Wall-climbing construction robot and self-supporting intelligent construction method

Abstract

Provided is a wall-climbing construction robot, comprising: a movement system, comprising an omnidirectional movement device, a wall-climbing lifting device and a construction supporting device, wherein the omnidirectional movement device is arranged on the outer side of the construction supporting device, the wall-climbing lifting device is arranged on the inner side of the construction supporting device, horizontal movement devices (4) are arranged on the inner side of the construction supporting device, and the movement system is used for implementing the movement and climbing of a wall-climbing robot; and a construction system, comprising a feeding device, a printing device and a rebar placement device, wherein the printing device is mounted on the construction supporting device and prints a printing material conveyed by the feeding device, and the rebar placement device is used for laying rebars. Further provided is a self-supporting intelligent construction method using the wall-climbing construction robot. The wall-climbing construction robot can adapt to the form and envelope design of spatially complex buildings, implementing intelligent construction of large-scale multi-story high-rise buildings having arbitrary curved surfaces.

Description

A wall-climbing construction robot and self-supporting intelligent construction method Technical Field

[0001] The present invention relates to the field of building structures and construction technology, and in particular to a wall-climbing construction robot and a self-supporting intelligent construction method. Background Art

[0002] 3D-printed buildings can effectively reduce construction waste, improve construction efficiency, shorten construction schedules, reduce labor costs, and enhance mechanization, ultimately achieving energy conservation and emission reductions, contributing to environmental improvements. Because 3D-printed concrete building structures can be digitally designed and mechanically controlled to achieve arbitrary spatial shapes, they can integrate structural forces with architectural aesthetics. Applications are increasingly emerging in architecture, urban landscapes, and bridge structures. 3D-printed civil buildings have already entered the market in the United States and Germany, and printed two-story buildings have also been achieved in many parts of China. Achieving 3D printing and intelligent construction of high-rise buildings is a key technical challenge currently facing the construction industry.

[0003] Existing printing equipment primarily consists of a mixing system, a pumping system, a control system, and a printing system. The key to achieving intelligent additive construction lies in establishing a comprehensive vertical climbing system. Traditional high-rise buildings have already achieved automated, mechanized, and intelligent construction using aerial cranes. These cranes, also known as intelligent lifting platforms, consist of a truss system, a support system, a power system, a formwork system, a pylon system, and an intelligent monitoring system. The climbing track, rigidly connected to the structural system, utilizes slightly convex fulcrums on the surface to maintain stable ascent. It can withstand loads of thousands of tons and withstand force 14 winds, making it a key technology in enabling vertical mobile construction. However, the climbing track can only accommodate the slight convexity and concavity of flat walls. It has difficulty adapting to the cross-sectional textures and spatially nonlinear building shapes resulting from the contouring process of 3D-printed concrete, making it difficult to achieve stable and controllable positioning and climbing for complex building shapes and surfaces.

[0004] At present, small wall-climbing robots can realize the function of crawling on vertical surfaces in the fields of construction, industrial maintenance, military reconnaissance, etc. They mainly include wheeled, foot-type and tracked types, and use friction and adsorption to achieve vertical fixation and movement. For example, the Chinese patent with publication number CN116161187A discloses a wall-climbing robot, a walking mechanism and a second adsorption part, the walking mechanism is provided with a first adsorption part, the first adsorption part includes a first sub-adsorption part provided on the first track, and a second sub-adsorption part provided on the second track; when the walking mechanism contacts the wall, the first adsorption part adsorbs on the wall; the first adsorption part ensures the basic adsorption force required for the wall-climbing robot to walk on the same wall; the second adsorption part is provided between the first track and the second track, and the second adsorption part is provided on the side of the contact area close to the boundary line, and the second adsorption part is used to adsorb on the contact surface at the boundary line; when the wall-climbing robot transfers from one wall to another, a part of the walking mechanism separates from the wall, and only the other part contacts the wall. At this time, the second adsorption part and the contact surface still remain adsorbed, so that the wall-climbing robot still has sufficient adsorption force, so that the wall-climbing robot can stably transfer from one wall to another. And the Chinese patent with publication number CN111252160A discloses a wall-climbing robot, including a body mechanism, a magnetic wheel mechanism and a reset mechanism, one end of the reset mechanism is connected to the body mechanism, and the other end of the reset mechanism is connected to the magnetic wheel mechanism. When the magnetic wheel mechanism passes through a pit, the pit absorbs the magnetic wheel mechanism so that the magnetic wheel mechanism rotates relative to the body mechanism toward the direction of the pit, and the magnetic wheel of the magnetic wheel mechanism can abut against the inner surface of the pit, thereby achieving the effect of close adsorption of the magnetic wheel mechanism and the inner surface of the pit; when the magnetic wheel mechanism moves out of the pit, the reset mechanism drives the magnetic wheel mechanism to reset so that the magnetic wheel mechanism abuts against the plane, and the magnetic wheel of the magnetic wheel mechanism can fit tightly with the plane; whether the magnetic wheel mechanism of the wall-climbing robot moves on a plane or on a magnetic wall with pits, the magnetic wheel mechanism can be well adsorbed to the magnetic wall surface, which can prevent the wall-climbing robot from falling from the magnetic wall surface.

