JP2018199940A - Construction method of layered structure, layered structure and construction equipment for layered structure - Google Patents

Abstract

To provide a construction technique of layered structure capable of improving joint strength between layers.SOLUTION: When constructing a footing 10 as a layered structure, a shell wall portion 11 is formed by laminating a print material 1 as a hydraulic mixture along a contour of a shell wall to be constructed and embedding a reinforcement body 4 for improving the joint strength between the layers. Subsequently, a filled portion 17 is formed by filling a segment 11k enclosed by the shell wall portion 11 with a ready-mixed concrete 2 as a filling material.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for constructing a laminated structure.

In recent years, various techniques for constructing a laminated structure by applying a 3D printer technique have been proposed (see, for example, Patent Documents 1 and 2). As an example of constructing a laminated structure using 3D printer technology, first, the three-dimensional shape of the structure to be constructed is modeled by a computer, and then divided into a number of layers from the modeled three-dimensional data. The generated two-dimensional data is generated.
Then, the printing raw material is discharged from the nozzle of the movable supply head based on the two-dimensional data of each layer, and the two-dimensional shape of each layer is constructed. Then, on the constructed two-dimensional printed layer, the printing raw materials are laminated one by one based on the two-dimensional data of the subsequent layers, thereby constructing a three-dimensional laminated structure.

For example, in the technique described in Patent Document 1, by using a construction apparatus including a plurality of robot arms that can move three-dimensionally, a plurality of robot arms corresponding to each of a plurality of types of members are used to comprehensively construct different materials. It can be constructed even if it is a laminated structure existing in the printing raw material.
Further, for example, in the technique described in Patent Document 2, using the 3D printer technology, two edges separated from each other in the opposite direction by, for example, a fast-curing material are simultaneously constructed from a plurality of supply heads. It is said that a wall made of a laminated structure can be constructed by simultaneously filling a filler such as cement between them.

Japanese Patent Laid-Open No. 2006-108801 Japanese Patent No. 4527107

Here, the laminated structure using the 3D printer technology has a laminated structure in which printing raw materials are laminated. However, in 3D printing alone, there is no shaft member that bears a tensile force by connecting the layers. There is a problem that the bonding strength between layers (integration between adjacent layers) may be lowered. Such a problem becomes more prominent as the laminated structure to be constructed becomes larger.
In addition, when a hydraulic mixture such as concrete is used as a printing raw material, since the concrete material is vulnerable to stress in the tensile direction, it is conventional to place a reinforcing body such as a fiber to be reinforced in the tensile direction in the printing raw material in advance. It is thought from. However, in the case of a laminated structure using 3D printer technology, considering the discharge of the printing material from the nozzle, the amount of the reinforcing material that can be mixed into the concrete material is limited, or the printing material from the nozzle There is a possibility that the reinforcing body prevents smooth discharge.

On the other hand, although the technique described in Patent Document 1 constructs a laminated structure comprehensively with a plurality of robot arms corresponding to each of a plurality of types of members, a lamination process of constructing with a robot arm that discharges a printing material. Since this is the same as the conventional 3D printer technology, there is still room for study in improving the bonding strength between the layers.
Also, in the technique described in Patent Document 2, although the “wall” made of a laminated structure can be constructed, the lamination process of the printing material is the same as the conventional 3D printer technique. It cannot be said that the point is solved.
Then, this invention makes it a subject to provide the construction method of a laminated structure which can improve the joint strength between each layer, a laminated structure, and a laminated structure construction apparatus.

  In order to solve the above-mentioned problems, among the present invention, the method for constructing a laminated structure according to one aspect of the present invention is a laminate structure in which a hydraulic mixture that has fluidity during construction and is cured after construction is laminated. A shell wall forming step of forming the shell wall portion by laminating the hydraulic mixture along the contour of the shell wall to be constructed, and layers adjacent to each other above and below the shell wall portion. And a reinforcing body embedding step of embedding the reinforcing bodies so as to be connected.

  Here, in the construction method of the laminated structure according to one aspect of the present invention, the hydraulic mixture can be placed along the contour at the time of supply, and the supply position on the contour at the time of lamination. It is preferable to have a thixotropy that is fixed and self-supporting so as to be able to be laminated on the upper part, and a fast-curing property that is fixed to the supply position on the contour after the lamination and is self-supporting and hardened so as to be able to be laminated also on the upper part. .

  According to the method for constructing a laminated structure according to one aspect of the present invention, when constructing a laminated structure, first, a hydraulic mixture is laminated along the outline of the shell wall to be constructed to form a shell wall portion. In addition, since the reinforcing body for improving the bonding strength between the layers constituting the shell wall portion is embedded in the layer, the bonding strength between the layers can be improved.

  Moreover, in order to solve the said subject, the laminated structure which concerns on 1 aspect of this invention is a laminated structure formed by laminating | stacking the hydraulic mixture which has fluidity | liquidity at the time of construction, and hardens after construction. A shell wall portion formed by laminating a hydraulic mixture along the outline of the shell wall, and a reinforcing body embedded so as to connect the layers adjacent to each other at the top and bottom of the shell wall portion. It is characterized by.

  According to the laminated structure according to one aspect of the present invention, the shell wall portion is formed by laminating the hydraulic mixture along the outline of the shell wall to be constructed, and further, the layers constituting the shell wall portion are joined to each other. Since the reinforcing body is embedded in the layer so as to improve the strength, it is possible to obtain a structure in which the bonding strength between the layers is improved as compared with the conventional laminated structure.

