WO2016033859A1 - 一种基于3d打印的房屋制造系统及方法 - Google Patents

一种基于3d打印的房屋制造系统及方法 Download PDF

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Publication number
WO2016033859A1
WO2016033859A1 PCT/CN2014/089851 CN2014089851W WO2016033859A1 WO 2016033859 A1 WO2016033859 A1 WO 2016033859A1 CN 2014089851 W CN2014089851 W CN 2014089851W WO 2016033859 A1 WO2016033859 A1 WO 2016033859A1
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Prior art keywords
printing
mold
mechanical arm
house
inflatable
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PCT/CN2014/089851
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English (en)
French (fr)
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苏运升
丁宇新
宋嘉
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苏运升
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Priority claimed from CN201410452254.7A external-priority patent/CN104234426B/zh
Priority claimed from CN201420513086.3U external-priority patent/CN204186075U/zh
Application filed by 苏运升 filed Critical 苏运升
Publication of WO2016033859A1 publication Critical patent/WO2016033859A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C67/00—Shaping techniques not covered by groups B29C39/00 - B29C65/00, B29C70/00 or B29C73/00
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work

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  • the present invention relates to the field of 3D printing technology, and in particular to a housing manufacturing system and method based on 3D printing.
  • the present invention provides a 3D printing-based house manufacturing system including: an inflation mold having an inflation port and an opening and closing air device for opening and closing the inflation port, the inflation mold being inflated Forming a space corresponding to the shape of the desired printed house; the mechanical arm is disposed to be freely movable relative to the inflatable mold, the mechanical arm is provided with at least one spray head; the spray head is connected to the at least one structural material sprayed material through a pipe; The position of the mechanical arm is set to include one of the following: (1) the mechanical arm is disposed outside the inflatable mold; the mechanical arm sprays the outer surface of the inflatable mold through the spray head to print the connected structural material spray Coating to complete the housing structure printing; (2) the mechanical arm is disposed in the inflatable mold; the mechanical arm sprays the inner surface of the inflatable mold through the nozzle to print the coating of the connected structural material spray to complete Housing structure printing; (3) at least two of the mechanical arms are respectively disposed outside and inside the inflatable mold, and the nozzle of the mechanical arm outside the
  • the printed house structure comprises: a building structural member and an architectural decorative member; the building structural member is printed as a solid structure or a hollow structure, wherein the hollow structure refers to a well disposed inside the structure a construction of a lattice support; the architectural decoration member is printed as a solid structure.
  • the building structural member comprises a column, a beam, a floor, a roof, a wall and a foundation;
  • the building decoration component comprises a door frame, a window frame, an awning, a step, a ceiling line and a skirting line.
  • the building structural member reserves a pipeline and a device space and a corresponding interface in the structure when printing.
  • the mechanical arm is a remote control robot arm; the mechanical arm is further provided with a cutting and polishing component for cutting and grinding excess parts in the printed house structure.
  • the printed house structure is post-processed to form a finished product, and the post-processing includes: setting a door, a window, a pipeline, and a device.
  • the 3D printing-based housing manufacturing system further includes: a switching device disposed on the nozzle connecting pipe; the structural material is sprayed in plurality, and the switching device is configured to switch the structure of the communicating nozzle The material is sprayed for spraying.
  • the opening and closing gas device comprises: a moisture seal zipper and/or a gas plug.
  • the structural material spray material comprises: one or more of plastic, rubber, PLA, ABS, resin, composite gypsum, ceramic, polyurethane, and glass fiber cement.
  • the 3D printing-based housing manufacturing system further includes a 3D scanner for performing 3D scanning of the inflated inflatable mold into a template file, and generating a print design document according to the template file for performing the print.
  • a 3D scanner for performing 3D scanning of the inflated inflatable mold into a template file, and generating a print design document according to the template file for performing the print.
