KR101681544B1 - Automated system for constructin a concrete structure - Google Patents

Automated system for constructin a concrete structure Download PDF

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Publication number
KR101681544B1
KR101681544B1 KR1020150164856A KR20150164856A KR101681544B1 KR 101681544 B1 KR101681544 B1 KR 101681544B1 KR 1020150164856 A KR1020150164856 A KR 1020150164856A KR 20150164856 A KR20150164856 A KR 20150164856A KR 101681544 B1 KR101681544 B1 KR 101681544B1
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KR
South Korea
Prior art keywords
arm
concrete
concrete structure
reinforcing bars
robot apparatus
Prior art date
Application number
KR1020150164856A
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Korean (ko)
Inventor
조택연
Original Assignee
홍익대학교 산학협력단
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Priority to KR1020150164856A priority Critical patent/KR101681544B1/en
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Publication of KR101681544B1 publication Critical patent/KR101681544B1/en

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F23/00—Feeding wire in wire-working machines or apparatus
    • B21F23/005—Feeding discrete lengths of wire or rod
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/08—Making wire network, i.e. wire nets with additional connecting elements or material at crossings
    • B21F27/10—Making wire network, i.e. wire nets with additional connecting elements or material at crossings with soldered or welded crossings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/121—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
    • 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
    • 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
    • E04G21/12—Mounting of reinforcing inserts; Prestressing

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a building automation apparatus for automatically constructing a concrete structure by using an automated robot, such as placing a reinforcing bar, forming a form, and placing a concrete, A robot arm having a first arm and a second arm for forming a unit height form around a frame assembled by the first arm and a third arm for placing a concrete paste in a mold formed by the second arm; A position adjusting unit for adjusting a position of the robot apparatus; And a control unit for controlling operations of the robot apparatus and the position adjusting unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a concrete automation system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction automation apparatus for automatically constructing a concrete structure using an automation robot performing reinforcement of reinforcing bars, forming a form, and pouring concrete, and more particularly, The present invention relates to an automation apparatus for pouring concrete into a mold by laminating resin by a 3D printing method to form a mold.

Generally, a concrete structure is constructed by installing a mold made of R foam on a frame, curing the concrete after pouring concrete into the mold, and then removing the mold afterwards.

The reinforced concrete structure is more resistant to vibration than the steel structure, so it can provide comfortable livability, and is light, strong, aesthetic, and stable.

The possibility of construction of these reinforced concrete structures is determined by the quality and cost of labor in various functions that make up the construction process. Generally, a reinforced concrete structure is constructed by using reinforcing rods to form reinforcing bars, assembling the reinforcing bars to the reinforced bars, and then pouring the concrete and curing the concrete.

Recently, it is almost impossible to form a high-rise building and a complex curved structure into a reinforced concrete, because a high-rise structure and an irregular-shaped structure in recent years have a high cost and labor and time for molding a form, There is a problem in that the cost required for the construction is increased and time consuming.

In order to solve the above-mentioned problems, the present invention provides a high-strength concrete having a strength of 100 MPa or more, a high-strength steel having a high tensile / yield strength and a 3D printing technique to form a complex- The object of the present invention is to provide a building automation apparatus capable of constructing a complex structure.

In order to accomplish the above object, the present invention provides a method of manufacturing a reinforced concrete structure, comprising: a first arm for holding a reinforcing bar and arranging the reinforcement at a predetermined position, And a third arm for pouring a concrete paste into the mold formed by the second arm; A position adjusting unit for adjusting a position of the robot apparatus; And a control unit for controlling operations of the robot apparatus and the position adjusting unit.

The reinforcing bars are supplied in a unit length, and the first arm has a gripping gripper for gripping the reinforcing bars of the unit length at an end thereof. When the gripping gripper is disposed at a necessary position, the reinforcing bars are welded And a welding head for assembling the frame.

Preferably, the second arm includes a nozzle for forming the die by laminating the die in the 3D printing method at an end thereof. And a removal gripper for removing the mold after the concrete paste is cured. Preferably, the removal gripper is installed at an end of the second arm.

Preferably, the third arm includes a diffuser for pouring a concrete paste at an end thereof, and a roller for squeezing the concrete paste.