  Moreover, in order to solve the said subject, the laminated structure construction apparatus which concerns on 1 aspect of this invention is the hydraulic mixture supply apparatus which supplies the said hydraulic mixture along the outline of the shell wall which should construct | assemble, and the said reinforcement And a reinforcing body embedding device for embedding a body in the layer of the shell wall portion.

  Here, in the laminated structure construction apparatus according to one aspect of the present invention, the hydraulic mixture supply apparatus is preferably an apparatus including a 3D printer. Moreover, it is preferable that the material supply port of the said hydraulic mixture supply apparatus has a nozzle with a polygonal cross section.

  According to the laminated structure construction apparatus according to one aspect of the present invention, when the laminated structure is constructed, the hydraulic mixture is laminated by the hydraulic mixture supply apparatus along the outline of the shell wall to be constructed. A wall can be formed. And a reinforcement body can be embedded in the layer of a shell wall part separately from lamination | stacking of a hydraulic mixture with a reinforcement body embedding apparatus. Therefore, it is possible to efficiently construct a laminated structure having improved bonding strength between layers.

  As described above, according to the present invention, it is possible to provide a construction technique for a laminated structure capable of improving the bonding strength between the respective layers.

It is typical explanatory drawing of the construction site of the laminated structure which concerns on 1 aspect of this invention. It is a principal part enlarged view which shows the part of the supply head of FIG. It is a schematic diagram which shows the ZZ cross section of FIG. 1, the same figure (a) shows the shell wall part formed through the shell wall formation process and the reinforcement body embedding process, (b) is a shell in a division filling process. The state which the filling part was formed in the division of a wall part is shown. It is a figure explaining the construction method of the laminated structure shown in FIG. 1, In the same figure, the cross section of the printed layer is abbreviate | omitted hatching, and is shown typically (in the explanatory drawing of another construction method). It is a figure ((a)-(c)) explaining the construction method of the laminated structure shown in FIG. It is a schematic diagram ((a)-(e)) explaining the modification of the reinforcement body which concerns on this invention. It is a typical perspective view ((a), (b)) explaining the modification of the reinforcement body which concerns on this invention. It is a figure explaining the construction example of the reinforcement body shown in FIG. It is a figure explaining the modification (1st modification) of the reinforcement body embedding apparatus which concerns on this invention. It is a figure explaining the modification (2nd modification) of the reinforcement body embedding apparatus which concerns on this invention, The figure (a) is the front view, (b) is a top view. It is a figure explaining the modification (3rd modification) of the reinforcement body embedding apparatus which concerns on this invention, The figure (a) is the front view, (b) is a top view. It is a figure ((a), (b)) explaining the modification of the shell wall part which comprises the laminated structure which concerns on this invention, and its construction method. It is a figure ((a), (b)) explaining the modification of the shell wall part which comprises the laminated structure which concerns on this invention, and its construction method, The figure shows the XX cross section of FIG. Yes. It is a figure ((a)-(c)) explaining the modification of the nozzle attached to the supply head which concerns on this invention, The figure has shown the YY cross section of FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. The present embodiment is a construction technique for a laminated structure to which 3D printer technology is applied, which can improve the productivity and workability of the laminated structure. The drawings are schematic. For this reason, it should be noted that the relationship between the thickness and the planar dimension, the ratio, and the like are different from the actual ones, and the dimensional relationship and the ratio are different between the drawings. Further, the following embodiments or modifications exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the material, shape, The structure, arrangement, etc. are not specified in the following embodiments or modifications.

  As shown in the schematic diagram of FIG. 1, the laminated structure of the present embodiment is an example of a construction site G where a footing 10 of a pier is constructed on the ground. The footing 10 of the present embodiment includes a hydraulic mixture supply device 20 configured as a three-dimensional laminating device including a 3D printer as a construction device, a reinforcing body embedding device 60 for improving the bonding strength between the layers, It is constructed by a concrete pump vehicle 40 which is a filling material supply device.

First, the hydraulic mixture supply device 20 will be described.
As shown in the figure, the hydraulic mixture supply device 20 is configured in the same manner as a climbing crane, and can be raised and lowered along the mast 21 with a mast 21 standing on the ground and capable of being added, and a jack-up device built therein. And a base frame 22.
On the base frame 22 are mounted a turntable 23 having a built-in turning mechanism and an articulated robot arm 24 supported on the turntable 23. The base frame 22 controls a supply chamber 28 that can store the printing raw material 1 that is a hydraulic mixture, a supply pump 29 attached to the supply chamber 28, a supply pump 29, a swivel base 23, and a robot arm 24. And a control unit 30 to be equipped.

Further, the hydraulic mixture supply device 20 includes a supply head 25 connected to the tip of the robot arm 24 and having a nozzle 26, and a raw material supply pipe 27 connected to the supply head 25 so that the print raw material 1 can be supplied. Prepare. The robot arm 24 is a multi-axis robot having arms 24 a to e constituting a plurality of joints, and is configured to be able to move the supply head 25 along the contour of the footing 10. In particular, the final stage arm 24e is capable of a 360 ° turning operation on a horizontal plane.
The primary side supply pipe 27a of the raw material supply pipe 27 is detachably connected to the primary side of the supply chamber 28. For example, the necessary print raw material 1 from the concrete mixer truck 90 is supplied to the supply chamber 28 via the primary side supply pipe 27a. It can be refilled. A secondary side supply pipe 27 b of the raw material supply pipe 27 is connected to the secondary side of the supply chamber 28. A pump capable of pumping the printing raw material 1 to the supply chamber 28 is provided on the concrete mixer truck 90 side.

