An in-situ architectural 3D printing system and printing method based on Yellow River sand

Abstract

The present invention discloses an in-situ building 3D printing system based on Yellow River sand and a printing method thereof, wherein the system comprises an aggregate processing system and a 3D printing robot; the aggregate processing system is used to collect Yellow River sand and clean, cache and deliver the collected Yellow River sand to a material mechanism for standby; the 3D printing robot comprises a first moving mechanism, a position sensing mechanism, a material mechanism, a 3D printing actuator, a control mechanism and a first energy supply mechanism; the position sensing mechanism is used to obtain the position information of the 3D printing robot and compare it with the preset stake position to obtain the position deviation; the material mechanism is used to store the Yellow River sand, mix the Yellow River sand with ingredients according to a proportion and deliver the mixed material to the 3D printing actuator; the 3D printing actuator is used to perform 3D printing of building components according to a specific trajectory. The present invention can meet the demand of using Yellow River sand to print related in-situ building components along the Yellow River.

Description

Technical Field

[0001] The present invention relates to the technical field of architectural 3D printing, and in particular to an in-situ architectural 3D printing system based on Yellow River sand and a printing method thereof. Background Art

[0002] The Yellow River is the most important river in northern China, with a total length of about 5,460 kilometers. In the river section flowing through the Loess Plateau, a large amount of silt enters the river, resulting in about 400 million tons of silt deposited in the downstream river section every year. These deposited silts raise the riverbed year by year, causing the phenomenon of suspended river, which reduces the flood-passing capacity of the downstream river and increases the risk of floods and overflows. At present, the main means of controlling the silt problem of the Yellow River is to treat the river channel. However, most of the silt cleared has been idle for a long time. On the one hand, it occupies a large amount of land resources, causing soil damage and ecological pollution. On the other hand, the accumulated silt is also easy to re-enter the river channel with precipitation. The factors that currently limit the use of Yellow River sand include the following aspects: First, the particles of Yellow River sand are very fine, belonging to fine sand or ultra-fine sand. Conventional concrete cannot use Yellow River sand alone as fine aggregate; secondly, the mud content of Yellow River sand is relatively high. Compared with other Yellow River sand and machine-made sand, the existing sand washing process needs to be modified; finally, there is a problem of high transportation cost in the use of Yellow River sand.

[0003] Architectural 3D printing technology is a new type of construction technology. Its main process can be described as extruding cement mortar with certain printing properties into the required structure. Due to the process characteristics of architectural 3D printing, it is required that there should be no coarse aggregate in the material, so the Yellow River sand has the potential to be used as an architectural 3D printing material. In addition, in the process of revetment construction along the middle and lower reaches of the Yellow River, a large number of revetment slopes, revetment dams, revetment walls, revetment piles and other building structures need to be built. The use of architectural 3D printing technology for on-site printing of concrete components can reduce the transportation costs of materials and building components, shorten the construction period, and reduce construction costs. Therefore, it is necessary to develop an architectural 3D printing system and printing process suitable for in-situ construction based on the terrain, environment and construction characteristics along the Yellow River and the material properties of the Yellow River sand. Summary of the invention

[0004] To this end, the present invention provides an in-situ architectural 3D printing system and a printing method based on Yellow River sand, so as to solve the problem of using Yellow River sand for 3D printing of building components along the Yellow River.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] According to a first aspect of an embodiment of the present invention, an in-situ architectural 3D printing system based on Yellow River sand is provided, the system comprising an aggregate processing system and a 3D printing robot;

[0007] The aggregate processing system is used to collect Yellow River sand on the river bank site, clean and cache the collected Yellow River sand, and transport it to the 3D printing robot material mechanism for standby;

[0008] The 3D printing robot comprises a first moving mechanism, a position sensing mechanism, a material mechanism, a 3D printing actuator, a control mechanism and a first energy supply mechanism, wherein the position sensing mechanism, the material mechanism, the 3D printing actuator and the control mechanism are all arranged on the first moving mechanism;

[0009] The first moving mechanism is used to move the 3D printing robot to a target printing position;

[0010] The position sensing mechanism is used to obtain the position information of the 3D printing robot and compare it with the preset stake position to obtain the position deviation;

[0011] The material mechanism is used to store the Yellow River sand, mix the Yellow River sand with the ingredients according to the proportion, and transport the mixed material to the 3D printing actuator;

[0012] The 3D printing actuator is used to perform 3D printing of building components according to a specific trajectory;

[0013] The first moving mechanism, the position sensing mechanism, the material mechanism, and the 3D printing execution mechanism are all connected to the control mechanism, and the control mechanism is used to control the operation of each mechanism to complete 3D printing;

[0014] The first energy supply mechanism is used to provide power or electrical energy to various mechanisms of the 3D printing robot.

