Robot in-situ 3D printed single-storey building structure system and construction method

Abstract

The invention relates to the technical field of 3D printing, and discloses a robot in-situ 3D printing single-storey building structure system and a construction method.The structure system comprises a 3D printing wall, in-situ 3D printing cavity reinforced concrete is adopted as vertical and horizontal stress components of the 3D printing wall, a roof is a fabricated steel structure + FRP, ground beams and shear bars are arranged below the 3D printing wall, and ring beams are arranged on the upper portion of the 3D printing wall; a foundation slab is arranged as a working surface of the 3D printing robot; constructional columns are arranged at the intersections of the roof steel structure supporting points and the inner and outer wall bodies, and the roof vertical structure is connected with the ring beam. The construction method is in a design and construction integrated mode, error, omission, collision and defect analysis is completed on a structural system in the full-professional BIM design and construction preparation stage, and the requirements for ensuring safety and reliability of a building structure, meeting the building use function and efficient construction implementation can be effectively met; the practical scheme that the 3D printing technology is tightly combined with the existing building design construction technology is formed, and the automation degree of 3D printing construction is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a single-layer building structure system and a construction method using robot in-situ 3D printing. Background Art

[0002] 3D printing technology is a technology that creates three-dimensional entities by stacking materials layer by layer. Based on digital design files, computer-controlled printers are used to stack materials such as plastic, metal, concrete, etc. layer by layer according to a predetermined design, eventually forming a physical model or product. The application of 3D printing technology in the construction industry uses concrete, mortar or other building composite materials as printing materials. According to digital design drawings, the walls, structures and other components of the building are printed layer by layer, allowing architects and designers to quickly model and prototype, and realize personalized customization of architectural elements.

[0003] Currently, there are two types of 3D printing construction technologies used in the construction field: 3D printing prefabricated buildings and robot in-situ 3D printing. 3D printing prefabricated buildings refer to the use of 3D printing technology to mass-produce specific building components, and then assemble them at the construction site. This construction method must be highly efficient, but the assembly process is complicated, large-scale construction is difficult to transport, and it is not environmentally friendly and economical. 3D printing equipment mainly includes various intelligent systems such as gantry printers and robot 3D printers. The print head of a gantry printer can only move along the X, Y, and Z axes, and is not suitable for complex-shaped buildings. Robot in-situ 3D printing uses a mobile robot with a 7-degree-of-freedom 3D printing robot arm to accurately print out optimized building materials in a layer-by-layer manner according to the preset path and speed, achieving in-situ printing without the need for secondary assembly, and directly constructing complex building structures on site.

[0004] As a new construction method, in-situ 3D printing of large-scale buildings must adopt an integrated design and construction model due to its technical principles. Currently, there are still few applications. There is no complete technical solution in the existing technology that can provide the structural system and construction method of in-situ 3D printing buildings to solve the problem of safely, efficiently and high-qualityly building information models into physical buildings. Summary of the invention

[0005] In response to the problems raised by the background technology, the present invention discloses a single-layer building structure system and construction method for robot in-situ 3D printing. By providing key structures that meet the safety of the building, key structures that meet the use functions of the building, and key structures that meet the construction requirements, and providing a practical construction method that integrates design and construction, the safe, efficient, and high-quality implementation of robot in-situ 3D printing of single-layer buildings can be achieved.

[0006] The technical solution of the present invention is as follows: A single-layer building structural system 3D printed in situ by a robot comprises a 3D printed wall and a roof, wherein the 3D printed wall adopts in-situ 3D printed cavity reinforced concrete as vertical and horizontal load-bearing components, the roof adopts an integral assembled installation process, and the structural form is assembled steel structure + FRP; a ground beam is arranged under the 3D printed wall, shear bars are arranged between the 3D printed wall and the ground beam, and the 3D printed wall is anchored to the ground beam through the shear bars; a foundation base plate is arranged parallel to the bottom of the 3D printed wall and the top of the ground beam as a working surface of the 3D printing robot; a ring beam is arranged on the upper part of the 3D printed wall, and the 3D printed wall is provided with a structural column at the intersection of the roof steel structure support point and the inner and outer walls, the structural column is provided with anchor bars and a pre-embedded steel plate on the top, the ring beam is connected to the pre-embedded steel plate on the top of the structural column, and the vertical structure of the roof is connected to the ring beam on the upper part of the 3D printed wall.

