeve 107 and the third sleeve 108 is connected with a sleeve key 123 in the vertical direction, the three sleeve keys 123 are located in the three sliding grooves respectively, when the first sleeve 106 moves upwards, the outer sleeve key 123 slides upwards in the sliding groove on the second top plate 111, when the second sleeve 107 moves upwards, the outer sleeve key 123 slides upwards in the sliding groove on the third top plate 112, when the third sleeve 108 moves upwards, the outer sleeve key 123 slides upwards in the sliding groove on the third top plate 113, the sleeve key 123 bears the limiting function to ensure that the relative rotation between the sleeves does not occur.

Claims

1. A control method for a 3D architectural printer, characterized in that: The 3D building printer includes a base (2), a lifting device (1), a crossbeam device (3), a displacement device (4), a printing nozzle device (5), a concrete feeding device (6), a counterweight (7), and a control system (8). The lifting device (1), the crossbeam device (3), and the displacement device (4) are respectively connected to the control system (8). The lifting device (1) is connected to the upper side of the base (2). The crossbeam device (3) is rotatably connected to the upper side of the lifting device (1). The counterweight (7) is connected to the short arm of the crossbeam device (3). The displacement device (4) is connected to the long arm of the crossbeam device (3). The printing nozzle device (5) is slidably connected to the crossbeam device (3) through the displacement device (4). The concrete feeding device (6) is connected to the input end of the printing nozzle device (5). The output end of the printing nozzle device (5) is arranged vertically downward. The lifting device (1) includes a first motor (101), a first lead screw (102), a second lead screw (103), a lead screw sleeve (104), a top sleeve (105), a first sleeve (106), a second sleeve (107), a third sleeve (108), and a fourth sleeve (109). The upper and lower ends of the lead screw sleeves (104), (106), (107), (108), and (109) are all open. The second sleeve (107), third sleeve (108), and fourth sleeve (109) are coaxially arranged sequentially outward from the center of the first sleeve (106). The upper end of the first sleeve (106) is connected to a first top plate. 110), the top sleeve (105) is connected to the upper end of the first top plate (110), the first motor (101) is connected to the upper end of the first top plate (110) and is located inside the top sleeve (105), the upper ends of the second sleeve (107), the third sleeve (108), and the fourth sleeve (109) are respectively fitted with the second top plate (111), the third top plate (112), and the fourth top plate (113), the second top plate (111) is fitted on the first sleeve (106) and its upper end face abuts against the lower side of the first top plate (110), the third top plate (112) is fitted on the second sleeve (107) and its upper end face abuts against the lower end of the second top plate (111). The fourth top plate (113) is sleeved on the third sleeve (108) and its upper end face abuts against the lower end face of the third top plate (112). The outer peripheral surfaces of the first sleeve (106), second sleeve (107), and third sleeve (108) near their lower ends are respectively fitted with a first retaining plate (114), a second retaining plate (115), and a third retaining plate (116). The outer peripheral surface of the first retaining plate (114) abuts against the inner wall of the second sleeve (107), the outer peripheral surface of the second retaining plate (115) abuts against the inner wall of the third sleeve (108), and the outer peripheral surface of the third retaining plate (116) abuts against the inner wall of the fourth sleeve (109). The lower end of the fourth sleeve (109) is connected to... On the upper side of the base (2), the output shaft of the first motor (101) passes through the first top plate (110) and is connected to the first lead screw (102). The outer peripheral surface of the first lead screw (102) near its upper end is threaded with a first lead screw nut (117). The second lead screw (103) is coaxially connected to the outside of the first lead screw (102) and its upper end is connected to the lower end of the first lead screw nut (117). The lower end of the first lead screw (102) is fitted with a first retaining ring (119). The outer peripheral surface of the first retaining ring (119) abuts against the inner wall of the second lead screw (103). The outer peripheral surface of the second lead screw (103) near its upper end is threaded with a second lead screw nut (118).The lead screw sleeve (104) is coaxially connected to the outside of the second lead screw (103) and its upper end is connected to the lower end of the second lead screw nut (118). A second retaining ring (120) is sleeved on the lower end of the second lead screw (103). The outer circumferential surface of the second retaining ring (120) abuts against the inner wall of the lead screw sleeve (104). The lower end of the lead screw sleeve (104) passes through the base (2) and is fixedly connected to the base (2). The inner walls of the second top plate (111), the third top plate (112), and the fourth top plate (113) are all provided with grooves in the vertical direction. The outer circumferential surfaces of the first sleeve (106), the second sleeve (107), and the third sleeve (108) are connected with sleeve keys (123) in the vertical direction. The three sleeve keys (123) are located in the three grooves respectively. The control method includes the following steps: S1. Based on the DH method, establish an XY plane rectangular coordinate system with the center of the base (2) as the origin, and construct a three-dimensional coordinate system with the upward direction of the lifting device (1) as the positive direction of the Z axis. Obtain the position of the output end of the printing nozzle device (5) according to the positional relationship formula, which is as follows: ； ； ； ； ； ； in, The starting horizontal coordinate of the output end of the print head device (5) is given. The starting ordinate of the output end of the printhead assembly (5) is given. The starting vertical coordinate of the output end of the print head device (5) is given. The starting height from the output end of the printhead assembly (5) to the base (2) is... The x-coordinate of the output end of the print head device (5) is used to move to the next target point. The vertical coordinate of the output end of the print head device (5) moving to the next target point. The vertical coordinate of the output end of the print head device (5) moving to the next target point. The target height for the movement of the lifting device (1) The target angle for the rotation of the beam assembly (3) is... The target distance for the movement of the crossbeam device (3); The motion displacement formulas for the lifting device (1), the crossbeam device (3), and the displacement device (4) are calculated separately. The motion displacement formulas are as follows: ； ； ； in, The acceleration of the lifting device (1) The moving height of the lifting device (1); ； ； ； in, The acceleration of the beam assembly (3) The rotation angle of the crossbeam device (3); ； ； ； in, The acceleration of the displacement device (4) The distance traveled by the displacement device (4); S2. The 3D printed model is sliced ​​into multiple layers using an adaptive slicing algorithm to obtain the thickness and area of ​​each slice. The thickness of each layer is used as the movement height of the lifting device (1), and the area of ​​each layer is used as the movement range of the beam device (3) and the displacement device (4). S3. Simulate the printing path of the 3D building printer using simulation software to obtain the joint position and joint speed of the 3D building printer. S4. The control system (8) controls the lifting device (1) to move the thickness of one slice upward according to the simulated parameters. Then the control system (8) controls the beam device (3) to rotate and the displacement device (4) to move laterally. The control system (8) controls the printing nozzle device (5) to output concrete raw materials according to the simulated printing path until the model of the layer is printed. S5, repeat step S4 until the 3D printed model is completely printed. The control system (8) controls the beam device (3) and displacement device (4) to return to zero. Then the control system (8) controls the lifting device (1) to return to the starting height.