[0015] Furthermore, the material mechanism includes a storage bin, a primary stirring device, a stirring buffer device and a pumping device;

[0016] The storage bin comprises a plurality of storage bins arranged side by side, which are used to store Yellow River sand and cementitious materials respectively, and a discharge port with a controllable opening is arranged at the bottom of each storage bin;

[0017] The primary stirring device includes a stirring pipe and a plowshare or spiral belt stirring shaft. The stirring pipe is horizontally installed below the storage bin and connected to the discharge port of each storage bin. The material in the storage bin enters the primary stirring device through the discharge port, is stirred by the stirring shaft to obtain 3D printed concrete, and is continuously transported to the end of the primary stirring device.

[0018] The mixing and caching device is a vertical mixer with a feeding port, the vertical mixer is connected to the end of the primary mixing device, the feeding port of the vertical mixer is connected to the pumping device, the 3D printed concrete enters the vertical mixer through the end of the primary mixing device for caching, and enters the pumping device through the feeding port of the vertical mixer according to the needs of 3D printing;

[0019] The pumping device is connected to the print head of the 3D printing actuator through a feed pipe.

[0020] Furthermore, the 3D printing actuator includes a print head and a six-axis robotic arm;

[0021] The print head is installed at the end of the six-axis robot arm, and the print head includes a silo, a nozzle, an extrusion motor, an extrusion screw and a material level sensor; the silo is used to store 3D printing concrete materials; the nozzle is arranged at the lower part of the silo, and is used to extrude the 3D printing concrete with a specific caliber; the extrusion motor is installed at the upper part of the silo, and is used to drive the extrusion screw to rotate; the extrusion screw is arranged inside the silo and connected to the extrusion motor, and is used to extrude the 3D printing concrete through the nozzle when rotating; the material level sensor is one of a laser material level sensor or an ultrasonic material level sensor, and the material level sensor is arranged at the upper part of the silo, and is used to monitor the material level of the 3D printing concrete in the silo, and transmit the material level signal to the control mechanism;

[0022] The six-axis robot arm is used to execute movement of a specific trajectory in three-dimensional space according to a printing path code provided by a control mechanism or a printing path code input manually.

[0023] Furthermore, the control mechanism is specifically used to slice and convert the three-dimensional digital model of the building structure into a path code, control the six-axis robot arm of the 3D printing actuator to move according to the path code, and control the print head of the 3D printing actuator to extrude 3D printed concrete according to the path code;

[0024] The control mechanism is also specifically used to correct the path code according to the position deviation information between the 3D printing robot and the preset stake transmitted by the position sensing mechanism, and eliminate the position error caused by the movement of the equipment by adjusting the motion trajectory of the 3D printing actuator;

[0025] The control mechanism is also specifically used to determine whether it is necessary to replenish 3D printed concrete according to the material level information transmitted by the material level sensor on the print head, control the opening of the discharge ports of different storage bins according to the preset material ratio, control the rotation speed of the primary mixing device, control the discharge amount of the mixing buffer device, and control the pumping amount of the pumping device to achieve stability of the material level in the bin.

[0026] Furthermore, the aggregate processing system is independently arranged, and the aggregate processing system includes a second moving mechanism, a sand mining mechanism, a Yellow River sand cleaning mechanism and a second energy supply mechanism. The first moving mechanism is used to move the aggregate processing system, the sand mining mechanism is used to collect Yellow River sand on the river bank, the Yellow River sand cleaning mechanism is used to clean, cache and transport the collected Yellow River sand to the 3D printing robot material mechanism for standby, and the second energy supply mechanism is used to provide power or electrical energy to each mechanism of the aggregate processing system.

[0027] Furthermore, the sand mining mechanism is a long-arm sand mining shovel, which includes a mechanical arm, a bucket, a 5mm screen, and a bottom plate; the bottom of the bucket is hollowed out; the 5mm screen is fixed to the bottom of the bucket; the bottom plate is installed at the bottom of the 5mm screen through a flippable structure; before the bucket collects Yellow River sand, the bottom plate is flipped upward and fixed to the bottom of the 5mm screen; after collecting the Yellow River sand, the bucket is moved above the Yellow River sand cleaning mechanism, and the bottom plate is flipped downward, so that the Yellow River sand smaller than 5mm falls through the 5mm screen into the Yellow River sand cleaning device to remove particles larger than 5mm;

[0028] The Yellow River sand cleaning mechanism is a cage drum sand washing machine, which includes a feed screw belt, a cage drum, a sand washing pipe and a discharge screw belt; the cage drum is installed at an angle and connected to a rolling motor; a 0.1mm screen is installed on the cage drum; during operation, the feed screw belt transports the Yellow River sand collected by the sand mining mechanism to the upper end of the cage drum, the rolling motor drives the cage drum to roll, and at the same time the sand washing pipe cleans the Yellow River sand in the cage drum, wherein particles smaller than 0.1mm are removed through a 0.1mm screen, and finally the cleaned Yellow River sand enters the discharge screw belt through the lower end of the cage drum and is transported to the storage bin of the material mechanism for standby use.

