EP4083349A1 - Mobiles robotisches system zur herstellung von wandsegmenten - Google Patents

Mobiles robotisches system zur herstellung von wandsegmenten Download PDF

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Publication number
EP4083349A1
EP4083349A1 EP22167166.2A EP22167166A EP4083349A1 EP 4083349 A1 EP4083349 A1 EP 4083349A1 EP 22167166 A EP22167166 A EP 22167166A EP 4083349 A1 EP4083349 A1 EP 4083349A1
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EP
European Patent Office
Prior art keywords
wall
unit
blocks
platform
fabrication system
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.)
Pending
Application number
EP22167166.2A
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English (en)
French (fr)
Inventor
Meysam TAGHAVI
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.)
Wienerberger AG
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Wienerberger AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wienerberger AG filed Critical Wienerberger AG
Publication of EP4083349A1 publication Critical patent/EP4083349A1/de
Pending legal-status Critical Current

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    • 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
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C2/00—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels
    • E04C2/02—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by specified materials
    • E04C2/04—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by specified materials of concrete or other stone-like material; of asbestos cement; of cement and other mineral fibres
    • E04C2/041—Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by specified materials of concrete or other stone-like material; of asbestos cement; of cement and other mineral fibres composed of a number of smaller elements, e.g. bricks, also combined with a slab of hardenable material
    • E04C2/042—Apparatus for handling the smaller elements or the hardenable material; bricklaying machines for prefabricated panels

