Building 3D printing equipment and multi-story building 3D printing method

Abstract

The invention discloses building 3D printing equipment and a multi-story building 3D printing method, and relates to the technical field of building construction.The building 3D printing equipment comprises a printing mechanism, a frame and a positioning and tracking assembly, and a printing area for the printing mechanism to move is defined by the frame; the positioning and tracking assembly comprises a positioning piece, an optical piece and a controller, and the positioning piece is arranged on the printing mechanism and used for providing the real-time position of the printing mechanism; the optical part is arranged on the frame and is used for providing a real-time image of the printing mechanism; the controller is in communication connection with the positioning piece and the optical piece so as to receive the real-time position and the real-time image. According to the technical scheme, the image captured by the optical part in real time is analyzed through the controller, and according to the real-time position information fed back by the positioning part on the printing mechanism, accurate positioning of the printing mechanism in the space is ensured, and high-precision 3D printing operation can be conducted in a complex or multi-layer building structure. Not only is printing flexibility improved, but also the space utilization rate is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and particularly relates to a building 3D printing device and a multi-story building 3D printing method. Background Art

[0002] A 3D building printing device is a device that uses 3D printing technology for building construction. Through a computer-aided design model, the building structure is decomposed into multiple printable layers, and then the actual building components or the entire building are printed layer by layer.

[0003] In the building 3D printing devices in the related art, the printing mechanism is usually fixed on the frame, and there is a lack of an effective real-time positioning and deviation correction mechanism, so that the printing material cannot be accurately placed in the correct position, resulting in deviations between the printed building components or buildings and the design model, and the dimensions and shapes do not meet the requirements; due to the lack of a deviation correction mechanism, problems such as the position drift of the print head and uneven material deposition may occur during the printing process, affecting the printing quality and resulting in defects such as rough surfaces and uneven lines. This deficiency not only affects the printing accuracy, but also reduces the building quality and construction efficiency. Summary of the Invention

[0004] The main object of the present invention is to propose a building 3D printing device and a multi-story building 3D printing method, aiming to solve the technical problem that the building printing device in the related art lacks an effective timing positioning and deviation correction mechanism.

[0005] To achieve the above object, a building 3D printing device proposed by the present invention includes: A printing mechanism; A frame, the frame enclosing to form a printing area for the movement of the printing mechanism; A positioning and tracking component, the positioning and tracking component including a positioning member, an optical member and a controller, the positioning member being provided on the printing mechanism and used for providing the real-time position of the printing mechanism; the optical member being provided on the frame and used for providing the real-time image of the printing mechanism; the controller being respectively communicatively connected to the positioning member and the optical member to receive the real-time position and the real-time image.

[0006] In an embodiment, the frame includes at least one horizontal bracket and at least two vertical brackets, each horizontal bracket being respectively slidably connected to the two vertical brackets, each horizontal bracket sliding up and down along the two vertical brackets, and the building 3D printing device including at least two optical members, the two optical members being respectively provided on one horizontal bracket.

[0007] In one embodiment, the building 3D printing device further includes a lifting mechanism. The lifting mechanism includes a slider, a retainer, and a driving part. The retainer is arranged on one side of the slider. The slider includes at least two pulleys. Each pulley is slidably connected to a vertical support and connected to a horizontal support. At least two pulleys are arranged on adjacent sides of the vertical support. The driving part drives the pulleys to slide along the extending direction of the vertical support.

[0008] In one embodiment, the printing mechanism includes a moving chassis and a printing nozzle. The printing nozzle is arranged on one side of the moving chassis. The moving chassis moves within the space enclosed by the frame.

[0009] In one embodiment, the moving chassis includes a first chassis and a second chassis connected to each other. A robotic arm is arranged on the top side of the first chassis. The robotic arm is connected to the printing nozzle. A pumping assembly is arranged on the top side of the second chassis. The pumping assembly is connected to the printing nozzle.

[0010] In one embodiment, the pumping assembly includes a discharge pipe and a hopper. The hopper is arranged on the top side of the second chassis. Two ends of the discharge pipe are respectively connected to the hopper and the printing nozzle.

[0011] In one embodiment, the building 3D printing device further includes a hoisting mechanism. The hoisting mechanism is connected to the printing mechanism and is used to move the printing mechanism.

