Building 3D printing robot and multi-machine collaborative construction method

Abstract

According to the building 3D printing robot and the multi-machine collaborative construction method, the building 3D printing robot adopts a two-stage telescopic structure, the stroke of the Z axis can be effectively increased, the overall size of the 3D printing structure is guaranteed, and stable conveying of concrete materials can be achieved through an automatic feeding system; according to the multi-machine collaborative construction method, by determining the number and the positions of the building 3D printing robots, it can be ensured that the printing robots complete respective tasks at the same time, and the printing efficiency can be remarkably improved; the stirrup is placed at the printing position of the bearing column, so that the stirrup and the printing concrete layer form a tenon-and-mortise-like structure, and the structural strength is high; laminated plates of different specifications and sizes can be printed in a customized mode, and mold manufacturing is not needed; meanwhile, the floor and the bearing column are integrally poured, the construction process is reduced, and the building strength is enhanced. In the design, the size of the printing robot can be expanded and contracted, so that the printing robot can be hoisted to the next printing layer for cyclic printing, and printing can be carried out without being limited by the height of a building.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D architectural printing, and in particular to a 3D architectural printing robot and a multi-machine collaborative construction method. Background Art

[0002] In recent years, 3D architectural printing technology, as an emerging technology in the construction field, has been mainly used in the production of building components. The special manufacturing process combines digitalization and automation, which can realize the production of building components with complex spatial structures. It also has the characteristics of saving materials and high construction efficiency. However, it also has the following shortcomings:

[0003] Because existing 3D printing construction robots have many parts, the overall footprint is large. Before printing, the parts need to be transported to the site, and the 3D printing construction robot can only start printing after it is assembled on site. After printing is completed, the 3D printing construction robot needs to be disassembled and moved away, which leads to a longer overall construction period and lower construction efficiency. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects and problems of the existing technology such as large footprint and low construction efficiency, and to provide a building 3D printing robot and a multi-machine collaborative construction method with a small footprint and high construction efficiency.

[0005] To achieve the above objectives, the technical solution of the present invention is: a construction 3D printing robot, comprising a chassis, a rotating device, an upper and lower telescopic device, a horizontal telescopic device, a printing device, and an automatic feeding system, wherein the rotating device is connected to the upper side of the chassis, the upper and lower telescopic device comprises an outermost column device, an intermediate column device, and an innermost column device arranged in sequence from the outside to the inside, the outermost column device is connected to the upper side of the rotating device, the intermediate column device is movably connected to the outermost column device in the vertical direction, the innermost column device is movably connected to the intermediate column device in the vertical direction, an accommodating cavity is provided on the inner side of the innermost column device, the horizontal telescopic device is connected to the accommodating cavity, the printing device is connected to one end of the horizontal telescopic device, and the automatic feeding system is installed on the horizontal telescopic device;

[0006] The rotating device is used to drive the upper and lower telescopic devices to rotate horizontally along their circumference;

[0007] The vertical telescopic device is used to realize its own secondary vertical telescopic movement and drive the horizontal telescopic device to move vertically;

[0008] The horizontal telescopic device is used to realize its own horizontal telescopic movement and drive the printing device to move horizontally;

[0009] The printing device is used to store concrete and extrude the concrete downward for printing;

[0010] The automatic feeding system is used to deliver concrete to the printing device.

[0011] The outermost column device includes two symmetrically arranged outermost frames, a drive motor is installed on the outermost frame, the output shaft of the drive motor is connected to a screw rod, the screw rod is vertically arranged and rotatably connected to the outermost frame, and the inner side of the outermost frame is connected to the outer synchronous belt pressure plate;

[0012] The intermediate layer column device includes two symmetrically arranged intermediate layer frames, the lower sides of the two intermediate layer frames are connected to each other through a first crossbeam, a screw nut is installed on one of the intermediate layer frames, the screw nut is threadedly connected to the screw, the outer side of the intermediate layer frame is rollingly connected to the intermediate synchronous belt, the outer side of the intermediate synchronous belt is fixedly connected to the outer layer synchronous belt pressure plate, and the inner side of the intermediate layer frame is connected to the intermediate layer synchronous belt pressure plate;

[0013] The innermost column device includes two symmetrically arranged innermost frames, the lower sides of the two innermost frames are connected to each other by a second crossbeam, and the upper sides of the two innermost frames are installed with a connecting frame. The outer side of the innermost frame is rollingly connected to the inner layer synchronous belt, and the outer side of the inner layer synchronous belt is fixedly connected to the middle layer synchronous belt pressure plate. The outer side of the innermost frame is also connected to the inner layer synchronous belt pressure plate, and the inner layer synchronous belt pressure plate is connected to the inner side of the middle synchronous belt, and the inner side of the inner layer synchronous belt is connected to the horizontal telescopic device.

[0014] The inner side of the outermost frame is connected to a first ball pulley module, the outer side of the middle frame is provided with a first rail that cooperates with the first ball pulley module, the inner side of the middle frame is connected to a second ball pulley module, and the outer side of the innermost frame is provided with a second rail that cooperates with the second ball pulley module.

[0015] The outermost frame, the middle layer frame and the innermost frame all include two brackets, the brackets are hollow, and multiple wedges are placed in the brackets. The first ball pulley module, the outer layer synchronous belt pressure plate, the second ball pulley module, the middle layer synchronous belt pressure plate and the inner layer synchronous belt pressure plate are respectively threadedly connected to the brackets through the wedges.

[0016] The automatic feeding system includes a driver and a feed pump controller. The printing device includes a feed pump and a printing barrel. The printing barrel is installed on the lower side of the horizontal telescopic device. The output end of the feed pump is connected to the feed inlet of the printing barrel. The feed pump controller is connected to the feed pump. The driver is connected to the printing barrel and the feed pump controller.

[0017] The driver is used to control the operation of the printing barrel, detect the change in the concrete volume in the printing barrel and send it to the feed pump controller;

[0018] The feed pump controller is used to control the delivery rate of the feed pump according to the change in concrete capacity.

[0019] A multi-machine collaborative construction method, comprising the following steps:

[0020] First, pour the foundation i, then hoist multiple construction 3D printing robots onto the foundation i, and then use multiple construction 3D printing robots to print the interior walls, exterior walls, and load-bearing walls to the set height H1;

[0021] When printing a load-bearing wall, place a stirrup at the printing position of the load-bearing wall at every printing distance H until the printing reaches the set height H1;

[0022] Then print the exterior wall to a height of H2, and then lift multiple architectural 3D printing robots off the foundation i. At this point, the wall printing is complete.