[0007] The roof adopts an integral assembly installation process, and the structural form can also adopt UHPC+steel fiber 3D printed roof, or polymer 3D printed roof. For the purpose of safety and waterproof performance, the current 3D printed building roof needs to be built separately with an integral molding structure. After the 3D printed wall is built, the roof is hoisted as a whole for installation.

[0008] A ground beam is arranged under the 3D printed wall to prevent uneven deformation of the wall. The foundation form under the ground beam is designed and selected according to geological conditions.

[0009] Shear reinforcement is arranged between the 3D printed wall and the ground beam, and its function is to anchor the 3D printed concrete wall to the ground beam to resist horizontal loads; the buried depth of the 3D printed wall is not less than 0.6m, and the width of the wall enlarged foot is not less than the wall thickness plus 100mm on both sides to resist horizontal loads.

[0010] The structural column is arranged at the supporting point of the roof beam and the intersection of the inner and outer walls. The structural column is surrounded by a cavity formed by the printed body, and the cavity includes inserted structural column steel bars and poured 3D printed cement mortar.

[0011] The ring beam comprises a ring beam side mold and a ring beam bottom mold, and the ring beam side mold is a 3D printed body.

[0012] The above-mentioned ground beams, shear bars, structural columns and ring beams constitute a structural system that ensures the safety and stability of 3D printed buildings.

[0013] Furthermore, the single-layer building structure system of the present invention that is 3D printed in situ by the robot also provides the following key structures that meet the construction requirements: The base slab is a reinforced concrete platform with a flatness requirement of less than 5 mm, which is used for precise positioning and walking of the 3D printing robot, which is the key to ensuring the quality of wall printing.

[0014] The 3D printed wall is reserved for door and window openings. When the span of the door and window openings is ≤0.9m, a 3mm steel plate is used as the bottom formwork of the lintel, and the length of the steel plate = the door and window openings + 2*250mm; when the span of the door and window openings is 0.9m≤≤1.5m, a 3mm steel plate is used as the bottom formwork of the lintel, and 2φ12 steel bars are welded on the steel plate.

[0015] The ring beam bottom membrane structure is embedded with transverse short steel bars φ8@200, L=wall thickness-50mm, and a 30mm extruded board is embedded in the wall cavity.

[0016] The structure of the 3D printed wall at the position where the heavy object hanger is located is as follows: printing cement mortar is poured into the wall cavity.

[0017] The above structural design fully considers the characteristics of 3D printed walls and provides a practical solution for integrated construction.

[0018] Based on the above-mentioned robot in-situ 3D printing single-layer building structure system, the present invention provides a robot in-situ 3D printing single-layer building construction method, comprising the following steps: S1, combined with the robot 3D printing performance, conducts BIM building model design and mechanical and electrical professional design; S2, perform structural stress analysis on the BIM building model based on 3D printing construction, and return to step S1 for improvement and modification of existing problems; S3, select 3D printing equipment and process, perform 3D printing path planning and printing programming; S4, conduct 3D printing concrete mix design and printability test; S5, complete the foundation, build the ground beam and plant the shear reinforcement, build the reinforced concrete platform working surface of the 3D printing robot, locate and lay out the building, and accurately print and position the robot; S6, operate the robot to 3D print the wall, plant the structural columns in time, install the bottom formwork of the door and window openings, install the bottom formwork of the ring beam, and install the ring beam; S7, 14 days after the wall printing is completed, the prefabricated roof structure is installed.

[0019] The step S1 specifically also includes: using Revit software to perform full-professional BIM modeling. The BIM model should have component properties that meet the design requirements. Through BIM virtual construction, errors and omissions in various disciplines are discovered and corrected, and the location and dimensions of door and window openings, water and electricity reserved openings, and pipeline grooves are obtained, providing a basis for slice printing route planning and improving construction efficiency.

[0020] The step S2 specifically also includes: the stress performance of the 3D printed concrete structure is between that of the reinforced concrete structure and the masonry structure, the structural design is in accordance with the masonry structure specification, the calculation modeling is in accordance with the continuum, and the finite element analysis software is used to analyze the results; the strip foundation is modeled with solid units, and the bottom is fixedly constrained; for walls with a width greater than 150mm, the inner and outer walls are modeled with 50mm thick plates, and the middle is connected with a "Z"-shaped 50mm thick plate; reinforced concrete structural columns are arranged at the corners of the wall, and one-dimensional beam units are used in the model for simulation; the roof steel structure is modeled with one-dimensional units, and rigid connections are used between the main beam and the structural column; the FRP plate is modeled with a lower stiffness plate; the applied loads include roof dead load, live load, wind load, horizontal seismic action and vertical seismic action.

