A solidified 3D printed concrete, a 3D printing device and a method of printing and solidification

Abstract

The application relates to a kind of solidification 3D printing concrete, 3D printing device and printing solidification method, and relates to the field of 3D printing concrete technology, which comprises obtaining concrete printing information;Determine the solidification material type in the feeding pipe and the corresponding feeding pipe number based on the concrete printing information;The feeding pipe corresponding to the feeding pipe number is controlled to feed according to the solidification material type, and the current printing coordinate is obtained;Based on the solidification material type and the current printing coordinate, the corresponding solidification device number is found from the preset solidification database;The solidification device corresponding to the solidification device number is controlled to start, the application has the effect of controlling light / temperature to make outer layer material quickly solidify, realize the rapid forming of concrete material in the printing process, and improve the structural stability in the printing process of concrete material.

Description

Technical Field

[0001] This application relates to the field of 3D printed concrete technology, and in particular to a curing method for 3D printed concrete, a 3D printing apparatus, and a printing curing method. Background Technology

[0002] 3D printing technology is a rapidly developing cutting-edge technology that creates three-dimensional objects by layering materials using digital model files. With technological advancements, 3D printing has achieved breakthroughs in material diversity, printing precision, production speed, and application scope, demonstrating enormous potential. Particularly in the construction field, 3D printed concrete technology is driving a fundamental transformation in architectural design, production, and construction due to its efficient production methods, design flexibility, excellent resource utilization, and consistent manufacturing quality. This technology not only significantly reduces construction time and costs but also enables the precise construction of complex geometries, bringing unprecedented innovative possibilities to architects.

[0003] Currently, the most widely used method of 3D printing technology in the construction field is extrusion 3D printing of concrete. Due to the rheological properties of concrete, its support is poor before curing, and it is prone to collapse, making it difficult to print structures with large heights or spans. Among related technologies, a Chinese invention patent with patent number CN111335636A discloses a 3D construction method for a mesh-reinforced concrete curved roof structure, including the following construction steps: Step 1, scheme design; Step 2, establishing a curved surface model; Step 3, 3D printing concrete configuration; Step 4, printing the concrete curved support body; Step 5, installing positioning pins and support bars; Step 6, assembling the bottom bidirectional fiber reinforced steel mesh; Step 7, printing and forming the bottom curved concrete body; Step 8, assembling the upper bidirectional fiber reinforced steel mesh; Step 9, printing and forming the upper curved concrete body; Step 10, sealing and finishing the edges.

[0004] The existing technology has the following problems. Although this construction method can solve the problem of poor support, it requires the laying of supporting components such as steel mesh before printing, which increases the workload and reduces the printing efficiency. There is still room for improvement. Summary of the Invention

[0005] In order to improve the existing construction methods and solve the problem of poor support, but relatively speaking, it is necessary to lay out the supporting components such as steel mesh before printing, which increases the workload and reduces the printing efficiency. This application provides a curing 3D printed concrete, a 3D printing device and a printing curing method.

[0006] In the first aspect, this application provides a method for curing 3D printed concrete, employing the following technical solution:

[0007] A type of cured 3D printed concrete, comprising:

[0008] Concrete main body; and

[0009] A curing layer is applied to the circumferential outer wall of a concrete matrix. The curing layer includes a bottom and circumferential sides. The circumferential sides are made of a light-curing material and / or a thermo-curing material, and the bottom is made of a light-curing material and / or a thermo-curing material.

[0010] By adopting the above technical solution, the outer layer material is rapidly cured by controlling light / temperature, thus achieving rapid molding of concrete material during the printing process. This accelerates the setting and hardening speed of the printed material, reduces the risk of deformation and collapse, and improves the structural stability of concrete material during the printing process.

[0011] Optionally, the concrete matrix may contain thermosetting materials.

[0012] By adopting the above technical solution, the reason why thermosetting resin can be cured by heating is due to its internal chemical reactions (such as addition or condensation reactions). These reactions are accelerated and promoted by heat, and cross-linking between resin molecules is formed to form a three-dimensional network structure. Most resins rely on the addition of thermosetting agents for thermosetting, while some resins do not rely on external curing agents, but complete curing through their own chemical reactions or heat treatment. The intermediate filler material uses the method of mixing resin and concrete to further improve the curing effect of the concrete itself.

[0013] Secondly, this application provides a 3D printing apparatus, which adopts the following technical solution:

[0014] A 3D printing apparatus for printing a type of cured 3D printed concrete as described above, comprising:

[0015] Base;

[0016] A robotic arm for printing is mounted on a base;

[0017] A curing device, positioned along a preset printing trajectory, is used to rapidly cure the printed concrete. The curing device can be a light-curing device and / or a heat-curing device; and

[0018] Print head, the print head comprising:

[0019] A concrete cylinder is fixedly connected to a printing robotic arm. One end of the concrete cylinder is provided with a first inlet for the concrete body to enter, and the other end of the concrete cylinder is provided with a first outlet for the concrete body to be extruded.

