Fixed-rail type 3D concrete printer and printing method

Abstract

A fixed-rail type 3D concrete printer and a printing method. The fixed-rail type 3D concrete printer comprises a fixed rail and a main printing trolley, wherein the fixed rail is fixedly mounted on a working platform, and the working platform is fitted on the outer walls of columns by means of sliding sleeves, the columns being used for supporting the working platform and the fixed rail; the fixed rail is a fixed rail that coincides with the vertical projection of the axis of a wall of a building needing to be printed; a rack or a chain is fixedly mounted on the fixed rail; by means of rollers on the inner side walls of the sliding sleeves, the working platform moves in the vertical Z-axis direction of the columns; the main printing trolley comprises a box body and a main printing head mounted below the box body; a gear and a driving electric motor are provided in the box body, a power output end of the driving electric motor being drivingly connected to the gear, and the gear of the main printing trolley engaging with the rack or the chain on the fixed rail; and by means of the gear engaging with the rack or the chain, the driving electric motor causes the main printing trolley to move along the fixed rail. The fixed rail replaces the mechanism and mode of operation used in the prior art for positioning within a plane by means of the coordinated action of multiple axes.

Description

Fixed-track concrete 3D printer and printing method Technical Field

[0001] The present invention relates to the technical field of 3D concrete printing, and more particularly to a fixed-track concrete 3D printer and a printing method. Background Art

[0002] Existing concrete 3D printers are divided into three types based on their working mode: frame type, robotic arm type, and rotary type. Their common characteristics are: 1. In order to position the print head at the required position for printing, it is necessary to move the print head to the desired position through the movement of a multi-axis motion component (module); 2. During operation, the print head is fixed at the end of the print arm or can only move within a limited range along the print arm.

[0003] The working mode of existing concrete 3D printers inevitably leads to heavy and complex moving components, resulting in high equipment costs and high system control difficulty.

[0004] Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to provide a fixed-track concrete 3D printer and a printing method that reduce the manufacturing cost and control difficulty of the printer.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A fixed-rail concrete 3D printer comprises a fixed rail and a main printing carriage. The fixed rail is fixedly mounted on a work platform, which is mounted on the outer wall of a column via a sliding sleeve. The column is used to support the work platform and the fixed rail. The fixed rail is a track fixed relative to the horizontal printing work surface formed by the X-axis and the Y-axis. After installation and fixation, the center axis of the fixed rail is located within the projection range of the wall of the building to be printed along the Z axis on the XY plane, that is, the fixed rail is a fixed track whose vertical projection coincides with the axis of the wall of the building to be printed. A rack / chain is fixedly mounted on the fixed rail. The work platform is bolted to the sliding sleeve. The inner side wall of the sliding sleeve is provided with a roller groove. The roller rolls in the roller groove to achieve movement of the sliding sleeve along the vertical Z axis of the column.

[0008] The main printing carriage includes a box body and a main printing head installed under the box body; gears and a drive motor are provided inside the box body, the power output end of the drive motor is connected to the gear drive, and the gear of the main printing carriage is engaged with the rack / chain on the fixed rail; the drive motor is engaged with the rack / chain through the gear, so that the main printing carriage moves along the fixed rail.

[0009] The fixed-rail concrete 3D printer is made of one of metal, plastic, and bamboo, or a composite of the three materials; the cross-section of the fixed rail (1) is one of an I-shaped, H-shaped, C-shaped, rectangular, square, X-shaped, W-shaped, L-shaped, I-shaped, O-shaped, elliptical, and triangular shape, or a combination of the above shapes; the fixed rail is in sliding contact with a guide wheel provided in the housing, so that the main printing carriage runs along the fixed rail; the number of the guide wheels is two or more. The material and shape of the fixed rail can be selected from different materials and cross-sectional shapes according to the shape and volume of the fixed rail, thereby reducing the weight of the fixed rail and the difficulty of the fixed rail processing while ensuring the strength of the fixed rail. In particular, the cross-sectional shape of the fixed rail can be selected in a variety of ways, and it is only necessary to ensure that a stable support is formed between the guide wheel and the fixed rail to prevent the main printing carriage from shaking during the operation on the fixed rail.

