A high-altitude dual-head 3D concrete printing robot

Abstract

The present invention relates to the technical field of building 3D printing, and specifically to a high-altitude double-head 3D concrete printing robot. The present invention provides a high-altitude double-head 3D concrete printing robot, including a construction platform and a construction support, wherein the construction support is installed on the construction platform; further comprising a support frame, a printing assembly and a feeding assembly, wherein the printing assembly is located below the plane of the support frame, and the feeding assembly is located above the printing assembly; the printing assembly is used to perform 3D printing on the building on the construction platform downward, and the feeding assembly moves above the printing assembly to achieve multi-point quantitative feeding of the printing assembly. The printing assembly is provided with two printing machine arms to enable full-range coverage printing on the construction platform; two independent printing machine arms are provided to cover the construction work area respectively, and then the feeding head is used for real-time multi-point quantitative feeding, thereby solving the technical problem of slow 3D concrete printing construction.

Description

Technical Field

[0001] The present invention relates to the technical field of building 3D printing, and in particular to a high-altitude double-head 3D concrete printing robot. Background Art

[0002] Concrete printing robot is a revolutionary construction technology. It combines 3D printing technology with robot automation to accurately lay concrete layer by layer according to digital models to build buildings of various complex shapes and structures. This technology not only improves construction efficiency and shortens construction period, but also reduces material waste and construction costs, while reducing environmental pollution during the construction process, bringing environmentally friendly, economical and innovative solutions to the construction industry;

[0003] As 3D printing technology is increasingly used in the construction industry, the market demand for improving printing efficiency and expanding the scope of operation is growing. Traditional 3D printing equipment is usually limited by a fixed printing range and a single print head, making it difficult to meet the needs of large-scale outdoor construction projects.

[0004] In view of the above situation, in order to overcome the above technical problems, the present invention designs a high-altitude double-head 3D concrete printing robot to solve the above technical problems. Summary of the invention

[0005] The technical purpose to be achieved by the present invention is: by setting up two independent printing machines to cover the construction work area respectively, and then using the feeding head to feed materials at multiple points in real time, thereby solving the technical problem of slow 3D concrete printing construction.

[0006] In order to achieve the above technical objectives, the present invention provides the following technical solutions:

[0007] The present invention provides a high-altitude double-head 3D concrete printing robot, which includes a construction platform and a construction support, wherein the construction support is installed on the construction platform; the construction platform is arranged on a construction floor, and the construction support is used to elevate the construction work space and support the work components thereon.

[0008] It also includes a support frame, a printing assembly and a feeding assembly. The support frame is installed on the construction bracket, and the printing assembly and the feeding assembly are both installed on the support frame; the support frame is used to provide overall strength and installation frame, and at the same time, lifting rings for hoisting are also provided on both sides of the support frame, so that the support frame can be hoisted to a height of about 17 meters for operation by a crane; at the same time, the support frame can also be lifted to a height of about 17 meters for operation by a telescopic arm forklift.

[0009] The printing assembly is located below the support frame plane, and the feeding assembly is located above the printing assembly; the printing assembly is used to perform 3D printing on the building on the construction platform downward, and the feeding assembly moves above the printing assembly to achieve multi-point quantitative feeding of the printing assembly.

[0010] The printing assembly is provided with two printing robot arms so as to perform full-range coverage printing on the construction platform; meanwhile, the feeding assembly freely moves in the plane above the printing assembly so as to perform quantitative multi-point delivery of concrete to the two printing robot arms.

[0011] The printing assembly includes a guide rail bracket, a printing guide rail, a printing machine arm and a printing material bin. Both ends of the guide rail bracket are installed on the support frame, and the guide rail bracket is parallel to the long side of the support guide rail. The guide rail bracket covers the longer side of the support guide rail, so that the printing machine arm can cover a larger operating range by moving on the printing guide rail, and thus printing machine arms with various working ranges can be flexibly selected.