[0020] A sleeve is fitted onto the side of the concrete cylinder near the first discharge port. The inner circumferential sidewall of the sleeve, in conjunction with the outer circumferential sidewall of the concrete cylinder, forms a flow channel for the flow of the uncured solidified layer and a second discharge port for the extrusion of the material corresponding to the solidified layer. The second discharge port is located on the side of the flow channel near the first discharge port and is interconnected with the flow channel.

[0021] The feed pipe is located on the sleeve and is connected to the flow channel. There are several feed pipes used to convey different photocurable materials and thermocurable materials.

[0022] By adopting the above technical solution, the outer layer material is rapidly cured by controlling light / temperature, thus achieving rapid molding of concrete material during the printing process. This accelerates the setting and hardening speed of the printed material, reduces the risk of deformation and collapse, and improves the structural stability of concrete material during the printing process.

[0023] Thirdly, this application provides a printing curing method, which adopts the following technical solution:

[0024] A printing curing method, using a 3D printing apparatus as described above, includes:

[0025] Obtain concrete printing information;

[0026] The type of curing material in the feed pipe and the corresponding feed pipe number are determined based on the concrete printing information.

[0027] Control the feed tube corresponding to the feed tube number to feed according to the type of cured material, and obtain the current printing coordinates;

[0028] Based on the type of curing material and the current printing coordinates, the corresponding curing device number is retrieved from the preset curing database;

[0029] Start the curing device corresponding to the control curing device number.

[0030] By adopting the above technical solution, by determining the printing path and then using a curing device to cure during the printing process, the concrete body in the middle is supported by the circumferential curing layer and kept fixed. The structural strength of the entire concrete printing process is sufficient, which improves the structural strength of the concrete structure and effectively avoids the problem of the concrete collapsing during the printing process due to insufficient support capacity, which makes it difficult to maintain the overall structural stability.

[0031] Optionally, specific methods for obtaining concrete printing information include:

[0032] Obtain concrete printing drawings;

[0033] The printing path was analyzed based on the concrete printing drawings;

[0034] A concrete printing model was simulated based on the printing path.

[0035] Different preset curing coefficients are input into the concrete printing model to obtain simulation results;

[0036] The best simulation results are selected, and the corresponding curing parameters are defined as the optimal curing parameters.

[0037] The printing path and optimal curing parameters are integrated into concrete printing information for output.

[0038] By adopting the above technical solutions, the entire process can be simulated in advance, so that different curing requirements correspond to different curing types, ensuring that curing requirements can be met and improving the intelligence of curing material selection.

[0039] Optionally, the method for controlling the start-up of the curing device corresponding to the curing device number includes:

[0040] The optimal simulation result is defined as the best simulation result;

[0041] Determine the ideal degree of curing based on the optimal simulation results;

[0042] The curing device is started according to the optimal curing parameters and the current curing degree of the cured layer is obtained after a preset unit time.

[0043] The curing parameters are adjusted based on the current degree of curing, the ideal degree of curing, and the optimal curing parameters.

[0044] The curing control device was modified to adjust the curing parameters.

[0045] By adopting the above technical solution, the curing degree of the outer resin of the printed strip and the micro-strain inside the structure are collected in real time. The collected data is combined with intelligent algorithms to optimize the curing parameters of the curing device and automatically generate the optimal curing control strategy, thereby improving the stability and intelligence of curing.

[0046] Optionally, an optimization method is also included, which involves inputting different curing coefficients into the concrete printing model and obtaining the optimal simulation results. This method includes:

[0047] The print path is segmented to determine the print path segmentation for different situations;

[0048] Different curing coefficients are input into different printing paths in the concrete printing model to obtain simulation results, and these simulation results are defined as multi-case simulation results.

[0049] The optimal multi-case simulation result is defined as the optimal simulation result.

[0050] By adopting the above technical solution, different positional states are subdivided during the simulation process, thereby inputting different curing parameters. For example, the stress at the corner is greater, the curing time should be shorter, and the curing effect should be better, thus improving the detail of the curing effect under different conditions.

[0051] Optionally, it also includes a specific method for controlling the activation of the curing device corresponding to the curing device number when the circumferential side is made of a mixture of photocurable and thermocurable materials, the bottom is made of thermocurable material, and the concrete body contains thermocurable material. This method includes:

[0052] The optimal simulation result for the corresponding circumferential side is defined as the optimal optical simulation result, and the optimal simulation result for the corresponding bottom is defined as the optimal thermal simulation result.

[0053] The light curing device and the heat curing device corresponding to the control curing device number are started simultaneously and corrected to their respective adjustment curing parameters, and the first real-time curing degree of the circumferential side is obtained.

[0054] When the first real-time curing degree is the preset required light curing degree, the light curing device is controlled to shut down, and the second real-time curing degree at the bottom is obtained;

[0055] When the second real-time curing degree reaches the preset required heat curing degree, the heat curing device is controlled to shut down.

[0056] By adopting the above technical solution, the outer light-curing layer is first cured, and then the heat-curing device cures the inside and bottom, so that it does not need to be used simultaneously all the time, saving usage costs and improving the curing effect.