And each of the first to third arms is provided with a joint capable of rotating in three or more different directions.

Wherein the position adjuster comprises at least one longitudinal bar having a first rail disposed in the vertical direction and a vertical rail disposed in the concrete structure building, a transverse bar vertically movable along the first rail of the vertical bar, And a second rail movable in a second horizontal axis direction and movably receiving the robot apparatus in the first horizontal axis direction.

The robot apparatus further includes a first guide arranged in a third horizontal axis direction and a second guide arranged in a fourth horizontal axis direction, and the first through third arms are moved along the first guide and the second guide Possible additional horizontal position adjustment is possible.

The second rails may be provided in at least two of the horizontal bars and may be movable in different areas, and the robot apparatus may be provided for each of the second rails.

As described above, according to the present invention, it is possible to mold a form by using a 3D printing technique while forming a reinforcing bar by welding a unit reinforcing bar, molding the concrete into various shapes by pouring concrete after unit length, , And concrete concrete structures can be constructed quickly with reinforced concrete.

According to the present invention, it is possible to reduce the weight of the structure and increase the strength by using the high-strength steel material and the ultra-high-strength concrete, to form the concrete continuously and to cure and cure the concrete, It is effective.

In addition, according to the present invention, since the automatic apparatus welds the reinforcing bars on the spot according to the design program and prints the molds in the field, the process of producing and transporting the reinforcing bars or the formworks in the third place can be reduced, There is an effect that the period can be shortened.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram schematically showing a concrete structure building automation apparatus according to the present invention;
2 is an exemplary illustration of robot arms of a concrete structure building automation apparatus according to the present invention,
3 is a schematic view schematically showing the function of a reinforcing bar assembly arm among the robot arms of FIG. 2;
Figure 4 is a schematic view schematically illustrating the function of the molding arm of the robot arms of Figure 2;
FIG. 5 is a schematic view schematically illustrating the function of the concrete supply arm among the robot arms of FIG. 2;
FIG. 6 is a schematic view showing a process of removing a mold after concrete is cured by the molding arm of FIG. 4;
FIG. 7 is a view illustrating a process of adjusting the position of a concrete structure building automation apparatus according to the present invention, and FIG.
8 is a schematic diagram illustrating a process of constructing a columnar reinforced concrete structure using robot arms of a concrete structure building automation apparatus according to the present invention,
9 is a view showing another embodiment of a concrete structure building automation apparatus according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the embodiments of the present invention can be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. The shape and the size of the elements in the drawings may be exaggerated for clarity and the same elements are denoted by the same reference numerals in the drawings.

And throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between. Also, when a component is referred to as being "comprising" or "comprising", it is to be understood that this does not exclude other components, unless the context otherwise requires, do.

 1, the apparatus for automating the construction of a reinforced concrete structure according to the present invention includes at least one vertical bar 110 installed on a building structure, a horizontal bar 120 movable in a vertical direction along the vertical bar 110, And a robot device 200 capable of moving in the horizontal direction along the horizontal bar 120. [

A first rail 111 for guiding the vertical movement of the horizontal bar 120 is formed on the inner side of the vertical bar 110 and a second rail 111 for guiding vertical movement of the horizontal bar 120 is formed on the lower side of the horizontal bar 120 A second rail 121 for guiding the horizontal movement of the robot apparatus 200 is formed.

The robot apparatus 200 has a plurality of robot arms. The robot apparatus 200 includes a first arm 210, which is a reinforcing assembly arm that receives a unit reinforcing bar from the unit reinforcing box 103 and welds and assembles the reinforcing bars to form a frame, A second arm 220 which is a molding arm that forms a mold by laminating a resin by a 3D printing method around a framing formed by a reinforcing bar received from a resin storage box 101 and a second arm 220 from a concrete paste storage box 102, And a third arm 230, which is a concrete supply arm which is supplied with paste and casts a concrete paste in a molded workpiece. Although not shown, the first rail and the second rail are provided with transport equipment capable of accurately controlling the movement, such as a rack-pinion gear.

The reinforcing bars assembled by the first arm 210 described above are unit members having a length of approximately 30 mm to 1200 mm. The required number of reinforcing bars per unit length is accommodated in the reinforcing bar 103 in advance, And is discharged and assembled by a paper gripper.

