GB2267110A - Slip moulding apparatus - Google Patents
Slip moulding apparatus Download PDFInfo
- Publication number
- GB2267110A GB2267110A GB9202815A GB9202815A GB2267110A GB 2267110 A GB2267110 A GB 2267110A GB 9202815 A GB9202815 A GB 9202815A GB 9202815 A GB9202815 A GB 9202815A GB 2267110 A GB2267110 A GB 2267110A
- Authority
- GB
- United Kingdom
- Prior art keywords
- construction process
- slip forming
- forming construction
- type
- robot
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
-
- 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
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
- B28B13/0205—Feeding the unshaped material to moulds or apparatus for producing shaped articles supplied to the moulding device in form of a coherent mass of material, e.g. a lump or an already partially preshaped tablet, pastil or the like
-
- 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
-
- 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
- E04G11/00—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs
- E04G11/06—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs for walls, e.g. curved end panels for wall shutterings; filler elements for wall shutterings; shutterings for vertical ducts
- E04G11/20—Movable forms; Movable forms for moulding cylindrical, conical or hyperbolical structures; Templates serving as forms for positioning blocks or the like
- E04G11/34—Horizontally-travelling moulds for making walls blockwise or section-wise
-
- 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
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H7/00—Construction or assembling of bulk storage containers employing civil engineering techniques in situ or off the site
- E04H7/22—Containers for fluent solids, e.g. silos, bunkers; Supports therefor
- E04H7/24—Constructions, with or without perforated walls, depending on the use of specified materials
Abstract
A slip moulding apparatus for forming a structure made by coil building has a plastic/concrete compound delivered by a pump along tubing to an end effector whose position is computer controlled. The end effector is mounted on a robot arm whose position is controlled to effect sequential visiting of the end effector to selected locations. The robot may be mounted on a gantry of a vehicle. <IMAGE>
Description
AUTOMATIC SLIP MOULDING CONSTRUCTION PROCESS
A. The invention is that of a computer controlled automated slip forming process which allows the construction of three dimensional objects,by the extrusion of a plastic/concrete compound,and without the need for retraining moulds or forms into which the material is poured.The process utilizes compounds of a greater density than those concretes which presently are utilized for pumping,and adopts a 'coil - building' sequence of construction in order to sequentially lay seams of material of a clearly specified cross- section, onto a previously laid seam.The technique is specifically intended for the construction and construction engineering industries,although scaled down could be applicable to any number of applications.The process involves the use of computer controlled robot arms which locate and manipulate an end - effector via which the seam of material is extruded.Accuracy in locationing and positioning are of course an integral part of this process but are beyond the scope of the present application.
Slip Forming is a technique extensively used in pottery production,which was first used for concrete applications in
America around the turn of the century. 'Forms' which define the walls of a structure were made,and then into these forms concrete was pumped.Over time these forms were progressively jacked higher and successive layers of concrete were poured in.This technique makes it possible to turn the business of concrete construction of certain simple structures into an ongoing sequential moulding process,resulting in a seamless structure of particular relevance to the construction of grain silos etc.
It was felt that this process could be refined thereby allowing rfar more complex structures to be sequentially constructed after the manner of 'coil building' in pottery. In coil building, successive layers of clay of a tubular shape are pressed onto the top of the previous coil.In this way large items which would not be able to be constructed by conventional 'turning and throwing' are able to be constructed.It is a technique of fabrication which is several thousand year's old.
Utilizing a suitable Robot with the ability to deliver a pumped cement-like material via a specially shaped nozzle, it is now possible to construct even complicated shapes without needing any fixed or jacked formwork.What is necessary instead is accuracy in positioning, combined with a uniformity of delivery, and a specifically designed end effector nozzle which by utilizing an exponentially tapering constriction, in conjunction with a flow pressure feedback sensor,can maintain the accurate laying of a plastic consistency cement compound extruded in such a shape that the material settles as a vertically walled strip or seam.