[0012] The present invention also provides a multi-story building 3D printing method, which is applied to the control system of the building 3D printing device as described above. The building 3D printing device includes a printing mechanism, a horizontal support, a vertical support, a positioning and tracking component, and a hoisting mechanism. The multi-story building 3D printing method includes: Deploy the horizontal support, the vertical support, and the positioning and tracking component according to the printing range to form a monitoring environment covering the printing area; Control the printing mechanism to print vertical component modules and horizontal component modules on-site, so that the vertical component modules and the horizontal component modules enclose to form a single-story component module; Control the hoisting mechanism to move the printing mechanism above the single-story component module, and adjust the height of the horizontal support on the vertical support to adapt to a new printing layer; Return to the step of controlling the printing mechanism to print vertical component modules and horizontal component modules on-site, so that the vertical component modules and the horizontal component modules enclose to form a single-story component module, until the overall construction of the building is completed.

[0013] In one embodiment, the printing mechanism includes a print head and a moving chassis. The steps of controlling the printing mechanism to print the vertical component module and the horizontal component module on-site include: Receiving the global printing path files of the vertical component module and the horizontal component module, where the path files contain the theoretical coordinates of the print head at discrete moments and the speed parameters of the moving chassis; Generating the moving trajectory of the moving chassis and the motion trajectory of the print head according to the theoretical coordinates; Controlling the print head to extrude materials to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the moving trajectory, and the motion trajectory.

[0014] In one embodiment, the step of controlling the print head to extrude materials to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the moving trajectory, and the motion trajectory includes: Controlling the print head to perform three-dimensional space motion and extrude materials according to the theoretical coordinates, the speed parameters, the moving trajectory, and the motion trajectory; Receiving the real-time spatial coordinates of the print head fed back by the positioning and tracking component; Determining the lateral deviation and the longitudinal deviation between the real-time spatial coordinates and the theoretical coordinates; Adjusting the first speed and the second speed of the three-dimensional space motion according to the lateral deviation, the longitudinal deviation, and a preset error threshold to obtain a first target speed and a second target speed; Controlling the print head to continue the three-dimensional space motion and extrude materials according to the first target speed and the second target speed until the vertical component module and the horizontal component module are formed.

[0015] The technical solution of the present invention enables the printing mechanism to move within the area enclosed by the frame, which can flexibly adjust the printing position and angle, so as to better meet the printing requirements of complex shapes and multi-angles. At the same time, positioning members are provided on the printing mechanism, and optical members are provided on the frame. By analyzing the images captured by the optical members in real time by the controller and according to the real-time position information fed back by the positioning members on the printing mechanism, the accurate positioning of the printing mechanism in space is ensured, which is helpful for high-precision 3D printing operations in complex or multi-layer building structures. The above setting method improves the printing flexibility and also improves the space utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0017] Figure 1 Structural schematic diagram of the building 3D printing device provided by the present invention; Figure 2 Structural schematic diagram of an embodiment of the positioning and tracking component and the hoisting mechanism provided by the present invention; Figure 3 Structural schematic diagram of an embodiment of the lifting mechanism provided by the present invention; Figure 4 Structural schematic diagram of an embodiment of the printing mechanism provided by the present invention; Figure 5 Structural schematic diagram of the building 3D printing device provided by the present invention for printing multi-story buildings; Figure 6 Method step diagram of the multi-story building 3D printing method provided by the present invention.

[0018] Explanation of the reference numerals in the drawings: 1000, building 3D printing device; 1, printing mechanism; 11, mobile chassis; 111, first chassis; 112, robotic arm; 113, second chassis; 114, discharge pipe; 115, hopper; 12, printing nozzle; 2, frame; 21, horizontal bracket; 22, vertical bracket; 3, positioning and tracking component; 31, positioning member; 32, optical member; 4, lifting mechanism; 41, slider; 42, stopper; 5, hoisting mechanism.

[0019] The realization, functional features and advantages of the objectives of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Detailed implementation manners

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0021] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0022] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] The present invention provides a building 3D printing device 1000.

[0024] Please refer to Figures 1 to 5 , in an embodiment of the present invention, the building 3D printing device 1000 includes a printing mechanism 1, a frame 2, and a positioning and tracking component 3. The frame 2 encloses a printing area for the printing mechanism 1 to move; the positioning and tracking component 3 includes a positioning member 31, an optical member 32, and a controller. The positioning member 31 is provided on the printing mechanism 1 and is used to provide the real-time position of the printing mechanism 1; the optical member 32 is provided on the frame 2 and is used to provide the real-time image of the printing mechanism 1; the controller is communicatively connected to the positioning member 31 and the optical member 32 respectively to receive the real-time position and the real-time image.