Definitions

  • the present disclosure relates to a mobile robotic wall segment fabrication system according to the generic part of claim 1.
  • a known approach utilizes a semiautomatic method with a wall building system.
  • Said system is located in a factory and assembles single bricks together to manufacture a wall. Afterwards, the manufactured wall is transported to the building site.
  • the disadvantages of this approach are, that the premanufactured walls need to be transported to the building site with large transportation devices like trucks, particularly low-bed trucks over long distances and further, that adjustments cannot be easily made onsite.
  • Said walls need to be prepared for transport and often even holes need to be drilled in said walls to transport them and particularly to mount them with straps or other fasteners on a trailer or to a crane or to any other suitable transportation systems. Said walls might be damaged during transport and delays in delivery might happen.
  • the mobile robotic wall segment fabrication system fulfils the object and has the advantages, that wall segments can be manufactured onsite in an easy, precise and fast way and effort, manual labour and thus, labour costs are reduced. Due to the automatization, dangers and risks for human beings are reduced and a healthier environment for human workers is provided. Adjustments can be easily made onsite because new adjusted wall segments can be manufactured directly at the building site. Herethrough unnecessary CO 2 production due to transport of walls with corrected sizes can be avoided. Coordination of several human construction workers can be omitted and repetitive tasks are handled by the mobile robotic wall segment fabrication system.
  • the mobile robotic wall segment fabrication system can further build walls segments with different shape, geometry and details like different sizes, different window locations and different window sizes and it can further use different block types, materials, and sizes.
  • the system is suitable for universal and flexible use and can be transported in an easy way. Due to the fact, that the depalletizing unit and the wall building unit are arranged on at least one platform, the mobile robotic wall segment fabrication system can be transported directly to the building site and no further plants or machines need to be assembled at the building site by human workers. Further the mobile robotic wall segment fabrication system doesn't need a big storage area and it is mobile and flexible to use.
  • the advantages of the method comply with the advantages of the mobile robotic wall segment fabrication system.
  • Fig. 1 to 13 illustrate at least parts of preferred embodiments of a mobile robotic wall segment fabrication system 1 comprising at least one platform, whereby a depalletizing unit 3 for unpacking blocks from pallets 4 and a wall building unit 5 to build wall segments 10 with said blocks provided by the depalletizing unit 3 are arranged on the at least one platform.
  • a depalletizing unit 3 unpacks blocks from pallets 4 and provides said blocks to a wall building unit 5, whereby the depalletizing unit 3 and the wall building unit 5 are arranged on at least one platform, whereby the wall building unit 5 assembles blocks to manufacture wall segments 10.
  • the mobile robotic wall segment fabrication system 1 fulfils the object and has the advantages, that wall segments 10 can be manufactured onsite in an easy, precise and fast way and effort, manual labour and thus, labour costs are reduced. Due to the automatization, dangers and risks for human beings are reduced. Adjustments can be easily made onsite because new adjusted wall segments 10 can be manufactured directly at the building site. Coordination of several human construction workers can be omitted and repetitive tasks are handled by the mobile robotic wall segment fabrication system 1.
  • the mobile robotic wall segment fabrication system 1 can further build wall segments 10 with different geometry and details like different sizes, different window locations and different window sizes and it can further use different block types, materials and sizes.
  • the system 1 is suitable for universal and flexible use and can be transported in an easy way. Due to the fact, that the depalletizing unit 3 and the wall building unit 5 are arranged on at least one platform, the mobile robotic wall segment fabrication system 1 can be transported directly to the building site and no further plants or machines need to be assembled at the building site by human workers. Further the mobile robotic wall segment fabrication system 1 doesn't need a big storage area and it is mobile and flexible to use.
  • the mobile robotic wall segment fabrication system 1 is automatic and comprises at least one platform, arranged on said at least one platform a depalletizing unit 3 for unpacking blocks from pallets 4 and a wall building unit 5 to build wall segments 10 with said blocks provided by the depalletizing unit 3.
  • the wall building unit 5 is preferably mounted on the at least one platform.
  • the mobile robotic wall segment fabrication system 1 is transported to the building site to build wall segments 10 directly on site. It can be provided that the at least one platform is static during the construction of the wall segments 10. The finished wall segments 10 are preferably lifted to their final position after being manufactured by the mobile robotic wall segment fabrication system 1. The building is built by connecting the different the wall segments 10 together.
  • the wall segments 10 could also be called wall sections and comprise a section of the building to be build. Said wall segments can 10 comprise a plurality of blocks.
  • the mobile robotic wall segment fabrication system 1 can perform measurements on site and build a wall segment 10 or a complete wall with correct measurements on site.
  • the length of the wall segment 10 is at least 2 meters.
  • the height of the wall segment 10 is at least 1 meter.
  • the blocks can preferably be wall bricks, particularly clay bricks that are commonly used to build walls for houses and carry its load.
  • Wall bricks are usually bigger than facade bricks and can weight more than 15 kg.
  • Wall bricks can preferably weight up to 22 kg.
  • the blocks can be facade bricks or blocks from a different material like calcium cilicate (CaSi), autoclaved aerated concrete (AAC), or concrete masonry units (CMU).
  • CaSi calcium cilicate
  • AAC autoclaved aerated concrete
  • CMU concrete masonry units
  • the blocks have a width of at least 10 cm, a length of at least 20 cm and a height of at least 5 cm.
