KR102207535B1 - 3D printer for construction with continuous printing on the go and 3D printing system comprising it - Google Patents

Abstract

The present invention is a construction 3D printer capable of accurately and quickly printing a large structure in a wide work area by expanding the work area without being limited by the printer size by continuously performing 3D printing in real time while the printer body is moving, and It relates to a 3D printing system including this,
A construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention includes an extruder for supplying a composite material for construction, an extruder for extruding the construction composite material supplied from the hopper, and for construction extruded from the extruder. A printer main body including a nozzle for ejecting a composite material and a nozzle conveying means for transferring the nozzle; A main body moving part formed under the printer main body to move the printer main body; And, a trajectory of the main body moving unit and the nozzle transfer means is generated from the target path data of the printing nozzle in a global coordinate system, and the position and direction of the printer main body within the working space are measured in real time to measure the generated trajectory in real time. Based on the error between the position and direction of the printer main body, the moving trajectory of the printer main body and the conveying trajectory of the nozzle in the frame are corrected, and according to the corrected trajectory of the printer main body and the nozzle, And a control unit that independently controls the movement and transfer of the nozzle.

Description

Construction 3D printing system capable of continuous printing while moving {3D printer for construction with continuous printing on the go and 3D printing system comprising it}

The present invention relates to a 3D printer for construction and a 3D printing system, and more specifically, a wide work area by expanding the work area without being limited by the printer size by continuously performing 3D printing in real time while the printer body is moving. The present invention relates to a 3D printer for construction that can accurately and quickly print a large structure, and a 3D printing system including the same.

In the early days, 3D printers were used to speed up the production of prototypes by manufacturing companies, but in recent years, they are used in various industrial fields beyond the manufacturing and prototype levels.

On the other hand, the conventional 3D printer is a method of printing a product through a three-dimensional positional transfer within a limited work area of the equipment while the frame is fixed to the ground in a fixed manner, so when printing a large construction member or structure, There is a problem in having to use large equipment with a corresponding large working area.

In addition, the conventional equipment known as a mobile printer is a concept equipment that can simply move to a desired position by attaching a wheel or the like, and because it is a method of printing after mounting, printing while moving is impossible. Therefore, there is a problem that the area that can be actually continuously operated is limited within the working range of the equipment.

On the other hand, in 3D printing in the construction field, the output is relatively large and the weight is heavy, making it difficult or impossible to move the output. In particular, in the case of cement-based construction composite materials, unlike general 3D printing materials, it is necessary to cure the structure after printing for several days or more until the structure has sufficient strength. It is not advisable to move to and resume a new print job.

Korean Patent Registration No. 10-1914524

The present invention provides continuous real-time 3D printing even while the printer main body is moving to expand the work area without being limited by the printer size, allowing precise and fast printing of large structures in a wide work area. The challenge is to provide a printing 3D printer for construction and a 3D printing system including the same.

The problem of the present invention is not limited to those mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

Construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention,

A printer comprising a hopper for supplying a construction composite material, an extruder for extruding the construction composite material supplied from the hopper, a nozzle for ejecting the construction composite material extruded from the extruder, and a nozzle conveying means for transferring the nozzle main body; A main body moving part formed under the printer main body to move the printer main body; And, a trajectory of the main body moving unit and the nozzle transfer means is generated from the target path data of the printing nozzle in a global coordinate system, and the position and direction of the printer main body within the working space are measured in real time to measure the generated trajectory in real time. Based on the error between the position and direction of the printer main body, the moving trajectory of the printer main body and the conveying trajectory of the nozzle in the frame are corrected, and according to the corrected trajectory of the printer main body and the nozzle, And a control unit that independently controls the movement and transfer of the nozzle.

In the construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention, the main body moving unit includes at least one of an omnidirectional wheel capable of moving and rotating in all directions, a rotatable wheel, a caterpillar, and a plurality of robot legs. It can contain either.