2. The control method for a 3D architectural printer according to claim 1, characterized in that: The crossbeam device (3) includes a second motor (31), a printing crossbeam (32), a rotating sleeve (33), a rotating shaft (34), and a counterweight crossbeam (35). The lower end of the rotating sleeve (33) is open. The rotating sleeve (33) is sleeved on the outer circumferential surface of the upper end of the lifting device (1) along the axis of the lifting device (1). A bearing (36) is provided between the inner wall of the rotating sleeve (33) and the outer circumferential surface of the lifting device (1). The rotating shaft (34) is connected to the upper end surface of the lifting device (1) and is coaxially arranged inside the rotating sleeve (33). Two motors (31) are connected to the upper end of the rotating sleeve (33), and the output shaft passes through the rotating sleeve (33) and is connected to the upper end of the rotary shaft (34). Two mounting plates (37) are symmetrically connected to the outer circumference of the rotating sleeve (33). Mounting grooves (38) are provided on the same side of the two mounting plates (37). One side of the printing beam (32) and the counterweight beam (35) are connected to a connecting plate (39). One side of the connecting plate (39) matches the shape of the mounting groove (38). The connecting plate (39) is connected to the mounting plate (37) by bolts.

3. The control method for a 3D architectural printer according to claim 1, characterized in that: The displacement device (4) includes a third motor (41), a motor base (42), an adjusting support (43), a slide rail (44), a slider (45), a fixing plate (46), a cover plate (47), and a synchronous belt (48). The motor base (42) and the adjusting support (43) are respectively connected to the upper side of the crossbeam device (3). Each of the motor base (42) and the adjusting support (43) is rotatably connected to a pulley (49). The synchronous belt (48) is wound around the outer circumference of the two pulleys (49). The inner side of the synchronous belt (48) is provided with belt teeth (410) that mesh with the gear teeth of the pulleys (49). The third motor (41) is installed on one side of the motor base (42) and its output end passes through the motor base (44). 2) The slide rail (44) is connected to one end of the pulley (49), and the slide rail (44) is connected to the upper side of the crossbeam device (3) and located below the synchronous belt (48). The slider (45) is slidably connected to the slide rail (44) and located outside the synchronous belt (48). The fixing plate (46) passes through the internal gap of the synchronous belt (48) and is connected to the upper side of the slider (45). The upper side of the fixing plate (46) is provided with a rack (411) that meshes with the teeth (410) of the synchronous belt (48). The print head device (5) is connected to one side of the fixing plate (46). The cover plate (47) abuts against the outer side of the synchronous belt (48) and is fastened to the rack (411).