[0021] The step S3 specifically also includes: when planning the printing path, the inter-layer printing time should be less than the initial setting time of the concrete; the path should be stacked and printed continuously along the direction of the principal stress; the printing programming adopts the BIM model that has completed the detailed design and collision check, and uses the selected printer support software for programming; the printer selection should match the software and printing materials; the robot and mechanical arm models are selected in combination with the project scale, construction environment, and automation requirements.

[0022] The step S4 specifically also includes: designing a concrete mix ratio, testing the fluidity, extrudability, and setting time of the concrete composite material by a rheometer, establishing a material viscosity-shear rate model, and performing a printability test until the optimal concrete mix ratio is determined.

[0023] The step S5 specifically also includes: designing the printer positioning point, calibrating the length of the print arm, and positioning the robot within the range of the intended building; performing precision positioning of the print head, aligning the print head with the XYZ coordinates of the building positioning on the ground, inputting the display robot's Pad6 axis and walking trolley data into the Rhino-XFab software to obtain the actual measurement site, and associating the designed positioning point with the actual measurement site to achieve precision positioning of the print head.

[0024] The step S6 specifically includes the following steps: S61, when the height of the 3D printed wall is 0.5m, the structural column reinforcement is implanted with a length of 0.5m; S62, where the 3D printed wall meets the door and window openings, install the steel plates on the door and window openings, and continue printing to the top of the ring beam; S63, 3D printed walls are equipped with structural columns at the roof beam support points and the intersection of the inner and outer walls. The structural columns are surrounded by cavities formed by the printed body. When the strength of the printed body reaches 85% of the design requirements, the structural column steel bars are inserted and the printed cement mortar is poured in. The pouring height is less than 0.5m each time, and the time interval is 60min. S64, install the bottom formwork of the ring beam and the transverse short reinforcement; S65, install the ring beam reinforcement and roof structure embedded parts, and pour in the printing material.

[0025] Furthermore, in step S6, in order to meet the functional requirements of the building, it is also necessary to: waterproof and rust-proof the embedded parts; seal the embedded steel plates with cement mortar for printing; and reserve and embed water and electricity installation pipelines.

[0026] Furthermore, to ensure smooth 3D printing construction, the following steps are also included: In step S5, experimental printing is performed before infrastructure construction.

[0027] In the step S6, before printing the wall, the robot performs material-free printing.

[0028] Compared with the prior art, the technical solution provided by the present invention can achieve the following beneficial effects: 1. Compared with traditional construction methods, the 3D printing construction method provided by the present invention combines digital design with robot-assisted construction, and replaces more than 60% of manpower with robots, which can effectively improve construction efficiency and reduce energy consumption. The printing materials themselves are environmentally friendly and recyclable, ensuring energy conservation and environmental protection in the entire construction process; the use of intelligent robots greatly improves construction accuracy and ensures building quality; it greatly reduces the use of steel bars and formwork, has low construction costs, and greatly shortens the construction period; it has greater morphological potential and can achieve more complex and diverse architectural forms.

[0029] 2. Compared with 3D printed prefabricated buildings, the robot in-situ 3D printing construction method provided by the present invention has strong structural integrity and no joints; in-situ printing reduces transportation carbon emissions and has low costs; compared with the portal 3D printing construction method in the prior art, the present invention can perform precise operations in complex spaces, has high flexibility and accuracy, can realize complex curved surface printing, and can be applied to complex-shaped buildings.

[0030] 3. The 3D printed building structure system provided by the present invention fully designs the connection structure between the 3D printed wall and the base and roof in view of the characteristic of one-time construction by 3D printing, ensuring the safe and stable structure of the 3D printed wall in the vertical and horizontal directions, and ensuring that the printed wall above the door and window openings does not deform or crack. The completed in-situ 3D printed building can effectively meet the requirements of ensuring the safety and reliability of the building structure, meet the requirements of the building's functional use, and meet the requirements of efficient construction.