[0010] The fixed-rail concrete 3D printer has a slide rail between the box and the main print head. The middle of the top of the slide rail is fixed to the lower bottom surface of the box, and the slide rail is arranged along the width direction of the wall. The main print head is slidably connected to the lower bottom surface of the slide rail. The main print head moves along the slide rail to realize printing of the inner and outer walls.

[0011] The above-mentioned fixed-track concrete 3D printer, when the cross-section of the fixed track is an I-shaped structure: the box body is a front and rear opening and a semi-closed top plate structure, and a top guide wheel is bolted to the top plate of the box body; the left first guide wheel and the left second guide wheel are bolted in the left side wall of the box body, and the right first guide wheel and the right second guide wheel are bolted in the right side wall of the box body; the top guide wheel slides in contact with the left middle part of the I-shaped connecting beam of the fixed track; the left first guide wheel and the left second guide wheel respectively slide in contact with the upper bottom surface and the lower bottom surface on the left side of the I-shaped lower beam of the fixed track; the right first guide wheel and the right second guide wheel respectively slide in contact with the upper bottom surface and the lower bottom surface on the right side of the I-shaped lower beam of the fixed track; the rack / chain is installed on the upper right side of the I-shaped connecting beam of the fixed track; a support block is fixedly installed on the right side wall of the box body, and the drive motor is fixedly connected to the support block. I-shaped steel is relatively common. It is cheap and easy to process and can be processed into fixed rails of the required shape. By arranging multiple mutually supporting guide wheels in the box, a stable support is formed between the guide wheels and the fixed rails. The main printing carriage can slide stably on the fixed rails, preventing the problem of reduced printing accuracy due to shaking of the main printing carriage.

[0012] The fixed-track concrete 3D printer also includes a secondary track and a secondary printing carriage. A central axis is located at the center of the work platform. The secondary track is a linear structure, one end of which is connected to the central axis, and the other end is hinged to the main printing carriage. The secondary printing carriage has the same structure as the main printing carriage, and the secondary track has the same structure as the fixed track. The combined movement of the main and secondary printing carriages allows the print head to be positioned at any point within the building plane, enabling the printing of flat components such as floor slabs and roofs.

[0013] The above-mentioned fixed-track concrete 3D printer has a secondary print head installed at the bottom of the secondary print carriage, or a main print head installed at the bottom of the secondary print carriage.

[0014] Using the printing method of the fixed track concrete 3D printer,

[0015] (1) When printing building walls: use the fixed track and main printing carriage to print the building walls;

[0016] (2) When printing planar components: Use the fixed track, main printing carriage, auxiliary track, and auxiliary printing carriage to print the walls of the building. Planar components include floor slabs, roofs, etc.

[0017] The printing method of the above-mentioned fixed-track concrete 3D printer, when it is necessary to print the wall of a building, first set the shape of the fixed track according to the shape of the vertical projection of the axis of the printed building wall, so that the fixed track coincides with the vertical projection of the axis of the building wall to be printed; then fix the fixed track on the work platform, and adjust the position of the working platform on the Z axis by adjusting the vertical movement of the sliding sleeve on the column; then turn on the main print head of the main printing carriage to perform concrete 3D printing; during the printing process, the drive motor on the main printing carriage is started, the drive gear rotates, and the gear engages with the rack / chain on the fixed track, so that the main printing carriage moves along the fixed track to realize the printing of the building wall; after one layer of printing is completed, the position of the working platform on the Z axis is adjusted by adjusting the vertical movement of the sliding sleeve on the column, and then the next layer is printed.

[0018] In the printing method of the fixed-track concrete 3D printer, during the printing process, the main print head moves along the slide rail to achieve interior wall printing or exterior wall printing of a building.