[0057] Optionally, it also includes a method for determining whether to control the thermosetting device to shut down when the second real-time curing degree reaches the preset required thermosetting degree, the method comprising:

[0058] Define the coordinate point of the printing path when the second real-time curing degree reaches the required thermosetting degree as the current printing coordinate point;

[0059] Determine the corresponding thermosetting device number and printing coordinate range based on the current printing coordinate point and the corresponding optimal curing parameters;

[0060] The print coordinate range is broken down to obtain the print coordinate segment range;

[0061] When the current printing coordinate point is not at the end of the printing coordinate segment range, the thermosetting device is controlled to continue heating, where the end of the printing coordinate segment range is the end of the printing coordinate segment range along the printing direction;

[0062] When the current print coordinate point is at the end of the print coordinate segment range, the print coordinate segment range is defined as the current print coordinate segment range;

[0063] The expected printing coordinate segment range is determined based on the current printing coordinate segment range and the preset printing order.

[0064] The printing interval duration is determined based on the current printing coordinate segment range, the expected printing coordinate segment range, and the preset printing speed.

[0065] The corresponding balancing interval is retrieved from the preset balancing database based on the optimal curing parameters.

[0066] When the printing interval is shorter than the equilibrium interval, the thermosetting device is controlled to continue heating.

[0067] The thermosetting device is shut down when the printing interval is longer than the equilibrium interval.

[0068] By adopting the above technical solution, since the thermosetting device needs to be started in advance, whether the thermosetting process should be paused will be determined based on the repeated start-up and shutdown. If it will be restarted in a short period of time, it is better not to shut it down to ensure that the corresponding temperature can be supplied in time.

[0069] Optionally, methods for simultaneously activating the light-curing device and the heat-curing device corresponding to the curing device number include:

[0070] The printing cut-off path and printing cut-off environment are determined based on the concrete printing model and printing path.

[0071] The maximum support size is found from the preset support database based on the printing and cutting environment;

[0072] The printing cut-off size is determined based on the printing cut-off path analysis;

[0073] When the printed cut-off size is greater than the maximum support size, the light curing device and the heat curing device corresponding to the curing device number are started simultaneously.

[0074] When the printed cut-off size is smaller than the maximum support size, the corresponding light-blocking material is found from the preset blocking database based on the optimal curing parameters;

[0075] The light curing device and the heat curing device corresponding to the control curing device number are started simultaneously, and the light blocking plate of the printed cutting size is cut out to block the concrete corresponding to the printed cutting path.

[0076] By adopting the above technical solution, since 3D printing has a certain width, when a certain area will be cut later, the photopolymerization operation can be avoided, reducing the occurrence of difficult cutting due to curing reasons in the later stage, and improving the rationality and optimization of the curing process.

[0077] In summary, this application includes at least the following beneficial technical effects:

[0078] 1. During the printing process, a curing device is used for curing, which makes the concrete body in the middle supported by the circumferential curing layer and kept fixed. The structural strength of the entire concrete printing process is sufficient, which improves the structural strength of the concrete structure.

[0079] 2. Simulate the entire process in advance to ensure that different curing requirements correspond to different curing types, thereby improving the intelligence of curing material selection;

[0080] 3. The outer light-curing layer is cured, and then the heat-curing device cures the inside and bottom, so that it does not need to be used simultaneously all the time, saving usage costs and improving the curing effect. Attached Figure Description

[0081] Figure 1 This is a flowchart of a printing curing method in an embodiment of this application.

[0082] Figure 2 This is a schematic diagram of a cured 3D printed concrete structure in an embodiment of this application.

[0083] Figure 3 This is a schematic diagram of the structure of a 3D printing device according to an embodiment of this application.

[0084] Figure 4 This is a half-sectional schematic diagram of the print head in the embodiments of this application.

[0085] Figure 5 This is a flowchart illustrating a specific method for obtaining concrete printing information in an embodiment of this application.

[0086] Figure 6 This is a flowchart of the method for starting the curing device corresponding to the number of the curing device in the embodiments of this application.

[0087] Figure 7 This is a flowchart of an optimization method in this application embodiment for inputting different curing coefficients into a concrete printing model and obtaining the optimal simulation results.

[0088] Figure 8 This is a flowchart illustrating the specific method for starting the curing device corresponding to the control curing device number in the embodiments of this application.

[0089] Figure 9 This is a flowchart of a method for determining whether the heat curing device is shut down when the second real-time curing degree reaches the preset required heat curing degree, as described in this application embodiment.

[0090] Figure 10 This is a flowchart of a method for simultaneously activating the light curing device and the heat curing device corresponding to the control curing device number in this application embodiment.

[0091] Explanation of reference numerals in the attached drawings: 1. Concrete body; 2. Curing layer; 21. Circumferential side; 22. Bottom; 3. Base; 4. Printing robotic arm; 5. Curing device; 6. Printing nozzle; 61. Concrete cylinder; 611. First inlet; 612. First outlet; 62. Sleeve; 63. Feed pipe; 64. Second outlet; 65. Flow channel. Detailed Implementation

[0092] 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.

[0093] This application discloses a printing curing method. (Refer to...) Figure 1 A printing curing method includes:

[0094] Step 100: Obtain concrete printing information.

[0095] The concrete printing information consists of relevant details about the concrete to be printed. This information can include all relevant details about the concrete. It can be obtained through manual input or through subsequent steps.

[0096] Step 101: Determine the type of curing material and the corresponding feed pipe number in feed pipe 63 based on the concrete printing information.