[0025] In this embodiment, the building 3D printing device 1000 can be applied to the fields of building construction, real estate model making, and artistic creation. Here, the present application takes the field of building construction as an example for illustration. It should be noted that in combination with Figure 1 , the printing mechanism 1 can not only move in the construction site here to perform three-dimensional printing operations according to the building design; but also continuously output printing materials to ensure the continuity and stability of the printing process. When printing single-layer building materials, the printing mechanism 1 is not restricted to be used within the frame 2; in combination with Figure 5, when printing multi - layer building materials, the printing mechanism 1 is restricted to be used within the frame 2. The printing materials here include but are not limited to concrete, polymers, or other materials suitable for construction, which can meet the requirements of different types of building structures and are not limited here. The frame 2 is a member similar to a cross - beam, designed with lightweight for easy installation, disassembly, and movement, and can be applied to various construction sites. The material of the frame 2 includes but is not limited to aluminum alloy, engineering plastics (such as ABS, nylon, etc.), which are not limited here. The printing area enclosed by the frame 2 is where the printing mechanism 1 can carry out the printing operation of the building structure according to the preset path and mode. The size of the printing area can be set according to the specific implementation situation. The positioning and tracking component 3 is used to provide real - time position monitoring for the printing mechanism 1. The positioning part 31 is used to provide positioning points for the printing mechanism 1 in the printing area. The types of the positioning part 31 include but are not limited to the forms of optical locators and electromagnetic locators. In this embodiment, the positioning part 31 can be an optical locator of the tracking target Marker point of an action - capture camera here, or an optical locator of the corner - cube prism of a total station, or an electromagnetic locator of UWB technology. Specifically, the number of the positioning parts 31 is not limited here, including but not limited to 1, 2, etc. The optical part 32 is used to capture the real - time image of the printing site. The optical part 32 is in the form of an optical motion - capture camera here, including but not limited to passive optical motion - capture cameras and active motion - capture cameras. Specifically, the number of the optical parts 32 includes but is not limited to 1, 2, 4, etc., which is not limited here. The controller is used to analyze the real - time image captured by the optical part 32 of the printing area and the position information related to the printing mechanism 1 to ensure the accurate positioning of the printing mechanism 1 on the printing area.

[0026] The technical solution of the present invention enables the printing mechanism 1 to move within the area enclosed by the frame 2, which can flexibly adjust the printing position and angle, thus better adapting to the needs of complex shapes and multi - angle printing. At the same time, the positioning part 31 is set on the printing mechanism 1, and the optical part 32 is set on the frame 2. By analyzing the image captured in real - time by the optical part 32 and the real - time position information fed back by the positioning part 31 on the printing mechanism 1 through the controller, it ensures the accurate positioning of the printing mechanism 1 in space, which helps to carry out high - precision 3D printing operations in complex or multi - layer building structures. The above - mentioned setting method improves the printing flexibility and also improves the space utilization rate.

[0027] In an embodiment of the present invention, the frame 2 includes at least one horizontal bracket 21 and at least two vertical brackets 22. Each horizontal bracket 21 is respectively slidably connected to the two vertical brackets 22, and each horizontal bracket 21 slides up and down along the two vertical brackets 22. The building 3D printing device 1000 includes at least two optical parts 32, and the two optical parts 32 are respectively arranged on a horizontal bracket 21.

[0028] In this embodiment, combined withFigure 1 and Figure 2 The horizontal bracket 21 is used to fix the optical motion capture camera, which is a member similar to a crossbeam. The vertical bracket 22 is used to provide support for the horizontal bracket 21, and the bottom of the vertical bracket 22 is fixed. In this embodiment, the horizontal bracket 21 is provided with at least two optical components 32, and the two optical components 32 are arranged on opposite sides of the horizontal bracket 21 to cover a larger printing area. It should be noted that each horizontal bracket 21 is slidably connected to the two vertical brackets 22, which means that both ends of each horizontal bracket 21 can move up and down along the extending direction of the vertical bracket 22. In one embodiment, a slide rail is installed on the vertical bracket 22, and a slider adapted to the slide rail is installed on the horizontal bracket 21. The slide rail is a linear guide rail, and the slider is nested on the slide rail and can slide up and down along the slide rail. In another embodiment, a lead screw is installed on the vertical bracket 22, and a nut adapted to the lead screw is installed on the horizontal bracket 21. The lead screw is vertically installed on the vertical bracket 22, and the nut is fixed on the horizontal bracket 21. By rotating the lead screw, the nut is driven to move up and down, thereby realizing the up and down sliding of the horizontal bracket 21. No limitation is made here, and it can be set according to specific requirements. The above setting method improves the flexibility of printing and also improves the printing accuracy.