[0029] Furthermore, the sand mining mechanism is a conveyor belt type sand mining shovel; the conveyor belt type sand mining shovel comprises a sand mining shovel wheel, a conveyor belt and a 5mm screen; the conveyor belt is installed at an angle; the sand mining shovel wheel is installed at the lower end of the conveyor belt; the 5mm screen is installed at the top of the conveyor belt, and the lower part is the feed port of the Yellow River sand cleaning mechanism; as the sand mining shovel wheel rotates, the Yellow River sand is scooped up and transported upward through the transmission belt and falls onto the 5mm screen, so that particles smaller than 5mm enter the Yellow River sand cleaning mechanism;

[0030] The Yellow River sand cleaning mechanism is an aeration sand washing device, which includes a feeding screw belt, a sand washing tank, a stirring paddle, a water pump, an aeration pipe, an air compressor, a scraper rod, and a discharging screw belt; the stirring paddle is installed on the axis of the sand washing tank; the aeration pipe is installed at the bottom of the sand washing tank and is connected to the air compressor; the scraper rod is installed on the upper part of the sand washing tank; the discharging screw belt is installed at the lower part of the sand washing tank; during operation, the feeding screw belt transports the Yellow River sand collected by the sand mining mechanism to the sand washing tank, injects water into the sand washing tank through the water pump, stirs the Yellow River sand and water through the stirring paddle, and at the same time, blows bubbles into the sand washing tank through the aeration pipe. After a period of time, stirring and aeration are stopped. When the Yellow River sand settles to the bottom of the sand washing tank, the impurities and silt contained therein will float on the water surface of the sand washing tank, and the processed Yellow River sand is transported to the storage bin of the material mechanism for standby use through the discharging screw belt.

[0031] Furthermore, the 3D printing robot itself has an aggregate processing system, which includes a sand shovel with the functions of collecting and cleaning Yellow River sand. The sand shovel is installed at the end of the six-axis mechanical arm with a quick-release structure. The six-axis mechanical arm drives the sand shovel to collect Yellow River sand, process it, and place it in the storage bin of the material mechanism for storage and standby;

[0032] The sand mining shovel comprises a bucket, a 5mm screen, a 0.1mm screen, a vibration device, and a water washing pipe; the bottom of the bucket is hollow; the 5mm screen is fixed to the bottom of the bucket; the 0.1mm screen is installed at the bottom of the 5mm screen through a flippable structure; before the bucket is used to collect Yellow River sand, the 0.1mm screen is flipped upward and fixed to the bottom of the 5mm screen, and after collecting the Yellow River sand, the collected Yellow River sand is cleaned by a vibration device and a water washing pipe, and particles smaller than 0.1mm are removed through the 0.1mm screen, and then the bucket is moved above the storage bin, the 0.1mm screen is released and flipped downward, so that the Yellow River sand smaller than 5mm falls into the storage bin through the 5mm screen to remove particles larger than 5mm.

[0033] Furthermore, the first moving mechanism and the second moving mechanism are both any one of a crawler moving mechanism, a semi-crawler moving mechanism or a wheeled moving mechanism;

[0034] The position sensing mechanism includes at least one of a laser rangefinder and an industrial camera; the position sensing mechanism is arranged around the first moving mechanism and is used to measure the position deviation between the 3D printing robot and a preset marker in the environment, and transmit the signal to the control mechanism.

[0035] According to a second aspect of an embodiment of the present invention, a printing method of an in-situ architectural 3D printing system based on Yellow River sand is provided, the method comprising:

[0036] Through the aggregate processing system, a certain amount of Yellow River sand is collected around the river bank where 3D printing is required, and then cleaned, cached and transported to the storage bin of the material organization for standby use;

[0037] The 3D printing robot is moved to the vicinity of a desired printing position by a first moving mechanism, and a position sensing mechanism is used to identify a position deviation between the 3D printing robot and a preset stake;

[0038] The material storage bins of the material mechanism are controlled to discharge materials according to the preset material mix ratio, and then the 3D printing concrete is obtained by mixing and then cached for standby use;

[0039] The 3D digital model of the building structure is sliced ​​and converted into a path code, and the path code is corrected by identifying the position difference between the 3D printing robot and the preset stakes;

[0040] The corrected path code is sent to the 3D printing actuator, and the material mechanism is controlled to be linked with the material level identification device to control the six-axis robotic arm and the print head to print the corresponding building outline.

[0041] The present invention has the following advantages:

[0042] (1) The present invention uses a self-movable 3D printing robot and an aggregate processing system, which can realize local material collection along the Yellow River, collect Yellow River sand as the raw material for 3D printing concrete, and perform in-situ printing construction;

[0043] (2) The present invention is aimed at the needs of in-situ 3D printing. The position deviation between the 3D printing robot and the preset stake is obtained through the position sensing mechanism, and the printing path code of the actuator is corrected according to the position deviation. This can eliminate the position error caused by the movement of the equipment, improve the accuracy of printing and realize the partition printing of large-span structures.

