3D printing concrete fiber cloth setting method and system

Abstract

The application relates to a 3D printing concrete fiber layout method and system, and relates to the technical field of building construction, which comprises the following steps: acquiring printing target parameters of preset concrete; analyzing the printing target parameters to determine fiber layout parameters; controlling a preset fiber layout module to follow a preset 3D printing module to lay fibers on the concrete according to the fiber layout parameters; acquiring laid fiber parameters; and continuing to control the fiber layout module to follow the 3D printing module to lay fibers on the concrete according to the laid fiber parameters. The application has the effect of improving the convenience of fiber layout.

Description

TECHNICAL FIELD

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

[0002] 3D printing technology, as a rapidly developing frontier technology in recent years, builds three-dimensional objects through the establishment of a digital model and the use of material layer-by-layer accumulation, and has shown great potential in many fields. Among them, extrusion 3D printing has significant advantages in its wide applicability, especially in the application of building and concrete fields.

[0003] In related technologies, 3D printing 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. Fibers can be directly incorporated into the system as a component of the printable mixture, and can be oriented by the extrusion force of the nozzle, thereby improving the tensile strength of the concrete.

[0004] In view of the related technologies in the above, the fiber can be successfully extruded without causing nozzle blockage in a limited replacement volume, but when the volume content of the fiber is too high, the printability of the material will be significantly reduced due to the agglomeration of the fiber, and even the nozzle will be blocked, resulting in inconvenient fiber laying, and there is still room for improvement. SUMMARY

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

[0006] In a first aspect, the present application provides a 3D printing concrete fiber laying method, which adopts the following technical solution:

[0007] A 3D printing concrete fiber laying method, comprising:

[0008] Obtaining the printing target parameters of the preset concrete;

[0009] Analyzing the printing target parameters to determine the fiber laying parameters;

[0010] Controlling the preset fiber laying module to lay fibers on the concrete according to the fiber laying parameters and following the preset 3D printing module;

[0011] Obtaining the laid fiber parameters;

[0012] Continuing to control the fiber laying module to lay fibers on the concrete according to the laid fiber parameters and following the 3D printing module.

[0013] According to the technical scheme, when the 3D printing module prints the concrete, the fiber laying module is controlled to follow the 3D printing module according to the fiber laying parameter, the fiber laying module lays the fiber on the printed concrete, the fiber is evenly laid between the two layers of concrete, the function of improving the tensile strength of the concrete by using the fiber is ensured, and the fiber and the concrete are not mixed together to be printed, so that the fiber laying convenience is improved.

[0014] Optionally, the step of controlling the preset fiber laying module to lay the fiber on the concrete according to the fiber laying parameter includes:

[0015] The fiber laying parameter is analyzed to determine a fiber laying level;

[0016] It is judged whether the fiber laying level meets a requirement of a preset lower laying level;

[0017] If yes, the preset fiber shearing module is controlled to deliver the fiber to the fiber laying module according to the fiber laying parameter, and the fiber laying module is controlled to lay the fiber;

[0018] If no, a printing environment parameter is acquired, and the fiber laying module is adjusted according to the printing environment parameter and the fiber laying parameter;

[0019] The preset fiber shearing module is controlled to deliver the fiber to the fiber laying module according to the fiber laying parameter, and the fiber laying module is controlled to lay the fiber.

[0020] According to the technical scheme, when it is determined that the fiber laying level does not meet the requirement of the lower laying level, it is indicated that the fiber laying module is set to print the concrete of the current level, and the fiber required for laying the concrete of the next level is laid, at this time, because the fiber is exposed to the outside for a long time, the fiber laying module is adjusted according to the printing environment parameter, the fiber is prevented from being scattered due to the external environment, and the effect of the fiber laying is improved.

[0021] Optionally, the step of controlling the preset fiber shearing module to deliver the fiber to the fiber laying module according to the fiber laying parameter includes:

[0022] The fiber laying parameter is analyzed to determine a fiber laying material parameter, a fiber laying speed and a fiber laying length;

[0023] The number of fiber shearing blades is determined according to a preset length-blade number relationship;

[0024] The fiber shearing module is controlled to adjust the fiber shearing length according to the number of fiber shearing blades;

[0025] Determine the fiber shearing pressure value according to the fiber material parameter and the preset material shearing pressure relationship;

[0026] Control the fiber shearing module to compress the preset fiber strip according to the fiber shearing pressure value, and control the fiber shearing module to shear the fiber strip to generate the fiber to be delivered to the fiber laying module according to the fiber laying speed.

[0027] By adopting the above technical solution, the fiber shearing module is adjusted according to the number of fiber shearing blades, so that the fiber length sheared by the fiber shearing module is kept as the fiber laying length, and the fiber shearing module is controlled to compress the fiber strip according to the fiber shearing pressure value, so that the limiting shearing module can effectively shear the fiber strip, and the fiber is sheared at the fiber laying speed, thereby improving the efficiency of fiber manufacturing.

[0028] Optionally, the step of adjusting the fiber laying module according to the printing environment parameter and the fiber laying parameter comprises:

[0029] Determine whether the printing environment parameter meets the requirement of the preset non-influencing environment parameter;

[0030] If yes, control the fiber laying module unchanged;

[0031] If no, analyze the fiber laying parameter to determine the fiber laying direction;

[0032] Determine the fiber laying position according to the fiber laying direction and the preset lower layer laying direction position relationship;

[0033] Control the fiber laying module to adjust the position according to the fiber laying position.

[0034] By adopting the above technical solution, when it is determined that the printing environment parameter does not meet the requirement of the non-influencing environment parameter, it indicates that the external environment will blow the upper layer laid fiber at this time, so the fiber laying position is determined according to the fiber laying direction and the lower layer laying direction position relationship, and the fiber laying module is adjusted to the fiber laying position, so that the fiber is just laid when it is covered by two layers of concrete, thereby improving the effect of fiber laying.

[0035] Optionally, the step of controlling the fiber laying module to lay the fiber comprises:

[0036] Control the fiber laying module to adjust the jetting slope according to the preset fiber laying slope;

[0037] Analyze the fiber laying parameter to determine the fiber length direction and the fiber jetting rate;

[0038] Determine whether the fiber length direction meets the requirement of the preset parallel printing direction;

[0039] If not, the fiber laying module is controlled to spray and lay the fiber according to the fiber spraying rate;

[0040] If yes, the fiber laying module is controlled to swing according to the preset spraying swing angle, and the fiber laying module is controlled to spray and lay the fiber according to the fiber spraying rate.