[0005] However, this type of robot has requirements for the flatness and material of the climbing wall, and it is also difficult to achieve stable vertical climbing on the outer surface of the printed concrete building as shown in Figures 1 and 2.

[0006] Given that the materials, equipment, and processes for printing concrete are mature at this stage and relevant technical standards have been promulgated, in order to realize the development of intelligent construction towards complex spatial buildings and high-rise buildings, how to propose overall climbing and printing construction equipment and construction methods for additive intelligent construction concrete structures that can adapt to the shape and surface form of complex spatial buildings, and provide hardware foundation and control technology for intelligent construction in various high-rise and outdoor environments, is currently a research hotspot in this field.

[0007] Summary of the invention:

[0008] The purpose of the present invention is to provide a wall-climbing construction robot and a self-supporting intelligent construction method, which can adapt to complex building shapes and surface forms in space and realize the intelligent construction of arbitrary curved surface buildings of large-scale multi-story high-rise buildings.

[0009] The present invention provides the following technical solutions:

[0010] A wall-climbing construction robot, comprising:

[0011] The mobile system includes a universal mobile device, a wall-climbing lifting device, and a construction support device. The universal mobile device is arranged on the outside of the construction support device, the wall-climbing lifting device is arranged on the inside of the construction support device, and the horizontal mobile device is arranged on the inside of the construction support device. The mobile system is used to realize the movement and climbing of the wall-climbing robot;

[0012] The construction system includes a feeding device, a printing device and a reinforcement device. The printing device is installed on a construction support device to print the printing material transported by the feeding device, and the reinforcement device is used to lay reinforcement.

[0013] The wall-climbing lifting device includes a deformable wheel body, a motor drive device and a hydraulic folding arm. The deformable wheel body climbs by driving the motor, and adjusts the downward force under the action of the hydraulic folding arm to achieve fit with the building surface.

[0014] The construction support device includes lifting columns on both sides and a crossbeam located between the lifting columns. A wall climbing lifting device and a horizontal moving device are arranged on the inner side of the lifting columns. A universal moving device is arranged on the inner side of the lifting columns. A printing device is installed on the lifting columns or the crossbeam.

[0015] The printing device includes a first robotic arm and a second robotic arm; a nozzle is installed under the first robotic arm for printing and an image recognition device is installed to provide real-time feedback on the accuracy of additive construction; a robotic claw is installed under the second robotic arm for laying reinforcement.

[0016] The image recognition device can be an RGB camera or a depth camera, such as TOF, which provides real-time feedback on the additive manufacturing accuracy, and then controls the nozzle to perform printing compensation and flow compensation.

[0017] In the present invention, the first and second robotic arms can be mounted on both sides of the lifting column via a robotic arm sliding base, or can be hung upside down on a beam via the robotic arm sliding base.

[0018] Furthermore, the wall-climbing construction robot includes a control system, and the control system includes:

[0019] The mechanical control system drives the mobile system and the building system according to the control commands after the host processes the slice file of the building model file;

[0020] The positioning control system uses a positioning device to provide real-time feedback of the location of the wall-climbing construction robot to the host; and combined with an image recognition device, it measures the relative position information of the building and the wall-climbing construction robot in real time and then feeds it back to the host.

[0021] Specifically, the mechanical control system processes the sliced ​​G-code files of the building model files through the host and publishes the processed information to the microcontroller, such as ESP32 and STM32. For tasks with low computing power and high latency requirements in the printing process, the microcontroller is used for processing, and for tasks with high computing power and low latency requirements, the host is used for processing, and the control commands obtained after processing are published to each subsystem, which realizes the driving of the mechanical device.