[0023] The composite slab is then hoisted onto the interior wall so that the multiple load-bearing walls are located outside the composite slab, and then vertical reinforcement is inserted into the stirrups;

[0024] Then pour concrete on the composite slab to form the floor slab, and at the same time pour concrete into the load-bearing wall so that the load-bearing wall and the upper part of the floor slab are cast into shape as one piece.

[0025] Before printing a building, slice the building and determine the number and location of the building 3D printing robots;

[0026] Perform path planning for each building 3D printing robot to enable multiple building 3D printing robots to collaboratively print buildings;

[0027] Monitor the spatial positional relationships of multiple construction 3D printing robots and perform local trajectory planning to avoid collisions.

[0028] First, print the composite slab formwork, then place the steel bars in the composite slab formwork, and then pour concrete to form the composite slab. The height of the composite slab is h1 and less than H2. The composite slab is provided with multiple notches that match the load-bearing walls. The solidified composite slab is then hoisted onto the inner wall so that the multiple notches correspond to the multiple load-bearing walls.

[0029] The inner side of the stirrup is provided with a plurality of positioning holes that match the vertical steel bars;

[0030] Insert the vertical reinforcement into the positioning holes and then pour concrete into the load-bearing wall.

[0031] Place steel mesh on the composite slab, tie the steel mesh to the vertical steel bars to form a steel skeleton, and then pour concrete to form the floor slab.

[0032] First, the floor slab formed by pouring concrete is used as foundation i+1, and multiple construction 3D printing robots are hoisted onto foundation i+1. Then, multiple construction 3D printing robots print walls, and then concrete is poured to form a floor slab, which is used as foundation i+2. The above operations are repeated to complete the circular printing construction of high-rise buildings.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention employs a modular design for a 3D-printing robot and multi-machine collaborative construction method. A rotating mechanism enables horizontal rotation of the robot, while vertical and horizontal telescopic mechanisms enable movement of the printing mechanism. This increases the printing range and adjusts the overall size of the robot. The middle and innermost column mechanisms are used to extend and retract the vertical and horizontal telescopic mechanisms, effectively increasing the robot's Z-axis travel and ensuring the overall size of the 3D-printed structure. An automatic feeding system ensures real-time feeding, ensuring a stable and sufficient supply of concrete and effectively improving printing accuracy. Consequently, the present invention occupies a small footprint and offers high construction efficiency.

[0035] 2. The present invention's 3D architectural printing robot and multi-machine collaborative construction method utilizes both a screw drive and a synchronous belt drive for telescopic movement. A synchronous belt pressure plate compresses the synchronous belt against different layers of devices. When the drive motor rotates the screw, the two synchronous belts simultaneously drive the horizontal telescopic device, allowing it to move up and down in the same direction by twice the distance of the screw nut. This significantly increases the printing height while reducing the robot's size. Consequently, the present invention occupies a small footprint and offers a wide printing range.

[0036] 3. In the present invention's 3D-printing robot and multi-machine collaborative construction method, the main frames of the outermost, middle, and innermost frames are all made of aluminum profiles. Unlike existing robots, the aluminum profile frames are formed by extrusion, simplifying manufacturing and achieving a lightweight design for the robot. The use of rail and pulley modules facilitates assembly and maintenance and enables more precise guidance. Multiple synchronous belt pressure plate modules and rail pulley modules are designed to achieve a modular design, reducing manufacturing costs and facilitating assembly and disassembly. Therefore, the present invention boasts a lightweight structure, low cost, and easy installation and disassembly.

[0037] 4. In the present invention's 3D-printing robot and multi-machine collaborative construction method, a driver detects changes in concrete volume, thereby determining the remaining concrete capacity within the printing bucket. Because the driver is connected to a feed pump controller, the driver regulates the feed pump controller, enabling precise control of the pump's material delivery rate and speed. This enables adaptive and refined control of the concrete material delivery process, enabling real-time material feeding and effectively improving printing accuracy. Therefore, the present invention has a high degree of automation and high printing precision.

[0038] 5. In the present invention's 3D-printing robot and multi-machine collaborative construction method, printing is performed by multiple printing robots, improving printing efficiency. Furthermore, by installing multiple stirrups within the load-bearing wall, mechanical engagement is achieved between the stirrups and the printed concrete layer, thereby enhancing the bond between the stirrups and the concrete. Furthermore, by placing vertical rebar within the stirrups, this method, compared to existing technologies, avoids positional deviations associated with traditional manual rebar tying, eliminates the need for auxiliary reinforcement framework fixation, and reduces on-site adjustment time. Consequently, the present invention offers high structural strength and ease of use.

[0039] 6. In the present invention's 3D-printing robot and multi-machine collaborative construction method, the number and positions of the printing robots are determined so that their printing range completely covers the building's outer contour. Path planning allows each printing robot to simultaneously complete its task, maximizing the efficiency of collaborative printing. Local trajectory planning is used to avoid collisions and ensure smooth printing. Consequently, the present invention achieves high printing efficiency and reliability.

[0040] 7. In the present invention's 3D-printing robot and multi-machine collaborative construction method, positioning holes are provided within the stirrups, forming a mortise-and-tenon joint structure with the printed concrete layer. Compared to traditional wire tying, this reduces the risk of rebar slippage, allowing the stirrup cage to form a continuous vertical support system, enhancing the shear and torsional resistance of the load-bearing columns. Furthermore, the stirrups with positioning holes can be factory-produced, reducing on-site cutting and tying losses. Consequently, the present invention offers higher structural strength and lower costs.

[0041] 8. The present invention's 3D-printing robot and multi-machine collaborative construction method can flexibly design and print composite panels of varying sizes based on the building's shape, size, and the location and shape of its load-bearing walls. This method boasts rapid production speed and a high degree of automation. Therefore, the present invention offers excellent adaptability and a high degree of automation.

[0042] 9. In the present invention's 3D-printing robot and multi-machine collaborative construction method, vertical steel bars and steel mesh are tied together to form a spatial truss-like connection, effectively improving the building's stress response and enabling the floor slab to withstand greater loads. By integrally casting the load-bearing walls and floor slabs, construction joints common in traditional processes are eliminated, while reducing the number of construction steps, further improving construction efficiency and lowering costs. Therefore, the present invention offers high structural strength, low costs, and high construction efficiency.

[0043] 10. In the present invention's 3D printing robot and multi-machine collaborative construction method, a printing robot is placed on a printed floor slab to continue printing the next layer, thereby achieving cyclic printing. Multiple machines can be selected to collaborate on printing as needed, improving production efficiency. Therefore, the present invention has high printing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of the present invention.