[0041] By adopting the above technical solution, the spraying slope of the fiber laying module is adjusted according to the fiber laying slope, and when the fiber length direction is parallel to the printing direction, the fiber laying module is controlled to swing according to the spraying swing angle, so that the fiber can be accurately and uniformly distributed on the concrete when sprayed, thereby improving the effect of fiber laying.

[0042] Optionally, the step of controlling the fiber laying module to spray and lay the fiber according to the fiber spraying rate comprises:

[0043] controlling the fiber laying module to spray the fiber at the fiber spraying rate, and acquiring a spraying detection state;

[0044] judging whether the spraying detection state meets the requirement of a preset normal spraying state;

[0045] If yes, the fiber laying module is continuously controlled to spray the fiber at the fiber spraying rate, and the spraying detection state is continuously acquired for cyclic judgment.

[0046] If not, the fiber laying module is controlled to stop spraying the fiber, and a preset blockage cleaning device is controlled to clean the fiber laying module until the spraying detection state meets the requirement of the normal spraying state.

[0047] By adopting the above technical solution, the spraying detection state of the fiber is detected, and when it is determined that the spraying detection state does not meet the requirement of the normal spraying state, it indicates that the fiber laying module is blocked at this time, so the fiber laying module is controlled to stop spraying the fiber, and the blockage cleaning device is controlled to clean the fiber laying module, thereby improving the convenience of using the fiber laying module.

[0048] Optionally, the step of continuing to control the fiber laying module to lay the fiber on the concrete following the 3D printing module according to the laid fiber parameter comprises:

[0049] judging whether the laid fiber parameter meets the requirement of a preset normal laying parameter;

[0050] If yes, the fiber laying module is continuously controlled to lay the fiber on the concrete following the 3D printing module, and the laid fiber parameter is continuously acquired for cyclic judgment.

[0051] If not, the laid fiber parameter and the normal laying parameter are analyzed to determine an abnormal laying parameter.

[0052] determine the layout adjustment parameter according to the abnormal layout parameter and the preset abnormal adjustment relationship;

[0053] adjust the fiber layout module according to the layout adjustment parameter, and control the adjusted fiber layout module to continue to lay fibers on the concrete following the 3D printing module.

[0054] By adopting the above technical scheme, when it is determined that the laid fiber parameter does not meet the requirement of the normal layout parameter, the abnormal layout parameter is determined according to the laid fiber parameter and the normal layout parameter, and the layout adjustment parameter is determined according to the abnormal layout parameter and the abnormal adjustment relationship, so that the fiber layout module is adjusted according to the layout adjustment parameter, thereby improving the accuracy of the fiber layout module laying fibers.

[0055] In a second aspect, the application provides a 3D printing concrete fiber layout system, which adopts the following technical scheme:

[0056] A 3D printing concrete fiber layout system comprises a 3D printing module, and further comprises:

[0057] a fiber layout module, which moves synchronously with the 3D printing module and sprays fibers on the concrete;

[0058] a fiber shearing module, which moves synchronously with the fiber layout module and shears the fiber strip into fibers and delivers the fibers to the fiber layout module;

[0059] a layout monitoring sensor, which moves synchronously with the fiber layout module to detect the laid fiber parameter;

[0060] a control module, which is connected with the fiber layout module, the fiber shearing module and the layout monitoring sensor through data lines, and is used to control the fiber layout module, the fiber shearing module and the layout monitoring sensor.

[0061] By adopting the above technical scheme, when the control module controls the 3D printing module to print the concrete, the control module controls the fiber shearing module to manufacture fibers and deliver the fibers to the fiber layout module, so that the fiber layout module lays the fibers on the printed concrete, thereby ensuring the effect of improving the tensile strength of the concrete by using the fibers, avoiding the blockage caused by mixing the fibers and the concrete together for printing, and further improving the convenience of fiber layout.

[0062] Optionally, the fiber layout module comprises:

[0063] a fiber guide groove, which is arranged below the fiber shearing module to collect the fibers produced by the fiber shearing module and lay the fibers on the concrete;

[0064] a fiber injection device configured to blow the fibers from the fiber guide groove towards the concrete;

[0065] a slope adjustment device configured to adjust a slope of the fiber guide groove;

[0066] an angle adjustment device configured to adjust a fiber injection angle of the fiber guide groove in a horizontal plane;

[0067] a position adjustment device configured to adjust a position of the fiber guide groove.

[0068] By employing the above technical solutions, the position adjustment device adjusts the position of the fiber guide groove, so that the fiber guide groove can lay fibers on the concrete at different positions and directions, ensuring the application range of the fiber laying module, and the slope adjustment device and the angle adjustment device adjust the slope and the injection angle of the fiber guide groove, ensuring that the fiber laying module uniformly and accurately distributes the fibers on the concrete, thereby improving the accuracy of the fiber laying module.

[0069] Optionally, the fiber shearing module comprises:

[0070] a fiber feeding wheel configured to transport the fiber strip;

[0071] a fiber shearing wheel configured to clamp the fiber strip with the fiber feeding wheel to shear the fiber strip into fibers;

[0072] a resilient supporting device configured to adjust the pressure between the fiber shearing wheel and the fiber feeding wheel;

[0073] a driving device configured to drive the fiber feeding wheel and the fiber shearing wheel to rotate synchronously.

[0074] By employing the above technical solutions, the resilient supporting 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 to shear fiber strips of different materials and diameters into fibers, thereby improving the convenience of the fiber shearing module.

[0075] In summary, the present application has at least one of the following beneficial technical effects:

[0076] 1. By controlling the fiber laying module to follow the 3D printing module according to the fiber laying parameters when the 3D printing module prints the concrete, the fiber laying module lays fibers on the printed concrete, and the fibers are uniformly laid between the two layers of concrete, thereby ensuring the use of fibers to improve the tensile strength of the concrete, avoiding the blockage caused by mixing fibers and concrete together for printing, and improving the convenience of fiber laying.