  • the present invention provides a 3D printing-based house manufacturing method applied to the above-described house manufacturing system, the method comprising the following one: (1) when the mechanical arm is provided When the air mold is outside, the mechanical arm is moved relative to the air mold, and the outer surface of the air mold is sprayed with the coating of the sprayed structural material spray through the spray head to complete the housing structure printing;
  • the printed house structure is post-processed to form a finished product, the post-processing including: stripping of the inflatable mold; setting of doors, windows, pipelines, and equipment; (2) when the mechanical arm is disposed in the inflatable mold And moving the mechanical arm in the inflatable mold, and spraying the inner surface of the inflatable mold with the coating to print the coating of the connected structural material spray to complete the housing structure printing;
  • the housing structure is post-processed to form a finished product, the post-processing including: stripping of the inflatable mold; setting of doors, windows, pipelines, and equipment; (3) the mechanical arm At least two, respectively disposed outside and inside
  • the present invention provides a 3D printing-based housing manufacturing system and method, the system comprising: An inflatable mold having an inflation port and an opening and closing air device for opening and closing the inflation port, the inflation mold is inflated to form a mold corresponding to a shape of a desired printed house; and the mechanical arm is configured to be freely movable relative to the inflatable mold
  • the mechanical arm is provided with at least one spray head; the spray head is connected to the sprayed material of at least one structural material by a pipe; the spray head is used to pre-treat the outer surface or the inner surface of the inflatable mold outside or within the inflatable mold It is convenient to spray and print the coating of the connected structural material spray to complete the housing structure printing, and then install other necessary components to complete the house construction, which is simple and convenient, and can be realized automatically, which greatly improves the work efficiency compared with the traditional manufacturing method.
  • FIG. 1a to 1c are schematic perspective views showing the application of an inflatable mold in an embodiment of the present invention.
  • Fig. 1d shows a schematic diagram of the principle of scanning the inflatable mold 3D in an embodiment of the invention.
  • FIGS. 2a to 2c are diagrams showing an application diagram of a print house architecture based on a 3D printing house manufacturing system according to an embodiment of the invention.
  • 3a-3c are schematic diagrams showing the application of a 3D printing-based housing manufacturing system printing house architecture according to another embodiment of the present invention.
  • 4a-4c are schematic diagrams showing the application of a 3D printing-based housing manufacturing system to print a house architecture according to still another embodiment of the present invention.
  • FIG. 5 is a schematic view showing the post-processing application of the finished house structure of the printed house in the embodiment of FIGS. 2a to 2c.
  • FIG. 6 is a schematic view showing the structure of a finished product in an embodiment of the present invention.
  • an inflatable mold is used as a mold for building a house.
  • the inflatable mold is referred to as an air mold, and can be passed through existing materials such as PVC material, silica gel, fiber and Made of other materials with strong pressure bearing capacity, it can be made up of multiple pieces of different pieces to form after inflation.
  • the inflatable mold 1 In a pre-required shape, as shown in FIG. 1a, the inflatable mold 1 is in a flat state before being inflated, and is easy to store and transport; as shown in FIG. 1b, it can be inflated to form a corresponding desired print.
  • the inflatable mold 1 has an inflation port 11, and the inflation port 11 is inflated as indicated by an arrow in the figure, the inflation mold 1 is enlarged; when the inflation When the mold 1 reaches a desired shape, it is sealed by an opening and closing air device 12 provided in the inflation port 11 for opening and closing the inflation port to maintain the state shown in FIG. 1c, and the air-closing device 12 includes: gas.
  • Plug and/or moisture seal zipper and the like can be implemented with reference to the prior art; in an embodiment of the invention, the gas plug and the moisture seal zipper can be used simultaneously, in a subsequent embodiment of the invention, The water-sealed zipper can function not only to open and close the gas, but will be described in detail later.
  • the 3D printing-based housing manufacturing system further includes a 3D scanner for performing 3D scanning on the inflated inflatable mold into a template file, such as a CAD format.
  • a template file such as a CAD format.
  • content for example, printing the thickness order of the spray layer of each structural material and other processes, etc.
  • FIG. 1d a schematic diagram of 3D scanning is shown in Figure 1d.
