Automatic bar planting device for 3D concrete printing and 3D concrete printing system and method

Abstract

The invention provides an automatic bar planting device for 3D concrete printing and a 3D concrete printing system and method. Reinforcing bars are stored through a bar storage module; the reinforcing rib planting module is used for conducting reinforcing rib planting operation on the reinforcing ribs, and the reinforcing ribs are planted into the concrete layer; the bar storage module and the bar planting module are fixed to a hopper of the 3D concrete printer through the adjusting module, and fine adjustment is conducted on the bar storage module and the bar planting module, so that the bar planting module is located in the discharging direction of a spray head, and reinforcing bar planting operation can be accurately conducted in the 3D concrete printing process; the control module is used for controlling the steel bar planting module, the steel bar storage module and the adjusting module, in the 3D concrete printing process, nail planting operation is automatically and stably conducted in a formed concrete layer in real time, and the situation that in the prior art, when a manual planting mode or a pre-planting mode before printing is adopted, nail planting operation is conducted on the formed concrete layer is avoided. The technical problems that construction efficiency is low, errors are large or procedures are tedious, and the degree of freedom is affected exist in the prior art.

Description

Technical Field

[0001] This invention belongs to the field of 3D concrete printing technology, specifically relating to an automatic rebar installation device, a 3D concrete printing system, and a method. Background Technology

[0002] 3D concrete printing has garnered widespread attention and rapid development both domestically and internationally due to its features such as moldless construction, rapid molding speed, environmental friendliness, and intelligent control. Compared to traditional construction methods, 3D concrete printing technology offers greater design freedom and faster molding speed, demonstrating broad development prospects. Currently, 3D printed concrete technology is gradually being applied in practical engineering construction.

[0003] Because 3D concrete printing employs a molding process of extruding concrete line by line and layer by layer, the extruded concrete generally takes on an irregular, rounded shape. The top and bottom surfaces of the extruded strips are bonded together using chemical adhesives. However, since 3D concrete printing lacks the vibration compaction process found in traditional construction, the extruded strips are not tightly packed together, resulting in porosity between layers. Mechanical interlocking and friction may also occur between the irregular surfaces of each layer, inevitably leading to the existence of concrete interlayer interfaces. The presence of these interfaces causes anisotropy in the mechanical properties of the printed component, resulting in discontinuous force transmission at the interface and affecting the load-bearing and force-transfer performance of the 3D concrete printed product.

[0004] To eliminate the negative impact of the concrete interlayer interface, interlayer reinforcement is often used during construction. This involves embedding reinforcing ribs into the concrete layers to enhance the interlayer bond strength of the printed component. Existing technologies primarily employ two methods for reinforcing rib embedding: 1. Manual embedding: During printing, the reinforcing ribs are manually inserted based on distance measurement. This method is inefficient, suffers from significant errors in spacing and insertion depth, is cumbersome, and is susceptible to unpredictable factors. 2. Pre-embedding: Reinforcing ribs are placed along the printing path at the leading edge of the print, and then embedded by extruding concrete to cover them. This method requires pre-installation of the reinforcing ribs, increasing construction steps, affecting overall efficiency, and limiting the freedom of 3D concrete printing. Therefore, existing reinforcing rib embedding methods suffer from cumbersome procedures and limited freedom of movement. Summary of the Invention

[0005] To address the technical problems of cumbersome procedures and limited freedom of movement in existing methods of reinforcing bar implantation, this invention provides an automatic reinforcing bar implantation device, a 3D concrete printing system, and a method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an automatic rebar installation device for 3D concrete printing, used in the process of 3D concrete printing by a 3D concrete printer, the automatic rebar installation device for 3D concrete printing includes: a control module, a rebar installation module, an adjustment module and a rebar storage module.

[0008] The adjustment module is movably mounted on the hopper of the 3D concrete printing machine;

[0009] The anchoring module is fixedly mounted on the adjustment module and is on the same side as the discharge direction of the nozzle below the hopper;

[0010] The rebar storage module is fixedly mounted on the rebar anchoring module and is connected to the rebar anchoring module;

[0011] The control module is electrically connected to the rebar installation module, the adjustment module, and the rebar storage module;

[0012] The reinforcement storage module stores reinforcing ribs, which are used to feed the reinforcing ribs into the rebar anchoring module under the control of the control module.

[0013] The rebar installation module is used to, under the control of the control module, implant the reinforcing bar into the concrete layer extruded by the nozzle;

[0014] The adjustment module is used to adjust the position of the anchoring module in real time under the control of the control module, so that the anchoring module is always on the same side as the discharge direction of the nozzle below the hopper, so that when the nozzle extrudes the concrete layer, the anchoring module can accurately implant the reinforcing bar into the concrete layer.

