3D printing concrete fiber laying method and system

Abstract

The invention relates to a 3D printing concrete fiber laying method and system, and relates to the technical field of building construction.The 3D printing concrete fiber laying method comprises the steps that printing target parameters of preset concrete are obtained; the printing target parameters are analyzed to determine fiber laying parameters; according to the fiber laying parameters, a preset fiber laying module is controlled to follow a preset 3D printing module to lay fibers on the concrete; acquiring parameters of laid fibers; and continuously controlling the fiber laying module to follow the 3D printing module to lay fibers on the concrete according to the laid fiber parameters. The method has the effect of improving the convenience of fiber laying.

Description

Technical Field

[0001] The present application relates to the technical field of building construction, and in particular to a 3D printing concrete fiber layout method and system. Background Art

[0002] As a cutting-edge technology that has developed rapidly in recent years, 3D printing technology has shown great potential in many fields by establishing digital models and constructing three-dimensional objects by stacking materials layer by layer. Among them, extrusion 3D printing has significant advantages due to its wide applicability, especially in the fields of construction and concrete.

[0003] In related technologies, 3D printed concrete materials usually exhibit high brittleness, and their tensile strength is significantly lower than their compressive strength. Therefore, the application of discontinuous fibers has attracted widespread attention in the field of 3D printing. The fibers can be directly incorporated into the system as a component of the printable mixture, and the extrusion force of the nozzle can be used to directional arrange the fibers, thereby improving the tensile strength of the concrete.

[0004] Regarding the above-mentioned related technologies, the fibers can be successfully extruded under limited replacement volume without causing nozzle clogging. However, when the volume content of the fibers is too high, the printability of the material will be significantly reduced due to the agglomeration of the fibers, and even cause nozzle clogging, resulting in inconvenient fiber layout. There is still room for improvement. Summary of the invention

[0005] In order to improve the convenience of fiber layout, the present application provides a 3D printing concrete fiber layout method and system.

[0006] In a first aspect, the present application provides a 3D printing concrete fiber layout method, which adopts the following technical solution: A 3D printing concrete fiber layout method, comprising: Get the preset concrete printing target parameters; Analyze the printing target parameters to determine the fiber placement parameters; Controlling a preset fiber placement module to follow a preset 3D printing module to place fibers on concrete according to fiber placement parameters; Obtaining laid fiber parameters; The fiber placement module is continuously controlled according to the laid fiber parameters to follow the 3D printing module to place the fibers on the concrete.

[0007] By adopting the above technical solution, when the 3D printing module prints concrete, the fiber placement module is controlled to follow the 3D printing module according to the fiber placement parameters, so that the fiber placement module places fibers on the printed concrete, and the fibers are evenly placed between the two layers of concrete, thereby ensuring the use of fibers to improve the tensile strength of concrete and avoiding blockage caused by mixing fibers and concrete together for printing, thereby improving the convenience of fiber placement.

[0008] Optionally, the step of controlling a preset fiber placement module to follow a preset 3D printing module to place fibers on concrete according to the fiber placement parameters includes: Analyze the fiber layout parameters to determine the fiber layout level; Determine whether the fiber layout layer meets the requirements of the preset lower layout layer; If it meets the requirements, the preset fiber cutting module is controlled according to the fiber laying parameters to transport the fibers to the fiber laying module, and the fiber laying module is controlled to lay the fibers; If not, the printing environment parameters are obtained, and the fiber placement module is adjusted according to the printing environment parameters and the fiber placement parameters; According to the fiber laying parameters, the preset fiber cutting module is controlled to transport the fibers to the fiber laying module, and the fiber laying module is controlled to lay the fibers.

[0009] By adopting the above technical solution, when it is determined that the fiber layout layer does not meet the requirements of the lower layout layer, it means that the fiber layout module is set to layout the fibers required for the next layer of concrete when printing the current layer of concrete. At this time, because the fibers are exposed to the outside world for a long time, the fiber layout module is adjusted according to the printing environment parameters to prevent the fibers from being scattered due to the external environment, thereby improving the fiber layout effect.

[0010] Optionally, the step of controlling a preset fiber cutting module to transport the fibers to the fiber placement module according to the fiber placement parameters includes: Analyze the fiber laying parameters to determine the laid fiber material parameters, laid fiber speed and laid fiber length; Determine the number of fiber shearing blades according to the relationship between the length of the laid fibers and the number of blades of the preset length; Control the fiber cutting module to adjust the fiber cutting length according to the number of fiber cutting blades; Determine the fiber shear pressure value according to the laid fiber material parameters and the preset material shear pressure relationship; The fiber shearing module is controlled to compact the preset fiber strips according to the fiber shearing pressure value, and the fiber shearing module is controlled to shear the fiber strips to generate fibers for delivery to the fiber laying module according to the fiber laying speed.

[0011] By adopting the above-mentioned technical scheme, the blade expansion on the fiber cutting module is adjusted according to the number of fiber cutting blades, so that the fiber length cut by the fiber cutting module is maintained at the laid fiber length, and the fiber cutting module is controlled to press the fiber strips according to the fiber cutting pressure value, thereby ensuring that the limiting cutting module can effectively cut the fiber strips and cut at the laid fiber speed, thereby improving the efficiency of fiber manufacturing.

[0012] Optionally, the step of adjusting the fiber placement module according to the printing environment parameters and the fiber placement parameters includes: Determine whether the printing environment parameters meet the preset requirements of no-impact environment parameters; If it meets the requirements, the fiber layout module is controlled to remain unchanged; If not, the fiber placement parameters are analyzed to determine the fiber placement direction; Determining the fiber placement position according to the relationship between the fiber placement direction and the preset lower layer placement direction position; The fiber placement module is controlled to adjust the position according to the fiber placement position.

[0013] By adopting the above technical solution, when it is determined that the printing environment parameters do not meet the requirements of no-impact environmental parameters, it means that the external environment at this time will blow away the fibers laid out on the upper layer. Therefore, the fiber laying position is determined according to the positional relationship between the fiber laying direction and the lower layer laying direction, and the fiber laying module is adjusted to the fiber laying position, so that when the fibers are just laid, they are covered by two layers of concrete, thereby improving the fiber laying effect.

[0014] Optionally, the step of controlling the fiber placement module to place the fibers includes: Controlling the fiber placement module to adjust the injection slope according to a preset fiber placement slope; Analyze fiber placement parameters to determine fiber length orientation and fiber injection rate; Determine whether the fiber length direction meets the preset parallel printing direction requirement; If it does not meet the requirements, the fiber placement module is controlled according to the fiber injection rate to eject the fibers for placement; If it is in compliance, the fiber placement module is controlled to swing according to a preset jet swing angle, and the fiber placement module is controlled to spray out the fibers for placement according to the fiber jetting rate.