  • the blocks have a width of at least 20 cm, a length of at least 35 cm and a height of at least 20 cm.
  • the blocks are preferably rectangular blocks and the wall segments 10 are preferably rectangular and comprise right angles.
  • the mobile robotic wall segment fabrication system 1 is compatible with usual blocks as well as special blocks, e.g. blocks with no rectangular angles.
  • the blocks preferably comprise at least one groove on one end and at least one tongue on the opposite end.
  • some wall segments 10 comprise openings for windows and/or doors.
  • the wall building unit 5 and the depalletizing unit 3 are arranged on the same platform. Therefore, the wall building unit 5 and the depalletizing unit 3 can be transported together.
  • the wall building unit 5 and the depalletizing unit 3 can be arranged on different platforms.
  • the wall building unit 5 and the depalletizing unit 3 can be transported separately to the construction site.
  • the platforms can be located next to each other.
  • the at least one platform is a baseplate of at least one container 2, whereby the at least one container 2 comprises at least one opening 6 for at least the wall building robot 5 to reach out of said container 2.
  • the at least one opening is closable.
  • the at least one container 2 can be closed in an easy and fast way and the access to the wall building robot 5 and the depalletizing unit 3 is denied for people without permission.
  • the at least one container 2 is a transportable container 2 which is intended to be attached or integrated to a vehicle and transported to the building site.
  • the mobile robotic wall segment fabrication system 1 comprises the vehicle.
  • the vehicle is part of the the mobile robotic wall segment fabrication system 1 and constantly attached to the mobile robotic wall segment fabrication system 1.
  • the at least one container 2 can preferably be, but is not limited to, an ISO-container, particularly a 20 ft or 40 ft standard container.
  • the at least one container 2 is embodied as a trailer 18.
  • the at least one container 2 can therefore be easily coupled to a transportation device like a truck and transported to different building sites.
  • the depalletizing unit 3 comprises a loading area 9, where pallets 4 can be unloaded and stored.
  • the at least one container 2 particularly comprises a closable opening which is located at the loading area 9 in order to load the pallets 4 in the loading area 9.
  • the mobile robotic wall segment fabrication system 1 can manufacture wall segments 10 fully automatic. Therefore, the input of the mobile robotic wall segment fabrication system 1 is one or more than one pallet 4 and the output is at least one wall segment 10. Even the loading of the pallets 4 in the loading area 9 may be automatized and a loading robot may be used.
  • the pallets 4 therefore comprise a plurality of blocks.
  • the depalletizing unit 3 unpacks said blocks automatically and preferably puts them on the at least one conveyor 7, 11, 12, 17.
  • the blocks can be different blocks with a different size and composition.
  • two or more pallets 4 with different blocks can be stored next to each other at the loading area 9.
  • a loading area 9 is exemplarily shown in Figs. 1 to 4 , 7 to 9 , 11 and particularly in Fig. 6 .
  • the wall segment 10 could also be called prefabricated wall.
  • the wall segments 10 are preferably based on a 3D CAD of the building. It can be preferred, that the wall segments 10 or walls are straight, or alternatively, that the wall segments 10 or walls have different geometric forms, e.g. curved walls. It can also be preferred, that the wall segments 10 consist of blocks which have been arranged shifted from each other.
  • the loading area 9 can be loaded with pallets 4 by means of a forklift 14 or any other loading device that is suitable to lift pallets 4 into the loading area 9.
  • the depalletizing unit 3 is arranged at a first end of the at least one platform and that the wall building unit 5 is arranged at a second end of the at least one platform which second end is located opposite to the first end, which is exemplarily shown in Fig. 7 . It can be especially be provided that the space between the depalletizing unit 3 and the building unit 5 is used as a buffer space for the blocks.
  • the wall building unit 5 is movably arranged on the at least one platform.
  • the wall building unit 5 could be mounted on an additional linear track to increase the working area in the length direction, or it can be mounted on a lifting platform to increase the height of the working space.
  • the depalletizing unit 3 provides the blocks directly to the wall building unit 5.
  • the depalletizing unit 3 and the wall building unit 5 are one combined, specifically, one integrated unified system.
  • the depalletizing unit 3 and the wall building unit 5 could be two robots/systems working collaboratively and together as a unified system and share the task of depalletizing and building.
  • At least one conveyor 7, 11, 12, 17 is arranged between the depalletizing unit 3 and the wall building unit 5 in order to transport blocks from the depalletizing unit 3 to the wall building unit 5.
  • the length of the at least one conveyor 7 covers at least 50% of the length of the at least one platform.
  • a first conveyor 7,11 is arranged parallel to a sidewall of the at least one container 2, whereby a part of the first conveyor 7,11 is arranged between the sidewall and the wall building unit 5. Therefore, blocks can be directly transported to the wall building unit 5 and the first conveyor 7, 11 can be built straight and in an easy way.
  • a second conveyor 7,12 is arranged parallel to the first conveyor 7,11.
  • the second conveyor 7, 12 might be used to store blocks and to transport blocks from the depalletizing unit 3 to the wall building unit 5.
  • the second conveyor 7, 12 can preferably be straight or it can comprise one or more than one curves.
  • the mobile robotic wall segment fabrication system 1 comprises a third conveyor 7, 15.
  • the third conveyor 7, 15 can preferably be straight or it can comprise one or more than one curves.
  • the third conveyor 7, 15 might preferably be used to store blocks.
  • the conveyors 7, 11, 12,17 cover at least 50%, particularly at least 60%, preferably at least 70%, of the platform, particularly the surface area of the container 2. Therefore, the space on the platform and specifically inside the container 2 can be used in an efficient way. Therefore, various blocks can be stored on the at least one conveyor 7, 11, 12, 17 until they arrive at the wall building unit 5.
  • the wall building unit 5 comprises at least one wall building robot.
