High-rise building 3D printing device and method integrated on building machine platform

Abstract

The invention discloses a high-rise building 3D printing device and method integrated to a building machine platform, the device comprises the building machine platform, a horizontal mechanical arm, a vertical lifting arm, a self-stabilizing printing head, a total station system, a concrete conveying pump, a pump pipe and a control console, one end of the horizontal mechanical arm is installed on the building machine platform and moves in the horizontal plane, and the other end of the horizontal mechanical arm is installed on the vertical lifting arm; the vertical lifting arm is installed at the other end of the horizontal mechanical arm, the self-stabilizing printing head is installed at the lower end of the vertical lifting arm, the total station system is placed on a construction operation plane of a printed high-rise building and used for monitoring the position of the self-stabilizing printing head, and the concrete conveying pump and the pump pipe are used for conveying concrete to the self-stabilizing printing head. The console is used for generating control instructions. The printing precision is improved, the occupied space of a construction operation layer is reduced, and the stability of the printing process is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building 3D printing, and particularly relates to a high-rise building 3D printing device integrated with a building machine platform and a method thereof. BACKGROUND

[0002] As an emerging digital construction technology, building 3D printing integrates computer technology, numerical control technology and material forming technology, and mainly uses concrete or mortar as a building material to realize rapid prototyping of building structures through layer-by-layer accumulation. This technology has significant advantages such as formwork-free construction and fast construction speed, and has been researched and applied to different degrees worldwide.

[0003] However, the current building 3D printing technology is mainly limited to the printing of building components or low-rise buildings, and still faces major technical bottlenecks in the application of high-rise buildings. In high-rise building construction, a building machine platform is generally used as the core construction equipment, but the traditional 3D printing equipment cannot be effectively integrated with the building machine platform, and has some defects: the three-degree-of-freedom truss-type mechanical arm does not fully consider the influence of platform vibration on printing accuracy; the mechanical arm occupies the construction operation layer space, and interferes with the material hoisting and concrete pouring processes; and there is a lack of a stable printing system for high-rise buildings, which makes it difficult to meet the structural requirements of high-rise buildings. These problems seriously restrict the practical application of 3D printing technology in high-rise building construction.

[0004] Therefore, there is an urgent need for a new 3D printing system that can be deeply integrated with the building machine platform and has high-precision stable printing capability, and a matching construction method. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a high-rise building 3D printing device integrated with a building machine platform and a method thereof, which has the advantages of improving printing accuracy, reducing the occupation of construction operation layer space, and enhancing the stability of the printing process.

[0006] In a first aspect, the embodiments of the present application provide a high-rise building 3D printing device integrated with a building machine platform, comprising: a building machine platform 2, a horizontal mechanical arm 3, a vertical lifting arm 4, a self-stabilizing printing head 5, a total station system 6, a concrete delivery pump 7, a pump pipe 8 and a control console 9, one end of the horizontal mechanical arm 3 is installed on the building machine platform 2 and moves in the horizontal plane, the other end of the horizontal mechanical arm 3 is installed with the vertical lifting arm 4, the self-stabilizing printing head 5 is installed at the lower end of the vertical lifting arm 4, the total station system 6 is placed on the construction operation plane of the printed high-rise building to monitor the position of the self-stabilizing printing head 5, the concrete delivery pump 7 and the pump pipe 8 are used to deliver concrete to the self-stabilizing printing head 5, and the control console 9 is used to generate control instructions.

[0007] In a second aspect, the embodiments of the present application provide a high-rise building 3D printing method integrated with a building machine platform, comprising: Adjusting the platform height of the building machine to the height of a building floor under construction of the high-rise building, and fixing; Generating a printing path plan according to the BIM model of the building floor under construction, and initializing the high-rise building 3D printing device integrated with the building machine platform based on the platform height; Controlling the high-rise building 3D printing device integrated with the building machine platform to perform printing processing according to the printing path plan, and performing real-time monitoring and compensation processing until the printing processing of the building floor under construction is completed; When the printing processing of the building floor under construction is completed, controlling the building machine to adjust the platform height, and performing the step of adjusting the platform height of the building machine to the height of a building floor under construction of the high-rise building, and fixing, until the printing processing of all floors of the high-rise building is completed.