2 to 6, the first to third arms 210, 220, and 230 of the robot apparatus 200 include a first guide 201 and a second guide 202, Shaped horizontal guides. That is, the horizontal guides 201 and 202 themselves move in the horizontal direction with respect to the second rails 121, and the arms 210, 220 and 230 are moved along the first guide 201 or the second guide 202 And the position in the horizontal direction can be precisely adjusted by moving.

As shown in FIGS. 2 and 3, the first arm 210 includes a welding head 211 for welding and assembling reinforcing bars at the ends thereof, and a gripper 212 for holding the reinforcing bars do. In this embodiment, the reinforcing bars are not formed by cutting and joining the reinforcing bars as in the prior art, but the reinforcing bars supplied in a unit length are welded and assembled into a single frame. The first arm 210 has a plurality of first arm joint portions 213. Therefore, the supplied reinforcing bar 10 is transferred to a desired position using the gripper 212 for gripping, and then the reinforcing bars are assembled into a frame shape such as a truss shape using the welding head 211.

As shown in FIGS. 2 and 4, the second arm 220 includes a molding die 221 for molding a mold on the outer periphery of the frame assembled by the first arm 210, And a form removing gripper 222 for removing the mold. In this embodiment, the nozzle for molding is a resin lamination means for 3D printing the form in a designed shape. The removal gripper is a wedge-shaped end gripper for gripping between the cured concrete and the molded formwork, and grippers for gripping the mold from inside and outside. The second arm 210 also has a plurality of second arm joint portions 223a, 223b, 223c, and 223d. The nozzle forming nozzle 221 of the second arm forms a mold, which is a mold of a structure shape, by molding the resin by the 3D printing method while moving around the frame.

As shown in FIGS. 2 and 5, the third arm 230 includes a concrete diffuser 231 for pouring a paste-type concrete paste into a mold formed by the second arm 220, and a concrete paste And a flattening roller 232 for flattening the flattened sheet. That is, the concrete paste is placed in the mold 20 using the diffuser 231, and then the upper surface of the concrete paste is flattened using the rollers 232 to form a part of the shape of the concrete structure.

As shown in FIGS. 2 and 6, after the concrete paste 30 placed in the mold 20 is cured and becomes the concrete structure 31, the removal gripper 222 of the second arm 220 is used The mold 20 attached to the outer surface of the concrete structure 31 is removed. In this process, the concrete structures are stacked by a certain height to construct the final concrete structure. Here, the removed mold 20 can be recycled.

4 to 6, the first to third arms 210, 220 and 230 are moved in the different directions by the joint portions 213, 223, and 233, as shown in FIG. It can rotate in three directions or more. That is, it is preferable that the degree of freedom of each of the first to third arms 210, 220, 230 is at least 3 respectively. 2, the second arm 220 includes a first joint portion 223a that is a ball joint for rotating the entire arm and a second joint portion 223b that is a hinge portion that rotates the end portion of the second arm 220 in the vertical direction, A third joint portion 223c for finely adjusting the position of the end portion and a fourth joint portion 223d for rotating the nozzle 221 or the removal gripper 222 to the final position are used to control the rotation angle of each joint portion So that the position of the nozzle 221 and the removal gripper 222 can be precisely adjusted. Likewise, the first arm 210 and the third arm 230 also have a joint portion having three or more degrees of freedom.

As shown in FIG. 7, along the first rail 111 of the vertical bar 110 (see FIG. 1), the horizontal bar 120 moves up and down in the Z-axis direction. The initial height of the robot apparatus 200 is determined according to the position of the horizontal bar 120. A second rail 121 is disposed under the horizontal bar 120 along the Y axis direction in the horizontal direction and the second rail 121 is movable in the X axis direction along the horizontal axis below the horizontal bar 120. The robot apparatus 200 is movable along the second rail 121 in the Y-axis direction. The initial working position of the robot apparatus 200 is determined by the movement of the horizontal bar 120 in the Z axis direction, the movement of the second rail 121 in the X axis direction, and the movement of the robot apparatus 200 in the Y axis direction .