[0015] By adopting the above technical scheme, the injection slope of the fiber placement module is adjusted according to the fiber placement slope, and when the fiber length direction is consistent with the parallel printing direction, the fiber placement module is controlled to swing according to the injection swing angle, so as to ensure that the fibers are accurately and evenly distributed on the concrete when sprayed, thereby improving the fiber placement effect.

[0016] Optionally, the step of controlling the fiber placement module to spray out the fibers for placement according to the fiber spraying rate includes: Controlling the fiber placement module to eject fibers at a fiber ejection rate and obtaining an ejection detection status; Determine whether the injection detection state meets the requirements of the preset normal injection state; If it meets the requirements, the fiber placement module is controlled to eject the fiber at the fiber ejection rate, and the ejection detection status is acquired to perform cyclic judgment; If not, the fiber placement module is controlled to stop spraying the fiber, and the preset clearing device is controlled to clear the blockage of the fiber placement module until the spray detection state meets the requirements of the normal spray state.

[0017] By adopting the above technical solution, the injection detection state of the fiber is detected. When it is determined that the injection detection state does not meet the requirements of the normal injection state, it indicates that the fiber laying module is blocked at this time. Therefore, the fiber laying module is controlled to stop spraying the fiber, and the clearing device is controlled to clear the blockage of the fiber laying module, thereby improving the convenience of using the fiber laying module.

[0018] Optionally, the step of continuing to control the fiber placement module to follow the 3D printing module to place fibers on the concrete according to the laid fiber parameters includes: Determine whether the laid fiber parameters meet the preset normal laying parameter requirements; If it meets the requirements, the fiber placement module continues to be controlled to follow the 3D printing module to place fibers on the concrete, and the parameters of the placed fibers are continuously obtained for cyclic judgment; If not, the laid fiber parameters and normal laying parameters are analyzed to determine the abnormal laying parameters; Determining the layout adjustment parameter according to the abnormal layout parameter and the preset abnormal adjustment relationship; The fiber placement module is adjusted according to the placement adjustment parameters, and the adjusted fiber placement module is controlled to continue to follow the 3D printing module to place fibers on the concrete.

[0019] By adopting the above technical scheme, when it is determined that the laid fiber parameters do not meet the requirements of normal laying parameters, abnormal laying parameters are determined according to the laid fiber parameters and normal laying parameters, and laying adjustment parameters are determined according to the abnormal laying parameters and the abnormal adjustment relationship, so that the fiber laying module is adjusted according to the laying adjustment parameters, thereby improving the accuracy of fiber laying by the fiber laying module.

[0020] In a second aspect, the present application provides a 3D printing concrete fiber layout system, which adopts the following technical solution: A 3D printing concrete fiber laying system includes a 3D printing module and further includes: A fiber placement module, which moves synchronously with the 3D printing module and sprays the fibers on the concrete; A fiber cutting module, which moves synchronously with the fiber placement module and cuts the fiber strips into fibers and transports them to the fiber placement module; A deployment monitoring sensor, wherein the deployment monitoring sensor moves synchronously with the fiber deployment module to detect the parameters of the deployed fibers; A control module is connected to the fiber laying module, the fiber cutting module and the laying monitoring sensor data wires respectively, and is used to control the fiber laying module, the fiber cutting module and the laying monitoring sensor.

[0021] By adopting the above technical solution, when the control module controls the 3D printing module to print concrete, the control module controls the fiber cutting module to manufacture fibers and transport them to the fiber laying module, so that the fiber laying module lays the fibers on the printed concrete, thereby ensuring the use of fibers to improve the tensile strength of concrete, and avoiding blockage caused by mixing fibers and concrete together for printing, thereby improving the convenience of fiber laying.

[0022] Optionally, the fiber placement module includes: A fiber guide groove, which is arranged below the fiber shearing module and is used to collect fibers produced by the fiber shearing module and lay the fibers on the concrete; a fiber jetting device, the fiber jetting device blowing fibers from a fiber guide slot toward concrete; A slope adjustment device, the slope adjustment device is used to adjust the slope of the fiber guide groove; An angle adjustment device, the angle adjustment device is used to adjust the fiber ejection angle of the fiber guide groove in a horizontal plane; A position adjusting device is used to adjust the position of the fiber guide groove.

[0023] By adopting the above technical scheme, the position adjustment device adjusts the position of the fiber guide groove, so that the fiber guide groove can lay fibers on the concrete in different positions and directions, ensuring the applicability of the limited layout module, and adjusting the slope and spraying angle of the fiber guide groove through the slope adjustment device and the angle adjustment device, ensuring that the fiber laying module distributes the fibers evenly and accurately on the concrete, thereby improving the accuracy of the use of the fiber laying module.

[0024] Optionally, the fiber cutting module includes: A fiber feeding wheel, wherein the fiber feeding wheel is used to convey fiber strips; A fiber shearing wheel, wherein the fiber shearing wheel and the fiber feeding wheel clamp the fiber strip to shear the fiber strip into fibers; An elastic support device, wherein the elastic support device is used to adjust the pressure between the fiber shearing wheel and the fiber feeding wheel; A driving device drives the fiber feeding wheel and the fiber shearing wheel to rotate synchronously.

[0025] By adopting the above technical solution, the elastic support device adjusts the pressure between the fiber feeding wheel and the fiber shearing wheel, so that the fiber shearing wheel and the fiber feeding wheel cooperate with each other, thereby shearing fiber strips of different materials and diameters to generate fibers, thereby improving the convenience of using the fiber shearing module.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the 3D printing module prints concrete, the fiber placement module is controlled to follow the 3D printing module according to the fiber placement parameters, so that the fiber placement module places fibers on the printed concrete, and the fibers are evenly placed between the two layers of concrete, thereby ensuring that the fibers are used to improve the tensile strength of the concrete, and avoiding the blockage caused by mixing the fibers and concrete together for printing, thereby improving the convenience of fiber placement; 2. When it is determined that the fiber layout layer does not meet the requirements of the lower layout layer, it means that the fiber layout module is set to layout the fibers required for the next layer of concrete when printing the current layer of concrete. At this time, because the fibers are exposed to the outside world for a long time, the fiber layout module is adjusted according to the printing environment parameters to prevent the fibers from being scattered due to the external environment, thereby improving the effect of fiber layout; 3. By adjusting the blade spread on the fiber cutting module according to the number of fiber cutting blades, the fiber length cut by the fiber cutting module is maintained at the laid fiber length, and the fiber cutting module is controlled to press the fiber strips according to the fiber cutting pressure value, thereby ensuring that the limiting cutting module can effectively cut the fiber strips and cut at the laid fiber speed, thereby improving the efficiency of fiber manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a 3D printing concrete fiber layout method in an embodiment of the present application.