  • a further improvement of the 3D printing-based housing manufacturing system of the present invention is the use of robotic technology in which the construction material is spray-printed by the mechanical arm, the mechanical arm being arranged to be freely movable relative to the inflatable mold
  • the activity that is, the robot arm is freely movable in the space coordinate system of the XYZ, and the robot arm is provided with a spray head, and the spray head is connected with at least one structural material spray through the pipeline; the structural material spray material
  • the invention comprises a structural material, a decorative material and a special material, wherein the structural material spray comprises: engineering plastics, high-strength cement, concrete; decorative materials include: various types of paints, paints, coatings; special materials include: rubber, PLA, ABS, Resin, composite gypsum, ceramic, polyurethane, aerogel, among which, it is preferred to use rapid solidification treatment technology or composition to ensure rapid construction, because rapid solidification technology belongs to existing, such as quick-drying cement, etc. Therefore, the description of the various structural materials can be stored
  • the mechanical arm can adopt wireless remote control technology, and can be implemented by using WiFi, 2G/3G/4G mobile communication networks.
  • the mechanical arm 2 may be at least one, disposed outside the inflatable mold 1; the mechanical arm 2 is moved back and forth through the spray head 21 in a schematic manner as illustrated by an arrow. Inflating mold 1 The outer surface is sprayed with a coating of one or more structural material sprays stored in the printing container 3 to complete the housing structure printing; the mechanical arm 2 may have a base (not shown), and the base is movable ( For example, the track mode, the roller mode sliding, etc.
  • the pipe 22 of the nozzle 21 can be switched to continue spraying with other structural material sprays, wherein, preferably, the access is as described using an electronically controlled valve or the like.
  • the switching device (not shown) of the duct 22 is realized, and in the subsequent embodiment, the same switching device can also be used for the switching of the spray.
  • the mechanical arm 4 can be at least one, disposed in the inflatable mold 5; the mechanical arm 4 passes through the spray head. 41.
  • the inner surface of the inflatable mold 5 is sprayed with each of the coatings of the at least one structural material spray stored in the printing container 6 to complete the housing structure printing.
  • At least two mechanical arms are disposed outside and inside the inflatable mold 8, and the nozzles 71 of the first mechanical arm 7 outside the inflatable mold 8 are used.
  • a lighter or thinner coating can be printed as much as possible in the inflatable mold 8, and a heavier or larger amount of coating can be printed outside the inflatable mold 8.
  • the opening and closing air devices (12 and 52) may be set to a ventilation state, and the The gas in the inflating molds (1 and 5) is released, and the inflating molds (1 and 5) are deformed so as to be peeled off, thereby performing post-processing; in the embodiment of Figs. 4a to 4c, only the passage is required to be completed.
  • the deflation of the air shutoff device 82 can be described, and the air mold 8 can be left in the house structure.
  • FIGS. 3a to 3c and FIGS. 4a to 4c there are various methods for placing the mechanical arms (4 and 10) in the inflation molds (5 and 8), for example, in the When the inflatable molds (5 and 8) are not inflated, an inlet is created by pulling the zipper on the inflatable molds (5 and 8), and the mechanical arms (4 and 10) are moved from the inlet to the inflatable mold (5 and 8). ) can be inside.
  • the printed house structure comprises: building structural members and architectural decoration
  • the building structural member is preferably printable as a hollow structural body, wherein the hollow structural body includes a configuration in which a well beam support is disposed inside the structural body; the architectural decorative member is printed as a solid structural body;
  • the structural structural members include, but are not limited to, columns, beams, floor surfaces, roofs, walls, and foundations; the building decoration members include door frames, window frames, awnings, steps, ceiling lines, and skirtings, but not Limited to this.
  • the building structural member is printed in the form of a reserved duct and equipment space and a corresponding interface 20 for routing or placing articles from the outside to the inside for internal construction, of course, A similar design may be adopted in the above embodiments of FIGS. 2a to 2c and FIGS. 3a to 3c, and is not limited thereto.
  • the printed house structure is processed to form a finished product by post-processing
  • the post-processing includes: setting a door, a window, a pipeline, and a device; the post-processing requires grinding and cutting, and the mechanical arm is further provided.
  • Cutting the sanding member for cutting and grinding excess portions of the printed house structure as shown in FIG. 5, for example, when a door such as a door is to be provided, the robot arm 2 replaces the nozzle with a cutting head The head is cut out on the printed building structure to form a gap corresponding to the shape of the door to be installed, and the remaining windows or pipes can be referenced.
