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

Abstract

The present invention discloses a building 3D printing device and a multi-story building 3D printing method, which relate to the field of building construction technology. The building 3D printing device includes a printing mechanism, a frame, and a positioning and tracking component. The frame encloses a printing area for the printing mechanism to move; the positioning and tracking component 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 a real-time image of the printing mechanism; the controller is respectively connected to the positioning member and the optical member in communication to receive the real-time position and real-time image. The technical solution of the present invention ensures the accurate spatial positioning of the printing mechanism by analyzing the image captured in real time by the optical member and the real-time position information fed back by the positioning member on the printing mechanism through the controller, which helps to perform high-precision 3D printing operations in complex or multi-story building structures. Not only does it improve printing flexibility, but it also improves space utilization.

Description

Technical Field

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

[0002] 3D building printing equipment is a device that uses 3D printing technology for building construction. Through computer-aided design models, 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] Conventional architectural 3D printing equipment typically fixes the printing mechanism to a frame and lacks effective real-time positioning and correction mechanisms. This prevents accurate placement of printed materials, resulting in deviations between printed building components or structures and the designed model, with sizes and shapes not meeting requirements. This lack of a correction mechanism can lead to printhead position drift and uneven material deposition during the printing process, impacting print quality and causing defects such as rough surfaces and uneven lines. This deficiency not only affects printing accuracy but also reduces building quality and construction efficiency. Summary of the Invention

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

[0005] To achieve the above-mentioned purpose, the present invention proposes a building 3D printing device, which includes:

[0006] Printing agency;

[0007] A frame, the frame enclosing a printing area for the printing mechanism to move;

[0008] A positioning and tracking component 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 a real-time image of the printing mechanism; the controller is respectively communicated with the positioning member and the optical member to receive the real-time position and the real-time image.

[0009] In one embodiment, the frame includes at least one horizontal bracket and at least two vertical brackets, each of the horizontal brackets is slidably connected to the two vertical brackets, and each of the horizontal brackets slides up and down along the two vertical brackets. The building 3D printing equipment includes at least two optical components, and the two optical components are respectively arranged on one of the horizontal brackets.

[0010] In one embodiment, the architectural 3D printing device further includes a lifting mechanism, which includes a slider, a positioner, and a driving unit. The positioner is provided on one side of the slider. The slider includes at least two pulleys, each of which is slidably connected to one of the vertical brackets and connected to one of the horizontal brackets. At least two of the pulleys are provided on adjacent sides of the vertical bracket, and the driving unit drives the pulleys to slide along the extension direction of the vertical bracket.

[0011] In one embodiment, the printing mechanism includes a movable chassis and a printing head, wherein the printing head is disposed on one side of the movable chassis, and the movable chassis moves within a space enclosed by the frame.

[0012] In one embodiment, the mobile 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 is connected to the print head, and a pumping assembly is provided on the top side of the second chassis, and the pumping assembly is connected to the print head.

[0013] In one embodiment, the pumping assembly includes a discharge pipe and a hopper. The hopper is provided on the top side of the second chassis. Both ends of the discharge pipe are connected to the hopper and the print head respectively.

[0014] In one embodiment, the architectural 3D printing device further includes a hoisting mechanism, which is connected to the printing mechanism and is used to move the printing mechanism.

[0015] The present invention further provides a multi-story building 3D printing method, which is applied to the control system of the building 3D printing device described above. The building 3D printing device includes a printing mechanism, a horizontal bracket, a vertical bracket, a positioning and tracking component, and a hoisting mechanism. The multi-story building 3D printing method includes:

[0016] 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;

[0017] 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 are enclosed to form a single-layer component module;

[0018] Controlling the hoisting mechanism to move the printing mechanism above the single-layer component module, and adjusting the height of the transverse support relative to the vertical support to accommodate a new printing layer;

[0019] Return to the step of controlling the printing mechanism to print the vertical component modules and the horizontal component modules on site, so that the vertical component modules and the horizontal component modules are enclosed to form a single-layer component module, until the entire building is completed.

