A building construction method based on automatic construction equipment

Abstract

The application discloses a building construction method based on automatic construction equipment, which comprises the following steps: constructing a building structure by using integrated construction equipment in a layer-by-layer circulation mode, and each layer construction cycle comprises a vertical component forming stage, an integrated decoration stage and a horizontal component forming stage; the vertical component forming stage and the integrated decoration stage are implemented in parallel in a flow insertion operation mode; the integrated construction equipment comprises a suspension structure, a feeding system and an operation system; the operation system is configured to perform the following operations: selecting a target module suitable for a current construction task from a plurality of functional modules; and controlling a multi-axis industrial mechanical arm to perform corresponding operations; and the construction method greatly reduces turnover materials such as formwork supports, and solves the problems of low automation degree, poor process coordination capability, long construction period, high proportion of manual work, separation of civil engineering and decoration processes and the like in the existing building construction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction automation, in particular to a building construction method based on automatic construction equipment. BACKGROUND

[0002] In the field of building construction, especially in the construction of multi-story and high-rise buildings, the traditional "design-construction-decorating" serial construction mode still dominates. This mode has the following inherent defects:

[0003] (1) Poor process coordination and long overall construction period: The civil structure and interior decoration are considered as two completely separate stages. The masonry, pipeline pre-embedding and decoration stages can only be entered after the overall structure is completely capped. This strict serial process makes different professional workers unable to form effective coordination, resulting in high idle rate of operation area, long overall construction period and high time cost.

[0004] (2) Difficulty in automatic connection and heavy reliance on manual work: Due to the complex construction site environment and variable processes, existing technologies lack integrated construction equipment that can adapt to this nonlinear operation process. The connection between different processes (such as pouring, masonry, pipeline pre-embedding, and plastering) almost completely relies on manual judgment and operation, resulting in automatic equipment that can only complete single and isolated tasks, and cannot form a coherent automatic flow operation. Therefore, on-site construction is still labor-intensive, with a high proportion of manual work, and the efficiency improvement is facing a bottleneck.

[0005] (3) Insufficient ability to cope with complex environment: Traditional automation or semi-automation equipment is usually designed for standardized and static factory environment, and is difficult to adapt to the dynamic changes and unstructured complex environment (such as space limitation, variable obstacles, and cross-operation of different processes) of the construction site. Its applicability and reliability are significantly reduced, further increasing the dependence on manual operation.

[0006] (4) Separation of civil engineering and decoration leads to long construction period: The "extensive" civil engineering stage cannot provide the high-precision reference surface and pre-embedding conditions necessary for subsequent automated decoration. The deviation of wall flatness, perpendicularity, and the absence or misplacement of pre-embedded parts make it difficult to effectively implement automated decoration processes based on digitalization and precision machinery (such as robot plastering and installation of hanging boards), forcing a return to a manual-based operation mode, hindering the automation and industrialization process of building decoration.

[0007] In view of the above problems, the existing technology needs to be improved. SUMMARY

[0008] In view of the defects existing in the above prior art, the present application provides a building construction method based on automatic construction equipment to solve the technical defects of poor process coordination, high proportion of manual work, and long construction period in building construction.

[0009] The application adopts the following technical solutions:

[0010] A building construction method based on automatic construction equipment, comprising performing automatic construction of a building structure using an integrated construction equipment, the construction steps of the building structure comprising:

[0011] Step one, the integrated construction equipment constructs the building structure in a layer-by-layer cycle according to preset building design information, wherein each layer construction cycle comprises:

[0012] Vertical component forming stage: on the completed lower structure, the steel reinforcement framework inside the current layer vertical load-bearing component is automatically constructed on site, the vertical load-bearing formwork outside the constructed steel reinforcement framework is constructed by additive manufacturing technology, fluid building materials are poured into the vertical load-bearing formwork to form the current vertical load-bearing structure, and then the masonry wall of the current layer is automatically constructed by additive manufacturing technology, and in the process of constructing the masonry wall, the first pre-embedded pipeline system is simultaneously implanted into the corresponding wall;

[0013] Integrated decoration stage: part of the integrated decoration process is performed on the formed structure by the integrated construction equipment and / or auxiliary execution equipment;

[0014] Wherein, the vertical component forming stage and the integrated decoration stage are implemented in a flow-through interlaced operation mode, specifically: the construction area of the current layer is divided into multiple sub-areas, and for any sub-area, the integrated decoration process is started after the vertical component construction of the sub-area is completed; at the same time, at least one other sub-area is being constructed vertically;

[0015] Horizontal component forming stage: on the current vertical load-bearing structure, the mold and internal steel reinforcement framework of the horizontal floor component of the current layer are automatically constructed on site, and a steel reinforcement connecting part is reserved for the vertical load-bearing component of the previous layer, and the second pre-embedded pipeline system is arranged in the mold of the horizontal floor component; then, fluid building materials are poured into the mold to wrap the second pre-embedded pipeline system, so as to form the horizontal floor structure of the current layer integrated with the second pre-embedded pipeline system;

[0016] Step two, repeat the construction cycle in step one until the building structure is topped off;

[0017] Wherein, the integrated construction equipment comprises a suspension structure capable of climbing along the completed building structure, a feeding system integrated on the suspension structure, and a work system, the feeding system is used to continuously supply the required building materials to the work system, the work system comprises a multi-axis industrial robot arm capable of moving in at least two degrees of freedom in the horizontal plane of the suspension structure, and the work system is configured to perform the following operations:

[0018] selecting a target module from a plurality of functional modules, each of the functional modules being configured to perform a specific construction operation, the functional modules including at least a first type of module for constructing a steel reinforcement cage, a second type of module for handling fluid building materials, and a third type of module for assembling a mold;

[0019] mounting the target module to an end of the multi-axis industrial robot arm via a universal interface;

[0020] controlling movement of the multi-axis industrial robot arm and driving the target module to perform a corresponding construction operation.

[0021] Further, the first pre-embedded pipeline system includes a first type of pipeline for transmitting energy, a second type of pipeline for transmitting information signals, and a third type of pipeline for transmitting fluids, wherein the first pre-embedded pipeline system is laid and fixed on the printed wall layer by the multi-axis industrial robot arm along a preset path and is covered and wrapped by the subsequently printed wall material.

[0022] Further, the second pre-embedded pipeline system includes at least one of a water supply pipe, a drainage pipe, a cable pipe, and a communication line pipe, wherein the second pre-embedded pipeline system is tied or welded to the steel reinforcement cage within the mold of the horizontal floor component by a fixing member.

[0023] Further, the integrated decoration process includes processing of a vertical component surface, a floor upper surface, and a floor lower space; the processing of the floor upper surface includes at least one of floor leveling, laying a waterproof layer, floor tiling, and installing sanitary wares, the processing of the floor lower space includes at least one of board bottom plastering and suspended ceiling installation and is completed by a floor mobile robot or manually, and the processing of the vertical component surface includes at least one of wall surface leveling, plastering, and installing doors and windows.

[0024] Further, in the vertical component forming stage or the horizontal component forming stage, the process of constructing the internal steel reinforcement cage includes at least one of the following automated processes: forming a steel reinforcement cage by bending, tying, or welding straight steel reinforcement on site by the first type of module, or using a prefabricated steel reinforcement cage.

[0025] Further, the mold of the horizontal floor component is fixed to the top end of the already built vertical load-bearing component below in a lapping manner via the receiving structure provided on the periphery of the mold, so as to jointly enclose a closed cavity for pouring the floor.

[0026] Further, the first type of module includes at least one of the following modules: a steel bar conveying module, a steel bar bundling module, a steel bar welding module; the second type of module includes at least one of the following modules: an additive manufacturing printing head, a troweling module, a pouring and vibrating module; the third type of module is a mold grasping and assembling module; the functional module further includes an installation module for installing auxiliary facilities on a completed building structure, and a surface treatment module for cleaning or arranging a building surface.