The first guide 201 of the robot apparatus 200 guides the first to third arms 210, 220 and 230 to move in the X-axis direction, and the second guide 202 guides the first The second arm 210, the second arm 230, and the third arm 230 are moved in the Y-axis direction. This movement determines the initial working position of each arm. In this state, each joint of each arm rotates and performs work.

Although the first guide 201 is shown as being parallel to the X-axis direction and the second guide as being fixed parallel to the Y-axis direction in the figure, the robot apparatus 200 includes a first guide 201 and a second guide 202 ) So that the robot apparatus 200 is rotated at the initial working position. This is because the second arm 220 moves in the X and Y axis directions at the initial operation position of the second arm 220 when the mold 20 is formed on the outer side of the frame, Can be changed.

FIG. 8 illustrates a process of building a concrete wall through the operation of the first arm to the third arm 210, 220, and 230. 7, when the horizontal bar 120 moves up and down to adjust the height of the robot apparatus 200 and the robot apparatus 200 moves to an initial position for work, And assembles the frame of the structure by welding the unit reinforcing bars. When a frame having a height equal to or greater than a predetermined height is formed, the second arm 220 operates to form a mold 20 having a predetermined height around the frame. The third arm 230 is supplied with the concrete paste 30 through the concrete paste supply line 234 and placed in the mold to fill the concrete paste and cure process to form the reinforced concrete structure 31. [ This process is repeated to construct the final reinforced concrete structure while laminating the concrete structure 31.

Hereinafter, concrete pouring and form generating mechanisms will be described in detail. The amount of concrete paste to be poured once should be appropriately adjusted according to the construction period. The installation amount of the 3D printer for construction is very small, and about 50 mm corresponds to the working height once, considering the molding height of the mold (20). The control unit (not shown) can precisely and continuously control injection control of the concrete paste through the diffuser of the third arm 230. Therefore, it is advantageous to install a small amount of concrete paste continuously in a short time unit. That is, a mold having a height of about 50 mm is formed through the nozzle 211 of the second arm 220, and then a concrete paste is poured into the inside of the third arm 230 using the diffuser 231 of the third arm 230. Before the poured concrete is condensed, the form 20 is continuously laminated at a unit height (50 mm), followed by pouring of the concrete. If the concrete is laid in this way, there is hardly any bleeding. Therefore, even if the concrete is laid several times, the continuity of the constructed concrete structure is not affected. That is, instead of waiting until the concrete is completely cured, the arms are operated continuously to form the molds in accordance with the small cleaved time dimension, and the concrete paste is laid, so that the continuity of the concrete structure can be maintained and the construction period can be reduced .

In the embodiment of FIG. 9, a plurality of second rails 121 and a plurality of robot apparatuses 200 are used in the horizontal bar 120 to enable construction at a plurality of points at the same time. In this embodiment, when the building area is wide, it is possible to make various structures at the same time, thereby increasing the productivity.

The degree of freedom of the joint portions 213, 223 and 233 of the first to third arms 210, 220 and 230 can be determined by rotating the three axes when three or more mutually orthogonal hinge portions are provided. ) Is preferably at least 3 or more.

Also, the concrete paste is preferably a concrete slurry for forming a structure having high strength.

The first and second arms 121 and 122 and the joints 213 and 223 of the first through third arms 120 and 120 and the second rail 121 and the robot apparatus 200, 233 can be pre-programmed and controlled by a control unit (not shown) according to design and dynamic analysis to automate the entire process of construction.

The positions of the resin storage box 101, the concrete storage box 102, and the unit reinforcing box 103 are not limited to the positions shown in FIG. 1, but may be arranged in consideration of the specificity of the site or the best suitability for the operation of the apparatus. .

The resin supplied from the resin storage box 101 is preferably an ABS resin (Acrylonitrile-Butadiene-Styrene resin) which is easy to be used as a lamination resin for 3D printing.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. It will be clear to those who have knowledge of.