In the construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention, the control unit generates a trajectory for generating trajectories of the main body moving unit and the nozzle transfer means from target path data of a printing nozzle on a global coordinate system. module; A location checking module configured to receive sensing information on the location and direction of the printer body in real time from an external sensing device and check the location and direction of the printer body in real time; Compensation control module for generating by correcting a moving trajectory of the printer main body and a conveying trajectory of the nozzle in a frame based on an error between the position and direction of the printer main body measured in real time by the positioning module and the generated trajectory ; A movement control module for controlling an operation of the main body moving part according to a movement trajectory of the printer main body generated by the trajectory generation module and the compensation control module; And, it may include a transfer control module for controlling the operation of the nozzle transfer means for transferring the nozzle according to the transfer trajectory of the nozzle generated by the trajectory generation module and the compensation control module.

)과 상기 노즐 이송부의 궤적(^LP) 및 방향을 생성할 수 있다.In the construction 3D printers capable of continuous printing on the move in accordance with an embodiment of the invention, the trajectory generation module, the trajectory of the main body moving part from the target path data ^(G P) of the printing nozzles on the wide-area coordinate system ^(G) (G P _LORG ) and direction (

) And the trajectory ( ^L P) and direction of the nozzle transfer unit may be generated.

)의 실시간 오차를 바탕으로 상기 프린터 본체의 이동 궤적을 보정하여 생성할 수 있다.In the construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention, the compensation control module includes the printer main body on a wide-area coordinate system (G) using sensing information received in real time from an external sensing device. Origin position ( ^G P _LORG ) and direction (

) Can be generated by correcting the moving trajectory of the printer main body based on the real-time error of ).

In the construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention, the compensation control module is a position from the coordinate system of the frame of the printer main body changed in real time to the target point ( ^G P) of the nozzle And it can be generated by correcting the transfer trajectory of the nozzle transfer means for transferring the nozzle using the direction.

Construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention,

A printer main body including an extruder for extruding the construction composite material supplied from a hopper and a nozzle conveying means for transferring a nozzle for ejecting the construction composite material extruded from the extruder; A main body moving part formed under the printer main body to move the printer main body; A position sensing unit that senses the position and direction of the main body of the printer in a working space in real time; A trajectory of the main body moving unit and the nozzle transfer means is generated from target path data of the printing nozzle in a global coordinate system, and an error between the generated trajectory and the position and direction of the printer main body measured in real time by the position sensing unit is A control unit that corrects the movement trajectory of the printer main body and the transport trajectory of the nozzle in the frame, and independently controls the movement of the printer main body and the nozzle transport according to the corrected trajectory of the printer main body and the nozzle Includes.

In the construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention, the position detection unit includes at least one motion capture camera disposed in the work space and a plurality of motion capture markers disposed on the printer body It may include.

In the construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention, the position detection unit includes at least one 2D laser sensor disposed on the printer body and a plurality of spaced structures defining the work space It may include.

In the construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention, the position detection unit includes a plurality of displacement sensors disposed in all directions of the printer main body and a plurality of wall surfaces defining the work space. can do.

In the construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention, the position detection unit includes a plurality of displacement sensors disposed in two directions of the printer main body, and formed on the floor surface of the work space. It may include a guide line and an image sensor that photographs the guide line to obtain a rotation angle of the printer body and an offset position of the body from the guide line.

In the construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention, the position detection unit includes a guide line formed as a closed curve on a floor surface of the work space, and the printer body by photographing the guide line. It may include an image sensor that obtains the offset position of the body from the rotation angle and the guide line.

In the 3D printing system for construction capable of continuous printing during movement according to an embodiment of the present invention, the main body moving unit is an omnidirectional wheel capable of moving and rotating in all directions, a rotatable wheel, a caterpillar, and a plurality of robot legs. It may include at least any one.