[0012] Two printing guide rails are installed on the left and right sides of the guide rail bracket, and a printing machine hand is slidably installed on each of the printing guide rails. A printing material bin for receiving and storing concrete is installed on the printing machine hand.

[0013] The front end of the printing machine is equipped with a GPS positioning system, which can accurately determine the docking position of the previous stage during the segmented printing process. This function ensures the accuracy of the shape and size of the printed components, thereby ensuring the quality of the overall printing effect.

[0014] The two printing rails are respectively located on two opposite sides of the guide rail bracket, which are 75-90 degrees to the construction platform. The printing rails are used to provide a movement path for the printing robot. Since there are two printing robot arms, the two printing rails are installed in a non-collinear and non-intersecting relationship, so that the two printing robot arms do not interfere with each other. At the same time, by properly adjusting the installation angle of the upper end of the printing robot arm, the printing robot arm can obtain a sufficient operating range and a reasonable movement path, avoiding the dead point of the robot arm.

[0015] The length of the printing guide rail exceeds half of the length of the guide rail bracket, so that the two printing machines have mutually intersecting printing ranges, thereby being able to operate in some blind areas.

[0016] The printing hopper is rotatably mounted on the upper part of the printing machine hand, and the front and back of the printing hopper are asymmetrical, which results in that when concrete is filled into the printing hopper, the center of gravity of the concrete is biased to one side, causing the printing hopper to rotate toward this side, thereby putting the printing hopper into working state and triggering a signal to stop feeding.

[0017] A limit block is arranged on the front of the printing material bin and located on the mounting base, and the limit block is used to limit the rotation angle of the printing material bin.

[0018] A piezoelectric switch and a pressure spring are provided on the back of the printing material bin; the piezoelectric switch is installed on a mounting base on the printing machine hand, and its front end is in contact with the back of the printing material bin, and the piezoelectric switch is used to control the circuit of the printing machine hand and the feeding assembly; the piezoelectric switch can use the pressure at its front end to open and close the circuit.

[0019] One end of the pressure spring is connected to the mounting base, and the other end is connected to the back of the printing material bin. The pressure spring is used to provide a thrust for separating the printing material bin from the piezoelectric switch.

[0020] A discharge cylinder is arranged at the lower end of the printing material bin, the outer side of the discharge cylinder is rotatably mounted on the mounting base, a rotating valve cylinder is rotatably mounted on the inner side of the discharge cylinder, and a discharge slot is provided on the rotating valve cylinder;

[0021] The side of the discharge cylinder is connected to the rotating valve cylinder through an amplifying gear set, and the amplifying gear set is used to amplify the rotation angle of the discharge cylinder.

[0022] The feeding assembly includes an X-axis track, a Y-axis track and a feeding head. The X-axis track is installed on a support frame, the Y-axis track is slidably installed on the X-axis track, and the feeding head is slidably installed on the Y-axis track. The feeding head is used to transport concrete to the printing machine hand.

[0023] The X-axis track and the Y-axis track together constitute the multi-point movement of the feed head in the XY axis in the plane of the support frame, so as to control the feed head to deliver materials to the printing machine hand at any point in time.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1. The present invention sets two printing robot arms in cooperation with the feeding assembly, utilizes the path design of the printing robot arms, and thus covers the entire construction platform. Through the independent material distribution design, the feeding assembly can flexibly carry out multi-point quantitative concrete delivery to each robot arm, thereby greatly improving the construction efficiency of 3D concrete printing buildings.

[0026] 2. The present invention arranges a silo on the robot arm and opens and closes the material inlet and outlet according to the concrete stock in the silo, so that the robot arm can control the replenishment of the feeding component according to the remaining material in the silo. The quantitative feeding design avoids material waste and improves the utilization rate of concrete.