  • the present invention can provide a 3D printing-based housing manufacturing method applied to the housing manufacturing system, the method including the following one:
  • Method (1) when the mechanical arm is disposed outside the inflation mold, moving the mechanical arm relative to the inflation mold, and spraying the outer surface of the inflation mold through the nozzle to print the connected structural material spray a coating to complete the housing structure printing; forming a finished product by post-processing the printed housing structure, the post-processing including: stripping of the inflatable mold; setting of doors, windows, pipelines, and equipment;
  • Method (2) moving the mechanical arm in the inflatable mold when the mechanical arm is disposed in the inflation mold, and spraying the inner surface of the inflatable mold by spraying the connected structural material through the nozzle Coating of the object to complete the housing structure printing; forming a finished product by post-processing the printed building structure, the post-processing including: peeling of the inflatable mold; setting of doors, windows, pipelines, and equipment;
  • Method (3) at least two of the mechanical arms are respectively disposed outside and inside the inflatable mold, and spraying the connected structural material on the outer surface of the inflatable mold through a nozzle of the mechanical arm outside the inflatable mold Coating of the object, and passing the nozzle of the robot arm in the inflation mold for spraying the inner surface of the inflatable mold to print the coating of the connected structural material spray to complete the housing structure printing; through the housing structure of the printing Post processing To form a finished product, the post processing includes: the setting of doors, windows, pipelines, and equipment.
  • the sequence of spraying and printing the at least one structural material spray and the post-processing may be set by a software program, thereby controlling the robot to be automatically completed.
