EP2323823B1 - Fabrication automatisée de structures de coque à grande échelle en matériaux durcissables - Google Patents

Fabrication automatisée de structures de coque à grande échelle en matériaux durcissables Download PDF

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Publication number
EP2323823B1
EP2323823B1 EP09806897.6A EP09806897A EP2323823B1 EP 2323823 B1 EP2323823 B1 EP 2323823B1 EP 09806897 A EP09806897 A EP 09806897A EP 2323823 B1 EP2323823 B1 EP 2323823B1
Authority
EP
European Patent Office
Prior art keywords
computer
nozzle
concrete
flange
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP09806897.6A
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German (de)
English (en)
Other versions
EP2323823A4 (fr
EP2323823A1 (fr
Inventor
Jan Capjon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hogskolen i Vestfold
Original Assignee
Hogskolen i Vestfold
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Publication date
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Priority to PL09806897T priority Critical patent/PL2323823T3/pl
Publication of EP2323823A1 publication Critical patent/EP2323823A1/fr
Publication of EP2323823A4 publication Critical patent/EP2323823A4/fr
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Publication of EP2323823B1 publication Critical patent/EP2323823B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B7/00—Moulds; Cores; Mandrels
    • B28B7/28—Cores; Mandrels
    • B28B7/30—Cores; Mandrels adjustable, collapsible, or expanding
    • B28B7/32—Cores; Mandrels adjustable, collapsible, or expanding inflatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B15/00—General arrangement or layout of plant ; Industrial outlines or plant installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B23/00—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects
    • B28B23/0081—Embedding aggregates to obtain particular properties

