A device and method for automatically and continuously reinforcing 3D printed concrete

Abstract

The application provides a kind of 3D printing concrete automatic continuous reinforcement device and method, it is related to additive manufacturing technical field, the device includes main frame, slurry extrusion mechanism, reinforcement mechanism, concrete mixer and control system, slurry extrusion mechanism prints according to the printing path of building to be printed, and when reinforcement is needed in printing process, reinforcement mechanism clamps and releases steel bar, inserts steel bar into the position to be reinforced, printing and reinforcement are carried out simultaneously, continuous reinforcement in printing process is realized.The beneficial effects of the application: solve the problem of continuous reinforcement in the process of 3D printing concrete building, printing and reinforcement do not interfere with each other, the printing process is stable, the position of reinforcement can be flexibly adjusted according to actual needs, the efficiency of printing and reinforcement can be improved, and it can be suitable for the arrangement of various steel bars at the same time, with the advantages of simple structure, easy installation and maintenance, high printing efficiency and reinforcement efficiency.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing technology, and in particular to an automatic continuous reinforcement device and method for 3D printed concrete. Background Technology

[0002] With the maturation and in-depth research of 3D printing technology, concrete 3D printing technology can now print concrete products and structures, including low-rise buildings. However, in the process of 3D printing concrete, the slurry is built up layer by layer. The shear and tensile stress transfer mechanism between the printed concrete layers is complex, and the bonding strength and toughness of the interfaces between different concrete slurry layers vary, resulting in relatively weak strength and significant anisotropy. When the contact surfaces between layers are subjected to external forces, adjacent layers may crack or shear fracture, leading to damage or collapse of the building and posing safety hazards.

[0003] Currently, the primary method for reinforcing concrete is to use steel bars to create a mold framework, then pour concrete and allow it to solidify to form reinforced concrete, thereby achieving extremely high strength. However, for 3D-printed concrete, the placement of the steel bars during the printing process is a significant challenge. Even when the steel bars are embedded in the printed concrete, it is crucial to maintain proper spacing, depth, and perpendicularity to prevent stress concentration in certain areas that could negatively impact overall performance. Simultaneously, the steel bars and concrete slurry need to maintain a tight bond to ensure sufficient adhesion, improve the mechanical properties between layers, and ultimately enhance the overall interlayer mechanical properties and toughness of the printed concrete. Therefore, existing technologies cannot substantially solve these problems, and thus cannot significantly improve the interlayer mechanical properties and toughness of 3D-printed concrete.

[0004] For example, Chinese patent application CN109366684A discloses a 3D printing device and method for constructing an automatic reinforcement system. Although it can achieve reinforcement placement in 3D printed concrete, the device cannot place reinforcement simultaneously with the concrete printing process, resulting in low efficiency. Furthermore, it does not consider the hardening of the printed concrete, leading to difficulties in reinforcement placement. Moreover, the device has a complex structure, a small printable area, and cannot print larger samples.

[0005] Chinese patent application CN110193871A discloses an automatic nailing system for U-shaped nails in concrete 3D printing. The device can print reinforcement while simultaneously printing it. However, the device relies on the impact of a striker to drive the reinforcement into the concrete, which may result in uneven reinforcement placement and the reinforcement not being inserted vertically into the concrete. Furthermore, the device is only applicable to U-shaped nails, and its scope of application is relatively narrow.

[0006] Chinese patent application CN116945320A discloses an intelligent integrated device and printing method for 3D printing continuous reinforcement in concrete. The device can print reinforcement simultaneously, but it prints one layer before laying the reinforcement, and requires the participation of a mechanical gripper and an intelligent camera. The design is relatively complex, the cost is high, the printable range is small, and it cannot print large samples.

[0007] In summary, existing 3D printing continuous reinforcement devices for concrete mainly consist of integrated devices and devices that add reinforcement after printing. Integrated devices are difficult to clean and maintain; disassembling the device is troublesome after the extrusion head is blocked; and the types of reinforcement added are limited, making it difficult to change the type of reinforcement. Devices that add reinforcement after printing have low forming and reinforcement efficiency; after printing, the concrete hardens to some extent, which may lead to difficulties in reinforcement; the device structure is complex, and manual assembly is required after printing and reinforcement, resulting in low efficiency and making it unsuitable for printing large specimens. Summary of the Invention

[0008] In view of this, in order to solve the problem of continuous reinforcement in the process of 3D printing concrete buildings, embodiments of the present invention provide an automatic continuous reinforcement device and method for 3D printed concrete.

