KR101914524B1 - Mobile Concrete Building 3D Printing System - Google Patents

Abstract

This disclosure discloses a mobile concrete building 3D printing system with less space constraint than the prior art. The mobile concrete building 3D printing system according to the present invention can make a wall by extruding concrete by a 3D printing method. The work position is recognized through the reference point installed at the predetermined position, and the wall can be formed in various forms.

Description

Mobile Concrete Building 3D Printing System}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a concrete printing system, and more particularly, to a mobile concrete building 3D printing system.

Recently, with the emergence of 3D printing technology, researches are being actively carried out to apply 3D printing technology to concrete buildings.

1 is a conceptual view showing a construction site of a concrete building incorporating 3D printing technology.

Referring to FIG. 1, it can be seen that the outer wall of the building is formed by stacking one layer of the concrete through the concrete extrusion nozzle, rather than building the concrete building using the existing formwork. At this time, it is important how to extrude concrete in order to obtain the structural stability of the building while securing the thickness of the outer wall in the process of building the outer wall of the building.

A prior art on concrete extrusion systems is disclosed in CN 104153493 A.

2 is a schematic view of a concrete extrusion method according to the prior art.

Referring to FIG. 2, a conventional technique is briefly described. The concrete is extruded by moving the inner surface of the nozzle and the outer surface once each time the concrete is extruded. Then, the space between the inner surface and the outer surface is filled in a zigzag manner. At this time, assuming that the time according to the distance of movement of the nozzle on the inner surface or the outer surface is '1', a total time of 3.414 (= 1 inside + 1 outside + inside zigzag 1.414) is required. This approach must be repeated for every layer and applies to all walls. Therefore, a structurally safe method is needed while making concrete walls faster than the prior art.

Chinese Published Patent Publication CN 104153493 A

The present disclosure provides a system capable of building with less space constraint than the prior art.

The solutions described herein are not limited to those mentioned above, and other solutions not mentioned may be clearly understood by those skilled in the art from the following description.

The mobile concrete building 3D printing system according to the above-mentioned object is a system in which a concrete extrusion apparatus and a bundling distribution apparatus are connected and whose length can be adjusted; An arm driving unit for adjusting or rotating the length of the arm; A moving part on which the arm and the arm driving part are mounted; A laser scanner capable of detecting a reference point erected at a predetermined position; And a system control unit for outputting a control signal to the concrete extrusion apparatus, the binding distribution unit, the arm driving unit, and the moving unit.

The mobile concrete building 3D printing system according to the present invention may further include a wireless communication unit for receiving a control signal from the wireless operation unit.

According to the present invention, the 3D concrete printing system of the present invention can perform 3D printing on a site, not a factory, compared to the prior art, and can be constructed even on a small site without the space of the ground space. 3D printing can be done. It is possible to construct various forms, multi-layered structures, and it can reduce the cost by saving manpower.

The effects described in the present specification are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a conceptual view showing a construction site of a concrete building incorporating 3D printing technology.
2 is a schematic view showing the time required for extrusion of concrete according to the prior art.
3 is an illustration of a mobile concrete building 3D printing system in accordance with the present disclosure;
Figure 4 is a working example of a mobile concrete building 3D printing system according to the present disclosure.
FIGS. 5 to 10 illustrate a process of building a mobile concrete building 3D printing system according to the present invention.
11 is a conceptual diagram illustrating the operation of the concrete extrusion apparatus according to the present invention.
12 and 13 are diagrams illustrating operation examples of the central nozzle driving unit.
14 is an outer surface of a concrete structure made of a conventional concrete nozzle.
15 to 20 are diagrams for explaining extrusion of concrete into a corner portion of a building.
22 is a binding material pressing portion according to an embodiment of the present invention;
23 is a binding material pressing portion according to another embodiment of the present invention.
24 is an exemplary view of a binding material according to various forms.
25 is an exemplary view of a position sensor in accordance with the present disclosure;

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. 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. Wherever possible, the same or similar parts are denoted using the same reference numerals in the drawings.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto.

Means that a particular feature, region, integer, step, operation, element and / or component is specified and that other specific features, regions, integers, steps, operations, elements, components, and / It does not exclude the existence or addition of a group.

All terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

3 is an illustration of a mobile concrete building 3D printing system in accordance with the present disclosure;

The mobile concrete building 3D printing system 10 according to the present invention is a compact mobile system having a working width of 10 m, a height of 5 m, and a weight of 2 tons or less and can be easily moved to a lot of residential areas or multi- System equipment. In addition, the 3D concrete printing system 10 according to the present invention can be 3D-printed on a site other than a factory, can be constructed within a narrow space having a small space (e.g., in an urban area) It is a system capable of 3D printing of structures larger than one room size (eg, radius 10 mx height 5 m) without moving.

3, the mobile concrete building 3D printing system 10 includes an arm 11, an arm driving unit 12, a moving unit 13, a laser scanner 14, and a system control unit (not shown) .

The concrete extrusion apparatus 100 and the binding distribution apparatus 200 will be described in more detail below.

The arm 11 is connected to the concrete extrusion apparatus 100 and the binding distribution apparatus 200 and can be adjusted in length. The arm driving unit 12 may adjust or rotate the length of the arm 11. [ The arm 11 and the arm driving unit 12 serve to extrude concrete at desired positions and heights of the concrete extrusion apparatus 100 and the binding material dispensing apparatus 200 and to distribute the binding material. The arm 11 and the arm driving unit 12 may have various specifications according to the weight of the concrete extrusion apparatus 100 and the binding distribution apparatus 200.

The moving part 13 may be loaded with the arm 11 and the arm driving part 12. [ The moving unit 13 may include an engine (or a motor), a wheel, and the like so that the mobile concrete building 3D printing system 10 according to the present invention can move, Any person skilled in the art will be able to design it, and a detailed description thereof will be omitted.

The laser scanner 14 can sense a reference point erected at a predetermined position.

Figure 4 is a working example of a mobile concrete building 3D printing system according to the present disclosure.

Referring to FIG. 4, it can be seen that a reference point is set up in a space where the building is to be constructed. The reference points may be located in a plurality of spaces in the space, and they may be erected at a predetermined position through measurement in the space. The laser scanner senses the position of the reference point and recognizes the position of the reference point and the position where the concrete is extruded.

The system control unit may output control signals to the concrete extrusion apparatus 100, the binding distribution apparatus 200, the arm driving unit 12, and the moving unit 13.

The mobile concrete building 3D printing system 10 according to the present invention may further include a wireless communication unit (not shown). The wireless communication unit may receive a control signal from the wireless operation unit. Referring again to FIG. 4, the mobile concrete building 3D printing system 10 according to the present disclosure does not have a separate worker boarding space. Therefore, it can be controlled by an operator holding a wireless operation unit from the outside. To this end, the wireless communication unit may receive the control signal output from the wireless operation unit. The wireless communication unit may output a status signal output from various sensors attached to each of the systems 10 to the wireless operation unit.

FIGS. 5 to 10 illustrate a process of building a mobile concrete building 3D printing system according to the present invention.

Referring to FIG. 5, it can be seen that a reference point is installed at a predetermined location in the building space. The position of the reference point can be recognized, and the work start position can be determined by checking the work space and the position of the equipment itself. Referring to FIG. 6, concrete may be extruded into a space recognized through the reference point to form a wall. Referring to FIG. 7, it can be seen that the upper part serving as a ceiling is raised on the concrete wall. The upper floor structure may be previously manufactured and transported from the outside. This creates a two-layer footing. Referring to FIG. 8, it can be seen that the mobile concrete building 3D printing system is installed on the second floor. The movement from the first floor to the second floor may be raised by a crane, or may be raised by a magnetic force through a hole for installing a stairway inside the building or an inclined structure outside the building as shown in FIG. Referring to FIG. 8, a wall structure can be formed by extruding concrete in the same manner as the first layer. Referring to FIG. 9, it can be seen that the above process is repeated to make a three-story building. Referring to FIG. 10, the mobile concrete building 3D printing system can be lowered to the ground through the crane. Of course, it is also possible to move by magnetic force.

11 is a conceptual diagram illustrating the operation of the concrete extrusion apparatus according to the present invention.

Referring to FIG. 11, the concrete extrusion apparatus 100 according to the present invention may include a central nozzle 110, a first side nozzle 120, and a second side nozzle 130.

