Concrete printing equipment, control method thereof and readable storage medium

Abstract

The invention discloses concrete printing equipment and a control method thereof and a readable storage medium, and relates to the technical field of concrete 3D printing, and the control method of the concrete printing equipment comprises the following steps: generating a first starting signal; according to the first starting signal, a pumping motor of the pumping device is controlled to operate at a first rotating speed, so that concrete slurry is pumped to the printing head through a pipeline; the front end pressure value and the rear end pressure value of the pumping device are monitored; according to the front-end pressure value and the rear-end pressure value, the flow velocity value of the slurry in the pipeline is obtained; and adjusting the first rotating speed according to the slurry flow velocity value, so that the slurry flow velocity value is within a preset flow velocity range. The forming quality of the concrete 3D printing product can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of concrete 3D printing, and in particular to a concrete printing device and a control method thereof, and a readable storage medium. Background Art

[0002] Concrete 3D printing equipment uses special concrete as raw material, controls the print head to move layer by layer according to the established model, and squeezes the concrete material out of the print head like toothpaste, and then piles it up layer by layer until the printing process is completed, and finally prints the desired product. In order to ensure the quality of the molded product, during the printing process, it is necessary to ensure that the concrete has good fluidity and fast solidification.

[0003] However, the existing processing process does not take into account the real-time state of the concrete slurry. If the fluidity and / or coagulation of the concrete slurry is poor, the quality of the molded product will be reduced. Summary of the invention

[0004] The main purpose of this application is to provide a concrete printing device and a control method thereof, and a readable storage medium, aiming to improve the molding quality of concrete 3D printed products.

[0005] In order to achieve the above-mentioned object, the present application provides a control method of a concrete printing device, wherein the concrete printing device comprises a pumping device and a print head, wherein the pumping device is used to pump concrete slurry to the print head, and the method comprises: generating a first start signal; According to the first start signal, controlling the pumping motor of the pumping device to run at a first speed to pump the concrete slurry to the print head through the pipeline; Monitoring the front-end pressure value and the rear-end pressure value of the pumping device; Obtaining a slurry flow rate value in the pipeline according to the front end pressure value and the rear end pressure value; According to the slurry flow rate value, the first rotation speed is adjusted so that the slurry flow rate value is within a preset flow rate range.

[0006] In one embodiment, the step of adjusting the first rotation speed according to the slurry flow rate value comprises: Determining whether the slurry flow rate value is less than a preset flow rate range; If so, increase the first rotation speed until the slurry flow rate value is within the preset flow rate range.

[0007] In one embodiment, after the step of generating the first start signal, the method further includes: generating a second start signal; According to the second start signal, the dosing motor is controlled to deliver the accelerating setting agent toward the concrete slurry in the pipeline at a second rotation speed, wherein the second rotation speed is equal to a first preset multiple of the first rotation speed.

[0008] In one embodiment, the step of generating the second start signal includes: Monitoring the real-time liquid level value in a mixing container, wherein the mixing container is used to mix and prepare the concrete slurry; Determining whether the real-time liquid level value is greater than a first preset liquid level value; If so, after a first preset time period has passed, the second start signal is generated.

[0009] In one embodiment, after the step of generating the first start signal, the method further includes: generating a third start signal; According to the third start signal, the printing head stirring motor is controlled to stir the concrete slurry added with the accelerating agent at a third rotation speed, wherein the third rotation speed is equal to a second preset multiple of the first rotation speed.

[0010] In one embodiment, the step of generating the third start signal includes: monitoring the operating time of the pumping motor; If the running time is greater than the second preset time, the third start signal is generated.

[0011] In one embodiment, the rear end pressure value is a pressure value at one end of the pumping device facing the print head, and after the step of controlling the dosing motor to deliver the accelerating setting agent to the concrete slurry in the pipeline at a second speed according to the second start signal, the step includes: generating a fourth start signal; According to the fourth start signal, driving the print head to move along a preset trajectory; The second speed is adjusted according to the rear end pressure value.