[0027] 3. When the material in the silo is insufficient, the silo will disconnect the operating circuit of the robot and connect the circuit of the feeding component at the same time, so as to realize timely replenishment of the feeding component and further improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] The above and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the printing assembly and the feeding assembly of the present invention;

[0032] Figure 3 The present invention Figure 2 A top plan view of

[0033] Figure 4 The present invention Figure 2 Schematic diagram of the left side;

[0034] Figure 5 The present invention Figure 2 Front view of the diagram;

[0035] Figure 6 It is a structural schematic diagram of the printing machine hand of the present invention;

[0036] Figure 7 It is a structural schematic diagram of the back side of the printing machine hand of the present invention;

[0037] Figure 8 It is a schematic top view of the printing machine of the present invention;

[0038] Fig. 9 The present invention Figure 8 A cross-sectional view at AA;

[0039] Fig.10 The present invention Figure 8 Cross-sectional view at BB.

[0040] In the figure: 1. Construction platform; 2. Construction support; 3. Support frame; 4. Printing assembly; 41. Guide rail support; 42. Printing guide rail; 43. Printing machine hand; 431. Mounting base; 44. Printing silo; 441. Limit block; 442. Piezoelectric switch; 443. Pressure spring; 444. Discharge barrel; 445. Rotating valve barrel; 4451. Discharge trough; 446. Amplifying gear set; 5. Feeding assembly; 51. X-axis track; 52. Y-axis track; 53. Feeding head. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. Such terms are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0044] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The disclosed embodiments are intended to solve the problem that as 3D printing technology is increasingly widely used in the construction industry, the market demand for improving printing efficiency and expanding the scope of operation is growing. Traditional 3D printing equipment is usually limited by a fixed printing range and a single print head, and it is difficult to meet the needs of large-scale outdoor construction projects. In view of this, the disclosed embodiments propose a high-altitude double-head 3D concrete printing robot, which covers the entire construction platform by setting a test device, setting two printing manipulators to cooperate with a feeding component, and using the path design of the printing manipulator, and then covers the entire construction platform. Through an independent material distribution design, the feeding component can flexibly carry out multi-point quantitative delivery of concrete to each manipulator, thereby greatly improving the construction efficiency of 3D concrete printing buildings; at the same time, by setting a silo on the manipulator, the opening and closing of the inlet and outlet of the material is carried out according to the concrete stock in the silo, so that the manipulator can control the replenishment of the feeding component according to the remaining amount of material in the silo, and the quantitative feeding design avoids material waste and improves the concrete utilization rate; and when the material in the silo is insufficient, the silo will disconnect the operation circuit of the manipulator and connect the circuit of the feeding component at the same time, so as to realize the timely replenishment of the feeding component, further improving the work efficiency.

[0046] like Figure 1-10 As shown, a high-altitude double-head 3D concrete printing robot provided by the present invention comprises a construction platform 1 and a construction support 2, wherein the construction support is installed on the construction platform 1;

[0047] It also includes a support frame 3, a printing component 4 and a feeding component 5. The support frame 3 is installed on the construction support 2, and the printing component 4 and the feeding component 5 are both installed on the support frame 3; the construction support 2 is vertically fixed on the construction platform 1 by the staff through screws and bolts.

[0048] like Figure 2 As shown, in this embodiment, the printing assembly 4 is suspended on the lower end plane of the supporting frame 3 through the upper support; the feeding assembly 5 is located above the printing assembly 4, and the feeding assembly 5 is installed on the inner end surface of the supporting frame 3.

[0049] The printing assembly 4 is provided with two printing robot arms 43, so that it can perform full-range coverage printing on the construction platform 1; the printing robot arm 43 has 6 degrees of freedom and can perform complex spatial movements to meet different printing requirements. Two printing robot arms 43 with an arm span of 2.8 meters are designed and installed on the left and right sides of the printing bracket respectively to achieve synchronous printing and improve construction speed.

[0050] At the same time, the feeding assembly 5 freely moves in the plane above the printing assembly 4, thereby delivering a quantitative amount of concrete to the two printing machine arms 43 at multiple points.