In the 3D printing system for construction capable of continuous printing while moving according to an embodiment of the present invention, the control unit comprises a trajectory for generating a trajectory of the main body moving unit and the nozzle transfer means from target path data of a printing nozzle on a global coordinate system. Generation module; A location check module configured to receive sensing information on the position and direction of the printer main body in real time from the position detection unit to check the position and direction of the printer main body in real time; Compensation control module for generating by correcting a moving trajectory of the printer main body and a conveying trajectory of the nozzle in a frame based on an error between the position and direction of the printer main body measured in real time by the positioning module and the generated trajectory ; A movement control module for controlling an operation of the main body moving part according to a movement trajectory of the printer main body generated by the trajectory generation module and the compensation control module; And, it may include a transfer control module for controlling the operation of the nozzle transfer means for transferring the nozzle according to the transfer trajectory of the nozzle generated by the trajectory generation module and the compensation control module.

)과 상기 노즐 이송부의 궤적(^LP) 및 방향을 생성할 수 있다.In the 3D printing system for construction capable of continuous printing while moving according to an embodiment of the present invention, the trajectory generation module includes the trajectory of the main body moving part from the target path data ( ^G P) of the printing nozzle on the global coordinate system (G). ^G P _LORG ) and direction (

) And the trajectory ( ^L P) and direction of the nozzle transfer unit may be generated.

)의 실시간 오차를 바탕으로 상기 프린터 본체의 이동 궤적을 보정하여 생성할 수 있다.In the 3D printing system for construction capable of continuous printing while moving according to an embodiment of the present invention, the compensation control module, the printer on a wide-area coordinate system (G) using sensing information received in real time from the position sensing unit. Main body origin position ( ^G P _LORG ) and direction (

) Can be generated by correcting the moving trajectory of the printer main body based on the real-time error of ).

In the 3D printing system for construction capable of continuous printing while moving according to an embodiment of the present invention, the compensation control module includes: from the coordinate system of the frame of the printer body changed in real time to the target point ( ^G P) of the nozzle. can using the position and orientation that is produced by correcting the feed trajectory of the transfer means for transferring the nozzle of the nozzle.

Other specific details of embodiments according to various aspects of the present invention are included in the detailed description below.

According to the embodiment of the present invention, since the construction structure is printed by the transfer of the nozzle while the printer main body is moving, unlike a conventional construction 3D printer, there is no limitation on the work area according to the size of the equipment, There is an advantage of being able to print large structures of a large area even with a 3D printer.

In addition, after the printing of one construction structure or construction structure member is completed, the printer automatically moves to another printing area by the main body moving unit, so that a new printing operation can be resumed without delay.

In addition, when applied to a factory that mass-produces multiple types of cement-based construction structure members, there is an advantage of maximizing work efficiency and productivity per unit time compared to the conventional method.

The effects of the present invention are not limited to those mentioned above, and other effects that are not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a block diagram showing a construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention.
2 is a perspective view showing a specific example of a construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention.
3 is a diagram for explaining a trajectory generation process in a construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention.
4 is a block diagram showing a construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention.
5 to 8 are diagrams illustrating various examples of a 3D printing system for construction capable of continuous printing while moving according to an embodiment of the present invention.
9 is a view illustrating that a large construction structure is continuously printed without being limited to the size of a printer body by a construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention.
FIG. 10 is a diagram illustrating that a plurality of 3D printers are simultaneously operated in one work space to continuously print a plurality of construction structures.

The present invention is intended to illustrate specific embodiments and to be described in detail in the detailed description, since various transformations can be applied and various embodiments can be provided. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all conversions, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present invention, terms such as'comprise' or'have' are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance. Hereinafter, a construction 3D printer capable of continuous printing while moving and a 3D printing system including the same according to an embodiment of the present invention will be described with reference to the drawings.

1 is a block diagram showing a construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention, and FIG. 2 is a specific work of a construction 3D printer capable of continuous printing while moving according to an embodiment of the present invention It is a perspective view showing an example.

1 and 2, a 3D printer for construction (hereinafter referred to as a 3D printer) capable of continuous printing while moving according to an embodiment of the present invention includes a printer main body 100, a main body moving unit 200 , And a control unit 300.

The printer body 100 includes a body frame 110, a hopper 120 formed inside the body frame 110, an extruder 150, a nozzle 130, and a nozzle transfer means 140; 141, 142. I can.