Definitions

  • the invention relates to structure manufacturing of shell structures in setting materials.
  • the invention relates to construction of self-bearing shell-structures of such materials, such as concrete.
  • the application of concrete onto such forms is performed manually.
  • the concrete is either sprayed onto the form surface with a hand-held application device, or it can be sprayed or extruded onto the form with equipment, such as arranged on a concrete lorry.
  • equipment such as arranged on a concrete lorry.
  • the application of concrete is mechanically performed, by controlling the equipment with handles and switches etc. Either way, the final quality of the self-bearing structure is directly depending on the experience and skills of the operator.
  • patent publication US 5918438 proposes a foundation method to keep the form periphery to the ground.
  • the system comprises
  • tank By elevating the tank or mixer (hereinafter referred to as "tank") up to the level of the traverse crane, another advantage is achieved in that the pressure material in the nozzle is higher than it would be if the tank was arranged on the floor. Or, alternatively, one may use a smaller pump in order to provide the desired pressure in the nozzle.
  • Another advantage is that one save valuable floor space.
  • the system comprises at least one sensor for measuring the distance and/or angularity to the form surface, wherein misalignment between said measurement and expected values according to a 3D CAD-model can be adjusted for on the basis of said measurement.
  • the structures can be made of one or a plurality of material layers.
  • the form can be dismantled already after a first layer of material or concrete has been tempered. Thus, the same form can be used for the start-up of construction of a further structure while the original one still is in production.
  • CAM-pattern computer aided manufacturing
  • air e.g. in the form of polystyrene spheres, and preferably fibre reinforcements, can be intermixed in the concrete.
  • This process step can be performed to avoid preassembled reinforcements and to reduce specific weight.
  • the distance between the nozzle and the surface onto which concrete is to be applied is measured by means of at least one sensor, wherein said measurement is used to adjust for misalignment between measured distance and a theoretical distance of a CAD model.
  • any misalignment between the calculated application pattern according to the computer (which controls the motors) and the actual position of the form surface can be adjusted.
  • the system can be used in connection with controlling software adapted to minimize time of production of a predetermined structure, as it keeps record of material thickness and tempering time of various material-coated layer areas.
  • a flange form for moulding of a flange along the periphery of an inflatable form of the type that is adapted to be coated with a tempering construction material for self-bearing shell construction.
  • the flange form comprises
  • the flange band is provided with protrusions extending into the flange, the protrusions being adapted to absorb vertical forces between the flange band and the flange and to be releasable from the flange after deflation of the inflatable form.
  • a six axes production robot can be created through adding to it a four axes specialised robotic unit with a base assembly rotating around a vertical and a horizontal axis, a stiff up and down movement and a forming head rotating around a horizontal axis.
  • all movements are driven through actuators, preferably electric gear motors or drives with motor controls that detect number of revolutions and supply data to a central computer - including similar control devices for the crane drives.
  • the unit is suspended in the traverse crane (which has two axes movements less the vertical hoist).
  • a concrete with appropriate pumping, adhesion, hardening, and strength properties is preferably supplied from a tank and pump unit under pressure through a flexible and adjustable hose and is sprayed or extruded through a nozzle fastened to the forming head.
  • the concrete is preferably applied layer-wise onto a form.
  • Such forms can be made from conventional form materials, like for instance flat or singly curved plates, or from glass reinforced unsaturated polyester (GUP) for double curvature geometry - and with negative configuration (like for plastic boats with high quality external surfaces) or positive configuration (like for tanks with high quality internal surfaces).
  • GUP glass reinforced unsaturated polyester
  • the present invention suggests a preferable integration of an inflatable membrane form in the process.
  • Forms can be of double curvature (like in EP 0233502 ) or of single (sausage-like) curvature or combinations. If the concrete is applied externally instead of internally, the form can in principle be deflated, demounted and reused for a new production run when the concrete is hardened - instead of being left as an external shell.
  • Inflatable form structures are readily made from plastic sheets that are welded together in single or double curvatures of multiple possibilities.
  • part-sphere-shaped forms such as a hemisphere, are preferably made from one (floor) sheet and many semi elastic sheets welded into a double curvature dome form - with a welded main flange along the circumference.
  • the welded flange will undesirably lift from the floor because of material elasticity.
  • Sausage-like structures will have the same problem. Circumference bolting or weighting of the flange to the floor are undesirable solutions in effective production scenarios because of need for floor holes or heavy weights.
  • the flange form is designed to be removable and flexibly adaptable to a membrane form that can be removed after concrete tempering.
  • a flange form is suggested, which is accurately adaptable to realistic flange geometries and which fastens the foil form to the flange in a way that allows the flange to weight the membrane form, but still is easily detachable after deflation.
  • the flange form comprises flexible bands and adjustable connection hoops. This will be further explained later.
  • Application of concrete to physical forms can advantageously involve a process where form surfaces can be used to control 3D CAD model trajectories.
  • One or more sensors attached to the application device can measure the distance to the surface, through which data the computer can control distance and angularity to a tangent plane at the point of concrete application, regardless of small system deformations.
  • Laser, infrared or ultrasound sensors can be used.
  • the distance to the form surface to be sprayed and the angle of incidence can be fully controlled according to various variable parameters, such as concrete properties.
  • the invention is not restricted to spraying the concrete. It could also be extruded or otherwise applied onto the form through a nozzle.
  • reference number 1 depicts a standard traverse crane (a two beam version is drawn) where a bogie 2 is running on wheels 3 ( Figs. 3, 4 ), driven by a geared electric motor 4 ( Fig. 3 ) on a horizontal track 5.
  • the traverse is driven by synchronised geared electric motors 6 with drive wheels 7.
  • a specialised robotic unit consisting of several parts.
  • the robotic unit is suspended on the same beams as the traverse crane, with means for releasably attachment to the traverser carriage.