[0015] Optionally, the rebar anchoring module includes a frame, a drive assembly, a mounting plate, and a rebar anchoring assembly;

[0016] The frame is fixedly installed on the adjustment module, and a receiving space is provided at the lower part of the frame, and the rib storage module is fixedly installed in the receiving space;

[0017] The mounting plate is fixedly installed on the frame and is located on the side of the frame away from the hopper;

[0018] The rebar anchoring assembly is located at the lower end of the mounting plate and is connected to the rebar storage module;

[0019] The drive component is disposed at the upper end of the mounting plate and is electrically connected to the control module and the rebar assembly;

[0020] The drive component is used to drive the rebar installation module under the control of the control module to implant the reinforcing bar into the concrete layer extruded by the nozzle.

[0021] Optionally, the rebar assembly includes a push rod, a guide groove, a damping element, and a push head;

[0022] The guide groove is vertically disposed at the bottom of the mounting plate, and the guide groove is connected to the rib storage module;

[0023] The push rod portion is inserted into the guide groove;

[0024] The pusher head is disposed at the lower end of the push rod;

[0025] The damping element is fixedly mounted on the push rod and positioned close to the push head;

[0026] The drive assembly includes a drive motor and a transmission crankshaft;

[0027] The drive motor is fixedly mounted on the top of the mounting plate and is electrically connected to the control module;

[0028] The transmission crankshaft is movably mounted on the top of the mounting plate and connected to the output end of the drive motor, and is movably connected to the upper end of the push rod.

[0029] Optionally, the rib storage module includes a storage bin and an electric push rod disposed in the storage bin;

[0030] The storage bin is connected to the guide groove, and the storage bin contains reinforcing ribs;

[0031] The electric push rod is located on the side of the storage bin near the hopper and is electrically connected to the control module. Under the control of the control module, it is used to push the reinforcing rib into the guide groove.

[0032] Optionally, there are multiple storage bins and multiple electric push rods;

[0033] All of the aforementioned storage compartments are connected to the guide channel;

[0034] Multiple storage compartments are used to store various reinforcing ribs;

[0035] The rebar installation module also includes an image acquisition component, which is located at the lower end of the mounting plate and close to the hopper. The image acquisition component is electrically connected to the control module and is used to acquire image data of the concrete layer extruded by the nozzle and transmit the image data to the control module. The control module is used to obtain the size data of the concrete layer extruded by the nozzle based on the image data, and control the electric push rods in different storage hoppers to push the corresponding reinforcing bars into the guide groove for rebar installation based on the size data of the concrete layer.

[0036] Optionally, the image acquisition component includes a camera and a laser mesh emitter, and both the camera and the laser mesh emitter are connected to the adjustment module, which includes a sleeve, a driving component, and a transmission component.

[0037] The sleeve is movably connected to the hopper, and the frame is fixedly connected to the sleeve;

[0038] The driving component is fixedly mounted on the sleeve;

[0039] The transmission assembly is connected between the hopper and the drive component, and is used to drive the sleeve to rotate under the action of the drive component. The control module is electrically connected.

[0040] Optionally, the adjustment module includes a sleeve, a drive component, and a transmission assembly;

[0041] The sleeve is movably connected to the hopper, and the frame is fixedly connected to the sleeve;

[0042] The driving component is fixedly mounted on the sleeve;

[0043] The transmission assembly is connected between the hopper and the driving component, and is used to drive the sleeve to rotate under the action of the driving component.

[0044] Secondly, the present invention provides a 3D concrete printing system, including a 3D concrete printer and the above-mentioned 3D concrete printing automatic rebar installation device.

[0045] The 3D concrete printer includes a moving mechanism, a hopper, and a nozzle disposed below the hopper; the moving mechanism is connected to the hopper and is used to move the hopper to achieve 3D concrete printing.

[0046] The 3D concrete printing automatic rebar installation device is fixedly installed on the hopper by a sleeve.

[0047] Thirdly, the present invention provides a 3D concrete printing method for the aforementioned 3D concrete printing system, comprising the following steps:

[0048] S1: Obtain design parameters: Obtain the design parameters for 3D concrete printing, and obtain the insertion depth and spacing parameters of the reinforcing bars based on the design parameters;

[0049] S2: Adjust the 3D concrete printing automatic rebar installation device: Based on the insertion depth and spacing parameters of the reinforcing bars, the control module adjusts the output speed and amplitude of the drive motor and loads the reinforcing bars into the storage bin;

[0050] S3: Print and implant reinforcing bars: Start the 3D concrete printer and the 3D concrete printing automatic rebar implantation device. During the construction process, while the 3D concrete printer extrudes the concrete layer, the 3D concrete printing automatic rebar implantation device is used to implant the reinforcing bars simultaneously.

[0051] S4: Printing Completed: Printing ends after all 3D concrete printing targets have been completed.