The main body frame 110 is formed in, for example, a hexahedral shape to form the outer shape of the printer main body 100.

In the space inside the main frame 110, a hopper 120 is formed in which a composite material for construction (eg, concrete, a composite of concrete and polymer, etc.) supplied from the outside is accommodated.

The hopper 120 is formed in connection with the nozzle 130 through the extruder 150 to supply the construction composite material to the nozzle 130, and the construction composite material is ejected through the nozzle 130 to form a construction structure. .

The nozzle transfer means 140 may transfer the nozzle 130 in at least one or more directions. For example, the nozzle transfer means 140 moves the hopper 120 and the nozzle 130 in the x-axis direction, the first transfer bar 141 and the first transfer bar 141 in the y-axis direction and the z-axis direction. It may be made of a second transfer bar 142 to be transferred to. Both ends of the first transfer bar 141 are connected to the second transfer bar 142 to be slidable in a vertical direction, and a pair of opposite second transfer bars 142 are formed to be movable in the y-axis direction. The nozzle transfer means 140 is only an example, but is not limited thereto. For example, the nozzle transfer means 140 may use an articulated robot such as a 6-axis robot capable of controlling not only x, y z, but also theta_x, theta_y, and theta_z.

As the transfer direction and size of the nozzle transfer means 140 are controlled by the control unit 300 to be described later, the transfer direction and size of the nozzle 130 are controlled together, so that a 3D construction structure having a desired shape can be printed. do.

The body moving part 200 is formed under the printer body 100 to move the printer body in a desired direction. The main body moving part 200 includes a moving means capable of moving or rotating the printer main body 100. The main body moving unit 200 may include, for example, an omnidirectional wheel capable of moving and rotating in an omnidirectional direction, a rotatable wheel, a caterpillar, a plurality of robot legs, and the like.

The main body moving unit 200 moves the printer main body 100 by controlling the amount of movement and the amount of rotation by a controller 300 to be described later.

The controller 300 enables 3D printing through the nozzle 130 to be continuously performed in real time while the printer body 100 is moving.

The control unit 300 generates the trajectories of the main body moving unit 200 and the nozzle transfer means 140 from the target path data, and checks the position and direction of the printer main body 100 in real time within the work space, and the confirmed position And a movement correction amount of the printer body 100 and a transfer correction amount of the nozzle 130 are generated based on the direction, and the movement of the printer body 100 and the nozzle according to the trajectories of the generated printer body 100 and nozzle 130 The transport of 130 is independently controlled. Here, "movement" is used as a term for the movement of the printer body 100 with relatively large movement, and "transfer" is used as a term for movement of the nozzle 130 with relatively small movement. In addition, "orientation" is used as a term meaning the orientation of the printer body 100.

To this end, the control unit 300 includes a positioning module 310, a trajectory generation module 320, a movement control module 330, a transfer control module 340, and a compensation control module 350. . Each of the modules 310 to 350 is a component that performs a predetermined function, and may be implemented as hardware, software, or a combination of hardware and software. For example, the modules 310 to 350 may refer to program modules, which may be software components that are executed by a processor to perform a predetermined function.

The positioning module 310 checks the position and orientation of the printer main body 100 in the work space. Optionally, the positioning module 310 may check the position and direction of the printer body 100 as well as the position and direction of the nozzle 130.

The positioning module 310 receives sensing information on the position and direction of the printer main body 100 from an external sensing device, and checks the position and direction of the printer main body 100 in real time. The external sensing device may be, for example, the position sensing unit 400, which will be described later.

The trajectory generation module 320 distributes the target path data given for the 3D construction structure printing to the moving amount of the main body moving part 200 and the conveying amount of the nozzle 130 (specifically, the conveying amount of the nozzle conveying means 140). Thus, the trajectory of the main body moving unit 200 and the nozzle 130 is generated in real time. On the other hand, the target path data may be pre-distributed to the moving amount of the main body moving part and the conveying amount of the nozzle outside the control unit and then assigned as each path data.

Referring to FIG. 3, a process of generating a trajectory by the trajectory generating module 320 will be described.