[0029] In an embodiment of the present invention, the building 3D printing device 1000 further includes a lifting mechanism 4. The lifting mechanism 4 includes a slider 41, a stopper 42, and a driving part. The stopper 42 is arranged on one side of the slider 41. The slider 41 includes at least two pulleys. Each pulley is slidably connected to a vertical bracket 22 and is connected to a horizontal bracket 21. The at least two pulleys are arranged on adjacent sides of the vertical bracket 22, and the driving part drives the pulleys to slide along the extending direction of the vertical bracket 22.

[0030] In this embodiment, it should be noted that in combination with Figure 1 , since the printing mechanism 1 of the present application can move freely within the printing area formed by the enclosure of the horizontal bracket 21 and the vertical bracket 22, in order to enhance the expansion of the coverage range of the optical component 32 on the horizontal bracket 21 for the printing area, a lifting mechanism 4 is provided to realize the movement of the horizontal bracket 21 relative to the vertical bracket 22, so that the coverage range of the positioning and tracking component 3 on the horizontal bracket 21 for the printing area is expanded. The slider 41 is used to realize the flexible movement of the horizontal bracket 21. It can be understood that in this embodiment, the slider 41 is in the form of a pulley or a roller. Taking the pulley as an example, guide rails for the pulley to slide are provided on adjacent sides of the vertical bracket 22. The pulley is tightly engaged with the guide rail, and the horizontal bracket 21 is connected to the pulley by means of bearing connection or bolt connection. No limitation is made here. In combination with Figure 3, in one embodiment, the slider 41 includes 4 pulleys. The vertical bracket 22 is provided with four wire grooves, and the four wire grooves are arranged corresponding to the four directions of the vertical bracket 22. The pulleys are tightly engaged with the wire grooves, so as to realize the sliding of the horizontal bracket 21. The positioner 42 is used to fix the position of the horizontal bracket 21 on the vertical bracket 22. In one embodiment, the positioner 42 is fixed to the side of the slider 41 by bolts or welding; in another embodiment, the positioner 42 is installed on the horizontal bracket 21 by bolts or welding or other means and is located above or below the slider 41. There is no limitation here and it can be set according to specific requirements. Specifically, the type of the driving part includes but is not limited to a driving motor, a cylinder, etc. The driving part can be installed on the side or top of the slider 41, or on the side or top of the positioner 42, etc. There is no limitation here. The above setting method not only improves the flexibility and adaptability of the positioning and tracking device, but also enhances the stability and reliability of the equipment, providing a strong guarantee for realizing high-precision 3D building printing.

[0031] In one embodiment of the present invention, the printing mechanism 1 includes a moving chassis 11 and a printing nozzle 12. The printing nozzle 12 is arranged on one side of the moving chassis 11, and the moving chassis 11 moves within the printing area enclosed by the frame 2.

[0032] In this embodiment, combined with Figure 4 , it should be noted that the moving chassis 11 device of the present application is relatively small. The type of the moving chassis 11 is an omnidirectional moving trolley, and the printing nozzle 12 is arranged on one side of the moving chassis 11. It can be understood that the printing nozzle 12 and the moving chassis 11 can be arranged on the same moving chassis 11 or on different moving chassis 11, and can be set according to specific requirements.

[0033] In one embodiment of the present invention, the moving chassis 11 includes a first chassis 111 and a second chassis 113 connected to each other. A robotic arm 112 is provided on the top side of the first chassis 111, the robotic arm 112 is connected to the printing nozzle 12, and a pumping assembly is provided on the top side of the second chassis 113, and the pumping assembly is connected to the printing nozzle 12.

[0034] In this embodiment, combined with Figure 4, To improve the printing accuracy, the moving chassis 11 is divided into a first chassis 111 for precisely moving the printing nozzle 12 and a second chassis 113 for continuous material supply. The robotic arm 112 on the first chassis 111 can more precisely control the position and attitude of the printing nozzle 12, reducing the position deviation caused by the overall movement of the chassis, enabling the printing nozzle 12 to more accurately align with the target position within the printing area, thereby improving the printing accuracy. The pumping assembly on the second chassis 113 can more stably supply printing materials to the printing nozzle 12, avoiding problems such as unsmooth material conveyance or unstable flow rate that may occur during the movement of a single chassis, ensuring the uniform output of materials during the printing process, and further improving the printing accuracy. The above setting method enables different links of the printing process to be carried out in parallel. When the printing nozzle 12 on the first chassis 111 is performing one layer of printing, the pumping assembly of the second chassis 113 can simultaneously prepare the materials required for the next layer, reducing the waiting time and improving the overall printing speed.

