JP2018069661A - Structure forming method and structure forming system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a structure forming system and a structure forming method for efficiently forming structures with side faces of designated shapes by using three dimensional printers.SOLUTION: A structure forming system 10 includes a nozzle 20 that discharges mortar to form a structure, a robot arm 25, a side member 30 and a control section 50. From the discharge opening of the nozzle 20, mortar is discharged downward. The nozzle 20 is installed on the robot arm 25 which moves in accordance with the commands from a control unit 51 of the control section 50. The side member 30 is positioned along the movement path while kept in a position with a predetermined interval distanced from the movement path of the nozzle 20. The predetermined interval is determined by using the distance that enables the discharged mortar from the nozzle 20 to touch an abutting surface 30s of the side member 30 and fill the gap on the end surface of the lower mortar layer.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a structure forming method and a structure forming system for a structure formed by laminating mortar and the like.

  When forming a three-dimensional structure, a three-dimensional (3D) printer may be used. This 3D printer forms a three-dimensional shape by forming a layer by moving the nozzle while discharging material from the nozzle, and gradually stacking the formed layers. Furthermore, a complicated three-dimensional shape can be formed by changing the shape of each layer.

  The design of a concrete structure using such a 3D printer has also been studied (for example, see Non-Patent Document 1). In Non-Patent Document 1, a nozzle that continuously discharges mortar is moved in an arbitrary direction to form a layer, and the layers are stacked to form a structure.

Nikkei Architecture, “Yei Construction IT Strategy Housing with 3D printers! US University is developing a construction method”, [online], [searched on September 28, 2016], Internet <http://kenplatz.nikkeibp.co .jp / article / it / column / 20140120/648249 />

  However, as shown in FIG. 5, there is a problem with the side surface shape of the concrete structure formed by the 3D printer. When the mortar layer C0 discharged from the nozzle 70 is stacked to form a structure, streaky irregularities are formed on the side surface of the structure. For this reason, when finishing a side surface smoothly, the operation | work which used the iron later was required.

  The present invention has been made in view of the above problems, and an object thereof is to provide a structure forming system and a structure forming method for efficiently forming a structure having a side surface of a desired shape using a three-dimensional printer. There is to do.

  The structure forming method that solves the above problem is a structure forming method in which mortar discharged from a movable nozzle is stacked to form a structure, and a side surface having a contact surface that contacts the mortar. After the member is erected at a position corresponding to the side surface of the structure, the discharged mortar is brought into contact with the contact surface while the nozzle is moved in the horizontal direction while discharging the mortar from the nozzle. Let Thereby, since the side surface of the laminated | stacked mortar is formed with a side member, the structure which has a side surface of a desired shape can be formed efficiently.

  In the structure forming method, a guide member having a discharge port having a central axis different from the central axis of the nozzle is attached to the tip of the nozzle, and the mortar is discharged from the discharge port of the guide member. Is preferred. Thereby, the discharge position can be changed to an arbitrary position. For example, it can be formed even if the mortar to be stacked has a narrow width (size in the horizontal direction orthogonal to the moving direction of the nozzle).

  A structure forming system that solves the above-described problem is a structure forming system that includes a moving unit that moves a nozzle that discharges mortar, and forms the structure by stacking the discharged mortar. A side member having a contact surface to be contacted, and a control unit that moves the nozzle in a horizontal direction by bringing the discharged mortar into contact with the contact surface while discharging the mortar from the nozzle. . Thereby, since the side surface of the laminated | stacked mortar is formed with a side member, the structure which has a side surface of a desired shape can be formed efficiently.

  In the structure forming system, the side member has a plate shape, and the contact surface is installed at a position where the laminated mortar fills the gap between the end portions of the layers and the side surface is smooth. It is preferable that Thereby, a side member can be arrange | positioned in an appropriate position and the side surface of a mortar can be smoothed.