[0008] The embodiments of the present application provide a high-rise building 3D printing device and method integrated with a building machine platform. The device comprises a building machine platform 2, a horizontal mechanical arm 3, a vertical lifting arm 4, a self-stabilizing printing head 5, a total station system 6, a concrete delivery pump 7, a pump pipe 8, and a control console 9. One end of the horizontal mechanical arm 3 is installed on the building machine platform 2 and moves in the horizontal plane. The other end of the horizontal mechanical arm 3 is installed with the vertical lifting arm 4. The self-stabilizing printing head 5 is installed at the lower end of the vertical lifting arm 4. The total station system 6 is placed on the construction operation plane of the printed high-rise building, used to monitor the position of the self-stabilizing printing head 5. The concrete delivery pump 7 and the pump pipe 8 are used to deliver concrete to the self-stabilizing printing head 5. The control console 9 is used to generate control instructions. The position of the printing head is monitored in real time by the total station system and combined with the modular mechanical arm structure, effectively eliminating the influence of platform vibration on printing precision. At the same time, through spatial optimization layout, interference with other processes on the construction operation layer is avoided, having the advantages of improving printing precision, reducing space occupation on the construction operation layer, and enhancing the stability of the printing process. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a structural schematic diagram of a high-rise building 3D printing device integrated with a building machine platform provided by the embodiments of the present application; Figure 2 is a structural schematic diagram of a building machine platform provided by the embodiments of the present application; Figure 3 is a structural schematic diagram of a horizontal mechanical arm provided by the embodiments of the present application; Figure 4 is a structural schematic diagram of a vertical lifting arm provided by the embodiments of the present application; Figure 5is a structural schematic diagram of a self-stabilizing print head provided by an embodiment of the present application; Figure 6 is a structural schematic diagram of a fiber yarn cage provided by an embodiment of the present application; Figure 7 is a structural schematic diagram of a yarn feeding device provided by an embodiment of the present application; Among them, high-rise building 1, building machine platform 2, stand 21, standard section 211, lower sleeve frame 22, first hanging claw 221, hydraulic cylinder 23, upper sleeve frame 24, second hanging claw 241, platform 25, modular node 251, horizontal mechanical arm 3, mounting seat 31, one section arm 32, two section arm 33, primary drive device 34, secondary drive device 35, vertical lifting arm 4, mounting plate 41, transmission device 42, gear 421, rack 422, sliding block 423, slide rail 424, drive device 43, vertical pipe 44, self-stabilizing print head 5, connecting seat 51, double-layer connecting seat 52, upper flange plate 521, transition side plate 522, lower flange plate 523, fixed feeding pipe 53, feeding pipe fixing seat 54, fiber yarn cage 55, fixed hinge 551, movable hinge 552, connecting block 553, upper cover plate 554, fixed side plate 555, movable side plate 556, lower bottom plate 557, large yarn group fiber 558, rubber hose 56, stabilizing platform 57, upper connecting seat 571, push rod 572, lower connecting seat 573, movable platform 574, prism 575, yarn feeding device 58, yarn feeding pipe 581, movable feeding pipe 582, yarn feeding pipe fixing seat 583, jackscrew 584, print nozzle 59, total station system 6, concrete delivery pump 7, pump pipe 8, control console 9. DETAILED DESCRIPTION

[0010] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0011] It should be understood that each step described in the method embodiments disclosed in the present application can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present application is not limited in this respect.

[0012] As used herein, the term "includes" and its variants are open-ended, meaning that "includes but is not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments." Related terms shall be construed accordingly.

[0013] In the related art, the building 3D printing technology is mainly applied to low-rise building or component production, and is difficult to adapt to the construction demand of high-rise buildings. When the traditional truss type mechanical arm is integrated on the construction platform, there are problems of large plane space occupation and platform vibration affecting printing precision. When the construction operation layer needs to be synchronized for material hoisting or concrete pouring, the mechanical arm and the construction equipment are easy to produce space interference, resulting in low construction efficiency and certain safety hazards.

[0014] To solve the technical problems existing in the related art, please refer to Figures 1 to 7 , Figure 1 is a structural schematic diagram of a high-rise building 3D printing device integrated on a building machine platform provided by the embodiment of the present application.

[0015] In an embodiment, the high-rise building 3D printing device integrated on the building machine platform (hereinafter referred to as: printing device) comprises a building machine platform 2, a horizontal mechanical arm 3, a vertical lifting arm 4, a self-stabilizing printing head 5, a total station system 6, a concrete delivery pump 7, a pump pipe 8 and a control console 9. One end of the horizontal mechanical arm 3 is installed on the building machine platform 2 and moves in the horizontal plane. The other end of the horizontal mechanical arm 3 is installed with the vertical lifting arm 4. The self-stabilizing printing head 5 is installed at the lower end of the vertical lifting arm 4. The total station system 6 is placed on the construction operation plane of the printed high-rise building, used to monitor the position of the self-stabilizing printing head 5. The concrete delivery pump 7 and the pump pipe 8 are used to deliver concrete to the self-stabilizing printing head 5. The control console 9 is used to generate control instructions.

[0016] Specifically, the horizontal mechanical arm 3 refers to a mechanical device with multiple degrees of freedom in the horizontal plane, which can be realized by adopting a multi-joint arm in series with a servo drive system, and is used to expand the working range of the print head in the plane. The vertical lifting arm 4 refers to a telescopic mechanism moving in the vertical direction, which can be realized by adopting a gear and rack transmission cooperating with a guide rail, and is used to accurately adjust the height of the print head. The self-stabilizing print head 5 refers to an end effector with dynamic posture adjustment function, which can be realized by adopting a multi-link stabilizing mechanism cooperating with a flexible connecting component, and is used to offset the influence of platform vibration on the printing quality. The total station system 6 refers to a positioning device with three-dimensional coordinate measurement function, which can be realized by adopting a laser tracker cooperating with a reflecting prism, and is used to feedback the spatial coordinates of the print head in real time. The concrete delivery pump 7 refers to a device for delivering concrete materials, which can be realized by adopting a plunger pump cooperating with a variable frequency control system, and is used to ensure continuous feeding. The pump pipe 8 refers to a delivery pipeline connecting the concrete delivery pump 7 and the self-stabilizing print head 5, which can be realized by adopting a wear-resistant alloy steel pipe cooperating with a quick connector, and is used to establish a material transmission channel. The control console 9 refers to a computer system integrating motion control and data processing, which can be realized by adopting an industrial control computer cooperating with a motion control card, and is used to coordinate the collaborative work of the various actuators of the printing device.