[0020] In one embodiment, the printing mechanism includes a printing nozzle and a movable chassis, and the step of controlling the printing mechanism to print the vertical component module and the horizontal component module on site includes:

[0021] Receive a global printing path file of the vertical component module and the horizontal component module, wherein the path file includes theoretical coordinates of the print head at discrete moments and speed parameters of the mobile chassis;

[0022] generating a movement trajectory of the movable chassis and a movement trajectory of the printing head according to the theoretical coordinates;

[0023] According to the theoretical coordinates, the speed parameters, the moving trajectory and the motion trajectory, the printing nozzle is controlled to extrude material to form the vertical component module and the horizontal component module.

[0024] In one embodiment, the step of controlling the print head to extrude material to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameter, the movement trajectory, and the motion trajectory includes:

[0025] Controlling the print head to move in three dimensions and extrude material according to the theoretical coordinates, the speed parameter, the movement trajectory, and the motion trajectory;

[0026] Receiving the real-time spatial coordinates of the print head fed back by the positioning tracking component;

[0027] Determining a lateral deviation and a longitudinal deviation between the real-time spatial coordinate and the theoretical coordinate;

[0028] adjusting 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;

[0029] According to the first target speed and the second target speed, the print head is controlled to continue the three-dimensional space movement and extrude material until the vertical component module and the horizontal component module are formed.

[0030] The technical solution of the present invention allows the printing mechanism to move within the area enclosed by the frame, enabling flexible adjustment of the printing position and angle, thereby better adapting to the needs of complex shapes and multi-angle printing. Positioning members are also provided on the printing mechanism, and optical components are provided on the frame. A controller analyzes the real-time images captured by the optical components and the real-time position information fed back by the positioning members on the printing mechanism to ensure the accurate spatial positioning of the printing mechanism, facilitating high-precision 3D printing operations in complex or multi-story architectural structures. This arrangement enhances printing flexibility and improves space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0032] Figure 1 A schematic diagram of the structure of the building 3D printing equipment provided by the present invention;

[0033] Figure 2 A schematic structural diagram of an embodiment of a positioning and tracking assembly and a hoisting mechanism provided by the present invention;

[0034] Figure 3 A structural schematic diagram of an embodiment of a lifting mechanism provided by the present invention;

[0035] Figure 4 A schematic structural diagram of an embodiment of a printing mechanism provided by the present invention;

[0036] Figure 5 A schematic diagram of the structure of a multi-story building printed by the building 3D printing equipment provided by the present invention;

[0037] Figure 6 A diagram showing the steps of the multi-story building 3D printing method provided by the present invention.

[0038] Description of Figure Numbers:

[0039] 1000. Architectural 3D printing equipment; 1. Printing mechanism; 11. Mobile chassis; 111. First chassis; 112. Robotic arm; 113. Second chassis; 114. Exhaust pipe; 115. Hopper; 12. Print nozzle; 2. Frame; 21. Horizontal bracket; 22. Vertical bracket; 3. Positioning and tracking assembly; 31. Positioning member; 32. Optical member; 4. Lifting mechanism; 41. Slider; 42. Positioner; 5. Hoisting mechanism.

[0040] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] The present invention provides a building 3D printing device 1000.

[0045] See also Figures 1 to 5 In one embodiment of the present invention, the architectural 3D printing device 1000 includes a printing mechanism 1, a frame 2, and a positioning and tracking assembly 3. The frame 2 encloses a printing area for the printing mechanism 1 to move. The positioning and tracking assembly 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 a real-time image of the printing mechanism 1. The controller is respectively connected to the positioning member 31 and the optical member 32 to receive the real-time position and real-time image.