[0009] An embodiment of the present invention provides a 3D-printed concrete automatic continuous reinforcement device, comprising: The main frame includes four Z-axis support columns, two Y-axis fixed crossbeams, two first X-axis movable crossbeams, a second X-axis movable crossbeam, and a Y-axis movable crossbeam. The four Z-axis support columns are arranged in a rectangle. Each Y-axis fixed crossbeam is connected to the upper ends of the two Z-axis support columns at both ends. Each first X-axis movable crossbeam is slidably connected to the two support columns at both ends and can slide along the Z-axis. Each Y-axis movable crossbeam is slidably connected to the two first X-axis movable crossbeams at both ends and can slide along the X-axis. Each second X-axis movable crossbeam is slidably connected to the two Y-axis fixed crossbeams at both ends and can slide along the Y-axis. A slurry extrusion mechanism includes a concrete extrusion head, a first drive assembly, a second drive assembly, and a third drive assembly. The concrete extrusion head is slidably mounted on a Y-axis movable crossbeam. The first drive assembly is mounted on the concrete extrusion head and can drive the concrete extrusion head to slide along the Y-axis. The second drive assembly is mounted on the end of the Y-axis movable crossbeam and connected to the first X-axis movable crossbeam to drive the Y-axis movable crossbeam to slide along the X-axis. The third drive assembly connects two first X-axis movable crossbeams to drive the two first X-axis movable crossbeams to slide along the Z-axis. The system also includes a reinforcement mechanism comprising a mounting plate, a robotic arm, a clamping component, a fourth drive assembly, a fifth drive assembly, and a sixth drive assembly. The robotic arm is slidably mounted on the mounting plate along the Z-axis. The clamping component is mounted on the lower end of the robotic arm. The mounting plate is slidably mounted on the second X-axis movable crossbeam along the X-axis. The fourth drive assembly is connected to the robotic arm to drive it to slide along the Z-axis. The fifth drive assembly is connected to the second X-axis movable crossbeam to drive the mounting plate to slide along the X-axis. The sixth drive assembly is mounted on the end of the second X-axis movable crossbeam and connected to the Y-axis fixed crossbeam to drive the second X-axis movable crossbeam to slide along the Y-axis.

[0010] Furthermore, the clamping component includes a reversing electric cylinder, a first gripper, and a second gripper. The reversing electric cylinder is fixed to the lower end of the robotic arm. The first gripper and the second gripper are vertically arranged and both are connected to the reversing electric cylinder. Both the first gripper and the second gripper have two semi-cylindrical clamping surfaces. The axis of the clamping surface of the first gripper is vertically arranged, and the axis of the clamping surface of the second gripper is horizontally arranged.

[0011] Furthermore, the clamping member also includes a first distance sensor and a second distance sensor, wherein the first distance sensor is used to measure the distance from the first gripper to the front printing layer, and the second distance sensor is used to measure the distance from the second distance sensor to the front printing layer.

[0012] Furthermore, the mounting plate is slidably mounted on the second X-axis movable crossbeam via a first pulley, and the concrete extrusion head is slidably mounted on the Y-axis movable crossbeam via a second pulley; both ends of the Y-axis movable crossbeam are provided with first sliders, and the two first sliders are locked on the two first X-axis movable crossbeams and can slide; both ends of the second X-axis movable crossbeam are provided with second sliders, and the two second sliders are locked on the two Y-axis fixed crossbeams and can slide.

[0013] Furthermore, the first drive assembly, the second drive assembly, the fourth drive assembly, the fifth drive assembly, and the sixth drive assembly are all gear and rack assemblies driven by a drive motor. The gear and rack assembly includes a fixed rack and a movable gear that mesh with each other. The fixed rack is fixedly mounted on the main frame, and the movable gear is connected to the drive motor. The drive motor can drive the gear to roll along the gear.

[0014] Furthermore, the third drive assembly includes a four-screw assembly, each of which includes a screw and a screw motor. The screw is disposed within the Z-axis support column and connected to the first X-axis movable crossbeam. The screw motor is disposed at the upper end of the Z-axis support column and connected to the screw, so as to drive the screw to move the first X-axis movable crossbeam along the Z-axis.

[0015] Furthermore, the concrete extrusion head includes an outer shell, a spiral blade, an extrusion head motor, and a connecting plate, wherein the spiral blade is disposed inside the outer shell, the extrusion head motor is disposed on the top of the outer shell and connected to the spiral blade, the connecting plate is installed on one side of the outer shell, and the first drive assembly is installed on the connecting plate.

[0016] Furthermore, it also includes a concrete mixer, which includes a frame, a mixer housing, mixer blades, a mixer motor, and a concrete pumping pipe. The mixer housing is mounted on the frame, the mixer blades are mounted inside the mixer housing, the mixer motor is connected to the mixer blades, and one end of the concrete pumping pipe is connected to the mixer housing and the other end is connected to the concrete extrusion head.