[0022] Specifically, the positioning control system provides real-time feedback on the location of the wall-climbing construction robot through a variety of positioning devices, such as GPS; the image recognition device measures the relative position information of the building and the wall-climbing construction robot in real time, and feeds it back to the host, thereby realizing dual positioning of the wall-climbing construction robot and the building.

[0023] The deformable wheel body comprises:

[0024] Two sets of deformable wheel planes, each comprising a plurality of arc connecting rods, each of which is interconnected at both ends and in the middle. One set of deformable wheel planes is fixedly connected to the iris mechanism and connected to the other set of deformable wheel planes via a plurality of connecting rods to form a wheel hub. The number n of the arc connecting rods is determined by the arc connecting rod degree θ, and the relationship is:

[0025] The iris structure includes a plurality of iris blades arranged in a circular path. A set of deformable wheel planes are fixedly connected to the iris blades. The outer diameter of the wheel is changed by the rotation of the iris blades. The relationship between the number of iris blades m and the number of connecting rods n is:

[0026] Furthermore, pins are arranged at both ends and in the middle of the arc connecting rod, which are respectively a front pin, a middle pin and a bottom pin. The front ends of the arc connecting rods away from the center of the wheel are connected to each other through the front pin to form the outer diameter vertex of the deformed wheel plane, the bottom ends of the arc connecting rods close to the center of the wheel are connected to each other or fixedly connected to the iris blades through the bottom pin, and the middles of the arc connecting rods are connected to each other through the middle pin.

[0027] Furthermore, the iris mechanism includes a base, a plurality of slide slots and a plurality of iris blades, and the base is connected to the iris blades through a positioning pin fixed on the slide slot; the bottom pin includes a first bottom pin and a second bottom pin, and a part of the bottom end of the arc connecting rod close to the center of the wheel is connected to each other through the first bottom pin, and the other part is connected to each other through the second bottom pin or fixedly connected to the pin on the iris blade, and the middle of the arc connecting rod is connected to each other through the middle pin; the rotation of the iris blade realizes the movement of the positioning pin, front pin, middle pin, first bottom pin and second bottom pin on the iris blade, and drives the change of the outer diameter of the wheel.

[0028] Furthermore, the motor drive device includes a rotor drive module and a torque transfer module, one end of the torque transfer module is connected to the rotor drive module, and the other end is connected to the iris mechanism; the torque transfer module is provided with a boss, and the iris mechanism is provided with a slot, and the torque transfer module and the iris mechanism are connected through the boss and the slot.

[0029] In light of the limitations of existing 3D-printed concrete construction methods in terms of scale and height, resulting from the limited spatial adaptability, this invention has developed a wall-climbing robot, a comprehensive climbing and printing construction device that can adapt to complex building shapes and surfaces. This device represents a new form of industrialized building construction, distinct from traditional reinforced concrete construction, and provides a hardware foundation and methodological reference for intelligent additive construction technology for integrated engineering buildings. The wall-climbing robot provided by this invention is capable of scaling complex building surfaces, adapting to complex building curves.

[0030] The present invention also discloses a self-supporting intelligent construction method using the above-mentioned wall-climbing construction robot, the method comprising:

[0031] (1) Slicing the building model file, uploading the sliced ​​file to the host, inputting the initial information of the building model to be printed, and sending a control command to the mechanical control system; wherein the initial information includes layer height, wall thickness, and starting position;

[0032] (2) driving the universal moving device and the construction system in the moving system according to the mechanical control system to complete the printing and construction of the first layer of the building structure, and waiting for the concrete to reach the predetermined strength;

[0033] (3) According to the mechanical control system drive and positioning control system positioning, the wall climbing lifting device climbs to the second-story building structure through the driving motor, and the wall climbing lifting device is pressed down by the hydraulic folding arm to be fixed;

[0034] (4) The hydraulic folding arm presses down the horizontal moving device, which moves horizontally through the drive motor. The construction system detects the vibration in the six axes caused by the operation of the horizontal moving device through the positioning device and compensates for it through the robotic arm. At the same time, the image recognition device detects the accuracy of the building structure and adjusts the flow rate of wet concrete extruded by the printing nozzle;