  Here, a hydraulic mixture is used for the printing raw material 1 of the present embodiment. In the present specification, the “hydraulic mixture” is meant to include various cement-based mixed materials (for example, cement paste, mortar, concrete), and uses a material that is self-supporting and has fast hardening properties. Independence can be confirmed by, for example, thixotropy. In order to obtain quick hardening, an early strength material, addition of a cement hardening accelerator, or a quick setting agent may be used. Shotcrete can also be used in some cases.

Examples of the material having fast curing include materials disclosed in JP-A-2005-187257, JP-A-49-77934, JP-A-48-1024, and the like. In addition, as a material having high thixotropy, there is a high thixotropy type non-shrinkage special polymer-based cross-sectional repair mortar material “Noshitar (registered trademark: Dopy Construction Industries, Ltd.)”.
In the case of ready-mixed concrete, for example, a slump value in the range of 15 cm to 24 cm is preferable, and a slump value in the range of 18 cm to 24 cm is more preferable. In the case of mortar, for example, a blow flow value in the range of 175 to 195 mm is preferable, and a blow flow value in the range of 180 to 190 mm is more preferable.

  Examples of the “hydraulic mixture” include, for example, Portland cement, blast furnace cement, silica cement, fly ash cement, eco cement, slag cement, calcium alumina cement, plaster, phosphate cement, white cement, high alumina cement, magnesium oxychloride cement, MDF cement, DSP cement, pillament type cement and densit type cement can be used.

That is, the printing raw material 1 of the present embodiment has a fluidity that can be placed along the contour of the footing 10 without using a mold when supplying it, and is fixed to the supply position on the contour when stacked, and the upper part thereof. In addition, it has a thixotropy that is self-supporting so as to be capable of being laminated, and a fast-curing property that is fixed to a supply position on the contour after the lamination and is self-supporting and hardened so as to be able to be laminated on the upper part.
In addition, the printing raw material 1 includes short fibers, steel fibers, and glass, which are formed of needle-shaped synthetic resin fibers such as polypropylene fibers, polyvinyl alcohol fibers, polyester fibers, and aramid fibers as reinforcing materials other than the reinforcing body 4 described later. Inorganic fibers such as fibers, silica fibers, ceramic fibers, and carbon fibers may be mixed with the main material in advance.

Here, in the hydraulic mixture supply device 20 of the present embodiment, a reinforcing body embedding device 60 that embeds the reinforcing body 4 for improving the bonding strength between the layers constituting the shell wall portion in the layer is provided in the supply head 25. Is attached.
Specifically, the reinforcing body embedding device 60 includes a device main body 61 mounted on the supply head 25 and an injection nozzle 62 provided at a lower portion of the device main body 61 as shown in an enlarged view of the main part in FIG. . Inside the apparatus main body 61, a magazine 63 is housed that accommodates a large number of reinforcing bodies 4 and is capable of supplying each reinforcing body 4 to a predetermined injection position. An injection device 64 capable of injecting high-pressure air toward the rear of the reinforcing body 4 at the injection position is disposed above the injection position, and the reinforcing body 4 at the injection position is directed downward from the injection nozzle 62. Injection is possible.

  The hydraulic mixture supply device 20 and the reinforcing body embedding device 60 can be operated by remote operation by radio from a remote controller (not shown). When receiving the control signal for executing the automatic operation from the remote controller, the control unit 30 shown in FIG. 1 executes the 3D printing process corresponding to the automatic operation according to the received control signal, and the reinforcement body embedding device 60. It is possible to control the entire hydraulic mixture supply device 20 including In the present embodiment, the shell wall portion 11 of the footing 10 shown in FIG. 3A is constructed by 3D printing processing by the hydraulic mixture supply device 20. In the example of the present embodiment, as shown in the figure, 3D printing is performed along the outline of the shell wall portion 11 having a rectangular frame shape in plan view.

Next, the concrete pump vehicle 40 which is a filling material supply apparatus will be described.
In this embodiment, after the shell wall portion 11 of the footing 10 is constructed by the 3D printing process by the hydraulic mixture supply device 20, the inner side of the shell wall portion 11 is self-filling as shown in FIG. The filling part 17 is constructed by filling with a filling material. As the filling material, in addition to the ready-mixed concrete 2 as in the present embodiment, various cement-based mixed materials (for example, cement paste, mortar, concrete) mixed with organic fibers and inorganic fibers, the amount of reinforcing material, and filling It can be used appropriately depending on the space, filling shape, and the like. If high fluidity concrete is used, it can be filled without compaction. In addition, if medium-fluidity concrete is used, compaction work is reduced. In addition, as a material having high fluidity, cement-based materials such as fluidized soil, air mortar, and cement milk can be filled.
In the present embodiment, a concrete pump method is adopted as the placing method for the filling portion 17. In the concrete pump construction method of this embodiment, the ready-mixed concrete 2 conveyed to the construction site by the concrete mixer truck 90 shown in FIG. Perform placement.

  As shown in FIG. 1, this concrete pump vehicle 40 is a general concrete pump vehicle, and is provided with a concrete pump 44 mounted on a frame 41 of the vehicle and a cylinder on the frame 41 so as to be able to bend and stretch. A multi-stage boom 42. The concrete pump 44 is configured so that the ready-mixed concrete 2 introduced from the concrete mixer truck 90 can be sucked into a hopper 45 provided on the frame 41 and fed to the transfer pipe 43. The concrete pump vehicle 40 pressure-feeds the ready-mixed concrete 2 discharged by the concrete pump 44 from the front end of the transfer pipe 43 supported by the multistage boom 42 to a placement site in the shell wall portion 11 of the footing 10 by the operation of the operator. It is configured to be possible.