110: vertical bar 111: first rail
120: a horizontal bar 121: a second rail
200: Robot device 201: First guide
202: second guide 210: first arm
211: welding head 212: gripping gripper
213, 223, 233: joint part 220: second arm
221: Form molding nozzle 222: Removing gripper
230: third arm 231: diffuser
232: Roller

Claims (10)

A first arm for holding a reinforcing bar and arranging it at a predetermined position and then assembling the frame by welding; a second arm for molding a frame of a unit height around the frame assembled by the first arm; A robot apparatus having a third arm for pouring a concrete paste into a formed mold,
A position adjusting unit for adjusting a position of the robot apparatus,
And a control unit for controlling the operation of the robot apparatus and the position adjusting unit
A concrete structure construction automation device.
The method according to claim 1,
The reinforcing bars are supplied in unit length,
And a welding head for welding the reinforcing bars to the reinforcing bars by welding the reinforcing bars to the reinforcing bars when the reinforcing bars are arranged at the required positions,
Building automation devices for the construction of concrete structures.
The method according to claim 1,
The second arm
A nozzle for laminating the die by the 3D printing method at the end thereof,
A concrete structure construction automation device.
The method according to claim 1,
And a removal gripper for removing the mold after the concrete paste is cured.
The method of claim 4,
And the removal gripper is installed at the end of the second arm.
The method according to claim 1,
The third arm
A diffuser for placing a concrete paste at the end thereof, and a doughing roller
And a concrete structure construction automation device.
The method according to claim 1,
Wherein the first to third arms each have joint portions rotatable in three or more different directions.
The method according to any one of claims 1 to 7,
Wherein the position adjusting unit comprises:
At least one vertical bar having a first rail disposed in the concrete structure building and arranged in a vertical direction,
A transverse bar vertically movable along the first rail of the vertical bar,
A second rail disposed movably in a first horizontal axis direction along the horizontal bar and movable in a second horizontal axis direction and movably receiving the robot apparatus in the first horizontal axis direction,
A concrete structure construction automation apparatus including a concrete structure.
The method of claim 8,
The robot apparatus includes:
A first guide arranged in a third horizontal axis direction and a second guide arranged in a fourth horizontal axis direction,
The first to third arms are movable along the first guide and the second guide to adjust the position in the horizontal direction
Building automation devices for the construction of concrete structures.
The method of claim 9,
Wherein the second rail is provided in the horizontal bar and is movable in different areas,
Wherein the robot apparatus is provided for each of the second rails
Building automation devices for the construction of concrete structures.
KR1020150164856A 2015-11-24 2015-11-24 Automated system for constructin a concrete structure KR101681544B1 (en)

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CN110242051A (en) * 2019-06-24 2019-09-17 长沙赛搏机器智能有限公司 A kind of arm support tail end control method and system
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KR20210021787A (en) * 2019-08-19 2021-03-02 고미순 Equipment for installation of beam structural form
WO2021101558A1 (en) * 2019-11-22 2021-05-27 General Electric Company System and method for manufacturing a tower structure
KR102309917B1 (en) * 2020-10-28 2021-10-08 경북대학교 산학협력단 Automatic construction system for seamless rammed earth construction
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CN115387539A (en) * 2022-04-12 2022-11-25 东南大学 Method for 3D printing concrete member steel bar network connection
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Cited By (17)

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WO2019048289A1 (en) * 2017-09-08 2019-03-14 Skanska Sverige Ab A tool, a system and a method for manufacturing of a reinforcement bar structure
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KR20210021787A (en) * 2019-08-19 2021-03-02 고미순 Equipment for installation of beam structural form
WO2021101558A1 (en) * 2019-11-22 2021-05-27 General Electric Company System and method for manufacturing a tower structure
CN114651106B (en) * 2019-11-22 2024-03-22 通用电气可再生能源西班牙有限公司 System and method for manufacturing tower structures
CN114651106A (en) * 2019-11-22 2022-06-21 通用电气公司 System and method for manufacturing a tower structure
KR102309917B1 (en) * 2020-10-28 2021-10-08 경북대학교 산학협력단 Automatic construction system for seamless rammed earth construction
WO2022117744A1 (en) * 2020-12-03 2022-06-09 Universität Kassel Wall structure of a building and method for producing a wall structure of this kind
CN115387539A (en) * 2022-04-12 2022-11-25 东南大学 Method for 3D printing concrete member steel bar network connection

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