[0017] Specifically, the building machine platform 2 provides basic support for the printing device, the horizontal mechanical arm 3 is expanded along the edge of the platform to realize plane positioning, and the vertical lifting arm 4 adjusts the vertical position of the self-stabilizing print head 5 according to the building height of the high-rise building 1. The total station system 6 collects the three-dimensional coordinates of the self-stabilizing print head 5 in real time and feeds back to the control console 9, when the position deviation is detected, the control console 9 adjusts the motion parameters of the horizontal mechanical arm 3 and the vertical lifting arm 4 to compensate. The concrete delivery pump 7 delivers the mixture to the self-stabilizing print head 5 through the pump pipe 8 to realize the printing process.

[0018] Through the above technical scheme, the high-rise building 3D printing device and the building machine platform are effectively integrated, the printing precision is ensured, and the operation surface space layout is optimized. The separation design of horizontal and vertical motion mechanism reduces the complexity of the equipment, the closed-loop control of the total station system improves the position control precision, and the modular structure facilitates the adjustment of device configuration according to the construction progress. This scheme solves the applicability problem of traditional 3D printing equipment in high-rise building construction, and provides a feasible path for the engineering application of building 3D printing technology.

[0019] Further, with reference to Figure 2 , the building machine platform 2 includes a stand 21, a lower sleeve frame 22, a hydraulic cylinder 23, an upper sleeve frame 24, and a platform 25, the lower sleeve frame 22, the hydraulic cylinder 23, and the upper sleeve frame 24 are installed on the stand 21, the stand 21 is connected with the platform 25 through the upper sleeve frame 24, and the platform 25 surrounds the high-rise building, and the horizontal mechanical arm 3 is installed on the platform 25; The column 21 is composed of multiple standard sections 211, and each standard section 211 is connected by a pin shaft. The lower sleeve frame 22 is installed on the standard section 211 by a first hanging claw 221. The upper sleeve frame 24 is installed on the standard section 211 by a second hanging claw 241. The upper end of the hydraulic cylinder 23 is connected to the upper sleeve frame 24 by a pin shaft. The lower end of the hydraulic cylinder 23 is connected to the lower sleeve frame 23 by a pin shaft.

[0020] In an embodiment, the standard section 211 refers to a segmented unit of the detachable column 21, which can be implemented by a steel structure frame with a connecting hole, and is quickly assembled and adjusted in height by pin shaft connection. The first hanging claw 221 and the second hanging claw 241 refer to connecting components for fixing the lower sleeve frame 22 and the upper sleeve frame 24 to the standard section 211, which can be implemented by a metal component with a clamping groove and is fixed on the surface of the standard section 211 by bolts or welding. Pin shaft connection refers to a connection method in which a cylindrical shaft body penetrates two components, which can be implemented by a hinged structure with a positioning hole, allowing angular adjustment or relative displacement between components.

[0021] Specifically, the column 21 is formed by stacking multiple standard sections 211 to form a support body. The lower sleeve frame 22 and the upper sleeve frame 24 are fixed to the corresponding standard sections 211 by the first hanging claw 221 and the second hanging claw 241, respectively. The hydraulic cylinder 23 is hinged at both ends to the upper sleeve frame 24 and the lower sleeve frame 22 to form a telescopic support structure. When the hydraulic cylinder 23 is extended or retracted, the upper sleeve frame 24 drives the building machine platform 2 to ascend or descend along the column 21. The building machine platform 2 is connected to the column 21 by a pin shaft to maintain a stable relative position. The horizontal mechanical arm 3 is installed on the edge of the building machine platform 2, and the annular structure of the building machine platform 2 avoids the main body of the high-rise building 1.

[0022] Further, referring to Figure 2 , the platform 25 is composed of multiple modular nodes 251, and the upper sleeve frame 24 is connected to the modular nodes 251 by a pin shaft.

[0023] In an embodiment, the modular node 251 refers to an independent unit formed by standardized design, which can be implemented by prefabricated steel structure units. Each unit has a uniform interface size, facilitating quick disassembly and assembly. Pin shaft connection refers to a hinged connection achieved by a cylindrical metal shaft penetrating the holes of two components, which can be implemented by a connecting ear plate with a positioning hole cooperating with a pin, allowing the components to rotate around the axis and withstand shear force.

[0024] Specifically, the platform 25 is formed by splicing multiple modular nodes 251 to form an annular structure, as shown in Figure 2As shown, each modular node 251 is fixed by means of bolts or welding. The upper sleeve frame 24 is connected to the modular node 251 by a pin shaft, so that the platform 25 can be driven to adjust the lifting by the hydraulic cylinder 23. When it is necessary to adjust the size or shape of the platform 25, the number of modular nodes 251 or the arrangement thereof can be increased or changed, and the pin shaft connection ensures that the upper sleeve frame 24 and the platform 25 can not only bear stably but also adapt to the dynamic adjustment of the platform structure.