[0028] Figure 2 It is a flow chart of the steps of controlling a preset fiber placement module to follow a preset 3D printing module to place fibers on concrete according to fiber placement parameters in an embodiment of the present application.

[0029] Figure 3 It is a flow chart of the steps of controlling a preset fiber cutting module to transport fibers to a fiber placement module according to fiber placement parameters in an embodiment of the present application.

[0030] Figure 4It is a flow chart of the steps of adjusting the fiber placement module according to the printing environment parameters and the fiber placement parameters in the embodiment of the present application.

[0031] Figure 5 It is a flow chart of the steps of controlling the fiber placement module to place fibers in an embodiment of the present application.

[0032] Figure 6 It is a flow chart of the steps of controlling the fiber placement module to spray out fibers for placement according to the fiber injection rate in an embodiment of the present application.

[0033] Figure 7 It is a flowchart of the steps of continuing to control the fiber placement module to follow the 3D printing module to place fibers on concrete according to the laid fiber parameters in an embodiment of the present application.

[0034] Figure 8 It is a simplified schematic diagram of the 3D printing module in the embodiment of the present application.

[0035] Fig. 9 Schematic diagram of the fiber placement module and the fiber cutting module in the embodiment of the present application Figure 1 .

[0036] Fig.10 Schematic diagram of the fiber placement module and the fiber cutting module in the embodiment of the present application Figure 2 .

[0037] Explanation of the accompanying drawings: 1. 3D printing module; 11. 3D printing nozzle; 12. Concrete storage unit; 13. Feed pump; 14. Delivery pipeline; 2. Fiber laying module; 21. Fiber guide groove; 22. Fiber injection device; 23. Slope adjustment device; 24. Angle adjustment device; 25. Position adjustment device; 3. Fiber cutting module; 31. Fiber feeding wheel; 32. Fiber cutting wheel; 33. Elastic support device; 34. Driving device; 4. Laying monitoring sensor; 5. Control module. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 10 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] The embodiment of the present application discloses a 3D printing concrete fiber layout method, specifically discloses a control module 5, a 3D printing module 1 and a fiber layout module 2, the control module 5 is respectively connected to the 3D printing module 1 and the fiber layout module 2 through data wires, when the control module 5 receives the printing target parameters of the concrete, it analyzes the printing target parameters and determines the fiber layout parameters, so that the control module 5 controls the fiber layout module 2 to follow the 3D printing module 1 according to the fiber layout parameters, so that the fiber layout module 2 evenly lays the fibers between the two printed layers of concrete, and detects the laid fiber parameters, and continues to control the fiber layout module 2 to lay the fibers according to the laid fiber parameters, thereby ensuring the use of fibers to improve the tensile strength of concrete, and avoiding the blockage caused by mixing the fibers and concrete together for printing, thereby improving the convenience of fiber layout.

[0040] Reference Figure 1 The present application embodiment discloses a 3D printing concrete fiber layout method, comprising the following steps: Step S100: obtaining preset printing target parameters of concrete.

[0041] The concrete refers to 3D printed concrete. The printing target parameters refer to the parameters of the printed concrete, including parameters such as concrete thickness, path planning, fiber density, and layout angle, which are set by the operator through the control interface of the control module 5.

[0042] Step S101: Analyze the printing target parameters to determine the fiber layout parameters.

[0043] Among them, fiber layout parameters refer to the parameters of fiber layout, including fiber material and diameter, layout level, layout path and layout density in different regions, fiber length, fiber shear speed, injection rate, and fiber layout direction, which are determined by the processing terminal according to the printing target parameters. For example, path planning is the layout path, and the fiber material and diameter are determined according to the maximum mechanical properties in the printing target parameters, while the layout density, fiber length, fiber shear speed, injection rate, and fiber layout direction in different regions are determined according to the component functions at different paths in the printing target parameters. The density in the load-bearing area is higher, the fiber length is longer, and the corresponding shear speed is And the injection rate must be higher to meet the fiber layout within a certain time, while the fiber density in the secondary area is lower, the fiber length is shorter, and the corresponding shear speed and injection speed are smaller to prevent waste caused by excessive layout. The specific values ​​are defined by the operator for different areas, and the layout direction is consistent with the mechanical force direction, thereby improving the overall mechanical properties of the component; the layout level is determined by the operator according to the printing environment, such as printing the current level of concrete and laying the next level of fiber to facilitate the inspection of the layout quality, or printing the current level of concrete and laying the current level of fiber, which is not easy to cause uncontrollable fiber situation.

[0044] Step S102: controlling the preset fiber placement module 2 to follow the preset 3D printing module 1 to place fibers on concrete according to the fiber placement parameters.

[0045] Among them, after the control module 5 determines the fiber layout parameters, the fiber layout module 2 is controlled to follow the 3D printing module 1 along the path corresponding to the fiber layout parameters, and the fiber length, fiber shearing speed, injection rate, and fiber layout direction are adjusted in real time according to the changes in the path, so that the fibers are laid in different areas on the path with different densities and directions to meet the mechanical performance requirements of components in different areas. The specific method is referred to Figure 2 steps.

[0046] The fiber placement module 2 refers to a module for placing fibers on concrete, including a fiber guide groove 21 for collecting fibers and placing the fibers on concrete, a fiber injection device 22 for driving the fibers to spray out of the fiber guide groove 21, a slope adjustment device 23 for adjusting the slope of the fiber guide groove 21, an angle adjustment device 24 for adjusting the spraying angle of the fiber guide groove 21, and a position adjustment device 25 for adjusting the fiber guide groove 21. The specific structure is referred to Fig. 9 and Fig.10 .

[0047] The 3D printing module 1 refers to a module for printing concrete, including a 3D printing nozzle 11 for spraying concrete, a concrete storage unit 12 for storing and mixing concrete, a feed pump 13 for driving concrete into the concrete storage unit, and a delivery pipeline 14 for connecting the feed pump 13 and the concrete storage unit 12. The specific structure is shown in FIG. Figure 8 .

[0048] Step S103: Obtaining laid fiber parameters.

[0049] The laid fiber parameters refer to the thickness and distribution status of the laid fibers. The image data of the laid fibers are collected by visual sensors, and the distribution status of the fibers is obtained by using the Canny edge detection algorithm and convolutional neural network (CNN) analysis. The real-time thickness data of the fibers is provided by laser displacement sensors.

[0050] Step S104: Continue to control the fiber placement module 2 to follow the 3D printing module 1 to place fibers on the concrete according to the laid fiber parameters.

[0051] After the control module 5 determines the laid fiber parameters, the fiber laying module 2 is adjusted in real time according to the laid fiber parameters, so as to ensure that the fiber laying module 2 can lay the fibers accurately and evenly. Figure 7 steps.