[0019] In the printing method of the fixed-rail concrete 3D printer, when printing a planar component, one end of the auxiliary rail is hinged to the central axis at the center of the work platform, and the other end of the auxiliary rail is connected to the main printing carriage via a hinge; the shape of the fixed rail is the same as the outer contour of the planar component, and the fixed rail is fixed to the work platform;

[0020] During printing, the main printing carriage moves circumferentially along the outer fixed track, and the auxiliary printing carriage moves linearly along the auxiliary track; the main printing carriage pulls the auxiliary track to rotate around the central axis, and the printing mode of the auxiliary print head of the auxiliary printing carriage is the rotary printing mode, and the main print head does not print.

[0021] The technical solution of the present invention achieves the following beneficial technical effects:

[0022] 1. The present invention proposes a fixed-track concrete 3D printer working mode. The overall structure of the fixed-track printer is a frame type, but it has only one moving axis, the Z-axis. Its working platform moves up and down along the Z-axis. A fixed track, the fixed track, which coincides with the vertical projection of the building wall axis, is installed on the working platform. A rack or chain is installed on the fixed track. The main printing carriage has its own drive mechanism. The drive mechanism engages with the rack or chain installed on the fixed track to pull the printing carriage along the fixed track. The print head is installed on the printing carriage.

[0023] 2. The fixed track replaces the mechanism and working mode of the existing technology that uses multi-axis coordinated action to position in a plane; the proposed fixed track concrete printer working principle greatly simplifies the structure of the concrete 3D printer, reducing the printer manufacturing cost and control difficulty.

[0024] 3. For buildings with different wall layouts (such as circular or rectangular outlines), printing and construction of building walls with different layouts can be implemented by replacing the fixed track that matches the wall layout.

[0025] 4. Through the combined movement of the main printing carriage and the auxiliary printing carriage, the print head can be positioned at any point within the plane of the building, thereby realizing the printing of flat components such as floor covers and roof covers.

[0026] 5. A slide rail is set at the bottom of the main printing carriage. The print head prints the inner and outer layers of the wall by moving along the slide rail installed along the width direction of the wall on the main printing carriage.

[0027] 6. In the main printing carriage, multiple guide wheels are set according to the structure of the fixed rail. The top guide wheel, the support block and the drive motor respectively press against the left and right sides of the I-shaped connecting beam of the top rail. The two sides of the lower beam of the I-shape are respectively slidably clamped by the left first guide wheel, the left second guide wheel and the right first guide wheel and the right second guide wheel. This can not only enable the main printing carriage to move on the fixed rail, but also prevent the main printing carriage from shaking on the fixed rail, maintain stability and ensure printing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] FIG1 is a top view of a fixed-track concrete 3D printer provided by the present invention;

[0030] FIG2 is a plan view of a fixed-track concrete 3D printer provided by the present invention;

[0031] FIG3 is a schematic structural diagram of the column, i.e., an enlarged view of the circle in FIG1 ;

[0032] Figure 4 is a diagram of the rail positioning, printing carriage, and print head assembly;

[0033] FIG5 is a schematic diagram of the printing carriage running to the left side of the slide rail;

[0034] FIG6 is a schematic diagram showing the printing carriage running to the right side of the slide rail.

[0035] In the figure: 1-fixed rail; 2-main printing carriage; 2-1-gear; 2-2-drive motor; 2-3-box; 3-rack / chain; 4-working platform; 5-column; 6-middle shaft; 7-slide rail; 8-auxiliary rail; 9-auxiliary printing carriage; 10-guide wheel; 10-1-top guide wheel; 10-2-first left guide wheel; 10-3-second left guide wheel; 10-4-first right guide wheel; 10-5-second right guide wheel; 11-main print head; 12-slide; 13-roller; 14-feed hose. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] Example 1: Fixed-track concrete 3D printer

[0038] The fixed-track concrete 3D printer in this embodiment can print not only walls but also planar components such as floor slabs and roofs. This embodiment provides a working mode of a fixed-track concrete 3D printer, and the overall structure of the fixed-track printer is a frame type.