[0025] Further, referring to Figure 3 The horizontal mechanical arm 3 includes a mounting seat 31, a one-section arm 32, a two-section arm 33, a primary driving device 34 and a secondary driving device 35. The one-section arm 32 is installed on the mounting seat 31 by means of the primary driving device 34, and the two-section arm 33 is connected to the one-section arm 32 by means of the secondary driving device 35. The mounting seat 31 is fixedly connected to the modular node 251.

[0026] In an embodiment, the mounting seat 31 refers to a basic component for fixing the horizontal mechanical arm 3, which can be fixed on the modular node 251 by means of welding or bolt connection, and plays a role in load transmission and structure stability. The one-section arm 32 refers to the first movable part of the horizontal mechanical arm 3, which can adopt a box-type steel structure and realize horizontal motion by means of the primary driving device 34, and is used to expand the working range of the mechanical arm. The two-section arm 33 refers to the second movable part of the horizontal mechanical arm, which can adopt a box-type steel structure and realize extension motion relative to the one-section arm by means of the secondary driving device 35, and further expands the working coverage area.

[0027] Specifically, the mounting seat 31 is fixed on the modular node 251 by means of bolts to form a rigid connection. The primary driving device 34 drives the one-section arm 32 to rotate around the axis direction of the mounting seat 31, and the secondary driving device 35 drives the two-section arm 33 to rotate in the horizontal direction at the end of the one-section arm 32. Through the cooperative control of the primary driving device 34 and the secondary driving device 35, the horizontal mechanical arm 3 can realize large-range motion in the horizontal plane, and the split structure design makes the mechanical arm foldable in the non-working state, reducing the space occupation of the working plane. The connection mode of the modular node 251 and the mounting seat 21 facilitates the adjustment of the installation position of the horizontal mechanical arm 3 according to the shape of the building plane, and the separated layout of the primary driving device 34 and the secondary driving device 35 and the horizontal mechanical arm 3 is conducive to equipment maintenance and component replacement.

[0028] Further, referring to Figure 4The vertical lifting arm 4 includes a mounting plate 41, a transmission device 42, a driving device 43 and a vertical pipe 44. The mounting plate 41 is fixed to the two-section arm 32 by screw connection. The driving device 43 is fixed to the mounting plate 41 by flange. The transmission device 42 is installed at the end of the driving device 43 by a gear 421. A rack 422 on the transmission device 42 is fixed to the vertical pipe 44 by screw. The gear 421 and the rack 422 are in meshing relationship. A sliding block 423 on the transmission device 42 is fixed to the mounting plate 41 by screw. Sliding rails 424 on the transmission device 42 are fixed to the two sides of the vertical pipe 44 by screw. The driving device 43 drives the vertical pipe 44 to lift by the transmission device 42.

[0029] In an embodiment, the mounting plate 41 refers to a structural component for connecting the vertical lifting arm 4 and the horizontal mechanical arm 3. A steel plate with bolt holes can be used to realize the rigid connection between the two-section arm 33 and the vertical lifting arm 4. The transmission device 42 refers to a mechanism for converting the rotary motion of the driving device 43 into linear motion of the vertical pipe. A gear and rack meshing structure can be used to realize the power transmission. The gear 421 is connected to the output shaft of the driving device 43. The rack 422 is fixed to the vertical pipe 44. The driving device 43 refers to a device for providing power. A servo motor or a stepper motor can be used to realize the coaxial connection between the output shaft of the driving device 43 and the gear 421 by flange fixing method. The vertical pipe 44 refers to a support structure moving in the vertical direction. A rectangular steel pipe or an I-beam can be used to realize the guiding function by the cooperation of the sliding rails 424 and the sliding blocks 423.

[0030] Specifically, the rotary motion of the output shaft of the driving device 43 is transmitted to the rack 422 through the gear 421. The rack 422 drives the vertical pipe 44 to lift vertically along the direction of the sliding rails 424. The sliding rails 424 are fixed to the two sides of the vertical pipe 44 by screw. The sliding rails 424 and the sliding blocks 423 on the mounting plate 41 form a sliding pair to limit the lateral deviation of the vertical pipe 44 during movement. The screw connection between the mounting plate 41 and the two-section arm 33 can adapt to the installation requirements under different working conditions. The gear and rack transmission structure has self-locking characteristics, which can keep the position of the vertical pipe stable in the power-off state.

[0031] Further, with reference to Figure 5, self-stabilizing print head 5 includes connecting seat 51, double-layer connecting seat 52, fixed feed pipe 53, feed pipe fixing seat 54, fiber yarn cage 55, rubber hose 56, stabilizing platform 57, yarn feeding device 58 and print nozzle 59, the upper end of connecting seat 51 is connected with the lower end of vertical pipe 44 by bolts, the lower end of connecting seat 51 is connected with the upper flange plate 521 of double-layer connecting seat 52 by bolts, double-layer connecting seat 52 includes upper flange plate 521, transition side plate 522 and lower flange plate 523, upper flange plate 521 is connected with lower flange plate 523 through transition side plate 522, feed pipe fixing seat 54 is fixed on lower flange plate 523 by bolts, fixed feed pipe 53 passes through feed pipe fixing seat 54 and the slot of lower flange plate 523 in turn and is connected with feed pipe fixing seat 54 by a hoop.