[0012] In one embodiment, the step of adjusting the second speed according to the rear end pressure value includes: Determining whether the rear end pressure value is greater than a preset pressure threshold; If so, the second speed is reduced until the rear end pressure value is less than or equal to the preset pressure threshold.

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a concrete printing device, which includes a controller, and a pumping motor, a dosing motor, a front-end pressure sensor, and a rear-end pressure sensor respectively connected to the controller for communication, wherein the front-end pressure sensor and the rear-end pressure sensor are respectively arranged at the front end and the rear end of the pumping device, and the controller is used to execute the steps of the control method of the concrete printing device as described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a readable storage medium, which, when executed by a processor, implements the steps of the control method of the concrete printing device as described above.

[0015] An embodiment of the present application provides a control method for a concrete printing device. The present application first generates a first start signal, and according to the first start signal, controls the pumping motor of the pumping device to run at a first speed to pump concrete slurry to the print head through a pipeline; monitors the front-end pressure value and the rear-end pressure value of the pumping device; obtains the slurry flow rate value in the pipeline according to the front-end pressure value and the rear-end pressure value; and adjusts the first speed according to the slurry flow rate value so that the slurry flow rate value is within a preset flow rate range.

[0016] It is worth noting that the present application can monitor the pipeline flow rate value in real time by monitoring the front-end pressure value and the rear-end pressure value of the pumping motor, thereby indirectly determining the fluidity of the concrete in the pipeline, and adjusting the first speed value of the pumping motor in real time according to the fluidity of the concrete, and setting the slurry flow rate value within the preset flow rate range, so as to ultimately ensure the quality of the molded product.

[0017] It is also worth mentioning that the present application does not require the use of an electromagnetic flowmeter to monitor the slurry flow rate value, but only needs to monitor it through a pressure sensor. The pressure sensor has a low cost and good stability, which is conducive to further improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A schematic diagram of a flow chart provided for an embodiment of a concrete control method of the present application; Figure 2 A schematic diagram of a simplified flow chart of a control method for a concrete printing device provided in one embodiment of the present application; Figure 3 This is a schematic diagram of the structure of an embodiment of a printing device of the present application; Figure 4 This is a schematic structural diagram of another embodiment of the printing device of the present application.

[0021] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0023] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0024] In the field of concrete 3D printing, the performance requirements for concrete are quite special. It is necessary to ensure good fluidity and fast solidification. Therefore, concrete requires admixtures such as water reducers, accelerators, inorganic material solvents, etc. As a high-performance chemical material, it can effectively improve the rheological properties, mechanical properties and durability of concrete, and has good economic benefits. It has been widely used in many engineering backgrounds. In the existing technology, there are still many factors that are not suitable for concrete printing for the measurement of accelerators and concrete flow, including but not limited to cost issues, construction environment issues, etc. Or some technologies are only controlled by mechanical devices, lacking an external sensor data closed loop.

[0025] Therefore, the existing technology has the following two main defects: First, there is a lack of external feedback closed-loop data for real-time monitoring of terminal material performance and rapid response to changes, and the real-time performance is poor. Second, the monitoring of concrete flow is basically carried out externally using electromagnetic flowmeters, which has high monitoring costs and will lead to increased errors after long-term use.

[0026] In the related art, after the concrete slurry is prepared in the mixing container, the pumping motor pumps the concrete slurry to the print head at a set speed value, and the concrete slurry is extruded through the print head. However, the existing processing process does not take into account the real-time state of the concrete slurry. If the fluidity and / or coagulation of the concrete slurry is poor, the quality of the molded product will be reduced.

[0027] In order to solve the above problems, the present application proposes a control method for a concrete printing device according to Embodiment 1. Figure 1The control method of the concrete printing device includes steps S10 to S50: Step S10, generating a first start signal.