[0077] 2. When it is determined that the fiber laying level does not meet the requirements of the lower laying level, it indicates that the fiber laying module is set to print the current level of concrete, and the fiber required to lay the next level of concrete, at this time, because the fiber is exposed to the outside for a long time, the fiber laying module is adjusted according to the printing environment parameters, to prevent the fiber from being scattered due to the external environment, and to improve the effect of fiber laying;

[0078] 3. By adjusting the number of fiber shearing blades on the fiber shearing module, the length of the fiber sheared by the fiber shearing module is kept as the laying fiber length, and the fiber shearing module is controlled according to the fiber shearing pressure value to compress the fiber strip, so that the limiting shearing module can effectively shear the fiber strip, and the fiber manufacturing efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0079] Figure 1 is a flowchart of a 3D printing concrete fiber laying method in an embodiment of the present application.

[0080] Figure 2 is a flowchart of the step of controlling the preset fiber laying module to lay fiber on the concrete according to the fiber laying parameters in an embodiment of the present application.

[0081] Figure 3 is a flowchart of the step of controlling the preset fiber shearing module to deliver fiber to the fiber laying module according to the fiber laying parameters in an embodiment of the present application.

[0082] Figure 4 is a flowchart of the step of adjusting the fiber laying module according to the printing environment parameters and the fiber laying parameters in an embodiment of the present application.

[0083] Figure 5 is a flowchart of the step of controlling the fiber laying module to lay fiber in an embodiment of the present application.

[0084] Figure 6 is a flowchart of the step of controlling the fiber laying module to lay fiber according to the fiber laying parameters in an embodiment of the present application.

[0085] Figure 7 is a flowchart of the step of controlling the fiber laying module to lay fiber on the concrete according to the fiber laying parameters in an embodiment of the present application.

[0086] Figure 8 is a simple schematic diagram of a 3D printing module in an embodiment of the present application.

[0087] Figure 9 is a schematic diagram of a fiber laying module and a fiber shearing module in an embodiment of the present application.Figure 1 .

[0088] Figure 10 This is a schematic diagram of the fiber laying module and fiber cutting module in the embodiments of this application. Figure 2 .

[0089] Explanation of reference numerals in the attached drawings: 1. 3D printing module; 11. 3D printing nozzle; 12. Concrete storage unit; 13. Feed pump; 14. Conveying pipeline; 2. Fiber laying module; 21. Fiber guide groove; 22. Fiber jetting device; 23. Slope adjustment device; 24. Angle adjustment device; 25. Position adjustment device; 3. Fiber shearing module; 31. Fiber feeding wheel; 32. Fiber shearing wheel; 33. Elastic support device; 34. Drive device; 4. Layout monitoring sensor; 5. Control module. Detailed Implementation

[0090] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-10 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0091] This application discloses a method for fiber placement in 3D printed concrete. Specifically, it discloses a control module 5, a 3D printing module 1, and a fiber placement module 2. The control module 5 is connected to both the 3D printing module 1 and the fiber placement module 2 via data cables. When the control module 5 receives the target parameters for concrete printing, it analyzes these parameters and determines the fiber placement parameters. Based on these parameters, the control module 5 controls the fiber placement module 2 to follow the 3D printing module 1, thereby ensuring that the fiber placement module 2 evenly places fibers between the two printed concrete layers. The control module 5 also detects the parameters of the placed fibers and continues to control the fiber placement module 2 to place fibers based on these parameters. This ensures that the fibers improve the tensile strength of the concrete while avoiding clogging caused by mixing the fibers and concrete together during printing, thus improving the convenience of fiber placement.

[0092] Reference Figure 1 This application discloses a method for 3D printing concrete fiber placement, including the following steps:

[0093] Step S100: Obtain the preset printing target parameters for concrete.

[0094] Here, "concrete" refers to 3D-printed concrete. The printing target parameters refer to the parameters of the printed concrete, including concrete thickness, path planning, fiber density, and placement angle, which are set by the operator through the control interface of control module 5.

[0095] Step S101: Analyze the printing target parameters to determine the fiber layout parameters.

[0096] Among them, fiber placement parameters refer to the parameters for fiber placement, including fiber material and diameter, placement layers, placement path and regional placement density, fiber length, fiber shear rate, jetting rate, and fiber placement direction. These parameters are determined by the processing terminal based on the printing target parameters. For example, path planning refers to the placement path. The fiber material and diameter are determined based on the maximum mechanical properties in the printing target parameters. The regional placement density, fiber length, fiber shear rate, jetting rate, and fiber placement direction are determined based on the component effects at different points along the path in the printing target parameters. The load-bearing area has a higher density and longer fiber length, corresponding to a higher shear rate. The spraying rate needs to be higher to meet the fiber placement requirements within a certain time. In secondary areas, the fiber density and fiber length are lower, corresponding to lower shear and spraying speeds, to prevent over-placement and waste. The specific values ​​are defined by the operator for different areas. The placement direction is consistent with the direction of mechanical force to improve the overall mechanical performance of the component. The placement layers are determined by the operator based on the printing environment. For example, when printing the current layer of concrete, the next layer of fibers is placed to facilitate checking the placement quality. Alternatively, when printing the current layer of concrete, the current layer of fibers is placed to avoid uncontrollable fiber placement.

[0097] Step S102: Control the preset fiber layout module 2 to follow the preset 3D printing module 1 to lay fibers on the concrete according to the fiber layout parameters.

[0098] In this process, after the control module 5 determines the fiber placement parameters, the control fiber placement module 2 moves along the path corresponding to the fiber placement parameters, following the 3D printing module 1. Based on changes in the path, it adjusts the fiber length, fiber shear rate, jetting rate, and fiber placement direction in real time, thereby placing fibers with different densities and directions in different areas of the path to meet the mechanical performance requirements of components in different areas. The specific method is described in [reference needed]. Figure 2 The steps.

[0099] Fiber placement module 2 refers to a module used for placing fibers on concrete, including a fiber guide channel 21 for collecting and placing fibers on the concrete, a fiber spraying device 22 for driving the fibers out of the fiber guide channel 21, a slope adjustment device 23 for adjusting the slope of the fiber guide channel 21, an angle adjustment device 24 for adjusting the spraying angle of the fiber guide channel 21, and a position adjustment device 25 for adjusting the position of the fiber guide channel 21. For specific structure details, refer to [reference needed]. Figure 9 and Figure 10 .