[0046] In this embodiment, the building 3D printing device 1000 can be applied to the fields of building construction, real estate model making, and art creation. Here, this application takes the field of building construction as an example. Figure 1The printing mechanism 1 can not only be moved around the construction site to perform three-dimensional printing operations according to the building design, but can also continuously output printing materials to ensure the continuity and stability of the printing process. When printing a single layer of building materials, the printing mechanism 1 is not limited to use within the frame 2; combined with Figure 5 When printing multi-layer building materials, the printing mechanism 1 is confined within the frame 2. Printing materials include, but are not limited to, concrete, polymers, or other materials suitable for construction, meeting the requirements of different types of building structures, without limitation. The frame 2, similar to a beam, features a lightweight design, making it easy to install, disassemble, and move, making it suitable for various construction sites. The material of the frame 2 includes, but is not limited to, aluminum alloy and engineering plastics (ABS, nylon, etc.). The frame 2 encloses a printing area within which the printing mechanism 1 can print building structures according to a preset path and pattern. The size of the printing area can be customized based on the specific implementation. The positioning and tracking assembly 3 provides real-time position monitoring for the printing mechanism 1. The positioning member 31 is used to provide a positioning point for the printing mechanism 1 within the printing area. The positioning member 31 can be, but is not limited to, an optical positioner or an electromagnetic positioner. In this embodiment, the positioning member 31 can be an optical positioner for tracking target markers in a motion capture camera, an optical positioner using a corner reflector prism in a total station, or an electromagnetic positioner using UWB technology. Specifically, the number of positioning elements 31 is not limited herein, and includes, but is not limited to, one or two. The optical element 32 is used to capture real-time images of the printing site. Here, the optical element 32 is in the form of an optical motion capture camera, including, but not limited to, a passive optical motion capture camera or an active motion capture camera. Specifically, the number of optical elements 32 includes, but is not limited to, one, two, or four. The controller is configured to analyze the real-time images of the printing area captured by the optical element 32 and positional information related to the printing mechanism 1 to ensure accurate positioning of the printing mechanism 1 within the printing area.

[0047] The technical solution of the present invention enables flexible adjustment of the printing position and angle by positioning the printing mechanism 1 within the area enclosed by the frame 2, thereby better adapting to the needs of complex shapes and multi-angle printing. Furthermore, a positioning member 31 is provided on the printing mechanism 1, and an optical member 32 is provided on the frame 2. A controller analyzes the real-time images captured by the optical member 32 and the real-time position information fed back by the positioning member 31 on the printing mechanism 1 to ensure the accurate spatial positioning of the printing mechanism 1, facilitating high-precision 3D printing operations in complex or multi-story architectural structures. This arrangement enhances printing flexibility and improves space utilization.

[0048] In one 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 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 components 32, and the two optical components 32 are respectively arranged on one horizontal bracket 21.

[0049] In this embodiment, combined with Figure 1 and Figure 2 The horizontal bracket 21 is used to fix the optical motion capture camera and is similar to a beam. 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, which 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 the two ends of each horizontal bracket 21 can move up and down along the extension direction of the vertical bracket 22. In one embodiment, a slide rail is installed on the vertical bracket 22, and a slider compatible with the slide rail is installed on the horizontal bracket 21. The slide rail is a linear guide rail, and the slider is nested in the slide rail and can slide up and down along the slide rail. In another embodiment, a screw is installed on the vertical bracket 22, and a nut compatible with the screw is installed on the horizontal bracket 21. The screw is installed vertically on the vertical bracket 22, and the nut is fixed to the horizontal bracket 21. The nut is driven up and down by rotating the screw, thereby achieving the up and down sliding of the horizontal bracket 21. This is not limited here and can be set according to specific needs. The above setting method improves the flexibility of printing and also improves the printing accuracy.

[0050] In one embodiment of the present invention, the architectural 3D printing device 1000 further includes a lifting mechanism 4, which includes a slider 41, a positioner 42, and a driving unit. The positioner 42 is provided on one side of the slider 41. The slider 41 includes at least two pulleys, each of which is slidably connected to a vertical bracket 22 and connected to a horizontal bracket 21. At least two pulleys are provided on adjacent sides of the vertical bracket 22, and the driving unit drives the pulley to slide along the extension direction of the vertical bracket 22.