The center nozzle 110 can vertically extrude concrete.

The first side nozzle 120 and the second side nozzle 130 may be connected to both sides of the central nozzle 110.

Referring to FIG. 14, it can be seen that the concrete structure produced by the conventional concrete extrusion nozzle is not smooth on the outer surface due to the characteristics of the concrete. Even if the viscosity of the concrete before curing is high, since the concrete spreads laterally after being extruded, the outer surface is not smooth and it has a rugged shape.

Meanwhile, the first side nozzle 120 and the second side nozzle 130 according to the present invention can extrude the finishing material having a hardening speed higher than that of the concrete extruded from the central nozzle 110. The finish material extruded through the first side nozzle 120 and the second side nozzle 130 is hardened relatively faster than the concrete and consequently the concrete extruded from the central nozzle 110 is caught therein . When the concrete extrusion apparatus 100 according to the present invention is used, the outer surface of the concrete structure can be more uniform than the conventional concrete nozzle.

The concrete extruded from the central nozzle 110 may be FRC (Fiber Reinforced Concrete), and the finishing material extruded from the first side nozzle 120 and the second side nozzle 130 may be plaster or plastic.

The concrete extrusion apparatus 100 according to the present invention may further include a central nozzle driving unit 140 for moving the position of the central nozzle 110 in a direction parallel to the moving direction of the concrete extrusion apparatus 100.

12 and 13 are diagrams illustrating operation examples of the central nozzle driving unit.

11 to 13, it can be seen that the central nozzle 110 is moved in a direction parallel to the movement direction of the concrete extrusion apparatus 100 by the operation of the central nozzle driving unit 140. Accordingly, the center nozzle 110 is relatively positioned behind the first and second side nozzles 120 and 130 with respect to the moving direction. In this case, the finish material extruded from the first and second side nozzles 120 and 130 is first extruded based on the same point, and the concrete extruded from the center nozzle 110 is extruded later. Therefore, a time difference in which the finish material first hardens can be generated, thereby making the outer surface of the concrete structure more uniform.

In the present specification, the direction of movement of the concrete extrusion apparatus 100 means a direction in which the concrete is moved while being extruded. For example, in FIG. 4, the direction of movement of the concrete extrusion apparatus is from the left to the right in the drawing.

The mobile concrete building 3D printing equipment according to the present disclosure may include two concrete extrusion apparatuses 100. In this specification, the two concrete extrusion apparatuses 100 will be referred to as first concrete extrusion apparatus and second concrete extrusion apparatus. When using two concrete extrusion apparatuses, it is possible to shorten the time required for extruding concrete according to the prior art by more than half.

Meanwhile, the mobile concrete building 3D printing equipment according to the present invention may include an extrusion amount controller (not shown) for controlling the extrusion amount of the first concrete extrusion device and the second concrete extrusion device. The extrusion amount control unit may control the extrusion amount according to the structure to be made, but may control the extrusion amount depending on the type of the structure to be produced.

15 to 20 are diagrams for explaining extrusion of concrete into a corner portion of a building.

Referring to FIGS. 15 to 20, the first concrete extrusion apparatus and the second concrete extrusion apparatus according to the present invention can be seen from the top view of a state in which concrete is extruded at a corner portion of a building.

The extrusion amount control unit may control the extrusion amount of the first concrete extrusion device and the second concrete extrusion device to be different from each other when the first concrete extrusion device and the second concrete extrusion device extrude the concrete at a corner corresponding to the corner of the building . In other words, the extrusion amount control unit controls the extrusion amount of the concrete extrusion device corresponding to the inside of the corner of the building among the first concrete extrusion device and the second concrete extrusion device to be larger than the extrusion amount of the concrete extrusion device corresponding to the outside of the corner of the building Can be controlled to be small. As shown in the figure, when the corner is at right angles, the extrusion amount control unit controls the extrusion amount of the concrete extrusion device corresponding to the inside of the corner of the building among the first concrete extrusion device and the second concrete extrusion device, It can be controlled so as not to be extruded.

In the present specification, a corner means a section (a rectangular corner section) in which the concrete walls extruded by the first concrete extruding apparatus and the second concrete extruding apparatus are not parallel to each other (the curved corner sections) or the intervals therebetween are different from each other.