[0051] like Figure 2-10As shown, the printing assembly 4 includes a guide rail bracket 41, a printing guide rail 42, a printing machine hand 43 and a printing material bin 44. Both ends of the guide rail bracket 41 are mounted on the support frame 3, and the guide rail bracket 41 is parallel to the long side of the support rail;

[0052] Two printing guide rails 42 are installed on the left and right sides of the guide rail bracket 41, and the printing guide rails 42 are installed on the sides of the guide rail bracket 41 through a right-angled steel frame; a printing machine hand 43 is slidably installed on each of the printing guide rails 42, and a printing silo 44 for receiving and storing concrete is installed on the printing machine hand 43, and the opening of the printing silo 44 is upward; the printing machine hand 43 is slidably installed on the printing guide rail 42 through an electric slider.

[0053] like Figure 5 As shown, the two printing tracks are respectively located on two opposite sides of the guide rail bracket 41, that is, the upper mounting base 431 of the printing machine hand 43 is installed perpendicular to the guide rail bracket 41, and the two printing tracks are respectively installed on two opposite sides of the guide rail bracket 41, ensuring that the tracks are independent of each other and do not interfere with each other. This arrangement allows each track to accommodate a printing machine hand 43 alone, which is suitable for collaborative operation or regional printing.

[0054] The side of the guide rail bracket 41 is at 90 degrees to the construction platform 1, and the upper mounting base 431 of the printing robot arm 43 is vertically fixed on the guide rail bracket 41, ensuring that the robot arm slides in the vertical direction on the track, supporting its flexible movement and printing operation, while avoiding the interference problem between the robot arm's movement trajectory and the bracket structure.

[0055] like Figure 3 As shown, the length of the printing guide rail 42 is 5 / 9 of the length of the guide rail bracket 41. The two printing guide rails 42 are distributed on both sides of the guide rail bracket 41 with appropriate lengths, and space is reserved for the feeding component 5 and the printing machine hand 43 to ensure the coordination of the entire system.

[0056] like Fig.10 As shown, the printing silo 44 is rotatably installed on the upper part of the printing machine hand 43, the front of the printing silo 44 is a triangle protruding forward, and the back of the printing silo 44 is a nearly vertical slope; the printing silo 44 is rotatably installed and located on the upper part of the printing machine hand 43, thereby allowing the silo to rotate freely according to the change of the center of gravity of the internal concrete, thereby realizing automatic switching of the feeding and discharging states.

[0057] The back of the silo is a nearly vertical slope. When the silo is idling or there is insufficient concrete, the gravity and the shape of the back side push the silo backward to a stopped state, triggering a feeding signal.

[0058] like Figure 6As shown, a limit block 441 is provided on the front of the printing silo 44 and on the mounting base 431, and the limit block 441 is used to limit the rotation angle of the printing silo 44. When the silo is filled with concrete, the center of gravity moves forward to make the silo rotate forward. The limit block 441 plays a role at this time, fixing the silo at a set working angle to ensure stable discharge of concrete.

[0059] like Figure 7 As shown, a piezoelectric switch 442 and a pressure spring 443 are provided on the back of the printing material bin 44; the piezoelectric switch 442 is installed on the mounting base 431 on the printing machine hand 43, and its front end is in contact with the back of the printing material bin 44, and the piezoelectric switch 442 is used to control the circuit of the printing machine hand 43 and the feeding assembly 5; one end of the pressure spring 443 is connected to the mounting base 431, and the other end is connected to the back of the printing material bin 44, and the pressure spring 443 is used to provide a thrust to separate the printing material bin 44 from the piezoelectric switch 442.

[0060] When the concrete in the printing material bin 44 is insufficient, the printing material bin 44 rotates backward and resets under the action of the contraction elastic force of the pressure spring 443, and the back of the printing material bin 44 is squeezed into contact with the piezoelectric switch 442, thereby the piezoelectric switch 442 connects the circuit of the feeding component 5 and disconnects the printing circuit, thereby realizing printing and feeding of the entire printing workbench.