  • the present invention provides a 3D printing-based housing manufacturing system and method, the system comprising: an inflation mold having an inflation port and an opening and closing gas device for opening and closing the inflation port, the inflation mold being inflated Forming a mold corresponding to the shape of the desired printed house; a mechanical arm disposed to be freely movable relative to the inflatable mold, the mechanical arm being provided with at least one spray head; the spray head being connected to the sprayed material having at least one structural material by a pipe
  • the spray head is configured to spray a coating of the sprayed connected structural material spray on the outer surface or the inner surface of the inflatable mold in a predetermined order outside or in the inflatable mold to complete the housing structure printing, and then install other necessary components.
  • the construction of the house can be completed, it is simple and convenient, and can be realized automatically, which greatly improves the work efficiency compared with the traditional manufacturing method.

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Abstract

一种基于3D打印的房屋制造系统及方法，该系统包括充气模具（1）和至少一机械臂（2），充气模具（1）设置有充气口及用于开闭充气口的开闭气装置，充气模具（1）充气以形成对应所需打印房屋形状的模具；机械臂（2）设置成可相对充气模具（1）作自由活动，机械臂（2）设有至少一个喷头（21），喷头（21）通过管道（22）连接有至少一种结构材料喷涂物；喷头（21）用于在充气模具（1）外或内对所述充气模具（1）外表面或内表面按预设次序喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印，进而安装其它必要组件即可完成房屋建造。房屋制造方法是基于该房屋制造系统来实现的。该房屋制造系统及方法使得房屋建造简单方便，并可实现自动化生产，提升了工作效率。

Description

一种基于3D打印的房屋制造系统及方法 技术领域
本发明涉及3D打印技术领域，特别是涉及一种基于3D打印的房屋制造系统及方法。
背景技术
自古以来房屋的建造多采用自然材料进行搭建，或者采用建造磨具，灌注浇注的方法，由于技术的限制，无法在一个封闭的房间内进行施工，施工周期长，效率低下。
发明内容
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种基于3D打印的房屋制造系统及方法，解决上述现有技术中传统房屋建造方式效率低下的问题。
为实现上述目标及其他相关目标，本发明提供一种基于3D打印的房屋制造系统，包括：充气模具，具有充气口及用于开闭所述充气口的开闭气装置，所述充气模具充气以形成对应所需打印房屋形状的空间；机械臂，设置成可相对所述充气模具作自由活动，所述机械臂设有至少一喷头；所述喷头通过管道连通有至少一种结构材料喷涂物；所述机械臂设置的位置包括如下中的一种：(1)所述机械臂设于所述充气模具外；所述机械臂通过喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；(2)所述机械臂设于所述充气模具内；所述机械臂通过喷头对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；(3)所述机械臂有至少两个，分别设于所述充气模具外及内，所述充气模具外的机械臂的喷头用于对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，而所述充气模具内的机械臂的喷头用于对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以形成房屋架构。
可选的，所述打印的房屋架构包括：建筑结构构件及建筑装饰构件；所述建筑结构构件打印成实心结构体或空心结构体，其中，所述空心结构体是指在结构体内部设置井格梁支撑的构造；所述建筑装饰构件是打印成实心结构体。
可选的，所述建筑结构构件包括柱、梁、楼地面、屋面、墙体及基础；所述建筑装饰构件包括门框、窗框、雨篷、台阶、天花线及踢脚线。
可选的，所述建筑结构构件打印时在结构体内预留管线和设备空间以及相应的接口。
可选的，所述机械臂为遥控机械臂；所述机械臂还设有切割打磨部件，用于对所述打印的房屋架构中的多余部分进行切割及打磨。
可选的，所述打印的房屋架构通过后期加工以形成房屋成品，所述后期加工包括：设置门、窗、管线、及设备。