[0044] (3) The present invention links the material mechanism with the material level detection device and adopts a two-stage stirring device to achieve synchronous linkage of material stirring and printing process, thereby improving the stability of material supply, increasing the degree of automation, and reducing manpower requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0046] Figure 1 A structural block diagram of an in-situ building 3D printing system based on Yellow River sand provided in Example 1 of the present invention;

[0047] Figure 2 A structural diagram of a 3D printing robot in an in-situ building 3D printing system based on Yellow River sand provided in Example 1 of the present invention;

[0048] Figure 3 A structural diagram of an aggregate processing system in an in-situ building 3D printing system based on Yellow River sand provided in Example 1 of the present invention;

[0049] Figure 4 This is a structural block diagram of an in-situ building 3D printing system based on Yellow River sand provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0050] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Example 1

[0052] The embodiment 1 of the present invention proposes an in-situ building 3D printing system 10 based on Yellow River sand, such as Figure 1 As shown, the system includes a 3D printing robot 20 and an aggregate processing system 30 .

[0053] The structural diagram of the 3D printing robot 20 is as follows Figure 2 As shown, it includes: a first moving mechanism 210, a 3D printing actuator 220, a position sensing mechanism 230, a material mechanism 240, a control mechanism 250 and a first energy supply mechanism 260.

[0054] The first moving mechanism 210 is used for the movement of the 3D printing robot 20, and may be any one of a crawler-type moving mechanism, a semi-crawler-type moving mechanism, and a wheeled moving mechanism.

[0055] The 3D printing actuator 220 is disposed on the first moving mechanism 210 , and the 3D printing actuator 220 includes a print head 221 and a six-axis robot arm 222 .

[0056] The print head 221 is installed at the end of the six-axis robot 222. The print head 221 includes: a silo, a nozzle, an extrusion motor and an extrusion screw. The silo is used to store 3D printing concrete materials; the nozzle is set at the bottom of the silo, and is used to extrude the 3D printing concrete with a specific caliber; the extrusion motor is installed at the top of the silo, and is used to drive the extrusion screw to rotate; the extrusion screw is set inside the silo and connected to the extrusion motor, and is used to extrude the 3D printing concrete downward through the nozzle when rotating.

[0057] The print head 221 also includes a material level sensor; the material level sensor includes a laser material level sensor or an ultrasonic material level sensor; the material level sensor is arranged on the upper part of the silo, for monitoring the material level of the 3D printed concrete in the silo, and transmitting the signal to the control mechanism 250.

[0058] The six-axis robot arm 222 is used to execute movement of a specific trajectory in three-dimensional space according to the path code provided by the control mechanism 250 or the path code input manually.

[0059] The position sensing mechanism 230 is arranged on the first moving mechanism 210, and the position sensing mechanism 230 includes at least one of a laser rangefinder and an industrial camera; the position sensing mechanism 230 is arranged around the first moving mechanism 210, and is used to measure the position deviation between the entire set of equipment and the preset markers in the environment, and transmit the signal to the control mechanism 250.

[0060] The material mechanism 240 is disposed on the first moving mechanism 210 , and the material mechanism 240 includes a material storage bin 241 , a primary stirring device 242 , a stirring buffer device 243 and a pumping device 244 .

[0061] The storage bin 241 includes 2-4 storage bins arranged side by side, which are used to store river sand and cementitious materials respectively. A discharge port with a controllable opening is arranged at the bottom of each storage bin.

[0062] The primary stirring device 242 includes a stirring pipe and a plowshare or screw-belt stirring shaft. The stirring pipe is horizontally installed below the storage bin 241 and connected to the discharge ports of each storage bin. The material in the bin can enter the primary stirring device 242 through the discharge port, be stirred into 3D printed concrete by the stirring shaft, and be continuously transported to the end of the primary stirring device 242.

[0063] The mixing buffer device 243 is a vertical mixer with a feed port, the vertical mixer is connected to the end of the primary mixing device 242, the feed port of the vertical mixer is connected to the pumping device 244, the 3D printing concrete enters the vertical mixer through the end of the primary mixing device 242 for buffering, and enters the pumping device 244 through the feed port according to printing needs. The pumping device 244 is connected to the print head 221 through a feed pipe.

[0064] The control mechanism 250 is respectively connected to the first moving mechanism 210 , the 3D printing execution mechanism 220 , the position sensing mechanism 230 and the material mechanism 240 .

[0065] The control mechanism 250 can slice the three-dimensional digital model of the building structure and convert it into a printing path code, control the six-axis robot arm 222 of the 3D printing actuator 220 to move according to the path code, and control the print head 221 of the 3D printing actuator 220 to extrude 3D printed concrete according to the path code.

[0066] The control mechanism 250 can correct the path code according to the device and stake position deviation information transmitted by the position sensing mechanism 230, and eliminate the position error caused by the movement of the device by adjusting the motion trajectory of the 3D printing actuator 220.

[0067] The control mechanism 250 can determine whether it is necessary to replenish 3D printed concrete based on the material level information transmitted by the material level sensor on the print head 221, control the opening of the discharge port of different storage bins 241 according to the preset material ratio, control the rotation speed of the primary stirring device 242, control the discharge amount of the stirring buffer device 243, and control the pumping amount of the pumping device 244 to achieve stability of the material level in the bin.

[0068] The first energy supply mechanism 260 is disposed on the first moving mechanism 210 and is used to supply power or electrical energy to other mechanisms.