Next, the construction method of the laminated structure of this embodiment and the effect are demonstrated.
In the 3D printing by the hydraulic mixture supplying device 20, the three-dimensional shape of the footing 10 to be constructed is computer-modeled in advance, and the contour of the shell wall portion 11 divided into many thin layers from the modeled data. The basic construction data necessary for 3D printing is prepared by generating 2D data. The foundation construction data is stored in advance in the storage device of the control unit 30 of the hydraulic mixture supply device 20.

  The operator transmits a control signal for executing automatic operation from the remote controller to the hydraulic mixture supply apparatus 20 by wireless remote operation. The control unit 30 of the hydraulic mixture supply device 20 executes a corresponding 3D printing process in accordance with the received control signal. When a predetermined 3D printing process is executed by the control unit 30, the control unit 30 first moves the swivel base 23 and the robot arm 24 to start stacking on the outline of the shell wall portion 11 to be constructed of the footing 10. At the point, the supply head 25 and the reinforcing body embedding device 60 attached to the supply head 25 are positioned.

  Thereafter, the control unit 30 drives the supply pump 29 attached to the supply chamber 28 and positions the swivel base 23 and the robot arm 24 along the outline of the shell wall portion 11 to be constructed based on the foundation construction data. The printing raw material 1 is supplied to the supply head 25 through the secondary supply pipe 27 b and discharged from the nozzle 26. Thereby, one printed layer according to the foundation construction data can be formed on the outline of the shell wall portion 11.

  Here, the shell wall portion 11 has a structure in which the printing raw material 1 is laminated. In 3D printing alone, there is no shaft member that bears a tensile force by connecting the layers, so the stacked portions between the layers There is a possibility that the bonding strength of the sheet becomes low. Therefore, in the present embodiment, when each print layer of the shell wall portion 11 is formed by the hydraulic mixture supply device 20, as shown in FIGS. 2 and 3, the reinforcing body 4 is separated from the 3D printing in the print layer. Is buried. In addition, as the reinforcement body 4, reinforcement members, such as a steel material, a reinforcing bar, and a continuous fiber, can be arrange | positioned in the laminated part of the outline of the shell wall part 11 by the printing raw material 1 which is a hydraulic mixture. In the present embodiment, the reinforcing body 4 is an example in which a linear reinforcing bar member is arranged with its axis vertically.

In the construction method of the laminated structure of the present embodiment, the hydraulic mixture supply device 20 forms a single print layer, and then 3D-prints the print raw material 1 one by one based on the basic construction data, while predetermined in each layer. The printed layers in which the plurality of reinforcing bodies 4 are embedded can be stacked in order.
Specifically, as shown in FIG. 2, the hydraulic mixture supply device 20 first discharges the printing raw material 1 from the supply nozzle 26 along an intended outline to form the first layer 11p among the print layers ( Step 1). As described above, the printing raw material 1 has a thixotropy that can be stacked, and uses a material that has a certain degree of independence before discharging the next printing layer. A first layer 11p can be formed along the printed layer.

  Next, the reinforcing body embedding device 60 is slightly delayed from the discharge timing of the printing raw material 1 from the supply nozzle 26, and is predetermined from the injection nozzle 62 of the reinforcing body embedding device 60 to the unsolidified first layer 11p. The reinforcing body 4 is directed vertically toward the first layer 11p at intervals, and its axis is injected vertically, and the lower end side of the reinforcing body 4 is embedded in the first layer 11p (step 2). The embedding amount on the lower end side of the reinforcing body 4 is adjusted so that ½ of the entire length of the reinforcing body 4 is embedded by adjusting the injection pressure according to the shape of the reinforcing body 4 and the viscosity of the printing raw material 1. It is set in advance.

Here, as described above, the robot arm 24 is configured such that the final stage arm 24e can rotate 360 ° on a horizontal plane. Therefore, the position of the injection nozzle 62 with respect to the supply nozzle 26 can always be positioned at a tracking position slightly delayed from the discharge timing by the tracking control by turning the arm 24e.
Thereby, according to this embodiment, the reinforcement body embedding device 60 injects the reinforcement body 4 from the injection nozzle 62 while following the movement path of the supply head 25, as shown in FIG. 3A and FIG. In addition, a plurality of reinforcing bodies 4 can be embedded at a predetermined interval and a predetermined depth in one print layer along the contour of the footing 10.
In addition, since the printing raw material 1 which is a hydraulic mixture constituting each print layer is rapidly cured, the control unit 30 moves the feeding head 25 according to the curing conditions such as the amount of moisture contained in the printing raw material 1. In addition, the injection timing of the reinforcing body 4 to each print layer by the reinforcing body embedding device 60 is controlled. However, when the reinforcing body 4 is embedded, the reinforcing body 4 may be embedded while laminating the print layers as in the present embodiment, as long as the print layer of the printing raw material 1 is in an unsolidified state. You may embed in an appropriate time before and after lamination | stacking of a print layer.

  Furthermore, in the construction method of the laminated structure of the present embodiment, as shown in FIG. 5A, after embedding the reinforcing body 4 in the first layer 11p of the printed layer, the printed layer is formed on the first layer 11p. While discharging the printing raw material 1 constituting the second layer 11q from the supply nozzle 26, the predetermined interval from the injection nozzle 62 of the reinforcing body embedding device 60 with respect to the unsolidified second layer 11q, as in the step 2. Then, the reinforcing body 4 is injected toward the second layer 11q, and the lower end side of the reinforcing body 4 is embedded in the second layer 11q. As a result, the reinforcing body 4 between the second layer 11q and the first layer 11p, which is one step below the second layer 11q, allows the printed layers adjacent to each other in the upper and lower sides to improve the bonding strength between the layers constituting the shell wall portion 11. (Step 3).