[0027] Further, the integrated construction equipment is further configured to perform an automated surface treatment operation on an outer facade of a building structure, the automated surface treatment operation including installing an accessory member on the outer facade or applying or attaching a decorative and functional surface layer on the outer facade surface, and the integrated construction equipment is configured to perform the automated surface treatment operation by replacing a fourth type of module for performing different surface treatment operations, the fourth type of module including at least one of the following modules: a member grasping and installing module, an application operation module, and an attachment operation module.

[0028] Further, the integrated construction equipment further includes a closable protective isolation structure arranged outside the suspension structure and / or the operation system, for forming an isolation barrier between the equipment and the external environment, and the protective isolation structure is configured to be fixedly installed or movably installed.

[0029] Further, the integrated construction equipment further includes:

[0030] a perception system arranged on the suspension structure and / or the operation system, for collecting real-time operation state parameters and environmental information of the operation system;

[0031] a control system in communication connection with the perception system and the operation system, and the control system is configured to perform:

[0032] control the suspension structure to climb to a current operation floor;

[0033] control the multi-axis industrial robot arm to move to a target operation point;

[0034] automatically select and switch to install a corresponding functional module according to a current construction procedure;

[0035] perform a corresponding building operation by using the currently installed functional module;

[0036] acquire state data of a construction process in real time through the perception system;

[0037] compare and analyze the state data with an expected target state;

[0038] Based on the deviation result of the comparison analysis, control instructions are generated in real time and closed-loop feedback optimization adjustment is performed on the running parameters of the job system.

[0039] Compared with the prior art, the beneficial effects of the present application at least include:

[0040] The present application realizes full-process automatic construction through integrated construction equipment, and the core is layer-by-layer cyclic construction and multi-process cooperation. The integrated construction equipment adopts a suspension structure climbing design, combined with multi-axis mechanical arms and modular functional units, solves the problems of equipment flexibility and single function. In the vertical component forming stage, the vertical load-bearing structure and the masonry wall are automatically built through additive manufacturing technology, and the first embedded pipeline system is simultaneously implanted in the process of building the masonry wall, and each process is automatically connected; the integrated decoration stage is carried out cross with the structure construction, shortening the overall construction period. The horizontal component forming stage reserves the steel bar connecting part to ensure the continuity of the upper and lower structures. The multi-axis industrial robot arm is designed through replaceable functional modules, so that a single mechanical arm can adapt to the requirements of different processes such as steel skeleton construction, fluid building material processing, mold assembly, etc. The feeding system continuously supplies materials, and cooperates with the climbing ability of the suspension structure to form a continuous construction cycle. Through process connection optimization and equipment function integration, the present application realizes the integrated construction of the building main structure and the embedded pipeline, and part of the decoration process. The construction method greatly reduces the turnover materials such as formwork support, solves the problems of low automation degree, poor process cooperation ability, long construction period, high labor proportion, separation of civil engineering and decoration process, etc. in the existing building construction. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is the front view of the integrated construction equipment of the embodiment of the present application climbing on the building structure;

[0042] Figure 2 is the left view of the integrated construction equipment of the embodiment of the present application climbing on the building structure;

[0043] Figure 3 is a partial structure schematic view of the integrated construction equipment of the embodiment of the present application climbing on the building structure;

[0044] Figure 4 is the top view of the integrated construction equipment of the embodiment of the present application climbing on the building structure;

[0045] Figure 5 is a schematic view of the multi-axis industrial robot arm of the embodiment of the present application welding a steel cage;

[0046] Figure 6 is a schematic view of the multi-axis industrial robot arm of the embodiment of the present application printing a formwork;

[0047] Figure 7is an internal schematic diagram of the integrated construction equipment according to an embodiment of the present application;

[0048] In the figure: 1, building structure; 2, integrated construction equipment; 21, suspension structure; 22, feeding system; 23, multi-axis industrial robot arm; 24, multi-directional movement mechanism; 25, additive manufacturing print head; 26, steel bar welding module; 27, troweling module. DETAILED DESCRIPTION

[0049] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus description of the same will be simplified or omitted.

[0050] The words expressing position and direction described in the present application are described with reference to the accompanying drawings, but changes can be made according to needs, and the changes made are included in the scope of protection of the present application.

[0051] In the prior art, the development of building industrialization and construction automation promotes the application of automatic building machines, but the existing equipment has the problems of insufficient design flexibility and poor process coordination capability. When facing non-standardized building structures or changes in floor height, traditional equipment needs to be mechanically reconfigured or system reprogrammed, resulting in reduced construction efficiency. The existing system cannot realize the full-process automation connection of vertical and horizontal components construction, and relies on manual intervention between processes, causing process interruption. In addition, the equipment lacks intelligent environmental perception capability, making it difficult to respond to sudden situations such as material supply abnormalities or foundation micro-deformation, resulting in reduced construction precision and error accumulation problems, which are particularly significant in high-rise construction.

[0052] To solve the above problems, with reference to Figures 1-7 , the present application provides a building construction method based on an automatic construction equipment, comprising using an integrated construction equipment 2 to perform automatic construction of a building structure 1, the construction steps of the building structure 1 comprising: step one, the integrated construction equipment 2 constructs the building structure in a layer-by-layer cycle according to preset building design information, wherein each layer of construction cycle comprises:

[0053] The integrated construction equipment constructs the building structure in a layer-by-layer cycle according to preset building design information, wherein each layer of construction cycle comprises:

[0054] Vertical member forming stage: on the completed lower structure, the steel reinforcement framework inside the vertical load-bearing member of the current layer is automatically constructed on site, the vertical load-bearing formwork outside the constructed steel reinforcement framework is constructed by additive manufacturing technology, fluid building materials are poured into the vertical load-bearing formwork to form the current vertical load-bearing structure, and then the masonry wall of the current layer is automatically constructed by additive manufacturing technology. In the process of constructing the masonry wall, the first pre-embedded pipeline system is simultaneously implanted into the corresponding wall;

[0055] Integrated decoration stage: part of the integrated decoration process is performed on the formed structure by the integrated construction equipment and / or auxiliary execution equipment;

[0056] The vertical member forming stage and the integrated decoration stage are implemented in a flow-through interlaced operation mode, specifically: the construction area of the current layer is divided into multiple sub-areas, and for any sub-area, the integrated decoration process is started after the vertical member construction is completed; at the same time, at least one other sub-area is being constructed vertically;

[0057] Horizontal member forming stage: on the current vertical load-bearing structure, the mold and internal steel reinforcement framework of the horizontal floor member of the current layer are automatically constructed on site, and a steel reinforcement connecting part is reserved for the vertical load-bearing member of the previous layer. The second pre-embedded pipeline system is arranged in the mold of the horizontal floor member; then, fluid building materials are poured into the mold, so that the fluid building materials wrap the second pre-embedded pipeline system, to form the horizontal floor structure of the current layer integrated with the second pre-embedded pipeline system;

[0058] Step two, repeat the construction cycle in step one until the building structure 1 is topped off;

[0059] The integrated construction equipment 2 includes a suspension structure 21 that can climb along the completed building structure 1, a feeding system 22 integrated on the suspension structure 21, and a work system. The feeding system 22 is used to continuously supply the required building materials to the work system. The work system includes a multi-axis industrial robot arm 23 that can move in at least two degrees of freedom in the horizontal plane of the suspension structure 21. The work system is configured to perform the following operations:

[0060] Select a target module suitable for the current construction task from a plurality of functional modules, each of which is configured to perform a specific construction operation. The functional modules at least include a first type of module for constructing a steel reinforcement framework, a second type of module for processing fluid building materials, and a third type of module for assembling a mold;

[0061] The target module is installed to the end of the multi-axis industrial robot arm 23 through a universal interface;

[0062] The multi-axis industrial robot 23 is controlled to move and drive the target module to perform corresponding construction operations.