[0069] Aggregate handling system 30 is independently set up, and the structure diagram is as follows Figure 3 As shown, it includes: a second mobile mechanism 310, a sand mining mechanism 320, a river sand cleaning mechanism 330 and a second energy supply mechanism 340. The second mobile mechanism 310 is used to move the aggregate processing system 30; the sand mining mechanism 320 is placed on the second mobile mechanism 310, and is used to collect river sand and transport it to the river sand cleaning mechanism 330; the river sand cleaning mechanism 330 is arranged on the second mobile mechanism 310, and is used to clean, cache and transport the collected river sand; the second energy supply mechanism 340 is arranged on the second mobile mechanism 310, and is used to supply power or electric energy to other mechanisms.

[0070] The second moving mechanism 310 is used for moving the aggregate processing system 30 , and may be any one of a crawler-type moving mechanism, a semi-crawler-type moving mechanism, and a wheeled moving mechanism.

[0071] The sand mining mechanism 320 is a conveyor-type sand mining shovel, including a sand mining shovel wheel 321, a conveyor belt 322 and a 5mm screen 323; the conveyor belt 322 is installed at an angle; the sand mining shovel wheel 321 is installed at the lower end of the conveyor belt 322; the 5mm screen 323 is installed at the top of the conveyor belt 322, and the lower part is the feeding port of the river sand cleaning mechanism 330; as the sand mining shovel wheel 321 rotates, the river sand is scooped up and transported upward through the conveyor belt 322 and falls onto the 5mm screen 323, so that particles smaller than 5mm enter the river sand cleaning mechanism 330.

[0072] The river sand cleaning mechanism 330 is a cage drum sand washing machine, including a feeding screw belt 331, a cage drum 332, a sand washing pipe 333 and a discharging screw belt 334; the cage drum 331 is installed at an angle and is equipped with a 0.1 mm screen; during operation, the feeding screw belt 331 transports the river sand collected by the sand mining mechanism 320 to the upper end of the cage drum 332, and while the cage drum 332 rotates, the sand washing pipe 333 cleans the river sand in the cage drum 332, wherein particles smaller than 0.1 mm are removed through the 0.1 mm screen, and finally the cleaned river sand enters the discharging screw belt 334 through the lower end of the cage drum 332, and is transported to the storage bin 241 of the material mechanism 240 for standby use.

[0073] A printing method of an in-situ architectural 3D printing system based on Yellow River sand proposed in Example 1 of the present invention specifically comprises the following steps:

[0074] S1: A certain amount of Yellow River sand is collected around the river bank where 3D printing is required through the aggregate processing system 30, and the sand is cleaned, cached, and transported to the storage bin of the material mechanism 240 for standby use;

[0075] S2: Move the 3D printing robot 20 to the vicinity of the desired printing position through the first moving mechanism 210, and identify the position deviation between the 3D printing robot 20 and the preset stake through the position sensing mechanism 230;

[0076] S3: Controlling the material mechanism 240 to discharge materials from each storage bin according to a preset material mix ratio, and then mixing to obtain 3D printed concrete for caching and standby use;

[0077] S4: Slice the three-dimensional digital model of the building structure and convert it into a path code, and correct the path code by identifying the position difference between the 3D printing robot 20 and the preset stake;

[0078] S5: Send the corrected path code to the 3D printing actuator 220, and control the material mechanism 240 to be linked with the material level identification device, and control the six-axis robot arm 222 and the print head 221 to print the corresponding building outline.

[0079] Among them, the specific content of the path code generation process includes: 1. Use slicing software (such as Cura, Simplify3D, etc.) to convert the 3D model into a path code that the printer can understand. The slicing software will "slice" the model into multiple horizontal layers and generate a printing path for each layer; 2. During the slicing process, a series of parameters need to be set, such as layer thickness, filling density, printing speed, etc. These parameters will directly affect the printing effect; 3. Path generation: The slicing software will automatically generate printing paths based on the set parameters and the geometric information of the model. These paths include contour paths (printing the outer contour of the model) and fill paths (filling the internal space of the model); 4. Path optimization: In order to improve printing efficiency and quality, the slicing software will also optimize the generated paths. For example, by reducing unnecessary movements, optimizing filling directions, etc., printing time can be reduced and material consumption can be reduced.

[0080] The correction of the path code includes the following specific contents: 1. Position deviation detection: During the printing process, the position deviation between the robot and the preset stake is detected in real time through sensors integrated on the printing robot (such as laser rangefinder, visual recognition system, etc.). These sensors can accurately measure the difference between the current position of the robot and the preset position; 2. Data feedback and correction: The detected position deviation data is fed back to the control system in real time. The control system dynamically adjusts the path code according to the deviation data to compensate for the position deviation between the robot and the preset stake; 3. The correction method may include adjusting the printing speed, changing the movement trajectory of the nozzle, adjusting the extrusion amount, etc., to ensure that the printed model can accurately meet the design requirements; 4. Iterative optimization: During the entire printing process, the steps of position deviation detection, data feedback and correction are repeated to form a closed-loop control system. Through iterative optimization, the position deviation between the robot and the preset stake is gradually reduced to improve printing accuracy and stability.