이라 할 때, G-code 상에서 주어지는 광역 좌표계 상의 노즐(130)의 목표 위치는 하기의 식 (1)과 같이 프린터 본체의 좌표계(L)에서 노즐 이송수단(140)의 상대적 이송량(^LP)으로 표현된다.Using any one corner of the work space as the origin (the lower left corner is the origin in the drawing), the work space is displayed in the global coordinate system (G), and the origin of the printer body 100 on the global coordinate system (G) (printer body One corner) of ^G P _LORG , and the direction of the coordinate system (L) of the printer body relative to the global coordinate system (G).

In this case, the target position of the nozzle 130 in the global coordinate system given on the G-code is the relative feed amount ( ^L P) of the nozzle transfer means 140 in the coordinate system L of the printer body as shown in Equation (1) below. Is expressed.

Equation (1):

^G P means the target position of the nozzle 130 on the global coordinate system given on the G-code.

에서 광역 좌표계의 xy 평면상 프린터 본체(100)의 z축에 대한 회전 각도 θ만을 고려할 때, 식 (1)은 하기 식 (2)와 같이 2차원적으로 표현된다.direction

When considering only the rotation angle θ with respect to the z-axis of the printer body 100 on the xy plane of the global coordinate system, Equation (1) is expressed two-dimensionally as Equation (2) below.

Equation (2):

In the case of Equation (2), the trajectory generation module 320 is a large amount of movement ( ^G X, ^G Y) and direction θ and the nozzle transfer unit moved through the main body moving unit 200 from the target printing path data provided by G-code, etc. It distributes as a small amount ( ^L X, ^L Y) to be transported through.

)의 실시간 오차를 바탕으로 프린터 본체(100)의 보상 궤적을 생성한다. 또한, 보상제어 모듈(350)은 실시간으로 변화되는 프린터 본체의 원점 위치(^GP_LORG)와 방향(

)을 이용하여 프린터 본체의 좌표계(L)에서 노즐 이송수단(140)의 상대적 이송량(^LP)을 생성한다. The compensation control module 350 uses the sensing information received in real time to determine the origin position ( ^G P _LORG ) and the direction of the printer body 100 on the global coordinate system (G).

), a compensation trajectory of the printer main body 100 is generated based on the real-time error. In addition, the compensation control module 350 is the origin position ( ^G P _LORG ) and the direction (

) To generate the relative feed amount ^L P of the nozzle transfer means 140 in the coordinate system L of the printer body.

The movement trajectory of the printer main body 100 generated by the trajectory generation module 320 and the compensation control module 350 is transmitted to the movement control module 330, and the movement control module 330 moves the main body according to the movement trajectory. By controlling the operation of 200, the printer body 100 is moved.

The transfer trajectory of the nozzle transfer means 140 generated by the trajectory generation module 320 and the compensation control module 350 is transferred to the transfer control module 340, and the transfer control module 340 transfers the nozzle according to the transfer trajectory. The nozzle 130 is transferred by controlling the operation of the means 140.

On the other hand, as an example of a method of efficiently distributing the amount of movement of the main body moving unit 200 and the amount of transfer of the nozzle transfer means 140 in the trajectory generation module 320, a method of complementary filtering of a target position on a global coordinate system (Complementary Filtering) is provided. The high-frequency component and the low-frequency component are divided into a high-frequency component and a low-frequency component. Among these, a relatively slow displacement of the low-frequency component is generated as the movement trajectory of the main body moving part 200, and the relatively fast displacement of the high-frequency component is the conveying trajectory of the nozzle transfer means 140 Can be created with

According to the trajectory generated by the trajectory generation module 320, the printer main body 100 moves and the nozzle 130 is transferred while performing 3D printing. In the printing process, the printer main body 100 and the nozzle 130 ) This disturbance can cause an error.

The compensation control module 350 may calculate an error generated by the disturbance by comparing an actual trajectory measured by sensing information received in real time with a trajectory generated by the trajectory generation module 320.