[0032] In an embodiment, double-layer connecting seat 52 refers to a rigid support structure formed by upper flange plate 521, transition side plate 522 and lower flange plate 523, which can be achieved by welding or bolt connection, used to disperse the vibration load generated by the movement of the print head. Feed pipe fixing seat 54 refers to a metal base with through holes, which can be made of cast iron or aluminum alloy material, used to constrain the radial displacement of the fixed feed pipe. Stabilizing platform 57 refers to an adjusting mechanism containing push rods and movable platforms, which can be driven by hydraulic push rods or electric push rods, used to compensate for the position deviation of the print head in any direction. Fiber yarn cage 55 refers to a fiber storage container with a hinge structure, which can be designed with detachable side plates for quick replacement of large yarn fiber.

[0033] Specifically, connecting seat 51 and vertical pipe 44 form a rigid connection to transfer the movement trajectory of the robot arm, and double-layer connecting seat 52 absorbs the vibration energy during printing through upper flange plate 521, transition side plate 522 and lower flange plate 523. After fixed feed pipe 53 passes through feed pipe fixing seat 54, it is axially fixed by a hoop to avoid pipe displacement during concrete conveying. Stabilizing platform 57 drives movable platform 574 to produce displacement in any direction through push rod 572, and combines with the position data feedback by prism 575 to correct the spatial coordinates of print nozzle 59 in real time.

[0034] Further, with reference to Figure 6, the fiber yarn cage 55 includes a fixed hinge 551, a movable hinge 552, a connecting block 553, an upper cover plate 554, a fixed side plate 555, a movable side plate 556, a lower bottom plate 557, and a large fiber bundle 558, the fixed hinge 551 is installed on the lower flange plate 523, the upper cover plate 554 is connected with the lower bottom plate 557 through the fixed side plate 555, the connecting block 553 is installed on the upper plane of the upper cover plate 554, the movable side plate 556 moves up and down through the slot of the upper cover plate 554 and the lower bottom plate 557 in turn, the connecting block 553 is connected with the fixed hinge through the movable hinge 552, and the large fiber bundle 558 is placed between the lower bottom plate 557 and the upper cover plate 554.

[0035] In an embodiment, the fixed hinge 551 refers to a hinge structure for connecting the fiber yarn cage with the lower flange plate, which can be realized by a rotatable metal part with a pin shaft, and functions to provide a stable installation basis for the fiber yarn cage. The movable hinge 552 refers to a hinge structure connecting the fixed hinge with the connecting block, which can be realized by a hinge assembly with a bidirectional rotation function, and functions to realize the relative opening and closing of the fiber yarn cage and the lower flange plate 523. The connecting block 553 refers to a metal block installed on the upper plane of the upper cover plate, which can be realized by a steel part with a threaded hole, and functions to transmit the opening and closing force through the movable hinge to control the movement of the fiber yarn cage. The movable side plate 556 refers to a plate-shaped structure that can move up and down in the slot, which can be realized by a metal plate with a guide slot, and functions to adjust the internal space of the fiber yarn cage through vertical displacement, facilitating the replacement of the large fiber bundle.

[0036] Specifically, the fiber yarn cage 55 is fixedly connected with the lower flange plate 523 through the fixed hinge, and a rigid frame is formed between the upper cover plate 554 and the lower bottom plate 557 through the fixed side plate 555. When it is necessary to replace the large fiber bundle, the movable side plate 556 moves upward along the slot of the upper cover plate 554 and the lower bottom plate 557, thereby expanding the internal space of the fiber yarn cage. At this time, the large fiber bundle can be taken out or put in through the opening formed between the lower bottom plate 557 and the movable side plate 556. After the replacement is completed, the movable side plate 556 moves downward along the slot of the upper cover plate 554 and the lower bottom plate 557, thereby maintaining the closed state of the fiber yarn cage. When it is necessary to overhaul the inside of the stable platform, the fiber yarn cage can be driven to rotate around the fixed hinge, thereby expanding the operation space of the stable platform.

[0037] Further, with reference to Figure 5 , the stable platform 57 includes an upper connecting seat 571, a push rod 572, a lower connecting seat 573, a movable platform 574, and a prism 575, the upper connecting seat 571 is fixed on the lower plane of the lower flange plate 523 through bolts, the lower connecting seat 573 is fixed on the upper plane of the movable platform 574 through bolts, the two ends of the push rod 572 are connected with the upper connecting seat 571 and the lower connecting seat 573 through pin shafts, and the prism 575 is installed on the upper plane of the movable platform 574.