[0051] 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 enclosed by the horizontal bracket 21 and the vertical bracket 22, in order to enhance the expansion of the coverage of the printing area by the optical component 32 on the horizontal bracket 21, 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 of the printing area by the positioning tracking component 3 on the horizontal bracket 21 is expanded. The slider 41 is used to realize the flexible movement of the horizontal bracket 21. It can be understood that the slider 41 in this embodiment is in the form of a pulley or roller. Taking the pulley as an example, a guide rail for the pulley to slide is provided on the adjacent side of the vertical bracket 22. The pulley is tightly engaged with the guide rail. The horizontal bracket 21 is connected to the pulley by a bearing connection or a bolt connection, which is not limited here. Combined with Figure 3 In one embodiment, the slider 41 includes four pulleys. The vertical support 22 is provided with four wire slots corresponding to the four positions of the vertical support 22. The pulleys and wire slots tightly engage, thereby enabling the sliding of the transverse support 21. The retainer 42 is used to secure the position of the transverse support 21 on the vertical support 22. In one embodiment, the retainer 42 is fixed to the side of the slider 41 by bolts or welding. In another embodiment, the retainer 42 is mounted to the transverse support 21 by bolts or welding and is located above or below the slider 41. This is not limited here and can be configured according to specific needs. Specifically, the type of drive unit includes but is not limited to a drive motor, a cylinder, etc. The drive unit can be installed on the side or top of the slider 41 or on the side or top of the retainer 42, etc., without limitation here. This configuration not only improves the flexibility and adaptability of the positioning and tracking device, but also enhances the stability and reliability of the device, providing a strong guarantee for achieving high-precision 3D architectural printing.

[0052] In one embodiment of the present invention, the printing mechanism 1 includes a movable chassis 11 and a printing head 12 . The printing head 12 is disposed on one side of the movable chassis 11 . The movable chassis 11 moves within a printing area enclosed by the frame 2 .

[0053] In this embodiment, combined with Figure 4 It should be noted that the mobile chassis 11 of the present application is relatively small and is an omnidirectional mobile vehicle. The print head 12 is disposed on one side of the mobile chassis 11. It is understood that the print head 12 and the mobile chassis 11 can be disposed on the same mobile chassis 11 or on different mobile chassis 11, and can be disposed according to specific needs.

[0054] In one embodiment of the present invention, the mobile 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, and the robotic arm 112 is connected to the print head 12. A pumping assembly is provided on the top side of the second chassis 113, and the pumping assembly is connected to the print head 12.

[0055] In this embodiment, combined with Figure 4 To improve printing accuracy, the mobile chassis 11 is divided into a first chassis 111 that precisely moves the print head 12 and a second chassis 113 that continuously supplies material. The robotic arm 112 on the first chassis 111 can more precisely control the position and posture of the print head 12, reducing positional deviations caused by the overall movement of the chassis. This allows the print head 12 to more accurately align with the target position within the printing area, thereby improving printing accuracy. The pumping assembly on the second chassis 113 can more stably supply printing material to the print head 12, avoiding problems such as poor material delivery or unstable flow that may arise from the movement of a single chassis, ensuring uniform material output during the printing process and further improving printing accuracy. This arrangement allows different steps of the printing process to be performed in parallel. While the print head 12 on the first chassis 111 is printing a layer, the pumping assembly on the second chassis 113 can simultaneously prepare the material required for the next layer, reducing waiting time and increasing overall printing speed.

[0056] In one embodiment of the present invention, the pumping assembly includes a discharge pipe 114 and a hopper 115 . The hopper 115 is disposed on the top side of the second chassis 113 . Both ends of the discharge pipe 114 are connected to the hopper 115 and the print head 12 , respectively.