[0045] Figure 2 It is a structural schematic diagram of the chassis, supporting device, upper and lower telescopic device, and rotating device in the present invention.

[0046] Figure 3 It is a structural diagram of the chassis and supporting device in the present invention.

[0047] Figure 4 It is a partial structural schematic diagram of the supporting device in the present invention.

[0048] Figure 5 It is a structural schematic diagram of the rotating device and chassis in the present invention.

[0049] Figure 6 It is a partial structural diagram of the rotating device in the present invention.

[0050] Figure 7 It is a schematic structural diagram of the outermost column device in the present invention.

[0051] Figure 8 It is a partial structural diagram of the outermost column device in the present invention.

[0052] Figure 9 It is a structural schematic diagram of the middle layer column device in the present invention.

[0053] Figure 10It is a partial structural diagram of the middle layer column device in the present invention.

[0054] Figure 11 It is a structural diagram of the innermost column device in the present invention.

[0055] Figure 12 It is a partial structural diagram of the innermost column device in the present invention.

[0056] Figure 13 It is a schematic structural diagram of the bracket in the present invention.

[0057] Figure 14 It is a structural diagram of the printing device and automatic feeding system in the present invention.

[0058] Figure 15 It is a structural schematic diagram of the stirrups in the present invention.

[0059] Figure 16 It is a structural schematic diagram of the exterior wall, interior wall, vertical steel bars and stirrups in the present invention.

[0060] Figure 17 It is a structural schematic diagram of the load-bearing wall and the composite slab in the present invention.

[0061] Figure 18 It is a structural diagram of the composite plate and the steel mesh in the present invention.

[0062] In the figure: chassis 1, mounting groove 11, hook 12, support device 2, sleeve 21, first support rod 22, second support rod 23, first butterfly bolt 24, second butterfly bolt 25, first fixing nut 26, second fixing nut 27, first leveling pad 28, second leveling pad 29, rotating device 3, rotating platform 31, slewing bearing 32, rotating motor 33, driving gear 34, upper and lower telescopic device 4, outermost column device 41, outermost frame 411, drive motor 412, screw 413, first ball pulley module 414, outer synchronous belt pressure plate 415, support column 416, angle support 417, middle column device 42, middle frame 421, screw nut 422, first tensioning wheel transmission module 423, middle synchronous belt 424, first steel Rail 425, second ball pulley module 426, middle layer synchronous belt pressure plate 427, first crossbeam 428, innermost column device 43, innermost frame 431, second tensioning wheel transmission module 432, inner layer synchronous belt 433, second steel rail 434, inner layer synchronous belt pressure plate 435, second crossbeam 436, connecting frame 437, accommodating cavity 44, bracket 45, cross plate 46, upper mounting plate 47, wedge 48, horizontal telescopic device 5, printing device 6, feed pump 61, printing barrel 62, printing barrel motor 63, stirring roller 64, automatic feeding system 7, drive 71, feed pump controller 72, multi-axis motion controller 73, stirrups 8, positioning hole 81, load-bearing wall 9, composite plate 10, vertical steel bar 101, inner wall 102, outer wall 103, steel mesh 104. DETAILED DESCRIPTION

[0063] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] Example 1:

[0065] See also Figure 1 、 Figure 2 、 Figure 5 and Figure 6, a building 3D printing robot, comprising a chassis 1, a rotating device 3, an upper and lower telescopic device 4, a horizontal telescopic device 5, a printing device 6, and an automatic feeding system 7, wherein the rotating device 3 is connected to the upper side of the chassis 1, and the upper and lower telescopic device 4 includes an outermost column device 41, an intermediate column device 42, and an innermost column device 43 arranged in sequence from the outside to the inside, the outermost column device 41 is connected to the upper side of the rotating device 3, the intermediate column device 42 is movably connected to the outermost column device 41 along the vertical direction, the innermost column device 43 is movably connected to the intermediate column device 42 along the vertical direction, an accommodating cavity 44 is provided on the inner side of the innermost column device 43, the horizontal telescopic device 5 is connected in the accommodating cavity 44, the printing device 6 is connected to one end of the horizontal telescopic device 5, and the automatic feeding system 7 is installed on the horizontal telescopic device 5;

[0066] The rotating device 3 is used to drive the upper and lower telescopic devices 4 to rotate horizontally along their circumference;

[0067] The upper and lower telescopic devices 4 are used to realize their own secondary vertical telescopic movement and drive the horizontal telescopic device 5 to move vertically;

[0068] The horizontal telescopic device 5 is used to realize its own horizontal telescopic movement and drive the printing device 6 to move horizontally;

[0069] The printing device 6 is used to store concrete and extrude the concrete downward for printing;

[0070] The automatic feeding system 7 is used to deliver concrete to the printing device 6 .

[0071] In this embodiment, the horizontal telescopic device 5 can refer to the lateral telescopic device in a new type of 3D printing construction robot and its control method disclosed in CN119122282A. The horizontal telescopic range radius of this device is 1.6-5.3m, and the upper and lower range is 3.3m. The rotating device 3 includes a rotary platform 31, a rotary support 32, and a rotary motor 33. The rotary support 32 is connected to the center of the chassis 1, and the rotary platform 31 is connected to the upper side of the inner ring of the rotary support 32. The rotary motor 33 is installed on the rotary platform 31 and the output shaft passes through the rotary platform 31 and is connected to a driving gear 34. The driving gear 34 is meshed and connected to the outer ring of the rotary support 33. A groove is provided at the center of the rotary support 32, and an encoder 35 is provided in the groove. The rotation angle of the rotary platform 35 is obtained by the encoder 35. The outermost column device 41. The main body of the middle layer column device 42 and the innermost layer column device 43 can adopt an aluminum profile frame. The total weight of this device is less than 1.2 tons. Under the premise of meeting the function and strength, lightweight design and improvement of the printing working range can be achieved. This 3D printing construction robot can be used in, but not limited to, the field of building printing technology, such as printing of building structures, wall structures, fences, etc. The labor intensity of the user can be reduced through automatic control; before printing, the chassis 1 is first laid flat, and the upper and lower telescopic devices 4 are driven to rotate by the rotating device 3, and then the upper and lower telescopic devices 4 and the horizontal telescopic device 5 are controlled to work, so that the robot is unfolded as a whole, and then the automatic feeding system 7 is used to continuously transport concrete into the printing device 6, and the upper and lower telescopic devices 4 and the horizontal telescopic device 5 are used to drive the printing device 6 to move and print.