  • Figs. 3 and 4 e.g. four tubes, 10, 11, 12 and 13 are telescoping within each other.
  • the three tubes 11, 12 and 13 are run up and down by geared electric motors 15, 16 and 17.
  • a robot forming head 18 On the lower end of tube 13 is connected a robot forming head 18, which is rotated around a horizontal axis by a gear motor 20 and holds an application device 21 with a nozzle 22 and distance sensor(s) 23.
  • the specialised robotic unit is in FIGs 1 , 3, 4 connected to a concrete tank 25 onto which a horizontal turning unit 26, driven by a gear motor 27 and rotating round a vertical axis is fastened. Onto the unit 26 brackets 28 are fastened, which connect the largest tube 10 to axle 29. The movement of 10 (and connected tubes) around the axle 29 is driven by a gear motor 30 and a chain or gear 31.
  • a concrete tank and pump unit 32 is detachably connected to the bogie 2 and is running on the traverse on separate wheels 33.
  • the robotic unit is directly connected to a concrete tank, and it can be parked at the end of the beams by detaching it from the boggie.
  • the traverse crane can be used as a crane as such.
  • all parts of the specialised unit are moving in high tolerance bearings according to standard robot specifications.
  • All electric gear motors (4, 6, 15, 16, 17, 27, 30) are advantageously equipped with revolution counters that register number of revolutions forwards and backwards and are connected to a central computer and power supply 34 controlling the robot sequences.
  • the tube 13 with motor 17 can be removed, and the forming head assembly 18, 20, 21, 23 can be connected to the tube 12.
  • this specialised robotic unit can be fastened a concrete supply system which comprises a tank 25 with a pump 35 that can feed concrete from the tank 25 to a spring loaded storing drum 36.
  • the drum 36 coils in and out a hose 37 that supplies concrete to the nozzle 22, where it is sprayed or extruded under pressure.
  • the pump 35 is supplied with a valve and tube system that can allow pumping in upside-down position as well.
  • the said valve and tube system is adapted in such a way that when the robotic unit is suspended, for instance as shown in Figs. 3 and 4 , the pump 35 will be fed with concrete in the lower part of the tank 25, in the position of the pump 35.
  • the unit is arranged for instance on a trolley, it is preferably turned upside down.
  • the pump 35 will then be fed through the tube 38, ensuring that the pump 35 is fed even if the tank 25 is almost to empty.
  • the specialised robotic unit if it is connected to a crane, it can be connected by means of the crane's hook 40, which lifts it up by a flexible lifting hoop 41 onto four orientation peaks 42 at the lower end of brackets 43 connected to the bogie 2. If the unit is not in use, it can be parked in special brackets 45, for instance at the end of the hall, as drawn stippled and retracted (46) in FIG. 1 .
  • the bogie with connected tank 25 (or 32 in FIG. 2 ) can be placed directly underneath a filling point, where concrete is pumped into the tank from a mixing station. Then the device with full tank is driven to an action point, empties its content by spraying, as described, and returns to filling position to repeat the sequence. Devices for cleaning can also be placed at such a location.
  • an advantage with the computer controlled application of the concrete is that one will obtain control of the thickness of the applied layer. If the layer is applied manually, as is known from the prior art, the layer will be applied with non-uniform thickness. Yet another advantage of the computer controlled application is that the computer keeps record of when the layer was applied. The computer will thus know how long the layer has hardened. According to concrete characteristics, the computer will then be able to optimize the time for when it can apply an additional layer on top of the previous. For instance, it can commence with a new layer while a distant area of the previous layer is still tempering.
  • the concrete can for instance be specialised concrete composites, with or without armature or fillers. Forms or moulds are necessary as bases for creating desired product geometries - as (internal or external) support structures onto which concrete is sprayed or extruded. The concrete is applied onto the form and hardens on form surfaces. Resulting products can be loosened from the forms when hardened - or membranes can be left in external configurations.
  • 57 depicts a negative form for a boat (high quality external surface)
  • 58 depicts a positive mould for e.g. a tank (high quality inside and rough outside)
  • 59 depicts a form for a flat product, e.g. for prefabrication of building elements.
  • the form 60 illustrates a form technology which is focused in this application as integral part of a rational overall process: an inflatable form made from plastic membranes, basically as welded sphere sections or cylinder sections or combinations - with welded flanges at maximum circumference.
  • the drawn membrane form is intended to be removed inwards after external spray-moulding of walls.
  • Fig. 5 shows a cross section of the described flange form solution for form 60.
  • One hoop consists of two orientation devices 61, one connecting tube 62 and two adjustment screws 63. Such hoops are preferably placed at approximately equal intervals along the welded flange of a deflated foil form.
  • Two thin bands 65 and 66 are entered from rolled-up spools vertically into the jaws 67 of the orientation devices 61 - thereby making a form for moulding a product flange 68.
  • the bands 65, 66 can e.g. be made from thin hardened stainless steel and will in vertical position have good strength sideways, particularly when slightly curved corresponding to the inflated rounded form.
  • the product flange form is to be placed on top of the inner edge along a flange of an (at first) deflated membrane form - and the plastic flange should be tilted upward.
  • the up-tilted flange is drawn in FIGs 5 and 6 , where 70 is the upper foil and 71 is the lower foil of a welded part-sphere-shaped plastic form 60.
  • 73 is a plastic flange band (e.g. extruded) which is welded to 70 and 71 at its base 74. On one side are placed pointed barbs 75 that point inwards after up-tilting of the flange band 73 and 'parking' it into jaw 67.
  • the flange form When tilted upwards in this position all around the plastic form 60 periphery and adjusted to its length, the flange form is ready for moulding of the product flange 68.
  • This flange will be needed as rim of the final product - and can be roughly dimensioned for strength and weighting purposes - e.g. with armature sticking up for anchoring of the wall.
  • the hoops (61, 62, 63) can be removed and the arrangement is ready for spray-moulding of walls by the robot assembly.
  • the plastic form When the plastic form is inflated with an air pump, the upper foil 70 will press against the inner band wall of the flange form and thereby secure the vertical connection between the barbs 75 and the material of the product flange 68.
  • the product flange will weigh down the plastic form when inflated as intended - and can be supplied with additional weights at need.
  • the form is easily disassembled inwards when the plastic form 60 is deflated and the barbs 75 are retracted from their dents in the flange 68.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)