[0031] 4. The robot in-situ 3D printing building provided by the present invention is a new type of construction method. It adopts an integrated design and construction model. In the design and construction preparation stage, the structural system is analyzed for errors, omissions, collisions and deficiencies based on the characteristics of 3D printing. It fully considers how to safely, efficiently and quality-wise build the information model into a physical building, forming a practical solution that closely combines 3D printing technology with existing building design and construction technology, and implementing a higher degree of automation in 3D printing construction.

[0032] 5. The method of the present invention is mainly suitable for the design and construction of single-story buildings with complex structural forms. If the design of assembled composite floor slabs is added, it can also be adapted to buildings with more than two floors. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is an elevation view of the building of the embodiment; Figure 2 A three-dimensional diagram of a 3D printed wall of an example building; Figure 3 It is a schematic diagram of the disassembly of the building structure system of the embodiment; Figure 4 This is a schematic diagram of the connection between the 3D printed wall and the ground beam in the embodiment; Figure 5 3D printed wall structure column and ring beam layout diagram of the embodiment, wherein (a) is a plan view, and (b) is a cross-sectional view of (a); Figure 6 It is a schematic diagram of a structural column of an embodiment; Figure 7 Schematic diagram of the bottom mold structure of the ring beam of the embodiment, wherein (a) is a plan view, and (b) is a mm cross-sectional view of (a); Figure 8 It is a schematic diagram of the main steps of the method of the present invention.

[0034] Labels in the figure: 1. 3D printed wall; 2. Roof; 3. Roof steel structure; 4. Foundation slab; 5. Doors and windows; 6. Ground beam; 7. Shear reinforcement; 8. Pad; 9. Indoor floor; 10. Outdoor floor; 11. Cushion; 12. 3D printing robot working surface; 13. Structural column; 14. Ring beam; 15. Ring beam reinforcement; 16. Extruded board; 17. Ring beam side formwork. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, and specific embodiments are provided.

[0036] See also Figure 1 , Figure 2 , Figure 3The building elevation, 3D printed wall stereogram and building structure system split schematic diagram of the project have a construction area of ​​about 130 square meters. It is a public service city station integrating public toilets, management rooms, sanitation homes and other functions. It is designed to be built using 3D printing technology. The heights of the 3D printed walls on different sides are 2.2m, 2.8m, and 3.2m respectively, the bearing wall thickness is 200mm, and the building width is 6.79m. The project is implemented using the building structure system and construction method provided by the patent of this invention.

[0037] The 3D printing robot equipment used in this project includes a set of KR210 R2700-2 robot arms, a set of printing front ends, a set of lifting and moving track platforms, 2 extension frames, a set of MPRS-005 integrated mixing pump machine, and a set of loading machines.

[0038] See also Figure 1-7 The single-layer building structure system of robot in-situ 3D printing established in this project includes a 3D printed wall 1 and a roof 2. The 3D printed wall 1 adopts in-situ 3D printed cavity reinforced concrete as vertical and horizontal load-bearing components. The roof 2 is an integrally assembled installation and is provided with a roof steel structure 3; a ground beam is arranged under the 3D printed wall 1, and a shear reinforcement 7 is arranged between the 3D printed wall 1 and the ground beam. The 3D printed wall 1 is anchored to the ground beam 6 through the shear reinforcement 7; parallel to the bottom of the 3D printed wall 1 and the top of the ground beam 6, a foundation bottom plate 4 is provided as the working surface of the 3D printing robot; a ring beam 14 is provided on the upper part of the 3D printed wall 1, and a structural column 13 is provided at the intersection of the support point of the roof steel structure 3 and the inner and outer walls of the 3D printed wall 1. Anchor reinforcement is arranged in the structural column 13 and a pre-buried steel plate is arranged on the top. The ring beam 14 is connected to the pre-buried steel plate on the top of the structural column 13, and the vertical structure of the roof 2 is connected to the upper ring beam 14 of the 3D printed wall 1.

[0039] See also Figure 3 Schematic diagram of the building structure system, including 3D printed wall 1, roof 2, roof steel structure 3, foundation slab 4 and doors and windows 5. The roof 2 is a prefabricated steel structure + FRP material roof. It is built separately and transported to the construction site. After the 3D printed wall is built, the roof is hoisted as a whole for installation. The foundation slab 4 is a reinforced concrete platform with a flatness of less than 5mm, which is used for precise positioning and walking of the 3D printing robot.

[0040] See also Figure 4, a ground beam 6 is set under the 3D printed wall 1, and a shear reinforcement 7 is set between the 3D printed wall 1 and the ground beam 6, with a specification of Φ8@200, embedded in the ground beam 6 and the internal length of the 3D printed wall 1, each 300mm, to anchor the 3D printed concrete wall on the ground beam to resist horizontal loads; a cushion layer 8 with a thickness of 100mm is set at the bottom of the ground beam 6; parallel to the top of the ground beam 6 is the 3D printed robot working surface 12, and a cushion layer 11 is set below the 3D printed robot working surface 12, specifically a 150mm C20 cushion layer, Φ8@200 single-layer arrangement; the burial depth of the 3D printed wall 1 is not less than 0.6m, the backfill soil is compacted in layers, and the indoor floor 9 and outdoor floor 10 are laid. In addition, it should be noted that the width of the enlarged foot of the 3D printed wall is not less than the wall thickness plus 100mm on both sides to resist horizontal loads.

[0041] See also Figure 5 and Figure 6 A structural column 13 is arranged at the supporting point of the roof beam and the intersection of the inner and outer walls. The structural column 13 is surrounded by a cavity formed by the printed body, and the cavity includes inserted structural column steel bars and poured 3D printed cement mortar.

[0042] See also Figure 5 and Figure 7 A ring beam 14 is arranged on the upper part of the 3D printed wall 1. The ring beam 14 includes a ring beam side form 17 and a ring beam bottom membrane. The ring beam side form 17 is a 3D printed body. The ring beam bottom form structure is to embed a ring beam steel bar 15 in the 3D printed wall 1, specifically a transverse short steel bar φ8@200, with a length L=wall thickness-50mm, and embed an extruded board 16 in the wall cavity with a thickness of 30mm.

[0043] In addition, the 3D printed wall reserves door and window openings. When the span of the door and window openings is ≤0.9m, a 3mm steel plate is used as the bottom formwork of the lintel, and the length of the steel plate = the door and window openings + 2*250mm; when the span of the door and window openings is 0.9m≤≤1.5m, a 3mm steel plate is used as the bottom formwork of the lintel, and 2φ12 steel bars are welded on the steel plate.

[0044] The 3D printed wall is located at the location where heavy objects are hung, and the wall cavity is filled with printed cement mortar.

[0045] See also Figure 8 , using the robot in-situ 3D printing single-layer building construction method provided by the present invention, the project of this embodiment is carried out according to the following method steps: S1, combined with the robot 3D printing performance, conducts BIM building model design and mechanical and electrical professional design; Revit software is used for full-professional BIM modeling. The BIM model should have component properties that meet the design requirements. Through BIM virtual construction, errors and omissions in various disciplines can be discovered and corrected, and the location and dimensions of door and window openings, water and electricity reserved openings, and pipeline grooves can be obtained, providing a basis for slice printing route planning and improving construction efficiency.

[0046] S2, perform structural stress analysis on the BIM building model based on 3D printing construction, and return to step S1 for improvement and modification of existing problems; The step S2 specifically includes: The stress performance of the 3D printed concrete structure is between the reinforced concrete structure and the masonry structure. The structural design is in accordance with the masonry structure specification, the calculation modeling is in accordance with the continuum, and the finite element analysis software is used to analyze the results; the strip foundation is modeled with solid units, and the bottom is fixedly constrained; for walls with a width greater than 150mm, the inner and outer walls are modeled with 50mm thick plates, and the middle is connected with a "Z"-shaped 50mm thick plate; reinforced concrete structural columns are arranged at the corners of the wall, and one-dimensional beam units are used in the model for simulation; the roof steel structure is modeled with one-dimensional units, and the main beam and the structural column are rigidly connected; the FRP plate is modeled with a lower stiffness plate; the applied loads include roof dead load, live load, wind load, horizontal seismic action and vertical seismic action. Reinforced concrete structural columns are arranged at the corners of the wall with 4φ12 steel bars. The roof is a steel structure, and its main beam and structural column are rigidly connected; FRP is installed on the steel structure.

[0047] The calculation software version is midas Gen 2023 (v1.1).

[0048] S3, select 3D printing equipment and process, perform 3D printing path planning and printing programming; When planning the printing path, the inter-layer printing time should be less than the initial setting time of the concrete; the path should be stacked and printed continuously along the direction of the principal stress; the printing programming adopts the BIM model that has completed the detailed design and collision check, and uses the selected printer support software for programming; the printer selection should match the software and printing materials; the robot and robotic arm models should be selected based on the project scale, construction environment, and automation requirements.

[0049] S4, conduct concrete mix design, test the fluidity, extrudability, and setting time of concrete composite materials through rheometer, establish material viscosity-shear rate model, and conduct printability test until the optimal concrete mix is ​​determined.

[0050] S5, conduct experimental printing; complete the foundation, build the ground beam and plant shear reinforcement, build the reinforced concrete platform working surface of the 3D printing robot, locate and lay out the building, and accurately print and position the robot; specific steps also include: designing the printer positioning point, calibrating the length of the print arm, and positioning the robot within the scope of the planned building; accurately positioning the print head, aligning the print head with the XYZ coordinates of the building on the ground, inputting the Pad6 axis and walking car data of the display robot into the Rhino-XFab software to obtain the actual measurement site, and associating the designed positioning point with the actual measurement site to achieve accurate positioning of the print head.

[0051] S6, the robot prints without material, and starts formal printing after it runs smoothly. Operate the robot to 3D print the wall, plant the structural columns in time, install the bottom formwork of the door and window openings, install the bottom formwork of the ring beam, and install the ring beam; the specific steps include: S61, when the height of the 3D printed wall is 0.5m, the structural column reinforcement is implanted with a length of 0.5m; S62, where the 3D printed wall meets the door and window openings, install the steel plates on the door and window openings, and continue printing to the top of the ring beam; S63, 3D printed walls are equipped with structural columns at the roof beam support points and the intersection of the inner and outer walls. The structural columns are surrounded by cavities formed by the printed body. When the strength of the printed body reaches 85% of the design requirements, the structural column steel bars are inserted and the printed cement mortar is poured in. The pouring height is less than 0.5m each time, and the time interval is 60min. S64, install the bottom formwork of the ring beam and the transverse short reinforcement; S65, install the ring beam reinforcement and roof structure embedded parts, and pour in the printing material.

[0052] In the above step S6, in order to meet the functional requirements of the building, embedded parts need to be waterproofed and rust-proofed, the embedded steel plates need to be sealed with printed cement mortar, and water and electricity installation pipelines need to be reserved and embedded.

[0053] S7, 14 days after the wall printing is completed, the prefabricated roof structure is installed.

[0054] Through the implementation of the above method, the project of this embodiment adopts an integrated design and construction model to complete the robot's in-situ 3D printing of a single-story building. In the design and construction preparation stage, the structural system is fully detailed, analyzed and reviewed according to the characteristics of 3D printing, and full consideration is given to how to safely, efficiently and quality-wise build the information model into a physical building. It can effectively meet the requirements of ensuring the safety and reliability of the building structure, meet the requirements of the building's use function, and meet the requirements of efficient construction, forming a practical solution that closely combines 3D printing technology with existing building design and construction technology, and implementing 3D printing construction with a higher degree of automation.

[0055] The above description is only a preferred example of the present invention and is not any formal or substantial limitation to the present invention. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. Any equivalent changes and modifications made to the above examples based on the essential technology of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A single-layer building structure system printed by robot in-situ 3D printing, characterized by: The invention comprises a 3D printed wall and a roof, wherein the 3D printed wall adopts in-situ 3D printed cavity reinforced concrete as vertical and horizontal load-bearing components, and the roof structure is an assembled steel structure + FRP; a ground beam is arranged under the 3D printed wall, shear bars are arranged between the 3D printed wall and the ground beam, and the 3D printed wall is anchored to the ground beam through the shear bars; a foundation base plate is arranged parallel to the bottom of the 3D printed wall and the top of the ground beam as the working surface of the 3D printing robot; a ring beam is arranged on the upper part of the 3D printed wall, and the 3D printed wall is provided with a structural column at the intersection of the roof steel structure support point and the inner and outer walls, the structural column is provided with anchor bars and a pre-embedded steel plate on the top, the ring beam is connected to the pre-embedded steel plate on the top of the structural column, and the vertical structure of the roof is connected to the ring beam on the upper part of the 3D printed wall.

2. The single-layer building structure system of robot in-situ 3D printing according to claim 1, characterized in that: A ground beam is arranged under the 3D printed wall, and shear reinforcement is arranged between the 3D printed wall and the ground beam; the buried depth of the 3D printed wall is not less than 0.6m, and the width of the enlarged foot of the wall is not less than the wall thickness plus 100mm on both sides.