  -In the said structure formation system, it is preferable to provide the widening member which has the discharge port attached to the front-end | tip of the said nozzle and which has a larger diameter than the maximum diameter of the said nozzle. Thereby, when it is desired to increase the horizontal size (width of the mortar) perpendicular to the moving direction of the nozzle, it is possible to efficiently form a structure having a side surface having a desired shape.

  In the structure forming system, the moving member moves the side member together with the nozzle, and the contact surface includes a side surface of the uppermost layer discharged from the nozzle and a side surface of a layer immediately below the uppermost layer. It is preferable to contact at least. Thereby, even if it does not arrange | position a side member before discharging mortar, the structure which has a side surface of a desired shape can be formed efficiently.

  According to the present invention, it is possible to form a structure having a side surface having a desired shape using a three-dimensional printer.

It is explanatory drawing of the structure formation system in 1st Embodiment, Comprising: (a) is a whole conceptual diagram, (b) is an enlarged front view of the principal part, (c) shows a part of formed structure. . It is explanatory drawing of the structure formation system in 2nd Embodiment, (a) is a general view, (b) shows the enlarged front view of the principal part. It is explanatory drawing of the structure formation system in 3rd Embodiment, Comprising: (a) is a general view, (b) shows the enlarged front view of the principal part. It is explanatory drawing of the principal part of the structure formation system in a modification, Comprising: (a) when a side member is attached to a nozzle, (b) is when the width | variety of a side member is attached so that change is possible, (c) is The case where two side members are attached so as to be swingable is shown. The perspective view of the nozzle principal part of the structure formation system in a prior art.

<First Embodiment>
Hereinafter, a first embodiment that embodies a structure forming system and a structure forming method will be described with reference to FIG. In this embodiment, a structure is formed by stacking layers formed by moving a nozzle that discharges mortar.

  Fig.1 (a) and FIG.1 (b) are the conceptual diagrams of a structure formation system, and the enlarged front view of the principal part. FIG. 1C shows a part of the side surface of the structure formed by the structure forming system 10.

As shown in FIG. 1A, the structure forming system 10 of this embodiment includes a nozzle 20, a robot arm 25, a side member 30, and a control device 50.
The nozzle 20 has a reduced diameter at the lower end and discharges the mortar that forms the structure. Therefore, the tip of the lower end is open and forms a discharge port.

  The end of the hose 15 is connected to the end of the nozzle 20 opposite to the discharge port. The mortar is supplied to the nozzle 20 through the hose 15 from a pressure feed pump (not shown) connected to the hose 15 and discharged downward from the discharge port of the nozzle 20.

  A robot arm 25 as a moving means is attached to the nozzle 20 via an attachment portion 21. The nozzle 20 moves horizontally and vertically according to the movement of the robot arm 25. The movement of the robot arm 25 is controlled by an instruction from the control unit 51 of the control device 50. The controller 51 controls the robot arm 25 so that the mortar discharge direction from the nozzle 20 is always in the vertical direction even during movement.

  The control device 50 includes a control unit 51, an input unit and an output unit (not shown). The input unit includes a keyboard, a pointing device, and the like, and supplies information related to the structure to be formed to the control unit 51. The output unit includes a display or the like, and displays input information, a route of a structure to be formed, and the like.

  The control unit 51 includes control means (CPU, RAM, ROM, etc.) and performs a structure forming process. Therefore, the control unit 51 functions as the stacking management unit 511, the movement control unit 512, and the discharge amount control unit 513 by executing the structure forming program stored in the storage unit.

The stacking management unit 511 executes processing for managing the path of mortar to be stacked in order to form a structure.
The movement control unit 512 executes processing for controlling the movement of the robot arm 25 that moves the nozzle 20 in accordance with the path.
The discharge amount control unit 513 executes processing for controlling a pump that pumps mortar discharged from the nozzle 20.

  Further, the side member 30 is erected at the outer peripheral position of the structure to be formed. This side member 30 is a member which forms the side shape of the mortar to laminate. The side member 30 is composed of a thin plate extending in the vertical direction, and the contact surface 30s on the nozzle 20 side is flat. Further, the side member 30 is installed independently. In this embodiment, as shown to Fig.1 (a), the edge part of the two side members 30 is connected, and it makes it L-shape and is made to stand by itself.