[0039] Specifically, it includes a fixed rail 1 and a main printing carriage 2. The fixed rail 1 is fixedly mounted on a working platform 4. The working platform 4 is sleeved on the outer wall of a column 5 through a sliding sleeve 12. The column 5 is used to support the working platform 4 and the fixed rail 1.

[0040] A fixed track is a track fixed relative to the horizontal printing work surface defined by the XY axes. Typically, after installation, the track's axis lies within the projection of the building wall to be printed along the Z axis onto the XY plane. The fixed track 1 is a fixed track whose vertical projection coincides with the axis of the building wall to be printed. For buildings with different wall layouts, such as the circular and rectangular outlines shown in Figure 1, printing of different building wall layouts can be achieved by replacing the fixed track to match the wall layout.

[0041] The fixed rail 1 is fixedly installed with a rack / chain 3; the main printing carriage 2 includes a box body 2-3 and a main printing head 11 installed under the box body 2-3; a gear 2-1 and a drive motor 2-2 are provided inside the box body 2-3, and the power output end of the drive motor 2-2 is drive-connected to the gear 2-1, and the gear 2-1 of the main printing carriage 2 is engaged with the rack / chain 3 on the fixed rail 1; the drive motor 2-2 is engaged with the rack / chain 3 through the gear 2-1, so that the main printing carriage 2 moves along the fixed rail 1.

[0042] A rack / chain 3 is installed on the fixed rail 1, and the main printing carriage 2 has its own drive motor 2-2. The drive motor pulls the printing carriage along the fixed rail by engaging the rack / chain installed on the fixed rail. The print head is installed at the bottom of the printing carriage.

[0043] The working platform 4 is fixedly connected to four sliding sleeves 12 by bolts. A roller groove is provided on the inner wall of the sliding sleeve 12. The roller 13 rolls in the roller groove to realize the movement of the four sliding sleeves 12 along the vertical Z-axis direction of the four columns 5; so that the working platform 4 can be lifted and slid up and down along the column 5 in the vertical direction of the Z-axis.

[0044] The fixed rail 1 is made of one of metal, plastic and bamboo, or a composite of the above three materials; the cross-section of the fixed rail 1 is in the shape of an I-beam, H-beam, C-beam, rectangle, square, X-beam, W-beam, L-beam, I-beam, O-beam, ellipse and triangle, or a combination of the above shapes; the fixed rail 1 is in sliding contact with the guide wheel 10 provided in the box 2-3, so that the main printing carriage 2 runs along the fixed rail 1; the number of the guide wheels 10 is more than two.

[0045] In order to keep the printing carriage from shaking during the printing process, a plurality of guide wheels are set in the box 2-3 of the main printing carriage 2, and the setting position of the guide wheels is designed according to the structure of the fixed track.

[0046] In this embodiment, I-shaped steel is selected for the rail fixing. I-shaped steel is cheap and easy to be processed according to the shape requirements of the rail fixing. According to the structural characteristics of the I-shaped steel, 5 guide wheels are set in the box 2-3.

[0047] Specifically: the box body 2-3 has a front and rear opening and a semi-closed top plate structure, and a top guide wheel 10-1 is bolted to the top plate of the box body 2-3; the left first guide wheel 10-2 and the left second guide wheel 10-3 are bolted to the left side wall of the box body 2-3, and the right first guide wheel 10-4 and the right second guide wheel 10-5 are bolted to the right side wall of the box body 2-3; a support block is fixedly installed on the right side wall of the box body 2-3, and the drive motor 2-2 is fixedly connected to the support block.

[0048] Since the cross-section of the fixed rail 1 is an I-shaped structure; in order to prevent the main printing carriage from shaking during printing, the top guide wheel 10-1 is allowed to slide and contact the left middle part of the I-shaped connecting beam of the fixed rail 1; the right side of the I-shaped connecting beam is provided with a rack / chain 3 and a gear 2-1 engaged therewith, so that both sides of the connecting beam are stably clamped to prevent shaking.