At this time, as shown in FIG. 5B, among the multi-stage print layers, the arrangement of the plurality of reinforcing bodies 4 already embedded in the lower print layer 11q is changed to the upper print layer 11v. If the reinforcing body 4 to be embedded is arranged at a position that moves back and forth in the extending direction of the print layer 11v that is currently being laminated to form a staggered arrangement, the shell wall portion 11 can be integrated more firmly.
In the present embodiment, the injection timing of the reinforcing body 4 is controlled for each layer so as to have such a staggered arrangement. Hereinafter, as shown in FIG. 5C, the first layer 11p, the second layer 11q, and the third layer 11v are formed by the above-described procedure for forming a plurality of print layers from the printing raw material 1 and embedding the reinforcing body 4. By repeating the fourth layer 11w, the fifth layer 11x, the sixth layer 11y,..., It is possible to form the shell wall portion 11 that is a laminated structure in which the laminated layers are integrated (step 4).

  As described above, in the present embodiment, each print layer of the shell wall portion 11 supplied from the supply head 25 and constructed on the foundation of the footing 10 is sequentially cured, and again on the cured print layer. The formation of the printed layer based on the two-dimensional contour data of the shell wall portion 11 of the layer is repeated while embedding the reinforcing body 4 at a predetermined interval to construct a desired three-dimensional shell wall shape of the footing 10 (shell) Wall formation process, reinforcement body embedding process). Next, in the present embodiment, the concrete pump vehicle 40 described above fills the section 11k of the shell wall portion 11 with the ready-mixed concrete 2 to form the filling section 17 (section filling step).

  According to the shell wall portion 11 of the laminated structure of the present embodiment thus constructed, the arrangement state of the reinforcing bodies 4 between the layers is staggered with respect to the reinforcing bodies 4 of other layers adjacent to each other in the vertical direction. The reinforcing bodies 4 are alternately arranged so as to be positioned. Therefore, the footing 10 constructed in this manner is suitable for improving the bonding strength between the layers because the reinforcing bodies 4 are arranged in a staggered manner as the entire shell wall portion 11. In addition, as shown to the figure (c), about the uppermost printed layer of the shell wall part 11, embedding of the reinforcement body 4 can be made unnecessary.

  Note that the stacking position of the shell wall portion 11 in the Z-axis direction is controlled by movement control of the swivel base 23 and the robot arm 24 as long as the swivel base 23 and the robot arm 24 are movable. Further, when the movable range of the swivel base 23 and the robot arm 24 is exceeded, the jack-up device of the base frame 22 with respect to the mast 21 is driven and the climbing operation of the base frame 22 is performed.

Here, the thickness and height of the shell wall portion formed on the outer periphery of the laminated structure can suppress deformation due to its own weight when constructing the shell wall portion by stacking, and the hydraulic pressure corresponding to the outer peripheral height that acts during internal filling. Can be appropriately determined in consideration of the above.
For example, as shown in FIG. 1, in this embodiment, the construction regions α, β, γ, etc. are divided into the construction regions α, β, γ, etc. in order from the bottom of the shell wall portion 11, and each of the construction regions α, β, γ is defined as one cycle. Thereafter, by repeating the same procedure, a shell wall constrained laminated structure can be constructed. If the hydraulic mixture supply device 20 is a climbing crane type as in this embodiment, it is preferable because the height of the base frame 22 can be moved in accordance with each construction region by driving the jack-up device.

Thus, according to the present embodiment, when the footing 10 that is a laminated structure is constructed at the construction site, first, the print raw material 1 is placed along the contour of the shell wall portion 11 to be constructed of the footing 10. The shell wall portion 11 having the section 11k that is laminated and closed around is formed, and then the concrete 11 is filled into the section 11k of the shell wall portion 11 to form the filling portion 17, so that the construction can be speeded up. Therefore, it is possible to provide concrete construction technology applying 3D printer technology that can improve the workability of concrete construction for the purpose of labor saving and unmanned dangerous work.
In particular, according to this embodiment, the printing raw material 1 uses a blend mainly composed of a cement-based material having high thixotropy and being self-supporting and fast-curing, and the outer peripheral shell wall ( Forms are unnecessary because the outer shell) can be precisely laminated and constructed with a 3D printer. In addition, it is possible to eliminate the construction of the scaffold and the work for removing it.

  And according to this embodiment, when constructing a laminated structure, first, an outer periphery having a section in which the printing raw material 1 (hydraulic mixture) is laminated along the outline of the shell wall to be constructed and the periphery is closed Since the shell wall portion 11 which is a shell wall is formed, and then the concrete 11 (filling material) is filled in the section 11k of the shell wall portion 11 to form the filling portion 17, the entire laminated structure is formed. Compared with the method of constructing with the printing raw material 1 discharged from the nozzle tip, the laminated structure can be constructed efficiently at the construction site. Therefore, it is suitable for application to a laminated structure having a large bottom area such as a footing, a beam, or a column.