  As shown in FIG. 1B, the side member 30 is arranged along the movement path at a position separated from the movement path of the nozzle 20 by a predetermined interval. Further, as the predetermined interval, a distance that allows the mortar discharged from the nozzle 20 to contact the contact surface 30 s of the side member 30 and fill the gap between the end surfaces of the lower mortar layer is used. For example, when mortar is laminated without using the side member 30, the mortar is disposed at the end of the position where the mortar spreads in a substantially planar shape.

  Then, the movement control unit 512 of the control unit 51 controls the movement of the robot arm 25. Specifically, the movement control unit 512 causes the nozzle 20 to move with respect to the contact surface 30 s of the side member 30 along a standing path along the side member 30 while maintaining a predetermined interval. In this case, the discharge amount control unit 513 of the control unit 51 supplies mortar to the nozzle 20 with a discharge amount corresponding to the moving speed of the nozzle 20.

  Then, while discharging the mortar from the nozzle 20, the robot arm 25 is moved along the movement path to generate the mortar layer L1. When the generation of one mortar layer L1 is completed, the robot arm 25 is moved along the movement path while discharging the mortar from the nozzle 20 so as to be stacked on the mortar layer L1, and a new mortar layer L1 is formed. Generate. This is repeated to form a structure. When the side member 30 is removed after the structure is formed, the outer surface of the structure is flat as shown in FIG.

According to this embodiment, the following effects can be obtained.
(1) In the present embodiment, the control unit 51 moves the nozzle 20 with respect to the contact surface 30 s of the side member 30 while maintaining a predetermined interval. As the predetermined interval, a distance that allows the mortar discharged from the nozzle 20 to come into contact with the contact surface 30 s of the side member 30 and fill the gap between the end surfaces of the lower mortar layer is used. Thereby, the mortar discharged from the nozzle 20 contacts the contact surface 30s of the side member 30, and the outer surface of the structure is flattened.

  (2) In the present embodiment, the control unit 51 controls the robot arm 25 that moves the nozzle 20 so that the lower surface on which the discharge port of the nozzle 20 is formed does not tilt during movement. Thereby, the side member 30 can be erected in consideration of the discharge direction of the mortar.

  (3) In the present embodiment, the plurality of side members 30 are arranged independently by being connected. Thereby, in the structure which has a corner, the side member 30 can be arrange | positioned easily.

<Second Embodiment>
Next, a second embodiment will be described with reference to FIG. In the first embodiment, mortar is discharged directly under the nozzle 20. In the present embodiment, ejection is performed such that the size in the horizontal direction (width of the mortar) orthogonal to the moving direction of the nozzle 20 is larger than the size in the first embodiment. In the present embodiment, the same parts as those in the above embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 2A, in the structure forming system 10 of the present embodiment, the widening member N1 is attached to the tip of the nozzle 20. The widening member N1 has a hollow truncated cone shape. The upper surface opening of the widening member N <b> 1 has a diameter that can be fitted to the nozzle 20. The diameter D1 of the lower surface opening (discharge port) of the widening member N1 is larger than the diameter of the discharge port of the nozzle 20 and the maximum diameter D0. In the present embodiment, the mortar layer L2 is formed by discharging mortar from the widening member N1. For this reason, mortar is discharged with a width larger than the width of the nozzle 20 of the first embodiment (the size in the horizontal direction orthogonal to the moving direction of the nozzle 20).

  As shown in FIG. 2B, also in this embodiment, the side member 30 is arranged along the movement path at a position separated from the movement path of the nozzle 20 by a predetermined interval, as in the above embodiment.

According to this embodiment, in addition to the effects similar to the effects described in (1) to (3) above, the following effects can be obtained.
(4) In this embodiment, the widening member N1 is detachably attached to the tip of the nozzle 20 that discharges mortar. The diameter D1 of the discharge port of the widening member N1 is larger than the maximum diameter D0 of the nozzle 20. Accordingly, a structure having a wide mortar width and a flat side surface can be formed.