可选的，所述基于3D打印的房屋制造系统，还包括：设于所述喷头连接管道的切换装置；所述结构材料喷涂物有多种，所述切换装置用以于切换连通喷头的结构材料喷涂物以进行喷涂作业。
可选的，所述开闭气装置包括：水气密封拉链和/或气塞。
可选的，所述结构材料喷涂物包括：塑料、橡胶、PLA、ABS、树脂、复合石膏、陶瓷、聚氨酯、及玻纤水泥中的一种或多种。
可选的，所述基于3D打印的房屋制造系统，还包括3D扫描仪，用于对充气后的充气模具进行3D扫描成模板文件，并根据所述模板文件生成打印设计文档以供进行所述打印。
为实现上述目标及其他相关目标，本发明提供应用于所述的房屋制造系统的基于3D打印的房屋制造方法，所述方法包括如中的下一种：(1)当所述机械臂设于所述充气模具外时，相对所述充气模具移动所述机械臂，并通过所述喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离；门、窗、管线、及设备的设置；(2)当所述机械臂设于所述充气模具内时，在所述充气模具内移动所述机械臂，并通过所述喷头对所述充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离；门、窗、管线、及设备的设置；(3)所述机械臂有至少两个，分别设于所述充气模具外及内，通过所述充气模具外的机械臂的喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，并通过所述充气模具内的机械臂的喷头用于对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：门、窗、管线、及设备的设置。
如上所述，本发明提供的一种基于3D打印的房屋制造系统及方法，系统包括： 充气模具，具有充气口及用于开闭所述充气口的开闭气装置，所述充气模具充气以形成对应所需打印房屋形状的模具；机械臂，设置成可相对所述充气模具作自由活动，所述机械臂设有至少一个喷头；所述喷头通过管道连接于有至少一种结构材料喷涂物；所述喷头用于在充气模具外或内对所述充气模具外表面或内表面按预设次序喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印，进而安装其他必要组件即可完成房屋建造，简单方便，且可自动化实现，相较于传统制造方式大大提升工作效率。
附图说明
图1a至1c显示为本发明一实施例中充气模具应用的立体结构示意图。
图1d显示为本发明一实施例中对充气模具3D扫描的原理示意图。
图2a至图2c显示为本发明一实施例中基于3D打印的房屋制造系统打印房屋架构的应用示意图。
图3a至图3c显示为本发明另一实施例中基于3D打印的房屋制造系统打印房屋架构的应用示意图。
图4a至图4c显示为本发明又一实施例中基于3D打印的房屋制造系统打印房屋架构的应用示意图。
图5显示为图2a至2c实施例中对所打印房屋架构房屋成品的后期加工应用示意图。
图6显示为本发明一实施例中房屋成品的结构示意图。
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
本发明所提供的一种基于3D打印的房屋制造系统，其改进特点之一是利用充气模具来作为房屋建造的模具，充气模具简称气模，可通过现有的如PVC材料、硅胶、纤维及其他承压能力较强等材料制成，其可由多块不同裁片拼接而成，以在充气后形 成预先需求的形状，如图1a所示，在没有充气之前，所述充气模具1是处于扁平的状态，易于收纳及运输；如图1b所示，可对其进行充气以形成对应所需打印房屋形状的空间，需说明的是，所述充气模具1具有充气口11，如图中箭头所示对所述充气口11进行充气，则所述充气模具1即会进行扩大；当所述充气模具1达到所需形状时，通过设于所述充气口11的用于开闭所述充气口的开闭气装置12来密封以保持如图1c所示状态，所述开闭气装置12包括：气塞和/或水气密封拉链等，可参考现有技术加以实现；在本发明的实施例中，所述气塞和水气密封拉链可以同时使用，在本发明的后续实施例中，所述水气密封拉链可以不仅仅起到开闭气的作用，这将在后文进行详细说明。
需说明的是，优选的，所述基于3D打印的房屋制造系统，还包括3D扫描仪，用于对充气后的充气模具进行3D扫描成模板文件例如CAD格式，在实际设计中，可根据所述模板文件进行内容增加等(例如打印各个结构材料喷涂物层的厚度顺序及其他工序等)修改来生成打印设计文档以供进行所述打印，在打印之前先进行3D扫描的另一好处在于可以有设计文档存储便于后续修改，3D扫描的示意图如图1d所示。
本发明的基于3D打印的房屋制造系统的又一改进点在于利用了机器人技术，通过机械臂在所述充气模具进行操作喷涂打印建筑材料，所述机械臂设置成可相对所述充气模具作自由活动，也即是说机械臂可在XYZ的空间坐标系内自由活动，并且所述机械臂上设有喷头，所述喷头通过管道连通有至少一种结构材料喷涂物；所述结构材料喷涂物包括结构材料、装饰材料以及专用材料，其中，所述结构材料喷涂物包括：工程塑料、高强水泥、混凝土；装饰材料包括：各类涂料、油漆、镀层；专用材料包括：橡胶、PLA、ABS、树脂、复合石膏、陶瓷、聚氨酯、气凝胶，其中，较佳的是采用快速凝固的处理技术或组合物加以配合，从而保证能快速建造，由于快速凝固技术属于现有，例如快干水泥等，因此不再作赘述；所述多种结构材料喷涂物可以液态或气态形式存放于容器内的不同腔室，以供喷涂。
另外，较佳的，所述机械臂可采用无线遥控技术，利用WiFi、2G/3G/4G移动通信网络均可加以实现。
以下即以多个实施例及图示来说明本发明的基于3D打印的房屋制造系统的应用：