[0097] The type of curing material refers to the type of material used in curing layer 2. (Example: Here...) Figure 2As shown, this printing is of a cured 3D printed concrete, which includes a concrete body 1 and a cured layer 2. The concrete body 1 is arranged in a strip shape along the printing direction. The concrete body 1 contains thermosetting material so that the curing of the concrete body 1 can be accelerated after a thermosetting device is placed around the concrete body. In this embodiment, the thermosetting material can be thermosetting epoxy acrylate resin. In addition, thermosetting polyester resin, thermosetting phenolic resin, thermosetting polyurethane resin, thermosetting amino resin, thermosetting polyamide resin, and thermosetting silicone resin can also be used as alternatives to thermosetting epoxy acrylate resin. These thermosetting resins undergo a cross-linking reaction when heated by an external thermosetting device, rapidly changing from a liquid to a solid state to form a solid material with good mechanical properties and durability. The cured layer 2 covers the circumferential outer wall of the concrete body 1. The cured layer 2 includes a bottom 22 and a circumferential side 21. Both the circumferential side 21 and the bottom 22 can be made of photocurable or thermocurable materials, or a mixture of both, so that curing can be performed using the other curing device 5 if one type of curing device 5 is unavailable. The photocurable material can be photocurable epoxy acrylate resin. In addition, photocurable acrylic resin, photocurable polyurethane resin, photocurable methacrylate resin, photocurable styrene resin, photocurable polyester resin, photocurable composite resin, and high-temperature photocurable resin can also be used as substitutes for photocurable epoxy acrylate resin. These photocurable resins undergo a cross-linking reaction under ultraviolet light irradiation, rapidly transforming from a liquid to a solid state to form a solid material with good mechanical properties and durability.

[0098] The feed pipe is numbered 63, which refers to the feed pipe for the type and type of curing material. For example... Figure 3 The image shows a 3D printing device, which includes a base 3, a printing robotic arm 4, a curing device 5, and a printing nozzle 6. The printing robotic arm 4 is fixedly connected to the base 3. The curing device 5 is installed on the printing path and is used to rapidly cure the printed concrete. If the printing material is a photocurable material, the curing device 5 can be a photocurable device, such as an irradiation device that emits ultraviolet or visible light; if the printing material is a thermocurable material, the curing device 5 can be a thermocurable device.

[0099] Reference Figure 3 and Figure 4The printing nozzle 6 is mounted on the printing robotic arm 4 to perform 3D printing as the printing robotic arm 4 moves. The printing nozzle 6 includes a concrete cylinder 61, a sleeve 62, and a feed tube 63. The concrete cylinder 61 is fixedly connected to the printing robotic arm 4. One end of the concrete cylinder 61 has a first feed port 611 for the concrete body 1 to enter, and the other end of the concrete cylinder 61 has a first discharge port 612 for the concrete body 1 to be extruded. The sleeve 62 is fitted onto the side of the concrete cylinder 61 near the first discharge port 612, forming a flow channel 65 for the flow of the uncured solidified layer 2. The inner circumferential sidewall of the sleeve 62, in conjunction with the outer circumferential sidewall of the concrete cylinder 61, forms a second discharge port 64 for the extrusion of the material corresponding to the solidified layer 2. The second discharge port 64 is located on the side of the flow channel 65 near the first discharge port 612 and is interconnected with the flow channel 65 to supply the material required for the solidified layer 2. The feed pipe 63 is installed on the sleeve 62 and is connected to the flow channel 65. There are several feed pipes 63, which are used to convey different photocurable materials and thermocurable materials into the flow channel 65.

[0100] The method of determination is based on corresponding attribute matching. For example, if the concrete printing information contains information about the curing material, then the matching is performed directly. Since the numbering of the feed pipe 63 and the curing material that can flow inside are pre-defined, when the curing material information is known, the type of curing material is automatically determined, and then the corresponding feed pipe number is determined based on the type of curing material. This refinement involves injecting the curing layer 2 on the outside of the concrete body 1 into different areas, for example: Figure 2 As shown, the upper part and both sides use the same type of curing material, while the lower part uses a different type of curing material.

[0101] Step 102: Control the feed pipe 63 corresponding to the feed pipe number to feed according to the type of cured material, and obtain the current printing coordinates.

[0102] The current printing coordinates are the coordinates of the printing position already reached during the 3D printing process. These coordinates can be obtained based on the progress of the printing system and the movements of the robotic arm.

[0103] Step 103: Based on the type of curing material and the current printing coordinates, find the corresponding curing device number from the preset curing database.

[0104] The curing device is numbered as Curing Device 5. The database stores a mapping relationship between the type of curing material, the current printing coordinates, and the curing device number. The operator first assigns a number to each Curing Device 5, then assumes that a certain printing coordinate position corresponds to a specific curing material, and retrieves the corresponding Curing Device 5 number that can affect the curing of that material type, thus forming a mapping relationship that is stored. When the system receives the corresponding curing material type and current printing coordinates, it automatically retrieves the corresponding Curing Device number from the database and outputs it.

[0105] Step 104: Start the curing device 5 corresponding to the curing device number.