[0028] It should be noted that the first start signal is a trigger signal for driving a pumping motor or other action processes. Specifically, the concrete printing device needs to prepare concrete slurry in a mixing container first, and when the concrete slurry is prepared, a first start signal is generated to drive the pumping motor to transport the prepared concrete slurry to the print head.

[0029] In one practicable manner, step S10 includes: Step S11, adding a first preset weight value of mortar and a preset flow value of water into a stirring container, and monitoring the weight value of the slurry in the stirring container, Step S12, controlling the raw material stirring motor to stir the mortar and water in the stirring container at a fourth speed to obtain concrete slurry; Step S13, after the raw material stirring motor has been running for a third preset time, the unloading valve is controlled to open and the first start signal is generated; Step S14: If the slurry weight value is less than the second preset weight value, the raw material stirring motor is controlled to stop and the discharge valve is closed.

[0030] Among them, a weighing pressure sensor may be provided in the mixing container, and the weighing sensor is used to weigh the contents in the mixing container in real time. Specifically, the mortar is first weighed by the weighing sensor to a first preset weight value, and after mixing with water, the weight value of the concrete slurry is continuously monitored to guide the normal operation of the working parts. In addition, a water addition flow meter is also provided on one side of the mixing container, and the flow rate of the added water is measured by the water addition flow meter to ensure that the water of the preset flow value can be added.

[0031] In this embodiment, mortar and water are matched in a mixing container according to a preset ratio, and after the raw material mixing motor is stirred for a third preset time, a concrete slurry with a relatively suitable ratio can be initially obtained, and a first start signal is generated for the pumping motor to pump the concrete slurry to the print head. In addition, the slurry weight value in the mixing container is also monitored in real time. When the slurry weight value is lower than the second preset weight value, the raw material mixing motor is controlled to stop and the discharge valve is closed, which is conducive to ensuring the normal operation of the entire device.

[0032] Step S20: According to the first start signal, control the pumping motor of the pumping device to run at a first speed to pump the concrete slurry to the print head through the pipeline.

[0033] It should be noted that after the concrete slurry is prepared in the mixing container, the concrete slurry in the mixing container needs to be circulated to the print head through a pumping motor and extruded through the print head. In one embodiment, the specific composition structure of the pumping device in the concrete 3D printing equipment mainly includes a pumping motor, a pumping mechanism such as a piston pump or a screw pump, a hopper, an S-valve assembly, a stirring mechanism, a conveying pipeline, a boom system, a hydraulic system and an electrical control system. The pumping motor provides power to drive the pumping mechanism to alternately feed the concrete slurry from the hopper into the conveying pipeline through the S-valve. The stirring mechanism ensures that the slurry is uniform, while the hydraulic system supports mechanical action, and the electrical system controls the entire pumping process and monitors parameters to ensure that the slurry can be smoothly and continuously delivered to the print head.

[0034] Step S30, monitoring the front-end pressure value and the rear-end pressure value of the pumping device.

[0035] It should be noted that the front-end pressure value generally refers to the pressure value at the inlet of the pumping device, and the rear-end pressure value generally refers to the pressure value at the outlet of the pumping device. Therefore, the pressure values ​​at the inlet and outlet of the pumping device can be measured simultaneously.

[0036] Step S40, obtaining the slurry flow rate value in the pipeline according to the front end pressure value and the rear end pressure value.

[0037] In this embodiment, by calculating the difference between the front end pressure value and the rear end pressure value, the pressure difference between the front end and the rear end is obtained, and the current slurry flow rate value and concrete flow rate can be calculated through the direct relationship between flow rate, density and pressure. In other embodiments of measuring the slurry flow rate value, the pressure difference can also be measured at any other two positions of the pipeline, and the corresponding slurry flow rate value in the pipeline can be determined according to the pressure difference.

[0038] Step S50: adjusting the first rotation speed according to the slurry flow rate value so that the slurry flow rate value is within a preset flow rate range.