[0035] (5) After the second-layer building structure is printed, the wall-climbing lifting device is pressed down and the horizontal moving device is retracted;

[0036] (6) Repeat steps (3)-(6) until the building structure is completed.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The wall-climbing construction robot provided by the present invention can adapt to the overall climbing of complex building shapes and surface forms in space, and the wall-climbing construction robot and self-supporting intelligent construction method provided by the present invention can break through the technical barrier of existing additive intelligent construction that can only be used for small-scale multi-story construction. By self-climbing and horizontal movement, the spatial size limitation of additive intelligent construction is broken through, forming a new type of self-climbing additive intelligent construction hardware system and construction technology to realize the intelligent construction of arbitrary curved surface buildings of large-scale multi-story and high-rise buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 shows the geometric form of existing printed concrete building skins;

[0040] Figure 2 shows the geometrical form of existing printed concrete building structures;

[0041] FIG3 is a schematic diagram of the overall structure of the wall-climbing construction robot provided in Example 1 when climbing a wall;

[0042] FIG4 is a schematic structural diagram of the wall-climbing construction robot provided in Example 1;

[0043] FIG5 is a schematic structural diagram of a wall-climbing and lifting device in a wall-climbing construction robot provided in Example 1;

[0044] FIG6 is a schematic structural diagram of a horizontal moving device and a construction support device in the wall-climbing construction robot provided in Example 1;

[0045] FIG7 is a schematic structural diagram of a printing device and a reinforcement device in the wall-climbing construction robot provided in Example 1;

[0046] FIG8 is a flowchart of the control system of the wall-climbing construction robot provided in Example 1;

[0047] FIG9 is an overall appearance diagram of the wall-climbing and lifting device provided in Example 1;

[0048] FIG10 is an overall exploded view of the wall-climbing and lifting device provided in Example 1;

[0049] FIG11 is a schematic diagram of the electric drive rotation adjustment of the wall-climbing lifting device provided in Example 1;

[0050] FIG12 is a schematic diagram of the wheel diameter adjustment of the wall-climbing lifting device provided in Example 1;

[0051] FIG13 is a schematic diagram of the curved surface adaptation mechanism of the wall-climbing lifting device provided in Example 1;

[0052] FIG14 is a schematic diagram of the curvature radius change control of the wall-climbing lifting device provided in Example 1;

[0053] FIG15 is a schematic diagram of the second step of the supporting intelligent construction construction method provided in Example 2;

[0054] FIG16 is a schematic diagram of the third step in the supporting intelligent construction construction method provided in Example 2;

[0055] FIG17 is a schematic diagram of the fourth step in the supporting intelligent construction construction method provided in Example 2;

[0056] Figure 18 is a schematic diagram of the wall-climbing construction robot provided in Example 3 for forming a spatial structure.

[0057] Among them: 1-deformable wheel body, 2-motor drive device, 3-hydraulic folding arm, 4-horizontal movement device, 5-lifting column, 6-crossbeam, 7-robotic arm sliding base, 8-robotic arm, 9-image recognition device, 10-concrete extrusion head, 11-mechanical claw, 21-rotor drive module, 22-torque transmission module, 23-iris mechanism, 14-two sets of deformable wheel planes, 2101-motor drive shaft, 2201-boss, 2301-base, 2302-slot, 2303 iris blade, 2304-slide, 2305-second positioning pin, 2306-first positioning pin, 1401-front pin, 1402-middle pin, 1403-first bottom pin, 1404-second bottom pin, 1405-arc connecting rod, 1406-connecting rod. DETAILED DESCRIPTION

[0058] The preferred embodiments of the present invention are described below. Those skilled in the art will be able to implement the embodiments using relevant technologies in the art based on the following description and will be able to better understand the innovations and benefits of the present invention.

[0059] Example 1

[0060] As shown in FIG3-8 , the wall-climbing construction robot provided in this embodiment includes a movement system, a construction system and a control system.

[0061] The mobile system can realize multi-directional movement in space, and has a wall-climbing lifting device with adaptive climbing function for complex building facades, a movable horizontal moving device with adaptability to special-shaped building planes, and a construction support device.