Here, the conventional 3D printer technology has a problem that it is difficult to construct a laminated structure in which different kinds of materials are combined. On the other hand, if it is the laminated structure construction apparatus of this embodiment, the outer peripheral shell wall part 11 is formed with the hydraulic mixture supply apparatus 20, and the inside is filled with the self-filling property by the concrete pump truck 40. Since it is the structure filled with the ready-mixed concrete 2 as a material, when the filling part 17 is formed, the structure in which a reinforcing bar or a steel frame is reinforced as a framework inside is possible.
Note that the filling material is not limited to ready-mixed concrete, and ready-made concrete can be used in various forms. For example, it is possible to use ready-mixed concrete having high fluidity or normal ready-mixed concrete. When using ordinary ready-mixed concrete, it is preferable to use a vibrator for compaction. The apparatus for supplying the filling material is not limited to the concrete pump truck 40, and various apparatuses such as a direct supply from a chute or a packet can be used.

  If a vibrator for compaction is provided in the vicinity of the transfer pipe 43 which is a material supply part of the concrete pump truck 40, and the vibrator for compaction is driven while filling the ready-mixed concrete 2, a reinforcing bar or a steel frame is reinforced as a framework inside. Even in the case of a structure, it is suitable for efficiently filling the ready-mixed concrete 2. In addition, as for the filling portion 17 inside the shell wall portion 11, a reinforcing material such as a steel material, a reinforcing bar, or a continuous fiber can be disposed in advance as necessary.

  And especially in the construction method of the laminated structure of this embodiment, when constructing the laminated structure, first, the print raw material 1 which is a hydraulic mixture is laminated along the outline of the shell wall to be constructed. While forming the wall part 11 and embedding the reinforcement body 4 which improves the joint strength of each printed layer which comprises the shell wall part 11 in a layer, the joint strength between each layer can be improved.

  Moreover, according to the footing 10 which is the laminated structure of this embodiment, the shell wall part 11 which laminated | stacked the printing raw material 1 along the outline of the shell wall which should be constructed | assembled is formed, and also the shell wall part 11 is comprised. Since the plurality of reinforcing bodies 4 are embedded in the layers so as to improve the bonding strength between the printed layers, the structure has an improved bonding strength between the layers as compared with the conventional laminated structure. be able to.

  Furthermore, according to the laminated structure construction apparatus of the present embodiment, when the footing 10 is constructed, the hydraulic raw material supply apparatus 20 laminates the printing raw material 1 along the outline of the shell wall to be constructed, thereby forming the shell wall. The part 11 can be formed. The reinforcing body embedding device 60 can embed a plurality of reinforcing bodies 4 in the layer of the shell wall portion 11 at a predetermined interval, separately from the stacking of the printing raw materials 1. Therefore, the footing 10 with improved interlayer bonding strength can be constructed efficiently.

  As described above, according to this embodiment, it is possible to provide a construction technique for a laminated structure that can improve the bonding strength between the layers. In addition, the construction method, the laminated structure, and the laminated structure construction apparatus according to the present invention are not limited to the above embodiment, and various modifications are possible without departing from the gist of the present invention. Of course.

For example, the hydraulic mixture of the outer shell wall portion 11 and the filling material inside the shell wall may be used depending on the required performance. For example, a high-quality blend excellent in long-term durability is used for the hydraulic mixture of the shell wall 11, and the filling material for filling the section 11 k of the shell wall 11 is made of ordinary-quality concrete. Down is possible.
Further, by using the hydraulic mixture and the filling material properly, aiming at the reinforcing effect including the confining effect, for example, while using a relatively inexpensive material for the concrete forming the filling portion 17, the shell wall portion 11 is used. It is possible to increase the strength of the print material forming the. Thereby, the yield strength and toughness as the whole laminated structure can be improved.
In addition, as a measure for enhancing durability when using steel material inside, if a material having a small water-cement ratio or a dense material is used as a material for constructing the shell wall portion 11, chloride that is a deterioration factor of the steel material is used. It is possible to prevent the penetration of carbon ions that cause the penetration of physical ions and the neutralization of concrete, and the durability can be improved.

Further, for example, in the above-described embodiment, an example in which the footing 10 is constructed as a laminated structure has been described and an example in which the shell wall portion 11 having a substantially rectangular frame shape is formed in plan view is shown. The structure is not limited to footing. That is, the shell wall of the present invention is not limited to the shell wall portion 11 formed so as to surround the inside, and has fluidity at the time of construction and hardens to the required strength as the intended structure after construction. Any laminated structure formed by laminating hydraulic mixtures can be applied to various laminated structures.
Moreover, the shape of the shell wall part 11 is not limited to the said embodiment. That is, the shell wall of the laminated structure according to the present invention can have various modes as long as the hydraulic mixture is laminated along the outline of the shell wall to be constructed. Specifically, the shape of the outline of the shell wall portion 11 is not limited to a frame shape, and can be a wall surface shape of various aspects. However, the shape is not limited to a substantially rectangular frame shape, and may be, for example, an annular shape or a polygonal annular shape.

  Moreover, in the said embodiment, although the example which arrange | positions the axis line of a linear reinforcing bar member vertically was shown as the reinforcement body 4, not only this but the reinforcement body 4 can employ | adopt various materials, Moreover, as shown in FIG. 6, it can be set as various shapes. For example, in the case where a linear reinforcing bar member is used, in order to increase the adhesion strength of the reinforcing body 4, the both end portions 4 b are bent with respect to the shaft portion 4 a of the reinforcing body 4 as shown in FIG. Adhesive strength can be increased by making it U-shaped or U-shaped. Moreover, as shown in the same figure (b), the overhang | projection part 4c is formed in the both ends of the axial part 4a of the reinforcement body 4, respectively, and adhesive strength is raised by making it a substantially I shape or H shape. Can do. Moreover, as shown in the figure (c), you may attach the cyclic | annular part 4d to the edge part with respect to the axial part 4a of the reinforcement body 4. As shown in FIG.