[0039] In this embodiment, if the actual flow rate is lower than the preset flow rate, the control system will increase the speed of the pumping motor to speed up the slurry delivery speed until the actual flow rate reaches the preset range. If the actual flow rate is higher than the preset flow rate, the control system will reduce the speed of the pumping motor to slow down the slurry delivery speed until the actual flow rate returns to the preset range. This process is usually achieved through a closed-loop control system, that is, the control system continuously monitors the actual flow rate and compares it with the preset value, and automatically adjusts the motor speed according to the deviation to maintain the stability of the slurry flow rate.

[0040] In summary, the embodiment of the present application provides a control method for a concrete printing device. The present application first generates a first start signal, and according to the first start signal, controls the pumping motor of the pumping device to run at a first speed to pump the concrete slurry to the print head through a pipeline; monitors the front end pressure value and the rear end pressure value of the pumping device; obtains the slurry flow rate value in the pipeline according to the front end pressure value and the rear end pressure value; and adjusts the first speed according to the slurry flow rate value so that the slurry flow rate value is within a preset flow rate range.

[0041] It is worth noting that the present application can monitor the pipeline flow rate value in real time by monitoring the front-end pressure value and the rear-end pressure value of the pumping motor, thereby indirectly determining the fluidity of the concrete in the pipeline, and adjusting the first speed value of the pumping motor in real time according to the fluidity of the concrete, and setting the slurry flow rate value within the preset flow rate range, so as to ultimately ensure the quality of the molded product.

[0042] It is also worth mentioning that the present application does not require the use of an electromagnetic flowmeter to monitor the slurry flow rate value, but only needs to monitor it through a pressure sensor. The pressure sensor has a low cost and good stability, which is conducive to further improving the detection accuracy.

[0043] In a feasible implementation manner, the step of adjusting the first rotation speed according to the slurry flow rate value includes: Step S51, determining whether the slurry flow rate value is less than a preset flow rate range; Step S52: If yes, increase the first rotation speed until the slurry flow rate value is within the preset flow rate range.

[0044] In this embodiment, the step of adjusting the first speed according to the slurry flow rate value includes: real-time monitoring of the pressure values ​​at the front end and the rear end of the pumping device, and calculating the slurry flow rate value in the pipeline; judging whether the slurry flow rate value is less than the minimum value V of the preset flow rate range; min If the slurry flow rate is less than V min , then gradually increase the first speed of the pumping motor until the slurry flow rate value reaches the preset flow rate range. If the slurry flow rate value is greater than or equal to V min , and is less than V max , keep the current speed or adjust the speed as needed to ensure that the flow rate does not exceed V max Through this closed-loop control mechanism, the system can dynamically adjust the speed of the pumping motor to ensure that the slurry flow rate is always within the preset range, thereby ensuring stability and printing quality during the concrete 3D printing process. In a feasible implementation manner, after the step of generating the first start signal, the method further includes: Step S60, generating a second start signal; It should be noted that the second start signal is a trigger signal for starting the medicine adding motor.

[0045] Step S70, according to the second start signal, controlling the dosing motor to deliver the accelerating setting agent toward the concrete slurry in the pipeline at a second speed, wherein the second speed is equal to a first preset multiple of the first speed.

[0046] It should be noted that most conventional implementations only give a specific numerical range to the pumping motor and the dosing motor respectively. The present application breaks the convention and first adjusts the first speed of the pumping motor, and then associates the second speed of the dosing motor with the first speed of the pumping motor through a first preset multiple.

[0047] In this embodiment, specifically, when the system detects that an accelerating setting agent needs to be added, a second start signal is generated. This signal triggers the dosing motor to start working at the second speed, and adds the accelerating setting agent to the concrete slurry at the first speed of the first preset multiple. The first preset multiple here refers to a value pre-set according to the process requirements, such as the attached Figure 2 The coefficient U in the equation determines the speed ratio of the dosing motor relative to the pumping motor, thereby controlling the addition rate of the accelerator, which in turn helps to further ensure the proportion of the concrete slurry and the molding quality of 3D printing.