[0062] The wall-climbing and lifting device can be fixed to the inner and outer surfaces of the printed wall, and is equipped with a drive motor and hydraulic folding arm to achieve self-climbing of the entire device. It specifically includes: a deformable wheel body 1, a motor drive unit 2, and a hydraulic folding arm 3. The process of achieving motor-driven, surface-mounted climbing, and hydraulic folding arm-driven wheel lifting and lowering includes: the drive motor drives the rotor to rotate and drive the deformable wheel body 1; the force feedback motor iris mechanism in the motor drive unit 2 controls the rotation of the deformable wheel body 1 to achieve convex and concave deformation by adjusting the surface curvature; the hydraulic folding arm 3 adjusts the pressure to achieve a perfect fit with the building facade, increasing climbing friction and movement stability; the supporting platform carries the construction equipment required for segmented climbing to achieve facade lifting; and the deformable wheel body 1 closely adheres to the wall surface to ensure stable construction plane erection.

[0063] The construction support device includes a horizontal motion device 4 with shaped wheels, a rigid lifting column 5, a rigid crossbeam 6, and a robotic arm sliding base 7. The shaped wheels have a flexible outer contour that closely conforms to the ripple curves of printed concrete building layers; the lifting column 5 can be raised within a certain range to ensure positioning of the construction on the floor being climbed; and the robotic arm sliding base 7 provides a larger range of motion for the robotic arm 8.

[0064] The construction system includes a feeding device, a printing device and a reinforcement device, which can realize the construction of structures of arbitrary spatial shapes.

[0065] The feeding device adjusts the material flow of the pre-mixed building materials according to the construction requirements of the digital model and pumps them to the designed location.

[0066] The printing device achieves spatial positioning through a high-degree-of-freedom robotic arm 8, provides real-time feedback on the additive manufacturing accuracy through an image recognition device 9, and controls the concrete extrusion head 10 to perform printing compensation and flow compensation.

[0067] The reinforcement device uses a 6-DOF robotic arm equipped with a mechanical claw 11 to grab the steel bars and position and lay them according to the structural design requirements.

[0068] The control system can perform positioning control and mechanical control. It can position and push the construction device according to the structural design and construction process, position and configure the printing materials, and mechanically control the spatial printing and construction. For example, the control system uses GPS to locate the overall coordinates and local coordinates, and realizes positioning correction through the discrimination and fusion of spatial lattice information data. It can distinguish vertical operation monitoring during the climbing process, plane construction control after climbing is stable, and printing lift control after climbing is stable to realize printing control of complex spatial structure intelligent construction. The control process is shown in Figure 8:

[0069] Taking the deformable wheel body 1 and the motor drive device 2 (including the rotor drive module 21, the torque transmission module 22, and the iris mechanism 23) shown in Figures 9 to 14 as an example, the two sets of deformable wheel planes 14 provided in this embodiment use 90-degree arc connecting rods 1405, the number of arc connecting rods 1405 is n=16, and the number of iris blades 2303 is m=4.

[0070] Each set of two deformable wheel planes 14 includes a first set of deformable wheel planes and a second set of deformable wheel planes, including: an arc connecting rod 1405, a front pin 1401, a middle pin 1402, a first bottom pin 1403 and a second bottom pin 1404; wherein the first set of deformable wheel planes is fixed on the iris mechanism 23;

[0071] The connection structure of the second group of deformed wheel planes is as follows: pins are arranged at both ends and in the middle of the arc connecting rod 1405, namely the front pin 1401, the middle pin 1402, the first bottom pin 1403 and the second bottom pin 1404. The front ends of the arc connecting rod 1405 away from the center of the wheel are connected to each other through the front pin 1401 to form the outer diameter vertex of the deformed wheel plane, the bottom ends of the arc connecting rod 1405 close to the center of the wheel are connected to each other through the first bottom pin 1403 and the second bottom pin 1404, and the middles of the arc connecting rod 1405 are connected to each other through the middle pin 1402; the first group of deformed wheel planes and the second group of deformed wheel planes are connected through the connecting rod 1406 to form the wheel hub.

[0072] The connection structure between the first group of deformable wheel planes and the iris mechanism 23: the iris mechanism 23 includes a base 2301, four slide slots 2304 and four iris blades 2303. The base 2301 is connected to the iris blades 2303 via a positioning pin (first positioning pin 2306) fixed on the slide slot. A portion of the bottom end of the arc connecting rod 1405 near the center of the wheel is interconnected via the first bottom pin 1403, and the other portion is fixedly connected to the positioning pin (second positioning pin 2305) on the iris blade via the second bottom pin 1404. The middle of the arc connecting rod 1405 is interconnected via the middle pin 1402. The rotation of the iris blades 2303 realizes the movement of the positioning pin (second positioning pin 2305) on the iris blades, the front pin 1401, the middle pin 1402, the first bottom pin 1403 and the second bottom pin 1404, thereby driving the change in the outer diameter of the wheel.