[0052] Optionally, step S3 specifically includes:

[0053] S3.1: Start the 3D concrete printer and the 3D concrete printing automatic rebar installation device, and use the hopper and nozzle of the 3D concrete printer to extrude the concrete layer.

[0054] S3.2: Use the image acquisition component to acquire image data of the concrete layer in real time, analyze the current concrete layer size data, and select the corresponding reinforcing bars for the current concrete layer based on the current concrete layer size data;

[0055] S3.3: Through the control module, control the electric push rod in the corresponding storage compartment of the corresponding reinforcing rib to push the reinforcing rib selected in step S3.2 into the guide groove;

[0056] S3.4: Under the action of the drive motor and push rod, the reinforcing bar corresponding to the current concrete layer is pushed downward along the guide groove so that it is implanted into the concrete layer;

[0057] S3.5: Repeat steps S3.1 to S3.4.

[0058] The beneficial effects of this invention are:

[0059] This invention provides an automatic rebar installation device for 3D concrete printing. It utilizes a rebar storage module to store reinforcing bars; a rebar installation module to implant the reinforcing bars into the concrete layer; an adjustment module to fix the storage and installation modules to the hopper of the 3D concrete printer and fine-tune them to position the installation module in the discharge direction of the nozzle, ensuring accurate rebar implantation during 3D concrete printing; and a control module to control the installation, storage, and adjustment modules, thereby automatically, in real-time, and stably implanting rebars into the formed concrete layer during 3D concrete printing. This avoids the technical problems of low construction efficiency, large errors, or cumbersome procedures and limited freedom of movement associated with manual implantation or pre-printing methods in existing technologies.

[0060] Meanwhile, the present invention also provides a 3D concrete printing system, which combines a 3D concrete printer and a 3D concrete printing automatic rebar implantation device. When using the 3D concrete printer to print 3D concrete, the implantation of reinforcing bars can be carried out simultaneously while forming the concrete layer. This avoids the technical problems of low construction efficiency, large errors, or cumbersome procedures and limited freedom of operation that exist in the prior art when 3D concrete printing is carried out by manually implanting reinforcing bars or pre-implanting reinforcing bars before printing.

[0061] This invention also provides a 3D concrete printing method. When using a 3D concrete printer to print 3D concrete, the insertion depth and spacing of the reinforcing bars are obtained according to design parameters. The automatic rebar installation device for 3D concrete printing is then adjusted according to the insertion depth and spacing of the reinforcing bars to ensure that the depth and spacing of the automatic rebar installation meet the requirements. During the 3D concrete printing process, the automatic rebar installation device for 3D concrete printing performs the rebar installation operation in real time, which has the advantages of high efficiency, simple process and strong stability. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the 3D concrete printing automatic rebar installation device of the present invention;

[0063] Figure 2 This is a schematic diagram of the rebar anchoring module and the adjustment module in this invention;

[0064] Figure 3 This is a schematic diagram of the rebar anchoring component in this invention;

[0065] Figure 4 This is a schematic diagram of the automatic rebar installation device for 3D concrete printing with image acquisition components and multiple storage bins in this invention.

[0066] Figure 5This is a schematic diagram of the image acquisition component in this invention;

[0067] Figure 6 This is a top view schematic diagram of the connection between the storage bin and the guide channel in this invention;

[0068] Figure 7 This is a top view schematic diagram of the connection between multiple storage bins and guide channels in this invention.

[0069] The components include: 1. Rebar installation module; 11. Frame; 12. Drive assembly; 121. Drive motor; 122. Transmission crankshaft; 13. Mounting plate; 14. Rebar installation assembly; 141. Push rod; 142. Guide groove; 143. Damping component; 144. Push head; 15. Image acquisition assembly; 151. Camera; 152. Laser mesh emitter; 2. Adjustment module; 21. Sleeve; 22. Drive component; 23. Transmission assembly; 3. Rebar storage module; 31. Storage bin; 32. Electric push rod; 4. Hopper; 5. Nozzle; 6. Concrete layer. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0071] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0072] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0073] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0074] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0075] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0076] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0077] In 3D concrete printing, the molding process involves extruding concrete line by line and layer by layer. The extruded concrete generally takes on an irregular, rounded shape, with the top and bottom surfaces of the extruded strips bonded together using chemical adhesives. However, because 3D concrete printing lacks the vibration compaction step found in traditional construction, the extruded strips are not tightly packed, resulting in porosity between layers. Mechanical interlocking and friction may also occur between the irregular surfaces of each layer, inevitably creating interlayer interfaces. The presence of these interfaces causes anisotropy in the mechanical properties of the printed component, leading to discontinuities in stress and force transmission at the interface, thus affecting the load-bearing and force-transfer performance of the 3D concrete printed product.