[0049] The first left guide wheel 10-2 and the second left guide wheel 10-3 respectively slide in contact with the upper bottom surface and the lower bottom surface on the left side of the I-shaped lower beam of the fixed rail 1; the first right guide wheel 10-4 and the second right guide wheel 10-5 respectively slide in contact with the upper bottom surface and the lower bottom surface on the right side of the I-shaped lower beam of the fixed rail 1; the two sides of the I-shaped lower beam are respectively slidably clamped by the first left guide wheel 10-2 and the second left guide wheel 10-3 and the first right guide wheel 10-4 and the second right guide wheel 10-5, which can not only realize the movement of the main printing carriage on the fixed rail, but also prevent the main printing carriage from shaking on the fixed rail, maintain stability, and ensure printing quality.

[0050] The printed wall has a certain thickness. In order to realize the printing of the inner and outer walls, a slide rail 7 is set at the lower part of the box 2-3 of the main printing carriage 2 along the width direction of the wall; a slide rail 7 is set between the box 2-3 and the main print head 11, and the middle part of the top of the slide rail 7 is fixed on the lower bottom surface of the box 2-3, and the slide rail 7 is set along the width direction of the wall; the main print head 11 is slidably connected to the lower bottom surface of the slide rail 7; the main print head 11 moves along the slide rail 7 to realize the printing of the inner and outer walls.

[0051] To print planar components such as floors and roofs, a fixed-track concrete 3D printer also requires auxiliary rails 8 and auxiliary printing carriages 9. A central axis 6 is located at the center of the work platform 4. The auxiliary rails 8 are linear structures, one end of which is connected to the central axis 6, and the other end is connected to the main printing carriage 2 via a hinge. The main printing carriage 2 moves circumferentially along the outer fixed rail 1, while the auxiliary printing carriage 9 moves along the auxiliary rails 8. The print head is mounted on the auxiliary printing carriage. At this time, the main printing carriage pulls the auxiliary rails to rotate around the central axis 6, and the printing mode is a rotary printing mode. The combined movement of the main printing carriage 2 and the auxiliary printing carriage 9 can position the print head at any point within the building plane, thereby enabling the printing of planar components such as floors and roofs. The main and auxiliary printing carriages share the same driving principle and structure. The feed hose 14 passes through the central axis from top to bottom and is not strictly fixed, but only limits its range of motion.

[0052] In practice, the main print head 11 at the bottom of the main printing carriage 2 can be installed at the bottom of the auxiliary printing carriage 9 and used as an auxiliary print head, or a separate auxiliary print head can be installed at the bottom of the auxiliary printing carriage 9.

[0053] Example 2: Printing method

[0054] 1. When printing a building wall, first set the shape of Track 1 based on the vertical projection of the building wall axis, aligning it with the vertical projection of the building wall axis. For buildings with different wall layouts, such as circular or rectangular outlines, you can print and build buildings with different wall layouts by simply replacing the Track 1 to match the wall layout.

[0055] Then fix the fixed rail 1 on the working platform 4, and adjust the position of the working platform 4 on the Z axis by vertically moving the sliding sleeve 12 on the column 5;

[0056] Then, the main print head 11 of the main printing carriage 2 is turned on to perform concrete 3D printing. During the printing process, the drive motor 2-2 on the main printing carriage 2 rotates, driving the gear 2-1 to rotate, and the gear 2-1 engages with the rack / chain 3 on the fixed track 1, thereby causing the main printing carriage 2 to move along the fixed track 1 to print the building wall.

[0057] After one layer of printing is completed, the sliding sleeve 12 is adjusted to move vertically on the column 5, so that the working platform 4 slides upward on the Z axis of the column and is fixed before printing the next layer.

[0058] During the printing process, the main print head 11 moves along the slide rail 7 to achieve interior wall printing or exterior wall printing of a building.