[0072] Example 2:

[0073] The basic content is the same as Example 1, except that:

[0074] See also Figures 7 to 13 The outermost column device 41 includes two symmetrically arranged outermost frames 411, and a drive motor 412 is installed on the outermost frame 411. The output shaft of the drive motor 412 is connected to a screw rod 413, and the screw rod 413 is vertically arranged and rotatably connected to the outermost frame 411. The inner side of the outermost frame 411 is connected to an outer synchronous belt pressure plate 415;

[0075] The intermediate layer column device 42 includes two symmetrically arranged intermediate layer frames 421. The lower sides of the two intermediate layer frames 421 are connected to each other by a first crossbeam 428. A screw nut 422 is installed on one of the intermediate layer frames 421. The screw nut 422 is threadedly connected to the screw 413. The outer side of the intermediate layer frame 421 is rollingly connected to the intermediate synchronous belt 424. The outer side of the intermediate synchronous belt 424 is fixedly connected to the outer layer synchronous belt pressure plate 415. The inner side of the intermediate layer frame 421 is connected to the intermediate layer synchronous belt pressure plate 427.

[0076] The innermost column device 43 includes two symmetrically arranged innermost frames 431, the lower sides of the two innermost frames 431 are connected to each other through a second crossbeam 436, and the upper sides of the two innermost frames 431 are installed with a connecting frame 437. The outer side of the innermost frame 431 is rollingly connected to the inner layer synchronous belt 433, and the outer side of the inner layer synchronous belt 433 is fixedly connected to the middle layer synchronous belt pressure plate 427. The outer side of the innermost frame 431 is also connected to the inner layer synchronous belt pressure plate 435, and the inner layer synchronous belt pressure plate 435 is connected to the inner side of the middle synchronous belt 424. The inner side of the inner layer synchronous belt 433 is connected to the horizontal telescopic device 5.

[0077] In this embodiment, when the upper and lower telescopic devices 4 are extended, the drive motor 412 drives the screw rod 413 to rotate, and the rotation of the screw rod 413 drives the screw nut 422 to move, thereby causing the middle layer frame 421 to move upward. Since one side of the middle synchronous belt 424 is fixed by the outer synchronous belt pressure plate 415, it will roll under the drive of the middle layer frame 421, and the other side of the middle synchronous belt 424 is fixed by the inner synchronous belt pressure plate 435, thereby driving the innermost frame 431 to move upward.

[0078] When the upper and lower telescopic devices 4 shrink, the drive motor 412 drives the screw rod 413 to rotate in the opposite direction. The rotation of the screw rod 413 drives the screw nut 422 to move downward, thereby causing the middle layer frame 421 to move downward. The middle synchronous belt 424 rolls under the drive of the middle layer frame 421, and the middle synchronous belt 424 will drive the innermost frame 431 to move downward.

[0079] Example 3:

[0080] The basic content is the same as Example 1, except that:

[0081] See also Figures 7 to 13The inner side of the outermost frame 411 is connected to a first ball pulley module 414, the outer side of the middle frame 421 is provided with a first steel rail 425 that cooperates with the first ball pulley module 414, the inner side of the middle frame 421 is connected to a second ball pulley module 426, and the outer side of the innermost frame 431 is provided with a second steel rail 434 that cooperates with the second ball pulley module 426; the outermost frame 411, the middle frame 421, and the innermost frame 431 each include two brackets 45, the brackets 45 are hollow, and multiple wedges 48 are placed in the brackets 45, the first ball pulley module 414, the outer synchronous belt pressure plate 415, the second ball pulley module 426, the middle synchronous belt pressure plate 427, and the inner synchronous belt pressure plate 435 are respectively threadedly connected to the brackets 45 through the wedges 48.

[0082] In this embodiment, the first ball pulley module 414 includes two first pulley modules, and the first pulley modules are rotatably connected to four first rollers. The second ball pulley module 426 includes two second pulley modules, and the second pulley modules are rotatably connected to four second rollers. The four first rollers are symmetrically arranged on both sides of the first rail 425, and the four second rollers are symmetrically arranged on both sides of the second rail 434. The bracket 45 uses aluminum profiles as the frame. The manufacturing method is different from that of existing machines. The aluminum profile frames are all made of aluminum by extrusion and forming. The cross-section of the required mold can be referred to. Figure 13 , which can simplify processing and manufacturing and realize the lightweight design of the robot. On its left side, there are positioning holes for installing the first steel rail 425 and the second steel rail 434. The upper and lower sides of the middle layer frame 421 are provided with a first tensioning wheel transmission module 423, and the middle synchronous belt 424 rolls on the middle layer frame 421 through the two first tensioning wheel transmission modules 423. The upper and lower sides of the innermost frame 431 are provided with a second tensioning wheel transmission module 432, and the inner synchronous belt 433 rolls on the innermost frame 431 through the two second tensioning wheel transmission modules 432. The two brackets 45 are connected to each other through a cross plate 46. The upper sides of the two brackets 45 are connected to the upper mounting plate 47. The outer side of the outermost frame 411 is also provided with an angle support 417, and the angle support 417 is threadedly connected to the column 416. The lower end of the column 416 penetrates into the rotary platform 31, and the upper end penetrates into the bracket 45 of the outermost frame 411;

[0083] When the upper and lower telescopic devices 4 are extended, the first roller rolls on the first rail 425 and the second roller rolls on the second rail 434. When the first roller rolls to the bottom of the first rail 425 and the second roller rolls to the bottom of the second rail 434, the middle frame 421 and the innermost frame 431 cannot move further upward, and the upper and lower telescopic devices 4 reach the maximum extension state.

[0084] When the upper and lower telescopic devices 4 are retracted, the first roller rolls on the first rail 425 and the second roller rolls on the second rail 434. The first roller rolls to the top of the first rail 425 and the second roller rolls to the top of the second rail 434. At this time, the middle layer frame 421 and the innermost layer frame 431 cannot move further downward, and the upper and lower telescopic devices 4 reach the minimum retracted state.

[0085] Example 4:

[0086] The basic content is the same as Example 1, except that:

[0087] See also Figure 14 The automatic feeding system 7 includes a driver 71 and a feed pump controller 72. The printing device 6 includes a feed pump 61 and a printing barrel 62. The printing barrel 62 is installed on the lower side of the horizontal telescopic device 5. The output end of the feed pump 61 is connected to the feed inlet of the printing barrel 62. The feed pump controller 72 is connected to the feed pump 61. The driver 71 is connected to the printing barrel 62 and the feed pump controller 72.