4. The control method for a 3D architectural printer according to claim 1, characterized in that: The printhead assembly (5) includes a fourth motor (51), a fixed rod (52), a connecting rod (53), a connecting support (54), a printhead support (55), and a print barrel (56). A force sensor (9) is connected to one side of the displacement device (4). The fixed rod (52) is connected to the lower side of the force sensor (9). The force sensor (9) is connected to the control system (8). The connecting support (54) is connected to the lower end of the fixed rod (52). The connecting rod (53) is detachably connected to the lower side of the connecting support (54). The printhead support (56) is... 5) The printing barrel (56) is detachably connected to the lower end of the connecting rod (53), and is connected to the print head support (55). The lower end of the printing barrel (56) is open and hollow inside. The fourth motor (51) is connected to the upper side of the printing barrel (56), and the output shaft passes through the printing barrel (56) and is connected to the screw rod (57). The lower end of the screw rod (57) is flush with the open end of the printing barrel (56). The outer side of the blade of the screw rod (57) is connected to the stirring frame (58). The printing barrel (56) is connected to the output end of the concrete feeding device (6). The force sensor (9) is used to measure the remaining amount of concrete material in the printing bucket (56) and transmit the measured data to the control system (8).

5. The control method for a 3D architectural printer according to claim 1, characterized in that: The concrete feeding device (6) includes a pump (61), a conveying pipe (62), a first support frame (63), and a second support frame (64). The first support frame (63) is rotatably connected to the short arm of the crossbeam device (3), and the second support frame (64) is connected to the upper side of the displacement device (4). Force sensors (9) are connected to both the first support frame (63) and the second support frame (64). One end of the conveying pipe (62) is connected to the output end of the pump (61), and the other end of the conveying pipe (62) is connected to the input end of the printing nozzle device (5). The middle part of the conveying pipe (62) is connected to two force sensors (9) respectively through a hanging rope (65). The force sensors (9) are connected to the control system (8). The force sensor (9) is used to measure the remaining amount of concrete raw materials in the conveying pipe (62) and transmit the measured data to the control system (8).

6. The control method for a 3D architectural printer according to claim 1, characterized in that: The control system (8) includes a host computer (81), a motion control card (82), an angle sensor (83), a driver (84), and a position sensor (85). The motion control card (82) is connected to the host computer (81), and the angle sensor (83), driver (84), and position sensor (85) are respectively connected to the motion control card (82). The host computer (81) is used to output motion command information to the motion control card (82); The angle sensor (83) is used to acquire the current angle of the lifting device (1), the beam device (3), and the displacement device (4), and send the current angle to the motion control card (82); The position sensor (85) is used to obtain the current position of the lifting device (1), the beam device (3), and the displacement device (4), and send the current position information to the motion control card (82); The driver (84) is used to drive the lifting device (1), the beam device (3), and the displacement device (4) to work respectively; The motion control card (82) is used to calculate the position and speed required for the motion trajectory of the print head device (5) by the current angle and current position; calculate the analog quantity that needs to be output to the driver (84) and output it to the driver (84); compare the current position with the calculated target position to determine whether the target position has been reached.

7. The control method for a 3D architectural printer according to claim 1, characterized in that: Step S2 includes the following steps: S21. Create a solid model of the 3D building using 3D modeling software and generate an STL file. S22. The adaptive slicing algorithm is used to analyze the 3D model in STL format imported into the slicing software, and the initial thickness is set. S23. Simulate slicing of the 3D model according to the current initial thickness, calculate the cross-sectional area of ​​the bottom layer and the cross-sectional area of ​​the first slice layer, and then calculate the curvature and the rate of change of curvature. S24. Compare the curvature and curvature change rate of the current slice model with the set curvature and curvature change rate. If the current curvature and curvature change rate are greater than the set curvature and curvature change rate, reduce the initial thickness by one unit slice thickness, repeat step S23, and continue to compare the curvature and curvature change rate of the current slice model with the set curvature and curvature change rate. If the current curvature and curvature change rate are less than the set curvature and curvature change rate, use the current initial thickness as the slice thickness of the first layer; otherwise, reduce the initial thickness by one unit slice thickness, and continue to repeat step S23 and compare the curvature and curvature change rate of the current slice model with the set curvature and curvature change rate until the initial thickness is reduced to the minimum layer thickness, and use the minimum layer thickness as the slice thickness of the first layer. If the current curvature and rate of change of curvature are less than the set curvature and rate of change of curvature, the initial thickness is increased by one unit of slice thickness, step S23 is repeated, and the curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature. If the current curvature and rate of change of curvature are greater than the set curvature and rate of change of curvature, the previous initial thickness is used as the slice thickness of the first layer. If the current curvature and rate of change of curvature are less than the set curvature and rate of change of curvature, the initial thickness is increased by one unit of slice thickness, and step S23 is repeated, and the curvature and rate of change of curvature of the current slice model are compared with the set curvature and rate of change of curvature, until the initial thickness is increased to the maximum layer thickness, and the maximum layer thickness is used as the slice thickness of the first layer. S25. Slice the three-dimensional model into the first layer according to the slice thickness in S24. At the same time, use the initial thickness as the slice thickness of the second layer to simulate slicing the model in the second layer. Calculate the cross-sectional area of ​​the second bottom layer and the cross-sectional area of ​​the second slice layer. Then calculate the curvature and the rate of change of curvature. Repeat step S24 until the last layer of the three-dimensional model is reached.

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