[0100] 3D printing module 1 refers to the module used for printing concrete, including a 3D printing nozzle 11 for spraying concrete, a concrete storage unit 12 for storing the mixed concrete, a feed pump 13 for driving the 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 described in detail below. Figure 8 .

[0101] Step S103: Obtain the parameters of the deployed fibers.

[0102] Among them, the parameters of the deployed fibers refer to the thickness and distribution of the deployed fibers. Image data of the deployed fibers are collected by a visual sensor, and the distribution of the fibers is analyzed by the Canny edge detection algorithm and the convolutional neural network (CNN). Real-time thickness data of the fibers is provided by a laser displacement sensor.

[0103] Step S104: Based on the already laid fiber parameters, continue to control the fiber laying module 2 to follow the 3D printing module 1 to lay fibers on the concrete.

[0104] In this process, after the control module 5 determines the fiber deployment parameters, the fiber deployment module 2 is adjusted in real time according to these parameters to ensure that the fiber deployment module 2 can accurately and evenly deploy the fibers. The specific method is described in [reference needed]. Figure 7 The steps.

[0105] Reference Figure 2 The steps of controlling the preset fiber placement module 2 to place fibers on concrete according to the preset 3D printing module 1 based on the fiber placement parameters include:

[0106] Step S200: Analyze the fiber layout parameters to determine the fiber layout layers.

[0107] The fiber placement layer refers to the layers of fiber placement, including upper layer placement and lower layer placement. Upper layer placement means that when printing the current layer of concrete, the fibers are placed on top of the current layer of concrete to prepare for the next layer of concrete. (Refer to...) Figure 9 Lower layer placement refers to placing the fibers below the current layer of concrete during the printing process, thus placing the fibers for that layer of concrete. (Refer to...) Figure 10 The fiber layout parameters are obtained by the control module 5 through identification and retrieval.

[0108] Step S201: Determine whether the fiber layout layer meets the preset requirements of the lower layer layout layer.

[0109] The lower layer layout refers to the layer where fibers are laid below the current concrete. The requirement for the lower layer layout is that it is consistent with the lower layer layout and is stored in the control module 5 by the operator.

[0110] The control module 5 determines whether the fiber layout layer is consistent with the lower layer layout layer, thereby determining whether the fiber is part of the current layer of concrete.

[0111] Step S2011: If the conditions are met, the preset fiber shearing module 3 is controlled to transport the fiber to the fiber laying module 2 according to the fiber laying parameters, and the fiber laying module 2 is controlled to lay the fiber.

[0112] If control module 5 determines that the fiber placement layer is consistent with the lower layer, it indicates that the fiber is part of the current layer of concrete placement. Therefore, based on the fiber placement parameters, control fiber shearing module 3 to deliver the fiber to fiber placement module 2. The specific method is as follows: Figure 3 The steps are as follows, and the fiber laying module 2 is controlled to lay the fibers. For specific methods, please refer to... Figure 5 The steps.

[0113] The fiber shearing module 3 refers to the module used for shearing and transporting fibers, including a fiber feeding wheel 31 and a fiber shearing wheel 32 for conveying and shearing fiber slivers, an elastic support device 33 for adjusting the pressure between the fiber feeding wheel 31 and the fiber shearing wheel 32, and a drive device 34 for driving the fiber feeding wheel 31 and the fiber shearing wheel 32 to rotate. The specific structure is described in detail below. Figure 9 and Figure 10 .

[0114] Step S2012: If it does not meet the requirements, obtain the printing environment parameters and adjust the fiber layout module 2 according to the printing environment parameters and fiber layout parameters.

[0115] If control module 5 determines that the fiber layout layer is inconsistent with the lower layer, it indicates that the fiber is part of the next lower layer of concrete. In this case, the printing environment parameters are checked, and the fiber layout module 2 is adjusted according to the printing environment parameters and fiber layout parameters. The specific method is as follows: Figure 4 The steps.

[0116] The printing environment parameter refers to the wind speed in the printing environment, which is detected by the wind speed sensor and sent to the control module 5.

[0117] Step S202: Control the preset fiber shearing module 3 to deliver the fiber to the fiber laying module 2 according to the fiber laying parameters, and control the fiber laying module 2 to lay the fiber.

[0118] In this process, after the control module 5 adjusts the fiber laying module 2, it controls the fiber shearing module 3 to deliver the fibers to the fiber laying module 2 according to the fiber laying parameters. The specific method is as follows: Figure 3 The steps are as follows, and the fiber laying module 2 is controlled to lay the fibers. For specific methods, please refer to... Figure 5 The steps.

[0119] The fiber shearing module 3 in this step is the same as the fiber shearing module 3 in step S2011, and will not be described again here.

[0120] Reference Figure 3 The steps of controlling the preset fiber shearing module 3 to transport fibers to the fiber laying module 2 according to the fiber laying parameters include:

[0121] Step S300: Analyze the fiber laying parameters to determine the fiber material parameters, fiber laying speed, and fiber laying length.

[0122] Among them, the fiber material parameters refer to the material and diameter values ​​of the fibers to be laid, which are obtained by the processing terminal through identification and retrieval of the fiber laying parameters. The fiber laying speed refers to the speed at which the fibers are laid, and the fiber laying length refers to the length of the fibers to be laid. These parameters are detected by the sensor and the current position is sent to the control module 5. The control module 5 identifies the current position and determines the corresponding fiber laying speed and fiber length in the fiber laying parameters.

[0123] Step S301: Determine the number of fiber shearing blades based on the relationship between the laid fiber length and the preset number of length blades.

[0124] The relationship between the length and the number of blades refers to the correspondence between different fiber lengths and the number of blades, as shown in the reference. Figure 9 The fiber shearing wheel 32 is uniformly equipped with multiple controllable blades that can be extended and retracted. The distance between the blades is the fiber shearing length. Therefore, the more blades there are, the shorter the fiber length is, and the fewer blades there are, the longer the fiber length is. The operator forms a mapping table by matching the number of blades with the fiber length.

[0125] The number of fiber shearing blades refers to the number of blades used to cut fiber strips into corresponding lengths, which is obtained by the control module 5 by looking up the corresponding mapping table of the length blade quantity relationship based on the fiber length.

[0126] Step S302: Adjust the fiber cutting length of the fiber cutting module 3 according to the number of fiber cutting blades.