[0061] like Fig. 9 and Fig.10 As shown, a discharge cylinder 444 is provided at the lower end of the printing material bin 44, and the outer side of the discharge cylinder 444 is rotatably mounted on the mounting base 431, and a rotating valve cylinder 445 is rotatably mounted on the inner side of the discharge cylinder 444, and a discharge groove 4451 is provided on the rotating valve cylinder 445; when the printing material bin 44 rotates, the rotating valve cylinder 445 inside the discharge cylinder 444 is driven to rotate, so that the discharge groove 4451 on the rotating valve cylinder 445 rotates to the upper opening of the discharge cylinder 444, and the concrete in the printing material bin 44 flows from the discharge groove 4451 into the rotating valve cylinder 445, and then is sent to the front end print head of the printing machine hand 43 through the delivery pipe.

[0062] like Figure 6 and Fig. 9 As shown, the side of the discharge cylinder 444 is connected to the rotating valve cylinder 445 through an amplifying gear set 446, and the amplifying gear set 446 is used to amplify the rotation angle of the discharge cylinder 444. Since the rotation angle of the printing material bin 44 is small, it is necessary to amplify the rotation angle through the amplifying gear set 446, thereby improving the reliability of the discharge structure and preventing the discharge rate from being too slow or the discharge slot 4451 from being blocked.

[0063] Specifically, the amplifying gear set 446 is transmitted through multiple sets of gears and gear sets with different gear ratios, thereby achieving the amplification of the rotation angle.

[0064] like Figure 1 and Figure 2 As shown, the feeding assembly 5 includes an X-axis rail 51, a Y-axis rail 52 and a feeding head 53. The X-axis rail 51 is fixedly mounted on the supporting frame 3 and serves as a basis for the feeding head 53 to move in the horizontal direction (X-axis); the Y-axis rail 52 is slidably mounted on the X-axis rail 51 and can move along the X-axis rail 51 to achieve longitudinal (Y-axis) position adjustment.

[0065] A feeding head 53 is slidably mounted on the Y-axis track 52 , and the feeding head 53 is used to deliver concrete to the printing machine hand 43 ; through the mutual sliding combination of the X-axis track 51 and the Y-axis track 52 , the feeding head 53 can realize two-dimensional movement (XY direction) within the plane of the support frame 3 .

[0066] In the construction process of the present invention, the staff first sets up a plurality of construction supports 2 on the construction platform 1 of the construction floor, and the height of the construction supports 2 does not exceed 10 meters. Then the staff hoists the support frame 3 and the printing assembly 4 and the feeding assembly 5 thereon to the construction support 2 by the aerial work crane, and installs and fixes them. After the support frame 3 is installed on the construction support 2, the staff performs debugging;

[0067] First, start the printing guide rail 42 where the printing robot hand 43 is located, set the construction area according to the working position of the construction platform 1, and then set the movable stroke of the printing guide rail 42 where the printing robot hand 43 is located according to the actual situation, so as to avoid interference between the working areas of the two printing robot hands 43, and then debug the movement of the feeding head 53 on the feeding guide rail, so as to ensure that the feeding head 53 can respond to the movement to any working point of the two printing robot hands 43 in time;

[0068] After the feed head 53 adds material to the printing material bin 44, since one side of the printing material bin 44 has a larger volume, when concrete is filled into the printing material bin 44, the center of gravity of the printing material bin 44 is biased forward, and then the printing material bin 44 rotates forward, thereby pulling the pressure spring 443 on the back thereof to extend, and at the same time, the printing material bin 44 is separated from the piezoelectric switch 442, and the piezoelectric switch 442 thereby disconnects the feeding circuit of the feed head 53 and connects the printing circuit of the printer arm 43; the printing material bin 44 is then limited in rotation angle by the limit block 441 in front thereof, and thus the printer arm 43 starts printing operation;

[0069] When the concrete in the printing material bin 44 is insufficient, the printing material bin 44 rotates backward and resets under the action of the contraction elastic force of the pressure spring 443, and the back of the printing material bin 44 is squeezed into contact with the piezoelectric switch 442, thereby the piezoelectric switch 442 connects the circuit of the feeding component 5 and disconnects the printing circuit, thereby realizing printing and feeding of the entire printing workbench.