[0017] Furthermore, it also includes a control system, which is connected to the slurry extrusion mechanism and the reinforcement mechanism respectively, for driving the three-axis movement of the concrete extrusion head by controlling the first drive assembly, the second drive assembly and the third drive assembly, and for controlling the concrete extrusion head to extrude concrete slurry, and for driving the three-axis movement of the clamping member by controlling the fourth drive assembly, the fifth drive assembly and the sixth drive assembly, and for controlling the clamping member to clamp and release the reinforcing bars.

[0018] Furthermore, embodiments of the present invention also provide a method for automatic continuous reinforcement of 3D printed concrete, which enables the aforementioned automatic continuous reinforcement device for 3D printed concrete, and includes the following steps: S1. Plan the printing path and reinforcement path of the building to be printed using slicing software; S2. Prepare the concrete slurry required for printing and pump the concrete slurry to the concrete extrusion head; S3. According to the planned printing path and reinforcement path, control the first driving component, the second driving component and the third driving component to drive the concrete extrusion head to move along three axes, and control the concrete extrusion head to extrude concrete slurry for layer-by-layer printing; after printing to the height where reinforcement is required, control the fourth driving component, the fifth driving component and the sixth driving component to drive the clamping component to move along three axes, and control the clamping component to clamp and release the reinforcing bars, inserting the reinforcing bars into the printed concrete.

[0019] The beneficial effects of the technical solutions provided by the embodiments of the present invention are as follows: 1. The present invention provides an automatic continuous reinforcement device and method for 3D printed concrete, which can control the slurry extrusion mechanism to print according to the printing path of the building to be printed, and control the reinforcement mechanism to clamp and release the steel bars and insert the steel bars into the position to be reinforced when reinforcement is needed during the printing process. The printing and reinforcement are carried out simultaneously, realizing continuous reinforcement during the printing process; and can realize vertical continuous reinforcement with equal distance and equal insertion depth, improving the reinforcement construction quality and the building quality.

[0020] 2. The present invention provides an automatic continuous reinforcement device and method for 3D printed concrete, wherein printing and reinforcement do not interfere with each other, the printing process is stable, the position of reinforcement can be flexibly adjusted according to actual needs, the efficiency of printing reinforcement can be improved, and it can be applied to the arrangement of various types of steel bars at the same time.

[0021] 3. The 3D printing concrete automatic continuous reinforcement device and method of the present invention has the advantages of simple structure, easy installation and maintenance, high printing efficiency and reinforcement efficiency compared with existing reinforcement devices. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an automatic continuous reinforcement device for 3D printed concrete according to the present invention; Figure 2 yes Figure 1 A magnified view of a section at point A in the middle; Figure 3 This is a schematic diagram of a concrete extrusion head; Figure 4 yes Figure 3 Schematic diagram of the BB cross section in the middle; Figure 5 This is a schematic diagram of the Z-axis support column; Figure 6 This is the front view of the reinforcement structure; Figure 7 This is a side view of the reinforcement structure; Figure 8 This is a rear view of the reinforcement structure; Figure 9 This is a schematic diagram of the clamping component; Figure 10 This is a schematic diagram of the automatic continuous reinforcement arrangement of short straight bars; Figure 11 and 12 This is a schematic diagram of the automatic continuous placement of U-shaped reinforcing bars; Figure 13 This is a schematic diagram of automatic continuous reinforcement placement for steel bars of different shapes.

[0023] In the diagram: 1. Z-axis support column; 2. Y-axis fixed crossbeam; 3. First X-axis movable crossbeam; 4. Second X-axis movable crossbeam; 5. Y-axis movable crossbeam; 6. Concrete extrusion head; 7. First drive assembly; 8. Second drive assembly; 9. Third drive assembly; 10. Mounting plate; 11. Robotic arm; 12. Clamping component; 13. Fourth drive assembly; 14. Fifth drive assembly; 15. Sixth drive assembly; 16. Base; 17. Support beam; 18. Frame; 19. Mixer housing; 20. Mixer blades; 21. Mixer motor; 22. Concrete pump pipe 23. Lead screw; 24. Lead screw motor; 25. Housing; 26. Extruder motor; 27. Spiral blade; 28. Connecting plate; 29. ​​Second pulley; 30. Feed inlet; 31. Discharge outlet; 32. Motor bracket; 33 / 35 / 38. Drive motor; 34 / 36. Fixed rack; 37. First pulley; 39. Third pulley; 40. Reversing electric cylinder; 41. First gripper; 42. Second gripper; 43. Adapter block; 44. First distance sensor; 45. Second distance sensor; 46. Clamping surface; 100. Concrete; 200. Reinforcing steel. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of the various possible embodiments of the present invention, intended to provide a basic understanding of the invention, but not intended to identify key or decisive elements of the invention or to limit the scope of protection sought.

[0025] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0026] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0028] In the description of this invention, it should be noted that the circuits, electronic components and modules involved in this invention are all prior art, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve improvements to the internal structure and method.