[0038] In an embodiment, the upper connecting seat 571 refers to a fixed base for connecting the stable platform 57 and the self-stabilizing print head 5, which can be implemented by a metal plate with bolt holes, and its function is to provide a stable support point for the push rod. The push rod 572 refers to a connecting rod mechanism for transmitting displacement adjustment, which can be implemented by a hydraulic cylinder or an electric push rod, and the pitch angle adjustment of the movable platform is achieved through pin shaft connection. The lower connecting seat 573 refers to a transition component for connecting the push rod 572 and the movable platform 574, which can be implemented by a cast part with bolt holes, and its function is to convert the linear motion of the push rod into displacement change of the movable platform. The movable platform 574 refers to a moving substrate carrying the print nozzle 59, which can be implemented by an aluminum alloy frame structure, and the position compensation in three-dimensional space is achieved through push rod driving. The prism 575 refers to a reflecting element for optical positioning, which can be implemented by a prism dedicated for total station, and its function is to cooperate with the total station system 6 to realize real-time monitoring of the position of the self-stabilizing print head 5.

[0039] Specifically, when the printing device is working, the total station system 6 continuously monitors the spatial coordinate data of the prism 575, and the console 9 generates compensation instructions according to the coordinate deviation. The push rod 572 adjusts the extension amount according to the instructions, and drives the movable platform 574 to produce displacement change, so that the print nozzle 59 always remains on the predetermined track. The movable platform 574 forms a hinged structure with the push rod 572 through the lower connecting seat 573, and realizes multidirectional displacement compensation in the horizontal plane. The prism 575 is rigidly connected with the movable platform 574, which ensures that the monitoring data and the actual position of the nozzle correspond synchronously.

[0040] Further, referring to Figure 7 , the yarn feeding device 58 includes a yarn guide tube 581, a movable feed tube 582, a yarn guide tube fixing seat 583, and a jack 584. The yarn guide tube fixing seat 583 is sleeved on the movable feed tube 582, the yarn guide tube 581 passes through the through holes of the yarn guide tube fixing seat 583 and the movable feed tube 582 in sequence, and the jack 584 fixes the yarn guide tube 581. The movable feed tube 582 is fixedly connected with the movable platform 574, the upper end of the movable feed tube 582 is connected with the fixed feed tube 53 through the rubber hose 56, and the lower end of the movable feed tube 582 is connected with the print nozzle 59 through screw connection.

[0041] In an embodiment, the yarn guide tube 581 refers to a tubular structure for guiding the fiber yarn into the printing nozzle 59, which can be made of stainless steel or engineering plastic, and its inner diameter can be adjusted according to the diameter of the fiber yarn. The movable feed tube 582 refers to a delivery pipe that can adjust its position with the movement of the self-stabilizing printing head 5, which can be a bellows or a segmented sleeve structure, allowing displacement in the vertical and horizontal directions. The yarn guide tube fixing seat 583 refers to a mounting component for restraining the position of the yarn guide tube 581, which can be a metal block with a through hole, connected to the outer wall of the movable feed tube 582 by bolts. The top screw 584 refers to a fastener for locking the axial position of the yarn guide tube 581, which can be an internal hexagonal screw, screwed into the threaded hole in the side wall of the yarn guide tube fixing seat 583 to compress the yarn guide tube 581.

[0042] Specifically, the movable feed tube 582 is fixed to the movable platform 574 of the stabilizing platform 57 through the lower connecting seat 573, and when the self-stabilizing printing head 5 is displaced due to the movement of the horizontal mechanical arm 3 and the vertical lifting arm 4, the movable platform 574 compensates for the positional deviation through the extension and retraction of the push rod 572, driving the movable feed tube 582 to move synchronously. The rubber hose 56 connects the fixed feed tube 53 and the movable feed tube 582, allowing bending deformation between the two to avoid stress concentration caused by rigid connection during concrete delivery. The yarn guide tube fixing seat 583 is provided with multiple positioning holes along the axis of the movable feed tube 582, which can be adjusted to match the delivery path of different fiber yarns by adjusting the penetration position of the yarn guide tube 581. The top screw 584 is screwed against the outer wall of the yarn guide tube 581 after rotation, preventing displacement of the fiber yarn during delivery due to vibration. The printing nozzle 59 is connected to the lower end of the movable feed tube 582 by threading, which facilitates disassembly, replacement, or cleaning of blockages.

[0043] Further, a use method of the high-rise building 3D printing device integrated on the building machine platform is also provided, which comprises the following steps: Adjusting the platform height of the building machine to the height of the under-construction floor of the high-rise building and fixing it; Generating a printing path plan according to the BIM model of the under-construction floor and initializing the high-rise building 3D printing device integrated on the platform of the building machine based on the platform height; Controlling the high-rise building 3D printing device integrated on the platform of the building machine to perform printing according to the printing path plan, and performing real-time monitoring and compensation until the printing of the under-construction floor is completed; When the printing of the under-construction floor is completed, adjusting the platform height of the building machine to the height of the under-construction floor of the high-rise building and fixing it, until the printing of all floors of the high-rise building is completed.