[0057] In this embodiment, combined with Figure 4 It should be noted that the hopper 115 is arranged on the top side of the second chassis 113, which is convenient for operators to replace printing materials. 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. As a storage device for printing materials, the hopper 115 can accommodate a certain amount of printing materials. It is connected to the print head 12 through the discharge pipe 114, which can ensure a stable supply of materials during the printing process and avoid printing interruptions or quality problems caused by insufficient materials or poor supply. It can be understood that the drive of the pumping component includes but is not limited to pneumatic pumping, mechanical pumping, electromagnetic pumping, hydraulic pumping, etc., which will not be described in detail here.

[0058] In one embodiment of the present invention, the architectural 3D printing device 1000 further includes a hoisting mechanism 5 , which is connected to the printing mechanism 1 and is used to move the printing mechanism 1 .

[0059] In this embodiment, combined with Figure 2It should be noted that the hoisting mechanism 5 includes but is not limited to being used for lifting and transporting mobile 3D printing equipment during the 3D printing building construction process. The hoisting mechanism 5 includes but is not limited to a crane or other types of lifting machinery. The configuration of the hoisting mechanism 5 can be adjusted according to the specific project requirements to adapt to different building scales and complexities.

[0060] The present invention also proposes a multi-story building 3D printing method, which is applied to the control system of the aforementioned building 3D printing equipment. The specific structure of the building 3D printing equipment is referred to in the above-mentioned embodiments. Since the multi-story building 3D printing method adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be described in detail here. 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 multi-story building 3D printing method includes:

[0061] 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;

[0062] 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 are enclosed to form a single-layer component module;

[0063] Controlling the hoisting mechanism to move the printing mechanism above the single-layer component module, and adjusting the height of the transverse support relative to the vertical support to accommodate a new printing layer;

[0064] Return to the step of controlling the printing mechanism to print the vertical component modules and the horizontal component modules on site, so that the vertical component modules and the horizontal component modules are enclosed to form a single-layer component module, until the entire building is completed.

[0065] 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 in the printing process. It includes two parts: hardware and software: hardware such as computers, PLCs, servo drives, sensors, etc., which are used to receive instructions, process data and control equipment operation; software includes algorithm modules such as path planning, deviation calculation, compensation control, etc. to ensure printing accuracy. The control system here can be included in the building 3D printing equipment or not. The multi-story building 3D printing method includes steps S10-S40:

[0066] Step S10, deploying 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 refers to installing lightweight horizontal brackets and vertical brackets at the construction site according to the size of the building components and the printing range. The horizontal bracket is used to fix the optical motion capture camera. It is connected to the vertical bracket by a sliding connection and can flexibly adjust the position and height. The positioning and tracking component includes a marker, an optical motion capture camera, a server and a computer. The optical motion capture camera is fixed on the horizontal bracket. It is necessary to ensure that each printing area is covered by at least two cameras to capture the position information of the marker in all directions. During the printing process, the camera tracks the marker on the mobile 3D printing actuator in real time, feeds the position data back to the control system, and corrects the deviation of the print head path after calculation to ensure printing accuracy. By rationally deploying these components, a stable monitoring environment is built to provide accurate position and posture monitoring for subsequent printing operations, ensuring the smooth progress of the printing process.

[0067] Step S20, controls the printing mechanism to print the vertical component modules and the horizontal component modules on site, so that the vertical component modules and the horizontal component modules are enclosed to form a single-layer component module. This step means that through precise path planning and real-time positioning and correction, the mobile printing mechanism prints out vertical component modules and horizontal component modules with different functions on the construction site in accordance with the architectural design requirements. The vertical component modules have enclosure and load-bearing functions, such as exterior walls and interior walls, which provide stability and protection for the building; the horizontal component modules integrate the beam and slab functions to realize an integrated beam and slab structure, which has both support and paving 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 is completed, these modules are connected through a specific structural method to form a single-layer component module, which serves as the basic unit of the building.