[0029] It should be further noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" 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 based on the specific circumstances.

[0030] Please refer to Figure 1 The present invention provides a 3D printed concrete automatic continuous reinforcement device, which mainly includes a main frame, a slurry extrusion mechanism and a reinforcement mechanism.

[0031] The interior of the main frame is the printing space for the building. The external shape of the main frame is approximately cuboid, and it mainly includes four Z-axis support columns 1, two Y-axis fixed crossbeams 2, two first X-axis movable crossbeams 3, a second X-axis movable crossbeam 4, and a Y-axis movable crossbeam 5.

[0032] The four Z-axis support columns 1 are arranged in a rectangle, with the lower end of each Z-axis support column 1 fixed to the ground via a base 16, and the upper ends of the four Z-axis support columns 1 are flush. Each Y-axis fixing beam 2 connects to the upper ends of two Z-axis support columns 1 at both ends, and the two Y-axis fixing beams 2 are arranged parallel to each other. Two support beams 17 are also connected to the upper ends of the four Z-axis support columns 1, and the support beams 17 are perpendicular to the Y-axis fixing beams 2. Each support beam 17 connects to the upper ends of two Z-axis support columns 1 at both ends.

[0033] Each of the first X-axis movable crossbeams 3 is slidably connected to the two support columns at both ends and can slide along the Z-axis. The two first X-axis movable crossbeams 3 are located on the same plane and are arranged relatively parallel to each other.

[0034] The two ends of the Y-axis movable crossbeam 5 are slidably connected to the two first X-axis movable crossbeams 3 and can slide along the X-axis. The Y-axis movable crossbeam 5 is perpendicular to the first X-axis movable crossbeams 3. Specifically, each end of the Y-axis movable crossbeam 5 is provided with a first slider. The first slider has a U-shaped locking slot. The two first sliders are locked onto the two first X-axis movable crossbeams 3 through the locking slot and can slide.

[0035] The second X-axis movable crossbeam 4 is slidably connected to two Y-axis fixed crossbeams 2 at both ends and can slide along the Y-axis. The second X-axis movable crossbeam 4 is perpendicular to the Y-axis fixed crossbeams 2. Similarly, each end of the second X-axis movable crossbeam 4 is provided with a second slider. The second slider is approximately the same as the first slider and also has a locking slot. The two second sliders are locked onto the two Y-axis fixed crossbeams 2 through the locking slot and can slide.

[0036] like Figure 2 , 3 As shown in Figure 4, the slurry extrusion mechanism mainly includes a concrete extrusion head 6, a first drive assembly 7, a second drive assembly 8, and a third drive assembly 9.

[0037] The concrete extrusion head 6 is slidably mounted on the Y-axis movable crossbeam 5. Here, the concrete extrusion head 6 is slidably mounted on the Y-axis movable crossbeam 5 via second pulleys 29. The number of second pulleys 29 is set to four, arranged in pairs facing each other, and respectively engaged on the upper and lower surfaces of the Y-axis movable crossbeam 5. The four second pulleys 29 can slide along the Y-axis movable crossbeam 5, thereby allowing the concrete extrusion head 6 to slide along the Y-axis.

[0038] The first drive assembly 7 is mounted on the concrete extrusion head 6 and can drive the concrete extrusion head 6 to slide along the Y-axis. The second drive assembly 8 is mounted on the end of the Y-axis movable crossbeam 5 and connected to the first X-axis movable crossbeam 3 to drive the Y-axis movable crossbeam 5 to slide along the X-axis. The third drive assembly 9 connects the two first X-axis movable crossbeams 3 to drive the two first X-axis movable crossbeams 3 to slide along the Z-axis.

[0039] The concrete extrusion head 6 includes a housing 25, a spiral blade 27, an extrusion head motor 26, and a connecting plate 28. The housing 25 is a cylindrical shape with a funnel-shaped bottom. The upper side of the housing 25 has an inlet 30, and the bottom has an outlet 31. The spiral blade 27 is disposed inside the housing 25 and is coaxially arranged with it. The extrusion head motor 26 is located at the top of the housing 25, and a motor bracket 32 ​​is provided at the top of the housing 25. The extrusion head motor 26 is mounted on the motor bracket 32, and its output end faces downward and is connected to the spiral blade 27. The extrusion head motor 26 drives the spiral blade 27 to rotate and extrude concrete slurry from inside the housing 25. The connecting plate 28 is installed on one side of the housing 25, and a first drive assembly 7 is installed on the connecting plate 28.

[0040] like Figure 6 , 7 As shown in Figure 8, the reinforcement mechanism includes a mounting plate 10, a robotic arm 11, a clamping component 12, a fourth drive assembly 13, a fifth drive assembly 14, and a sixth drive assembly 15.