[0052] Reference Figure 2 The steps of controlling the preset fiber placement module 2 to follow the preset 3D printing module 1 to place fibers on concrete according to the fiber placement parameters include: Step S200: Analyze the fiber layout parameters to determine the fiber layout level.

[0053] The fiber layout level refers to the level of fiber layout, including upper layout and lower layout. The upper layout means that when printing the current layer of concrete, the fiber is laid above the current layer of concrete, and the fiber is laid for the next layer of concrete. Fig. 9 ; Lower layer layout means that when printing the current layer of concrete, the fiber is laid below the current layer of concrete, and the fiber is laid for the current layer of concrete. Fig.10 , which is obtained by the control module 5 through identification and calling of the fiber layout parameters.

[0054] Step S201: determining whether the fiber layout layer meets the preset lower layout layer requirements.

[0055] The lower layout level refers to the level at which the fibers are laid below the current concrete, and the requirement for the lower layout level refers to being consistent with the lower layout level, which is stored in the control module 5 by the operator.

[0056] The control module 5 determines whether the fiber layout layer is consistent with the lower layout layer, thereby determining whether the fiber is laid in the current layer of concrete.

[0057] Step S2011: If it is met, the preset fiber cutting module 3 is controlled according to the fiber placement parameters to transport the fibers to the fiber placement module 2, and the fiber placement module 2 is controlled to place the fibers.

[0058] If the control module 5 determines that the fiber layout layer is consistent with the lower layout layer, it indicates that the fiber is laid in the current layer of concrete. Therefore, the fiber cutting module 3 is controlled according to the fiber layout parameters to deliver the fiber to the fiber layout module 2. For specific methods, refer to Figure 3 The steps are as follows, and the fiber placement module 2 is controlled to place the fibers. For specific methods, refer to Figure 5 steps.

[0059] The fiber cutting module 3 refers to a module for cutting and transporting fibers, including a fiber feeding wheel 31 and a fiber cutting wheel 32 for conveying and cutting fiber strips, an elastic supporting device 33 for adjusting the pressure between the fiber feeding wheel 31 and the fiber cutting wheel 32, and a driving device 34 for driving the fiber feeding wheel 31 and the fiber cutting wheel 32 to rotate. Fig. 9 and Fig.10 .

[0060] Step S2012: If not, obtain the printing environment parameters, and adjust the fiber layout module 2 according to the printing environment parameters and the fiber layout parameters.

[0061] If the control module 5 determines that the fiber layout layer is inconsistent with the lower layout layer, it indicates that the fiber is laid in the next layer of concrete. At this time, the printing environment parameters are detected, and the fiber layout module 2 is adjusted according to the printing environment parameters and the fiber layout parameters. The specific method is referred to Figure 4 steps.

[0062] The printing environment parameter refers to the wind speed of the printing environment, which is detected by a wind speed sensor and sent to the control module 5 .

[0063] Step S202: controlling the preset fiber cutting module 3 to transport the fibers to the fiber placing module 2 according to the fiber placing parameters, and controlling the fiber placing module 2 to place the fibers.

[0064] After the control module 5 adjusts the fiber placement module 2, the fiber cutting module 3 is controlled according to the fiber placement parameters to deliver the fibers to the fiber placement module 2. For specific methods, refer to Figure 3 The steps are as follows, and the fiber placement module 2 is controlled to place the fibers. For specific methods, refer to Figure 5 steps.

[0065] The fiber cutting module 3 in this step is consistent with the fiber cutting module 3 in step S2011, and will not be described in detail here.

[0066] Reference Figure 3 The step of controlling the preset fiber cutting module 3 to deliver the fiber to the fiber laying module 2 according to the fiber laying parameters includes: Step S300: Analyze the fiber placement parameters to determine the placement fiber material parameters, placement fiber speed, and placement fiber length.

[0067] The fiber material parameter refers to the material and diameter value of the fiber to be laid, which is obtained by the processing terminal identifying and calling the fiber laying parameters. The fiber laying speed refers to the speed of laying the fiber, and the fiber laying length refers to the length of laying the fiber. The sensor detects and sends the current position to the control module 5, and the control module 5 identifies the current position in the fiber laying parameters corresponding to the fiber laying speed and fiber length.

[0068] Step S301: determining the number of fiber cutting blades according to the relationship between the laid fiber length and the preset length blade number.

[0069] The length-blade-number relationship refers to the corresponding relationship between different fiber lengths and blade numbers. Fig. 9The fiber shearing wheel 32 is evenly arranged with multiple controllable retractable blades in the circumference, and the spacing between the blades is the fiber shearing length. Therefore, the more blades there are, the smaller the fiber length is, and the fewer blades there are, the larger the fiber length is. The operator forms a mapping table by matching the number of blades with the fiber length one by one.

[0070] The number of fiber cutting blades refers to the number of blades used to cut the fiber strips into corresponding lengths, which is obtained by the control module 5 by searching in a mapping table corresponding to the relationship between the length and the number of blades according to the laid fiber length.

[0071] Step S302: controlling the fiber cutting module 3 to adjust the fiber cutting length according to the number of fiber cutting blades.

[0072] After determining the number of fiber cutting blades, the control module 5 controls the blades on the fiber cutting wheel 32 in the fiber cutting module 3 to be retracted and extended in a number corresponding to the number of fiber cutting blades, thereby adjusting the fiber cutting length.

[0073] Step S303: determining the fiber shear pressure value according to the material parameters of the laid fibers and the preset material shear pressure relationship.

[0074] Among them, the material shear pressure relationship refers to the correspondence between fiber material and shear pressure. Fibers of different materials have the lowest corresponding shear pressure, and the larger the shear pressure, the pressure added to the basic shear pressure. The operator forms a mapping table by corresponding the material diameter and the shear pressure one by one.

[0075] The fiber shearing pressure value refers to the pressure value used to shear the manufactured fibers, which is obtained by the control module 5 by searching in a mapping table corresponding to the material shearing pressure relationship according to the material and diameter corresponding to the laid fiber material parameters.

[0076] Step S304: controlling the fiber cutting module 3 to compact the preset fiber strips according to the fiber cutting pressure value, and controlling the fiber cutting module 3 to cut the fiber strips to generate fibers for delivery to the fiber laying module 2 according to the fiber laying speed.

[0077] After determining the fiber shearing pressure value, the control module 5 adjusts the pressure between the fiber shearing wheel 32 and the fiber feeding wheel 31 in the fiber shearing module 3 to the fiber shearing pressure value, and controls the driving device in the fiber shearing module 3 to drive the fiber shearing wheel 32 and the fiber feeding wheel 31 to rotate at the fiber laying speed, thereby cutting the fiber strips into fibers of corresponding lengths, and dropping them into the fiber guide groove 21 in the fiber laying module 2 to wait for laying. The fiber strips refer to uncut fibers.