[0068] Step S30: Control the hoisting mechanism to move the printing mechanism to above the single-layer component module, and adjust the height of the horizontal support relative to the vertical support to accommodate the new printing layer. Figure 5This step involves precisely moving the printing mechanism to the top of the completed single-layer building component module by controlling a hoisting mechanism, such as a crane. This process requires precise control of the hoisting height and angle to ensure that the 3D printing equipment can be placed smoothly and accurately on the component module, preparing for the printing of the next layer. Next, based on the height requirements of the new printing layer, the lifting mechanism is used to drive the horizontal bracket to rise or fall along the vertical bracket to the appropriate 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 parts of the positioning and tracking assembly, so as to achieve accurate positioning and tracking in the new printing layer and ensure the smooth progress of the printing process. This can achieve efficient transfer and rapid adaptation of equipment between different printing layers, reduce the time and labor costs of equipment redeployment, improve construction efficiency, and at the same time ensure the accuracy and quality of each layer of printing, thereby realizing continuous construction of the building.

[0069] Step S40 returns to the step of controlling the printing mechanism to print the vertical and horizontal component modules on-site, so that the vertical and horizontal component modules enclose a single-layer component module, until the entire building is completed. This step involves repeatedly performing operations such as component printing, hoisting, and equipment adjustment during the construction process, gradually completing the construction of each layer and ultimately achieving the overall building construction goal. Specifically, first, according to the architectural design requirements, the printing mechanism is controlled to print the vertical and horizontal component modules separately. During the printing process, the position and movement trajectory of the printheads are monitored in real time by the positioning and tracking component to ensure component printing accuracy. After printing is complete, the horizontal component module is precisely hoisted above the vertical component module using the hoisting mechanism, completing the assembly of the first floor. During the assembly process, the connection between the horizontal and vertical component modules is ensured to be secure and meet design requirements. Subsequently, the position of the mobile printing mechanism is adjusted to be above the single-layer component module, and the position of the horizontal support on the vertical support is adjusted according to the new print layer height to accommodate the new print layer. During this adjustment process, the positioning and tracking component is simultaneously calibrated to ensure accurate monitoring and control of the printing process. After adjusting the equipment's position, the component printing process is repeated to print the vertical and horizontal component modules required for the next layer. The hoisting, assembly, and equipment repositioning operations are then repeated. This cycle repeats, with printing and assembly continuing layer by layer until the total number of floors and height of the building are reached, ultimately completing the entire building. Throughout this entire cycle, continuous monitoring and control of printing quality, component assembly accuracy, and equipment operating status are required to ensure smooth construction and that the final building meets quality standards.

[0070] In one embodiment of the present invention, the printing mechanism includes a print head and a movable chassis, and the step of controlling the printing mechanism to print the vertical component module and the horizontal component module on site includes:

[0071] Receive a global printing path file of the vertical component module and the horizontal component module, wherein the path file includes theoretical coordinates of the print head at discrete moments and speed parameters of the mobile chassis;

[0072] generating a movement trajectory of the movable chassis and a movement trajectory of the printing head according to the theoretical coordinates;

[0073] According to the theoretical coordinates, the speed parameters, the moving trajectory and the motion trajectory, the printing nozzle is controlled to extrude material to form the vertical component module and the horizontal component module.

[0074] In this embodiment, it should be noted that the theoretical coordinates of the print head refer to the precise position coordinates that the print head should reach at each discrete moment in three-dimensional space during the 3D building printing process, pre-set based on the building's design model and printing plan. These coordinates together constitute the ideal motion trajectory of the print head and mobile chassis, guiding the print head to extrude and deposit material along a predetermined path during operation, ensuring that the printed building components meet the design requirements. The speed parameters of the mobile chassis refer to the specific numerical values ​​of the movement speed of the printing mechanism's mobile chassis at each discrete moment in three-dimensional space during the 3D building printing process. These speed parameters, along with the theoretical coordinates of the print head, are pre-set and stored in a global print path file to guide the precise movement of the printing mechanism during operation. It will be understood that, first, the print head and mobile chassis of the printing mechanism receive the global print path file, which contains the theoretical coordinates of the print head and the speed parameters of the mobile chassis at each discrete moment. This is done to provide precise guidance during the printing process and ensure that the print head and mobile chassis reach the correct position. The path file is then parsed to generate the trajectory of the mobile chassis and the print head. The print head coordinates and chassis speed parameters are extracted at each critical time point. These parameters serve as the basis for printing, guiding the printing mechanism to print along the predetermined trajectory and ensuring that the printed components meet the design requirements. Finally, based on the received coordinate and speed information, the position of the print head and the movement of the mobile chassis are precisely controlled to achieve accurate printing of the vertical and horizontal component modules, ensuring that the printed components meet the expected size, shape, and structure. This improves printing quality and efficiency, and reduces material waste and printing errors.