<Third Embodiment>
Next, a third embodiment will be described with reference to FIG. In this embodiment, the mortar width is discharged so as to be narrower than the mortar width in the first embodiment. In the present embodiment, the same parts as those in the above embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

As shown to Fig.3 (a), in the structure formation system 10 of this embodiment, the guide member N2 is attached to the front-end | tip of the nozzle 20. As shown in FIG.
As shown in FIG. 3B, the guide member N2 is bent so that the center axis Cn1 of the lower surface opening (discharge port) is closer to the side member 30 side than the center axis Cn0 of the nozzle 20. The upper surface opening of the guide member N2 can be fitted to the nozzle 20. In this embodiment, since mortar is discharged from this guide member N2, mortar is discharged with a narrower width than the nozzle 20 of the first embodiment to form the mortar layer L3.

  As shown in FIG. 3B, in this embodiment as well, in the same manner as in the above embodiment, the side member 30 is arranged along the movement path while maintaining a position separated from the movement path of the nozzle 20 by a predetermined distance. To do.

According to this embodiment, in addition to the effects similar to the effects described in (1) to (3) above, the following effects can be obtained.
(5) In this embodiment, the guide member N2 is detachably attached to the tip of the nozzle 20 that discharges mortar. The guide member N2 is bent so that the center axis Cn1 of the lower surface opening (discharge port) is outside the center axis Cn0 of the nozzle 20. Thereby, the mortar discharged from the nozzle 20 can be guided to a desired position. For example, a structure having a narrow mortar width and a flat side surface can be formed.

Further, the above embodiments may be modified as follows.
In each of the above embodiments, the side member 30 is erected at a position separated from the movement path of the nozzle 20 by a predetermined interval. The side member 30 only needs to be located at a predetermined distance from the moving path, and is not limited to the case where the side member 30 is erected. For example, it is good also as a structure moved with the nozzle 20. FIG.

  Specifically, as shown in FIG. 4A, the side member 40 is attached to the side portion of the nozzle 20. The side member 40 has a length extending in the vertical direction to the immediately lower layer L5 of the upper layer L4 formed by the mortar discharged from the nozzle 20. Further, the side surface member 40 is attached at a position where the contact surface 40s on the nozzle 20 side is separated from the nozzle 20 by a predetermined interval, as in the above embodiment. As this predetermined interval, a distance that can contact the mortar discharged from the nozzle 20 and fill the gap between the end surfaces of the upper layer L4 and the immediately lower layer L5 is used. Thereby, since the position of the side member 40 is determined with respect to the nozzle 20, the path | route of a nozzle can be defined freely. For example, the position of the side member 40 can be changed while the formation of the structure is started.

Furthermore, in this case, an elevating device that elevates and lowers the side member 40 in the vertical direction may be attached to the nozzle 20. In this case, the side member 40 can be moved up and down according to the size and shape of the contact surface. For example, when it reaches a position where the side surface is not formed, such as a portion where the mortars stacked by the nozzle 20 are connected, the side member 40 is raised so that the side member 40 does not interfere with the formation of the structure. Can be.
The side member 40 that moves together with the nozzle 20 may be attached to the widening member N1 or the guiding member N2 instead of being directly attached to the nozzle 20.

  Further, as shown in FIG. 4B, side members 45 and 46 may be attached to both sides of the nozzle 20. In this case, the interval between the side members 45 and 46 may be adjusted. The control unit 51 changes the mortar width by changing the discharge amount of the mortar. In this case, the side members 45 and 46 can be arranged at positions separated from the end of the mortar by a predetermined interval.

  Further, the interval between the side members 45 and 46 may be freely changed. For example, the side members 45 and 46 are configured to be freely slidable and the distance between the side members 45 and 46 is changed such that the side members 45 and 46 are expanded by the pressure of the discharged mortar. It may be. In this case, since the pressing force is reduced at the end of the mortar, the spread of the end can be suppressed and flattened.