According to the present invention,the process is that of a computer controlled sequence of pumping and laying a compound.In this instance compound is placed in a hopper whence it is released to a helical rotor positive displacement pump.The inlet valve from the hopper and the speed/pressure of the pump are controlled by a control programme which analyzes pressure feedback from on line pressure sensors,and responds appropriately by comparing the values to various threshold values.For small scale constructions such as two to three metre square structures,a simple one pump flowline working with a simple cylindrical robot(Fig 1) is appropriate.However for the major area towards which this technique is oriented,namely the construction of twelve metre square silos, sea walls,and similar constructions, a two pump compound pumping line, delivering compound by gantry mounted robots of one of the configurations represented in the following diagrams,are the requisite components of the design.In this latter instant three joints on the Gantry are controlled in tandem with the robot linkage controls,thereby allowing the robot to be raised and lowered through four metres, rotated +/-200 degrees around a rotating baseplate mounted on the Gantry,or the gantry itself may be rotated +/- 200 degrees.The computer controls,which are essential to the governance 6f this process, are as previously stated,beyond the scope of the present application.However, to summarize the essential features of this process:
A hopper is required to act as the buffer storage for the construction compound.The feed from this hopper is controlled by the governing programme,in so much as that the compound and the volume of compound are regulated by the demands of the process, which is continuously controlled and regulated by the governing programme.
One or two pumps are required on the pumping linkage dependant on the length of the pumping linkage.For preference helical rotor positive displacement pumps are the types required although the process could be operated with a less smooth flow using either piston or peristaltic pumps.On the compound pumping line there are two valves;the inlet valve from the hopper to the first pump,and the nozzle valve situated close to the end effector, and enabling material flow to the effector to be quickly halted.
Flow/pressure sensorsare situatedgbetween pumps one and two, secon .dly,between pump two and the nozzle valve, and a flushmounted pressure sensor is situated on the effector side of the nozzle valve in order to detect laying pressure changes.Ml of these are linked via signal conditioners and analogue-digital convertors to a control computer.
A robot delivery linkage is required of either cylindrical type for small applications, or a gantry suspended robot of types one to five for larger applications.Note that the robot would be of a type suitable to be attatched in the required position to a
Gantry.As such the robot linkage is movable to different positions on the 'mother' Gantry,requiring only an extension of compound delivery pipework.For preference linkage one is the linkage required for most applications.The gantry would most often be truck mounted for construction site operations,or fixed for factory operations.
An end effector is required via which the material is extruded.For preference a passive end effector of the types described in Figs(10,11,12)would be most commonly employed, although other types of end effector for different applications could be utilised.
A computer control programme would ensure the correct sequence of locations in the laying sequence is visited, and would also monitor and regulate the flow and laying of materials according to interpretation of feedback signals from flow and pressure sensors.The control programmes will themselves be the subject of seperate copyrights.
A specific embodiment of the invention will now be described by way of example, with reference to the accompanying schematic diagrams. (Note the diagrams represent a schematic design as opposed to accurate in- depth fabrication design drawings).
Figure one represents a simple cylindrical robot.
Figure two represents the gantry,and its joint types.
Figure three represents a two pump truck-mounted gantry-based revolute robot of the preferred type.
Figures four to nine represent the linkage configurations and movements of the preferred robot,and include reference to the linkage proportions essential for the greatest reach and agility.
Figure ten to twelve represent the end effector and the base with cicular aperture.
Figs thirteen and fourteen represent the laying procedure.
Fig fifteen demostrates the Gantry & Robot retracted for transport.
Figs sixteen to twenty two represent other Gantry robot configurations.
The End Effector
The end effector is so designed that it resembles a prow of a boat.In other words,the leading edge is narrow and deep with the polycrete being fed to the effector via a tube from the nozzle valve which is situated just above this leading edge.The effector expands laterally and declines in the vertical with linear conformity towards the rear of the effector;;whilst the polycrete is compressed vertically and expanded horizontally until it leaves the effector at the trailing edge,having both the required the required shape and cross section.By the use of this shape, it is possible to deliver and spread the polycrete whilst for example turning a corner without spillage of the material over the sides.There are two similar designs of end effector,the one without the tail fin serving as a steam applicator,and the second with the tail fin releasing jets of steam over the just laid material.The shape of the strip is not cuboid,as a cuboid shape would tend to bulge outwards under gravity etc.instead a concave walled strip with slightly rounded top corners,and splayed base is suggested.By the use of this shape,it is possible to deliver and spread the polycrete with the polycrete binding to the top of the last layer and settling to form a parallel sided wall.The shape of the effector meanwhile allows for the laying of this seam whilst for example turning a corner without spillage of the material over the sides.
Note that the strip profile will result in a parallel walled shape under the influence of gravity and pressure. ThereforeFn Fig.2 the truck end represents the base for a movable
Gantry; much after the design of present day extending hydraulic cranes,excepting that instead of a crane,there is an extending
Gantry complete with on board computer.On the truck are mounted both Pump one,and a hopper, or a connection to an external hopper.On the Gantry towards the highest point of the pumping tubing there is a second booster pump.Both pumps are independently controlled by the master programme which interprets sensor feedback and then amends the flow in order to maintain constant pressure and a uniformity of flow.The Robot and Gantry are controlled in tandem by previously processed Computer
Numerical code,and visit sequential locations in a construction sequence in order to fabricate a construction.