The mobile concrete building 3D printing equipment according to the present invention may further include a gap adjustment driving unit capable of adjusting a gap between the first concrete extrusion apparatus and the second concrete extrusion apparatus. If the thickness of the structure can be controlled through the gap adjustment driving unit, extrusion control of the corner portion as shown in Figs. 8 to 13 is also possible.

By using the first concrete extrusion device and the second concrete extrusion device described above, it is possible to reduce the reciprocating operation time as compared with the conventional technology (see FIG. 2). However, it is true that there is no concrete extrusion corresponding to the zigzag part in the central part. A binding redistribution apparatus according to the present invention for solving this problem will now be described.

Figure 21 is an illustration of an example of a binding redistribution device in accordance with the present disclosure.

3 and 21 together, the binding redistribution apparatus 200 according to the present specification can be confirmed.

The bundling redistribution apparatus 200 according to the present invention is a device for placing a binding material between respective concrete extruded by the first concrete extrusion apparatus and the second concrete extrusion apparatus. The binding material acts as a zigzag extruded concrete in the prior art.

For this, a binding redistributing apparatus 200 is provided with a binding material storage unit for storing a plurality of concrete binding materials, a binding material discharging unit connected to a lower end of the binding material storage unit and discharging the binding material by a control signal, And a binding material control unit for outputting a control signal to the binding material discharging unit so as to discharge the binding material.

As shown in FIGS. 3 and 21, the bundling material discharging unit may be located adjacent to the concrete extruding apparatus, and may be located at a rear surface with respect to the traveling direction of the concrete extruding apparatus. That is, the binding material 201 is discharged onto the extruded concrete.

The bundling material discharge unit may discharge the bundling material such that the binding material is perpendicular to the traveling direction of the concrete extrusion apparatus. This makes it possible to increase the stability of the concrete structure against lateral external forces.

Further, when the concrete extruding device extrudes the concrete at a corner of the building, the control unit may output a control signal to the binding material discharging unit so that the binding material is not discharged. Referring back to Figs. 15 to 20, it can be confirmed that the binding material is not discharged at the corner portion.

In addition, the binding redistribution apparatus 200 may further include a vertical driving unit for adjusting the height of the binding material discharging unit. Since the binding material is discharged before the concrete is cured, the binding material can be dug into the concrete according to the discharge height and the weight of the binding material. It may be necessary to dig into the concrete depending on the material and characteristics of the binding material, and since it may be necessary to be seated only at the upper end, the height at which the binding material is discharged through the upper and lower driving portions can be adjusted.

The binding redistributing device 200 may further include a discharged binding material pressing part 210.

22 is a binding material pressing portion according to an embodiment of the present invention;

Referring to FIG. 22, it can be understood that when the discharged binding material is placed on the concrete, the rotating type pressing portion pushes the binding material to dig into the concrete. The rotary pressing portion may include a plurality of rotary blades and may rotate at a predetermined speed. The plurality of rotating blades and the rotating speed may vary according to the discharging interval of the bundling material, and may be rotated in association with each other.

23 is a binding material pressing portion according to another embodiment of the present invention.

Referring to FIG. 23, it can be understood that when the discharged binding material is placed on the concrete, the vertically movable pressing portion pushes the binding material to dig into the concrete. The vertical movement type pressing part may include a pushing bar for moving up and down and a rotor for moving the pushing bar to an upper end. When the rotating bar rotates and the pressing bar is moved to the upper end, an elastic force is stored in the elastic member disposed on the pressing bar. As the push bar is lowered by the elastic force of the elastic member, the binding member is pressed into the concrete by the elastic force. The rotational speed of the rotor, the elastic modulus of the elastic member, the length of the push bar, and the like may vary depending on the discharge interval of the binding material.

24 is an exemplary view of a binding material according to various forms.

24, various types of binding materials may be used depending on various purposes such as the spacing of the extruded concrete, the required strength of the wall, and the characteristics of the concrete used. Further, at both ends of the binding material, the surface may be roughened or protrusions may be formed to improve the frictional force with the concrete surface contacting.