[0078] Reference Figure 4 The step of adjusting the fiber layout module 2 according to the printing environment parameters and the fiber layout parameters includes: Step S400: determining whether the printing environment parameters meet the preset requirements of the non-impact environment parameters.

[0079] Among them, the no-impact environmental parameter refers to the environmental wind speed that will not cause any impact. The specific value is determined by the operator based on the actual situation. The requirement for the no-impact environmental parameter refers to consistency with the no-impact environmental parameter.

[0080] The control module 5 determines whether the printing environment parameters are consistent with the non-influence environment parameters, thereby determining whether the external environment will affect the upper fiber layout of the fiber layout module 2 .

[0081] Step S401: If the conditions are met, the fiber placement module 2 is controlled to remain unchanged.

[0082] Among them, if the control module 5 determines that the printing environment parameters are consistent with the non-influence environment parameters, it means that the external environment will not affect the upper fiber layout of the fiber layout module 2. Therefore, the position of the fiber layout module 2 is controlled to remain unchanged, and the layout level is changed only when the concrete printing starts, and it will no longer change during the printing of the concrete.

[0083] Step S402: If not, analyzing the fiber layout parameters to determine the fiber layout direction.

[0084] If the control module 5 determines that the printing environment parameters are inconsistent with the non-affecting environment parameters, it indicates that the external environment will cause the fibers to be arranged in a disorderly manner. Therefore, the fiber arrangement parameters are analyzed to determine the fiber arrangement direction, providing data support for subsequent position adjustment.

[0085] The fiber arrangement direction refers to the direction of the fiber arrangement, including perpendicular to the printing direction and parallel to the printing direction, and is obtained by the control module 5 according to the direction corresponding to the current position on the path in the fiber arrangement parameters.

[0086] Step S403: determining the fiber placement position according to the positional relationship between the fiber placement direction and the preset lower layer placement direction.

[0087] Among them, the position relationship of the lower layer layout direction refers to the corresponding relationship between the lower layer layout direction and the layout position. There are two positions for the lower layer layout. One is located in front of the 3D printing module 1, which is used to layout fibers parallel to the printing direction. The other is located in the front side of the 3D printing module 1, which is used to layout fibers perpendicular to the printing direction. The operator determines the position coordinates according to the specific device, and forms a mapping table by corresponding the lower layer layout direction and the layout position one by one.

[0088] The fiber layout position refers to the position of the fiber layout module 2, which is obtained by the control module 5 by searching in a mapping table corresponding to the position relationship of the lower layout direction according to the fiber layout direction.

[0089] Step S404: controlling the fiber placement module 2 to adjust the position according to the fiber placement position.

[0090] Among them, after determining the fiber laying position, the control module 5 controls the fiber laying module 2 to adjust to the fiber laying position, so that the fiber laying module 2 is adjusted to lay fibers on the current layer of concrete. The position adjustment can be achieved by using a linear module and a servo motor, and the specific structure is not repeated here.

[0091] Reference Figure 5 The steps of controlling the fiber placement module 2 to place the fibers include: Step S500: controlling the fiber placement module 2 to adjust the spraying slope according to a preset fiber placement slope.

[0092] Among them, the control module 5 controls the slope adjustment device 23 in the fiber laying module 2 to adjust the slope of the fiber guide groove 21 according to the fiber laying slope, so that the fiber guide groove 21 can lay the fibers evenly and accurately on the concrete. For example, when the laying direction is perpendicular to the printing direction, it is necessary to ensure that the two ends of the fiber do not exceed the concrete, and when the laying direction is parallel to the printing direction, it is necessary to ensure that the distance between the fibers to be laid and the laid fibers is within a normal range.

[0093] The fiber laying slope refers to the slope of the fiber guide groove 21 in the fiber laying module 2. By adjusting the slope of the fiber guide groove 21, the position of the fiber laid in the fiber guide groove 21 can be adjusted. The larger the slope, the shorter the fiber spraying distance. The specific slope is determined by the operator according to the width of the concrete printing.

[0094] Step S501: Analyze the fiber layout parameters to determine the fiber length direction and fiber injection rate.

[0095] Among them, the fiber length direction refers to the direction of the fiber length, including two types: perpendicular to the printing direction and parallel to the printing direction. The fiber injection rate refers to the speed at which the fiber is ejected from the fiber guide groove 21, which is obtained by the control module 5 according to the current position to identify the layout direction and layout speed corresponding to the position on the path in the fiber layout parameters.

[0096] Step S502: Determine whether the fiber length direction meets the requirement of the preset parallel printing direction.

[0097] The parallel printing direction refers to the direction in which the fiber length is parallel to the printing direction, and the requirement for the parallel printing direction refers to being consistent with the parallel printing direction, which is stored in the control module 5 by the operator.

[0098] The control module 5 determines whether the fiber length direction is consistent with the parallel printing direction, thereby determining whether the ejection angle of the fiber guide groove 21 needs to be adjusted.

[0099] Step S5021: If not, the fiber placement module 2 is controlled to spray the fibers for placement according to the fiber injection rate.

[0100] If the control module 5 determines that the fiber length direction is inconsistent with the parallel printing direction, it indicates that there is no need to adjust the ejection angle of the fiber guide groove 21. At this time, the fiber ejection device in the fiber placement module 2 is directly controlled according to the fiber ejection rate to eject the fibers in the fiber guide groove 21, so as to be placed on the concrete. For specific methods, refer to Figure 6 steps.

[0101] Step S5022: If it is in compliance, the fiber placement module 2 is controlled to swing according to a preset jet swing angle, and the fiber placement module 2 is controlled to spray out the fibers for placement according to the fiber jetting rate.

[0102] If the control module 5 determines that the fiber length direction is consistent with the parallel printing direction, it indicates that the ejection angle of the fiber guide groove 21 needs to be adjusted so that the fibers can be evenly distributed on the concrete. Therefore, the angle adjustment device 24 in the fiber placement module 2 is controlled to reciprocately adjust the ejection angle of the fiber guide groove 21 according to the ejection swing angle, and the fiber ejection device in the fiber placement module 2 is controlled to eject the fibers in the fiber guide groove 21 according to the fiber ejection rate, so as to be arranged on the concrete. For specific methods, refer to Figure 6 steps.

[0103] The jet swing angle refers to the angle range of the fiber guide groove 21 that swings back and forth in the horizontal plane, and the specific value is determined by the operator according to the width of the concrete.

[0104] Reference Figure 6 The step of controlling the fiber placement module 2 to spray out fibers for placement according to the fiber injection rate includes: Step S600: Control the fiber placement module 2 to spray fibers at a fiber spraying rate, and obtain a spraying detection state.