Claims (2)

  1. Système de construction commandée par ordinateur de structures de coque autoportante à grande échelle dans un matériau durcissant ayant des dimensions plus grandes que 1 mètre, de préférence plus grandes que 10 mètres, dans lequel le système comprend :
    une unité autonome comprenant :
    - un système d'alimentation de matériau comprenant
    - un réservoir de matériau (25) et une pompe de matériau (35) ; et de plus
    - une buse de distribution de matériau (22) et un bras de manipulation (10, 11, 12, 13) sur lequel la buse (22) est agencée, dans lequel le système d'alimentation (25, 35) est adapté pour acheminer le matériau durcissant jusqu'à la buse (22) ;
    - plusieurs actionneurs commandés par ordinateur (15, 16, 17, 26, 30, 35) commandant le bras de manipulation (10, 11, 12, 13) et distribuant du matériau ; et
    - un pont roulant transversal (1) transportant l'unité ;
    - dans lequel l'unité est adaptée pour être commandée par ordinateur conformément à un dessin de FAO (fabrication aidée par ordinateur) mémorisé dans un support de mémorisation pouvant être lu par ordinateur ;
    - dans lequel la buse (22) est mobile dans un trajet sensiblement arbitraire dans un tronçon de fonctionnement prédéterminé, et est adaptée pour distribuer du matériau sensiblement dans une direction arbitraire quelconque, par l'intermédiaire de la buse de distribution (22) et du bras de manipulation (10,11,12,13);
    caractérisé en ce que
    - l'unité, le système d'alimentation (25, 35), la buse de distribution (22) et le bras de manipulation (10, 11, 12, 13), sont suspendus à partir du pont roulant transversal (1) et le réservoir (25) est suspendu à partir du pont roulant transversal (1) ou adapté pour se déplacer avec un bogie (2) de celui-.
  2. Système selon la revendication 1, caractérisé en ce qu'il comprend au moins un capteur (23) pour mesurer la distance et/ou l'angle jusqu'à une surface de forme, dans laquelle un mauvais alignement entre la mesure et des valeurs attendues conformément à un modèle de CAO en 3D est adapté pour être ajusté sur la base de la mesure.
EP09806897.6A 2008-08-13 2009-08-12 Fabrication automatisée de structures de coque à grande échelle en matériaux durcissables Active EP2323823B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL09806897T PL2323823T3 (pl) 2008-08-13 2009-08-12 Zautomatyzowane wytwarzanie wielkowymiarowych elementów powłokowych w przypadku materiałów podlegających wiązaniu