[0044] In an embodiment, adjusting the platform height refers to adjusting the platform height by driving the sleeve frame along the column by the hydraulic cylinder, and specifically, the hydraulic synchronous jacking system can be used in cooperation with the sleeve frame locking mechanism to achieve this operation, which ensures that the printing head and the construction layer maintain the vertical positioning reference. The printing path planning refers to decomposing the building components into continuous printing tracks based on the BIM model, and specifically, the numerical control programming software can be used to generate the mechanical arm motion track code, which avoids the interference between the printing path and the platform structure. Real-time monitoring and compensation processing refers to real-time acquisition of the spatial coordinates of the printing head by the total station system and comparison with the preset path, and specifically, the closed-loop control system can be used to dynamically adjust the mechanical arm motion parameters, which eliminates the printing errors caused by platform vibration or deformation.

[0045] Specifically, the method first lifts the building machine platform to the target construction layer height by the hydraulic drive system and locks the sleeve frame to ensure the stability of the platform. Then, the BIM model is imported into the control console to generate the mechanical arm motion track, and the mechanical arm and the printing head are initialized to the preset starting point. During the printing process, the total station continuously monitors the position of the printing head, and the control console dynamically adjusts the drive parameters of the horizontal mechanical arm and the lifting arm according to the deviation value to compensate for the deviation caused by platform displacement or mechanical vibration. After completing the printing of a single layer, the hydraulic system drives the platform to climb to the next construction layer, and the cycle is executed until the building is capped.

[0046] In actual application, when performing the printing process, the following steps are included: Step one: first, according to the building floor height of the high-rise building, adjust the height of the building machine platform, so that the position relationship between the building floor of the high-rise building and the building machine platform remains fixed.

[0047] Step two: import the BIM model of the building floor into the control system of the printing device, and plan the printing path for the floor and wall structure respectively.

[0048] Step three: assemble all components of the printing device, including structure fixation, cable arrangement and pump pipe connection, and complete the printing preparation work.

[0049] Step four: since the floor printing precision requirement is low, the horizontal mechanical arm can be directly controlled to move, first adjust the vertical lifting arm to the appropriate position (the printing nozzle is a certain distance away from the floor), then according to the floor printing path code instruction, the first level drive device drives the first arm to rotate, the second level drive device drives the second arm to rotate around the end of the first arm, and the horizontal mechanical arm can basically realize full coverage of the floor operation area, completing the floor printing construction.

[0050] Step five: after the concrete of the floor slab is cured, the printing construction of the wall structure is started. Since the printing precision of the wall structure is high, the horizontal mechanical arm, the vertical lifting arm and the self-stabilizing printing head need to move coordinately. According to the printing path code instruction of the wall structure, the spatial accessibility of the printing head can be realized through the movement of the horizontal mechanical arm and the vertical lifting arm. Since the combination mechanism of the horizontal mechanical arm and the vertical lifting arm cannot achieve millimeter movement precision, a total station system is placed on the floor slab when the printing head moves. The total station obtains the real-time accurate position of the printing nozzle by irradiating the prism arranged on the printing head, and transmits the position to the control system in real time. In the control system, the deviation between the real-time position and the set position in the program is analyzed, and the push rod device is driven to perform real-time dynamic compensation on the position of the printing nozzle, so as to ensure that the printing nozzle moves in space according to the program instruction and ensure the printing construction quality of the wall structure.

[0051] Step six: after all the walls are printed, the next floor slab is supported, the steel bars are tied, and the pipelines are laid, etc. Step seven: repeat step one, and lift the building machine platform upward once, the lifting height is consistent with the floor height of the high-rise building, and steps two to six are continued until the printing construction of the high-rise building is completed.

[0052] In summary, the above embodiment provides a high-rise building 3D printing device and method integrated in a building machine platform. The device includes a building machine platform, a horizontal mechanical arm, a vertical lifting arm, a self-stabilizing printing head and other components. The position of the printing head is monitored in real time by a total station system, and the influence of platform vibration on printing precision is effectively eliminated in combination with the modular mechanical arm structure. At the same time, through spatial optimization layout, interference with other processes on the construction operation layer is avoided, which has the advantages of improving printing precision, reducing space occupation of the construction operation layer, and enhancing the stability of the printing process.

[0053] The above provides a high-rise building 3D printing device and method integrated in a building machine platform. The principle and implementation of the application are described by applying specific examples. The above embodiment is only used to help understand the method and its core idea; at the same time, for those skilled in the art, according to the idea of the application, the specific implementation and application range will be changed; in summary, the content of the specification should not be understood as a limitation of the application. Moreover, for ordinary skilled in the art, without departing from the principle of the application, some improvements and refinements can be made, which are also considered as the protection scope of the application.

Claims

1. A high-rise building 3D printing device integrated into a building construction machine platform, characterized in that, include: The system comprises a building construction machine platform, a horizontal robotic arm, a vertical lifting arm, a self-stabilizing print head, a total station system, a concrete pump, pump pipes, and a control console. One end of the horizontal robotic arm is mounted on the building construction machine platform and moves in a horizontal plane. The other end of the horizontal robotic arm is mounted on the vertical lifting arm. The self-stabilizing print head is mounted on the lower end of the vertical lifting arm. The total station system is placed on the construction work plane of the high-rise building being printed and is used to monitor the position of the self-stabilizing print head. The concrete pump and the pump pipes are used to deliver concrete to the self-stabilizing print head. The control console is used to generate control commands.