[0078] In existing technologies, interlayer reinforcement methods are often used to eliminate or reduce the negative impact of concrete interlayer interfaces. This involves embedding reinforcing ribs into the concrete layers during construction to enhance the interlayer adhesion of the printed components. Existing methods for embedding reinforcing ribs mainly include: 1. Manual embedding: During printing, the reinforcing ribs are manually embedded based on distance. This method is inefficient, has low accuracy, and the embedding position deviates significantly from the design position. Furthermore, the embedding depth is affected by the operator's pressure, negatively impacting the interlayer interface reinforcement effect. 2. Pre-embedding: Reinforcing ribs are placed along the printing path at the front edge of the print, and then embedded by extruding concrete to cover the ribs. This method provides a good mechanical bond between the concrete layer and the reinforcing ribs, but it requires pre-installation of the reinforcing ribs, increasing construction steps, affecting overall efficiency, and limiting the freedom of 3D concrete printing.

[0079] Example 1

[0080] Firstly, see [the following] Figures 1 to 5The diagram shows a schematic of an automatic rebar installation device for 3D concrete printing, comprising: a control module, a rebar installation module 1, an adjustment module 2, and a rebar storage module 3; the adjustment module 2 is movably mounted on the hopper 4 of the 3D concrete printer; the rebar installation module 1 is fixedly mounted on the adjustment module 2 and is on the same side as the discharge direction of the nozzle 5 below the hopper 4; the rebar storage module 3 is fixedly mounted on the rebar installation module 1 and is connected to the rebar installation module 1; the control module is electrically connected to the rebar installation module 1, the adjustment module 2, and the rebar storage module 3; the rebar storage module 3 stores reinforcing ribs and is used to feed the reinforcing ribs into the rebar installation module 1 under the control of the control module; the rebar installation module 1 is used to implant the reinforcing ribs into the concrete layer 6 extruded by the nozzle 5 under the control of the control module; the adjustment module 2 is used to adjust the position of the rebar installation module 1 in real time under the control of the control module, so that the rebar installation module 1 is always on the same side as the discharge direction of the nozzle 5 below the hopper 4, so that when the nozzle extrudes the concrete layer, the rebar installation module can accurately implant the reinforcing ribs into the concrete layer.

[0081] In this embodiment, a reinforcement storage module 3 is used to store reinforcing bars; a reinforcement anchoring module 1 is used to anchor the reinforcing bars into the concrete layer 6; an adjustment module 2 is used to fix the reinforcement storage module 3 and the reinforcement anchoring module 1 onto the hopper 4 of the 3D concrete printer, and to fine-tune the reinforcement storage module 3 and the reinforcement anchoring module 1 so that the reinforcement anchoring module 1 is in the discharge direction of the nozzle 5, so that the reinforcement anchoring operation can be accurately performed during the 3D concrete printing process; a control module is used to control the reinforcement anchoring module 1, the reinforcement storage module 3 and the adjustment module 2, so that the anchoring operation is performed automatically, in real time and stably in the formed concrete layer 6 during the 3D concrete printing process, avoiding the technical problems of low construction efficiency, large error or cumbersome procedures and limited freedom of movement when using manual implantation or pre-printing implantation in the prior art.

[0082] Optionally, refer to Figure 2 The rebar anchoring module 1 of this invention includes a frame 11, a drive assembly 12, a mounting plate 13, and a rebar anchoring assembly 14. The frame 11 is fixedly mounted on the adjustment module 2, and a receiving space is provided at the lower part of the frame 11. The rebar storage module 3 is fixedly installed in the receiving space. The mounting plate 13 is fixedly mounted on the frame 11 and is located on the side of the frame 11 away from the hopper 4. The rebar anchoring assembly 14 is located at the lower end of the mounting plate 13 and is connected to the rebar storage module 3. The drive assembly 12 is located at the upper end of the mounting plate 13 and is electrically connected to the control module and connected to the rebar anchoring assembly 14. The drive assembly 12 is used to drive the rebar anchoring assembly 14 under the control of the control module to implant the reinforcing bars into the concrete layer 6 extruded by the nozzle.

[0083] In this embodiment, the drive assembly 12 and the rebar assembly 14 are integrated through the frame 11, and the modular design improves the convenience of maintenance and use; the rebar storage module 3 is built into the accommodating space at the bottom of the frame 11 to reduce the size of the equipment and avoid interference with the printing path.

[0084] Furthermore, in this embodiment, the frame 11 and mounting plate 13 are made of lightweight alloy materials, such as aluminum alloy and titanium alloy.

[0085] Optionally, refer to Figure 3 and Figure 6 The rebar installation assembly 14 of this invention includes a push rod 141, a guide groove 142, a damping element 143, and a push head 144. The guide groove 142 is vertically disposed at the bottom of the mounting plate 13 and is connected to the rebar storage module 3. The push rod 141 is partially inserted into the guide groove 142. The push head 144 is disposed at the lower end of the push rod 141. The damping element 143 is fixedly disposed on the push rod 141 and disposed close to the push head 144. The drive assembly 12 includes a drive motor 121 and a transmission crankshaft 122. The drive motor 121 is fixedly mounted on the top of the mounting plate 13 and is electrically connected to the control module. The transmission crankshaft 122 is movably mounted on the top of the mounting plate 13 and is connected to the output end of the drive motor 121 and movably connected to the upper end of the push rod 141.