如图2a至2c所示，在一实施例中，所述机械臂2可为至少一个，设于所述充气模具1外；所述机械臂2通过喷头21如图示箭头示意方式来回移动对所述充气模具 1外表面喷涂打印容器3内所存放的一或多种结构材料喷涂物的涂层，以完成房屋架构打印；所述机械臂2可有底座(未图示)，所述底座是可移动(例如轨道方式、滚轮方式滑动等)的，可绕所述充气模具移动，并且通过控制所述机械臂进行伸缩、旋转、平移等动作以对所述充气模具1外表面各个位置进行喷涂，请参阅图2a至图2c的变化，打印完一层之后，所述喷头21的管道22可切换连通其他结构材料喷涂物继续喷涂，其中，优选的，是利用如电控阀门之类的接入所述管道22的切换装置(未图示)加以实现，后续实施例中亦可采用相同的切换装置进行喷涂物切换。
如图3a至3c所示，在另一实施例中，与上一实施例主要差别在于，所述机械臂4可为至少一个，设于所述充气模具5内；所述机械臂4通过喷头41对充气模具5内表面喷涂打印容器6内所存放的各所述有至少一种结构材料喷涂物的涂层，以完成房屋架构打印。
如图4a至4c所示，在又一实施例中，机械臂有至少两个，分别设于所述充气模具8外及内，所述充气模具8外的第一机械臂7的喷头71用于对所述充气模具8外表面喷涂打印容器9内所存放的一或多种结构材料喷涂物的涂层，而所述充气模具8内的第二机械臂10的喷头101用于对充气模具8内表面喷涂打印所连通的结构材料喷涂物(未图示，例如可存于第二机械臂10内的容器中)的涂层，以形成房屋架构；在本实施例中，虽然所述第二机械臂10仅需打印一层涂层，但是在其他实施例中，亦可如第一机械臂7先后连通多种结构材料喷涂物而打印多层涂层；当然，由于重力的作用，优选的，在充气模具8内可尽量打印较轻较薄或数量较少的涂层，而在充气模具8外则可打印较重或数量较多的涂层。
需说明的是，在图2a至2c及图3a至3c的实施例中，当完成房屋架构打印之后，优选的，可将所述开闭气装置(12及52)设成通气状态，将所述充气模具(1及5)内的气体放掉，而充气模具(1及5)会变瘪，从而可剥离，进而进行后期加工；而在图4a至4c的实施例中，仅需完成通过所述开闭气装置82的放气即可，所述充气模具8可留在房屋架构内。
需说明的是，上述图3a至3c及图4a至4c的实施例中，将所述机械臂(4及10)置于充气模具(5及8)内有多种方法，例如，在所述充气模具(5及8)未充气时，利用拉开充气模具(5及8)上的拉链产生进口，从所述进口处将所述机械臂(4及10)移入至充气模具(5及8)内即可。
可选的，在上述实施例中，所述打印的房屋架构包括：建筑结构构件及建筑装饰 构件；所述建筑结构构件优选可打印成空心结构体，其中，所述空心结构体包括在结构体内部设置井格梁支撑的构造；所述建筑装饰构件是打印成实心结构体；其中，所述建筑结构构件包括柱、梁、楼地面、屋面、墙体及基础，但并非限定于此；所述建筑装饰构件包括门框、窗框、雨篷、台阶、天花线及踢脚线，但并非限定于此。
在图4a至4c的实施例中，优选的，所述建筑结构构件打印成预留管道和设备空间以及相应的接口20的结构形式，用以布线或者从外向内放置物品便于内部施工，当然，上述图2a至2c及图3a至3c的实施例中亦可采用类似的设计，并非以此为限。
可选的，所述打印的房屋架构通过后期加工以形成房屋成品，所述后期加工包括：设置门、窗、管线、及设备；所述后期加工需要打磨和切割，所述机械臂还设有切割打磨部件，用于对所述打印的房屋架构中的多余部分进行切割及打磨；如图5所示，举例来说，当要设置例如门的时候，所述机械臂2将喷头更换为切割头，在所述打印完成的房屋架构上切割出对应所需安装的门形状的缺口，即可进行安装，其余窗或管道等亦可参考实现，需说明的是，在图3a至3c及图4a至4c的实施例中，当切割开例如门或窗的缺口后，即可将其内部的机械臂(4及10)取出；当然，所述后期加工还可包括其他工序，例如上涂料等等，在完成所有的后期加工后，请参阅图6，例示完工后的房屋成品。
结合上述内容，本发明可提供应用于所述的房屋制造系统的基于3D打印的房屋制造方法，所述方法包括如中的下一种：
方法(1)：当所述机械臂设于所述充气模具外时，相对所述充气模具移动所述机械臂，并通过所述喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离；门、窗、管线、及设备的设置；
方法(2)：当所述机械臂设于所述充气模具内时，在所述充气模具内移动所述机械臂，并通过所述喷头对所述充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离；门、窗、管线、及设备的设置；
方法(3)：所述机械臂有至少两个，分别设于所述充气模具外及内，通过所述充气模具外的机械臂的喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，并通过所述充气模具内的机械臂的喷头用于对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工 以形成房屋成品，所述后期加工包括：门、窗、管线、及设备的设置。
在一实施例中，上述方法中，喷涂打印有至少一种结构材料喷涂物的顺序及后期加工的工序均可通过软件程序设定，从而控制所述机械臂自动完成。
综上所述，本发明提供的一种基于3D打印的房屋制造系统及方法，系统包括：充气模具，具有充气口及用于开闭所述充气口的开闭气装置，所述充气模具充气以形成对应所需打印房屋形状的模具；机械臂，设置成可相对所述充气模具作自由活动，所述机械臂设有至少一个喷头；所述喷头通过管道连接于有至少一种结构材料喷涂物；所述喷头用于在充气模具外或内对所述充气模具外表面或内表面按预设次序喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印，进而安装其他必要组件即可完成房屋建造，简单方便，且可自动化实现，相较于传统制造方式大大提升工作效率。