[0041] The mounting plate 10 is slidably mounted on the second X-axis movable crossbeam 4 via the X-axis. The mounting plate 10 is slidably mounted on the second X-axis movable crossbeam 4 via first pulleys 37. Four first pulleys 37 are provided, arranged in pairs, one above the other. The first pulleys 37 are slidably engaged with the upper and lower surfaces of the second X-axis movable crossbeam 4 and can slide along the second X-axis movable crossbeam 4.

[0042] The robotic arm 11 is slidably mounted on the mounting plate 10 along the Z-axis. Here, the robotic arm 11 is slidably mounted on the mounting plate 10 via three pulleys 39. The number of three pulleys 39 is set to four, and the four three pulleys 39 are arranged in a rectangle and mounted on the mounting plate 10. The robotic arm 11 passes through the four three pulleys 39, and the four three pulleys 39 respectively clamp the two sides of the robotic arm 11, so that the robotic arm 11 can slide along the four three pulleys 39, that is, slide along the Z-axis.

[0043] The clamping member 12 is installed at the lower end of the robotic arm 11. The clamping member 12 includes a reversing electric cylinder 40, a first gripper 41, and a second gripper 42. The reversing electric cylinder 40 is fixed to the lower end of the robotic arm 11. The first gripper 41 and the second gripper 42 are vertically arranged and both connected to the reversing electric cylinder 40. Here, the reversing electric cylinder 40 is a rotary electric cylinder. The reversing electric cylinder 40 is connected to both the first gripper 41 and the second gripper 42 through a transition block 43. The transition block 43 is a triangular prism with an isosceles right-angled triangular cross-section. The side corresponding to one right-angled side of the transition block 43 is connected to the first gripper 41, and the side corresponding to the other right-angled side is connected to the second gripper 42.

[0044] like Figure 9 The first gripper 41 or the second gripper 42 can be flexibly selected to hold the reinforcing bars according to the actual needs of the reinforcement location, and the positions of the first gripper 41 and the second gripper 42 are adjusted by the reversing electric cylinder 40. In this embodiment, both the first gripper 41 and the second gripper 42 have two semi-cylindrical clamping surfaces 46, which are the contact surfaces with the reinforcing bars. The axis of the clamping surface 46 of the first gripper 41 is vertically arranged, and the axis of the clamping surface 46 of the second gripper 42 is horizontally arranged. The first gripper 41 is used to clamp vertically arranged straight reinforcing bars, and the second gripper 42 is used to clamp the middle part of U-shaped reinforcing bars, which are horizontally arranged. The reversing electric cylinder 40 rotates 180° to complete the switching of the positions of the first gripper 41 and the second gripper 42.

[0045] To ensure that the clamping member 12 has a good clamping effect, a gasket is provided in the clamping surface 46 of the first clamping claw 41 and the second clamping claw 42. The gasket is made of rubber or silicone, which can effectively increase the clamping force of the first clamping claw 41 and the second clamping claw 42 on the reinforcing bar.

[0046] Furthermore, to determine the insertion position of the reinforcing bar into the printed concrete, the clamping member 12 also includes a first distance sensor 44 and a second distance sensor 45. The first distance sensor 44 is installed between the adapter block 43 and the first gripper 41, and is used to measure the distance from the first gripper 41 to the front printed layer. The second distance sensor 45 is installed between the adapter block 43 and the second gripper 42, and is used to measure the distance from the second distance sensor 45 to the front printed layer.

[0047] The fourth drive assembly 13 is connected to the robotic arm 11 to drive the robotic arm 11 to slide along the Z-axis; the fifth drive assembly 14 is connected to the second X-axis movable crossbeam 4 to drive the mounting plate 10 to slide along the X-axis; the sixth drive assembly 15 is installed at the end of the second X-axis movable crossbeam 4 and connected to the Y-axis fixed crossbeam 2 to drive the second X-axis movable crossbeam 4 to slide along the Y-axis.

[0048] It should be noted that the first drive component 7, the second drive component 8, the third drive component 9, the fourth drive component 13, the fifth drive component 14, and the sixth drive component 15 can be selected as linear drive mechanisms according to actual application needs. In this embodiment, the first drive component 7, the second drive component 8, the fourth drive component 13, the fifth drive component 14, and the sixth drive component 15 are all gear and rack assemblies driven by a drive motor.

[0049] The gear and rack assembly includes a fixed rack and a movable gear that mesh with each other. The fixed rack is fixedly mounted on the main frame, and the movable gear is connected to the drive motor, which can drive the gear to roll along the gear.