  Moreover, as shown in FIG.4 (c), you may attach the side members 47 and 48 so that rocking is possible centering | focusing on the attachment position of an upper end part. As a result, the mortar discharge position is moved to the nozzle side according to the height, and in the structure having the inclined outer surface, the side members 47 and 48 abut against the outer surface, so that the inclined outer side surface is flattened. You can also

  In each of the above embodiments, the side member 30 is erected, but the side member 30 may be moved separately from the movement of the nozzle 20. For example, you may raise the side member 30 according to the hardening state or lamination | stacking state of mortar.

  Specifically, the side member 30 having a height about half that of the structure is used. The side member 30 is attached to a guide rail extending in the height direction so as to be vertically movable. First, when the side member 30 is erected on the installation surface and the mortar is laminated to the vicinity of the upper end of the side member 30, the side member 30 is extended along the guide rail to the center height of the structure to be formed. Raise and fix and stack mortar. And when mortar is laminated | stacked to the upper end vicinity of the side member 30 fixed to about center height, the side member 30 is raised again and it fixes in the position where the upper surface of a side member becomes more than the height of a structure. And stacking mortar. Thereby, when forming a high structure, the side member whose height is lower than the overall height of the structure can be used.

  In each of the above embodiments, the side member 30 formed of a flat thin plate is used. The contact surface 30s on the nozzle 20 side of the side member 30 is not limited to a flat shape, and for example, a shape corresponding to the shape of a desired side surface of the structure may be formed. Thereby, even if it is other than flat, a desired side surface shape can be formed efficiently.

  Further, the side member 30 is not limited to the thin plate shape extending linearly in the horizontal direction, and may have a shape having a contact surface bent in the horizontal direction. In this case, even if the nozzle 20 does not move completely along the shape of the contact surface of the side member 30, the mortar comes into contact with the contact surface, thereby having a side surface having a shape along the contact surface. Things can be formed.

  L1, L2, L3 ... Mortar layer, L4 ... Upper layer, L5 ... Directly lower layer, N1 ... Widening member, N2 ... Induction member, Cn0, Cn1 ... Central axis, 10 ... Structure forming system, 20 ... Nozzle, 21 ... Mounting part , 25 ... Robot arm, 30, 40, 45, 46, 47, 48 ... Side members, 30s, 40s ... Contact surface, 50 ... Control device, 51 ... Control unit, 511 ... Stacking management unit, 512 ... Movement control unit 513: A discharge amount control unit.

Claims (6)

A structure forming method for forming a structure by laminating mortar discharged from a movable nozzle,
After the side member having a contact surface to be brought into contact with the mortar is erected at a position corresponding to the side surface of the structure,
While discharging the mortar from the nozzle, the discharged mortar is brought into contact with the contact surface to move the nozzle in a horizontal direction.   The guide member having a discharge port having a central axis different from the central axis of the nozzle is attached to the tip of the nozzle, and the mortar is discharged from the discharge port of the guide member. The structure formation method as described. A moving means for moving a nozzle for discharging mortar,
A structure forming system for forming a structure by laminating the discharged mortar,
A side member having an abutment surface to contact the mortar;
A structure forming system, further comprising: a controller that moves the nozzle in a horizontal direction by bringing the discharged mortar into contact with the contact surface while discharging the mortar from the nozzle. The side member has a plate shape,
4. The structure forming system according to claim 3, wherein the contact surface is installed at a position where the laminated mortar fills a gap between end portions between layers and the side surface is smooth.   The structure forming system according to claim 3, further comprising a widening member attached to a tip of the nozzle and having a discharge port having a diameter larger than a maximum diameter of the nozzle. The moving means moves the side member together with the nozzle,
4. The structure forming system according to claim 3, wherein the contact surface is in contact with at least a side surface of the uppermost layer discharged from the nozzle and a side surface of a layer immediately below the uppermost layer.