[0048] In a feasible implementation manner, the step of generating the second start signal includes: Step S61, monitoring the real-time liquid level value in the mixing container; wherein the mixing container is used to mix and prepare the concrete slurry; It should be noted that the real-time liquid level value is the liquid level value of the concrete slurry in the mixing container.

[0049] Step S62, determining whether the real-time liquid level value is greater than a first preset liquid level value; It should be noted that the first preset liquid level value can be monitored by a liquid level gauge in the stirring container, so as to determine that the slurry liquid level value is within a reasonable range, so that the raw material stirring motor can fully stir.

[0050] Step S63: If yes, then after a first preset time period, the second start signal is generated.

[0051] In this embodiment, the first preset liquid level value is used to determine whether the slurry in the mixing container is sufficient, and then the first preset time is used to determine whether the raw material mixing motor has been fully stirred, and the first speed of the pumping motor has reached a stable state. Only then is the second start signal for triggering the dosing motor generated, which is beneficial to ensure that the quick-setting agent is normally added to the concrete slurry in the pipeline according to the ratio.

[0052] In a further feasible implementation manner, after the step of generating the second start signal, the method further includes: Step S64, determining whether the real-time liquid level value is less than a second preset liquid level value; Step S65: If yes, control the dosing motor to continue running for a fourth preset time and then stop.

[0053] In this embodiment, the second preset liquid level value can be monitored by a low liquid level gauge in the stirring container to determine whether the slurry is almost used up, so that the equipment can automatically shut down after delayed operation, thereby ensuring the normal operation of the equipment and avoiding waste caused by the addition of excess accelerating agent.

[0054] In a further feasible implementation manner, before the step of generating the second start signal, the step further includes: Step S601, determining whether the real-time liquid level value is greater than a third preset liquid level value; Step S602: If yes, control the dosing valve to close.

[0055] It should be noted that the dosing valve is generally also integrated with an accelerator flow meter, through which the flow of the accelerator can be monitored in real time.

[0056] In this embodiment, the second preset liquid level value can be monitored by a high liquid level gauge in the stirring container to determine whether the slurry is about to overflow, thereby stopping the dosing valve to continue to deliver the accelerating setting agent to avoid waste.

[0057] In a feasible implementation manner, after the step of generating the first start signal, the method further includes: Step S80, generating a third start signal; It should be noted that the third start signal is a trigger signal for starting the print head stirring motor.

[0058] Step S90, according to the third start signal, controlling the printing head stirring motor to stir the concrete slurry added with the accelerating setting agent at a third rotation speed, wherein the third rotation speed is equal to a second preset multiple of the first rotation speed.

[0059] It should be noted that most conventional implementations only give a specific numerical range to the pumping motor and the print head stirring motor respectively. This application breaks the convention by first adjusting the first speed of the pumping motor and associating the third speed of the print head stirring motor with the first speed of the pumping motor through a second preset multiple. For example, the second preset multiple may correspond to the attached Figure 2 The coefficient K in .

[0060] In this embodiment, after adding the accelerator to the concrete in the pipeline, the concrete with the accelerator is also stirred by the print head stirring motor to ensure that the concrete slurry and the accelerator are evenly mixed. Specifically, when the system detects that an accelerator needs to be added, a third start signal is generated. This signal triggers the print head stirring motor to start working at the third speed, and stirs the concrete slurry after adding the accelerator at the first speed of the second preset multiple. The second preset multiple here refers to a value pre-set according to the process requirements, which determines the speed ratio of the concrete stirring motor relative to the pumping motor, thereby controlling the stirring rate of the print head stirring motor, which is in turn conducive to ensuring the molding quality of 3D printing.

[0061] In a feasible implementation manner, the step of generating the third start signal includes: Step S81, monitoring the running time of the pumping motor; Step S82: If the running time is greater than the second preset time, the third start signal is generated.