[0105] When the control module 5 controls the fiber ejection device to eject the fiber out of the fiber guide groove 21 at the fiber ejection rate, the ejection detection state is detected to provide data support for the subsequent determination of whether clearing is required.

[0106] The injection detection state refers to the state in which the fiber is ejected from the fiber guide groove 21, including normal ejection and blockage. The pressure of the fiber guide groove 21 and the fiber flow rate are detected by the sensor, and when it is determined that the pressure increases abnormally or the fiber flow rate drops suddenly, blockage is determined, otherwise, it is a normal state.

[0107] Step S601: Determine whether the injection detection state meets the preset normal injection state requirement.

[0108] The normal ejection state refers to a state in which the fibers are ejected normally from the fiber guide groove 21, and the requirement for the normal ejection state refers to being consistent with the normal ejection state.

[0109] The control module 5 determines whether the jet detection state is consistent with the normal jet state, thereby determining whether the fiber causes blockage in the fiber guide groove 21.

[0110] Step S6011: If it meets the requirements, the fiber placement module 2 is continuously controlled to spray out the fiber at the fiber spraying rate, and the spraying detection status is continuously acquired for cyclic judgment.

[0111] Among them, if the control module 5 determines that the injection detection state is consistent with the normal injection state, it means that the fiber has not caused blockage in the fiber guide groove 21. Therefore, the fiber ejection device continues to control the fiber ejection rate to eject the fiber from the fiber guide groove 21, and continues to detect the injection detection state, thereby continuously monitoring the state of the fiber in the fiber guide groove 21.

[0112] Step S6012: If not, the fiber placement module 2 is controlled to stop spraying fibers, and a preset clearing device is controlled to clear the fiber placement module 2 until the spraying detection state meets the requirements of the normal spraying state.

[0113] Among them, if the control module 5 determines that the injection detection state is inconsistent with the normal injection state, it indicates that the fiber causes blockage in the fiber guide groove 21, so the fiber layout module 2 is controlled to stop injecting the fiber, and the clearing device is controlled to clear the fiber guide groove 21 until the injection detection device is consistent with the normal injection state.

[0114] The clearing device refers to a device used to clear the blockage in the fiber guide groove 21. A reverse jet device can be used to discharge the fibers from the fiber guide groove 21 through reverse airflow, or mechanical cleaning can be used, such as using a hydraulic rod or other device to poke the fibers out of the fiber guide groove 21.

[0115] Reference Figure 7 The steps of continuing to control the fiber placement module 2 to follow the 3D printing module 1 to place fibers on concrete according to the laid fiber parameters include: Step S700: Determine whether the laid fiber parameters meet the preset normal laying parameter requirements.

[0116] The normal layout parameters refer to the parameters of the fibers normally laid out on the concrete, including position parameters and thickness parameters, and the requirements for the normal layout parameters refer to being consistent with the normal layout parameters.

[0117] The control module 5 determines whether the laid fiber parameters are consistent with the normal laying parameters, thereby determining whether the fiber laying device lays the fibers accurately on the concrete.

[0118] Step S701: If it meets the requirements, the fiber placement module 2 continues to be controlled to follow the 3D printing module 1 to place fibers on the concrete, and continues to obtain the parameters of the placed fibers for cyclic judgment.

[0119] Among them, if the control module 5 determines that the laid fiber parameters are consistent with the normal laying parameters, it means that the fiber laying device has accurately laid the fibers on the concrete. Therefore, the fiber laying module 2 continues to be controlled to follow the 3D printing module 1 to lay the fibers on the concrete, and continues to detect the laid fiber parameters, so as to continue to pay attention to the fiber laying situation.

[0120] Step S702: If not, the laid fiber parameters and normal laying parameters are analyzed to determine abnormal laying parameters.

[0121] Among them, if the control module 5 determines that the laid fiber parameters are inconsistent with the normal laying parameters, it means that the fiber laying device has not accurately laid the fibers on the concrete. At this time, the laid fiber parameters and the normal laying parameters are analyzed to determine the abnormal laying parameters, providing data support for the subsequent adjustment of the fiber laying device.

[0122] Abnormal layout parameters refer to abnormal parameters during fiber layout. For example, when the thickness is abnormal, the difference in thickness between the laid fiber parameters and the normal layout parameters is calculated. When the position is abnormal, the position difference between the laid fiber parameters and the normal layout parameters is calculated.

[0123] Step S703: Determine the layout adjustment parameter according to the abnormal layout parameter and the preset abnormal adjustment relationship.

[0124] Among them, the abnormal adjustment relationship refers to the adjustment relationship between the abnormal parameters and the adjustment parameters. For example, if the thickness is thicker, the fiber ejection rate is reduced, and if the thickness is thinner, the fiber ejection rate is increased. For another example, when the fiber distribution is uneven, the ejection speed and layout path are adjusted according to the difference between the actual distribution and the path.

[0125] The layout adjustment parameters refer to the adjustment parameters of the fiber guide groove 21, including the ejection speed adjustment and the path adjustment. The control module 5 determines the layout adjustment parameters after analyzing the abnormal adjustment relationship and the specific abnormal parameters corresponding to the abnormal layout parameters.

[0126] Step S704: adjusting the fiber placement module 2 according to the placement adjustment parameters, and controlling the adjusted fiber placement module 2 to continue to follow the 3D printing module 1 to place fibers on the concrete.

[0127] Among them, after determining the layout adjustment parameters, the control module 5 adjusts the fiber layout module 2 according to the layout adjustment parameters, and controls the adjusted fiber layout module 2 to continue to follow the 3D printing module 1 to layout fibers on the concrete, thereby ensuring the quality and uniformity of the fiber layout on the concrete.

[0128] Based on the same inventive concept, Figure 8 and Fig. 9 The embodiment of the present application provides a 3D printing concrete fiber laying system, including a 3D printing module 1, a fiber laying module 2, a fiber cutting module 3, a laying monitoring sensor 4 and a control module 5. The 3D printing module 1 is used to print concrete. The control module 5 can be a computer. The control module 5 controls the fiber laying module 2, the fiber cutting module 3 and the laying monitoring sensor 4 to move synchronously with the 3D printing module 1, and controls the fiber cutting module 3 to cut the fiber strips into fibers of corresponding lengths at a required speed to convey the fiber laying module 2. The fiber laying module 2 sprays and lays the fibers on the printed concrete, and the laying monitoring sensor 4 detects the uniformity and thickness of the fiber laying, thereby feeding back to the control module 5. The control module 5 adjusts the fiber laying module 2 to further improve the uniformity and quality of the fiber laying.