[0088] The driver 71 is used to control the operation of the printing barrel 62, detect the change in the concrete volume in the printing barrel 62 and send it to the feed pump controller 72;

[0089] The feed pump controller 72 is used to control the delivery rate of the feed pump 61 according to the change in concrete capacity.

[0090] In this embodiment, the driver 71 is connected to the multi-axis motion controller 73, which is used to control the operation of various driving components of the building 3D printing robot. The printing barrel 62 is provided with an inlet and an outlet. The output end of the feed pump 61 is connected to the inlet of the printing barrel 62. A printing barrel motor 63 is installed in the printing barrel 62. The output shaft of the printing barrel motor 63 is connected to the stirring roller 64. The concrete delivered by the feed pump 61 is discharged from the outlet through the stirring roller 64. The driver 71 can be connected to the printing barrel motor 63 to detect the current of the printing barrel motor 63. The current detection function can be integrated on the power board of the driver 71 to monitor the current in real time. When the concrete volume in the printing barrel 62 changes, the change in the resistance of the stirring roller 64 will cause the stirring torque of the printing barrel motor 63 to change, which in turn causes the current of the printing barrel motor 63 to change. Therefore, by detecting the change in current, the change in concrete volume can be obtained, which can realize real-time feeding operation and ensure sufficient and stable concrete supply, and effectively improve printing accuracy. The specific steps are as follows:

[0091] When the printing device 6 is empty or has a known capacity, measure and record the current value of the printing barrel motor 63 in the printing device 6 at this time. , and the current value Convert it into the initial value of concrete capacity, then start printing, and measure the current value in real time during printing , the current value Convert it into the corresponding concrete capacity to obtain the current-concrete capacity curve, and obtain the real-time capacity of the printing device 6 according to the curve , let the lower limit of concrete capacity be , the amount of concrete required to be fed is:

[0092] ;

[0093] When Q>0, it indicates that a quantity Q of concrete needs to be supplied to the printing device 6. The printing motor driver 71 feeds back a signal to the feed pump controller 72, which controls the feed pump 61 to deliver a quantity Q of concrete to the printing barrel 62. When Q≤0, it indicates that the current quantity of concrete in the printing barrel 62 is sufficient and no further supply is required.

[0094] The driver 71 can also be connected to a weighing sensor, which is installed in the printing barrel 62. The change in concrete capacity is obtained by obtaining the change in the weight of the concrete in the printing barrel 62. The driver 71 can also be connected to a capacitive sensor, which is placed in the concrete in the printing barrel 62. The capacitance value of the concrete is detected and converted into a change in the concrete capacity.

[0095] Example 5:

[0096] See also Figure 16 A multi-machine collaborative construction method, comprising the following steps:

[0097] First, pour the foundation i, then hoist multiple construction 3D printing robots onto the foundation i, and then use multiple construction 3D printing robots to print the interior walls, exterior walls, and load-bearing walls to the set height H1;

[0098] When printing the load-bearing wall 9, place a stirrup 8 at the printing position of the load-bearing wall 9 at every printing distance H until the printing reaches the set height H1;

[0099] Then, the exterior wall 103 is printed to a height of H2, and then multiple building 3D printing robots are lifted off the foundation i. At this point, the wall printing is complete.

[0100] The composite slab 10 is then hoisted onto the inner wall 102 so that the multiple load-bearing walls 9 are located outside the composite slab 10, and then the vertical steel bars 101 are inserted into the stirrups 8;

[0101] Then, concrete is poured on the composite slab 10 to form a floor slab, and at the same time, concrete is poured into the load-bearing wall 9 so that the load-bearing wall 9 and the upper part of the floor slab are cast and formed as one piece.

[0102] Example 6:

[0103] The basic content is the same as that of Example 5, except that:

[0104] Before printing a building, the building is sliced ​​and the number and position of the building 3D printing robots are determined; path planning is performed for each building 3D printing robot to enable multiple building 3D printing robots to collaboratively print the building; the spatial position relationship of multiple building 3D printing robots is monitored, and local trajectory planning is performed to avoid collisions.

[0105] In this embodiment, the specific steps for determining the number and positions of building 3D printing robots are as follows:

[0106] Set the required printing area of ​​the building model on the horizontal plane to , the printing area of ​​a single building 3D printing robot on the horizontal plane is , then the minimum number of construction 3D printing robots required is for: ;

[0107] Number of construction 3D printing robots The calculation formula is:

[0108] ;

[0109] ;

[0110] in, is a positive integer, 3D printing robots for construction Separate coverage of building model outlines, The standard deviation of the coverage rate of the building model contour for each building 3D printing robot, is the average value of the individual coverage rate of the building model outline by each building 3D printing robot; let Starting from 1, multiple Value, when multiple When there is a minimum value among the values, the minimum value is used. Corresponding As the number of construction 3D printing robots;

[0111] Adjust the position of the construction 3D printing robot to satisfy the following formula;

[0112] ; ;

[0113] ;

[0114] in, 3D printing robots for construction The rotation center, , 3D printing robots for construction The coordinates of the rotation center, , 3D printing robots for construction The coordinates of the rotation center, The safe distance between the center points of the building 3D printing robot, It is the area enclosed by the new contour formed by offsetting all the inner contours of the building model inward by a distance r, where r is the minimum printing radius of the building 3D printing robot;

[0115] In calculating multiple When the value The formula should be satisfied: ;

[0116] in, is the coverage of the overall printing robot, for the multiple , only keep Corresponding value;

[0117] In order to further optimize the layout of the printing robot, a genetic algorithm is used to solve the printing robot layout. The specific steps are as follows:

[0118] S1: The rotation centers of each printing robot are combined into a vector , and then print the robot's rotation center as a gene on the chromosome, Each gene constitutes a chromosome;

[0119] S2: From the area Randomly select a sub-region and calculate the maximum length L and width W of the sub-region, as well as the minimum value in the X-axis direction and the minimum value in the Y-axis direction ;

[0120] Secondly, randomly generate and :

[0121] ; ;

[0122] in, and are random numbers in the intervals [0, L] and [0, W] respectively; they are generated repeatedly and , until point ( , )Inside the sub-region, point ( , ) is added to the chromosome as a gene; repeat the above steps until the chromosome Each gene is initialized;

[0123] The fitness function is used to minimize the standard deviation of the coverage rate of each printing robot on the building model contour , the fitness function is designed as the following piecewise function:

[0124] ;

[0125] ;

[0126] Where, is the penalty value, for The printing robot does not meet the safety distance the number of for The total number of printing robots in pairs, so Indicates that each robot meets the safety distance ;

[0127] A hybrid selection operator is used in combination with a roulette wheel strategy and an elite retention strategy to sort individuals according to their fitness. The top 10% of individuals are directly copied to the next generation, and the remaining individuals of the next generation population are selected through a roulette wheel strategy.