[0062] In this embodiment, by setting a second preset time length, after determining that the pumping motor has experienced the preset time length, it is determined that the pumping motor has controlled the flow rate of the concrete slurry to be stable, and after the dosing motor adds the accelerator to the concrete slurry in the pipeline, a third start signal is automatically generated to ensure the quality of concrete extruded from the print head.

[0063] In a feasible implementation manner, the rear end pressure value is a pressure value at one end of the pumping device toward the print head, and after the step of controlling the dosing motor to pump the quick-setting agent toward the concrete slurry in the pipeline at a second speed according to the second start signal, the step includes: Step S100, generating a fourth start signal; It should be noted that the fourth start signal is a trigger signal for starting the movement of the print head. After receiving the trigger signal, the drive mechanism of the print head drives the print head to move along a preset trajectory, and at the same time, the print head extrudes concrete slurry to realize the molding of 3D printed products.

[0064] Step S110, driving the print head to move along a preset trajectory according to the fourth start signal; It should be noted that the preset trajectory is generally a trajectory of the layer-by-layer contour of the target product, and the print head prints the product layer by layer according to the trajectory.

[0065] Step S130: adjusting the second speed according to the rear end pressure value.

[0066] It should be noted that the back-end pressure value refers to the pressure measurement value near the print head when the pumping device delivers slurry to the print head. This pressure value is very important for ensuring printing quality and process control.

[0067] In this embodiment, after the accelerator is added, the rear end pressure value of the concrete slurry in the pipeline will fluctuate, and the fourth start signal will be generated only after the rear end pressure value stabilizes. Therefore, the rear end pressure value reflects the flow of the slurry in the pipeline. By monitoring the rear end pressure value, the speed of the dosing motor can be adjusted in time, thereby controlling the amount of accelerator added and ensuring the correct proportion of the slurry. In addition, the slurry supply on different printing paths can be ensured to be stable, avoiding the degradation of printing quality due to pressure changes. In addition, the dynamic adjustment of the dosing motor speed can adjust the injection rate of the accelerator in time according to the actual pressure feedback, effectively preventing the pipeline blockage problem caused by excessive pressure.

[0068] In a feasible implementation manner, the step of adjusting the second speed according to the rear end pressure value includes: Step S1001, determining whether the rear end pressure value is greater than a preset pressure threshold; Step S1002: If yes, reduce the second speed until the rear end pressure value is less than or equal to the preset pressure threshold.

[0069] In this embodiment, a closed-loop control mechanism is described in the concrete 3D printing process to ensure the fluidity and stability of the slurry in the pipeline. Specifically, when it is detected that the rear-end pressure value exceeds the preset safety or ideal pressure threshold, the system will automatically take measures to reduce this pressure, usually by slowing down the speed of the dosing motor, thereby reducing the addition rate or total amount of the accelerator. The purpose of this is to maintain a safe operating condition and prevent excessive pressure from causing equipment damage or printing quality problems.

[0070] Based on the above implementation methods, refer to Figure 2 and Figure 3In a feasible implementation, first, mortar is loaded into the mixing container. When the weighing sensor detects that the weight of the mortar is greater than the first preset weight value, the water outlet valve is controlled to open and water is injected until the preset water volume is reached. Next, the raw material stirring motor is controlled to start and the mortar in the mixing container is stirred to obtain concrete slurry. Subsequently, the pumping motor is controlled to pump the concrete slurry toward the print head at a first speed. During this period, the front and rear pressure sensors respectively monitor the front and rear pressure values, and the pipeline flow rate value is obtained according to these values. If the pipeline flow rate value is lower than the preset range, the first speed is adjusted; otherwise, the first speed is kept unchanged. Then, the dosing valve is controlled to open, and when the middle liquid level meter is triggered, after the first preset time, the second speed of the dosing motor is controlled to be equal to U times the first speed and started. When the low liquid level meter is triggered, the dosing motor stops after running for a period of time. If the high level meter is triggered, the dosing valve is controlled to be closed to stop the addition of the accelerator. After determining that the pumping motor has run for the second preset time, the third speed of the printing head stirring motor is synchronously controlled to be equal to K times the first speed and started, so as to achieve uniform stirring of the concrete slurry after adding the accelerating setting agent.