[0086] In this embodiment, the transmission crankshaft 122 converts the rotational power output by the drive motor 121 into the reciprocating impact motion of the push rod 141; the push head 144 at the lower end of the push rod 141 pushes down the reinforcing bar that is fed into the guide groove 142, penetrates the concrete layer 6, and completes the rebar installation operation; the damping element 143 forms damping with the guide groove 142 during the up and down movement of the push rod 141, preventing the push rod 141 from moving too fast and causing swaying, which would affect the rebar installation effect.

[0087] Furthermore, in this embodiment, the drive motor 121 is a reciprocating speed-regulating motor.

[0088] Optionally, refer to Figure 3 and Figure 6 The reinforcing bar storage module 3 of the present invention includes a storage bin 31 and an electric push rod 32 disposed in the storage bin; the storage bin 31 is connected to the guide groove 142 and stores reinforcing bars in the storage bin 31; the electric push rod 32 is disposed in the storage bin 31 on the side near the hopper 4 and is electrically connected to the control module, and is used to push the reinforcing bars into the guide groove 142 under the control of the control module.

[0089] In this embodiment, the electric push rod 32 is in the storage hopper 31. Whenever the reinforcing rib in the guide groove 142 is pushed by the push rod 141 to complete one rebar installation, the next reinforcing rib in the storage hopper 31 is pushed into the guide groove 142 under the control of the control module to complete the next rebar installation operation.

[0090] Specifically, refer to Figure 3 and Figure 6 After a rebar installation operation is completed, as the 3D concrete printer moves, the control module controls the push rod 141 to reset and the electric push rod 32 to extend, causing the reinforcing bar in the storage hopper 31 to move towards the guide groove 142 and push a reinforcing bar into the guide groove 142. In the next rebar installation operation, the push rod 141 is used to push the reinforcing bar to move along the guide groove 142 to complete the rebar installation.

[0091] Optionally, refer to Figure 4 and Figure 7 In this invention, there are multiple storage bins 31 and electric push rods 32; multiple storage bins 31 are all connected to guide grooves 142; multiple storage bins 31 are used to store various reinforcing bars; the rebar installation module 1 also includes an image acquisition component 15, which is located at the lower end of the mounting plate 13 and on the side close to the hopper 4. The image acquisition component 15 is electrically connected to the control module and is used to acquire image data of the concrete layer 6 extruded by the nozzle 5 and transmit the image data to the control module. The control module is used to obtain the size data of the concrete layer 6 extruded by the nozzle 5 based on the image data, and control the electric push rods 32 in different storage bins 31 to push the corresponding reinforcing bars into the guide grooves 142 for rebar installation based on the size data of the concrete layer 6.

[0092] In this embodiment, since different sizes of concrete layers 6 require different reinforcing bars for reinforcement during actual printing, i.e., the larger the concrete layer, the larger the reinforcing bar size required, multiple storage compartments 31 are set up in this embodiment to store reinforcing bars of different models and sizes. At the same time, image data of the concrete layer 6 is directly acquired through the image acquisition component 15, and the concrete layer 6 is analyzed in the control module to select the corresponding reinforcing bars and perform the rebar installation operation. Different types of steel bars can be automatically implanted according to printing needs, which has stronger universality.

[0093] Furthermore, the types of reinforcing ribs in this embodiment may include U-shaped nails, HB reinforcing ribs, threaded steel bars, and other reinforcing ribs known to those skilled in the art.

[0094] Furthermore, during the printing process, when the thickness of the current concrete layer 6 is less than 50 mm, U-shaped nails and HB reinforcing bars are selected to provide crack resistance; when the thickness of the current concrete layer 6 is greater than or equal to 50 mm, threaded steel bars or high-strength reinforcing bars are selected to improve the structural load-bearing capacity; or, when the width of the current concrete layer is less than or equal to 60 mm, HB reinforcing bars or threaded steel bars can be selected; when the width of the current concrete layer exceeds 60 mm, U-shaped nails can be selected.

[0095] Furthermore, the control module analyzes the dimensions of the concrete layer 6 based on the image data to select the appropriate type of reinforcing bar, and extends the electric push rod 32 in the corresponding storage hopper 31 to push the stored reinforcing bar into the guide groove 142. The push rod 141 is used to perform the rebar installation operation, realizing the automatic implantation of different types of reinforcing bars according to printing needs, which has a stronger versatility.