[0059] 2. When printing a planar component, one end of the auxiliary rail 8 is hinged to the central axis 6 at the center of the work platform 4, and the other end of the auxiliary rail 8 is connected to the main printing carriage 2 through a hinge; the shape of the fixed rail 1 is the same as the outer contour of the planar component, and the fixed rail 1 is fixed to the work platform 4;

[0060] During printing, the main printing carriage 2 moves circumferentially along the outer fixed rail 1, while the auxiliary printing carriage 9 moves linearly along the auxiliary rail 8. The main printing carriage 2 pulls the auxiliary rail 8 in rotation about the central axis 6. The auxiliary print head of the auxiliary printing carriage 9 prints in a rotary mode, and the main print head 11 does not print. The combined motion of the main and auxiliary printing carriages allows the print head to be positioned at any point within the building plane, enabling printing on flat surfaces such as floor slabs and roofs.

[0061] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. Fixed track concrete 3D printer, characterized by: The invention comprises a fixed rail (1) and a main printing carriage (2), wherein the fixed rail (1) is fixedly mounted on a working platform (4), wherein the working platform (4) is sleeved on the outer wall of a column (5) through a sliding sleeve (12), and the column (5) is used to support the working platform (4) and the fixed rail (1); the fixed rail (1) is a rail fixed relative to a horizontal printing working surface formed by an X-axis and a Y-axis, and after being installed and fixed, the central axis of the fixed rail (1) is located in the projection range of the wall of a building to be printed along the Z-axis on the XY plane, that is, the fixed rail is a fixed rail whose vertical projection coincides with the axis of the wall of the building to be printed; the fixed rail (1) is fixedly mounted with a rack / chain (3); the working platform (4) is bolted and fixedly connected to the sliding sleeve (12), and a roller groove is provided on the inner side wall of the sliding sleeve (12), and a roller (13) rolls in the roller groove to realize the movement of the sliding sleeve (12) along the vertical Z-axis direction of the column (5); The main printing carriage (2) comprises a box body (2-3) and a main printing head (11) installed under the box body (2-3); a gear (2-1) and a driving motor (2-2) are arranged inside the box body (2-3); the power output end of the driving motor (2-2) is drivingly connected to the gear (2-1), and the gear (2-1) of the main printing carriage (2) is meshed with the rack / chain (3) on the fixed rail (1); the driving motor (2-2) is meshed with the rack / chain (3) through the gear (2-1), so that the main printing carriage (2) moves along the fixed rail (1).

2. The fixed-track concrete 3D printer according to claim 1, characterized in that: The fixed rail (1) is made of one of metal, plastic and bamboo, or a composite of the above three materials; the cross-section of the fixed rail (1) is in the shape of an I-shaped, H-shaped, C-shaped, rectangular, square, X-shaped, W-shaped, L-shaped, I-shaped, O-shaped, elliptical and triangular, or a combination of the above shapes; the fixed rail (1) is in sliding contact with a guide wheel (10) provided in the box (2-3), so that the main printing carriage (2) runs along the fixed rail (1); the number of the guide wheels (10) is more than two.

3. The fixed-track concrete 3D printer according to claim 1, characterized in that: A slide rail (7) is arranged between the box body (2-3) and the main print head (11); the middle part of the top end of the slide rail (7) is fixed to the lower bottom surface of the box body (2-3); the slide rail (7) is arranged along the width direction of the wall; the main print head (11) is slidably connected to the lower bottom surface of the slide rail (7); the main print head (11) moves along the slide rail (7) to realize printing of the inner and outer walls.