The compensation control module 350 may feed back the calculated error information to correct the moving trajectory of the printer main body 100 and the conveying trajectory of the nozzle conveying means 140.

Next, a construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention will be described with reference to FIGS. 4 to 8.

4 is a block diagram showing a 3D printing system for construction capable of continuous printing while moving according to an embodiment of the present invention, and FIGS. 5 to 8 are 3D for construction capable of continuous printing while moving according to an embodiment of the present invention. It is a perspective view showing various examples of the printing system.

As shown in Figure 4, the construction 3D printing system (hereinafter referred to as a 3D printing system) capable of continuous printing while moving according to an embodiment of the present invention, in the configuration of the above-described 3D printer, the position detection unit 400 Further, the printer main body 100, the main body moving unit 200, and the control unit 300 are substantially the same as those of the above-described 3D printer, and thus a repeated description will be omitted.

In FIG. 4, the position detecting unit 400 is illustrated as being formed to be spaced apart from the printer main body 100, but this is for illustration only, and the position detecting unit 400 is necessarily formed to be separated from the printer main body 100 no.

For example, in the case of FIG. 5, a motion capture camera 410 that detects the position of the printer main body 100 is separated from the printer main body 100 to form a distance, but in the case of FIGS. 6 to 8, the printer main body 100 A laser sensor 420, a displacement sensor 430, a displacement sensor 440, etc. for detecting the position of) may be formed on the printer body 100.

The position detection unit 400 generates sensing information by detecting the position and direction of the printer main body 100 in real time, and transmits the sensing information to the control unit 300. The control unit 300 receives sensing information from the position detection unit 400, checks the position and direction of the printer main body 100 in real time, and determines the movement trajectory of the printer main body 100 based on the confirmed position and direction. A transport trajectory of the nozzle 130 is generated, and movement of the printer main body 100 and transport of the nozzle 130 are independently controlled according to the trajectories of the generated printer main body 100 and the nozzle 130.

Such, the position detection unit 400 may be implemented in various forms. This will be described with reference to FIGS. 5 to 8.

FIG. 5 is a diagram illustrating a technique of detecting the position and direction of the printer main body 100 in real time using motion capture technology.

Referring to FIG. 5, the position detection unit 400 may include one or more motion capture cameras 410 disposed in a work space and a plurality of motion capture markers 411 disposed on the printer body 100.

The motion capture camera 410 generates sensing information by detecting the position and direction of each axis of the printer body 100 and transmits the generated sensing information to the controller 300.

6 is a view for explaining a technique of detecting the position and direction of the printer body 100 in real time using a laser sensor.

Referring to FIG. 6, the position detection unit 400 may include at least one laser sensor 420 disposed on the printer main body 100 and a plurality of spaced apart structures 421 defining a work space.

The laser sensor 420 detects an object in all directions while rotating at 360° during a preset period. The laser sensor 420 is a LiDAR (Light Detection And Ranging) that measures the distance to an object from a change in time and intensity, a change in frequency, a change in polarization state, etc. of the laser being scattered or reflected by emitting a laser. I can. If the irradiation range of the laser sensor 420 is N°, it is preferable to evenly arrange the (360/N) laser sensors 420.

A plurality of spaced apart structures 421 are formed in a columnar shape to define a working space, and each structure 421 is assigned unique coordinate information. When distance information with respect to each structure 421 is obtained by the laser sensor 420, the current position and direction of the printer body 100 may be calculated.

The laser sensor 420 generates sensing information that detects the distance to each structure 421 and transmits the sensed sensing information to the controller 300.

7 is a diagram illustrating a technique of detecting the position and direction of the printer main body 100 in real time using a plurality of displacement sensors.

Referring to FIG. 7, the position detection unit 400 may include a plurality of displacement sensors 430 disposed in all directions of the printer main body 100 and a plurality of wall surfaces 431 defining a work space. Each of the plurality of displacement sensors 430 may measure a distance to the front wall surface 431.