[0096] Optionally, refer to Figure 5 The image acquisition component 15 in this invention includes a camera 151 and a laser grid emitter 152, both of which are electrically connected to the control module.

[0097] In this embodiment, the image acquisition component 15 includes a camera 151 and a laser mesh emitter 152. During operation, the laser mesh emitter 152 continuously projects a high-precision laser mesh onto the surface of the concrete layer. The size of the laser mesh can be flexibly adjusted according to the specific scale of the printed component to adapt to different printing requirements. Simultaneously, the camera 151 captures and records image information of the concrete layer 6 in real time, and the control module analyzes and identifies the relative positional relationship between the concrete layer 6 and the laser mesh. This allows the control module to adjust the running trajectory in real time, ensuring that the rebar installation module 1 is always accurately positioned on the centerline of the concrete layer 6, thereby achieving high-precision printing and rebar installation operations. In addition, the width of the concrete layer 6 can be monitored in real time, and the rotation speed of the 3D concrete printer and the rotation speed of the drive motor 121 can be dynamically adjusted based on the monitoring data to ensure the stability of the component printing process and the reliability of the printing quality, ultimately achieving efficient and accurate component printing.

[0098] Optionally, refer to Figure 2 The adjustment module 2 in this invention includes a sleeve 21, a driving component 22, and a transmission assembly 23. The sleeve 21 is movably connected to the hopper 4, and the frame 11 is fixedly connected to the sleeve 21. The driving component 22 is fixedly installed on the sleeve 21. The transmission assembly 23 is connected between the hopper 4 and the driving component 22, and is used to drive the sleeve 21 to rotate under the action of the driving component 22.

[0099] In this embodiment, the sleeve 21 can rotate steplessly around the hopper 4 through the transmission component 23 and the drive component 22. Thus, during use, when the printing path is a curve or when there is a deviation between the automatic rebar installation device and the concrete layer, the position of the rebar installation module 1 is adjusted in real time to ensure that the rebar installation module 1 is always accurately located on the center line of the concrete layer 6, thereby achieving high-precision printing and rebar installation operations.

[0100] Furthermore, in this embodiment, the driving component 22 is a stepper motor, and the transmission component 23 includes a transmission gear connected to the driving component 22 and a fixed gear fixedly sleeved on the hopper 4, wherein the transmission gear and the fixed gear mesh.

[0101] Specifically, in this embodiment, the drive unit 22 is electrically connected to the control module. During use, when the printing path is a curve, since the printing path is preset, the rotation angles of the hopper 4 and the nozzle 5 are known during the process. Based on the rotation angles of the hopper 4 and the nozzle 5, the drive unit 22, under the control of the control module, drives the transmission gear and moves around the fixed gear, thereby causing the sleeve 21 to rotate around the hopper 4 to the required angle, ensuring that the rebar module 1 is always accurately positioned on the center line of the concrete layer 6, thereby achieving high-precision printing and rebar installation operations.

[0102] Furthermore, in this embodiment, the drive unit 22 is electrically connected to the control module. It can also determine whether the implanted reinforcing bar is on the centerline of the concrete layer 6 based on the image data. During use, when it is determined that there is a deviation between the automatic rebar installation device and the concrete layer 6, the control module controls the drive unit 22 to start, driving the transmission gear to move around the fixed gear, thereby causing the sleeve 21 to rotate around the hopper 4 to the required angle, ensuring that the rebar installation module 1 returns to the centerline of the concrete layer 6, thereby achieving high-precision printing and rebar installation operations.

[0103] Example 2

[0104] Secondly, the present invention also provides a 3D concrete printing system including a 3D concrete printer and the 3D concrete printing automatic rebar installation device in Embodiment 1; wherein, the 3D concrete printer includes a moving mechanism, a hopper 4 and a nozzle 5 disposed below the hopper 4; the moving mechanism is connected to the hopper 4 and is used to drive the hopper 4 to move so as to realize 3D concrete printing; the 3D concrete printing automatic rebar installation device is fixedly installed on the hopper 4 through a sleeve 21.

[0105] In this embodiment, by combining a 3D concrete printer and a 3D concrete printing automatic rebar implantation device, when using the 3D concrete printer to print 3D concrete, the implantation of reinforcing bars can be carried out simultaneously while forming the concrete layer. This avoids the technical problems of low construction efficiency, large errors, or cumbersome procedures and limited freedom of operation that exist in the prior art when manually implanting reinforcing bars or pre-implanting reinforcing bars before printing.

[0106] It should be noted that the 3D concrete printing automatic rebar installation device in this embodiment has the same structure, usage and beneficial effects as the 3D concrete printing automatic rebar installation device in Embodiment 1, and will not be described in detail here.