[0050] In this embodiment, the fixed rack of the first drive assembly 7 is mounted on the Y-axis movable crossbeam 5. The Y-axis movable crossbeam 5 has a groove on its inner side. The fixed rack 34 is fixedly mounted in the groove and arranged along the Y-axis direction. The drive motor 33 of the first drive assembly 7 is mounted on the connecting plate 28. The output shaft of the drive motor 33 of the first drive assembly 7 is connected to the movable gear. The movable gear of the first drive assembly 7 is disposed in the groove and meshes with the fixed rack 34.

[0051] In this embodiment, the fixed rack 36 of the fourth drive assembly 13 is installed inside the robotic arm 11. The robotic arm 11 has a groove on its outer side, and the fixed rack 36 is fixedly installed in the groove and arranged along the Z-axis. The drive motor 35 of the fourth drive assembly 13 is installed on the mounting plate 10. The output shaft of the drive motor 35 of the fourth drive assembly 13 is connected to the movable gear. The movable gear of the fourth drive assembly 13 is disposed in the groove and meshes with the fixed rack 36.

[0052] The fixed rack of the fifth drive assembly 14 is mounted on the second X-axis movable crossbeam 4, the drive motor 38 of the fifth drive assembly 14 is mounted on the mounting plate 10, and the output shaft of the drive motor 38 of the fifth drive assembly 14 is connected to a movable gear, which meshes with the fixed rack.

[0053] Similarly, the second drive component 8 and the sixth drive component 15 are arranged in the same manner.

[0054] like Figure 5 As shown, the third drive assembly 9 includes a four-screw assembly. Each screw assembly includes a screw 23 and a screw motor 24. The screw 23 is disposed within the Z-axis support column 1 and connected to the end of the first X-axis movable crossbeam 3. The screw motor 24 is disposed at the upper end of the Z-axis support column 1 and connected to the screw 23, so as to drive the screw 23 to drive the first X-axis movable crossbeam 3 to slide along the Z-axis. The four screw assemblies can drive two first X-axis movable crossbeams 3 to slide synchronously along the Z-axis.

[0055] To supply concrete slurry to the concrete extrusion head 6, the 3D-printed automatic continuous reinforcement device for concrete also includes a concrete mixer. In some embodiments, the concrete mixer includes a frame 18, a mixer housing 19, mixer blades 20, a mixer motor 21, and a concrete pumping pipe 22. The mixer housing 19 is mounted on the frame 18, the mixer blades 20 are disposed within the mixer housing 19, the mixer motor 21 is connected to the mixer blades 20, and one end of the concrete pumping pipe 22 is connected to the mixer housing 19, and the other end is connected to the inlet 30 of the concrete extrusion head 6. The concrete mixer can continuously supply concrete slurry to the concrete extrusion head 6.

[0056] To achieve automatic control of printing and reinforcement during the building printing process, the 3D printed concrete automatic continuous reinforcement device also includes a control system, which is connected to the slurry extrusion mechanism and the reinforcement mechanism respectively. The control system is used to drive the three-axis movement of the concrete extrusion head 6 by controlling the first drive assembly 7, the second drive assembly 8 and the third drive assembly 9, and to control the concrete extrusion head 6 to extrude concrete slurry, thereby achieving layer-by-layer printing of concrete. The control system is also used to drive the three-axis movement of the clamping member 12 by controlling the fourth drive assembly 13, the fifth drive assembly 14 and the sixth drive assembly 15, and to control the clamping member 12 to clamp and release the reinforcing bars, inserting the reinforcing bars into the printed concrete during the concrete printing process.

[0057] Furthermore, embodiments of the present invention also provide a method for automatic continuous reinforcement of 3D printed concrete, which enables the aforementioned automatic continuous reinforcement device for 3D printed concrete, and includes the following steps: S1. Plan the printing path and reinforcement path of the building to be printed using G-code slicing software, and set the printing parameters such as the layer height and printing speed of the concrete extrusion head 6.

[0058] S2. Prepare the concrete slurry required for printing and pump the concrete slurry to the concrete extrusion head 6. In this embodiment, first, put all the cementitious materials into the mixer box 19 and mix at low speed for about 3-5 minutes; then add trace additives such as polycarboxylate superplasticizer, retarder, and early strength agent to the mixer box 19, and then mix at high speed for about 4 minutes to obtain a uniform paste. After mixing, pump it to the concrete extrusion head 6.

[0059] S3. According to the planned printing path and reinforcement path, control the first drive component 7, the second drive component 8 and the third drive component 9 to drive the concrete extrusion head 6 to move along three axes, and simultaneously control the concrete extrusion head 6 to extrude concrete slurry for layer-by-layer printing; after printing to the height where reinforcement is required, control the fourth drive component 13, the fifth drive component 14 and the sixth drive component 15 to drive the clamping component 12 to move along three axes, and control the clamping component 12 to clamp and release the reinforcing bars, inserting the reinforcing bars into the printed concrete.