2. The apparatus according to claim 1, characterized in that, The building construction machine platform includes a column, a lower frame, a hydraulic cylinder, an upper frame, and a platform. The lower frame, the hydraulic cylinder, and the upper frame are installed on the column. The column is connected to the platform via a pin shaft through the upper frame. The platform surrounds the high-rise building, and the horizontal robotic arm is installed on the platform. The column is composed of multiple standard sections, and each standard section is connected by a pin. The lower sleeve is mounted on the standard section via a first hook, and the upper sleeve is mounted on the standard section via a second hook. The upper end of the hydraulic cylinder is connected to the upper sleeve via a pin, and the lower end of the hydraulic cylinder is connected to the lower sleeve via a pin.

3. The apparatus as described in claim 2, characterized in that, The platform consists of multiple modular nodes, and the upper frame is connected to the modular nodes via pins.

4. The apparatus as claimed in claim 1, characterized in that, The horizontal robotic arm includes a mounting base, a first-section arm, a second-section arm, a primary drive unit, and a secondary drive unit. The first-section arm is mounted on the mounting base via the primary drive unit, and the second-section arm is connected to the first-section arm via the secondary drive unit. The mounting base is fixedly connected to the modular node.

5. The apparatus as described in claim 4, characterized in that, The vertical lifting arm includes a mounting plate, a transmission device, a drive device, and a riser. The mounting plate is bolted to the two-section arm. The drive device is fixed to the mounting plate via a flange. The transmission device is mounted at the end of the drive device via a gear. The rack on the transmission device is bolted to the riser, and the gear meshes with the rack. The slider on the transmission device is bolted to the mounting plate. The slide rail on the transmission device is bolted to both sides of the riser. The drive device drives the riser to move up and down via the transmission device.

6. The apparatus as claimed in claim 5, characterized in that, The self-stabilizing printhead includes a connecting seat, a double-layer connecting seat, a fixed feed pipe, a feed pipe fixing seat, a fiber yarn cage, a rubber hose, a stabilizing platform, a yarn feeding device, and a printing nozzle. The upper end of the connecting seat is bolted to the lower end of the riser, and the lower end of the connecting seat is bolted to the upper flange of the double-layer connecting seat. The double-layer connecting seat includes an upper flange, a transition side plate, and a lower flange. The upper flange and the lower flange are connected by the transition side plate. The feed pipe fixing seat is bolted to the lower flange. The fixed feed pipe passes through the slots of the feed pipe fixing seat and the lower flange in sequence and is connected to the feed pipe fixing seat by a clamp.

7. The apparatus according to claim 6, characterized in that, The fiber yarn cage includes a fixed hinge, a movable hinge, a connecting block, an upper cover plate, a fixed side plate, a movable side plate, a lower base plate, and a large yarn bundle. The fixed hinge is installed on the lower flange. The upper cover plate and the lower base plate are connected by fixing the side plate. The connecting block is installed on the upper surface of the upper cover plate. The movable side plate moves up and down through the slots in the upper cover plate and the lower base plate in sequence. The connecting block is connected to the fixed hinge through the movable hinge. The large yarn bundle is placed between the lower base plate and the upper cover plate.

8. The apparatus as claimed in claim 6, characterized in that, The stabilizing platform includes an upper connecting seat, a push rod, a lower connecting seat, a movable platform, and a prism. The upper connecting seat is fixed to the lower plane of the lower flange by bolts, and the lower connecting seat is fixed to the upper plane of the movable platform by bolts. The two ends of the push rod are respectively connected to the upper connecting seat and the lower connecting seat by pins, and the prism is mounted on the upper plane of the movable platform.

9. The apparatus as claimed in claim 8, characterized in that, The yarn feeding device includes a yarn threading tube, a movable feed tube, a yarn threading tube fixing seat, and a top screw. The yarn threading tube fixing seat is sleeved on the movable feed tube. The yarn threading tube passes through the through holes of the yarn threading tube fixing seat and the movable feed tube in sequence. The top screw fixes the yarn threading tube. The movable feed tube is fixedly connected to the movable platform. The upper end of the movable feed tube is connected to the fixed feed tube through the rubber hose. The lower end of the movable feed tube is connected to the printing nozzle through a thread.

10. A method for 3D printing high-rise buildings integrated into a building-building machine platform, applied to a high-rise building 3D printing apparatus integrated into a building-building machine platform as described in any one of claims 1 to 9, characterized in that, include: Adjust the platform height of the building construction machine to the height of the floors under construction in the high-rise building, and then fix it in place; A printing path plan is generated based on the BIM model of the building under construction, and the high-rise building 3D printing device integrated into the building construction machine platform is initialized based on the platform height. The high-rise building 3D printing device integrated into the building construction machine platform is controlled to perform printing according to the printing path planning, and real-time monitoring and compensation are performed until the printing of the floor under construction is completed. When the printing process of the floors under construction is completed, the building machine is controlled to adjust its height and execute the following steps: adjust the platform height of the building machine to the height of the floors under construction of the high-rise building, and fix it until the printing process of all floors of the high-rise building is completed.

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