[0063] In this embodiment, the layer-by-layer cyclic construction method refers to the sequential completion of the alternating construction of vertical components and horizontal components in floor order, which can be specifically implemented by a process linkage logic controlled by a program, and the construction path is automatically generated by a pre-set building information model. The climbable suspension structure 21 can rise with the increase of the floor to ensure that the construction equipment is always at the appropriate working height. The feeding system 22 is installed on the suspension structure 21 to be lifted synchronously with the suspension structure 21 to ensure that the material supply matches the construction progress. The feeding system 22 can include elevators, pumping pipelines and hook devices that can be raised synchronously with the suspension structure 21 for transporting building materials and equipment. The movement of the multi-axis industrial robot 23 in at least two degrees of freedom can be achieved by means of a rail sliding mechanism or a wheeled moving platform. For example, a ring-shaped guide rail is arranged on the edge of the suspension structure 21, so that the base of the robot can move along the X-Y axis, so that the multi-axis industrial robot 23 can move flexibly in three-dimensional space and cover the entire construction area. The universal interface can use standardized mechanical connections and electrical communication protocols to achieve fast module replacement and signal transmission. The steel bar connecting part is a steel bar segment extending upward from the steel bar framework of the horizontal floor component of the current floor to ensure accurate positioning of the steel bars of the vertical components of the upper floor. The integrated decoration process includes wall treatment and pipeline pre-burying, and the multi-axis industrial robot 23 is equipped with a decoration tool head at the end to perform the process.

[0064] Specifically, the construction process starts from the bottom floor and proceeds layer by layer upward. After the suspension structure 21 climbs to the target floor, the movement of the multi-axis industrial robot 23 in the horizontal plane expands the operation range, and in combination with the replaceable functional modules at the end, the multi-axis industrial robot 23 can perform various construction tasks such as steel bar operation, cement 3D printing, mold installation, etc., achieving the multifunctionality and flexibility of the construction process; in the vertical component forming stage, the third type of module assembles the formwork, the first type of module builds the steel bar framework, and the second type of module pours concrete. When the horizontal component is formed, the mold is connected to the lower vertical structure through the receiving structure to form a closed pouring space. In the vertical component forming stage, the multi-axis industrial robot 23 first installs the formwork assembly module to complete the formwork setting of the load-bearing wall and the steel bar binding. Then it switches to the 3D printing module to extrude concrete materials to form walls at non-load-bearing wall positions, and simultaneously implants electrical lines by the pipeline laying module. After the vertical structure is completed, the wall plastering module is immediately started for preliminary decoration. During the construction of the horizontal component, the multi-axis industrial robot 23 switches to the floor formwork module to complete the mold and steel bar framework arrangement, and the pipeline laying module fixes the water and electricity pipelines on the steel bar framework. After pouring is completed, the ground treatment module immediately performs the leveling work. After each floor construction is completed, the suspension structure is lifted to the new working surface by the jacking mechanism, and the feeding system continuously supplies building materials through the vertical conveying pipeline.

[0065] The conventional automatic building machine needs to perform structural construction and decoration operation in stages, and the present application realizes process cross through replaceable modules. The existing equipment needs to be removed after completing the structural construction and introducing the decoration equipment, while the present application completes multiple process operations by using the same mechanical arm platform. In the traditional method, pipeline pre-burying needs to be opened in the later stage, and the present application eliminates the secondary operation through the synchronous implantation process. Compared with the fixed function equipment, the modular mechanical arm can reduce the number of equipment and site occupation, and adapt to the construction of special-shaped structure. The continuous climbing mode of the suspension structure avoids the blind area problem of the traditional tower crane, and realizes the full floor coverage construction. Based on the preset building design information, the layer-by-layer circulation construction method enables the equipment to adapt to the structural changes of different floors, and forms a stable structure system through the alternate construction of vertical members and horizontal members. In the vertical member formation stage, the lower structure formed is used as the foundation to ensure the accuracy of the positioning of the current layer vertical load-bearing member; the reserved steel connecting part in the horizontal member formation stage provides a physical interface for the continuous construction of the upper structure. The linkage climbing design of the suspension structure 21 and the feeding system 22 in the integrated construction equipment 2 ensures the continuous supply of building materials and avoids the construction delay caused by material interruption. The multi-axis industrial robot 23 is designed through replaceable functional modules, so that a single mechanical arm can adapt to the requirements of different processes such as steel skeleton construction, fluid building material processing and mold assembly, and the standardized design of the universal interface greatly improves the module switching efficiency. The combination of the horizontal movement ability of the suspension structure 21 and the multi-degree-of-freedom mechanical arm realizes full coverage operation on the building plane and the facade space, effectively solving the problem of limited operation range of traditional equipment; the automatic building process organically combines each construction step to realize one-time forming of the building main structure and the pre-buried pipeline, reducing the amount of later decoration work. The modular mechanical arm system can adapt to the needs of different construction stages and improve the utilization rate of equipment. The layer-by-layer circulation construction method effectively controls the construction error, and the integrated construction process shortens the process interval time, which can improve the operation continuity compared with the traditional segmented construction. The cooperation of the suspension structure and the feeding system ensures the stability of the material supply for high-rise building construction and avoids the shutdown caused by material shortage.

[0066] The construction method greatly reduces the turnover materials such as formwork support, solves the problems of low automation degree, poor process coordination ability, long construction period, high labor proportion, separation of civil engineering and decoration process and other problems existing in the construction of existing buildings, has high automation and intelligence, greatly improves the construction efficiency and precision, and reduces the labor cost and safety risk effect.

[0067] As a preferred embodiment, the first pre-embedded pipeline system comprises a first type of pipeline for transmitting energy, a second type of pipeline for transmitting information signals, and a third type of pipeline for transmitting fluid, wherein the first pre-embedded pipeline system is laid and fixed on the printed wall layer by the multi-axis industrial robot arm according to the preset path, and is covered and wrapped by the subsequently printed wall material.

[0068] In this embodiment, the first type of pipeline comprises a power supply pipeline, the second type of pipeline comprises at least one of a network communication pipeline, a television signal pipeline, and a security alarm pipeline, and the third type of pipeline comprises at least one of a water supply pipeline and a drainage pipeline.

[0069] Additive manufacturing technology refers to a forming process for constructing a three-dimensional object by layering materials, which can be realized by using concrete 3D printing technology. The building material is extruded through a printing nozzle and the trajectory is controlled according to the building information model. This technology can directly generate a complex geometric shell structure according to the design data, eliminating the traditional mold assembly process. On-site layer-by-layer accumulation means that there is no need to precast molds during construction, but to form the target component through continuous material deposition. Specifically, this can be achieved by using a mechanical arm to carry a printing head to move along a preset path and simultaneously extrude building materials. This method can realize the mold-free construction of building components.

[0070] Specifically, during the construction of vertical load-bearing components, the multi-functional end effector interface of the integrated construction equipment 2 installs the additive manufacturing printing head 25, and the control system drives the multi-directional moving mechanism 24 according to the three-dimensional data generated by the building information model, so that the printing head moves on the surface of the completed lower structure according to the predetermined trajectory. The printing head continuously extrudes the solidifiable building material in the form of wire or slurry. After completing the material laying of each layer of horizontal section, the printing head is lifted by a set height in the vertical direction to continue the next layer of accumulation. By repeating this process until the designed height is reached, a vertical component shell with a predetermined cross-sectional shape is formed, which is used as a permanent formwork for the subsequent pouring process. After the printing nozzle completes the deposition of the single layer of wall material, the multi-axis industrial robot arm immediately performs the pipeline laying operation on the surface of the solidified wall layer. The pipeline is precisely placed at the preset coordinate position by vacuum adsorption or mechanical clamping, and is temporarily fixed by using chemical adhesive or mechanical buckle. Then the printing nozzle continues to deposit the next layer of building material, which completely wraps the pipeline inside the wall. This process realizes the coordinate matching of the printing path and the pipeline layout through the building information model, ensuring that the position of each layer of pipeline is consistent with the overall design.