[0073] The arc connecting rods in the two groups of deformed wheel planes are arranged in an upper and lower overlapping manner, specifically: two arc connecting rods 1406 form n / 2 wheel units through the front pin shaft 1401, the position of any wheel unit is i, the wheel unit i is respectively connected to the two adjacent wheel units i+1 and i-1 through the middle pin shaft 1402, the two adjacent wheel units i+1 and i-1 are connected to each other through the first bottom pin shaft 1, 1403, and the wheel unit i is respectively connected to the two next adjacent wheel units i+2 and i-2 through the second bottom pin shaft 1404.

[0074] The connection structure between the torque transmission module 22 and the iris mechanism 23 is as follows: a boss 2201 is provided on the torque transmission module 22, and a notch 2302 is provided on the iris mechanism 23. The torque transmission module 22 and the iris mechanism 23 are connected via the boss 2201 and the notch 2302. The quick-release design of the iris mechanism 23 and the torque transmission module 22 allows for quick replacement of wheels of different specifications to accommodate different wall surfaces.

[0075] The rotor driving module 21 and the torque transmission module 22 , one end of the torque transmission module 22 is connected to the rotor driving module 21 , and the other end is connected to the iris mechanism 23 .

[0076] The torque transmission module 22 achieves torque transmission by connecting the motor drive shaft 2101 in the rotor drive module 1 to its slot and connecting it to the four slots 2302 set on the base through the boss 2201.

[0077] In this embodiment, the positioning pins on the iris blades (second positioning pins 2305) are installed with a force feedback motor, which can increase the motor torque through a gear reduction box according to the wall engagement condition to achieve the movement of the iris blades 2303, thereby adjusting the spacing of the pins.

[0078] The working process of the deformable wheel body 1 and the motor drive device 2 provided in this embodiment is as follows:

[0079] The motor drive shaft 2101 in the rotor drive module 21 is connected to the notch of the torque transmission module 22 through the notch, and is connected to the four notches 2302 set on the base 2301 through the boss 2201 to achieve torque transmission.

[0080] The iris mechanism 23 consists of a mechanism base 2301 and four iris blades 2303. The mechanism base 2301 is connected to the iris blades 2303 via second positioning pins 2305. The iris blades 2303 are arranged in a circular path, with multiple blades in contact with each other, allowing them to move together to increase or decrease the spacing between the second positioning pins 2305. The electric drive transmission device and wheel diameter adjustment are shown in Figures 11 and 12, respectively.

[0081] The mechanism by which the wheel deforms to adapt to complex curved surfaces and achieve close-fitting climbing is as follows: The first of the two sets of deformable wheel planes 14 is connected to the iris mechanism 23. The rotation of the iris blades 2303 moves the front pin 1401 at the connection point, driving the change in the wheel's outer diameter. The wheel is connected to the torque transmission module 22 via four notches 2302 in the iris mechanism base 2301. The torque transmission module 22 is directly connected to the motor to control the wheel's drive. Arc-shaped connecting rods 1405 are arranged in a stacked arrangement and fixedly connected by the middle pin 1402, the first bottom pin 1403, and the second bottom pin 1404. When the degree of the arc-shaped connecting rods 1405 and the total number of connecting rods meet the previously described relationship, the assembled connecting rod structure can naturally close to form a complete circular ring. The outer diameter apex 1401 of the two sets of deformable wheel planes 14 can be controlled by adjusting the position of the second positioning pin 2305. The change in the plane diameter of the deformable wheel is controlled by controlling the different positions of the second positioning pin shaft 2305 as shown in FIG14 .

[0082] Example 2

[0083] As shown in Figures 15-17, the self-supporting intelligent construction method using the wall-climbing robot provided in Example 1 includes:

[0084] Step 1: Slice the building model file through the computer, upload the sliced ​​executable G-code file to the host computer, input the initial information such as the layer height, wall thickness, starting position, etc. of the building model file to be printed, the equipment self-checks, and issues the printing instruction.