[0075] In one embodiment of the present invention, the step of controlling the print head to extrude material to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameter, the movement trajectory, and the motion trajectory includes:

[0076] Controlling the print head to move in three dimensions and extrude material according to the theoretical coordinates, the speed parameter, the movement trajectory, and the motion trajectory;

[0077] Receiving the real-time spatial coordinates of the print head fed back by the positioning tracking component;

[0078] Determining a lateral deviation and a longitudinal deviation between the real-time spatial coordinate and the theoretical coordinate;

[0079] adjusting 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;

[0080] According to the first target speed and the second target speed, the print head is controlled to continue the three-dimensional space movement and extrude material until the vertical component module and the horizontal component module are formed.

[0081] In this embodiment, it should be noted that lateral deviation refers to the difference between the actual X-axis coordinates of the print head and the theoretical X-axis coordinates during actual movement. This refers to the distance the print head deviates from the predetermined path in the left-right direction. Longitudinal deviation refers to the difference between the actual Y-axis coordinates of the print head and the theoretical Y-axis coordinates during actual movement. This refers to the distance the print head deviates from the predetermined path in the front-back direction. The first speed refers to the speed of the movable chassis in the printing mechanism, and the second speed refers to the speed of the robotic arm housing the print head. The first target speed refers to the new X-axis speed of the print head after adjustment based on the lateral deviation and a preset error threshold. If the lateral deviation exceeds the preset error range, the system automatically adjusts the first speed to more accurately return the print head to the predetermined X-axis path. The second target speed refers to the new Y-axis speed of the print head after adjustment based on the longitudinal deviation and the preset error threshold. Similar to the first target speed, when the longitudinal deviation exceeds the allowable range, the system adjusts the second speed to ensure that the print head prints along the predetermined Y-axis path. As can be understood, the movement of the printing mechanism in three-dimensional space is precisely controlled based on pre-set theoretical coordinates, speed parameters, movement trajectory, and motion trajectory. Simultaneously, the printing mechanism continuously extrudes printing material, beginning to form the vertical and horizontal component modules. During this process, the print head strictly follows the planned path and speed to ensure that the printed components meet the design requirements. Secondly, the optical components in the positioning and tracking assembly capture the actual spatial coordinates of the print head in real time and feed this data back to the control system. Upon receiving these real-time coordinates, they are immediately compared with the theoretical coordinates to determine the lateral and longitudinal deviations between the two. If the deviation exceeds a preset error threshold, the system automatically adjusts the first and second speeds of the three-dimensional movement based on the magnitude and direction of the deviation to achieve more accurate first and second target speeds. Finally, based on the adjusted target speeds, the printing mechanism continues to be controlled to move in three dimensions and extrude material. This process is repeated until the vertical and horizontal component modules are fully formed. This arrangement effectively reduces errors during the printing process, improves printing accuracy and component quality, ensures the stability and safety of the building structure, and achieves automation and intelligence in the printing process, improving construction efficiency.