[0107] Example 3

[0108] Thirdly, the present invention also provides a 3D concrete printing method for use in the 3D concrete printing system of Embodiment 2, comprising the following steps:

[0109] S1: Obtain design parameters: Obtain the design parameters for 3D concrete printing, and obtain the insertion depth and spacing parameters of the reinforcing bars based on the design parameters;

[0110] S2: Adjust the 3D concrete printing automatic rebar installation device: Based on the insertion depth and spacing parameters of the reinforcing bars, the control module adjusts the output speed and amplitude of the drive motor 121 and loads the reinforcing bars into the storage hopper 31.

[0111] S3: Print and implant reinforcing bars: Start the 3D concrete printer and the 3D concrete printing automatic rebar implantation device. During the construction process, while the 3D concrete printer extrudes the concrete layer 6, the 3D concrete printing automatic rebar implantation device is used to implant the reinforcing bars simultaneously.

[0112] S4: Printing Completed: Printing ends after all 3D concrete printing targets have been completed.

[0113] Optionally, step S3 in this invention specifically includes:

[0114] S3.1: Start the 3D concrete printer and the 3D concrete printing automatic rebar installation device, and use the hopper 4 and nozzle 5 of the 3D concrete printer to extrude the concrete layer 6.

[0115] S3.2: Use the image acquisition component 15 to acquire image data of concrete layer 6 in real time, analyze the current size data of concrete layer 6, and select the corresponding reinforcing bar of concrete layer 6 based on the current size data of concrete layer 6.

[0116] S3.3: Through the control module, control the electric push rod 32 in the corresponding storage bin 31 of the reinforcing bar to push the reinforcing bar corresponding to the current concrete layer 6 into the guide groove 142;

[0117] S3.4: Under the action of the drive motor 121 and the push rod 141, the reinforcing bar corresponding to the current concrete layer 6 is pushed downward along the guide groove 142 so that it is implanted into the concrete layer 6;

[0118] S3.5: Repeat steps S3.1 to S3.4.

[0119] In this embodiment, when using a 3D concrete printer to print 3D concrete, the insertion depth and spacing of the reinforcing bars are obtained according to the design parameters. The automatic rebar installation device for 3D concrete printing is then adjusted according to the insertion depth and spacing of the reinforcing bars to ensure that the depth and spacing of the automatic rebar installation meet the requirements. During the 3D concrete printing process, the automatic rebar installation device for 3D concrete printing performs the rebar installation operation in real time, which has the advantages of high efficiency, simple process and strong stability.

[0120] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0121] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic rebar installation device for 3D concrete printing, used in the process of 3D concrete printing by a 3D concrete printer, characterized in that, include: Control module, rebar installation module (1), adjustment module (2) and rebar storage module (3); The adjustment module (2) is movably mounted on the hopper (4) of the 3D concrete printer; The anchoring module (1) is fixedly installed on the adjustment module (2) and is on the same side as the discharge direction of the nozzle (5) below the hopper (4); The rebar storage module (3) is fixedly installed on the rebar installation module (1) and is connected to the rebar installation module (1); The control module is electrically connected to the rebar installation module (1), the adjustment module (2), and the rebar storage module (3); The reinforcement storage module (3) stores reinforcing bars, which are used to send the reinforcing bars into the rebar installation module (1) under the control of the control module. The rebar module (1) is used to, under the control of the control module, implant the reinforcing bar into the concrete layer (6) extruded by the nozzle (5); The adjustment module (2) is used to adjust the position of the anchoring module (1) in real time under the control of the control module, so that the anchoring module (1) is always on the same side as the discharge direction of the nozzle (5) below the hopper (4), so that when the nozzle extrudes the concrete layer, the anchoring module can accurately implant the reinforcing bar into the concrete layer.

2. The 3D concrete printing automatic rebar installation device according to claim 1, characterized in that, The rebar installation module (1) includes a frame (11), a drive assembly (12), a mounting plate (13), and a rebar installation assembly (14); The frame (11) is fixedly installed on the adjustment module (2), and the lower part of the frame (11) is provided with a receiving space, and the rib storage module (3) is fixedly installed in the receiving space; The mounting plate (13) is fixedly mounted on the frame (11) and is located on the side of the frame (11) away from the hopper (4); The rebar assembly (14) is located at the lower end of the mounting plate (13) and is connected to the rebar storage module (3); The drive assembly (12) is disposed at the upper end of the mounting plate (13), and is electrically connected to the control module and connected to the rebar assembly (14); The drive assembly (12) is used to drive the rebar module (1) under the control of the control module to implant the reinforcing bar into the concrete layer (6) extruded by the nozzle (5).