[0106] When the printer reaches a certain point, the curing device 5 is activated to accelerate the curing process.

[0107] Reference Figure 5 Specific methods for obtaining concrete printing information include:

[0108] Step 200: Obtain the concrete printout.

[0109] The concrete printing drawing is a structural drawing of 3D-printed concrete. This drawing specifies the printing dimensions and trajectory, as well as the dimensions of the cross-sectional view of the cured 3D-printed concrete.

[0110] Step 201: Analyze the printing path based on the concrete printing drawings.

[0111] The printing path is the path taken by the concrete printing device during printing. Analysis can be performed by direct reading.

[0112] Step 202: Simulate a concrete printing model based on the printing path.

[0113] A concrete printing model is a model created through concrete printing. It can be simulated using finite element analysis software.

[0114] Step 203: Input different preset curing coefficients into the concrete printing model to obtain simulation results.

[0115] The curing coefficient is the factor that cures the outer curing layer 2. This coefficient includes a series of factors such as the setting rate. It is primarily based on the theoretically feasible curing device 5. The simulation result is the result after simulation according to the curing coefficient. Here, the simulation result is either stable or toppled, with toppling specifying the exact locations where it will occur. After input, the concrete printing model will automatically perform 3D printing and curing simulation, then slice each location, read the corresponding stress and shear force parameters, and compare them with the corresponding critical values. If the critical values ​​are exceeded, toppling and structural damage will occur.

[0116] Step 204: Select the best simulation results and define the corresponding curing parameters as the optimal curing parameters.

[0117] The filtering method involves comparing the ranges corresponding to the dumping locations, selecting simulation results with smaller ranges or even zero ranges.

[0118] Step 205: Integrate the printing path and optimal curing parameters into concrete printing information and output it.

[0119] Reference Figure 6 The method for controlling the start of curing device 5 corresponding to the curing device number includes:

[0120] Step 300: Define the best simulation result as the optimal simulation result.

[0121] Step 301: Determine the ideal degree of curing based on the optimal simulation results.

[0122] The ideal degree of curing refers to the ideal degree of curing, which means the degree of curing at any given moment. This includes the mapping relationship between time and degree of curing. When any time is input, the corresponding ideal degree of curing will be automatically found and output.

[0123] Step 302: Control the curing device 5 to start according to the optimal curing parameters and obtain the current curing degree of the cured layer 2 after a preset unit time.

[0124] Unit time refers to the length of time measured in a specific unit of measurement, such as 1 second or 1 minute. Current curing degree refers to the degree of curing at this specific moment. This can be obtained by converting various parameters. These parameters can be acquired through a series of sensors, such as near-infrared spectroscopy sensors and micro-strain sensor arrays, which can collect data on the curing degree of the outer resin layer of the printed strip and the microscopic stress within the structure.

[0125] Step 303: Calculate and adjust the curing parameters based on the current degree of curing, the ideal degree of curing, and the optimal curing parameters.

[0126] The curing parameters need to be adjusted because there is a deviation between the degree of curing and the ideal degree of curing. The calculation method is to divide the current degree of curing by the ideal degree of curing and multiply by the optimal curing parameters.

[0127] Step 304: Control the curing device 5 to adjust the curing parameters.

[0128] Even after this correction, adjustments will continue to be made in real time following steps 300-304 to achieve the optimal curing effect.

[0129] Reference Figure 7 It also includes an optimization method for inputting different curing coefficients into a concrete printing model and obtaining the optimal simulation results. This method includes:

[0130] Step 400: Segment the print path to determine print path segments for different situations.

[0131] The print path is segmented for different printing scenarios. These scenarios include differences in the type of line segments (e.g., curved paths versus straight paths) and differences in width (e.g., 8cm wide versus 6cm wide print path segments). The process involves comparing the scenarios corresponding to each coordinate; if adjacent coordinates have different scenarios, the path is automatically segmented into multiple print path segments.

[0132] Step 401: Input different curing coefficients into different printing paths in the concrete printing model to obtain simulation results, and define the simulation results as multi-case simulation results.

[0133] The input method is the same as in step 203, so it will not be repeated here. The difference between this step and the previous one is that the solidification coefficient for each location is set to the coefficient for the corresponding segment, so as to refine the results and make the simulation results better after filtering.

[0134] Step 402: Define the best multi-case simulation result as the optimal simulation result.

[0135] Reference Figure 8 It also includes a specific method for controlling the activation of the curing device 5 corresponding to the curing device number when the circumferential side 21 is made of a mixture of light-curing and heat-curing materials, the bottom 22 is made of heat-curing material, and the concrete body 1 contains heat-curing material. This method includes:

[0136] Step 500: Define the optimal simulation result for the corresponding circumferential side 21 as the optimal optical simulation result, and define the optimal simulation result for the corresponding bottom 22 as the optimal thermal simulation result.

[0137] Step 501: Simultaneously start the light curing device and heat curing device corresponding to the control curing device number, and correct them to their respective adjustment curing parameters, and obtain the first real-time curing degree of the circumferential side 21.

[0138] The first real-time curing degree is the curing degree of the circumferential side 21 at every moment. The method of obtaining it is similar to step 302, and will not be described in detail here. The reason for simultaneously starting the light curing device and the heat curing device corresponding to the control curing device number is that the cured layer 2 contains heat curing material and light curing material, and the concrete body 1 is mixed with heat curing material.