[0128] Among them, the parent generation is selected through the elite selection strategy, and then a crossover point is randomly selected for crossover. The genes before the crossover point of parent 1 are combined with the genes after the crossover point of parent 2 to form the new offspring 1, and the genes after the crossover point of parent 1 are combined with the genes before the crossover point of parent 2 to form the new offspring 2. The operation generates new offspring individuals by exchanging some of the genes of the parents. On the one hand, this increases the diversity of the population and prevents the algorithm from converging too early. On the other hand, the excellent characteristics of the parent generation may be inherited by the offspring individuals, allowing the algorithm to find the approximate optimal solution more quickly. The mutation operation can adopt the basic bit mutation strategy, randomly select a mutation point, and the new gene at the mutation point is generated according to the above-mentioned population initialization steps. Like the crossover operation, the individuals generated by the crossover operation that do not meet the constraints will be eliminated in the selection operator. Therefore, the offspring generated by the crossover operation that do not meet the constraints are also retained. By randomly changing some of the genes of the individuals and introducing new genes, the diversity of the population is increased, and the algorithm is prevented from falling into the local optimal solution.

[0129] The above method can determine the coordinates of the rotation center of the printing robot. Then, according to the accessible printing area of ​​each printing robot, the outline of the building model is distributed to each printing robot. Based on the task allocation results, the initial printing path is planned for each printing robot in a stand-alone operation mode and the corresponding G-code file is generated. Under the centralized control architecture, each printing robot at a fixed position receives the G-code instructions issued by the host computer and independently executes the printing task. At the same time, its own position, posture and other motion status are fed back to the host computer in real time. Since the multi-machine collaboration constraints are not considered when the initial G-code is generated, the host computer needs to dynamically monitor the spatial position relationship between the robots based on the real-time status data of each robot to prevent collisions between the robots.

[0130] To avoid collisions, the printing order of each task assigned to each printing robot can be initially planned based on the nearest neighbor algorithm. Starting from the starting point, each time the nearest unvisited point to the current position is selected as the next target, until all points are traversed. Each time, the nearest unvisited contour to the current position is selected, and the vertex closest to the current position on this contour is selected as the next printing point, until all contours are traversed, ensuring the shortest total path length and the smallest idle distance. After completing the planning of all contours in the current layer, the contours of the next layer are processed according to the same rules until all slice layers are planned;

[0131] Alternatively, an oriented bounding box (OBB) model of the printing robot beam can be constructed based on the nozzle center point: the printing robot beam is abstracted into a dynamic rectangular box that is updated in real time with the nozzle position, which is divided into:

[0132] Head OBB: Length changes with nozzle movement (related to the distance from the rotation center to the nozzle); Tail OBB: Length is fixed (balancing effect) and width is fixed; Long axis a1: In line with the beam length direction (line connecting the nozzle center and the rotation center); Short axis a2: Long axis rotated 90° counterclockwise (in the beam width direction);

[0133] Project the two OBB vertices onto the other's main axis to obtain the projection interval [min, max] and perform overlap detection. If the projection intervals on all separation axes overlap, there is a collision; otherwise, there is no collision. At the same time, for each pair of printing robots, only four separation axes (the major and minor axes of the two OBBs) need to be checked.

[0134] In a multi-machine collaborative printing scenario, for each pair of printing robots, the collision between them can be classified as either a catch-up collision or a head-on collision, depending on whether the angle between the velocity directions of the contact points is greater than 90°.

[0135] Assume that the two printing robots are A and B. When a collision occurs, the velocity vector of the collision contact point of printing robot A is v_A, and the velocity vector of the collision contact point of printing robot B is v_B. The velocity direction angle θ∈[0°, 90°), that is, the velocity vector dot product v_A∙v_B>0, will cause one robot to chase the other robot and collide. The velocity direction angle θ∈[90°, 180°], that is, the velocity vector dot product v_A∙v_B≤0, will cause the two robots to collide in opposite directions.

[0136] When a pursuit collision occurs, the faster one becomes the pursuer and the slower one becomes the pursued. The pursuer pauses printing while the pursued one continues printing. When the OBB distance between the two exceeds the safety threshold d, the pursuer resumes printing. This can avoid continuous collisions caused by speed differences and is simple and easy to implement.

[0137] When a head-on collision occurs, the one with the shorter path will be the avoiding party. If it is a rear-end collision, the avoiding party will rotate the beam in the opposite direction until the OBB does not overlap with the other party's future path area; if it is a head-on collision, the avoiding party will translate along the long axis of the other party or shorten the head of the beam to ensure that there is no collision with the other party's current and future path OBB.

[0138] Example 7:

[0139] The basic content is the same as that of Example 5, except that:

[0140] See also Figure 16 and Figure 17 First, print the composite slab formwork, then place the steel bars in the composite slab formwork, and then pour concrete to form the composite slab 10. The height of the composite slab 10 is h1 and is smaller than H2. The composite slab 10 is provided with a plurality of notches that match the load-bearing walls 9. Then, the solidified composite slab 10 is hoisted onto the inner wall 102 so that the plurality of notches are arranged one-to-one with the plurality of load-bearing walls 9.

[0141] In this embodiment, when multiple printing robots complete the printing of the first floor of the building on the foundation to the cover stage, the robot is used to print the composite board 10 with a height of h1. Since the outer wall 103 is H2 high, the composite board 10 can be positioned against the outer wall 103. Its characteristic is that the position of the load-bearing wall 9 needs to be exposed. The printing robot can flexibly design and print composite boards of different specifications and sizes according to the shape, size, position and shape of the load-bearing wall of the building, with fast production speed and high degree of automation.

[0142] Example 8:

[0143] The basic content is the same as that of Example 5, except that:

[0144] See also Figure 15 and Figure 16The inner side of the stirrup 8 is provided with a plurality of positioning holes 81 that match the vertical steel bars 101; the vertical steel bars 101 are inserted into the positioning holes 81, and then concrete is poured into the load-bearing wall 9.