  Moreover, as shown in the figure (d), you may bend the intermediate part of the axial part 4a of the reinforcement body 4, and also bend the edge part of the reinforcement body 4, or form an overhang | projection part in an edge part. You may combine the aspect to do. In the example of the same figure, it is an example in which an overhanging portion 4c is formed at the end portion while being bent into a V shape in the middle portion of the shaft portion 4a of the reinforcing body 4. In addition, as shown in FIG. 5E, the reinforcing body 4 is not limited to a linear shape, and the adhesion strength can be increased even if the reinforcing body 4 itself has an annular shape.

Various materials can also be used for the material of the reinforcing body 4. For example, in addition to steel materials such as rebars, members such as continuous fibers may be used, and as shown in FIG. 7, a plate fixing type steel plate such as “Head-bar” at the upper end of the shaft portion 4a. Material 4t may be attached. In addition, the same figure (a) is an example which attached the circular steel plate material 4t, (b) is an example which attached the rectangular steel plate material 4t.
If the shape of the reinforcing body 4 is a plate fixing type such as “Head-bar”, the cone fracture surface Dm of the adjacent reinforcing body 4 overlaps the plurality of print layers 11q to 11x as shown in FIG. Thus, the improvement of the yield strength can be expected by arranging the plurality of reinforcing bodies 4 with each other.
Further, when a plate-fixed steel material is used as the reinforcing body 4, the cone breaking surface Dm is enlarged and the reinforcing effect is improved. As described above, in the present invention, the integration between the laminations is performed by arranging reinforcing materials for fibers (organic fibers or steel fibers) or wire rods (steel wire, steel stranded wire) along the lamination direction or in a direction orthogonal to the lamination direction. Thus, integration between layers can be achieved.

  Further, for example, various devices can be used as means for arranging the above-described reinforcing body 4. For example, like the reinforcing body embedding device 60B of the first modified example shown in FIG. 9, the reinforcing wire 4r is sequentially fed out from the reel 63 around which the reinforcing wire 4r is wound, and predetermined by the built-in cutting device 65. The reinforcing body 4 can be arranged by cutting the reinforcing wire 4r into a long length to form the reinforcing body 4, and feeding the cut reinforcing body 4 from the injection nozzle 62 along the print layer.

Moreover, in the said embodiment, although the example which arrange | positions the reinforcement body 4 which consists of a wire to a printed layer with the axis line lengthwise was shown with the predetermined space | interval, not only this but this invention WHEREIN: Various arrangement postures, arrangement intervals, arrangement directions, and the like can also be set.
For example, as in the second modification shown in FIG. 10, the fibrous reinforcing body 4 can be sprayed along the printed layer from the reinforcing body embedding device 60 </ b> C capable of supplying the fibrous reinforcing body 4. In the example shown in the figure, a reinforcing member 4 is obtained by cutting a fiber material or a steel wire into an appropriate length in advance, and this reinforcing member 4 is sequentially blown onto the upper surface of the printed layer by compressed air. This is an example in which 4 is placed on the upper surface of the print layer. In addition to the injection and spraying, the reinforcing member 4 may be arranged by mechanically grasping the wire portion of the reinforcing member 4 and implanting it in the layer along the printed layer like a rice planting. Good.

  Moreover, the example of arrangement | positioning of the reinforcing material in the horizontal direction which can be used together with the said reinforcement body 4 embed | buried in the orthogonal direction, for example is shown in FIG. When the reinforcing body is installed in the horizontal direction, the pre-assembled reinforcing bars can be placed along the print layer, and the printing can be performed from the nozzle 26 of the supply head 25 like the second reinforcing body embedding apparatus 70 shown in FIG. Along with the raw material 1, a reinforcing body 5 made of a reinforcing wire can be continuously sent out along the print layer, and placed on or embedded in the print layer.

  Here, when the shell wall portion of the laminated structure according to the present invention is constructed, the “shape of the outline of the shell wall” is interpreted to include a line and a surface. That is, when the shape of the outline of the shell wall to be constructed forming the shell wall portion 11 is the width of the printing raw material 1 discharged from the nozzle 26 at a time, it is substantially understood as “contour line”. Can do.

  On the other hand, when the width of the printing material 1 discharged from the nozzle 26 at a time is exceeded, as shown in FIG. 12, it can be interpreted as a region between the inner contour line 11u and the outer contour line 11s. In this case, the printing raw material 1 is discharged along the outline of the shell wall in the two-dimensional outline shape of each layer, and the reinforcing body 4 is embedded. For example, in the example shown in FIG. 5A, the printing material 1 is discharged to the inner peripheral side 11a and the outer peripheral side 11b of one layer of the shell wall portion 11, and the reinforcing body 4 is embedded in each. Further, in the example of FIG. 5B, the printing material 1 is discharged to the inner peripheral side 11a, the outer side 11c, and the outer peripheral side 11b of one layer, and the reinforcing body 4 is embedded in each. Note that the reinforcing body 4 is not necessarily embedded in the same manner, and thinning may be performed as appropriate.