[0035] In an embodiment of the present invention, the pumping assembly includes a discharge pipe 114 and a hopper 115. The hopper 115 is provided on the top side of the second chassis 113, and both ends of the discharge pipe 114 are connected to the hopper 115 and the printing nozzle 12 respectively.

[0036] In this embodiment, in combination with Figure 4 , it should be noted that the hopper 115 is provided on the top side of the second chassis 113, which is convenient for operators to replace printing materials. At the same time, it is also convenient for cleaning, maintenance, and repair of the hopper 115 and the discharge pipe 114, reducing the downtime of the equipment and improving production efficiency. The hopper 115, as a storage device for printing materials, can accommodate a certain amount of printing materials. Connected to the printing nozzle 12 through the discharge pipe 114, it can ensure the stable supply of materials during the printing process, avoiding printing interruptions or quality problems caused by insufficient materials or unsmooth supply. It can be understood that the driving of the pumping assembly includes but is not limited to pneumatic pumping, mechanical pumping, electromagnetic pumping, hydraulic pumping, etc., which will not be elaborated here.

[0037] In an embodiment of the present invention, the building 3D printing device 1000 further includes a hoisting mechanism 5. The hoisting mechanism 5 is connected to the printing mechanism 1 and is used to move the printing mechanism 1.

[0038] In this embodiment, in combination with Figure 2 , it should be noted that the hoisting mechanism 5 includes but is not limited to being used for lifting and transporting the mobile 3D printing device during the 3D printing construction process. The laboriousness of the hoisting mechanism 5 includes but is not limited to cranes or other types of lifting machinery. The configuration of the hoisting mechanism 5 can be adjusted according to specific project requirements to adapt to different building scales and complexities.

[0039] The present invention also provides a 3D printing method for multi-story buildings. This 3D printing method for multi-story buildings is applied to the control system of the above-mentioned building 3D printing equipment. The specific structure of the building 3D printing equipment refers to the above embodiments. Since this 3D printing method for multi-story buildings adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one. Among them, the building 3D printing equipment includes a printing mechanism, a horizontal bracket, a vertical bracket, a positioning and tracking component, and a hoisting mechanism. The 3D printing method for multi-story buildings includes: Deploy the horizontal bracket, the vertical bracket, and the positioning and tracking component according to the printing range to form a monitoring environment covering the printing area; Control the printing mechanism to print vertical component modules and horizontal component modules on-site, so that the vertical component modules and the horizontal component modules enclose to form a single-layer component module; Control the hoisting mechanism to move the printing mechanism above the single-layer component module, and adjust the height of the horizontal bracket on the vertical bracket to adapt to the new printing layer; Return to the step of controlling the printing mechanism to print vertical component modules and horizontal component modules on-site, so that the vertical component modules and the horizontal component modules enclose to form a single-layer component module, until the overall construction of the building is completed.

[0040] In this embodiment, combined with Figure 6 , it should be noted that the method provided in this application is how to use the above-mentioned building 3D printing equipment to complete the overall construction of the building. The control system is responsible for coordinating and managing all operations during the printing process here. It includes two parts: hardware such as computers, PLCs, servo drivers, sensors, etc., which are used to receive instructions, process data, and control the operation of the equipment; the software contains algorithm modules such as path planning, deviation calculation, and compensation control to ensure printing accuracy. Here, the control system can be included in the building 3D printing equipment or not included in the building 3D printing equipment. The 3D printing method for multi-story buildings includes steps S10 - S40: Step S10: Deploy the horizontal brackets, vertical brackets, and positioning and tracking components according to the printing range to form a monitoring environment covering the printing area. This step means that on the construction site, lightweight horizontal and vertical brackets are installed based on the dimensions of the building components and the printing range. The horizontal brackets are used to fix the optical motion capture cameras, which are connected to the vertical brackets through a sliding connection method and can flexibly adjust their positions and heights. The positioning and tracking components include markers, optical motion capture cameras, servers, computers, etc. The optical motion capture cameras are fixed on the horizontal brackets, and it is necessary to ensure that each printing area is covered by at least two cameras to comprehensively capture the position information of the markers. During the printing process, the cameras continuously track the markers on the moving 3D printing actuator, feed the position data back to the control system, and after calculation, correct the deviation of the path of the printing nozzle to ensure the printing accuracy. By reasonably deploying these components, a stable monitoring environment is constructed to provide accurate position and attitude monitoring for subsequent printing operations and ensure the smooth progress of the printing process.