[0082] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept 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 building 3D printing device, characterized in that: The architectural 3D printing equipment includes: Printing agency; A frame, the frame enclosing a printing area for the printing mechanism to move; a positioning tracking assembly, the positioning tracking assembly comprising a positioning member, an optical member, and a controller; the positioning member being disposed on the printing mechanism and configured to provide a real-time position of the printing mechanism; the optical member being disposed on the frame and configured to provide a real-time image of the printing mechanism; and the controller being communicatively connected to the positioning member and the optical member to receive the real-time position and the real-time image, respectively; The frame includes at least one horizontal bracket and at least two vertical brackets, each of the horizontal brackets is slidably connected to the two vertical brackets, and each of the horizontal brackets slides up and down along the two vertical brackets. The architectural 3D printing device includes at least two optical components, and the two optical components are respectively provided on one of the horizontal brackets; The architectural 3D printing device also includes a lifting mechanism, which includes a slider, a positioner, and a driving unit. The positioner is provided on one side of the slider. The slider includes at least two pulleys, each of which is slidably connected to one of the vertical brackets and connected to one of the horizontal brackets. At least two of the pulleys are provided on adjacent sides of the vertical bracket. The driving unit drives the pulleys to slide along the extension direction of the vertical bracket.

2. The architectural 3D printing device according to claim 1, wherein: The printing mechanism includes a movable chassis and a printing head. The printing head is arranged on one side of the movable chassis. The movable chassis moves in a space enclosed by the frame.

3. The architectural 3D printing device according to claim 2, wherein: The mobile chassis includes a first chassis and a second chassis connected to each other. A mechanical arm is provided on the top side of the first chassis, and the mechanical arm is connected to the print head. A pumping assembly is provided on the top side of the second chassis, and the pumping assembly is connected to the print head.

4. The architectural 3D printing device according to claim 3, wherein: The pumping assembly includes a discharge pipe and a hopper. The hopper is arranged on the top side of the second chassis. Both ends of the discharge pipe are connected to the hopper and the print head respectively.

5. The architectural 3D printing device according to any one of claims 1 to 4, characterized in that: The architectural 3D printing device further includes a hoisting mechanism, which is connected to the printing mechanism and is used to move the printing mechanism.

6. A multi-story building 3D printing method, applied to the control system of a building 3D printing device according to any one of claims 1 to 5, wherein the building 3D printing device comprises a printing mechanism, a horizontal bracket, a vertical bracket, a positioning and tracking component, and a hoisting mechanism, characterized in that: The multi-story building 3D printing method comprises: Deploying 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; 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 are enclosed to form a single-layer component module; Controlling the hoisting mechanism to move the printing mechanism above the single-layer component module, and adjusting the height of the transverse support relative to the vertical support to accommodate a new printing layer; Return to the step of controlling the printing mechanism to print the vertical component modules and the horizontal component modules on site, so that the vertical component modules and the horizontal component modules are enclosed to form a single-layer component module, until the entire building is completed.

7. The multi-story building 3D printing method according to claim 6, characterized in that: The printing mechanism includes a printing nozzle and a movable chassis, and the step of controlling the printing mechanism to print the vertical component module and the horizontal component module on site includes: Receive a global printing path file of the vertical component module and the horizontal component module, wherein the path file includes theoretical coordinates of the print head at discrete moments and speed parameters of the mobile chassis; generating a movement trajectory of the movable chassis and a movement trajectory of the printing head according to the theoretical coordinates; According to the theoretical coordinates, the speed parameters, the moving trajectory and the motion trajectory, the printing nozzle is controlled to extrude material to form the vertical component module and the horizontal component module.

8. The multi-story building 3D printing method according to claim 7, characterized in that: The step of controlling the print head to extrude material to form the vertical component module and the horizontal component module according to the theoretical coordinates, the speed parameters, the movement trajectory, and the motion trajectory includes: Controlling the print head to move in three dimensions and extrude material according to the theoretical coordinates, the speed parameter, the movement trajectory, and the motion trajectory; Receiving the real-time spatial coordinates of the print head fed back by the positioning tracking component; Determining a lateral deviation and a longitudinal deviation between the real-time spatial coordinate and the theoretical coordinate; adjusting 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, the print head is controlled to continue the three-dimensional space movement and extrude material until the vertical component module and the horizontal component module are formed.

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