  • the at least one wall building robot can comprise at least one robotic arm and/or a cartesian system or any other dedicated system.
  • the robotic arm or the cartesian system might simultaneously pick up one or more than one blocks.
  • the robotic arm may comprise a vacuum lifting device or a gripper 19.
  • the embodiments in the Fig. 1 to 13 have robotic arms with grippers 19, which are not displayed in the Fig. 1 to 11 .
  • the wall building unit 5 comprises more than one wall building robot, whereby the robots work together, also collaboratively.
  • one robot could apply mortar, another robot could put the bricks on their desired position.
  • the depalletizing unit 3 comprises at least one depalletizing robot.
  • the at least one depalletizing robot can comprise at least one robotic arm and/or a cartesian system or it can be a delta robot or any other dedicated system.
  • a cartesian system is exemplarily illustrated in Fig. 6 .
  • the depalletizing unit 3 may be embodied as a gantry system.
  • At least one cutting unit 8 for cutting blocks is arranged between the first end and second end of the at least one platform.
  • the cutting unit 8 can preferably be a cutting robot, for example, with a circular saw.
  • the third conveyor 7, 15 extends from the depalletizing unit 3 to the cutting unit 8.
  • a supply unit 16 is provided to move single blocks or parts of blocks on the at least one conveyor 7, 11, 12, 17 and/or between different conveyors 7, 11, 12, 17.
  • the supply unit 16 can particularly be a supply robot with at least one robotic arm, which is exemplarily shown in Fig.1 and 5 .
  • the supply unit 16 is arranged besides the cutting unit 8 in order to provide blocks to the cutting unit 8 from the third conveyor 7, 15.
  • the supply unit 16 may be embodied as a cartesian system, which is not shown in the Figs.
  • the supply unit 16 and the cutting unit 8 are one unified system.
  • the mobile robotic wall segment fabrication system 1 comprises an additional cutting unit which cuts the prefabricated wall segments 10 or the wall in a specific form or shape. It could further cut out the windows or other wall details and perform diagonal cuts. The cuts might be performed with a wire.
  • the additional cutting unit might also be designed to cut the channels for electricity or piping, or other detailing.
  • the supply unit 16 is located between the third conveyor 7, 15 and the cutting unit 8. In this case the supply unit 16 can pick up blocks from the third conveyor 7, 15 and provide them to the cutting unit 8.
  • a fourth conveyor 7, 17 is arranged at least partially at the cutting unit 8 to store cut blocks and to transport cut blocks to the wall building unit 5.
  • the supply unit 16 can pick up blocks from the third conveyor 7, 15 and put them on the fourth conveyor 7, 17, whereby the fourth conveyor 7, 17 transports the blocks to the cutting unit 8 and after cutting, the fourth conveyor 7, 17 transports the cut blocks to the wall building unit 5.
  • the blocks could be pre-cut in a factory.
  • the mobile robotic wall segment fabrication system 1 preferably comprises a control unit.
  • the control unit measures the blocks and calculates dimensions of the cut blocks and their orientation and position.
  • the control unit further has at least control over the depalletizing unit 3 and/or the at least one conveyor 7, 11, 12,17 and/or the wall building unit 5 in order to ensure a proper working flow.
  • the control unit preferably has all the information necessary regarding all wall segments 10, like dimensions of the blocks, the block type and the dimensions of the wall segments 10 that need to be manufactured for a finished building. With the term finished building finished walls made of blocks without electrical lines and wallpapers of said walls are meant.
  • the control unit is not shown in the Figs.
  • control unit is in knowledge of the CAD of the building and the CAD of the wall segments 10 and that the control unit is connected to the different units, especially the depalletizing unit 3, the supply unit 16 and the wall building unit 5.
  • the wall building unit 5 comprises an adhesive application device to apply an adhesive onto the blocks. Therefore, the wall building unit 5 can comprise a spray nozzle, particularly a robotic arm with a spray nozzle.
  • the adhesive might be a glue, a mortar, or particularly a thin bed mortar, that is commonly used to attach wall blocks together.
  • the wall building unit 5 has enough reach to pick up blocks from first conveyor 7, 11, the second conveyor 7, 12 or the fourth conveyor 7, 17. Therefore, the building unit 5 can pick up different blocks, like whole blocks, cut blocks or blocks from different material and sizes which are stored on different conveyors 7, 11, 12, 17.
  • the mobile robotic wall segment fabrication system 1 can directly work on site or very close to the construction site.
  • the whole system 1 fits inside one container 2, which is exemplarily illustrated in Figs. 9 and 10 .
  • the mobile robotic wall segment fabrication system 1 could be arranged in different containers 2 and be set up on-site based on requirements, for example the basic components like the depalletizing unit 3 and the wall building unit 5 could be arranged in a main container 2. Additional parts could be arranged in smaller containers and could be set up next to said main container 2 to increase the features of the the mobile robotic wall segment fabrication system 1.
  • the depalletizing unit 3 and the wall building unit 5 could be arranged in different containers 2. Therefore, the mobile robotic wall segment fabrication system 1 is flexible and can be arranged on one or more platforms or in on ore more containers, based on necessity.
  • the mobile robotic wall segment fabrication system 1 could be arranged on different platforms.
  • the wall building unit 5 and the depalletizing unit 3 could be arranged on different platforms. It could also be preferred, that the depalletizing unit 3 and the wall building unit 5 are arranged on a main platform and that other units are arranged on separate platforms.
  • the closable opening 6 of the container 2 extends over at least a side wall of the container 2.
  • the closable opening 6 of the container 2 extends over at least a side wall of the container 2 and at least over a top wall of the container 2, which is exemplarily illustrated in Fig. 3 .
  • the wall building unit 5 has a lot of open space and can easily reach out of the container 2. Further a controller can visually check the method and adjust parameters and thus the method if needed.
  • the at least one side wall and/or the top wall of the container 2 can be hinged for improved access.