[0070] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-altitude double-head 3D concrete printing robot, comprising a construction platform (1) and a construction support (2), wherein the construction support (2) is installed on the construction platform (1); It is characterized in that It also comprises a support frame (3), a printing assembly (4) and a material supply assembly (5), wherein the support frame (3) is mounted on the construction support (2), and the printing assembly (4) and the material supply assembly (5) are both mounted on the support frame (3); The printing assembly (4) is located below the plane of the support frame (3), and the feeding assembly (5) is located above the printing assembly (4); The printing component (4) is provided with two printing machine arms (43) so as to perform full-range coverage printing on the construction platform (1); at the same time, the feeding component (5) freely moves in the plane above the printing component (4) to perform multi-point delivery of a quantitative amount of concrete to the two printing machine arms (43); The printing assembly (4) comprises a guide rail bracket (41), a printing guide rail (42), a printing machine hand (43) and a printing material bin (44), wherein both ends of the guide rail bracket (41) are mounted on the supporting frame (3), and the guide rail bracket (41) is parallel to the long side of the supporting guide rail; Two printing guide rails (42) are installed on the left and right sides of the guide rail bracket (41), and a printing machine hand (43) is slidably installed on each printing guide rail (42), and a printing material bin (44) for receiving and storing concrete is installed on the printing machine hand (43); The printing material bin (44) is rotatably mounted on the upper portion of the printing machine hand (43), and the front and back sides of the printing material bin (44) are asymmetrical; A limit block (441) is provided on the front side of the printing material bin (44) and located on the mounting base (431), and the limit block (441) is used to limit the rotation angle of the printing material bin (44); A piezoelectric switch (442) and a pressure spring (443) are provided on the back of the printing material bin (44); the piezoelectric switch (442) is mounted on a mounting base (431) on the printing machine hand (43), and its front end is in contact with the back of the printing material bin (44); the piezoelectric switch (442) is used to control the circuit of the printing machine hand (43) and the feeding assembly (5); one end of the pressure spring (443) is connected to the mounting base (431), and the other end is connected to the back of the printing material bin (44); the pressure spring (443) is used to provide a thrust for separating the printing material bin (44) from the piezoelectric switch (442); A discharge cylinder (444) is provided at the lower end of the printing material bin (44), the outer side of the discharge cylinder (444) is rotatably mounted on the mounting base (431), and a rotating valve cylinder (445) is rotatably mounted on the inner side of the discharge cylinder (444), and a discharge groove (4451) is provided on the rotating valve cylinder (445); The side of the discharge cylinder (444) is connected to the rotating valve cylinder (445) via an amplifying gear set (446), and the amplifying gear set (446) is used to amplify the rotation angle of the discharge cylinder (444).

2. The high-altitude dual-head 3D concrete printing robot according to claim 1, characterized in that: The two printing tracks are respectively located on two opposite side surfaces of the guide rail bracket (41), and the side surfaces are at an angle of 75-90 degrees to the construction platform (1).

3. The high-altitude dual-head 3D concrete printing robot according to claim 2, characterized in that: The length of the printing guide rail (42) exceeds half the length of the guide rail bracket (41).

4. The high-altitude dual-head 3D concrete printing robot according to claim 1, characterized in that: The feeding assembly (5) comprises an X-axis track (51), a Y-axis track (52) and a feeding head (53); the X-axis track (51) is mounted on the support frame (3); the Y-axis track (52) is slidably mounted on the X-axis track (51); the feeding head (53) is slidably mounted on the Y-axis track (52); and the feeding head (53) is used to transport concrete to the printing machine hand (43).

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