[0060] Here, the first gripper 41 or the second gripper 42 of the clamping member 12 can be controlled to clamp the reinforcing bar. Then, the fifth drive assembly 14 and the sixth drive assembly 15 can be controlled to drive the robotic arm 11 to move the reinforcing bar above the position to be reinforced. Then, the fourth drive assembly 13 can be controlled to drive the robotic arm 11 downward, so that the reinforcing bar is vertically inserted into the printed concrete. At the same time, the depth of the reinforcing bar inserted into the printed concrete can be determined by the first distance sensor 44 or the second distance sensor 45 installed on the clamping member 12. After the reinforcing bar is inserted into the correct position, the reinforcing bar is released, completing the reinforcement work of the concrete.

[0061] Thus, during the printing of concrete by the slurry extrusion mechanism, reinforcement can be added to the printed concrete by the reinforcement mechanism. Printing and reinforcement do not interfere with each other, and reinforcement can be added to the concrete continuously throughout the entire building printing process.

[0062] After the building is fully printed, the printed concrete is cured at room temperature for about 24-48 hours to give it a certain initial structural strength. Then, it is cured with high-temperature steam to ensure that the concrete strength meets the requirements.

[0063] It should be noted that, by installing the above reinforcement method, this 3D printed concrete automatic continuous reinforcement device can continuously reinforce different steel bar shapes. The specific method is as follows: like Figure 10 As shown, when the reinforcing bar 200 is a short straight bar, after the concrete 100 is printed to the height required for reinforcement, the clamping member 12 clamps the reinforcing bar 200 through the first clamp 41 and moves under the reinforcement path planned by the slicing software. According to the set arrangement spacing and insertion depth, the short straight bars of the 3D printed concrete are automatically and continuously arranged.

[0064] like Figure 11 and 12 As shown, when the reinforcing bar 200 is a U-shaped bar, after the concrete 100 is printed to the height required for reinforcement, the clamping member 12 clamps the reinforcing bar 200 through the second clamp 42 and moves under the reinforcement path planned by the slicing software. According to the set arrangement spacing and insertion depth, the short straight bars of the 3D printed concrete are automatically and continuously arranged.

[0065] like Figure 13 As shown, when multiple steel bar shapes 200 need to be reinforced at different printing locations, after the concrete 100 is printed to the required reinforcement height, the clamping member 12 clamps the short straight steel bar 200 through the first clamp 41 and the U-shaped steel bar 200 through the second clamp 42. After clamping the steel bar 200, the reinforcement is automatically and continuously laid out according to the preset reinforcement path and steel bar shape, and the reinforcement is laid out according to the set arrangement spacing and insertion depth.

[0066] In this document, the directional terms such as front, back, top, and bottom are defined based on the position of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on different methods of use and placement; the use of these directional terms should not limit the scope of protection claimed in this application.

[0067] Where there is no conflict, the embodiments and features described above can be combined with each other. The above descriptions are merely preferred embodiments of the present invention and are not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A 3D-printed concrete automatic continuous reinforcement device, characterized in that, include: The main frame includes four Z-axis support columns, two Y-axis fixed crossbeams, two first X-axis movable crossbeams, a second X-axis movable crossbeam, and a Y-axis movable crossbeam. The four Z-axis support columns are arranged in a rectangle. Each Y-axis fixed crossbeam is connected to the upper ends of the two Z-axis support columns at both ends. Each first X-axis movable crossbeam is slidably connected to the two support columns at both ends and can slide along the Z-axis. Each Y-axis movable crossbeam is slidably connected to the two first X-axis movable crossbeams at both ends and can slide along the X-axis. Each second X-axis movable crossbeam is slidably connected to the two Y-axis fixed crossbeams at both ends and can slide along the Y-axis. A slurry extrusion mechanism includes a concrete extrusion head, a first drive assembly, a second drive assembly, and a third drive assembly. The concrete extrusion head is slidably mounted on a Y-axis movable crossbeam. The first drive assembly is mounted on the concrete extrusion head and can drive the concrete extrusion head to slide along the Y-axis. The second drive assembly is mounted on the end of the Y-axis movable crossbeam and connected to the first X-axis movable crossbeam to drive the Y-axis movable crossbeam to slide along the X-axis. The third drive assembly connects two first X-axis movable crossbeams to drive the two first X-axis movable crossbeams to slide along the Z-axis. The system also includes a reinforcement mechanism comprising a mounting plate, a robotic arm, a clamping component, a fourth drive assembly, a fifth drive assembly, and a sixth drive assembly. The robotic arm is slidably mounted on the mounting plate along the Z-axis. The clamping component is mounted on the lower end of the robotic arm. The mounting plate is slidably mounted on the second X-axis movable crossbeam along the X-axis. The fourth drive assembly is connected to the robotic arm to drive the robotic arm to slide along the Z-axis. The fifth drive assembly is connected to the second X-axis movable crossbeam to drive the mounting plate to slide along the X-axis. The sixth drive assembly is mounted on the end of the second X-axis movable crossbeam and connected to the Y-axis fixed crossbeam to drive the second X-axis movable crossbeam to slide along the Y-axis. The clamping component includes a reversing electric cylinder, a first gripper, and a second gripper. The reversing electric cylinder is fixed to the lower end of the robotic arm. The first gripper and the second gripper are vertically arranged and both connected to the reversing electric cylinder. The first gripper and the second gripper are each provided with two semi-cylindrical clamping surfaces. The axis of the clamping surface of the first gripper is vertically arranged, and the axis of the clamping surface of the second gripper is horizontally arranged. The clamping component further includes a first distance sensor and a second distance sensor. The first distance sensor is used to measure the distance from the first gripper to the front printing layer, and the second distance sensor is used to measure the distance from the second distance sensor to the front printing layer.