[0081] Example 2

[0082] The in-situ architectural 3D printing system based on Yellow River sand provided in Example 2 of the present invention is different from Example 1 in that:

[0083] The sand mining mechanism 320 is a long-arm sand mining shovel, including a mechanical arm, a bucket, a 5mm screen and a bottom plate. The bottom of the bucket is hollowed out; the 5mm screen is fixed to the bottom of the bucket; the bottom plate is installed under the 5mm screen through a flip structure; before the bucket collects river sand, the bottom plate is flipped upward and fixed to the bottom of the 5mm screen. After collecting river sand, the bucket is moved above the river sand cleaning device 330, and the bottom plate is released and flipped downward, so that river sand smaller than 5mm falls through the 5mm screen into the river sand cleaning device 330 to remove particles larger than 5mm.

[0084] The river sand cleaning mechanism 330 is an aeration sand washing device, including a feed screw belt, a sand washing tank, a stirring paddle, a water pump, an aeration pipe, an air compressor, a scraper and a discharge screw belt. The stirring paddle is installed on the axis of the sand washing tank; the aeration pipe is installed on the bottom of the sand washing tank and connected to the air compressor; the scraper is installed on the upper part of the sand washing tank; the discharge screw belt is installed on the lower part of the sand washing tank; during operation, the feed screw belt transports the river sand collected by the sand collection mechanism 320 to the sand washing tank, water is injected into the sand washing tank through the water pump, the river sand and water are stirred through the stirring paddle, and bubbles are injected into the sand washing tank through the aeration pipe. After a period of time, the stirring and aeration are stopped. When the river sand settles to the bottom of the sand washing tank, the impurities and silt contained therein will float on the water surface of the sand washing tank, and the processed river sand is transported to the storage bin 241 of the material mechanism 240 for standby use through the discharge screw belt.

[0085] The printing method of the in-situ architectural 3D printing system based on Yellow River sand provided in Example 2 of the present invention is different from that in Example 1 in that:

[0086] S1: Use the sand mining mechanism 320 to collect a certain amount of river sand around the river bank site where the 3D printing operation is required and place it in the sand washing tank of the river sand cleaning mechanism 330, inject a certain amount of water into the sand washing tank and add a surfactant and a flocculant, turn on the stirring paddle and use the aeration pipe to blow bubbles into the sand washing tank during the stirring process, stop stirring to allow the river sand to settle, use a scraper to scrape off the flocculent floating materials on the water surface, and complete the treatment of the river sand.

[0087] Example 3

[0088] Reference Figure 4 The in-situ building 3D printing system based on Yellow River sand provided in Example 3 of the present invention is different from Example 1 in that:

[0089] The 3D printing robot 20 itself has an aggregate processing system 30. Accordingly, a six-axis robotic arm 222 and a sand mining shovel 223 are used to realize sand mining and energy supply. The sand mining shovel 223 is installed at the end of the six-axis robotic arm 222 with a quick-release structure. The six-axis robotic arm 222 drives the sand mining shovel 223 to collect river sand and then process it, and place it in the storage bin 241 of the material mechanism 240 for storage and standby.

[0090] The sand mining shovel 223 includes a bucket, a 5mm screen, a 0.1mm screen, a vibration device and a water washing pipe. The bottom of the bucket is hollowed out; the 5mm screen is fixed to the bottom of the bucket; the 0.1mm screen is installed at the bottom of the 5mm screen through a flip structure; before the bucket collects river sand, the 0.1mm screen is flipped upward and fixed to the bottom of the 5mm screen. After collecting river sand, the collected river sand is cleaned through the vibration device and the water washing pipe, and particles smaller than 0.1mm are removed through the 0.1mm screen. Then the bucket is moved to the top of the storage bin, the 0.1mm screen is released and flipped downward, so that river sand smaller than 5mm falls into the storage bin through the 5mm screen to remove particles larger than 5mm.