Claims (13)
1. A slip forming construction process comprising a hopper for material ingress connected to a helical rotor positive displacement pump,with an inlet valve to control the flow of material;e pumped material then being transported via tubing to a robot-located passive end effector of type described in Figs 10,11, & 12 ,which spreads the seams of compound one on top of the other, via a process of sequentially visiting locations in a computer controlled construction sequence,controlled by an onboard or linked computer,and respective joint controllers and actuators.
2. A slip forming construction process as claimed in claim one but this time utilizing a simple cylindrical robot for small scale construction work.
3. A slip forming construction process as claimed in claim one but with the addition of a truck based Gantry with reference to
Figures 2 and 3 of the accompanying diagrams,and suspended robot of type l(Fig3),as well as an additional booster helical rotor positive displacement pump mounted towards the highest point on the pumping tubing.
4. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 2 (Figs 16 & 17 ).
5. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 3 (Figs 18 & 19 ).
6. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 4 (Fig 20).
7. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 5 (Figs 21 & 22).
8. A slip forming construction process as claimed in claims 1,2, 3,4,5,6,and 7 but with the addition of alternative designs of end effector and spreaders as appropriate.
9. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7 and 8,but with one or both pumps being of a type other than a helical rotor positive displacement pump,and being of either a piston,a vacuum driven, or a peristaltic pump type.
10. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,and 9 but with the unit being mounted either on a truck bed of appropriate size,or on a moveable or solid base, or platform.
11. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,and 10 with flow/pressure sensors of differing types respective to the materials being pumped,being situated at strategic locations for the determining of flow/pressure rates.
Amendments to the claims have been filed as follows l.b. A slip forming construction process as claimed in claim one but with the addition of a truck based Gantry with reference to
Figures 2 and 3 of the accompanying diagrams,and suspended robot of type l(Fig3).
2.b. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 2 (Figs 16 & 17 ).
3.b. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 3 (Figs 18 & 19 ).
4.b. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 4 (Fig 20).
5.b. A slip forming construction process as claimed in claim 3,but with a suspended robot of type 5 (Figs 21 & 22).
6.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,and6b, having differing systems of computer control respective to the appropriate disposition of the machinery, and its respective tasks;in so much as certain embodiments of the process might be dedicated to only limited tasks and therefore require a differing system to a more flexibly adroit system.
7.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,and 6b, having the option of attatchable curers and or sensors such as ultra-violet or infra-red curers,and or sensors capable of detecting structural conformity in the deposited layer,be they sound,light or electrical in nature.
8.b. A slip forming construction process as claimed in claims 12.34.5.6.7.8.9.10 and 11.as well as 1b.2b.3b.4b.5b.6b.and
appropriate sensors mounted on the most appropriate parts of the process machine.
9.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,6b,7b and 8b,and having the addition of one or more types of position checking in order to confirm the actual position of the robot end effector,checking the actual over the expected position and inititiating any positional corrections by way of the relevant computer position governing programme.
10.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,6b,7b,8b, and 9b having round, elliptical ,triangulat,square, rectangular, hexagonal or otherwise multi-faceted construction of its component booms and parts.
ll.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,6b,7b,8b, 9b, and 10b,with the gantry inclined at varying degrees from the horizontal.
12.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,6b,7b,8b, 9b,10b, and 11b with compound pumped internally within the linkage casing.