[0139] Step 502: When the first real-time curing degree is the preset required light curing degree, control the light curing device to shut down and obtain the second real-time curing degree of the bottom 22.

[0140] The required curing degree is a manually set curing level that the curing layer 2 needs to achieve. When this level is reached, the outer curing layer 2 is also relatively robust, providing a certain degree of stable support. The second real-time curing degree refers to the curing degree of the bottom 22 at any given moment. For example... Figure 2 As shown, the cured material layer at the bottom 22 may not receive enough ultraviolet light due to the blockage of the concrete above and the cured material layers in the three directions around it. As a result, the material in the bottom 22 area is not completely cured. Therefore, when the first real-time curing degree reaches the required light curing degree, the second real-time curing degree is not yet fully reached, so curing needs to continue. At this time, the light curing effect of the bottom 22 and the concrete body 1 is not significant, so heat curing can be used. At this time, the light curing device is turned off.

[0141] Step 503: When the second real-time curing degree reaches the preset required heat curing degree, control the heat curing device to shut down.

[0142] The required degree of thermosetting is a manually set level of curing required to be achieved. The only difference between this and the required degree of light curing is the curing method. The numerical values ​​corresponding to the degree of curing can be the same, or they can be set according to the strength required for the actual location.

[0143] The reason for this setting is that, under normal circumstances, the curing response speed of photocurable materials is faster than that of thermocurable materials, which can provide more timely support; and the heat energy transmittance is better than that of light energy, so that heat can be transferred more deeply into the structure, allowing the inner layer material to fully cure and improve the overall structural strength.

[0144] Reference Figure 9 It also includes a method for determining whether to control the thermosetting device to shut down when the second real-time curing degree reaches the preset required thermosetting degree, the method comprising:

[0145] Step 600: Define the coordinate point corresponding to the printing path when the second real-time curing degree reaches the required thermosetting degree as the current printing coordinate point.

[0146] Step 601: Determine the corresponding thermosetting device number and printing coordinate range based on the current printing coordinate point and the corresponding optimal curing parameters.

[0147] The printing coordinate range is the range of curing coordinates that can be affected by the thermosetting device number. The method for determining the thermosetting device number is similar to step 103 and will not be repeated here. The printing coordinate range is derived backward from the database mentioned in step 103; that is, when the thermosetting device number is known, the corresponding printing coordinates are automatically looked up based on the corresponding mapping relationship, and these printing coordinates are collected to form the printing coordinate range.

[0148] Step 602: Decompose the print coordinate range to obtain the print coordinate segment range.

[0149] The print coordinate segment range is the range of continuous print coordinates within the print coordinate range. That is, when the print coordinate range is not continuous, it is broken into multiple range segments, and each range segment is the print coordinate segment range.

[0150] Step 603: When the current printing coordinate point is not at the end of the printing coordinate segment range, control the thermosetting device to continue heating.

[0151] The end of the printed coordinate segment range is the end of the printed coordinate segment range along the printing direction.

[0152] If the current printing coordinate point is not at the end of the printing coordinate segment range, it means that the heat curing device is still needed when printing the next point. In this case, there is no need to turn off the heat curing device and continue heating.

[0153] Step 604: When the current print coordinate point is at the end of the print coordinate segment range, define the print coordinate segment range as the current print coordinate segment range.

[0154] If the current printing coordinate point is at the end of the printing coordinate segment range, it means that the next printing coordinate does not require the heat curing device. Therefore, it is necessary to determine whether the heat curing device needs to be turned off.

[0155] Step 605: Determine the expected printing coordinate segment range based on the current printing coordinate segment range and the preset printing order.

[0156] The printing order is the order in which the coordinates are printed. Here, the printing order refers to the order of each coordinate along the printing path, from front to back. The expected printing coordinate segment range is the next segment after the current printing coordinate segment range. This is determined by sorting all segment ranges according to the printing order, and then directly determining the next segment after the current one.

[0157] Step 606: Determine the printing interval duration based on the current printing coordinate segment range, the expected printing coordinate segment range, and the preset printing speed.

[0158] The printing speed refers to the 3D printing speed, and the unit here is m / s. The printing interval is the time interval from the end of the current printing coordinate segment to the start of the expected printing coordinate segment. It is determined by subtracting the coordinates of the end point of the current printing coordinate segment from the starting point of the expected printing coordinate segment along the printing path, and then dividing the resulting path length by the printing speed.

[0159] Step 607: Based on the optimal curing parameters, find the corresponding balancing interval duration from the preset balancing database.

[0160] The balancing interval is the time it takes for the energy consumed from turning off the thermosetting device to turning it on and reaching the required temperature to balance with the energy consumed by keeping the thermosetting device on continuously. In other words, both intervals are the same, but one is switched on and off while the other remains on. More energy is inevitably consumed during startup and heating. The database stores the mapping relationship between optimal curing parameters and balancing intervals. This is calculated and measured by researchers in the field through experiments in two modes. When the system receives the corresponding optimal curing parameters, it automatically retrieves the corresponding balancing interval from the database and outputs it.