[0091] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. An in-situ architectural 3D printing system based on Yellow River sand, It is characterized in that The system includes an aggregate handling system and a 3D printing robot; The aggregate processing system is used to collect Yellow River sand on the river bank site, clean and cache the collected Yellow River sand, and transport it to the 3D printing robot material mechanism for standby; The 3D printing robot comprises a first moving mechanism, a position sensing mechanism, a material mechanism, a 3D printing actuator, a control mechanism and a first energy supply mechanism, wherein the position sensing mechanism, the material mechanism, the 3D printing actuator and the control mechanism are all arranged on the first moving mechanism; The first moving mechanism is used to move the 3D printing robot to a target printing position; The position sensing mechanism is used to obtain the position information of the 3D printing robot and compare it with the preset stake position to obtain the position deviation; The material mechanism is used to store the Yellow River sand, mix the Yellow River sand with the ingredients according to the proportion, and transport the mixed material to the 3D printing actuator; The 3D printing actuator is used to perform 3D printing of building components according to a specific trajectory; The first moving mechanism, the position sensing mechanism, the material mechanism, and the 3D printing execution mechanism are all connected to the control mechanism, and the control mechanism is used to control the operation of each mechanism to complete 3D printing; The first energy supply mechanism is used to provide power or electrical energy to various mechanisms of the 3D printing robot; The aggregate processing system is independently arranged. In this case, the aggregate processing system includes a second moving mechanism, a sand mining mechanism, a Yellow River sand cleaning mechanism and a second energy supply mechanism. The second moving mechanism is used for moving the aggregate processing system. The sand mining mechanism is used for collecting Yellow River sand on the river bank. The Yellow River sand cleaning mechanism is used for cleaning and caching the collected Yellow River sand and delivering it to the 3D printing robot material mechanism for standby. The second energy supply mechanism is used for providing power or electric energy to each mechanism of the aggregate processing system. Alternatively, the 3D printing robot itself has an aggregate processing system. In this case, the aggregate processing system includes a sand mining shovel with the function of collecting and cleaning Yellow River sand. The sand mining shovel is installed at the end of the six-axis mechanical arm with a quick-release structure. The six-axis mechanical arm drives the sand mining shovel to collect Yellow River sand and then process it, and then store it in the storage bin of the material mechanism for standby storage; the sand mining shovel includes a bucket, a 5mm screen, a 0.1mm screen, a vibration device, and a water washing pipe; the bottom of the bucket is a hollow design; the 5mm screen is fixed to the bottom of the bucket; The 0.1mm sieve is installed at the bottom of the 5mm sieve through a flippable structure; before the bucket collects the Yellow River sand, the 0.1mm sieve is flipped upward and fixed at the bottom of the 5mm sieve. After collecting the Yellow River sand, the collected Yellow River sand is cleaned by a vibration device and a water washing pipe, and particles smaller than 0.1mm are removed through the 0.1mm sieve. Then, the bucket is moved above the storage bin, the 0.1mm sieve is released and flipped downward, so that the Yellow River sand smaller than 5mm falls into the storage bin through the 5mm sieve to remove particles larger than 5mm.

2. According to claim 1, an in-situ architectural 3D printing system based on Yellow River sand, It is characterized in that The material mechanism includes a storage bin, a primary stirring device, a stirring buffer device and a pumping device; The storage bin comprises a plurality of storage bins arranged side by side, which are used to store Yellow River sand and cementitious materials respectively, and a discharge port with a controllable opening is arranged at the bottom of each storage bin; The primary stirring device includes a stirring pipe and a plowshare or spiral belt stirring shaft. The stirring pipe is horizontally installed below the storage bin and connected to the discharge port of each storage bin. The material in the storage bin enters the primary stirring device through the discharge port, is stirred by the stirring shaft to obtain 3D printed concrete, and is continuously transported to the end of the primary stirring device. The mixing and caching device is a vertical mixer with a feeding port, the vertical mixer is connected to the end of the primary mixing device, the feeding port of the vertical mixer is connected to the pumping device, the 3D printed concrete enters the vertical mixer through the end of the primary mixing device for caching, and enters the pumping device through the feeding port of the vertical mixer according to the needs of 3D printing; The pumping device is connected to the print head of the 3D printing actuator through a feed pipe.

3. According to claim 2, an in-situ architectural 3D printing system based on Yellow River sand, It is characterized in that The 3D printing actuator includes a print head and a six-axis robotic arm; The print head is installed at the end of the six-axis robot arm, and the print head includes a silo, a nozzle, an extrusion motor, an extrusion screw and a material level sensor; the silo is used to store 3D printing concrete materials; the nozzle is arranged at the lower part of the silo, and is used to extrude the 3D printing concrete with a specific caliber; the extrusion motor is installed at the upper part of the silo, and is used to drive the extrusion screw to rotate; the extrusion screw is arranged inside the silo and connected to the extrusion motor, and is used to extrude the 3D printing concrete through the nozzle when rotating; the material level sensor is one of a laser material level sensor or an ultrasonic material level sensor, and the material level sensor is arranged at the upper part of the silo, and is used to monitor the material level of the 3D printing concrete in the silo, and transmit the material level signal to the control mechanism; The six-axis robot arm is used to execute movement of a specific trajectory in three-dimensional space according to a printing path code provided by a control mechanism or a printing path code input manually.

4. According to claim 3, an in-situ architectural 3D printing system based on Yellow River sand, It is characterized in that The control mechanism is specifically used to slice the three-dimensional digital model of the building structure and convert it into a path code, control the six-axis robot arm of the 3D printing actuator to move according to the path code, and control the print head of the 3D printing actuator to extrude 3D printed concrete according to the path code; The control mechanism is also specifically used to correct the path code according to the position deviation information between the 3D printing robot and the preset stake transmitted by the position sensing mechanism, and eliminate the position error caused by the movement of the equipment by adjusting the motion trajectory of the 3D printing actuator; The control mechanism is also specifically used to determine whether it is necessary to replenish 3D printed concrete according to the material level information transmitted by the material level sensor on the print head, control the opening of the discharge ports of different storage bins according to the preset material ratio, control the rotation speed of the primary mixing device, control the discharge amount of the mixing buffer device, and control the pumping amount of the pumping device to achieve stability of the material level in the bin.