[0127] In this process, after determining the number of fiber shearing blades, the control module 5 controls the blades on the fiber shearing wheel 32 in the fiber shearing module 3 to be extended and retracted in accordance with the number of fiber shearing blades, thereby adjusting the fiber shearing length.

[0128] Step S303: Determine the fiber shear pressure value based on the fiber material parameters and the preset material shear pressure relationship.

[0129] Among them, the material shear pressure relationship refers to the correspondence between fiber material and shear pressure. Different fiber materials correspond to the lowest shear pressure, and the larger the diameter, the higher the pressure on the basis of the basic shear pressure. The operator will form a mapping table to match the material diameter with the shear pressure.

[0130] The fiber shear pressure value refers to the pressure value used to shear the manufactured fiber. It is obtained by the control module 5 by looking up the material and diameter corresponding to the material shear pressure relationship in the mapping table.

[0131] Step S304: Control the fiber shearing module 3 to press the preset fiber strip according to the fiber shearing pressure value, and control the fiber shearing module 3 to shear the fiber strip to generate fibers according to the fiber laying speed to be conveyed to the fiber laying module 2.

[0132] In this process, 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 drive unit 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 strip into fibers of the corresponding length, which then fall into the fiber guide groove 21 in the fiber laying module 2 to await laying. The fiber strip refers to the uncut fiber.

[0133] Reference Figure 4 The steps for adjusting the fiber layout module 2 according to the printing environment parameters and fiber layout parameters include:

[0134] Step S400: Determine whether the printing environment parameters meet the preset requirements of the non-affecting environment parameters.

[0135] Among them, the environmental parameters without impact refer 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 environmental parameters without impact is that they must be consistent with the environmental parameters without impact.

[0136] The control module 5 determines whether the printing environment parameters are consistent with the parameters of the unaffected environment, thereby determining whether the external environment will affect the upper fiber layout of the fiber layout module 2.

[0137] Step S401: If the condition is met, then control the fiber layout module 2 to remain unchanged.

[0138] If the control module 5 determines that the printing environment parameters are consistent with the unaffected environment parameters, it indicates 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 kept unchanged, and the change of the layout layer is only made when the concrete is started to be printed, and it will not change during the printing of concrete.

[0139] Step S402: If it does not meet the requirements, analyze the fiber layout parameters to determine the fiber layout direction.

[0140] If the control module 5 determines that the printing environment parameters are inconsistent with the parameters of the unaffected environment, it indicates that the external environment will cause the fiber layout to be scattered. Therefore, the fiber layout parameters are analyzed to determine the fiber layout direction, providing data support for subsequent position adjustment.

[0141] The fiber layout direction refers to the direction in which the fibers are laid, including those perpendicular to the printing direction and those parallel to the printing direction. It is obtained by the control module 5 by identifying the direction of the current position on the path in the fiber layout parameters.

[0142] Step S403: Determine the fiber placement position based on the fiber placement direction and the preset lower layer placement direction.

[0143] The lower layer layout direction and position relationship refers to the correspondence 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, used to lay fibers parallel to the printing direction; the other is located in the side front of the 3D printing module 1, used to lay fibers perpendicular to the printing direction. The operator determines the position coordinates according to the specific device and forms a mapping table to correspond the lower layer layout direction and the layout position one by one.

[0144] The fiber placement position refers to the position of the fiber placement module 2, which is obtained by the control module 5 by looking up the position in the mapping table corresponding to the fiber placement direction in the lower layer according to the fiber placement direction.

[0145] Step S404: Adjust the position of the fiber laying module 2 according to the fiber laying position.

[0146] After determining the fiber placement position, the control module 5 controls the fiber placement module 2 to adjust to the fiber placement position, so that the fiber placement module 2 is adjusted to place fibers on the concrete of the current layer. The position adjustment can be achieved by using a linear module and a servo motor. The specific structure will not be described in detail here.

[0147] Reference Figure 5 The steps for controlling the fiber deployment module 2 to deploy the fibers include:

[0148] Step S500: Adjust the spraying slope of the fiber laying module 2 according to the preset fiber laying slope.

[0149] 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 fiber 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, while when the laying direction is parallel to the printing direction, it is necessary to ensure that the spacing between the fiber to be laid and the fiber already laid is within the normal range.

[0150] 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 based on the width of the concrete printing.

[0151] Step S501: Analyze the fiber layout parameters to determine the fiber length direction and fiber spraying rate.

[0152] Among them, fiber length direction refers to the direction of fiber length, including both perpendicular to the printing direction and parallel to the printing direction. Fiber ejection 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 based on the current position, identifying the laying direction and laying speed corresponding to the position in the fiber laying parameters.

[0153] Step S502: Determine whether the fiber length direction meets the preset requirement of parallel printing direction.

[0154] Among them, the parallel printing direction refers to the direction in which the fiber length is parallel to the printing direction. The requirement for the parallel printing direction is that it is consistent with the parallel printing direction, which is stored by the operator in the control module 5.

[0155] 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.

[0156] Step S5021: If it does not meet the requirements, the fiber laying module 2 will spray out the fiber for laying according to the fiber spraying rate.

[0157] 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. In this case, the fiber ejection device in the fiber placement module 2 is directly controlled according to the fiber ejection rate to eject the fiber from the fiber guide groove 21, thereby placing it on the concrete. The specific method is as follows: Figure 6 The steps.

[0158] Step S5022: If the conditions are met, the fiber laying module 2 is controlled to swing according to the preset spray swing angle, and the fiber laying module 2 is controlled to spray out fibers for laying according to the fiber spray rate.

[0159] 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 fiber can be evenly distributed on the concrete. Therefore, the angle adjustment device 24 in the fiber placement module 2 is controlled to repeatedly 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 fiber in the fiber guide groove 21 according to the fiber ejection rate, so that the fiber is placed on the concrete. The specific method is as follows: Figure 6 The steps.

[0160] The spraying oscillation angle refers to the range of angles at which the fiber guide groove 21 oscillates back and forth in the horizontal plane. The specific value is determined by the operator based on the width of the concrete.

[0161] Reference Figure 6 The steps of controlling the fiber deployment module 2 to spray and deploy fibers according to the fiber spraying rate include:

[0162] Step S600: Control the fiber deployment module 2 to spray fibers at the fiber spraying rate and obtain the spraying detection status.