  • all side walls of the container 2 might be opened to enable a huge closable opening 6 and to enable the wall building unit 5 to reach out of the container 2 on at least two sides.
  • At least one side wall and/or the top wall can be taken off or at least partially folded together.
  • the wall segments 10 are assembled together from single blocks to create load bearing walls.
  • Load bearing walls are particularly walls made of wall bricks, preferably clay bricks. It can also be preferred, that non-load bearing walls are created.
  • the wall segments 10 are assembled besides the platform, especially besides the container 2 in an external assembling area, where blocks are stacked together to manufacture the wall segments 10.
  • the wall building unit 5 assembles blocks provided by the depalletizing unit 3 in the external assembling area next to the platform.
  • the wall segments 10 at the external assembling can than be lifted to their final position in the building.
  • the wall segments 10 are assembled on an external surface, particularly on an external conveyor 13, which is located beside the platform.
  • the external surface can be a bed or any other dedicated surface, which is located beside the platform.
  • the finished wall segments 10 or the wall segments 10 that need to be dried, specifically cured, can be stored on said external conveyor 13 or they can be carried away from the platform in order to have space for further wall segments 10. This enables the wall building unit 5 to build the wall segments 10 at the same assembling area, since the finished wall segments 10 can be moved out of the assembling area by the external conveyor 13 when finished.
  • the wall segments 10 are assembled together on the at least one platform. Therefore, the platform might comprise an assembling area.
  • the finished wall segments 10 can be lifted from the platform and in case of a container 2, outside of the container 2 to a storage place, e.g. another surface, or directly to their final destination.
  • the wall segments 10 can be embodied as single rows of blocks that are stacked together or they can comprise many rows that have been stacked together, which is exemplarily illustrated in Fig. 11 .
  • single blocks might be assembled on the assembling area to wall segments 10, or rows are manufactured on the platform and subsequently lifted off the platform, preferably outside the container 2 on the assembling area to be stored or to manufacture wall segments 10 with a plurality of rows, which is exemplarily illustrated in Fig. 11 .
  • the external conveyor 13 can preferably be a passive omnidirectional conveyor.
  • the wall segments 10 are lifted from a position next to the platform on their final destination.
  • the wall segments 10 are placed on their final destination by a crane.
  • the crane is a construction crane, which is usually provided on a construction site.
  • the crane might be part of the mobile robotic wall segment fabrication system 1 and could be arranged on the platform, preferably inside the container 2, or the crane could be part of the trailer.
  • This crane can preferably be used to move the prefabricated wall segments 10 to the side of the conveyor.
  • the blocks are placed one by one by the wall building unit 5 to assemble the wall segment 10.
  • the wall building unit 5 is formed for handling a single block.
  • the building unit 5 Since the building unit 5 usually have the more complex movement paths compare to the depalletizing unit 3, and/or a carefully placement of the blocks on the wall segment 10 is needed, the building unit 5 might pose a bottle neck if moving the block one by one.
  • the wall building unit 5 is formed to move several blocks at once. Therefore, the wall building unit 5 is not slowing down the assembly process, since several blocks can be moved at once.
  • the depalletizing unit 3 is formed to move several blocks at once. Herby, the blocks can already be arranged as groups on the pallets, and the depalletizing unit 3 can move an entire group of the blocks on the at least one conveyer 7, 11, 12, 17.
  • the at least one conveyer 7, 11, 12, 17 comprises at least two segments being controlled individually.
  • the at least two segments can be used to push several blocks into each other to form a plurality of abutting blocks and/or separate abutting blocks on the at least one conveyer 7, 11, 12, 17. Therefore, groups of abutting blocks can be formed and separated by the at least one conveyer 7, 11, 12, 17.
  • the building unit 5 is formed to move up to three blocks at once.
  • small groups of blocks can be moved in one step by the building unit 5 to assemble the wall segment 10, thus speeding up the assembly process.
  • Fig. 12 a preferred embodiment is shown with the building unit 5 having a gripper 19 formed to move one or two blocks at once.
  • the building unit 5 is formed to move more than three, especially more than six, blocks at once.
  • a group of abutting blocks having in particular the same length as the wall segment 10 can be formed on the at least one conveyer 7, 11, 12, 17 and being placed on the wall segment 10 to be build in one step by the building unit 5.
  • the gripper 5 comprises a longitudinal support with a plurality of gripping means movably mounted on said support. At least two of the gripping means could be actuated separately, to allow the gripper 5 to move less than the maximum number of blocks, even single blocks, if necessary.
  • Fig. 13 a preferred embodiment is shown with the building unit 5 having a gripper 19 formed to move a complete row of ten blocks at once.
  • At least two of the conveyors 7, 11, 12, 17 are used to form groups of abutting blocks.
  • a first group of blocks can be formed on of the conveyors 7, 11, 12, 17 and the formation of a second group of blocks is started on another conveyor 7, 11, 12, 17 after finishing the first group of blocks.
  • wall segments 10 can be manufactured in mass production and the risks for construction workers as well as labour costs can be reduced.
  • a feature X or an object Y is distinguished in several embodiments, unless otherwise defined by the disclosure of the invention.
  • a feature X or object Y with an ordering number word in a claim does not mean that an embodiment of the invention covered by this claim must have a further feature X or another object Y.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
EP22167166.2A 2021-04-29 2022-04-07 Mobiles robotisches system zur herstellung von wandsegmenten Pending EP4083349A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ATA50331/2021A AT525022B1 (de) 2021-04-29 2021-04-29 Mobiles roboter-wandsegment-fertigungssystem