[0071] In this embodiment, the concrete printing device includes multiple sensor data: a weighing pressure sensor, a water adding flow meter, a dosing valve with a built-in accelerator flow meter, a low liquid level meter, a middle liquid level meter, a high liquid level meter, a front-end pressure sensor, and a rear-end pressure sensor. Based on this structure and correspondingly, the following workflow can be adopted: Step 1: Pour the mortar into the mixing container, which is equipped with a weighing pressure sensor. According to the recorded value, water is added and mixing begins. When the set value is reached, the feeding motor starts pumping the mixed concrete. Step 2: During continuous pumping, when the value of the current and rear pressure sensors is stable, it means that the concrete flow rate and density are stable. The current concrete flow rate can be calculated through the direct relationship between flow rate, density and pressure. According to the fluidity requirements of the use environment, the required accelerator flow rate can be obtained, and then the motor speed of the accelerator can be controlled. Step 3: After the accelerator is involved, the pressure value will enter a period of fluctuation. When the value of the rear pressure sensor reaches the requirement and stabilizes, a signal can be generated to the print execution end, and normal printing begins. Step 4: When the rear pressure value exceeds the normal range during printing, the motor pumping the accelerator will immediately respond and make changes. Data will be accumulated in continuous printing, and the ratio will be further optimized.

[0072] Therefore, the control method of the concrete printing device of the embodiment of the present application can provide a concrete adaptive printing control method. According to the needs of the printed product, the concrete fluidity requirements are input, the first speed of the concrete pumping motor and the second speed of the accelerator dosing motor are automatically matched, and the consistency is monitored at the end. When the extrusion is stable, the feedback signal is given to the printing actuator to start printing. When the extruded concrete changes in consistency due to the material itself, the additive dosing motor will respond quickly and adjust, and has the following beneficial effects: the flow and consistency of the concrete can be monitored by only using a liquid flow meter and a pressure sensor, and the data can be stored and optimized, so that the adaptive printing of concrete in different environments can be realized to ensure the quality of the printed product.

[0073] In addition, refer to Figure 4 To achieve the above purpose, the present application also provides a concrete printing device, the concrete printing device includes a controller, and a pumping motor, a dosing motor, a front pressure sensor and a rear pressure sensor respectively connected to the controller in communication, the front pressure sensor and the rear pressure sensor are respectively arranged at the front end and the rear end of the pumping device, and the controller is used to execute the steps of the control method of the concrete printing device as described above. The concrete printing device includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the concrete printing device in the above embodiment.

[0074] Reference below Figure 4 , which shows a schematic diagram of the structure of a concrete printing device suitable for implementing the embodiment of the present application. The concrete printing device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The concrete printing device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0075] like Figure 4As shown, the concrete printing device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the concrete printing device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the concrete printing device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a concrete printing device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0076] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0077] The concrete printing device provided by the present application adopts the control method of the concrete printing device in the above embodiment, which can solve the technical problems of the control method of the concrete printing device. Compared with the prior art, the beneficial effects of the concrete printing device provided by the present application are the same as the beneficial effects of the control method of the concrete printing device provided by the above embodiment, and the other technical features in the concrete printing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0078] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0080] In addition, to achieve the above purpose, the present application also provides a readable storage medium, which, when executed by a processor, implements the steps of the control method of the concrete printing device as described above. The readable storage medium has computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the control method of the concrete printing device in the above embodiment.

[0081] The readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0082] The readable storage medium may be included in the concrete printing device; or may exist independently without being assembled into the concrete printing device.

[0083] The readable storage medium carries one or more programs. When the one or more programs are executed by the concrete printing device, the concrete printing device: generates a first start signal, and controls the pumping motor of the pumping device to run at a first speed according to the first start signal, so as to pump the concrete slurry to the print head through the pipeline; monitors the front-end pressure value and the rear-end pressure value of the pumping device; obtains the slurry flow rate value in the pipeline according to the front-end pressure value and the rear-end pressure value; and adjusts the first speed according to the slurry flow rate value so that the slurry flow rate value is within a preset flow rate range.