[0129] Reference Figure 8 and Fig. 9 , the 3D printing module 1 includes a 3D printing nozzle 11, a concrete storage unit 12, a feed pump 13 and a conveying pipeline 14. The feed pump 13 conveys the concrete raw materials into the concrete storage unit 12 through the conveying pipeline 14, and the concrete storage unit 12 provides the mixed concrete to the 3D printing nozzle 11, and the 3D printing nozzle 11 prints the concrete into the required components. The concrete storage unit 12 is a closed mixing structure, and a mixing blade and a heating unit are provided inside to maintain the uniformity of the concrete and a suitable working temperature. The mixing blade is driven by a servo motor, and its mixing frequency can be adjusted in real time according to the fluidity and proportion of the concrete to prevent material deposition and separation. An automatic feeding port is provided on the back of the concrete storage unit 12, and the amount of remaining material is monitored by a weight sensor, and dynamic feeding is achieved through control of the control module 5.

[0130] The feed pump 13 can be a screw pump or a plunger pump, and the pumping rate can be adjusted in real time according to the printing path and speed. A pressure sensor is provided in the feed pump 13 to monitor the pressure change during the conveying process to avoid blockage or insufficient material flow. The feed pump 13 is connected to the control module 5, and the closed-loop control algorithm is used to ensure that the feed flow is synchronized with the printing demand.

[0131] The delivery pipeline 14 can be made of flexible wear-resistant materials with high corrosion resistance and pressure resistance, which can ensure the flow stability of concrete materials during the delivery process. A flow sensor is provided on the inner wall of the delivery pipeline 14 to detect the concrete flow rate in real time and to adjust the feeding rate in conjunction with the feeding pump 13. A temperature control system is provided on the outer wall of the delivery pipeline 14 to adjust the working temperature of the concrete through a thermistor to prevent changes in material viscosity from affecting the laying effect (based on the proportional integral differential control algorithm PID).

[0132] The 3D printing nozzle 11 is provided with a concrete injection port, which can spray concrete evenly into the printing area. The 3D printing nozzle 11 has an embedded flow regulating unit, which adjusts the concrete injection amount in real time through the control module 5 to meet the requirements of different printing paths and layer thicknesses. The 3D printing nozzle 11 is equipped with a vibration device to improve the fluidity and layout effect of the material and ensure the uniform mixing of concrete and fiber. The 3D printing nozzle 11 is also integrated with an inertial measurement unit (IMU) sensor to monitor the posture of the nozzle (including pitch angle, yaw angle and roll angle), ensure the stability of the motion trajectory of the 3D printing nozzle 11, and avoid the influence of deviation accumulation on printing accuracy (based on the Kalman filter algorithm). In combination with the laser ranging sensor and the IMU sensor data, the deviation between the 3D printing nozzle 11 and the set path is analyzed, a path correction signal is generated, and the trajectory of the 3D printing nozzle 11 is dynamically adjusted to ensure accurate alignment of the printing path (using the A* algorithm and the dynamic time warping algorithm DTW). When the visual sensor detects that the material in the conveying pipeline 14 is unevenly distributed or the concrete sprayed from the 3D printing nozzle 11 is obviously stratified, the rotation speed of the feed pump 13 is adjusted to avoid material separation caused by excessive flow rate, or the stirring frequency of the concrete storage unit 12 is increased to ensure that the internal components of the concrete are evenly distributed and improve the printing quality.

[0133] Reference Fig. 9 and Fig.10The fiber shearing module 3 includes a fiber feeding wheel 31, a fiber shearing wheel 32, an elastic support device 33 and a driving device 34. After the elastic support device 33 adjusts the pressure between the fiber feeding wheel 31 and the fiber shearing wheel 32, the fiber feeding wheel 31 and the fiber shearing wheel 32 cooperate with each other to clamp the fiber strip, and the driving device 34 drives the fiber feeding wheel 31 and the fiber shearing wheel 32 to operate synchronously, so as to cut the fiber strip into fibers of corresponding lengths. The elastic support device 33 can adopt a spring structure, and the pressure between the fiber feeding wheel and the fiber shearing wheel 32 can be adjusted by adjusting the spring preload. The driving device 34 can adopt a servo motor and a speed controller, and the speed of the driving device 34 can be controlled by the control module 5. The fiber feeding wheel 31 is driven by the driving device 34 to adjust the transmission speed and shearing frequency of the fiber strip. The fiber shearing wheel 32 is attached to the active shearing wheel through the elastic support device 33 to ensure stable shearing of the fiber strip. The fiber shearing wheel 32 is evenly provided with a plurality of retractable blades in the circumferential direction, so as to adjust the length of the sheared fiber by adjusting the number of blades deployed.

[0134] Reference Fig. 9 and Fig.10 The fiber arrangement module 2 includes a fiber guide groove 21, a fiber injection device 22, a slope adjustment device 23, an angle adjustment device 24 and a position adjustment device 25. The fiber guide groove 21 is located below the fiber shearing wheel 32 and is used to collect the sheared fibers. The fiber guide groove 21 is designed to be trapezoidal, and baffles are arranged on both sides. The purpose of the trapezoidal design is to gather the collected fibers, and the baffles are used to prevent the fibers from falling from both sides under the airflow of the fiber injection device 22. The slope adjustment device 23, the angle adjustment device 24 and the position adjustment device 25 are connected to the control module 5, and can dynamically adjust the position, slope and angle of the fiber guide groove 21. The angle adjustment device 24 can adopt a servo motor, which is installed below the fiber guide groove 21 to adjust the ejection angle of the fiber guide groove 21 in the horizontal plane. The slope adjustment device 23 can adopt a thumb cylinder, which is installed between the angle adjustment device 24 and the fiber guide groove 21, so as to adjust the slope of the fiber guide groove 21. The position adjustment device 25 can adopt a linear module or a six-way robot arm to control the position of the fiber guide groove 21, so that the fiber guide groove 21 can lay fibers for the current layer of concrete or for the next layer of concrete. The fiber injection device 22 is installed at the rear end of the fiber guide groove 21. The fiber injection device 22 can adopt a fan to generate high-pressure airflow. A guide plate is provided at the rear end of the fiber guide groove 21. Under the action of the guide plate, the airflow is introduced into the fiber guide groove 21, so that the fibers are ejected from the fiber guide groove 21. The fiber injection device 22 is connected to the control module 5 to dynamically adjust the airflow size to control the fiber ejection speed.

[0135] The layout monitoring sensor 4 is connected to the control module 5, including a visual sensor and a laser displacement sensor, which is installed above the printing area to capture the image of the fiber layout in real time. The control module 5 processes the image data, analyzes the uniformity of the fiber distribution and the layout accuracy, and dynamically adjusts the fiber injection rate and layout path to ensure the accurate layout of the fiber. The laser displacement sensor is installed below the 3D printing nozzle 11 to monitor the thickness of the sprayed fiber layout layer in real time to ensure the uniformity of the fiber layout. When the thickness deviation exceeds the set value, the control module 5 adjusts the injection rate through the sensor feedback signal.