Publications (1)

Publication Number Publication Date
EP4083349A1 true EP4083349A1 (de) 2022-11-02

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EP22167166.2A Pending EP4083349A1 (de) 2021-04-29 2022-04-07 Mobiles robotisches system zur herstellung von wandsegmenten

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AT (1) AT525022B1 (de)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3834973A (en) * 1973-01-02 1974-09-10 Storer & Sons Co Sa Apparatus for fabricating modular wall sections
CN205990775U (zh) * 2016-05-26 2017-03-01 许昌学院 一种自动砌墙机
WO2018009981A1 (en) * 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
CN108222527A (zh) * 2018-01-19 2018-06-29 郑军生 一种全自动砌砖机器人

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Publication number Priority date Publication date Assignee Title
LU87381A1 (fr) * 1988-11-09 1990-06-12 Wurth Paul Sa Installation automatisee pour la pose d'une maconnerie sur une paroi
CN105197610A (zh) * 2015-10-23 2015-12-30 石家庄市鹿泉区民生新型建材有限公司 一种自动码砖机
CN106088632B (zh) * 2016-06-22 2018-03-30 浙江视野环境艺术装饰工程有限公司 一种基于机器视觉的砌墙机
CN207436519U (zh) * 2017-09-07 2018-06-01 宁夏大学 砌墙机
CN112482797A (zh) * 2020-11-15 2021-03-12 黄健辉 一种建筑施工用自动砌砖系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3834973A (en) * 1973-01-02 1974-09-10 Storer & Sons Co Sa Apparatus for fabricating modular wall sections
CN205990775U (zh) * 2016-05-26 2017-03-01 许昌学院 一种自动砌墙机
WO2018009981A1 (en) * 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
CN108222527A (zh) * 2018-01-19 2018-06-29 郑军生 一种全自动砌砖机器人

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AT525022A1 (de) 2022-11-15

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