[0041] Step S20: Control the printing mechanism to print the vertical component modules and horizontal component modules on-site, so that the vertical component modules and horizontal component modules enclose to form a single-layer component module. This step means that through precise path planning and real-time positioning correction, the moving printing mechanism prints the vertical component modules and horizontal component modules with different functions on the construction site according to the building design requirements. The vertical component modules have the functions of enclosure and load-bearing, such as exterior walls and interior walls, providing stability and enclosure for the building; the horizontal component modules integrate the functions of beams and slabs, realizing the integrated structure of beams and slabs, and having both supporting and laying functions. During the printing process, the printing mechanism uses optical components for real-time positioning according to the preset path to ensure the precise operation of the printing nozzle. After printing, these modules are connected through a specific construction method to form a single-layer component module, which serves as the basic unit of the building.

[0042] Step S30: Control the hoisting mechanism to move the printing mechanism above the single-layer component module and adjust the height of the horizontal bracket on the vertical bracket to adapt to the new printing layer. Combine Figure 5, this step refers to precisely moving the printing mechanism, such as a crane, directly above the completed single-story building component module by controlling the hoisting mechanism. This process requires precise control of the hoisting height and angle to ensure that the 3D printing device can be placed steadily and accurately on the component module, preparing for the printing work of the next layer. Then, according to the height requirements of the new printing layer, the lifting mechanism drives the horizontal bracket to rise or fall along the vertical bracket to a suitable position and is fixed by the positioner in the lifting mechanism to ensure the stability of the horizontal bracket and the coverage of the optical components of the positioning and tracking assembly, so as to achieve precise positioning and tracking in the new printing layer and ensure the smooth progress of the printing process. This can achieve the efficient transfer and rapid adaptation of the device between different printing layers, reduce the time and labor costs of device redeployment, improve construction efficiency, and at the same time ensure the accuracy and quality of each layer of printing, realizing the continuous construction of the building.

[0043] Step S40, return to the step of controlling the printing mechanism to print the vertical component module and the horizontal component module on-site, so that the vertical component module and the horizontal component module enclose to form a single-story component module, until the overall construction of the building is completed. This step means that during the building construction process, operations such as component printing, hoisting, and equipment adjustment are repeated to gradually complete the construction of each layer and finally achieve the construction goal of the entire building. Specifically, first, according to the building design requirements, control the printing mechanism to print the vertical component module and the horizontal component module respectively. During the printing process, the position and movement trajectory of the printing nozzle are monitored in real time through the positioning and tracking assembly to ensure the printing accuracy of the components. After printing, use the hoisting mechanism to precisely hoist the horizontal component module above the vertical component module to complete the assembly of the first floor. During the assembly process, ensure that the connection between the horizontal component module and the vertical component module is firm and meets the design requirements. Subsequently, adjust the position of the mobile printing mechanism, move it above the single-story component module, and adjust the position of the horizontal bracket on the vertical bracket according to the height of the new printing layer to adapt to the new printing layer. During the adjustment process, calibrate the positioning and tracking assembly accordingly to ensure that it can accurately monitor and control the printing process. After completing the equipment position adjustment, execute the component printing step again to print the vertical component module and the horizontal component module required for the next layer, and repeat operations such as hoisting and assembly and equipment position adjustment. Repeat this cycle, layer by layer upward for printing and assembly, until the total number of floors and height of the building design are reached, and finally complete the overall construction of the entire building. During the entire cycle process, it is necessary to continuously monitor and control the printing quality, the accuracy of component assembly, and the operating status of the equipment to ensure the smooth progress of building construction and the quality of the final building meets the standards.

[0044] In an embodiment of the present invention, the printing mechanism includes a printing nozzle and a mobile chassis, and the step of controlling the printing mechanism to print the vertical component module and the horizontal component module on-site includes: Receive the global printing path file of the vertical component module and the horizontal component module, where the path file contains the theoretical coordinates of the printing nozzle at discrete moments and the speed parameters of the moving chassis; Generate the moving trajectory of the moving chassis and the movement trajectory of the printing nozzle according to the theoretical coordinates; Control the printing nozzle to extrude materials to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the moving trajectory, and the movement trajectory.