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (11)

  1. 一种基于3D打印的房屋制造系统，其特征在于，包括：
    充气模具，具有充气口及用于开闭所述充气口的开闭气装置，所述充气模具充气以形成对应所需打印房屋形状的空间；
    至少一机械臂，设置成可相对所述充气模具作自由活动，所述机械臂设有至少一喷头；所述喷头通过管道连通有至少一种结构材料喷涂物；
    所述机械臂设置的位置包括如下中的一种：
    (1)所述机械臂设于所述充气模具外；所述喷头用于对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，以形成房屋架构；
    (2)所述机械臂设于所述充气模具内；所述喷头用于对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以形成房屋架构；
    (3)所述机械臂有至少两个，分别设于所述充气模具外及内，所述充气模具外的机械臂的喷头用于对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，而所述充气模具内的机械臂的喷头用于对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以形成房屋架构。
  2. 根据权利要求1所述的基于3D打印的房屋制造系统，其特征在于，所述打印的房屋架构包括：建筑结构构件及建筑装饰构件；所述建筑结构构件打印成实心结构体或空心结构体，其中，所述空心结构体包括在结构体内部设置井格梁支撑的构造；所述建筑装饰构件是打印成实心结构体。
  3. 根据权利要求2所述的基于3D打印的房屋制造系统，其特征在于，所述建筑结构构件包括柱、梁、楼地面、屋面、墙体及基础；所述建筑装饰构件包括门框、窗框、雨篷、台阶、天花线及踢脚线。
  4. 根据权利要求2所述的基于3D打印的房屋制造系统，其特征在于，所述建筑结构构件打印时在结构体内预留管线和设备空间以及相应的接口。
  5. 根据权利要求1所述的基于3D打印的房屋制造系统，其特征在于，所述机械臂为遥控机械臂；所述机械臂还设有切割打磨部件，用于对所述打印的房屋架构进行切割及打磨。
  6. 根据权利要求1所述的基于3D打印的房屋制造系统，其特征在于，所述打印的房屋架构通过后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离； 门、窗、管线、及设备的设置。
  7. 根据权利要求1所述的基于3D打印的房屋制造系统，其特征在于，还包括：设于所述喷头连接管道的切换装置；所述结构材料喷涂物有多种，包括结构材料、装饰材料以及专用材料，所述切换装置用以于切换连通喷头的结构材料喷涂物以进行喷涂作业。
  8. 根据权利要求7所述的基于3D打印的房屋制造系统，其特征在于，所述结构材料喷涂物包括：工程塑料、高强水泥、混凝土；装饰材料包括：各类涂料、油漆、镀层；专用材料包括：橡胶、PLA、ABS、树脂、复合石膏、陶瓷、聚氨酯、气凝胶。
  9. 根据权利要求1所述的基于3D打印的房屋制造系统，其特征在于，所述开闭气装置包括：水气密封拉链和/或气塞。
  10. 根据权利要求1所述的基于3D打印的房屋制造系统，其特征在于，还包括3D扫描仪，用于对充气后的充气模具进行3D扫描成模板文件，并根据所述模板文件生成打印设计文档以供进行所述打印。
  11. 一种基于3D打印的房屋制造方法，应用于如权利要求1至10中任一项所述的房屋制造系统，其特征在于，所述方法包括如下中的一种：
    (1)当所述机械臂设于所述充气模具外时，相对所述充气模具移动所述机械臂，并通过所述喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离；门、窗、管线及设备的设置；
    (2)当所述机械臂设于所述充气模具内时，在所述充气模具内移动所述机械臂，并通过所述喷头对所述充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述后期加工包括：充气模具的剥离；门、窗、管线及设备的设置。
    (3)所述机械臂有至少两个，分别设于所述充气模具外及内，通过所述充气模具外的机械臂的喷头对所述充气模具外表面喷涂打印所连通结构材料喷涂物的涂层，并通过所述充气模具内的机械臂的喷头用于对充气模具内表面喷涂打印所连通结构材料喷涂物的涂层，以完成房屋架构打印；通过对所述打印的房屋架构后期加工以形成房屋成品，所述 后期加工包括：门、窗、管线及设备的设置。
PCT/CN2014/089851 2014-09-05 2014-10-30 一种基于3d打印的房屋制造系统及方法 WO2016033859A1 (zh)

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CN110042947A (zh) * 2019-05-20 2019-07-23 北京美斯顿科技开发有限公司 一种基于3d打印的墙体结构及其打印方法
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