[0085] Step 2: According to the mechanical control system, the universal moving device in the moving system and the construction system are driven to complete the printing and construction of the building structure at a relative height of 0-3m (one floor), and wait for the concrete to reach the predetermined strength.

[0086] Step 3: Based on the mechanical control system drive and positioning control system positioning, the wall-climbing construction robot moves to the self-climbing starting position. The self-climbing device is pressed down by the hydraulic folding arm self-climbing device, and the wall-climbing construction robot is fixed on the building wall at a relative height of 3-6 meters (second floor). The intelligent feeding device on the ground is connected to ensure the normal operation of each module. The motor drive device is used to lift the robot to the predetermined position.

[0087] Step 4: The hydraulic folding arm presses down the horizontal moving device, which moves horizontally through the drive motor. The construction system uses the positioning device to detect the six-axis vibration caused by the operation of the horizontal moving device and compensates for it through the robotic arm. At the same time, the TOF camera detects the accuracy of the building structure and adjusts the flow rate of wet concrete extruded by the printing nozzle.

[0088] Step 5: After the construction system completes the printing task at the specified height, the self-climbing mechanism is depressed, the horizontal movement mechanism is retracted, and the motor drive mechanism drives the deformable wheel to climb to the preset height. The positioning mechanism re-acquires the device's position and calibrates the sensors.

[0089] Step 6: Repeat steps 3 to 5 until the building structure is completed.

[0090] The wall-climbing construction robot used in this embodiment can adapt to the overall climbing and printing construction of complex spatial building shapes and surface forms.

[0091] Example 3

[0092] Unlike Example 1, the robot arm of the wall-climbing construction robot provided in this embodiment is hung upside down on an XY-axis mobile platform, which is fixed upside down below the top beam. As shown in Figure 18, the wall-climbing construction robot provided in this embodiment is used to form a spatial structure.

[0093] In summary, the wall-climbing construction robot and self-supporting intelligent construction method provided by the present invention can not only complete the wall-climbing construction of complex building surfaces, but also form a new construction method for spatial structures, suitable for the construction of large-scale multi-story buildings with various structures. Specifically, it can achieve:

[0094] 1. The innovative combination of CNC technology and mechanical devices with printing materials and construction equipment realizes the construction of high-rise integrated digital construction structures, which improves the level of digital intelligent integration of structural construction, saves construction time, reduces material loss and semi-finished product processing, and reduces carbon emissions from the production and construction of building structures;

[0095] 2. It can adapt to the special-shaped structures of architectural spaces, utilize spatial positioning control technology to break through the construction dimension of additive intelligent construction technology, control the construction process in stages to accurately ensure the formation of a strong spatial structure, and achieve economical, beautiful, and artistic intelligent construction on the basis of safety and reliability;

[0096] 3. It expands the scope and types of intelligent construction engineering applications in terms of building height, facade type and plane structure, solves the defects of insufficient labor, poor construction efficiency and precision in existing buildings, and breaks through the obstacles of 3D printing construction being difficult to industrialize and unable to adapt to the height, span and construction scale of modern buildings.

Claims

1. A wall-climbing construction robot, characterized in that: The wall-climbing construction robot comprises: The mobile system includes a universal mobile device, a wall-climbing lifting device, and a construction support device. The universal mobile device is arranged on the outside of the construction support device, the wall-climbing lifting device is arranged on the inside of the construction support device, and the horizontal mobile device is arranged on the inside of the construction support device. The mobile system is used to realize the movement and climbing of the wall-climbing robot; The construction system includes a feeding device, a printing device and a reinforcement device. The printing device is installed on a construction support device to print the printing material transported by the feeding device, and the reinforcement device is used to lay reinforcement.

2. The wall-climbing construction robot according to claim 1, characterized in that: The wall-climbing lifting device includes a deformable wheel body, a motor drive device and a hydraulic folding arm. The deformable wheel body climbs by driving the motor, and adjusts the downward force under the action of the hydraulic folding arm to achieve fit with the building surface.

3. The wall-climbing construction robot according to claim 1, characterized in that: The construction support device includes lifting columns on both sides and a crossbeam located between the lifting columns. A wall climbing lifting device and a horizontal moving device are arranged on the inner side of the lifting columns. A universal moving device is arranged on the inner side of the lifting columns. A printing device is installed on the lifting columns or the crossbeam.