[0045] In this embodiment, it should be noted that the theoretical coordinates of the printing nozzle refer to the precise position coordinates that the printing nozzle should reach at each discrete moment in three-dimensional space during the 3D printing of a building, which are preset according to the design model of the building and the printing plan. These coordinate points together constitute the ideal movement trajectories of the printing nozzle and the moving chassis, guiding the printing nozzle to extrude and deposit materials along the established path during operation to ensure that the printed building components meet the design requirements. The speed parameters of the moving chassis refer to the specific numerical values of the movement speeds of the moving chassis of the printing mechanism at each discrete moment in three-dimensional space during the 3D printing of a building. These speed parameters, together with the theoretical coordinates of the printing nozzle, are preset and stored in the global printing path file to guide the precise movement of the printing mechanism during operation. It can be understood that, first of all, the printing nozzle and the moving chassis of the printing mechanism receive the global printing path file, which contains the theoretical coordinates of the printing nozzle and the speed parameters of the moving chassis at discrete moments. This is done to provide precise guidance for the printing process to ensure that the printing nozzle and the moving chassis reach the correct positions. Then, the path file is parsed to generate the moving trajectory of the moving chassis and the movement trajectory of the printing nozzle, and the printing nozzle coordinates and the moving chassis speed parameters at each key time point are extracted. These parameters will be used as the basis for printing execution to guide the printing mechanism to perform printing operations according to the predetermined trajectory, ensuring that the printed components meet the design requirements. Finally, according to the received coordinate and speed information, the position of the printing nozzle and the movement of the moving chassis are precisely controlled, thereby realizing the precise printing of the vertical component module and the horizontal component module, ensuring that the printed components meet the expected effects in terms of size, shape, and structure, improving the printing quality and efficiency, and reducing material waste and printing errors.

[0046] In an embodiment of the present invention, the step of controlling the printing nozzle to extrude materials to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the moving trajectory, and the movement trajectory includes: Control the printing nozzle to perform three-dimensional space movement and extrude materials according to the theoretical coordinates, the speed parameters, the moving trajectory, and the movement trajectory. Receive the real-time spatial coordinates of the print head feedback by the positioning and tracking component; Determine the lateral deviation and longitudinal deviation between the real-time spatial coordinates and the theoretical coordinates; Adjust the first speed and the second speed of the three-dimensional space movement according to the lateral deviation, the longitudinal deviation and a preset error threshold to obtain a first target speed and a second target speed; According to the first target speed and the second target speed, control the print head to continue the three-dimensional space movement and extrude materials until the vertical component module and the horizontal component module are formed.

[0047] In this embodiment, it should be noted that the lateral deviation refers to the difference between the X-axis direction of the real-time spatial coordinates of the printing nozzle during actual movement and the X-axis direction of the theoretical coordinates. That is, the distance by which the printing nozzle deviates from the predetermined path in the left-right direction. The longitudinal deviation refers to the difference between the Y-axis direction of the real-time spatial coordinates of the printing nozzle during actual movement and the Y-axis direction of the theoretical coordinates. That is, the distance by which the printing nozzle deviates from the predetermined path in the front-back direction. The first speed refers to the movement speed of the moving chassis in the printing mechanism, and the second speed refers to the movement speed of the robotic arm where the printing nozzle is located in the printing mechanism. The first target speed refers to the new movement speed of the printing nozzle in the X-axis direction after being adjusted according to the lateral deviation and the preset error threshold. If the lateral deviation exceeds the preset error range, the system will automatically adjust the first speed so that the printing nozzle can more accurately return to the predetermined X-axis path. The second target speed refers to the new movement speed of the printing nozzle in the Y-axis direction after being adjusted according to the longitudinal deviation and the preset error threshold. Similar to the first target speed, when the longitudinal deviation exceeds the allowable range, the system will adjust the second speed to ensure that the printing nozzle can print according to the predetermined Y-axis path. It can be understood that according to the pre-set theoretical coordinates, speed parameters, movement trajectories, and motion trajectories, the movement of the printing mechanism in three-dimensional space is precisely controlled. At the same time, the printing mechanism continuously extrudes the printing material to start forming the vertical component module and the horizontal component module. During this process, the printing nozzle will operate strictly according to the planned path and speed to ensure that the printed components meet the design requirements. Secondly, the optical components in the positioning and tracking component will capture the actual spatial coordinates of the printing nozzle in real time and feed this data back to the control system. When receiving these real-time coordinates, they will be immediately compared with the theoretical coordinates to determine the lateral deviation and the longitudinal deviation between the two. If the deviation exceeds the preset error threshold, the system will automatically adjust the first speed and the second speed in the three-dimensional space movement according to the magnitude and direction of the deviation to obtain more accurate first target speed and second target speed. Finally, according to the adjusted target speed, continue to control the printing mechanism to perform three-dimensional space movement and extrude the material, continuously repeating the above process until the vertical component module and the horizontal component module are completely formed. The above setting method can effectively reduce the errors during the printing process, improve the printing accuracy and the quality of the components, ensure the stability and safety of the building structure, and at the same time realize the automation and intelligence of the printing process and improve the construction efficiency.