[0163] Specifically, when the control module 5 controls the fiber ejection device to eject fibers from the fiber guide groove 21 at the fiber ejection rate, the ejection detection status is detected to provide data support for subsequent determination of whether unblocking is required.

[0164] The ejection detection status refers to the state in which the fiber is ejected from the fiber guide groove 21, including normal ejection and blockage. The pressure and fiber flow rate of the fiber guide groove 21 are detected by the sensor. When the pressure rises abnormally or the fiber flow rate drops suddenly, it is determined to be blocked; otherwise, it is in a normal state.

[0165] Step S601: Determine whether the injection detection status meets the preset requirements of the normal injection status.

[0166] The normal spray state refers to the state in which the fiber is normally sprayed out from the fiber guide groove 21. The requirement for the normal spray state is that it is consistent with the normal spray state.

[0167] The control module 5 determines whether the spray detection state is consistent with the normal spray state, thereby determining whether the fiber has caused blockage in the fiber guide groove 21.

[0168] Step S6011: If the condition is met, continue to control the fiber deployment module 2 to spray fibers at the fiber spraying rate, and continue to acquire the spraying detection status for cyclic judgment.

[0169] If the control module 5 determines that the spray detection state is consistent with the normal spray state, it indicates that the fiber has not caused blockage in the fiber guide groove 21. Therefore, it continues to control the fiber ejection device to eject the fiber from the fiber guide groove 21 at the fiber ejection rate, and continues to detect the spray detection state, thereby continuously monitoring the state of the fiber in the fiber guide groove 21.

[0170] Step S6012: If it does not meet the requirements, control the fiber laying module 2 to stop spraying fibers, and control the preset unblocking device to unblock the fiber laying module 2 until the spray detection status meets the requirements of the normal spray status.

[0171] If the control module 5 determines that the spray detection state is inconsistent with the normal spray state, it indicates that the fiber has caused a blockage in the fiber guide groove 21. Therefore, the control fiber placement module 2 stops spraying the fiber and controls the unblocking device to unblock the fiber guide groove 21 until the spray detection state is consistent with the normal spray state.

[0172] The unblocking device refers to a device used to clear blockages in the fiber guide groove 21. It can be a reverse jet device that uses reverse airflow to discharge the fiber from the fiber guide groove 21, or it can be a mechanical cleaning device, such as using a hydraulic rod to push the fiber out of the fiber guide groove 21.

[0173] Reference Figure 7 The steps for fiber placement module 2 to continue placing fibers on concrete according to the already placed fiber parameters, following the steps for 3D printing module 1, include:

[0174] Step S700: Determine whether the parameters of the laid fibers meet the requirements of the preset normal laying parameters.

[0175] Among them, normal placement parameters refer to the parameters of the fiber normally placed on the concrete, including position parameters and thickness parameters. The requirement for normal placement parameters is that they are consistent with the normal placement parameters.

[0176] The control module 5 determines whether the parameters of the laid fibers are consistent with the normal laying parameters, thereby determining whether the fiber laying device has accurately laid the fibers on the concrete.

[0177] Step S701: If the condition is met, continue to control the fiber placement module 2 to follow the 3D printing module 1 to place fibers on the concrete, and continue to obtain the parameters of the placed fibers for cyclic judgment.

[0178] If the control module 5 determines that the fiber parameters have been laid out and are consistent with the normal laying parameters, it indicates that the fiber laying device has accurately laid the fiber on the concrete. Therefore, the control module 2 continues to follow the 3D printing module 1 to lay the fiber on the concrete and continues to detect the fiber parameters to continuously monitor the fiber laying status.

[0179] Step S702: If it does not meet the requirements, analyze the already laid fiber parameters and normal laying parameters to determine the abnormal laying parameters.

[0180] If the control module 5 determines that the parameters of the laid fibers are inconsistent with the normal laying parameters, it indicates that the fiber laying device has not accurately laid the fibers on the concrete. At this time, the parameters of the laid fibers and the normal laying parameters are analyzed to determine the abnormal laying parameters, providing data support for subsequent adjustments to the fiber laying device.

[0181] Abnormal layout parameters refer to abnormal parameters during fiber layout. For example, if the thickness is abnormal, the difference in thickness between the laid fiber parameters and the normal layout parameters is calculated. If the position is abnormal, the position difference between the laid fiber parameters and the normal layout parameters is calculated.

[0182] Step S703: Determine the deployment adjustment parameters based on the abnormal deployment parameters and the preset abnormal adjustment relationship.

[0183] Among them, the abnormal adjustment relationship refers to the adjustment relationship between abnormal parameters and adjustment parameters. For example, if the thickness is too thick, the fiber ejection rate is reduced, and if the thickness is too thin, the fiber ejection rate is increased. In addition, when the fiber distribution is uneven, the ejection speed and the layout path are adjusted according to the difference between the actual distribution and the path.

[0184] The layout adjustment parameters refer to the adjustment parameters of the fiber guide channel 21, including the spray speed adjustment and the path adjustment. The layout adjustment parameters are determined by the control module 5 after analyzing the abnormal adjustment relationship and the specific abnormal parameters corresponding to the abnormal layout parameters.

[0185] Step S704: Adjust the fiber placement module 2 according to the placement adjustment parameters, and control the adjusted fiber placement module 2 to continue to place fibers on the concrete following the 3D printing module 1.

[0186] In this process, 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 lay fibers on the concrete, thereby ensuring the quality and uniformity of the fiber layout on the concrete.

[0187] Based on the same inventive concept, referring to Figure 8 and Figure 9This application provides a 3D printing concrete fiber placement system, including a 3D printing module 1, a fiber placement module 2, a fiber shearing module 3, a placement 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 placement module 2, the fiber shearing module 3, and the placement monitoring sensor 4 to move synchronously with the 3D printing module 1. The control module 5 controls the fiber shearing module 3 to cut the fiber strip into fibers of corresponding lengths at the required speed and deliver them to the fiber placement module 2. The fiber placement module 2 sprays out the fibers and places them on the printed concrete. The placement monitoring sensor 4 detects the uniformity and thickness of the fiber placement and provides feedback to the control module 5. The control module 5 adjusts the fiber placement module 2 to further improve the uniformity and quality of the fiber placement.