[0161] Step 608: When the printing interval is less than the equilibrium interval, control the thermosetting device to continue heating.

[0162] If the printing interval is shorter than the equilibrium interval, it indicates that the energy consumed to maintain heating is low, so the thermosetting device is controlled to continue heating.

[0163] Step 609: When the printing interval is longer than the equilibrium interval, control the thermosetting device to shut down.

[0164] If the printing interval is longer than the equilibrium interval, it indicates that the energy consumed to maintain heating is high, so the thermosetting device should be shut down.

[0165] Reference Figure 10 The methods for simultaneously activating the light curing unit and the heat curing unit corresponding to the curing unit number include:

[0166] Step 700: Determine the printing cut-off path and printing cut-off environment based on the concrete printing model and printing path.

[0167] The printed cutting path is the path that needs to be cut. Since the width printed by the 3D printer is fixed, some parts are redundant and need to be manually removed later. The method to determine this is to create a preliminary model by simulating the printing path, and then compare it with the concrete printed model to obtain the cutting path.

[0168] The printing cut environment refers to the surrounding path of the printing cut path, such as corners, straight lines, and slopes. It is determined by identifying the coordinates of the surrounding area based on the printing cut path, and then analyzing the trend of these coordinate changes.

[0169] Step 701: Based on the printing and cutting environment, find the corresponding maximum support size from the preset support database.

[0170] The maximum support dimension is the dimension at which the structure can maintain a certain structural strength even when the surrounding area is completely solidified, supported by the surrounding environment. The database stores a mapping relationship between the printing cut environment and the maximum support dimension. For each cut location under different environments, skilled personnel in the field apply different masking sizes, observe whether a stable structure can still be maintained, and then obtain the maximum masking size that can maintain a stable structure, which is recorded as the maximum support dimension. When the system receives the corresponding printing cut environment, it automatically retrieves the corresponding maximum support dimension from the database and outputs it.

[0171] Step 702: Analyze the printing cut-off size based on the printing cut-off path.

[0172] The printed cut dimension is the length of the printed cut path. The analysis method is simply to read the data directly.

[0173] Step 703: When the printed cut-off size is greater than the maximum support size, control the simultaneous start of the light curing device and the heat curing device corresponding to the curing device number.

[0174] If the printed cut-off size is larger than the maximum support size, it means that if this area is not cured, the structure will be unstable. Therefore, the light curing device and the heat curing device corresponding to the curing device number are started simultaneously.

[0175] Step 704: When the printed cut-off size is smaller than the maximum support size, the corresponding light-blocking material is found from the preset blocking database based on the optimal curing parameters.

[0176] A light-blocking panel is a panel capable of completely blocking the light intensity corresponding to the optimal curing parameters. Here, light intensity includes not only color but also intensity. The database stores the mapping relationship between optimal curing parameters and light-blocking panels. Personnel skilled in the art conduct experiments using different light-blocking panels under each curing parameter's illumination, receiving the corresponding light intensity from the back end. When no light intensity is received, it is recorded. When the system receives the corresponding optimal curing parameters, it automatically retrieves the corresponding light-blocking panel from the database and outputs it.

[0177] Alternatively, you can simply use a board that completely blocks out all light for output.

[0178] If the printed cut-off size is smaller than the maximum support size, it means that the structure can be guaranteed to be stable even without curing.

[0179] Step 705: Simultaneously start the light curing device and the heat curing device corresponding to the control curing device number, and cut out the light blocking plate of the printing cut-out size to block the concrete corresponding to the printing cut-out path.

[0180] The purpose of cutting out the light-shielding material of the printed cut-out size is to prevent the printed cut-out path from solidifying too quickly, making it easier to cut in subsequent processes. Also, because the printed cut-out size is smaller than the maximum support size, it will not cause structural instability.

[0181] 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 printing curing method, characterized in that, Applied to a 3D printing apparatus, the 3D printing apparatus comprising: Base (3); A printing robotic arm (4) is mounted on a base (3); A curing device (5), positioned on a preset printing trajectory, is used to rapidly cure the printed concrete. The curing device (5) is a light-curing device and / or a heat-curing device; and Print head (6), the print head (6) comprising: A concrete cylinder (61) is fixedly connected to the printing robotic arm (4). One end of the concrete cylinder (61) is provided with a first feed port (611) for the concrete body (1) to enter, and the other end of the concrete cylinder (61) is provided with a first discharge port (612) for the concrete body (1) to be extruded. A sleeve (62) is fitted onto the side of the concrete cylinder (61) near the first discharge port (612). The inner circumferential sidewall of the sleeve (62) cooperates with the outer circumferential sidewall of the concrete cylinder (61) to form a flow channel (65) for the flow of the uncured layer (2) and a second discharge port (64) for the extrusion of the material corresponding to the cured layer (2). The second discharge port (64) is located on the side of the flow channel (65) near the first discharge port (612) and is interconnected with the flow channel (65). The feed pipe (63) is located on the sleeve (62) and connected to the flow channel (65). There are several feed pipes (63) used to convey different photocurable materials and thermocurable materials. The method includes: Obtain concrete printing information; The type of curing material and the corresponding feed pipe number in the feed pipe (63) are determined based on the concrete printing information; Control the feed pipe (63) corresponding to the feed pipe number to feed according to the type of cured material, and obtain the current printing coordinates; Based on the type of curing material and the current printing coordinates, the corresponding curing device number is retrieved from the preset curing database; Start the curing device (5) corresponding to the control curing device number; The concrete printed by the 3D printing device is a cured 3D printed concrete, which includes: a concrete body (1); and a cured layer (2) covering the circumferential outer wall of the concrete body (1). The cured layer (2) includes a bottom (22) and a circumferential side (21). The circumferential side (21) is made of photocurable material and / or thermocurable material, and the bottom (22) is made of photocurable material and / or thermocurable material.