In the above-described embodiment of FIG. 6, while one lidar sensor can sense all directions, there is a disadvantage in that the cost of the lidar sensor is expensive. Accordingly, in the embodiment of FIG. 7, a relatively inexpensive displacement sensor is used, but by arranging a plurality of displacement sensors 430 in all directions of the printer main body 100, the wall surface 431 sensed by each displacement sensor 430 ) Is used to calculate the current position and direction of the printer body 100.

FIG. 8 is a diagram illustrating a technique of detecting the position and direction of the printer main body 100 in real time using a displacement sensor, an image sensor, and a guide line.

Referring to FIG. 8, the position detection unit 400 includes a plurality of displacement sensors 440 disposed in two directions of the printer main body 100, a guide line 441 and a guide formed in the axial direction on the bottom surface of the work space. It may include an image sensor 442 that captures a line and obtains an offset position of the printer body 100 from a rotation angle of the printer body 100 and a guide line.

Each of the displacement sensors 440 may measure a distance to the front wall. The guide line 441 is formed in the axial direction on the bottom surface of the working space. The image sensor 442 may photograph a guide line to obtain an angle between the guide line and an axis and an offset position of the printer body 100 from the guide line to calculate the direction and position of the printer body 100.

The displacement sensor 440 senses distance information from the wall and transmits it to the control unit 300, and the image sensor 442 acquires the offset position of the printer main body 100 from the rotation angle and guide line of the printer main body 100. And transmits it to the controller 300. The control unit receiving the sensing information calculates the current position and direction of the printer body 100 using the obtained distance information and rotation angle.

On the other hand, the position sensing unit 400 captures a guide line (not shown) formed as a closed curve on the bottom surface of the work space and the guide line to obtain an offset position of the main body from the rotation angle of the printer main body 100 and the guide line. It may include an image sensor (not shown).

In the case of FIG. 8 described above, a displacement sensor is required, but when a closed curve is formed on the bottom surface, there is an advantage that a separate displacement sensor is not required.

9 is a view illustrating that a large construction structure is continuously printed without being limited to the size of a printer body by a construction 3D printing system capable of continuous printing while moving according to an embodiment of the present invention.

FIG. 10 is a diagram illustrating that a plurality of 3D printers are simultaneously operated in one work space to continuously print a plurality of construction structures.

9 and 10, according to the embodiment of the present invention, the printer main body 100 is moved while the construction structure is printed by the transfer of the nozzle 130, unlike a conventional 3D printer for construction There is an advantage in that it is possible to print large structures of a large area even with a small-sized construction 3D printer without limitation of the working area according to the size of the equipment.

In addition, in the conventional construction 3D printing system, the output is relatively large and the weight is heavy, so it is difficult or impossible to move the output. Also, in the case of cement-based construction composite materials, unlike general 3D printing materials, the structure after printing is It was very difficult to resume a new printing work after moving the cement-based structure after printing, as it had to be cured while passing it for several days or longer until it had sufficient strength.

However, according to an embodiment of the present invention, after printing of one construction structure or construction structure member is completed, the printer automatically moves to another printing area by the main body moving unit 200 to resume a new printing operation without delay. There is an advantage to be able to.

Accordingly, according to an embodiment of the present invention, when applied to a factory that mass-produces multiple types of cement-based construction structure members, there is an advantage of maximizing work efficiency and productivity per unit time compared to a conventional method.

The embodiments of the present invention have been described above, but those of ordinary skill in the relevant technical field can add, change, delete, or add components within the scope not departing from the spirit of the present invention described in the claims. Accordingly, the present invention can be variously modified and changed, and it will be said that this is also included within the scope of the present invention.