[0188] Reference Figure 8 and Figure 9 The 3D printing module 1 includes a 3D printing nozzle 11, a concrete storage unit 12, a feed pump 13, and a delivery pipeline 14. The feed pump 13 delivers concrete raw materials into the concrete storage unit 12 via the delivery pipeline 14. The concrete storage unit 12 provides the mixed concrete to the 3D printing nozzle 11, which then prints the concrete into the desired component. The concrete storage unit 12 is a closed mixing structure, equipped with mixing blades and a heating unit to maintain concrete uniformity and a suitable working temperature. The mixing blades are driven by a servo motor, and their mixing frequency can be adjusted in real time according to the concrete's fluidity and mix proportions to prevent material sedimentation and separation. An automatic feeding port is located at the back of the concrete storage unit 12. A weight sensor monitors the remaining material level, and the control module 5 controls dynamic feeding.

[0189] 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 installed in the feed pump 13 to monitor pressure changes during the conveying process, preventing blockages or insufficient material flow. The feed pump 13 is connected to the control module 5, and a closed-loop control algorithm ensures that the material flow rate is synchronized with the printing requirements.

[0190] The conveying pipeline 14 can be made of flexible, wear-resistant material, possessing high corrosion resistance and pressure resistance, ensuring the flow stability of concrete materials during conveying. A flow sensor is installed on the inner wall of the conveying pipeline 14 to detect the concrete flow rate in real time, and adjusts the feeding rate in conjunction with the feeding pump 13. A temperature control system is installed on the outer wall of the conveying pipeline 14, using a thermistor to regulate the working temperature of the concrete, preventing changes in material viscosity from affecting the placement effect (based on a proportional-integral-derivative (PID) control algorithm).

[0191] The 3D printing nozzle 11 is equipped with a concrete injection port, enabling it to uniformly spray concrete onto the printing area. An embedded flow control unit within the nozzle 11 adjusts the concrete injection volume in real time via the control module 5 to meet different printing paths and layer thickness requirements. The nozzle 11 is also equipped with a vibration device to improve material flowability and placement, ensuring uniform mixing of concrete and fibers. Furthermore, an integrated inertial measurement unit (IMU) sensor monitors the nozzle's attitude (including pitch, yaw, and roll angles) to ensure the stability of its trajectory and prevent the accumulation of deviations from affecting printing accuracy (based on a Kalman filter algorithm). Combining data from the laser rangefinder and IMU sensor, the system analyzes the deviation between the 3D printing nozzle 11 and the set path, generates a path correction signal, and dynamically adjusts the nozzle's trajectory to ensure precise alignment of the printing path (using the A* algorithm and Dynamic Time Warping (DTW) algorithm). When the visual sensor detects uneven material distribution in the delivery pipeline 14 or obvious stratification of the concrete sprayed from the 3D printing nozzle 11, the 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 uniform distribution of internal components of the concrete and improve printing quality.

[0192] Reference Figure 9 and Figure 10 The fiber shearing module 3 includes a fiber feeding wheel 31, a fiber shearing wheel 32, an elastic support device 33, and a drive device 34. The elastic support device 33 adjusts the pressure between the fiber feeding wheel 31 and the fiber shearing wheel 32, causing them to cooperate in clamping the fiber strip. The drive device 34 drives the fiber feeding wheel 31 and the fiber shearing wheel 32 to rotate synchronously, thereby shearing the fiber strip into fibers of the corresponding length. The elastic support device 33 can be a spring structure; adjusting the spring preload adjusts the pressure between the fiber feeding wheel and the fiber shearing wheel 32. The drive device 34 can be a servo motor and a speed controller; the speed of the drive device 34 is controlled by the control module 5. The fiber feeding wheel 31 is driven by the drive device 34, adjusting the fiber strip's transmission speed and shearing frequency. The fiber shearing wheel 32 is in contact with the active shearing wheel through the elastic support device 33, ensuring stable shearing of the fiber strip. The fiber shearing wheel 32 has multiple retractable blades evenly arranged circumferentially; adjusting the number of blades allows adjustment of the sheared fiber length.

[0193] Reference Figure 9 and Figure 10The fiber laying module 2 includes a fiber guide trough 21, a fiber spraying device 22, a slope adjustment device 23, an angle adjustment device 24, and a position adjustment device 25. The fiber guide trough 21 is located below the fiber shearing wheel 32 and is used to collect the sheared fibers. The fiber guide trough 21 is designed in a trapezoidal shape with baffles on both sides. The trapezoidal design aims to gather the collected fibers, and the baffles prevent the fibers from falling off the sides under the airflow of the fiber spraying device 22. The slope adjustment device 23, angle adjustment device 24, and position adjustment device 25 are connected to the control module 5 and can dynamically adjust the position, slope, and angle of the fiber guide trough 21. The angle adjustment device 24 can be a servo motor, installed below the fiber guide trough 21, to adjust the spray angle of the fiber guide trough 21 in the horizontal plane. The slope adjustment device 23 can be a thumb cylinder, installed between the angle adjustment device 24 and the fiber guide trough 21, thereby adjusting the slope of the fiber guide trough 21. The position adjustment device 25 can be a linear module or a six-way robotic arm to control the position of the fiber guide trough 21, so that the fiber guide trough 21 can lay fibers for the current layer of concrete or for the next layer of concrete. The fiber spraying device 22 is installed at the rear end of the fiber guide trough 21. The fiber spraying device 22 can be a fan to generate a high-pressure airflow. A guide plate is provided at the rear end of the fiber guide trough 21. Under the action of the guide plate, the airflow is introduced into the fiber guide trough 21, thereby spraying the fibers out of the fiber guide trough 21. The fiber spraying device 22 is connected to the control module 5 to dynamically adjust the airflow size, thereby controlling the fiber spraying speed.

[0194] The fiber placement monitoring sensor 4, connected to the control module 5, includes a vision sensor and a laser displacement sensor. Mounted above the printing area, it captures real-time images of the fiber placement. The control module 5 processes the image data to analyze the uniformity and placement accuracy of the fiber distribution, dynamically adjusting the fiber jetting rate and placement path to ensure precise fiber placement. The laser displacement sensor, installed below the 3D printing nozzle 11, monitors the thickness of the jetted fiber layer in real-time, ensuring uniform fiber placement. When the thickness deviation exceeds a set value, the control module 5 adjusts the jetting rate based on sensor feedback signals.

[0195] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0196] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for laying 3D printed concrete fibers.

[0197] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0198] Based on the same inventive concept, this application provides a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to provide a 3D printing concrete fiber placement method.