[0145] In this embodiment, the positioning holes 81 of the stirrups 8 are generally 5-10 mm larger than the diameter of the vertical steel bars 101. The positioning holes 81 are used to position the vertical steel bars 101 and embed the stirrups 8 into the concrete. The stirrups 8 form a mechanical bite with the printed concrete layer to improve the bonding strength between the stirrups 8 and the concrete. The printing height H is generally 300-600 mm. If there are requirements for earthquake resistance, it is necessary to consider increasing the number of positioning holes 81, selecting large-sized stirrups 8, forming a high-strength steel skeleton with the positioning holes 81 and the vertical steel bars 101, and shortening the printing height H, such as 200-400 mm, to place the stirrups 8 and other methods to improve the strength of the building components. There is no need to auxiliary fix the steel skeleton, reducing on-site adjustment time; the positioning holes 81 and the printed concrete layer form a mortise and tenon structure similar to that of the mortise and tenon structure. Compared with traditional wire tying, it can reduce the risk of steel bar slippage, so that the stirrups 8 form a continuous support system in the vertical direction, and enhance the shear and torsion resistance of the load-bearing column.

[0146] According to the cross-sectional shape and size of the load-bearing wall 9, the load-bearing wall 9 can be divided into a small-section load-bearing wall, a large-section load-bearing wall, a circular load-bearing wall, and an inclined load-bearing wall; for a small-section load-bearing wall, four positioning holes 81 can be used, one at each of the four corners; for a large-section load-bearing wall, 6-8 positioning holes 81 can be used, and the positioning holes 81 are evenly distributed along the periphery to avoid concrete cracking caused by excessive spacing between steel bars; the number of positioning holes 81 of a circular load-bearing wall is not less than 3, and is evenly distributed at 120° to ensure that the steel skeleton does not twist; for an inclined load-bearing wall, the positioning holes 81 are placed at an angle.

[0147] Example 9:

[0148] The basic content is the same as that of Example 5, except that:

[0149] See also Figure 18 , place the steel mesh 104 on the composite plate 10, tie the steel mesh 104 and the vertical steel bars 101 to form a steel skeleton, and then pour concrete to form a floor slab after tying.

[0150] In this embodiment, the steel bars on the composite plate 10 are bundled together with the vertical steel bars 101 to form a spatial truss connection, which can effectively improve the stress of the building, the floor slab can withstand a larger load, and the seismic resistance level is improved; after the steel bars are tied, the concrete is poured in an integrated manner, that is, the floor slab is formed and the floor slab is integrated with the load-bearing wall 9 at the same time, which can eliminate the construction joints of the traditional process, reduce the construction process, further improve the construction efficiency, and save costs.

[0151] Example 10:

[0152] The basic content is the same as Example 9, except that:

[0153] See also Figure 3 and Figure 4 First, the floor slab formed by pouring concrete is used as foundation i+1, and multiple construction 3D printing robots are hoisted onto foundation i+1. Then, multiple construction 3D printing robots print walls, and then pour concrete to form a floor slab, which is used as foundation i+2. Repeat the above operations to complete the circular printing construction of high-rise buildings.

[0154] In this embodiment, four supporting devices 2 are installed on the chassis 1 of the building 3D printing robot. The supporting device 2 includes a sleeve 21, a first support rod 22, a second support rod 23, a first butterfly bolt 24, a second butterfly bolt 25, a first fixing nut 26, a second fixing nut 27, a first leveling pad 28, and a second leveling pad 29. The sleeve 21, the first support rod 22, and the second support rod 23 are all designed with hollow steel pipes. Four mounting grooves 11 are opened on the side of the chassis 1. The sleeve 21 corresponds to the mounting groove 11 one by one. The sleeve 21 is horizontally installed in the mounting groove 11. The first support rod 22 is slidably connected to the sleeve 21 in the horizontal direction, and the second support rod 23 is slidably connected to the first support rod 22 in the horizontal direction. The first butterfly bolt 24 is threadedly connected to the outside of the sleeve 21, and the first fixing nut 26 is threadedly connected to the first butterfly bolt 24, the tail of the first butterfly bolt 24 passes through the sleeve 21 and abuts against the outer side of the first support rod 22, one side of the first fixing nut 26 abuts against the sleeve 21, and the other end of the first fixing nut 26 abuts against the head of the first butterfly bolt 24, the second butterfly bolt 25 is threadedly connected to the outer side of the first support rod 22, and the second fixing nut 27 is threadedly connected to the second butterfly bolt 25, the tail of the second butterfly bolt 25 passes through the first support rod 22 and abuts against the outer side of the second support rod 23, one side of the second fixing nut 27 abuts against the first support rod 22, and the other end of the second fixing nut 27 abuts against the head of the second butterfly bolt 25, the first leveling pad 28 is threadedly connected to the end of the second support rod 23, the upper side of the chassis 1 at the four corners is connected with the hook 12, and the lower side of the chassis 1 at the four corners is threadedly connected with the second leveling pad 29;

[0155] The specific steps for building 3D printing robot hoisting are:

[0156] Use the hook of the crane to connect the lifting rings 12 at the four corners of the chassis 1, lift the building 3D printing robot off the floor surface to a certain height by the crane, then retract the first support rod 22 and the second support rod 23, and fix the first support rod 22 and the second support rod 23 with the first butterfly bolt 24 and the second butterfly bolt 25;

[0157] The crane slowly lifts the hook to make the building 3D printing robot as vertical as possible from the foundation i to avoid damage to the robot structure or shift of the center of gravity due to shaking. The crane moves it horizontally at a low speed to above the predetermined installation position of the foundation i+1. Someone is required to direct the movement; when approaching the foundation i+1, the first support rod 22 and the second support rod 23 are pulled out, and the first support rod 22 and the second support rod 23 are fixed by the first butterfly bolt 24 and the second butterfly bolt 25, and then the first leveling foot 28 is adjusted to ensure that the support device 2 is stably stressed, and then the hook is slowly released to complete the lifting.

Claims

1. A construction 3D printing robot, characterized by: The invention comprises a chassis (1), a rotating device (3), an upper and lower telescopic device (4), a horizontal telescopic device (5), a printing device (6), and an automatic feeding system (7); the rotating device (3) is connected to the upper side of the chassis (1); the upper and lower telescopic device (4) comprises an outermost column device (41), an intermediate column device (42), and an innermost column device (43) arranged in sequence from the outside to the inside; the outermost column device (41) is connected to the upper side of the rotating device (3); the intermediate column device (42) is connected to the innermost column device (43); The device (42) is movably connected to the outermost column device (41) in the vertical direction, the innermost column device (43) is movably connected to the middle column device (42) in the vertical direction, an accommodating cavity (44) is provided on the inner side of the innermost column device (43), the horizontal telescopic device (5) is connected to the accommodating cavity (44), the printing device (6) is connected to one end of the horizontal telescopic device (5), and the automatic feeding system (7) is installed on the horizontal telescopic device (5); The rotating device (3) is used to drive the upper and lower telescopic devices (4) to rotate horizontally along their circumference; The upper and lower telescopic device (4) is used to realize its own secondary vertical telescopic movement and drive the horizontal telescopic device (5) to move vertically; The horizontal telescopic device (5) is used to realize its own horizontal telescopic movement and drive the printing device (6) to move horizontally; The printing device (6) is used to store concrete and extrude the concrete downward for printing; The automatic feeding system (7) is used to deliver concrete to the printing device (6).