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20083504 2008-08-13
PCT/NO2009/000287 WO2010019051A1 (fr) 2008-08-13 2009-08-12 Fabrication automatisée de structures de coque à grande échelle en matériaux durcissables

Publications (3)

Publication Number Publication Date
EP2323823A1 EP2323823A1 (fr) 2011-05-25
EP2323823A4 EP2323823A4 (fr) 2012-08-29
EP2323823B1 true EP2323823B1 (fr) 2013-09-25

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EP09806897.6A Active EP2323823B1 (fr) 2008-08-13 2009-08-12 Fabrication automatisée de structures de coque à grande échelle en matériaux durcissables

Country Status (4)

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EP (1) EP2323823B1 (fr)
DK (1) DK2323823T3 (fr)
PL (1) PL2323823T3 (fr)
WO (1) WO2010019051A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019108781A1 (de) * 2019-04-03 2020-10-08 Peri Gmbh Computergestütztes Verfahren und Einrichtung zur optimierten Steuerung der Förderleistung einer Betonpumpe oder dergleichen

Families Citing this family (6)

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Publication number Priority date Publication date Assignee Title
GB2510598A (en) * 2013-02-08 2014-08-13 Timothy James Henry Denholm A 3D Printer for Printing a Building
US10272613B2 (en) 2013-10-30 2019-04-30 R. Platt Boyd, IV Additive manufacturing of building and other structures
EP3063340B1 (fr) 2013-10-30 2020-04-15 Laing O'Rourke Australia Pty Limited Procédé de fabrication d'un objet
US10618217B2 (en) 2013-10-30 2020-04-14 Branch Technology, Inc. Cellular fabrication and apparatus for additive manufacturing
US10259137B2 (en) 2014-02-21 2019-04-16 Noah Israel Spray printing construction
US12104393B2 (en) 2022-01-31 2024-10-01 Branch Technology, Inc. Systems and panels for customized retrofit of a building exterior

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US3869088A (en) * 1972-04-24 1975-03-04 Maximilian J Dykmans Swivel assembly for gunite systems
AU508574B2 (en) * 1976-04-09 1980-03-27 William W. Milburn, Jr Method of forming a composite building structure and structure formed
AU560796B2 (en) * 1981-09-21 1987-04-16 Peter Hopkins (Australia) Pty. Limited Plaster cornice manufacturing machine
SE454759B (sv) * 1986-03-11 1988-05-30 Bengt Jacobson Anordning for uppforande av kupol- eller tunnelkonstruktioner
FI872246A (fi) * 1987-05-21 1988-11-22 Betemi Oy Betongspruta.
US5529471A (en) * 1995-02-03 1996-06-25 University Of Southern California Additive fabrication apparatus and method
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DE10038757B4 (de) * 2000-08-09 2012-10-18 Sommer Anlagentechnik Gmbh Verfahren zur Herstellung von Betonfertigteilen
EP1711328B1 (fr) * 2004-01-20 2013-03-13 University of Southern California Systeme robotique pour la construction automatisee
ITPI20050031A1 (it) * 2005-03-22 2006-09-23 Moreno Chiarugi Metodo e dispositivo per la realizzazione automatica di strutture di edifici in conglomerato

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019108781A1 (de) * 2019-04-03 2020-10-08 Peri Gmbh Computergestütztes Verfahren und Einrichtung zur optimierten Steuerung der Förderleistung einer Betonpumpe oder dergleichen
US12085070B2 (en) 2019-04-03 2024-09-10 Peri Se Computer-aided method and device for optimized control of the delivery rate of a concrete pump or the like

Also Published As

Publication number Publication date
PL2323823T3 (pl) 2014-03-31
DK2323823T3 (da) 2013-11-04
EP2323823A4 (fr) 2012-08-29
WO2010019051A1 (fr) 2010-02-18
EP2323823A1 (fr) 2011-05-25

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