25 is an exemplary view of a position sensor in accordance with the present disclosure;

Referring to FIG. 25, the binding redistributing apparatus 200 according to the present invention may further include a position sensor for sensing a discharging position of the bundling material. The position sensor (e.g., a camera) may collect information about the position where the binding material is to be ejected and send it to a correction sensor (e.g., a PID controller) to correct the position when the progress path deviates from the planned path.

The position information to which the binding material is to be discharged is related to the position of the binding material discharged to the lower concrete layer. For example, the binding distribution apparatus 200 may detect the position of the binding material discharged to the lower concrete layer and discharge the binding material to the same position. In another example, the binding distribution apparatus 200 discharges The binding material can be discharged at a position (e.g., a zigzag) in which they do not overlap with each other.

According to the present invention, when the concrete is vertically extruded (discharged), the possibility of occurrence of the phenomenon that the material to be extruded such as concrete is clogged in the nozzle is lower than the case of horizontally extruding. Therefore, it is possible to simplify the design (structure) of the apparatus, thereby reducing the possibility of clogging itself. In particular, in the case of a material having a high flight hardening speed in concrete, the case of hardening in the nozzle can also be reduced.

On the other hand, a phenomenon may occur in which the surface is hardened for each layer formed by extruding concrete, and the interface between the layer and the layer is not bonded and separated. In this case, since the binding material according to the present specification can play the role of improving the adhesion between the layer and the layer, the structural stability can be further improved.

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Accordingly, the embodiments disclosed herein are for the purpose of describing rather than limiting the technical spirit of the present invention, and it is apparent that the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10: Mobile Concrete Building 3D Printing System
100: Concrete extrusion device
200: Coupling redistribution device

Claims (8)

An arm connected to a concrete extrusion device and a binding distribution device, the length of which can be adjusted; An arm driving unit for adjusting or rotating the length of the arm; A moving part on which the arm and the arm driving part are mounted; A laser scanner capable of detecting a reference point erected at a predetermined position; And a system control unit for outputting control signals to the concrete extrusion apparatus, the binding distribution apparatus, the arm driving unit, and the moving unit,
The concrete extrusion apparatus includes a central nozzle for vertically injecting concrete; And first and second side nozzles connected to both sides of the central nozzle and spraying a finish material having a hardening speed higher than that of concrete sprayed from the center nozzle, the first concrete extrusion device and the second concrete extrusion device Respectively,
An extrusion amount controller for controlling the extrusion amounts of the first concrete extrusion device and the second concrete extrusion device to be different from each other when the first concrete extrusion device and the second concrete extrusion device extrude the concrete corresponding to the corner of the building, Respectively,
The extrusion amount control unit controls the extrusion amount of the concrete extrusion device corresponding to the inside corner of the building among the first concrete extrusion device and the second concrete extrusion device so as not to be extruded when passing inside the right corner of the building,
The laser scanner senses the position of the reference point and recognizes its own position and a position where the concrete is extruded,
When the building is multi-layered, the 3D printing is performed while moving in the lower layer of the building, and then moved to the upper layer and moved in the upper layer to perform 3D printing. The method according to claim 1,
And a wireless communication unit for receiving a control signal from the wireless operation unit. delete The method according to claim 1,
The concrete extrusion apparatus includes:
And a central nozzle driving unit for moving the center nozzle in a direction parallel to the moving direction of the extrusion apparatus. The method of claim 4,
Wherein the center nozzle driving unit moves the first and second side nozzles relative to the moving direction of the concrete extrusion apparatus so as to be positioned rearward relative to the first and second side nozzles. The method according to claim 1,
The binding redistribution device includes:
A binding material storage part for storing a plurality of concrete binding materials;
A binding material discharge unit connected to a lower end of the binding material storage unit and discharging the binding material by a control signal; And
And a control unit for outputting a control signal to the bundling material discharging unit to discharge the bundling material at a preset interval. The method of claim 6,
Wherein the binding material discharging unit is located adjacent to the concrete extruding apparatus and is located at a rear surface with respect to a traveling direction of the concrete extruding apparatus. The method of claim 7,
Wherein the binding material discharging unit discharges the binding material so that the binding material is perpendicular to the traveling direction of the concrete extrusion apparatus.

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