[0084] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0085] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0086] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0087] The readable storage medium provided by the present application stores computer-readable program instructions (i.e., computer programs) for executing the control method of the above-mentioned concrete printing device, which can solve the technical problems of the control method of the concrete printing device. Compared with the prior art, the beneficial effects of the readable storage medium provided by the present application are the same as the beneficial effects of the control method of the concrete printing device provided by the above-mentioned embodiment, and will not be repeated here.

[0088] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A control method for a concrete printing device, wherein the concrete printing device comprises a pumping device and a printing head, wherein the pumping device is used to pump concrete slurry to the printing head, wherein: The method comprises: generating a first start signal; According to the first start signal, controlling the pumping motor of the pumping device to run at a first speed to pump the concrete slurry to the print head through the pipeline; Monitoring the front-end pressure value and the rear-end pressure value of the pumping device; Obtaining a slurry flow rate value in the pipeline according to the front end pressure value and the rear end pressure value; According to the slurry flow rate value, the first rotation speed is adjusted so that the slurry flow rate value is within a preset flow rate range.

2. The method according to claim 1, characterized in that The step of adjusting the first rotation speed according to the slurry flow rate value comprises: Determining whether the slurry flow rate value is less than a preset flow rate range; If so, increase the first rotation speed until the slurry flow rate value is within the preset flow rate range.

3. The method according to any one of claims 1 or 2, characterized in that After the step of generating the first start signal, the method further includes: generating a second start signal; According to the second start signal, the dosing motor is controlled to deliver the accelerating setting agent toward the concrete slurry in the pipeline at a second rotation speed, wherein the second rotation speed is equal to a first preset multiple of the first rotation speed.

4. The method according to claim 3, characterized in that The step of generating a second start signal comprises: Monitoring the real-time liquid level value in a mixing container, wherein the mixing container is used to mix and prepare the concrete slurry; Determining whether the real-time liquid level value is greater than a first preset liquid level value; If so, after a first preset time period has passed, the second start signal is generated.

5. The method according to claim 3, characterized in that After the step of generating the first start signal, the method further includes: generating a third start signal; According to the third start signal, the printing head stirring motor is controlled to stir the concrete slurry added with the accelerating agent at a third rotation speed, wherein the third rotation speed is equal to a second preset multiple of the first rotation speed.

6. The method according to claim 5, characterized in that The step of generating the third start signal comprises: monitoring the operating time of the pumping motor; If the running time is greater than the second preset time, the third start signal is generated.

7. The method according to claim 5, characterized in that The rear end pressure value is the pressure value at one end of the pumping device facing the print head, and after the step of controlling the dosing motor to deliver the accelerating setting agent to the concrete slurry in the pipeline at a second speed according to the second start signal, the step includes: generating a fourth start signal; According to the fourth start signal, driving the print head to move along a preset trajectory; The second speed is adjusted according to the rear end pressure value.

8. The method according to claim 7, characterized in that The step of adjusting the second speed according to the rear end pressure value comprises: Determining whether the rear end pressure value is greater than a preset pressure threshold; If so, the second speed is reduced until the rear end pressure value is less than or equal to the preset pressure threshold.

9. A concrete printing device, characterized in that: The concrete printing device includes a controller, and a pumping motor, a dosing motor, a front-end pressure sensor, and a rear-end pressure sensor respectively connected to the controller for communication, wherein the front-end pressure sensor and the rear-end pressure sensor are respectively arranged at the front end and the rear end of the pumping device, and the controller is used to execute the steps of the control method of the concrete printing device according to any one of claims 1 to 8.

10. A readable storage medium, characterized in that: When the readable storage medium is executed by a processor, the steps of the control method of the concrete printing device according to any one of claims 1 to 8 are implemented.

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