[0048] The above description is only an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A 3D printing device for construction, characterized in that, The described 3D building printing device includes: A printing mechanism; A frame that encloses a printing area for the movement of the printing mechanism; A positioning and tracking component, which includes a positioning member, an optical member, and a controller. The positioning member is provided on the printing mechanism and is used to provide the real-time position of the printing mechanism; the optical member is provided on the frame and is used to provide the real-time image of the printing mechanism; the controller is communicatively connected to the positioning member and the optical member respectively to receive the real-time position and the real-time image.

2. The 3D printing device for construction according to claim 1, characterized in that, The frame includes at least one horizontal bracket and at least two vertical brackets. Each horizontal bracket is slidably connected to the two vertical brackets respectively, and each horizontal bracket slides up and down along the two vertical brackets. The 3D building printing device includes at least two optical members, and the two optical members are respectively provided on one horizontal bracket.

3. The 3D printing device for buildings according to claim 2, wherein, The 3D building printing device further includes a lifting mechanism, which includes a slider, a stopper, and a driving part. The stopper is provided on one side of the slider. The slider includes at least two pulleys. Each pulley is slidably connected to one vertical bracket and is connected to one horizontal bracket. At least two pulleys are provided on the adjacent sides of the vertical bracket, and the driving part drives the pulleys to slide along the extending direction of the vertical bracket.

4. The 3D building printing device according to claim 1, wherein, The printing mechanism includes a moving chassis and a printing nozzle. The printing nozzle is provided on one side of the moving chassis, and the moving chassis moves within the space enclosed by the frame.

5. The 3D printing device for buildings according to claim 4, characterized in that, The moving chassis includes a first chassis and a second chassis connected to each other. A robotic arm is provided on the top side of the first chassis, and the robotic arm connects the printing nozzle. A pumping assembly is provided on the top side of the second chassis, and the pumping assembly connects the printing nozzle.

6. The 3D printing device for construction according to claim 5, characterized in that, The pumping assembly includes a discharge pipe and a hopper. The hopper is provided on the top side of the second chassis, and the two ends of the discharge pipe are respectively connected to the hopper and the printing nozzle.

7. The 3D building printing device according to any one of claims 1 to 6, characterized in that, The 3D building printing device further includes a hoisting mechanism, which is connected to the printing mechanism and is used to move the printing mechanism.

8. A 3D printing method for multi-storey buildings, applied to the control system of the building 3D printing equipment described in any one of claims 1 to 7, the building 3D printing equipment comprising a printing mechanism, a horizontal bracket, a vertical bracket, a positioning and tracking component, and a hoisting mechanism, characterized in that, The multi-story 3D building printing method includes: Deploying the horizontal bracket, the vertical bracket, and the positioning and tracking component according to the printing range to form a monitoring environment covering the printing area; Controlling the printing mechanism to print vertical component modules and horizontal component modules on-site, so that the vertical component modules and the horizontal component modules enclose to form a single-story component module; Controlling the hoisting mechanism to move the printing mechanism above the single-story component module, and adjusting the height of the horizontal bracket on the vertical bracket to adapt to a new printing layer; Returning to the step of controlling the printing mechanism to print vertical component modules and horizontal component modules on-site, so that the vertical component modules and the horizontal component modules enclose to form a single-story component module, until the overall construction of the building is completed.

9. The 3D printing method for multi-story buildings according to claim 8, characterized in that, The printing mechanism includes a printing nozzle and a moving chassis. The step of controlling the printing mechanism to print vertical component modules and horizontal component modules on-site includes: Receive the global printing path file of the vertical component module and the horizontal component module, where the path file contains the theoretical coordinates of the printing nozzle at discrete moments and the speed parameters of the moving chassis; Generate the moving trajectory of the moving chassis and the motion trajectory of the printing nozzle according to the theoretical coordinates; Control the printing nozzle to extrude materials to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the moving trajectory and the motion trajectory.

10. The 3D printing method for multi-story buildings according to claim 9, characterized in that, The step of controlling the printing nozzle to extrude materials to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the moving trajectory and the motion trajectory includes: Control the printing nozzle to perform three-dimensional space motion and extrude materials according to the theoretical coordinates, the speed parameters, the moving trajectory and the motion trajectory; Receive the real-time space coordinates of the printing nozzle fed back by the positioning and tracking component; Determine the lateral deviation and longitudinal deviation between the real-time space coordinates and the theoretical coordinates; Adjust the first speed and the second speed of the three-dimensional space motion according to the lateral deviation, the longitudinal deviation and a preset error threshold to obtain a first target speed and a second target speed; Control the printing nozzle to continue the three-dimensional space motion and extrude materials according to the first target speed and the second target speed until the vertical component module and the horizontal component module are formed.

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