4. The wall-climbing construction robot according to claim 1, characterized in that: The printing device includes a first robotic arm and a second robotic arm; a nozzle is installed under the first robotic arm for printing and an image recognition device is installed to provide real-time feedback on the accuracy of additive construction; a robotic claw is installed under the second robotic arm for laying reinforcement.

5. The wall-climbing construction robot according to any one of claims 1 to 4, characterized in that: The wall-climbing construction robot includes a control system, which includes: The mechanical control system drives the mobile system and the building system according to the control commands after the host processes the slice file of the building model file; The positioning control system uses a positioning device to provide real-time feedback of the location of the wall-climbing construction robot to the host; and combined with an image recognition device, it measures the relative position information of the building and the wall-climbing construction robot in real time and then feeds it back to the host.

6. The wall-climbing construction robot according to claim 1, characterized in that: The deformable wheel body comprises: Two sets of deformable wheel planes, the two sets of deformable wheel planes include a plurality of arc connecting rods, the plurality of arc connecting rods are connected to each other at both ends and in the middle, and one set of deformable wheel planes is fixedly connected to the iris machine The wheel hub is connected to another set of deformed wheel planes through a number of connecting rods. The number n of the arc connecting rods is determined by the degree θ of the arc connecting rods. The relationship is: The iris structure includes a plurality of iris blades arranged in a circular path. A set of deformable wheel planes are fixedly connected to the iris blades. The outer diameter of the wheel is changed by the rotation of the iris blades. The relationship between the number of iris blades m and the number of connecting rods n is:

7. The wall-climbing construction robot according to claim 6, characterized in that: Pins are arranged at both ends and in the middle of the arc connecting rod, which are respectively a front pin, a middle pin and a bottom pin. The front ends of the arc connecting rods away from the center of the wheel are connected to each other through the front pin to form the outer diameter vertex of the deformed wheel plane, and the bottom ends of the arc connecting rods close to the center of the wheel are connected to each other or fixedly connected to the iris blade through the bottom pin, and the middle of the arc connecting rods are connected to each other through the middle pin.

8. The wall-climbing construction robot according to claim 6, characterized in that: The iris mechanism includes a base, several slide slots and several iris blades. The base is connected to the iris blades through a positioning pin fixed on the slide slot; the bottom pin includes a first bottom pin and a second bottom pin. A part of the bottom end of the arc connecting rod close to the center of the wheel is connected to each other through the first bottom pin, and the other part is connected to each other or fixedly connected to the pin on the iris blade through the second bottom pin. The middle of the arc connecting rod is connected to each other through the middle pin; the rotation of the iris blade realizes the movement of the positioning pin, front pin, middle pin, first bottom pin and second bottom pin on the iris blade, and drives the change of the outer diameter of the wheel.

9. The wall-climbing construction robot according to claim 6, characterized in that: The motor drive device includes a rotor drive module and a torque transfer module, one end of the torque transfer module is connected to the rotor drive module, and the other end is connected to the iris mechanism; the torque transfer module is provided with a boss, and the iris mechanism is provided with a slot, and the torque transfer module and the iris mechanism are connected through the boss and the slot.

10. A self-supporting intelligent construction method using the wall-climbing construction robot according to any one of claims 1 to 9, characterized in that: The method comprises: (1) Slicing the building model file, uploading the sliced ​​file to the host, inputting the initial information of the building model to be printed, and sending a control command to the mechanical control system; wherein the initial information includes layer height, wall thickness, and starting position; (2) driving the universal moving device and the construction system in the moving system according to the mechanical control system to complete the printing and construction of the first layer of the building structure, and waiting for the concrete to reach the predetermined strength; (3) According to the mechanical control system drive and positioning control system positioning, the wall climbing lifting device climbs to the second-story building structure through the driving motor, and the wall climbing lifting device is pressed down by the hydraulic folding arm to be fixed; (4) The hydraulic folding arm presses down the horizontal moving device, which moves horizontally through the drive motor. The construction system detects the vibration in the six axes caused by the operation of the horizontal moving device through the positioning device and compensates for it through the robotic arm. At the same time, the image recognition device detects the accuracy of the building structure and adjusts the flow rate of wet concrete extruded by the printing nozzle; (5) After the second-layer building structure is printed, the wall-climbing lifting device is pressed down and the horizontal moving device is retracted; (6) Repeat steps (3)-(6) until the building structure is completed.

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