13.b. A slip forming construction process as claimed in claims 1,2,3,4,5,6,7,8,9,10 and 11,as well as lb,2b,3b,4b,5b,6b,7b,8b, 9b,10b,11b and 12b with more than one compound delivery tube carrying either mutually independent compounds or compounds which are the mixed together prior to extrusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9202815A GB2267110A (en) | 1992-02-11 | 1992-02-11 | Slip moulding apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9202815A GB2267110A (en) | 1992-02-11 | 1992-02-11 | Slip moulding apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9202815D0 GB9202815D0 (en) | 1992-03-25 |
| GB2267110A true GB2267110A (en) | 1993-11-24 |
Family
ID=10710150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9202815A Withdrawn GB2267110A (en) | 1992-02-11 | 1992-02-11 | Slip moulding apparatus |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2267110A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1587995A2 (en) * | 2003-01-21 | 2005-10-26 | University Of Southern California | Multi-nozzle assembly for extrusion of wall |
| WO2006111827A1 (en) * | 2005-04-21 | 2006-10-26 | Mathieu Leclercq | Aid device for the construction of walls and/or treatment of surfaces |
| DE102005062406A1 (en) * | 2005-12-23 | 2007-06-28 | Baufritz-Ag | Method for erecting wall involves extruding first layer onto foundation before adding in reinforcement threads and then applying second layer |
| JP2007518586A (en) * | 2004-01-20 | 2007-07-12 | ユニバーシティ オブ サウザーン カリフォルニア | Automated construction including robotic systems |
| US7814937B2 (en) | 2005-10-26 | 2010-10-19 | University Of Southern California | Deployable contour crafting |
| US7841849B2 (en) | 2005-11-04 | 2010-11-30 | University Of Southern California | Dry material transport and extrusion |
| US7874825B2 (en) | 2005-10-26 | 2011-01-25 | University Of Southern California | Nozzle for forming an extruded wall with rib-like interior |
| GB2508007A (en) * | 2012-11-16 | 2014-05-21 | Tim Denholm | 3D printer suitable for constructing buildings |
| GB2510598A (en) * | 2013-02-08 | 2014-08-13 | Timothy James Henry Denholm | A 3D Printer for Printing a Building |
| US20150367588A1 (en) * | 2013-02-08 | 2015-12-24 | Eth Zurich | Apparatus and method for vertical slip forming of concrete structures |
| WO2018052469A3 (en) * | 2016-09-14 | 2018-04-26 | Brian Giles | Method of reinforced cementitious construction by high speed extrusion printing and apparatus for using same |
| WO2018229418A1 (en) * | 2017-06-14 | 2018-12-20 | Xtreee | System for extruding cementitious material beads for an architectural structure additive manufacturing robot |
| WO2018229419A1 (en) * | 2017-06-14 | 2018-12-20 | Xtreee | System for extruding cementitious material beads for an architectural structure additive manufacturing robot |
| DE102019107833A1 (en) * | 2019-03-27 | 2020-10-01 | Putzmeister Engineering Gmbh | Device for dispensing a fluid process material |
| WO2020260377A1 (en) * | 2019-06-26 | 2020-12-30 | Saint-Gobain Weber | System for manufacturing mortar-based elements |
| DE102021205519A1 (en) | 2021-05-31 | 2022-12-01 | Putzmeister Engineering Gmbh | Printing system and use of a printing system |
| RU2814831C2 (en) * | 2019-06-26 | 2024-03-05 | Сэн-Гобэн Вебер | System for producing elements based on mortar |
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| GB985099A (en) * | 1961-01-09 | 1965-03-03 | Dow Chemical Co | Walled domed building structures and methods and apparatus for producing them |
| GB1231871A (en) * | 1967-10-09 | 1971-05-12 | ||
| GB1404151A (en) * | 1971-07-30 | 1975-08-28 | Gray R | Buildings of solidifiable foamed material |
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Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8029258B2 (en) | 2003-01-21 | 2011-10-04 | University Of Southern California | Automated plumbing, wiring, and reinforcement |
| US7837378B2 (en) | 2003-01-21 | 2010-11-23 | University Of Southern California | Mixer-extruder assembly |
| US8518308B2 (en) | 2003-01-21 | 2013-08-27 | University Of Southern California | Automated plumbing, wiring, and reinforcement |
| JP2006515908A (en) * | 2003-01-21 | 2006-06-08 | ユニバーシティ オブ サウザーン カリフォルニア | Multi-nozzle assembly for wall extrusion |
| EP1587995A2 (en) * | 2003-01-21 | 2005-10-26 | University Of Southern California | Multi-nozzle assembly for extrusion of wall |
| EP1587995A4 (en) * | 2003-01-21 | 2009-09-09 | Univ Southern California | Multi-nozzle assembly for extrusion of wall |
| JP2007518586A (en) * | 2004-01-20 | 2007-07-12 | ユニバーシティ オブ サウザーン カリフォルニア | Automated construction including robotic systems |