[0071] The traditional construction method needs to complete the wall construction first and then groove and pre-bury the pipeline, which leads to process separation and secondary structure damage. The embodiment integrates the formwork forming and pipeline pre-burying into a continuous process through additive manufacturing and collaborative work of the mechanical arm. The pipeline pre-burying error in the prior art needs to be repaired manually, while the application realizes one-time forming and positioning of the pipeline through coordinate matching, eliminating the cumulative error. The traditional formwork construction needs to rely on the transportation, hoisting and manual assembly of prefabricated templates, while the application directly generates the formwork structure through in-situ additive manufacturing, eliminating the template storage and assembly links. For building components with special cross-section or non-standard layer height, only the digital model parameters need to be adjusted to realize quick adaptation, without the need to re-produce special templates. The application realizes the instant generation of building formwork and the integration of structure forming operation, avoiding the rework problem caused by size error in traditional template construction. The technology can adapt to the construction needs of complex building shapes, reduce the safety risks of template hoisting in high-altitude operation, and reduce the cost consumption caused by building material transportation and template turnover.

[0072] The application realizes the on-site layer-by-layer accumulation of the formwork through additive manufacturing technology, solves the problem of time-consuming and difficult to adapt to complex structure in traditional mold assembly. The additive manufacturing technology allows real-time adjustment of the formwork shape according to the building information model, improving the adaptability to special-shaped structures. In the wall printing process, the multi-axis industrial robot synchronously lays the first pre-burying pipeline system, and through the precise positioning of the preset path, ensures that the pipeline layout meets the design requirements, avoiding the structure damage caused by secondary grooving in traditional construction. The pipeline is fixed to the printed wall layer and covered by the subsequent material, which not only ensures the integration of the pipeline and the wall, but also forms a physical protection layer through layer-by-layer covering, preventing the pipeline from shifting or being damaged in subsequent construction. The process integration of wall construction and pipeline pre-burying is realized, avoiding the secondary grooving operation in traditional construction, and this synchronous construction method eliminates the process interval between pipeline pre-burying and main construction, reduces the need for manual intervention, and realizes the continuity of the construction process.

[0073] Of course, in other embodiments, a factory-prepared cavity column structure can also be used in the vertical component forming stage. The factory-prepared cavity column structure refers to a columnar prefabricated piece that completes the formwork forming and reinforcement skeleton assembly in advance in the factory. Specifically, it can be manufactured by mold pouring or 3D printing process, and the internal reinforcement skeleton is pre-embedded and forms a cavity structure. This structure realizes size precision control through standardized production and reduces on-site construction links. The formwork and internal reinforcement skeleton of the vertical load-bearing component refers to the concrete shell and its internal reinforcing structure that constitute the building vertical support system. Specifically, the formwork of the prefabricated cavity column can be used as the pouring formwork, and the internal reinforcement skeleton can be used as the load-bearing core. This structure realizes stable quality through factory prefabrication, avoids on-site processing errors, and solves the problems of poor process coordination and insufficient precision control in the prior art. The factory production of the prefabricated cavity column combined with on-site rapid installation realizes the standardization and efficiency of the vertical component construction process, reduces the construction delay risk caused by multi-process cross-operation, and guarantees the consistency of component forming quality through the prefabrication process.

[0074] As a preferred embodiment, the second embedded pipeline system includes at least one of a water supply pipe, a drainage pipe, a cable pipe, and a communication line pipe, wherein the second embedded pipeline system is bound or welded to the reinforcement skeleton in the mold of the horizontal floor component by a fixing member.

[0075] In this embodiment, the second embedded pipeline system refers to a functional pipeline network embedded in the internal structure of the horizontal floor, which can be implemented by PVC pipes or metal pipes, and is used to carry the water and electricity supply and communication signal transmission of the building. Specifically, during the forming process of the horizontal floor component, after the reinforcement skeleton is erected, the pipeline route is determined according to the building mechanical and electrical design drawings. For flexible pipelines, binding is preferred. During operation, the pipeline is extended along the preset path of the reinforcement skeleton by a mechanical arm clamping the pipeline, and is fixed by using a cable tie. After the pipeline layout is completed, the impact force of the fluid building material during pouring is evenly dispersed by the reinforcement skeleton, and the pipeline system is stably positioned in space by multi-point mechanical fixation, avoiding overall deviation or local deformation.

[0076] The present application realizes accurate positioning and stable installation of the pipeline system by limiting the specific composition and fixing mode of the embedded pipeline system in the horizontal floor component. The second embedded pipeline system includes four types of basic function pipelines, namely water supply, drainage, power supply and communication, which ensures the complete coverage of the building function requirements. By physically connecting the pipeline system with the steel reinforcement cage and using binding or welding fixing mode, the displacement of the pipeline caused by fluid building material impact during pouring process is effectively prevented. This fixing mode directly relying on the steel reinforcement cage not only utilizes the supporting characteristics of the existing building structure, but also forms three-dimensional spatial positioning through mechanical fixing, ensuring that the pipeline alignment meets the design requirements. The binding method is suitable for quick installation and adjustment, while the welding method provides stronger anti-displacement capability. The combination of the two fixing methods can be flexibly selected according to the pipeline material and construction conditions, taking into account construction efficiency and installation reliability.

[0077] As a preferred embodiment, the integrated decoration process includes the treatment of the surface of the vertical component, the upper surface of the floor and the space below the floor; the treatment of the upper surface of the floor includes at least one process of floor leveling, laying a waterproof layer, floor tiling and installing sanitary wares, the treatment of the space below the floor includes at least one process of board bottom plastering and suspended ceiling installation, and the process is completed by a floor moving robot or manual method, and the treatment of the surface of the vertical component includes at least one process of wall leveling, plastering and installing doors and windows.

[0078] In the present embodiment, when the current layer horizontal floor pouring is completed, the floor moving robot immediately enters the working surface to implement floor leveling and waterproof layer laying, and the unmanned aerial vehicle hoists the prefabricated suspended ceiling component from the lower layer to the board bottom installation position. When the moving robot performs the floor tiling process, the multi-axis industrial robot 23 synchronously performs plastering treatment on the solidified surface of the vertical component, and the manual operation platform performs precision calibration on the door and window openings. Through process timing optimization, the floor upper surface treatment and the board bottom space construction form a parallel operation flow, eliminating the process stagnation caused by structure maintenance period in traditional construction. The three-dimensional space treatment dimension converts the originally linear decoration process into three-dimensional construction, and the continuous operation of the moving robot on the ground layer and the material transportation of the unmanned aerial vehicle in the vertical direction form spatial complementation, and the manual operation platform as a supplementary means processes the special-shaped nodes that cannot be covered by the equipment.

[0079] Traditional automatic building machines can only complete the main structure construction, and the decoration stage still needs to manually build scaffolding for secondary access operations, resulting in a prolonged construction period. The present application integrates the three-dimensional space processing dimension of the integrated decoration process, integrates the traditional scattered decoration process into the main structure construction process. The treatment of the surface of the vertical component covers the wall surface basic treatment and the installation of doors and windows, ensuring the connection accuracy of the structure and the decorative surface; the upper surface treatment of the floor realizes the functional integration of the structural layer and the use layer through the combination of the waterproof layer and the paving process; the lower space treatment of the floor uses mobile robots or manual methods to solve the construction blind area that cannot be covered by high-altitude operation equipment. Through the collaborative configuration of multiple types of auxiliary equipment such as ground mobile robots and unmanned aerial vehicles, the adaptability of traditional manual operation platforms is retained, and the operation range of automated equipment is expanded, forming a flexible construction system of man-machine cooperation. The parallel processing of each process in the spatial dimension effectively shortens the waiting time between the structure construction and the decoration process in traditional construction.

[0080] As a preferred embodiment, in the vertical component forming stage or the horizontal component forming stage, the process of constructing the internal steel reinforcement framework includes at least one of the following automated processes: forming a steel reinforcement cage by on-site bending, bundling or welding straight steel bars through the first type of module, or using a prefabricated steel reinforcement cage.

[0081] In this embodiment, the internal steel reinforcement framework refers to a metal frame arranged inside the building component to enhance the structural strength, which can be realized by bending straight steel bars into a three-dimensional net structure through bundling or welding. This structure can effectively improve the bending and compression resistance of the concrete component. The first type of module refers to an automated device that performs steel processing operations, which can include clamping, bending, bundling or welding modules to achieve positioning and connection operations of the steel bars through a multi-degree-of-freedom mechanical arm driving tool head. Forming a steel reinforcement cage by on-site bending, bundling or welding straight steel bars refers to directly processing and assembling raw materials on the construction site, which can be achieved by using a mechanical hand with a rotary bending mechanism in cooperation with an automatic wire feeding and bundling device. This method can adapt to non-standard building structure requirements. The prefabricated steel reinforcement cage refers to the processing and manufacturing of the steel reinforcement framework in the factory, which can be mass-produced using standardized molds and transported to the site for hoisting. This method is beneficial to improve construction efficiency and ensure processing accuracy.

[0082] Specifically, during the construction of vertical or horizontal components, the prefabrication or on-site processing method is selected according to the engineering design requirements. When prefabricated reinforcement cages are used, the standardized reinforcement cages prefabricated in the factory are precisely positioned into the mold by hoisting equipment (supply system 22), and are fixed by positioning pins or connecting pieces. When on-site processing is required, the multi-directional moving mechanism 24 carries the first type of module to the work position, the clamping module grabs straight steel bars, the bending module bends according to the preset angle, and then the bundling module uses metal wires or the welding module to complete the node connection by arc welding, finally forming a reinforcement cage structure that meets the design requirements. The two processes can be flexibly combined according to the construction progress, structural complexity and cost requirements.

[0083] Traditional steel binding operations rely on manual operation, which has the defects of low efficiency, poor precision and high safety risk. The present application realizes the mechanization of steel processing technology through automatic tool head, which not only retains the flexibility of on-site processing to deal with special-shaped structures, but also can improve the construction speed of standardized components through prefabrication process. Compared with the scheme of single dependence on prefabricated parts, this technology can dynamically adjust the processing strategy according to the actual engineering requirements, effectively solve the contradiction between low efficiency of manual binding and insufficient adaptability of prefabricated parts in traditional construction, realize the automation of steel skeleton processing link, reduce the quality fluctuation caused by manual intervention, and significantly improve the forming precision and construction efficiency of reinforcement cage. By adopting the combination mode of prefabrication and on-site processing, the rapid installation of standardized components is guaranteed, and complex node structures can be flexibly processed, effectively adapting to diversified architectural design requirements, solving the technical problem that efficiency and flexibility are difficult to balance in traditional steel construction.

[0084] As a preferred embodiment, the mold of the horizontal floor component is fixed to the top end of the lower built vertical load-bearing component in a lapping manner through the receiving structure arranged on the periphery of the mold, so as to jointly enclose a closed cavity for pouring the floor.

[0085] In this embodiment, the receiving structure refers to the physical connecting component arranged on the edge of the mold, which can be realized by a clamping structure with concave-convex matching, for example, a flange or a groove is arranged on the side edge of the mold, so that it can form interlocking with the top of the lower vertical load-bearing component. The lapping manner refers to that the mold and the lower structure do not need additional fasteners, but realize positioning and fixing through the geometric matching of the structure itself. The closed cavity refers to the continuous space enclosed by the mold and the lower load-bearing component, which is used to accommodate fluid building materials and maintain their shape until solidification.

[0086] Specifically, during the installation of the mold of the horizontal floor component, the receiving structure on the periphery of the mold is designed to be complementary to the shape of the top end of the already built vertical load-bearing component below. When the mold is moved to the target position, its receiving structure is automatically embedded in the corresponding part of the vertical load-bearing component by gravity or mechanical guidance, forming a stable lap joint. The interlocking structure between the mold and the vertical component not only achieves rapid positioning, but also eliminates gaps through geometric cooperation, ensuring that the fluid building material does not leak from the joint during pouring. The closed cavity formed thereby provides an accurate forming space for floor pouring, avoiding material waste or structural defects caused by mold displacement or loose joints.

[0087] The present application solves the problems of low installation efficiency and insufficient positioning accuracy of floor mold by using self-locking lap joint design of the mold and load-bearing component, significantly shortening the installation time, and achieving high-precision positioning through geometric cooperation, reducing rework caused by human error. The present application realizes rapid and automatic assembly of the mold, ensures tight connection between the poured and formed floor and the vertical load-bearing component, and improves the overall structure and construction quality stability.

[0088] Specifically, the receiving structure includes a concave-convex structure formed on the mold of the horizontal floor component for mutual cooperation with the top end of the vertical load-bearing component. The concave-convex structure refers to the complementary shape formed between the mold edge and the top end of the vertical load-bearing component, such as tenon and mortise, toothed protrusion and groove, which achieves positioning and fixation through physical fitting. The mechanical interlocking effect provided by the concave-convex structure effectively prevents the mold from shifting during construction, ensuring that the joint between the floor edge and the vertical component is tight, and avoiding the phenomenon of material leakage. In addition, this structure simplifies the mold disassembly process, reduces the dependence on skilled workers, and is conducive to improving the level of construction automation.

[0089] As a preferred embodiment, the operation system further comprises a multidirectional movement mechanism 24 capable of moving in at least two degrees of freedom in the horizontal plane of the suspension structure 21; the fixed end of the multi-axis industrial robot arm 23 is installed on the multidirectional movement mechanism 24, and the movement range of the multi-axis industrial robot arm 23 covers the entire building floor plane and its facade space.

[0090] In this embodiment, a multi-axis industrial robot 23 is installed on a multi-directional movement mechanism 24 with planar movement capability to form a compound movement system. The multi-directional movement mechanism 24 provides more than two degrees of freedom in the horizontal plane of the suspension structure 21, breaking through the range limitation of traditional mechanical arms relying solely on their own joint movement. Through the coordinated movement of the mechanical arm base and the multi-directional movement mechanism 24, the reachable space of the end effector of the multi-axis industrial robot 23 is expanded to the three-dimensional working area of the entire building floor plane and its facade. This improvement in spatial coverage capability enables the equipment to complete the construction operation of the edge area of the special-shaped building plane and the facade component without changing the overall layout, solving the problem of construction blind area caused by insufficient working range of existing equipment.

[0091] It should be noted that the multi-directional movement mechanism 24 refers to a mechanical device capable of two-dimensional or three-dimensional movement in the horizontal plane of the suspension structure 21, which can be implemented by a linear guide system with a servo motor or an omnidirectional wheel movement platform. The planar position adjustment of the mechanical arm base is achieved through coordinate positioning. The fixed end of the multi-axis industrial robot 23 is installed on the multi-directional movement mechanism 24, which means that the base of the mechanical arm is connected to the movement mechanism in a rigid manner. Specifically, the physical fixation of the mechanical arm and the movement mechanism can be achieved through a flange or a quick locking device. This installation method enables the multi-axis industrial robot 23 to form a compound movement system under the drive of the multi-directional movement mechanism 24, and through the superposition of base translation and mechanical arm joint movement, the working range of the end effector is expanded from a single fixed point to the entire plane area.

[0092] Specifically, the multi-directional moving mechanism 24 moves the base of the multi-axis industrial robot arm 23 synchronously when moving in the X-Y direction in the horizontal plane of the suspension structure 21. After moving to the target area, the multi-axis industrial robot arm 23 achieves vertical and facade space operation coverage through its own joint movement. For example, when a component needs to be installed on the facade, the multi-directional moving mechanism 24 transports the multi-axis industrial robot arm 23 to a position close to the building edge, and then the multi-axis industrial robot arm 23 extends to the facade area through the multi-degree-of-freedom joint to perform the operation. Through the coordinated movement of the multi-directional moving mechanism 24 and the multi-axis industrial robot arm 23, the effective working radius of the end effector (functional module) is expanded beyond the boundary line of the building plane, forming complete coverage of the floor plane and the facade space. The mechanical arm of the traditional automatic building machine is fixed at a single position of the suspension structure 21, and its working range is limited to the joint activity radius of the mechanical arm itself, resulting in the need for manual assistance or overall displacement of the equipment in the building edge area. However, the present application achieves full-plane operation area coverage through coordinate movement without changing the overall layout of the equipment, avoiding construction interruptions caused by frequent climbing adjustments. It realizes the automated construction of irregular building plane edges and facade components, and solves the problem of construction blind spots caused by insufficient working range of traditional equipment. Through the coordinated control of the multi-directional moving mechanism 24 and the multi-axis industrial robot arm 23, continuous operation of the full floor plane and the facade space can be completed in a single equipment positioning state, significantly improving the construction efficiency and automation level of complex building structures.

[0093] As a preferred embodiment, the first type of module includes at least one of the following modules: a steel bar conveying module, a steel bar bundling module, a steel bar welding module 26; the second type of module includes at least one of the following modules: an additive manufacturing print head 25, a smoothing module, a pouring and vibrating module; the third type of module is a mold grabbing and assembling module, and the functional module further includes an installation module for installing auxiliary facilities on the built building structure, and a surface treatment module for cleaning or arranging the building surface.

[0094] In this embodiment, the steel bar conveying module refers to a device for grabbing and fixing steel bars, which can be implemented by a mechanical device with pneumatic clamps. Its function is to stably maintain the position of the steel bars during the construction of the steel bar framework. The steel bar bundling module refers to a device that automatically completes the binding of steel bars at the intersection points. Specifically, a rotating wire winding mechanism can be used to replace traditional manual operation by controlling the binding interval and force through a pre-set program. Figure 5, the steel bar welding module 26 refers to a device for realizing the fusion of the steel bar connection point, and specifically can adopt electric arc welding or a laser welding head to complete automatic welding work in cooperation with a positioning sensor. The additive manufacturing print head 25 refers to a device for forming a building component through a layer-by-layer accumulation method, and specifically can adopt an extrusion type concrete print head to realize precise deposition of fluid building materials. The smoothing module refers to a device for leveling the surface of the poured building material, and specifically can adopt a rotating scraper or a vibrating press plate to eliminate unevenness of the pouring surface. The pouring and vibrating module refers to a device for removing air bubbles in concrete through vibration, and specifically can adopt a high-frequency vibrating rod or a flat plate vibrator to improve the compactness of the building material. The mold grabbing and assembling module refers to a device for carrying and installing the formwork, and specifically can adopt a combination structure of a vacuum suction cup and a mechanical arm to realize precise positioning and rapid assembly of the mold.

[0095] Specifically, during the construction process of the building structure 1, the end interface of the multi-axis industrial robot 23 automatically switches the installation of the corresponding functional module according to the current construction stage. For example, during the vertical component forming stage, the third type of module is first installed to grab the prefabricated mold and complete positioning and installation, and then the first type of module is switched to perform the binding or welding work of the steel skeleton. During the horizontal pouring stage, the additive manufacturing print head 25 in the second type of module is called to perform precise pouring of concrete, and the smoothing module performs real-time leveling of the pouring surface. Through the modular design of the tool head, the same device can cover multiple processes such as steel processing, building material forming, and mold assembly, without the need for manual equipment replacement or adjustment of the work station, thereby realizing seamless connection of the construction process. By integrating interchangeable multiple types of functional modules, a single construction device has the full-process operation capability covering steel processing, building material forming, and mold assembly, eliminating the time loss and process interruption caused by equipment switching, reducing the number of mechanical types and space occupation on the construction site, realizing high integration and automation of the construction process, and solving the problem of low process coordination efficiency caused by the single function of traditional equipment. The rapid switching mechanism of the functional module enables the device to adapt to the operation requirements of different construction stages, reduces the frequency of manual intervention, improves the steel skeleton construction precision and concrete forming quality, and reduces the risk of accumulated positioning errors caused by frequent movement of the device.

[0096] In addition, two special modules are added to the original three types of basic construction modules, forming a complete functional system covering the entire construction process of buildings. Specifically, the introduction of installation modules enables the equipment to complete the assembly of auxiliary facilities simultaneously during the construction of the main structure. For example, after completing the main structure of one floor, the integrated construction equipment 2 can use the 3D printing module to build a partition wall, and then use the special installation module to install prefabricated doors and windows. Next, the pipe installation module is used to lay water and electricity pipes, and the laying module is used to complete the laying of the floor or tiles. Finally, the spraying module is used to level and paint the wall surface, realizing the integration of automatic construction from the main structure to the interior decoration. The decoration project is synchronized with the main construction, significantly shortening the overall construction time, and automatic construction can ensure the accuracy and consistency of the decoration project. For example, the integrated construction equipment 2 can first install a prefabricated stair mold, and then use a mechanical arm to place and bundle steel bars. After that, the cement pouring system completes the pouring of the stairs. After the cement solidifies, the mechanical arm can install the prefabricated handrail assembly to complete the construction process of the entire staircase, avoiding the efficiency loss caused by the separation of the main structure and the installation process of auxiliary facilities in traditional construction. By integrating the construction of auxiliary facilities into the automation process, the building is more complete and the construction continuity is increased: the stairs can be built simultaneously with the floor slab, improving the overall construction efficiency, and the automatic construction of the stairs can ensure its structural strength and stability.

[0097] The configuration of the surface treatment module realizes the organic integration of the building surface cleaning and finishing process with the main construction process. Through the mechanical arm carrying special tools, the surface quality is treated in real time during the construction process, and the construction site is kept clean by timely cleaning of construction waste, dust, and excess cement. The cleaning process can timely discover and handle problems in construction, such as cement overflow, eliminating the disadvantages of separate surface treatment operations in traditional processes. For example, a cleaning module with a dust collector and a scraper can be designed and installed on the mechanical arm to clean the dust and excess cement on the floor surface. These two newly added modules are controlled in coordination with the multi-axis mechanical arm through a universal interface, maintaining the uniformity of the core architecture of the equipment and significantly improving the completeness and continuity of the construction process, enabling the automatic building machine to complete more types of construction tasks without interrupting the construction cycle.

[0098] Specifically, in the process of layer-by-layer construction, after the current layer of horizontal floor is completed, the multi-axis industrial robot 23 switches the installation surface treatment module through the universal interface to automatically clean the surface of the vertical load-bearing structure just demolded, remove the residual concrete debris, and correct the local uneven area. When the device climbs to the new working layer, the robot can call the installation module to complete the positioning and installation of the embedded pipeline or the assembly of the fire support. The two modules realize quick switching with the robot through the standardized interface, so that the main structure construction and auxiliary work are alternately completed in the same construction cycle. Through the modular function expansion, the device automatically performs two types of auxiliary work during the construction cycle gap without additional downtime, realizes continuous operation of the main building construction and auxiliary process, eliminates the process stagnation caused by the alternation of multiple types of work in the traditional process, avoids the fluctuation of construction precision caused by manual intervention, and reduces the number of repeated positioning and adjustment of the device between different processes.