3. The 3D concrete printing automatic rebar installation device according to claim 2, characterized in that, The rebar assembly (14) includes a push rod (141), a guide groove (142), a damping element (143), and a push head (144); The guide groove (142) is vertically disposed at the bottom of the mounting plate (13), and the guide groove (142) is connected to the rib storage module (3); The push rod (141) is partially inserted into the guide groove (142); The push head (144) is disposed at the lower end of the push rod (141); The damping element (143) is fixedly mounted on the push rod (141) and is located close to the push head (144); The drive assembly (12) includes a drive motor (121) and a transmission crankshaft (122); The drive motor (121) is fixedly mounted on the top of the mounting plate (13) and electrically connected to the control module; The transmission crankshaft (122) is movably mounted on the top of the mounting plate (13) and connected to the output end of the drive motor (121), and movably connected to the upper end of the push rod (141).

4. The 3D concrete printing automatic rebar installation device according to claim 3, characterized in that, The rib storage module (3) includes a storage bin (31) and an electric push rod (32) disposed in the storage bin (31); The storage bin (31) is connected to the guide groove (142), and the storage bin (31) stores reinforcing ribs; The electric push rod (32) is located in the storage bin (31) on the side near the hopper (4) and is electrically connected to the control module. It is used to push the reinforcing rib into the guide groove (142) under the control of the control module.

5. The 3D concrete printing automatic rebar installation device according to claim 4, characterized in that, There are multiple storage bins (31) and electric push rods (32); All of the storage compartments (31) are connected to the guide groove (142); Multiple storage compartments (31) are used to store various reinforcing ribs; The rebar installation module (1) also includes an image acquisition component (15), which is located at the lower end of the mounting plate (13) and on the side close to the hopper (4). The image acquisition component (15) is electrically connected to the control module and is used to acquire image data of the concrete layer (6) extruded by the nozzle (5) and transmit the image data to the control module. The control module is used to obtain the size data of the concrete layer (6) extruded by the nozzle (5) based on the image data, and control the electric push rods (32) in different storage bins (31) to push the corresponding reinforcing bars into the guide groove (142) for rebar installation based on the size data of the concrete layer (6).

6. The 3D concrete printing automatic rebar installation device according to claim 5, characterized in that, The image acquisition component (15) includes a camera (151) and a laser net transmitter (152), both of which are electrically connected to the control module.

7. The 3D concrete printing automatic rebar installation device according to claim 6, characterized in that, The adjustment module (2) includes a sleeve (21), a drive component (22), and a transmission assembly (23); The sleeve (21) is movably connected to the hopper (4), and the frame (11) is fixedly connected to the sleeve (21); The driving component (22) is fixedly mounted on the sleeve (21); The transmission assembly (23) is connected between the hopper (4) and the drive member (22) and is used to drive the sleeve (21) to rotate under the action of the drive member (22).

8. A 3D concrete printing system, characterized in that, Includes a 3D concrete printer and the 3D concrete printing automatic rebar installation device as described in claim 7; The 3D concrete printer includes a moving mechanism, a hopper (4), and a nozzle (5) disposed below the hopper (4); the moving mechanism is connected to the hopper (4) and is used to drive the hopper (4) to move so as to realize 3D concrete printing. The 3D concrete printing automatic rebar installation device is fixedly installed on the hopper (4) by a sleeve (21).

9. A 3D concrete printing method, used in the 3D concrete printing system of claim 8, characterized in that, Including the following steps: S1: Obtain design parameters: Obtain the design parameters for 3D concrete printing, and obtain the insertion depth and spacing parameters of the reinforcing bars based on the design parameters; S2: Adjust the 3D concrete printing automatic rebar installation device: According to the implantation depth and spacing parameters of the reinforcing bars, the output speed and amplitude of the drive motor (121) are adjusted by the control module, and the reinforcing bars are loaded into the storage bin (31); S3: Print and implant reinforcing bars: Start the 3D concrete printer and the 3D concrete printing automatic rebar implantation device. During the construction process, while the 3D concrete printer extrudes the concrete layer (6), the 3D concrete printing automatic rebar implantation device is used to implant the reinforcing bars simultaneously. S4: Printing Completed: Printing ends after all 3D concrete printing targets have been completed.

10. The 3D concrete printing method according to claim 9, characterized in that, Step S3 specifically includes: S3.1: Start the 3D concrete printer and the 3D concrete printing automatic rebar installation device, and use the hopper (4) and nozzle (5) of the 3D concrete printer to extrude the concrete layer (6); S3.2: Use the image acquisition component (15) to acquire image data of the concrete layer (6) in real time, analyze the current size data of the concrete layer (6), and select the corresponding reinforcing bar of the current concrete layer (6) based on the current size data of the concrete layer (6); S3.3: Through the control module, control the electric push rod (32) in the corresponding storage compartment (31) of the corresponding reinforcing rib to push the reinforcing rib selected in step S3.2 into the guide groove (142); S3.4: Under the action of the drive motor (121) and the push rod (141), the reinforcing bar corresponding to the current concrete layer (6) is pushed down along the guide groove (142) so that it is implanted into the concrete layer (6); S3.5: Repeat steps S3.1 to S3.4.

Images