4. The fixed-track concrete 3D printer according to claim 2, characterized in that: When the cross section of the fixed rail (1) is an I-shaped structure: the box body (2-3) is a structure with front and rear openings and a semi-closed top plate, and a top guide wheel (10-1) is bolted to the top plate of the box body (2-3); a left first guide wheel (10-2) and a left second guide wheel (10-3) are bolted to the left wall of the box body (2-3), and a right first guide wheel (10-4) and a right second guide wheel (10-5) are bolted to the right wall of the box body (2-3); the top guide wheel (10-1) is in sliding contact with the left middle part of the I-shaped connecting beam of the fixed rail (1); The first left guide wheel (10-2) and the second left guide wheel (10-3) respectively slide in contact with the upper bottom surface and the lower bottom surface on the left side of the I-shaped lower beam of the fixed rail (1); the first right guide wheel (10-4) and the second right guide wheel (10-5) respectively slide in contact with the upper bottom surface and the lower bottom surface on the right side of the I-shaped lower beam of the fixed rail (1); the rack / chain (3) is installed on the upper right side of the I-shaped connecting beam of the fixed rail (1); a support block is fixedly installed on the right side wall of the box body (2-3), and the support block is fixedly connected to the drive motor (2-2).

5. The fixed-track concrete 3D printer according to claim 1, characterized in that: The concrete 3D printer further comprises an auxiliary rail (8) and an auxiliary printing trolley (9); a central axis (6) is provided at the center of the working platform (4); the auxiliary rail (8) is a linear structure; one end of the auxiliary rail (8) is connected to the central axis (6), and the other end of the auxiliary rail (8) is connected to the main printing trolley (2) through a hinge; the structure of the auxiliary printing trolley (9) is the same as that of the main printing trolley (2), and the structure of the auxiliary rail (8) is the same as that of the fixed rail (1).

6. The fixed-track concrete 3D printer according to claim 5, characterized in that: A sub-print head is installed at the bottom of the sub-print carriage (9), or the main print head (11) is installed at the bottom of the sub-print carriage (9).

7. A printing method using the fixed track concrete 3D printer according to any one of claims 1 to 6, characterized in that: (1) When it is necessary to print the wall of a building: using the fixed track (1) and the main printing carriage (2) to print the wall of the building; (2) When it is necessary to print a planar component: the fixed rail (1), the main printing carriage (2), the auxiliary rail (8) and the auxiliary printing carriage (9) are used to print the wall of a building.

8. The printing method of the fixed-track concrete 3D printer according to claim 7, characterized in that: When it is necessary to print a building wall, the shape of the fixed track (1) is first set according to the shape of the vertical projection of the axis of the building wall to be printed, so that the fixed track (1) coincides with the vertical projection of the axis of the building wall to be printed; then the fixed track (1) is fixed on the working platform (4), and the position of the working platform (4) on the Z axis is adjusted by the vertical movement of the sliding sleeve (12) on the column (5); then the main printing head (11) of the main printing carriage (2) is turned on to perform concrete 3D printing; during the printing process, the driving motor (2-2) on the main printing carriage (2) is started, the driving gear (2-1) rotates, and the gear (2-1) engages with the rack / chain (3) on the fixed track (1), so that the main printing carriage (2) moves along the fixed track (1) to achieve printing of the building wall; after one layer of printing is completed, the position of the working platform (4) on the Z axis is adjusted by adjusting the vertical movement of the sliding sleeve (12) on the column (5), and then the next layer of printing is performed.

9. The printing method of the fixed-track concrete 3D printer according to claim 8, characterized in that: During the printing process, the main printing head (11) moves along the slide rail (7) to achieve interior wall printing or exterior wall printing of a building wall.

10. The printing method of the fixed-track concrete 3D printer according to claim 7, characterized in that: When it is necessary to print a planar component, one end of the auxiliary rail (8) is hinged to the central axis (6) at the center of the working platform (4), and the other end of the auxiliary rail (8) is connected to the main printing carriage (2) through a hinge; the shape of the fixed rail (1) is the same as the outer contour of the planar component, and the fixed rail (1) is fixed on the working platform (4); During printing, the main printing carriage (2) performs circumferential motion along the outer fixed rail (1), and the auxiliary printing carriage (9) performs linear motion along the auxiliary rail (8); the main printing carriage (2) pulls the auxiliary rail (8) to rotate around the central axis (6), the printing mode of the auxiliary print head of the auxiliary printing carriage (9) is a rotary printing mode, and the main printing head (11) does not print.

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