100: printer body 110: body frame
120: hopper 130: nozzle
140: nozzle transfer means 150: extruder
200: main body moving part
300: control unit 310: positioning module
320: trajectory generation module 330: movement control module
340: feed control module 350: compensation control module
400: position detection unit

Claims (17)

A printer main body including an extruder for extruding the construction composite material supplied from a hopper and a nozzle conveying means for transferring a nozzle for ejecting the construction composite material extruded from the extruder; A main body moving part formed under the printer main body to move the printer main body; A position sensing unit that senses the position and direction of the main body of the printer in a working space in real time; And generating a trajectory of the main body moving unit and the nozzle transfer means from target path data of the printing nozzle in a global coordinate system, and an error between the generated trajectory and the position and direction of the printer main body measured in real time by the position sensing unit. Based on the correction of the movement trajectory of the printer main body and the conveying trajectory of the nozzle in the frame, and independently controlling the movement of the printer main body and the transport of the nozzle according to the corrected trajectory of the printer main body and the nozzle It includes a control unit,
The position detection unit includes a plurality of displacement sensors disposed in two directions of the printer main body, a guide line formed on the bottom surface of the work space, and the guide line, and the rotation angle of the printer main body and the guide line Construction 3D printing system capable of continuous printing while moving, characterized in that it comprises an image sensor to obtain an offset position. A printer main body including an extruder for extruding the construction composite material supplied from a hopper and a nozzle conveying means for transferring a nozzle for ejecting the construction composite material extruded from the extruder; A main body moving part formed under the printer main body to move the printer main body; A position sensing unit for sensing the position and direction of the printer main body in a working space in real time; And generating a trajectory of the main body moving unit and the nozzle transfer means from target path data of the printing nozzle in a global coordinate system, and an error between the generated trajectory and the position and direction of the printer main body measured in real time by the position sensing unit. Based on the correction of the movement trajectory of the printer main body and the conveying trajectory of the nozzle in the frame, and independently controlling the movement of the printer main body and the transport of the nozzle according to the corrected trajectory of the printer main body and the nozzle It includes a control unit,
The position detection unit comprises a guide line formed as a closed curve on the bottom surface of the work space, and an image sensor that acquires an offset position of the main body from the rotation angle of the printer main body and the guide line by photographing the guide line. Construction 3D printing system capable of continuous printing while moving. The method according to claim 1 or 2, wherein the position detection unit,
A construction 3D printing system capable of continuous printing while moving, including one or more motion capture cameras disposed in the work space and a plurality of motion capture markers disposed on the printer body. The method according to claim 1 or 2, wherein the main body moving part,
Construction 3D printing system capable of continuous printing during movement, including at least one of an omnidirectional wheel capable of moving and rotating in all directions, a rotatable wheel, a caterpillar, and a plurality of robot legs. The method according to claim 1 or 2, wherein the control unit,
A trajectory generation module for generating trajectories of the main body moving unit and the nozzle conveying means from target path data of the printing nozzle on a global coordinate system;
A location check module configured to receive sensing information on the position and direction of the printer main body in real time from the position detection unit to check the position and direction of the printer main body in real time;
Compensation control module for generating by correcting a moving trajectory of the printer main body and a conveying trajectory of the nozzle in a frame based on an error between the position and direction of the printer main body measured in real time by the positioning module and the generated trajectory ;
A movement control module for controlling an operation of the main body moving part according to a movement trajectory of the printer main body generated by the trajectory generation module and the compensation control module; And,
A 3D printing system for construction capable of continuous printing during movement, comprising a transfer control module for controlling an operation of a nozzle transfer means for transferring the nozzle according to a transfer track of the nozzle generated by the trajectory generation module and the compensation control module. The method of claim 5, wherein the trajectory generation module,
From the target path data ( ^G P) of the printing nozzle on the global coordinate system (G), the trajectory ( ^G P _LORG ) and the direction (

) And a trajectory ( ^L P) and a direction of the nozzle transfer unit. 3D printing system for construction capable of continuous printing during movement. The method of claim 5, wherein the compensation control module,
Using sensing information received in real time from the position detection unit, the origin position ( ^G P _LORG ) and direction (

) On the basis of the real-time error of the printer body by correcting the movement trajectory of the 3D printing system capable of continuous printing during movement. The method of claim 5, wherein the compensation control module,
Movement characterized by generating by correcting the transfer trajectory of the nozzle transfer means for transferring the nozzle by using the position and direction from the coordinate system of the frame of the printer body changed in real time to the target point ( ^G P) of the nozzle Construction 3D printing system capable of continuous printing. delete delete delete delete delete delete delete delete delete

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