[0199] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0200] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for 3D printing concrete fiber placement, characterized in that, include: Obtain the preset target parameters for printing concrete; Analyze the printing target parameters to determine the fiber layout parameters; The preset fiber placement module is controlled according to the fiber placement parameters to place fibers on the concrete following the preset 3D printing module. Obtain the parameters of the deployed fibers; Based on the already deployed fiber parameters, the fiber deployment module continues to control the 3D printing module to deploy fibers on the concrete. The steps of controlling the preset fiber placement module to follow the preset 3D printing module in placing fibers on concrete according to the fiber placement parameters include: Analyze the fiber layout parameters to determine the fiber layout layers; Determine whether the fiber layout layer meets the preset requirements for the lower layer layout layer; If the conditions are met, the preset fiber shearing module is controlled to deliver the fiber to the fiber laying module according to the fiber laying parameters, and the fiber laying module is controlled to lay the fiber. If it does not meet the requirements, the printing environment parameters are obtained, and the fiber layout module is adjusted according to the printing environment parameters and fiber layout parameters. The fiber shearing module is controlled according to the fiber layout parameters to deliver the fiber to the fiber layout module, and the fiber layout module is controlled to lay the fiber. The steps for adjusting the fiber layout module based on printing environment parameters and fiber layout parameters include: Determine whether the printing environment parameters meet the preset requirements for non-affecting environment parameters; If the conditions are met, the fiber layout module remains unchanged; If it does not meet the requirements, the fiber layout parameters will be analyzed to determine the fiber layout direction. The fiber placement position is determined based on the relationship between the fiber placement direction and the preset lower layer placement direction. The fiber layout module is adjusted according to the fiber layout location; The steps involved in controlling the fiber placement module to follow the 3D printing module in placing fibers on the concrete based on the already deployed fiber parameters include: Determine whether the parameters of the deployed fibers meet the requirements of the preset normal deployment parameters; If the conditions are met, the fiber placement module continues to follow the 3D printing module to place fibers on the concrete, and the parameters of the placed fibers are continuously obtained for iterative judgment. If it does not meet the requirements, the parameters of the already laid fibers and the normal laying parameters will be analyzed to determine the abnormal laying parameters. Determine the deployment adjustment parameters based on the abnormal deployment parameters and the preset abnormal adjustment relationships; The fiber placement module is adjusted according to the placement adjustment parameters, and the adjusted fiber placement module is controlled to continue to place fibers on the concrete following the 3D printing module.

2. The method for 3D printing concrete fiber placement according to claim 1, characterized in that, The steps of controlling the preset fiber shearing module to deliver fibers to the fiber laying module according to the fiber laying parameters include: Analyze the fiber layout parameters to determine the fiber material parameters, fiber layout speed, and fiber layout length; The number of fiber shearing blades is determined based on the relationship between the laid fiber length and the preset number of length blades. The fiber shearing module adjusts the fiber shearing length based on the number of fiber shearing blades; The fiber shear pressure value is determined based on the fiber material parameters and the preset material shear pressure relationship. The fiber shearing module is controlled to press the preset fiber strip according to the fiber shearing pressure value, and the fiber shearing module is controlled to cut the fiber strip to generate fibers according to the fiber laying speed, so as to convey the fibers to the fiber laying module.

3. The method for 3D printing concrete fiber placement according to claim 1, characterized in that, The steps for the fiber deployment module to deploy fibers include: The spraying slope is adjusted by controlling the fiber laying module according to the preset fiber laying slope. Analyze the fiber layout parameters to determine the fiber length direction and fiber injection rate; Determine whether the fiber length direction meets the preset requirement of parallel printing direction; If it does not meet the requirements, the fiber deployment module will spray out fibers for deployment according to the fiber spraying rate. If the conditions are met, the fiber laying module is controlled to swing according to the preset spray swing angle, and the fiber laying module is controlled to spray out fibers for laying according to the fiber spray rate.

4. The method for 3D printing concrete fiber placement according to claim 3, characterized in that, The steps for controlling the fiber deployment module to eject and deploy fibers based on the fiber ejection rate include: The fiber deployment module controls the fiber to eject at the fiber ejection rate and acquires the ejection detection status. Determine whether the spray detection status meets the preset requirements for normal spray status; If the conditions are met, the fiber deployment module will continue to spray fibers at the fiber spraying rate, and the spraying detection status will continue to be acquired for cyclical judgment. If the condition does not meet the requirements, the fiber laying module will stop spraying fibers, and the preset unblocking device will be controlled to unblock the fiber laying module until the spraying detection status meets the requirements of normal spraying status.

5. A 3D printed concrete fiber placement system employing the 3D printed concrete fiber placement method as described in claim 1, comprising a 3D printing module, characterized in that, Also includes: A fiber placement module that moves synchronously with the 3D printing module and sprays fibers onto the concrete; A fiber cutting module, which moves synchronously with the fiber laying module and cuts the fiber strip into fibers and conveys them to the fiber laying module; A monitoring sensor is deployed, which moves synchronously with the fiber deployment module to detect the parameters of the deployed fibers; The control module is connected to the fiber laying module, the fiber shearing module, and the laying monitoring sensor data wires, and is used to control the fiber laying module, the fiber shearing module, and the laying monitoring sensor.

6. A 3D printed concrete fiber placement system according to claim 5, characterized in that, The fiber deployment module includes: A fiber guide groove is provided below the fiber shearing module to collect the fibers produced by the fiber shearing module and to lay the fibers on the concrete. A fiber spraying device that blows fibers from a fiber guide trough toward concrete; A slope adjustment device, wherein the slope adjustment device is used to adjust the slope of the fiber guide groove; An angle adjustment device, which is used to adjust the fiber ejection angle of the fiber guide groove in a horizontal plane; A position adjustment device, which is used to adjust the position of the fiber guide groove.

7. A 3D printed concrete fiber placement system according to claim 5, characterized in that, The fiber shearing module includes: A fiber feeder wheel, used for conveying fiber slivers; A fiber shearing wheel, which clamps the fiber strip with a fiber feeding wheel to shear the fiber strip into fibers; An elastic support device is used to adjust the pressure between the fiber shearing wheel and the fiber feeding wheel; A driving device that drives the fiber feeding wheel and the fiber shearing wheel to rotate synchronously.

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