[0099] As a preferred embodiment, it also includes performing an automatic surface treatment operation of the building facade using the integrated construction device 2, which includes installing an accessory component on the facade or coating or attaching a decorative and functional surface layer on the facade surface. The integrated construction device 2 completes the automatic surface treatment operation by replacing the fourth type of module that performs different surface treatment operations, which includes at least one of the following modules: component grabbing and installation module, coating operation module, and attaching operation module.

[0100] In this embodiment, the automatic surface treatment operation refers to the construction process of the building facade completed by mechanical automation, which can be implemented by the fourth type of module, including the component grabbing and installation module, the coating operation module, or the attaching operation module. Among them, the accessory component refers to the functional or decorative part of the building facade, such as a drainage pipe, a sunshade, or a decorative component; the decorative and functional surface layer refers to the surface material covering the facade, such as waterproof paint, insulation board, or ceramic tile, which can be implemented by spraying, rolling, or mechanical clamping process. The component grabbing and installation module refers to a device for holding and positioning the accessory component of the facade, which can be implemented by a mechanical arm end effector with self-adaptive clamps and a visual positioning system, and precise installation of the component is achieved through multi-axis linkage control. The coating operation module refers to a device for spraying fluid materials, which can be implemented by a spray gun with pressure regulation function and a feeding pipe system, and uniform coverage is achieved by controlling the spraying trajectory and material flow rate. The attaching operation module refers to a device for fixing the decorative surface layer, which can be implemented by a vacuum suction disc or a pressure roller mechanism, and the surface layer is ensured to be flat and attached by controlling the contact surface pressure.

[0101] The embodiment extends the working range of the integrated construction equipment 2 to the exterior wall construction field, realizes the process cooperation of the building main structure and the exterior wall construction, and specifically defines the automatic surface treatment operation as including the dual functions of accessory component installation and surface treatment, so that the equipment can complete the integrated operation of structural component installation and surface decoration treatment on the exterior wall. Among them, the technical feature of installing accessory components solves the automatic installation demand of functional components (such as sunshades and drainage pipes) on the exterior wall, and the technical feature of coating or attaching decorative and functional surface layers covers the automatic implementation demand of various surface treatment processes such as waterproof layer, thermal insulation layer and decorative tiles. By integrating the exterior wall construction into the main construction equipment, the process connection interruption caused by the need for additional equipment or manual intervention in traditional construction is avoided, and at the same time, multiple types of operations are completed by using the same set of industrial robot arm system, which significantly improves the continuity of the construction process and the utilization rate of the equipment, and solves the problems of process interruption, frequent manual intervention and low construction efficiency caused by the lack of automatic exterior wall construction capability of the existing automatic building machine.

[0102] In addition, the traditional building machine can only perform a single surface treatment process, and different surface treatment processes need to rely on manual equipment replacement or the introduction of external machinery for processing, resulting in low construction efficiency and poor coordination. The present application expands the working capacity of the automatic building machine through modular design. By dividing the exterior wall treatment operation into different functional types of the fourth type of module, and using the mechanical interface of the replaceable module, the same equipment can flexibly switch the operation mode according to the current construction demand. The component grabbing and installation module realizes the accurate installation of the exterior wall accessory components through the end gripping and positioning function of the robot arm; the coating operation module completes the covering of the fluid material of the exterior wall protective layer or decorative layer through the spraying device; and the pasting operation module realizes the flat pasting of the decorative surface layer through the adsorption or pressing mechanism. This modular design avoids the frequent equipment adjustment or manual intervention caused by the fixed function of traditional equipment, and at the same time realizes quick switching through standardized interface, ensures that the equipment can immediately enter the exterior wall treatment stage after completing the main structure construction, forms a complete construction process closed loop, solves the problems of single function and insufficient adaptability of the existing automatic building machine in the building exterior wall treatment operation, and improves the flexible execution capability of the equipment for different surface treatment tasks.

[0103] As a preferred embodiment, the integrated construction equipment 2 further comprises a sealable protective isolation structure, which is arranged outside the suspension structure 21 and / or the operation system, and is used to form an isolation barrier between the equipment and the external environment. The protective isolation structure is configured to be fixedly installed or movably installed.

[0104] In this embodiment, the closable protective isolation structure refers to a containment device with shape conversion capability, which can be realized by a combination of a folding metal frame and a polymer film material structure, and the unfolding and shrinking actions are realized by a driving mechanism. By setting a closable protective isolation structure on the periphery of the equipment, a physical isolation barrier is constructed. The closable feature allows the protective structure to flexibly switch between closed and open states according to construction needs, providing full protection in adverse weather or high-altitude operations, and maintaining openness for material transportation during normal construction. By arranging the protective isolation structure on the outside of the suspension structure 21 and / or the operation system, the core construction area is fully covered, effectively blocking the influence of environmental factors such as wind load and rain erosion on the stability of the equipment operation. The formation mechanism of the isolation barrier not only reduces the risk of falling objects at high altitudes, but also ensures the accuracy of sensor measurements by stabilizing the internal microenvironment. This active environmental isolation design significantly improves the adaptability of the equipment in complex working conditions compared to traditional passive protection measures, effectively solving the problems of poor equipment stability, external interference affecting construction accuracy, and safety hazards in high-altitude operations of existing automatic building machines in complex construction environments.

[0105] In addition, the protective isolation structure uses two different installation methods to address the differences in the need for closure during construction. The fixed installation of the protective isolation structure is connected to the frame of the suspension structure 21 through the fixed connection of the peripheral side, forming a permanent closed barrier, which is suitable for construction stages that require continuous isolation of external environmental interference, such as high-altitude pouring or adverse weather operations, to ensure the safety and stability of the construction process. The movable installation of the protective isolation structure can switch between the unfolded and folded states, switching to an open state when the equipment needs to be flexible (such as large component hoisting or equipment maintenance), and returning to a closed state during normal operation, thereby balancing the contradiction between protection needs and operation space. The choice of the two installation methods is dynamically adjusted according to the specific construction conditions, avoiding the waste of resources caused by traditional single protection mode, and solving the problem of dynamic changes in the need for protective isolation of existing automatic building machines in different construction stages, ensuring construction safety while considering the flexibility of equipment operation.

[0106] As a preferred embodiment, the integrated construction equipment 2 further comprises:

[0107] A sensing system is provided on the suspension structure 21 and / or the operation system, which is used to collect real-time operation state parameters and environmental information of the operation system;

[0108] A control system is in communication connection with the sensing system and the operation system, and the control system is configured to perform:

[0109] Control the suspension structure 21 to climb to the current operation floor;

[0110] controlling the multi-axis industrial robot arm 23 to move to a target work point;

[0111] According to the current construction process, automatically select and switch to install the corresponding function module;

[0112] Use the currently installed function module to perform the corresponding construction work;

[0113] Obtain state data of the construction process in real time through the perception system;

[0114] Compare and analyze the state data with the expected target state;

[0115] Based on the deviation result of the comparison and analysis, real-time generation of control instructions and closed-loop feedback optimization adjustment of the operating parameters of the work system.

[0116] In this embodiment, the perception system includes non-vision sensors and vision sensors, the non-vision sensors include sensors for monitoring at least one of the following physical quantities: displacement, angle, pressure, force, torque, flow rate, vibration, and the vision sensors include at least one camera arranged at different positions for capturing work pictures and surrounding environment pictures of the work system, and the control system is configured to perform machine vision image recognition on the pictures captured by the vision sensors to obtain forming quality information of the building component, alignment information of the function module, or environmental obstacle information.