3. The single-layer building structure system of in-situ 3D printing by robots according to claim 1, characterized in that: The structural column is surrounded by a cavity formed by the printed body, and the cavity includes inserted structural column steel bars and poured 3D printed cement mortar.

4. The single-layer building structure system of in-situ 3D printing by robots according to claim 1, characterized in that: The ring beam comprises a ring beam side form and a ring beam bottom form, the ring beam side form is a 3D printed body, and the ring beam bottom form structure is that transverse short steel bars are embedded in the 3D printed wall, and an extruded board is embedded in the wall cavity.

5. The single-layer building structure system of in-situ 3D printing by robots according to claim 1, characterized in that: The foundation slab is a reinforced concrete platform with a flatness of less than 5 mm.

6. The single-layer building structure system of in-situ 3D printing by robots according to claim 1, characterized in that: The 3D printed wall is reserved for door and window openings. When the span of the door and window openings is ≤0.9m, a 3mm steel plate is used as the bottom formwork of the lintel, and the length of the steel plate = the door and window openings + 2*250mm; when the span of the door and window openings is 0.9m≤≤1.5m, a 3mm steel plate is used as the bottom formwork of the lintel, and 2φ12 steel bars are welded on the steel plate.

7. The method for constructing a single-layer building by in-situ 3D printing with a robot according to claim 1, characterized in that The steps include: S1, combined with the robot 3D printing performance, conducts BIM building model design and mechanical and electrical professional design; S2, perform structural stress analysis on the BIM building model based on 3D printing construction, and return to step S1 for improvement and modification of existing problems; S3, select 3D printing equipment and process, perform 3D printing path planning and printing programming; S4, conduct 3D printing concrete mix design and printability test; S5, complete the foundation, build the ground beam and plant the shear reinforcement, build the reinforced concrete platform working surface of the 3D printing robot, locate and lay out the building, and accurately print and position the robot; S6, operate the robot to 3D print the wall, plant the structural columns in time, install the bottom formwork of the door and window openings, install the bottom formwork of the ring beam, and install the ring beam; S7, 14 days after the wall printing is completed, the prefabricated roof structure is installed.

8. The method for constructing a single-layer building by in-situ 3D printing with a robot according to claim 7, characterized in that: The step S2 specifically includes: the 3D printed concrete structure is in accordance with the masonry structure specification, the calculation modeling is in accordance with the continuum, and the results are analyzed by finite element analysis software; the strip foundation is modeled by solid units, and the bottom is fixedly constrained; for walls with a width greater than 150 mm, the inner and outer walls are modeled as 50 mm thick plates, and the middle is connected by a "Z"-shaped 50 mm thick plate; reinforced concrete structural columns are arranged at the corners of the wall, and one-dimensional beam units are used in the model for simulation; the roof steel structure is modeled by one-dimensional units, and a rigid connection is used between the main beam and the structural column; the FRP plate is modeled as a lower stiffness plate; the applied loads include roof dead load, live load, wind load, horizontal seismic action and vertical seismic action.

9. The method for constructing a single-layer building by in-situ 3D printing with a robot according to claim 7, characterized in that: The step S4 specifically also includes: designing a concrete mix ratio, testing the fluidity, extrudability, and setting time of the concrete composite material by a rheometer, establishing a material viscosity-shear rate model, and performing a printability test until the optimal concrete mix ratio is determined.

10. The method for constructing a single-layer building by in-situ 3D printing with a robot according to claim 7, characterized in that: The step S6 is specifically as follows: S61, when the height of the 3D printed wall is 0.5m, the structural column reinforcement is implanted with a length of 0.5m; S62, where the 3D printed wall meets the door and window openings, install the steel plates on the door and window openings, and continue printing to the top of the ring beam; S63, 3D printed walls are equipped with structural columns at the roof beam support points and the intersection of the inner and outer walls. The structural columns are surrounded by cavities formed by the printed body. When the strength of the printed body reaches 85% of the design requirements, the structural column steel bars are inserted and the printed cement mortar is poured in. The pouring height is less than 0.5m each time, and the time interval is 60min. S64, install the bottom formwork of the ring beam and the transverse short reinforcement; S65, install the ring beam reinforcement and roof structure embedded parts, and pour in the printing material.

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