2. The printing curing method according to claim 1, characterized in that, The concrete body (1) contains thermosetting materials.

3. The printing curing method according to claim 1, characterized in that, Specific methods for obtaining concrete printing information include: Obtain concrete printing drawings; The printing path was analyzed based on the concrete printing drawings; A concrete printing model was simulated based on the printing path. Different preset curing coefficients are input into the concrete printing model to obtain simulation results; The best simulation results are selected, and the corresponding curing parameters are defined as the optimal curing parameters. The printing path and optimal curing parameters are integrated into concrete printing information for output.

4. The printing curing method according to claim 3, characterized in that, The methods for controlling the start-up of the curing device (5) corresponding to the curing device number include: The optimal simulation result is defined as the best simulation result; Determine the ideal degree of curing based on the optimal simulation results; The control curing device (5) is started according to the optimal curing parameters and obtains the current curing degree of the cured layer (2) after a preset unit time; The curing parameters are adjusted based on the current degree of curing, the ideal degree of curing, and the optimal curing parameters. The curing control device (5) is modified to adjust the curing parameters.

5. The printing curing method according to claim 4, characterized in that, It also includes an optimization method for inputting different curing coefficients into a concrete printing model and obtaining the optimal simulation results. This method includes: The print path is segmented to determine the print path segmentation for different situations; Different curing coefficients are input into different printing paths in the concrete printing model to obtain simulation results, and these simulation results are defined as multi-case simulation results. The optimal multi-case simulation result is defined as the optimal simulation result.

6. The printing curing method according to claim 4, characterized in that, It also includes a specific method for controlling the activation of the curing device (5) corresponding to the curing device number when the circumferential side (21) is made of a mixture of photocurable and thermocurable materials, the bottom (22) is made of thermocurable material, and the concrete body (1) contains thermocurable material. This method includes: The optimal simulation result for the corresponding circumferential side (21) is defined as the optimal optical simulation result, and the optimal simulation result for the corresponding bottom (22) is defined as the optimal thermal simulation result. The light curing device and the heat curing device corresponding to the control curing device number are started simultaneously and corrected to their respective adjustment curing parameters, and the first real-time curing degree of the circumferential side (21) is obtained; When the first real-time curing degree is the preset required light curing degree, the light curing device is controlled to shut down, and the second real-time curing degree of the bottom (22) is obtained; When the second real-time curing degree reaches the preset required heat curing degree, the heat curing device is controlled to shut down.

7. The printing curing method according to claim 6, characterized in that, It also includes a method for determining whether to control the thermosetting device to shut down when the second real-time curing degree reaches the preset required thermosetting degree, the method comprising: Define the coordinate point of the printing path when the second real-time curing degree reaches the required thermosetting degree as the current printing coordinate point; Determine the corresponding thermosetting device number and printing coordinate range based on the current printing coordinate point and the corresponding optimal curing parameters; The print coordinate range is broken down to obtain the print coordinate segment range; When the current printing coordinate point is not at the end of the printing coordinate segment range, the thermosetting device is controlled to continue heating, where the end of the printing coordinate segment range is the end of the printing coordinate segment range along the printing direction; When the current print coordinate point is at the end of the print coordinate segment range, the print coordinate segment range is defined as the current print coordinate segment range; The expected printing coordinate segment range is determined based on the current printing coordinate segment range and the preset printing order. The printing interval duration is determined based on the current printing coordinate segment range, the expected printing coordinate segment range, and the preset printing speed. The corresponding balancing interval is retrieved from the preset balancing database based on the optimal curing parameters. When the printing interval is shorter than the equilibrium interval, the thermosetting device is controlled to continue heating. The thermosetting device is shut down when the printing interval is longer than the equilibrium interval.

8. The printing curing method according to claim 6, characterized in that, Methods for simultaneously activating the light curing unit and the heat curing unit corresponding to the curing unit number include: The printing cut-off path and printing cut-off environment are determined based on the concrete printing model and printing path. The maximum support size is found from the preset support database based on the printing and cutting environment; The printing cut-off size is determined based on the printing cut-off path analysis; When the printed cut-off size is greater than the maximum support size, the light curing device and the heat curing device corresponding to the curing device number are started simultaneously. When the printed cut-off size is smaller than the maximum support size, the corresponding light-blocking material is found from the preset blocking database based on the optimal curing parameters; The light curing device and the heat curing device corresponding to the control curing device number are started simultaneously, and the light blocking plate of the printed cutting size is cut out to block the concrete corresponding to the printed cutting path.

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