[0136] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0137] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor for a 3D printing concrete fiber layout method.

[0138] Computer storage media include, for example, USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks, and other media that can store program codes.

[0139] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a 3D printing concrete fiber layout method.

[0140] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0141] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A 3D printing concrete fiber layout method, characterized in that: include: Get the preset concrete printing target parameters; Analyze the printing target parameters to determine the fiber placement parameters; Controlling a preset fiber placement module to follow a preset 3D printing module to place fibers on concrete according to fiber placement parameters; Obtaining laid fiber parameters; The fiber placement module is continuously controlled according to the laid fiber parameters to follow the 3D printing module to place the fibers on the concrete.

2. A 3D printing concrete fiber layout method according to claim 1, characterized in that: The steps of controlling the preset fiber placement module to follow the preset 3D printing module to place fibers on concrete according to the fiber placement parameters include: Analyze fiber layout parameters to determine fiber layout levels; Determine whether the fiber layout layer meets the requirements of the preset lower layout layer; If it meets the requirements, the preset fiber cutting module is controlled according to the fiber laying parameters to transport the fibers to the fiber laying module, and the fiber laying module is controlled to lay the fibers; If not, the printing environment parameters are obtained, and the fiber placement module is adjusted according to the printing environment parameters and the fiber placement parameters; According to the fiber laying parameters, the preset fiber cutting module is controlled to transport the fibers to the fiber laying module, and the fiber laying module is controlled to lay the fibers.

3. A 3D printing concrete fiber layout method according to claim 2, characterized in that: The step of controlling the preset fiber cutting module to deliver the fiber to the fiber placement module according to the fiber placement parameters includes: Analyze the fiber laying parameters to determine the laying fiber material parameters, laying fiber speed and laying fiber length; Determine the number of fiber shearing blades according to the relationship between the length of the laid fibers and the number of blades of the preset length; Control the fiber cutting module to adjust the fiber cutting length according to the number of fiber cutting blades; Determine the fiber shear pressure value according to the laid fiber material parameters and the preset material shear pressure relationship; The fiber shearing module is controlled to compact the preset fiber strips according to the fiber shearing pressure value, and the fiber shearing module is controlled to shear the fiber strips to generate fibers for delivery to the fiber laying module according to the fiber laying speed.

4. A 3D printing concrete fiber layout method according to claim 2, characterized in that: The steps of adjusting the fiber placement module according to the printing environment parameters and the fiber placement parameters include: Determine whether the printing environment parameters meet the preset requirements of no-impact environment parameters; If it meets the requirements, the fiber layout module is controlled to remain unchanged; If not, the fiber placement parameters are analyzed to determine the fiber placement direction; Determining the fiber placement position according to the relationship between the fiber placement direction and the preset lower layer placement direction position; The fiber placement module is controlled to adjust the position according to the fiber placement position.

5. A 3D printing concrete fiber layout method according to claim 2, characterized in that: The steps of controlling the fiber placement module to place the fibers include: Controlling the fiber placement module to adjust the injection slope according to a preset fiber placement slope; Analyze fiber placement parameters to determine fiber length orientation and fiber injection rate; Determine whether the fiber length direction meets the preset parallel printing direction requirement; If it does not meet the requirements, the fiber placement module is controlled according to the fiber injection rate to eject the fibers for placement; If it is in compliance, the fiber placement module is controlled to swing according to a preset jet swing angle, and the fiber placement module is controlled to spray out the fibers for placement according to the fiber jetting rate.

6. A 3D printing concrete fiber layout method according to claim 5, characterized in that: The steps of controlling the fiber placement module to spray out fibers for placement according to the fiber spraying rate include: Controlling the fiber placement module to eject fibers at a fiber ejection rate and obtaining an ejection detection status; Determine whether the injection detection state meets the requirements of the preset normal injection state; If it meets the requirements, the fiber placement module is controlled to eject the fiber at the fiber ejection rate, and the ejection detection status is acquired to perform cyclic judgment; If not, the fiber placement module is controlled to stop spraying the fiber, and the preset clearing device is controlled to clear the blockage of the fiber placement module until the spray detection state meets the requirements of the normal spray state.

7. A 3D printing concrete fiber layout method according to claim 1, characterized in that: The steps of continuing to control the fiber placement module to follow the 3D printing module to place fibers on concrete according to the laid fiber parameters include: Determine whether the laid fiber parameters meet the preset normal laying parameter requirements; If it meets the requirements, the fiber placement module continues to be controlled to follow the 3D printing module to place fibers on the concrete, and the parameters of the placed fibers are continuously obtained for cyclic judgment; If not, the laid fiber parameters and normal laying parameters are analyzed to determine the abnormal laying parameters; Determining the layout adjustment parameter according to the abnormal layout parameter and the preset abnormal adjustment relationship; The fiber placement module is adjusted according to the placement adjustment parameters, and the adjusted fiber placement module is controlled to continue to follow the 3D printing module to place fibers on the concrete.

8. A 3D printing concrete fiber placement system, comprising a 3D printing module, characterized in that: Also includes: A fiber placement module, which moves synchronously with the 3D printing module and sprays the fibers on the concrete; A fiber cutting module, which moves synchronously with the fiber placement module and cuts the fiber strips into fibers and transports them to the fiber placement module; A deployment monitoring sensor, wherein the deployment monitoring sensor moves synchronously with the fiber deployment module to detect the parameters of the deployed fibers; A control module is connected to the fiber laying module, the fiber cutting module and the laying monitoring sensor data wires respectively, and is used to control the fiber laying module, the fiber cutting module and the laying monitoring sensor.

9. A 3D printing concrete fiber placement system according to claim 8, characterized in that: The fiber placement module comprises: A fiber guide groove, which is arranged below the fiber shearing module and is used to collect fibers produced by the fiber shearing module and lay the fibers on the concrete; a fiber jetting device, the fiber jetting device blowing fibers from a fiber guide slot toward concrete; A slope adjustment device, the slope adjustment device is used to adjust the slope of the fiber guide groove; An angle adjustment device, the angle adjustment device is used to adjust the fiber ejection angle of the fiber guide groove in a horizontal plane; A position adjusting device is used to adjust the position of the fiber guide groove.

10. A 3D printing concrete fiber placement system according to claim 8, characterized in that: The fiber cutting module comprises: A fiber feeding wheel, wherein the fiber feeding wheel is used to convey fiber strips; A fiber shearing wheel, wherein the fiber shearing wheel and the fiber feeding wheel clamp the fiber strip to shear the fiber strip into fibers; An elastic support device, wherein the elastic support device is used to adjust the pressure between the fiber shearing wheel and the fiber feeding wheel; A driving device drives the fiber feeding wheel and the fiber shearing wheel to rotate synchronously.

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