5. The in-situ architectural 3D printing system based on Yellow River sand according to claim 1, It is characterized in that When the aggregate processing system is independently provided, the sand mining mechanism is a long-arm sand mining shovel, which includes a mechanical arm, a bucket, a 5mm screen, and a bottom plate; the bottom of the bucket is hollowed out; the 5mm screen is fixed to the bottom of the bucket; the bottom plate is installed at the bottom of the 5mm screen through a reversible structure; before the bucket collects the Yellow River sand, the bottom plate is flipped upward and fixed to the bottom of the 5mm screen; after collecting the Yellow River sand, the bucket is moved to the top of the Yellow River sand cleaning mechanism, and the bottom plate is flipped downward, so that the Yellow River sand smaller than 5mm falls through the 5mm screen into the Yellow River sand cleaning device to remove particles larger than 5mm; The Yellow River sand cleaning mechanism is a cage drum sand washing machine, which includes a feed screw belt, a cage drum, a sand washing pipe and a discharge screw belt; the cage drum is installed at an angle and connected to a rolling motor; a 0.1mm screen is installed on the cage drum; during operation, the feed screw belt transports the Yellow River sand collected by the sand mining mechanism to the upper end of the cage drum, the rolling motor drives the cage drum to roll, and at the same time the sand washing pipe cleans the Yellow River sand in the cage drum, wherein particles smaller than 0.1mm are removed through a 0.1mm screen, and finally the cleaned Yellow River sand enters the discharge screw belt through the lower end of the cage drum and is transported to the storage bin of the material mechanism for standby use.

6. The in-situ architectural 3D printing system based on Yellow River sand according to claim 1, It is characterized in that When the aggregate processing system is independently arranged, the sand mining mechanism is a conveyor belt type sand mining shovel; the conveyor belt type sand mining shovel comprises a sand mining shovel wheel, a conveyor belt and a 5mm screen; the conveyor belt is installed obliquely; the sand mining shovel wheel is installed at the lower end of the conveyor belt; the 5mm screen is installed at the top of the conveyor belt, and the lower part is the feeding port of the Yellow River sand washing mechanism; as the sand mining shovel wheel rotates, the Yellow River sand is scooped up and transported upward through the transmission belt and falls onto the 5mm screen, so that particles smaller than 5mm enter the Yellow River sand washing mechanism; The Yellow River sand cleaning mechanism is an aeration sand washing device, which includes a feeding screw belt, a sand washing tank, a stirring paddle, a water pump, an aeration pipe, an air compressor, a scraper rod, and a discharging screw belt; the stirring paddle is installed on the axis of the sand washing tank; the aeration pipe is installed at the bottom of the sand washing tank and is connected to the air compressor; the scraper rod is installed on the upper part of the sand washing tank; the discharging screw belt is installed at the lower part of the sand washing tank; during operation, the feeding screw belt transports the Yellow River sand collected by the sand mining mechanism to the sand washing tank, injects water into the sand washing tank through the water pump, stirs the Yellow River sand and water through the stirring paddle, and at the same time, blows bubbles into the sand washing tank through the aeration pipe. After a period of time, stirring and aeration are stopped. When the Yellow River sand settles to the bottom of the sand washing tank, the impurities and silt contained therein will float on the water surface of the sand washing tank, and the processed Yellow River sand is transported to the storage bin of the material mechanism for standby use through the discharging screw belt.

7. The in-situ architectural 3D printing system based on Yellow River sand according to claim 1, It is characterized in that When the aggregate processing system is independently arranged, the first moving mechanism and the second moving mechanism are both any one of a crawler moving mechanism, a semi-crawler moving mechanism or a wheeled moving mechanism; The position sensing mechanism includes at least one of a laser rangefinder and an industrial camera; the position sensing mechanism is arranged around the first moving mechanism and is used to measure the position deviation between the 3D printing robot and a preset marker in the environment, and transmit the signal to the control mechanism.

8. A printing method for an in-situ architectural 3D printing system based on Yellow River sand according to any one of claims 1 to 7, It is characterized in that The method comprises: Through the aggregate processing system, a certain amount of Yellow River sand is collected around the river bank where 3D printing is required, and then cleaned, cached and transported to the storage bin of the material organization for standby use; The 3D printing robot is moved to the vicinity of a desired printing position by a first moving mechanism, and a position sensing mechanism is used to identify a position deviation between the 3D printing robot and a preset stake; The material storage bins of the material mechanism are controlled to discharge materials according to the preset material mix ratio, and then the 3D printing concrete is obtained by mixing and then cached for standby use; The 3D digital model of the building structure is sliced ​​and converted into a path code, and the path code is corrected by identifying the position difference between the 3D printing robot and the preset stakes; The corrected path code is sent to the 3D printing actuator, and the material mechanism is controlled to be linked with the material level identification device to control the six-axis robotic arm and the print head to print the corresponding building outline.

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