[0117] By deploying multi-dimensional sensors on the suspension structure 21 or the work system, real-time capture of mechanical arm motion trajectory deviation, structural part forming stress distribution, and other operating state parameters, while monitoring environmental variables such as wind speed and temperature, forming a comprehensive data acquisition of the construction process. Based on the real-time data stream provided by the perception system, the control system uses a dynamic optimization algorithm to adjust the mechanical arm motion path, pouring pressure parameters and other key work variables online, effectively compensating for construction errors caused by factors such as foundation settlement and material property fluctuations. Through the synergistic effect of perception and control, not only does it solve the precision degradation problem caused by environmental interference of traditional equipment, but also realizes the layer-by-layer correction of construction errors, avoiding the influence of error accumulation on the overall quality of high-rise buildings. The data fusion mechanism of the perception system provides high-precision decision-making basis for the control system, while the closed-loop feedback mechanism of the control system ensures the dynamic optimal matching of construction parameters, and the synergistic effect of the two constitutes the core innovation point of improving construction precision. It effectively solves the problems of insufficient construction precision and error accumulation caused by the lack of intelligent environmental perception and self-adaptive adjustment capability of existing automatic building machines, as well as how to realize whole-process closed-loop feedback optimization control to improve construction quality.

[0118] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made to the above-described embodiments without departing from the principles and spirit of the present application, and all such changes, modifications, substitutions and variations are to be construed as falling within the scope of the present application as defined by the appended claims.

Claims

1. A building construction method based on an automatic construction apparatus, characterized by, The application relates to an automated construction method for a building structure, comprising the following steps: Step 1: an integrated construction equipment constructs the building structure in a layer-by-layer cycle according to preset building design information, wherein each layer construction cycle comprises: a vertical component forming stage: a steel reinforcement framework inside a current layer vertical load-bearing component is automatically constructed on a completed lower layer structure, a vertical load-bearing formwork is constructed outside the steel reinforcement framework by an additive manufacturing technology, fluid building materials are poured into the vertical load-bearing formwork to form a current vertical load-bearing structure, and then a masonry wall of the current layer is automatically constructed by the additive manufacturing technology, and a first pre-embedded pipeline system is simultaneously implanted into a corresponding wall during the construction of the masonry wall; an integrated decoration stage: part of integrated decoration procedures are performed on the formed structure by the integrated construction equipment and / or auxiliary execution equipment; wherein the vertical component forming stage and the integrated decoration stage are implemented in a flow-through interlaced operation mode, specifically: a construction area of the current layer is divided into multiple sub-areas, and for any sub-area, the integrated decoration procedure is started after the vertical component construction of the sub-area is completed; meanwhile, vertical component construction is being performed on at least one other sub-area; a horizontal component forming stage: a mold and an internal steel reinforcement framework of a horizontal floor component of the current layer are automatically constructed on the current vertical load-bearing structure, a steel reinforcement connecting part is reserved for a vertical load-bearing component of a previous layer, and a second pre-embedded pipeline system is arranged in the mold of the horizontal floor component; then, fluid building materials are poured into the mold to wrap the second pre-embedded pipeline system, so as to form a horizontal floor structure of the current layer integrated with the second pre-embedded pipeline system; Step 2: the construction cycle in step 1 is repeatedly performed until the building structure is topped off; wherein the integrated construction equipment comprises a suspension structure capable of climbing along the completed building structure, a feeding system integrated on the suspension structure and an operation system, the feeding system is used for continuously supplying required building materials to the operation system, the operation system comprises a multi-axis industrial robot arm capable of moving in at least two degrees of freedom in a horizontal plane of the suspension structure, and the operation system is configured to perform the following operations: selecting a target module suitable for a current construction task from a plurality of functional modules, the functional modules are respectively configured to perform a specific building construction operation, and the functional modules at least include a first type of module for constructing a steel reinforcement framework, a second type of module for processing fluid building materials and a third type of module for assembling a mold; mounting the target module to a tail end of the multi-axis industrial robot arm through a universal interface; controlling the multi-axis industrial robot arm to move and driving the target module to perform a corresponding building construction operation. The integrated decoration process includes the treatment of the surface of the vertical component, the upper surface of the floor slab and the space below the floor slab; the treatment of the upper surface of the floor slab includes at least one of the processes of floor leveling, laying a waterproof layer, laying floor tiles and installing sanitary wares, the treatment of the space below the floor slab includes at least one of the processes of plastering the bottom of the floor slab and installing a suspended ceiling, and the process is completed by a floor mobile robot or manually, the treatment of the surface of the vertical component includes at least one of the processes of wall leveling, plastering and installing doors and windows; The integrated construction equipment also includes an automatic surface treatment operation of the outer facade of the building, the automatic surface treatment operation including installing an accessory component on the outer facade or coating or attaching a decorative and functional surface layer on the surface of the outer facade, the integrated construction equipment completing the automatic surface treatment operation by replacing a fourth type of module performing different surface treatment operations, the fourth type of module including at least one of the following modules: a component grabbing and installing module, a coating operation module and an attaching operation module; The integrated construction equipment also includes a sealable protective isolation structure arranged outside the suspension structure and / or the operation system, for forming an isolation barrier between the equipment and the external environment, the protective isolation structure being configured as a fixed installation or a movable installation.

2. The building construction method based on the automatic construction equipment according to claim 1, characterized by, The first pre-embedded pipeline system includes a first type of pipeline for transmitting energy, a second type of pipeline for transmitting information signals and a third type of pipeline for transmitting fluid, wherein the first pre-embedded pipeline system is laid and fixed on the printed wall layer by a multi-axis industrial robot according to a preset path, and is covered and wrapped by the subsequently printed wall material.

3. The building construction method based on the automatic construction equipment according to claim 1, characterized by, The second pre-embedded pipeline system includes at least one of a water supply pipe, a drain pipe, a cable pipe and a communication line pipe, wherein the second pre-embedded pipeline system is bound or welded to the steel reinforcement cage in the mold of the horizontal floor component by a fixing piece.

4. The building construction method based on the automatic construction equipment according to claim 1, characterized by, In the vertical component forming stage or the horizontal component forming stage, the process of constructing the internal steel reinforcement cage includes at least one of the following automatic processes: forming a steel reinforcement cage by bending, binding or welding straight steel reinforcement through a first type of module, or using a prefabricated steel reinforcement cage.

5. The automated construction equipment-based building construction method according to claim 1, characterized by, The mold of the horizontal floor component is fixed to the top end of the already built vertical load-bearing component below in a lapping manner through the receiving structure arranged on the periphery of the mold, so as to jointly enclose an enclosed cavity for pouring the floor slab.

6. The automated construction equipment-based building construction method according to claim 1, characterized by, The first type of module includes at least one of the following modules: a steel reinforcement carrying module, a steel reinforcement binding module and a steel reinforcement welding module; the second type of module includes at least one of the following modules: an additive manufacturing printing head, a smoothing module and a pouring and vibrating module; the third type of module is a mold grabbing and assembling module; the functional module further includes an installation module for installing auxiliary facilities on the built building structure and a surface treatment module for cleaning or arranging the building surface.

7. The automated construction equipment-based building construction method according to claim 1, characterized by, The integrated construction equipment also includes: a perception system arranged on the suspension structure and / or the operation system, for collecting real-time operation state parameters and environmental information of the operation system; A control system is in communication connection with the perception system and the work system, and is configured to perform the following functions: Controlling the suspension structure to climb to the current work floor; Controlling the multi-axis industrial robot arm to move to the target work point; According to the current construction process, automatically selecting and switching to the corresponding functional module; Using the currently installed functional module to perform the corresponding construction work; Obtaining the state data of the construction process in real time through the perception system; Comparing and analyzing the state data with the expected target state; Based on the deviation result of the comparison and analysis, real-time generation of control instructions and closed-loop feedback optimization adjustment of the operating parameters of the work system.

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