2. The 3D printed concrete automatic continuous reinforcement device as described in claim 1, characterized in that: The mounting plate is slidably mounted on the second X-axis movable crossbeam via a first pulley, and the concrete extrusion head is slidably mounted on the Y-axis movable crossbeam via a second pulley; both ends of the Y-axis movable crossbeam are provided with first sliders, and the two first sliders are locked on the two first X-axis movable crossbeams and can slide; both ends of the second X-axis movable crossbeam are provided with second sliders, and the two second sliders are locked on the two Y-axis fixed crossbeams and can slide.

3. The 3D-printed concrete automatic continuous reinforcement device as described in claim 1, characterized in that: The first drive assembly, the second drive assembly, the fourth drive assembly, the fifth drive assembly, and the sixth drive assembly are all gear and rack assemblies driven by a drive motor. The gear and rack assembly includes a fixed rack and a movable gear that mesh with each other. The fixed rack is fixedly mounted on the main frame, and the movable gear is connected to the drive motor. The drive motor can drive the gear to roll along the gear.

4. The 3D-printed concrete automatic continuous reinforcement device as described in claim 1, characterized in that: The third drive assembly includes a four-screw assembly. Each screw assembly includes a screw and a screw motor. The screw is disposed inside the Z-axis support column and connected to the first X-axis movable crossbeam. The screw motor is disposed at the upper end of the Z-axis support column and connected to the screw, so as to drive the screw to drive the first X-axis movable crossbeam to slide along the Z-axis.

5. The 3D-printed concrete automatic continuous reinforcement device as described in claim 1, characterized in that: The concrete extrusion head includes an outer shell, a spiral blade, an extrusion head motor, and a connecting plate. The spiral blade is disposed inside the outer shell, the extrusion head motor is disposed on the top of the outer shell and connected to the spiral blade, the connecting plate is installed on one side of the outer shell, and a first drive assembly is installed on the connecting plate.

6. The 3D-printed concrete automatic continuous reinforcement device as described in claim 1, characterized in that: It also includes a concrete mixer, which includes a frame, a mixer housing, mixer blades, a mixer motor, and a concrete pumping pipe. The mixer housing is mounted on the frame, the mixer blades are mounted inside the mixer housing, the mixer motor is connected to the mixer blades, and one end of the concrete pumping pipe is connected to the mixer housing and the other end is connected to the concrete extrusion head.

7. The 3D-printed concrete automatic continuous reinforcement device as described in claim 1, characterized in that: It also includes a control system, which is connected to the slurry extrusion mechanism and the reinforcement mechanism respectively. The control system is used to drive the three-axis movement of the concrete extrusion head by controlling the first drive assembly, the second drive assembly and the third drive assembly, and to control the concrete extrusion head to extrude concrete slurry. The control system is also used to drive the three-axis movement of the clamping member by controlling the fourth drive assembly, the fifth drive assembly and the sixth drive assembly, and to control the clamping member to clamp and release the reinforcing bars.

8. A method for automatic continuous reinforcement of 3D-printed concrete, characterized in that: Using a 3D-printed concrete automatic continuous reinforcement device as described in any one of claims 1-7, and comprising the following steps: S1. Plan the printing path and reinforcement path of the building to be printed using slicing software; S2. Prepare the concrete slurry required for printing and pump the concrete slurry to the concrete extrusion head; S3. According to the planned printing path and reinforcement path, control the first driving component, the second driving component and the third driving component to drive the concrete extrusion head to move along three axes, and control the concrete extrusion head to extrude concrete slurry for layer-by-layer printing; after printing to the height where reinforcement is required, control the fourth driving component, the fifth driving component and the sixth driving component to drive the clamping component to move along three axes, and control the clamping component to clamp and release the reinforcing bars, inserting the reinforcing bars into the printed concrete.

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