2. A construction 3D printing robot according to claim 1, characterized in that: The outermost column device (41) comprises two symmetrically arranged outermost frames (411), a driving motor (412) is mounted on the outermost frame (411), an output shaft of the driving motor (412) is connected to a screw rod (413), the screw rod (413) is vertically arranged and rotatably connected to the outermost frame (411), and an outer synchronous belt pressure plate (415) is connected to the inner side of the outermost frame (411); The intermediate layer column device (42) includes two symmetrically arranged intermediate layer frames (421), the lower sides of the two intermediate layer frames (421) are connected to each other through a first crossbeam (428), a screw nut (422) is installed on one of the intermediate layer frames (421), the screw nut (422) is threadedly connected to the screw (413), the outer side of the intermediate layer frame (421) is rollingly connected to the intermediate synchronous belt (424), the outer side of the intermediate synchronous belt (424) is fixedly connected to the outer layer synchronous belt pressure plate (415), and the inner side of the intermediate layer frame (421) is connected to the intermediate layer synchronous belt pressure plate (427); The innermost column device (43) includes two symmetrically arranged innermost frames (431), the lower sides of the two innermost frames (431) are connected to each other through a second crossbeam (436), the upper sides of the two innermost frames (431) are installed with a connecting frame (437), the outer side of the innermost frame (431) is rollingly connected to an inner synchronous belt (433), the outer side of the inner synchronous belt (433) is fixedly connected to the middle synchronous belt pressure plate (427), the outer side of the innermost frame (431) is also connected to an inner synchronous belt pressure plate (435), the inner synchronous belt pressure plate (435) is connected to the inner side of the middle synchronous belt (424), and the inner side of the inner synchronous belt (433) is connected to the horizontal telescopic device (5).

3. A construction 3D printing robot according to claim 2, characterized in that: The inner side of the outermost frame (411) is connected to a first ball pulley module (414), the outer side of the intermediate frame (421) is provided with a first steel rail (425) that cooperates with the first ball pulley module (414), the inner side of the intermediate frame (421) is connected to a second ball pulley module (426), and the outer side of the innermost frame (431) is provided with a second steel rail (434) that cooperates with the second ball pulley module (426); The outermost frame (411), the middle layer frame (421), and the innermost frame (431) all include two brackets (45), the brackets (45) are hollow, and multiple wedges (48) are placed in the brackets (45). The first ball pulley module (414), the outer synchronous belt pressure plate (415), the second ball pulley module (426), the middle layer synchronous belt pressure plate (427), and the inner layer synchronous belt pressure plate (435) are respectively threadedly connected to the brackets (45) through the wedges (48).

4. The construction 3D printing robot according to claim 1, characterized in that: The automatic feeding system (7) includes a driver (71) and a feed pump controller (72); the printing device (6) includes a feed pump (61) and a printing barrel (62); the printing barrel (62) is installed on the lower side of the horizontal telescopic device (5); the output end of the feed pump (61) is connected to the feed inlet of the printing barrel (62); the feed pump controller (72) is connected to the feed pump (61); and the driver (71) is connected to the printing barrel (62) and the feed pump controller (72); The driver (71) is used to control the operation of the printing barrel (62), detect the change in the volume of concrete in the printing barrel (62) and send it to the feed pump controller (72); The feed pump controller (72) is used to control the delivery rate of the feed pump (61) according to the change in concrete capacity.

5. A multi-machine collaborative construction method, characterized by: The multi-machine collaborative construction method comprises the following steps: First, pour the foundation i, then hoist multiple building 3D printing robots onto the foundation i, and then use the multiple building 3D printing robots to print the inner wall (102), the outer wall (103), and the load-bearing wall (9) to the set height H1; When printing the load-bearing wall (9), a stirrup (8) is placed at the printing position of the load-bearing wall (9) at every printing distance H until the printing reaches the set height H1; Then the outer wall (103) is printed to a height of H2, and then multiple building 3D printing robots are lifted off the foundation i, and the wall printing is completed; The composite plate (10) is then hoisted onto the inner wall (102) so that the plurality of load-bearing walls (9) are located outside the composite plate (10), and then the vertical steel bars (101) are inserted into the stirrups (8); Then, concrete is poured on the composite slab (10) to form a floor slab, and concrete is poured into the load-bearing wall (9) at the same time, so that the load-bearing wall (9) and the upper part of the floor slab are integrally cast and formed.

6. The multi-machine collaborative construction method according to claim 5, characterized in that: Before printing a building, slice the building and determine the number and location of the building 3D printing robots; Perform path planning for each building 3D printing robot to enable multiple building 3D printing robots to collaboratively print buildings; Monitor the spatial positional relationships of multiple construction 3D printing robots and perform local trajectory planning to avoid collisions.

7. The multi-machine collaborative construction method according to claim 5, characterized in that: First, a composite slab template is printed, and then steel bars are placed in the composite slab template. Then, concrete is poured to form a composite slab (10). The height of the composite slab (10) is h1 and is smaller than H2. The composite slab (10) is provided with a plurality of notches matching the load-bearing walls (9). Then, the solidified composite slab (10) is hoisted onto the inner wall (102) so that the plurality of notches are arranged in one-to-one correspondence with the plurality of load-bearing walls (9).

8. The multi-machine collaborative construction method according to claim 5, characterized in that: The inner side of the stirrup (8) is provided with a plurality of positioning holes (81) that match the vertical steel bars (101); The vertical reinforcement (101) is inserted into the positioning hole (81), and then concrete is poured into the load-bearing wall (9).

9. The multi-machine collaborative construction method according to claim 8, characterized in that: A steel mesh (104) is placed on the composite plate (10), and the steel mesh (104) and the vertical steel bars (101) are tied together to form a steel skeleton. After the tying is completed, concrete is poured to form a floor slab.

10. The multi-machine collaborative construction method according to claim 9, characterized in that: First, the floor slab formed by pouring concrete is used as foundation i+1, and multiple construction 3D printing robots are hoisted onto foundation i+1. Then, multiple construction 3D printing robots print walls, and then concrete is poured to form a floor slab, which is used as foundation i+2. The above operations are repeated to complete the circular printing construction of high-rise buildings.

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