  Further, when constructing the shell wall portion of the laminated structure according to the present invention, the “shape of the shell wall contour” is not limited to the same shape in a longitudinal sectional view, and is a two-dimensional contour shape for each layer. Can be defined. That is, as in the above-described embodiment, as shown in FIG. 13A, each layer constituting the shell wall portion 11 has the same shape (first layer 11p, second layer 11q, third layer) from the lower side of the figure. Of course, in the case of the layer 11v, the fourth layer 11w,..., The first layer 11p is composed of three ejection portions 11d, 11e, 11f in the width direction as shown in FIG. The two layers 11q can be composed of a pair of two ejection portions 11g and 11h in the width direction, and the third layer 11v can be composed of one ejection portion 11m in the width direction. Naturally, these laminated structures can be appropriately combined with each other in which the above-described embodiment and the reinforcing bodies 4 shown in FIGS. 6 to 8 are embedded.

  Further, when the shell wall portion of the laminated structure according to the present invention is constructed, the cross-sectional shape of the printing raw material 1 when discharged from the nozzle 26 is also various shapes as illustrated in FIG. Can do. That is, as shown in FIG. 14A, the nozzle 26 can be cylindrical, and the cross-sectional shape 26n when the printing raw material 1 is discharged can be circular, as shown in FIG. 14B. Can be made into a rectangular cylinder shape, and the cross-sectional shape 26n when the printing raw material 1 is discharged can be made a rectangular shape. Further, as shown in FIG. 6C, the nozzle 26 can be formed into a polygonal cylindrical shape having a rectangular shape or more, and the cross-sectional shape 26n at the time of discharging the printing raw material 1 can be formed into a polygonal shape. The example in the figure is a hexagonal example. Lamination using such nozzles is suitable for further improving the bonding strength between the layers.

  Furthermore, in the construction method of the laminated structure according to the present invention, in addition to constructing a shell wall based on a prestored 3D printing processing program as in the above embodiment, teaching / playing by an operator at the site is possible. The shell wall may be constructed based on a 3D printing processing program capable of executing back. In particular, teaching and playback by an operator in the field is effective for a simple lamination process.

  Further, as an example of the hydraulic mixture supply device 20, in the above-described embodiment, an example in which the robot arm 24 is installed in a climbing crane type device has been described. However, the present invention is not limited thereto, and follows the outline of the shell wall to be constructed. As long as the apparatus can form a shell wall by laminating a hydraulic mixture, various embodiments can be employed. For example, the present invention is not limited to the robot arm type, and any apparatus including a 3D printer of various modes can be adopted as long as the apparatus includes a supply head movable in three axes of X, Y, and Z.

1 Printing material (hydraulic mixture)
2 Ready-mixed concrete (filling material)
3 Fluidized soil (filling material)
4 Reinforcing body 5 Second reinforcing body 10 Footing (laminated structure)
11 Shell wall (laminated structure)
11r Contour of shell wall 11u Inner contour line 11s Outer contour line 11k Shell wall section 17 Filling unit 20 Hydraulic mixture supply device (device including 3D printer: laminated structure construction device)
21 Tower 22 Base frame 23 Swivel table 24 Articulated arm 25 Supply head 26 Nozzle 27 Raw material supply pipe 28 Supply chamber 29 Supply pump 30 Control unit 40 Concrete pump car (filling material supply device: laminated structure construction device)
41 Frame 42 Multistage boom 43 Transfer pipe 44 Concrete pump 45 Hopper 60 Reinforcing body embedding device (laminated structure construction device)
61 Main body 62 Injection nozzle 63 Magazine 64 Reel 65 Cutting device 70 Second reinforcement embedding device 90 Concrete mixer truck G Construction site

Claims (10)

It is a method of laminating a hydraulic mixture that has fluidity during construction and hardens after construction, and constructs a laminated structure,
Embedding reinforcements so as to connect the shell wall forming step of forming the shell wall part by laminating the hydraulic mixture along the outline of the shell wall to be constructed and the layers adjacent to each other above and below the shell wall part. And a reinforcing body embedding step. A method for constructing a laminated structure, comprising:   The hydraulic mixture has a fluidity that can be placed along the contour at the time of supply, a thixotropic property that is fixed at a supply position on the contour at the time of lamination and is self-supporting so as to be able to be laminated on the upper portion, and the lamination. The method for constructing a laminated structure according to claim 1, further comprising a fast-curing property that is fixed to a supply position on the contour and is self-supporting and hardened so as to be laminated on the upper portion.   The construction method of the laminated structure according to claim 1 or 2, further comprising a section filling step of filling a filling material into a section surrounded by the shell wall portion to form a filling section.   The construction method for a laminated structure according to claim 3, wherein the filling material is fluidized soil.   The construction method for a laminated structure according to claim 3, wherein the filler material is ready-mixed concrete. A laminate structure formed by laminating a hydraulic mixture that has fluidity during construction and hardens after construction,
A shell wall portion formed by laminating a hydraulic mixture along the outline of the shell wall, and a reinforcing body embedded so as to connect the layers adjacent to each other in the upper and lower directions. Characteristic laminated structure.   The laminated structure according to claim 6, further comprising a filling portion in which a filling material is filled in a section surrounded by the shell wall portion. It is a laminated structure construction apparatus used for the construction method of the laminated structure according to any one of claims 1 to 5,
A hydraulic mixture supply device for supplying the hydraulic mixture along a contour of a shell wall to be constructed; and a reinforcing body embedding device for embedding the reinforcing body in the layer of the shell wall portion. Laminated structure construction equipment.   The laminated structure construction device according to claim 8, wherein the hydraulic mixture supply device is a device including a 3D printer.   The laminated structure construction apparatus according to claim 8 or 9, wherein the material supply port of the hydraulic mixture supply apparatus has a nozzle having a polygonal cross section.

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