| WO2006111827A1 (en) * | 2005-04-21 | 2006-10-26 | Mathieu Leclercq | Aid device for the construction of walls and/or treatment of surfaces |
| US7814937B2 (en) | 2005-10-26 | 2010-10-19 | University Of Southern California | Deployable contour crafting |
| US7874825B2 (en) | 2005-10-26 | 2011-01-25 | University Of Southern California | Nozzle for forming an extruded wall with rib-like interior |
| US7841849B2 (en) | 2005-11-04 | 2010-11-30 | University Of Southern California | Dry material transport and extrusion |
| DE102005062406A1 (en) * | 2005-12-23 | 2007-06-28 | Baufritz-Ag | Method for erecting wall involves extruding first layer onto foundation before adding in reinforcement threads and then applying second layer |
| GB2508007A (en) * | 2012-11-16 | 2014-05-21 | Tim Denholm | 3D printer suitable for constructing buildings |
| GB2510598A (en) * | 2013-02-08 | 2014-08-13 | Timothy James Henry Denholm | A 3D Printer for Printing a Building |
| US20150367588A1 (en) * | 2013-02-08 | 2015-12-24 | Eth Zurich | Apparatus and method for vertical slip forming of concrete structures |
| US9840053B2 (en) * | 2013-02-08 | 2017-12-12 | Eth Zurich | Apparatus and method for vertical slip forming of concrete structures |
| US10486330B2 (en) | 2016-09-14 | 2019-11-26 | Armatron Systems, LLC | Method of reinforced cementitious construction by high speed extrusion printing and apparatus for using same |
| CN109923264B (en) * | 2016-09-14 | 2023-01-06 | 爱马特伦系统有限责任公司 | Method for reinforcing cement buildings by high-speed extrusion printing and apparatus for using the method |
| WO2018052469A3 (en) * | 2016-09-14 | 2018-04-26 | Brian Giles | Method of reinforced cementitious construction by high speed extrusion printing and apparatus for using same |
| EP3513003A4 (en) * | 2016-09-14 | 2020-07-29 | Armatron Systems, LLC | Method of reinforced cementitious construction by high speed extrusion printing and apparatus for using same |
| US10688683B2 (en) | 2016-09-14 | 2020-06-23 | Armatron Systems, LLC | Method of reinforced cementitious construction by high speed extrusion printing and apparatus for using same |
| CN109923264A (en) * | 2016-09-14 | 2019-06-21 | 爱马特伦系统有限责任公司 | Reinforce the method for cement works by high speed extrusion printing and using the equipment of this method |
| JP2019537521A (en) * | 2016-09-14 | 2019-12-26 | アーマトロン システムズ，エルエルシー | Method for building reinforced cement by high-speed extrusion printing and apparatus for using the same |
| WO2018229419A1 (en) * | 2017-06-14 | 2018-12-20 | Xtreee | System for extruding cementitious material beads for an architectural structure additive manufacturing robot |
| KR20200019155A (en) * | 2017-06-14 | 2020-02-21 | 엑스트리이 | Cementitious Material Bead Extrusion System for Robots for Building Structural Lamination Manufacturing |
| FR3067637A1 (en) * | 2017-06-14 | 2018-12-21 | Xtreee | CEMENT MATERIAL CORD EXTRUSION SYSTEM FOR ADDITIVE MANUFACTURING ROBOT OF ARCHITECTURAL STRUCTURES |
| FR3067638A1 (en) * | 2017-06-14 | 2018-12-21 | Xtreee | CEMENT MATERIAL CORD EXTRUSION SYSTEM FOR ADDITIVE MANUFACTURING ROBOT OF ARCHITECTURAL STRUCTURES |
| JP2020523228A (en) * | 2017-06-14 | 2020-08-06 | エックストゥリーイー | A system for extruding cementitious material beads for additive manufacturing robots for building structures. |
| JP7132955B2 (en) | 2017-06-14 | 2022-09-07 | エックストゥリーイー | System for Extruding Cementitious Material Beads for Additive Manufacturing Robots in Building Structures |
| WO2018229418A1 (en) * | 2017-06-14 | 2018-12-20 | Xtreee | System for extruding cementitious material beads for an architectural structure additive manufacturing robot |
| KR102611119B1 (en) | 2017-06-14 | 2023-12-06 | 엑스트리이 | Cementitious material bead extrusion system for robots for additive manufacturing of building structures |
| DE102019107833A1 (en) * | 2019-03-27 | 2020-10-01 | Putzmeister Engineering Gmbh | Device for dispensing a fluid process material |
| WO2020260377A1 (en) * | 2019-06-26 | 2020-12-30 | Saint-Gobain Weber | System for manufacturing mortar-based elements |
| EP3756845A1 (en) * | 2019-06-26 | 2020-12-30 | Saint-Gobain Weber | System for manufacturing mortar-based elements |
| RU2814831C2 (en) * | 2019-06-26 | 2024-03-05 | Сэн-Гобэн Вебер | System for producing elements based on mortar |
| DE102021205519A1 (en) | 2021-05-31 | 2022-12-01 | Putzmeister Engineering Gmbh | Printing system and use of a printing system |
Also Published As
| Publication number | Publication date |
|---|---|
| GB9202815D0 (en) | 1992-03-25 |
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| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |