WO2004083540A2 - Appareil et procede de fabrication d'un element de structure a partir d'elements de construction et de matiere adhesive - Google Patents

Appareil et procede de fabrication d'un element de structure a partir d'elements de construction et de matiere adhesive Download PDF

Info

Publication number
WO2004083540A2
WO2004083540A2 PCT/NL2004/000151 NL2004000151W WO2004083540A2 WO 2004083540 A2 WO2004083540 A2 WO 2004083540A2 NL 2004000151 W NL2004000151 W NL 2004000151W WO 2004083540 A2 WO2004083540 A2 WO 2004083540A2
Authority
WO
WIPO (PCT)
Prior art keywords
adhesive material
construction elements
structural part
manipulator
guide
Prior art date
Application number
PCT/NL2004/000151
Other languages
English (en)
Dutch (nl)
Other versions
WO2004083540A3 (fr
Inventor
Franciscus Gerardus Maria Theodorus Janssen Steenberg
Original Assignee
Essabe B.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Essabe B.V. filed Critical Essabe B.V.
Publication of WO2004083540A2 publication Critical patent/WO2004083540A2/fr
Publication of WO2004083540A3 publication Critical patent/WO2004083540A3/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

Definitions

  • the invention relates to an apparatus for manufacturing a structural part from construction elements and adhesive material.
  • the invention also relates to a method for mechanical manufacture of a structural part from construction elements and adhesive material.
  • the object of the present invention is to provide an apparatus and method for manufacturing a structural part from construction elements and adhesive material with which the manual operations of the prior art can be mechanized or automated.
  • the invention provides for this purpose an apparatus for manufacturing a structural part from construction elements and adhesive material, comprising: a feed for individual construction elements, a displaceable gripper for gripping the construction elements supplied by means of the feed and for releasing gripped construction elements at a desired position, dispensing means for supplying measured quantities of adhesive material for mutually connecting the construction elements, and a control for the displaceable gripper and the dispensing means.
  • a feed for individual construction elements a displaceable gripper for gripping the construction elements supplied by means of the feed and for releasing gripped construction elements at a desired position
  • dispensing means for supplying measured quantities of adhesive material for mutually connecting the construction elements
  • a control for the displaceable gripper and the dispensing means.
  • the amount of adhesive material to be applied for instance to determine the thickness of the joints
  • the dimensions of the structural part to be manufactured location and dimension of window and door openings and so on.
  • the structural part can be manufactured by controlling the gripper and the dispensing means.
  • the structural part can consist of a laid brick wall, but that other structural parts, such as for instance a structural part of glued gas concrete, can also be manufactured in this way. It is possible in principle for any human involvement to be unnecessary after inputting of the required data into the control; the apparatus can operate wholly autonomously.
  • a significant advantage is that the heavy manual labour required heretofore to manufacture structural parts is unnecessary.
  • the limitation in capacity caused by the craftsmanship required in building projects can hereby also be rectified.
  • a further significant advantage is that the quality of the structural parts for manufacturing can be much better controlled in a mechanized/automated process than in a manual process.
  • the displaceable gripper is a manipulator displaceable along a guide.
  • the guide can herein be embodied as a substantially horizontal guide which is supported by columns at least at two positions at an adjustable height, while the manipulator is displaceable in a plane perpendicularly of the guide.
  • Such a construction makes it possible with the present invention to manufacture relatively large structural parts without the apparatus becoming expensive.
  • the guide must be given a sufficiently long form, and for high structural parts it is perhaps necessary, after manufacture of the lower part of the structural part, to displace the guide relative to the columns (fix it higher on the columns).
  • Another advantage of this construction is that it is relatively simple to place at a random position on-site (a pair of good support options for the columns is all that is required).
  • the apparatus can moreover be embodied such that it is relatively simple to disassemble, and therefore easy to displace.
  • the guide can also be assembled from releasable guide elements such that the length of the guide is variable.
  • a guide enhances the above stated advantages in respect of flexibility in use and transport of the apparatus.
  • the displaceable gripper can be provided for this purpose with at least one gripping element displaceable by means of a fluid; this will be able to fit smoothly onto the construction element.
  • (intelligent) mechanical grippers can also be applied.
  • the feed for individual construction elements supports the construction elements resiliently at the position where the displaceable gripper grips on the supplied construction elements.
  • the gripper can be used as reference for positioning the construction elements.
  • the position of the top part of the placed construction elements can thus be precisely controlled in very simple manner, this being a usual manner of building in normal circumstances.
  • a sensor system can also be applied with which the thickness of individual construction elements is sensed for the purpose of controlling the position of the gripper with the measuring results therefrom, although this is a much more complex solution more susceptible to failure.
  • the dispensing means can be combined with the manipulator. It is thus no longer necessary for the construction element provided with adhesive material to travel a considerable distance. Favourable results are achieved with the dispensing means for supplying measured quantities of adhesive material which are provided with at least two component feeds, which feeds come together close to a dispensing valve.
  • a fast-curing adhesive material can thus be made which can be activated a very short distance from the dispensing valve (or dispensing means embodied in other form).
  • the advantage hereof is that when the apparatus is stationary there is no adhesive material, or hardly any, present in the apparatus which can cure at an undesirable position and can for instance result in blockages.
  • the dispensing means for supplying measured quantities of adhesive material are preferably provided with an adjustable scraper.
  • an adjustable scraper the adhesive material can be spread with an adjustable layer thickness over one or more sides of a construction element so that the adhesive material also comes to lie where it should.
  • the position of the scraper can optionally be detected, and the drive of the scraper is comiected to the control. It is also possible to displace the scraper by means of a drive (for instance a servomotor) which can be placed by the control in controllable positions.
  • An alternative embodiment variant for dispensing adhesive material relates to a reservoir for adhesive material such as for instance mortar into which a construction element gripped by the manipulator can be placed such that at least a part of the outer side of the construction element in brought into contact with the adhesive material.
  • the reservoir is provided with means for holding the adhesive material at a determined level.
  • Adhesive material can thus be applied economically in this way, particularly to porous construction elements; the hollow spaces in a side of a construction element brought into contact with the adhesive material will in normal conditions not take up any adhesive material, or only a little, so that adhesive material is in fact applied only at positions where the adhesive material is effective.
  • the apparatus can be provided with at least one sensor for sensing a construction element gripped by the gripper.
  • a sensor for sensing a construction element gripped by the gripper.
  • two dimensional inaccuracies can be removed; variations in the dimension of the construction element are compensated and variations in the manner in which the gripper engages on the construction element can be compensated.
  • a light-sensitive sensor it is possible to sense when the underside and/or a side of a gripped construction element passes a light beam. By linking this measuring result to the actual position of the gripper it is possible using the control to displace the detected side of the construction element to the desired location and release it there.
  • Yet another preferred embodiment of the apparatus is also provided with a bearing structure for a structural part assembled from construction elements and adhesive material, which bearing structure is provided with a support element on which the structural part can be placed and a side wall standing from the support part for lateral support of the structural part.
  • "Prefab" structural parts can for instance be manufactured on such a bearing structure at a production location. Once the structural parts are finished and cured, they can be taken to the building location.
  • the bearing structure is embodied such that it supports the structural part to be manufactured. When the bearing structure is embodied such that it can be positioned such that the standing side wall encloses an acute angle with the vertical, a structural part need no longer be manufactured vertically, but at an angle to the vertical.
  • the advantage hereof is that the pressure exerted by construction elements at the top on layers of adhesive material lower down is reduced.
  • the standing side wall will after all provide some support. It is precisely the pressure on the adhesive material which in a number of cases represents a limitation in the manufacture of higher structural parts in a single production run.
  • a higher wall will therefore have to be built in stages, wherein it is always necessary to wait until the mortar between the construction elements has cured before bricks can be laid again to a higher level. If this does not happen, the mortar is pressed out of the lower joints.
  • the advantage of manufacturing structural parts at an angle is that more layers of construction elements can be assembled in one stage than according to the prior art.
  • the apparatus is also provided in yet another preferred variant with a work platform which can be coupled releasably to the guide.
  • a work platform can for instance be arranged after the displaceable gripper has been removed from the guide so as to thus provide a sufficiently wide platform (in accordance with Dutch regulations at least 800 mm wide) in order to carry out further work on the placed construction elements.
  • the already constructed apparatus (optionally without the gripper and/or feed means for adhesive material which can be removed) can thus also be employed for finishing of a structural part; a separately placed scaffold therefore becomes unnecessary.
  • the invention also provides a method for mechanical manufacture of a structural part from construction elements and adhesive material, comprising the steps of: A) supplying individual construction elements, B) gripping construction elements by means of a manipulator, C) applying adhesive material to a construction element, D) displacing a construction element to a release position with the manipulator, and E) releasing the construction element at the release position such that it forms part of the structural part to be manufactured.
  • A) supplying individual construction elements B) gripping construction elements by means of a manipulator, C) applying adhesive material to a construction element, D) displacing a construction element to a release position with the manipulator, and E) releasing the construction element at the release position such that it forms part of the structural part to be manufactured.
  • adhesive material In normal conditions the adhesive material is applied to at least two sides of a construction element. In standard situations adhesive material can thus be applied to the construction elements for both the horizontal joints (bed joints) and the vertical joints (head joints).
  • structural parts can be manufactured with any desired contour. It is suitable for this purpose that the manipulator is displaceable along a guide, the guide path of which corresponds to the contour of the structural part for manufacturing. In order to manufacture a curved wall use is thus made of a correspondingly curved guide.
  • the form of the structural part for manufacture is recorded in a data-processing unit, which unit then controls the present method. This gives an unlimited freedom in respect of the forms of the structural parts that can be realized using the invention.
  • the method according to the present invention it is possible for a structural part to be manufactured at a production location and then transported to a building location where the structural part is incorporated into a larger whole. It thus becomes economically feasible to produce for instance brickwork half-products and to then integrate these into a building structure.
  • the invention furthermore provides an anchoring for releasable coupling of a constructing means to the fixed world at a controllable position, comprising: engaging means for the fixed world, a spacer which can be coupled to the engaging means for the fixed world, which spacer has an adjustable length, engaging means for the constructing means which can be coupled to the spacer on the side of the spacer remote from the engaging means for the fixed world, wherein the anchoring is embodied such that when at least one of the engaging means and the spacer are coupled, the relative position of the engaging means and the spacer is guided to one determined relative coupling orientation.
  • Such an anchoring can for instance comprise at least one coupling pin and/or at least one coupling opening with a positioning edge.
  • the apparatus according to the present invention and/or a scaffold can for instance be connected to an outside wall such that it is situated precisely at the desired distance from the outside wall, which is particularly desirable for accurate placing of the construction elements.
  • the adjustment of the length of the spacer can for instance be realized by means of a toothed wheel/gear rack transmission, although numerous alternatives can also be envisaged for this purpose. Owing to the self-locating positioning of spacer and engaging means it is also possible, after temporary disconnection of a coupling, to once again realize a coupling identical to the previous coupling.
  • figure 1 shows a perspective view of an embodiment variant of the apparatus according to the invention
  • figure 2A shows a side view of a bearing structure for a structural part and a displaceable gripper
  • figure 2B is a front view of the bearing structure for a structural part and the displaceable gripper of figure 2A
  • figure 3 is a perspective view of a guide assembled from segments
  • figure 4 shows a schematic view of an anchoring according to the invention.
  • Figure 1 shows an apparatus 1 for manufacturing a wall 3 from bricks 2 and mortar (not shown in this figure).
  • Bricks 2 supplied by means of a transport path 4 are picked up by a gripper 5, which gripper 5 is carried by a carriage 7 displaceable along a guide 6.
  • a dispensing head 8 Also integrated into carriage 7 is a dispensing head 8 with which mortar supplied by means of hoses 9 can be applied to a gripped brick 10.
  • a computer not shown
  • Guide 6 is supported at an adjustable height by two columns 12. Guide 6 can for instance be adjusted manually relative to columns 12, although it is also possible for columns 12 to be provided with drive means such that the control (computer) can independently change this relative position of columns 12 and guide 6.
  • a platform 13 on which one or more persons 14 can take up position, for instance for the purpose of supervision, maintenance or repair.
  • Figures 2A and 2B shows a bearing structure 15 for a structural part 16 and a displaceable gripper 17. Because structural part 16 is supported to a greater or lesser degree in sloping position by bearing structure 15, the load on the bed joints is reduced, which means that structural part 16 can be manufactured more rapidly. As shown in figure 2 A, the gripper is displaceable in the directions PI and P2, which directions are perpendicular to the direction of displacement of gripper 17 along the guide 6 shown in figure 1.
  • Figure 3 shows a guide 18 assembled from individual segments 19 so that the guide can be displaced relatively easily. Segments 19 of guide 18 simultaneously form the transport path 20 for construction elements (bricks) for processing. Segments 19 can be mutually fixed and released again by means of coupling pins 19.
  • FIG. 4 shows an anchoring 25 with an object 27 for anchoring to an outside wall 26.
  • a spacer 29 engages on outside wall 26 via engaging means 28.
  • the shown spacer 29 comprises two telescopic profile parts 30, 31 which can be placed in a desired relative orientation by means of a toothed wheel 32 and a gear rack 33 such that spacer 29 has the desired length.
  • On the side of spacer 30 remote from outside wall 26 is situated an engaging pin 34 which has a conical shape so that, when it engages on object 27 (or put more precisely when it engages on an opening 35 in object 27) the relative orientation of pin 34 and hole 35 is realized in self-locating and precisely controllable manner.
  • engaging pin 34 and opening 35 it is also possible that only one of the two is provided with a positioning edge.
  • engaging means 28 can also be given a self-positioning form.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Joining Of Building Structures In Genera (AREA)

Abstract

L'invention concerne un appareil de fabrication d'un élément de structure à partir d'éléments de construction et de matière adhésive. Ledit appareil comprend : un dispositif d'acheminement d'éléments de construction individuels, un préhenseur mobile permettant de prendre les éléments de construction acheminés par le dispositif d'acheminement et permettant de libérer les éléments de construction au niveau d'une position souhaitée, des moyens de distribution permettant d'acheminer des quantités mesurées de matière adhésive afin de relier les éléments de construction entre eux et une commande de préhenseur mobile et de moyen de distribution. L'invention concerne également un procédé de fabrication mécanique d'un élément de structure à partir d'éléments de construction et de matière adhésive.
PCT/NL2004/000151 2003-03-19 2004-03-18 Appareil et procede de fabrication d'un element de structure a partir d'elements de construction et de matiere adhesive WO2004083540A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1022970 2003-03-19
NL1022970A NL1022970C2 (nl) 2003-03-19 2003-03-19 Inrichting en werkwijze voor het uit bouwelementen en hechtmateriaal vervaardigen van een constructiedeel.

Publications (2)

Publication Number Publication Date
WO2004083540A2 true WO2004083540A2 (fr) 2004-09-30
WO2004083540A3 WO2004083540A3 (fr) 2005-02-10

Family

ID=33029100

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2004/000151 WO2004083540A2 (fr) 2003-03-19 2004-03-18 Appareil et procede de fabrication d'un element de structure a partir d'elements de construction et de matiere adhesive

Country Status (2)

Country Link
NL (1) NL1022970C2 (fr)
WO (1) WO2004083540A2 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007076581A1 (fr) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd Systeme automatise de pose de briques pour construire un batiment a partir d'une pluralite de briques
WO2012021732A1 (fr) * 2010-08-12 2012-02-16 Scott Lawrence Peters Système pour la pose de briques
WO2018156045A1 (fr) * 2017-02-27 2018-08-30 Общество С Ограниченной Ответственностью "Темпо" Dispositif et procédé de production additive d'articles faits de blocs
US10272613B2 (en) 2013-10-30 2019-04-30 R. Platt Boyd, IV Additive manufacturing of building and other structures
US10618217B2 (en) 2013-10-30 2020-04-14 Branch Technology, Inc. Cellular fabrication and apparatus for additive manufacturing
US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110644797B (zh) * 2018-06-26 2021-09-03 厦门华蔚物联网科技有限公司 可实现砖间砂浆紧实的砌砖夹具及其砌砖方法
CN110952790A (zh) * 2018-09-27 2020-04-03 千寻位置网络有限公司 一种基于差分定位的砌墙方法及系统、砌墙机

Citations (2)

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Publication number Priority date Publication date Assignee Title
DE3712847A1 (de) * 1987-04-15 1988-11-03 Albert Wager Verfahren und einrichtung zum maschinellen mauern von waenden aus bausteinen
NL9201312A (nl) * 1992-07-21 1994-02-16 Hans Robert Theodoor Voolstra Machine voor het automatisch verlijmen van beton- en kalkzandstenen in de bouw.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3712847A1 (de) * 1987-04-15 1988-11-03 Albert Wager Verfahren und einrichtung zum maschinellen mauern von waenden aus bausteinen
NL9201312A (nl) * 1992-07-21 1994-02-16 Hans Robert Theodoor Voolstra Machine voor het automatisch verlijmen van beton- en kalkzandstenen in de bouw.

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8166727B2 (en) 2005-12-30 2012-05-01 Goldwing Nominees Pty. Ltd. Automated brick laying system for constructing a building from a plurality of bricks
AU2007203730B2 (en) * 2005-12-30 2012-09-27 Fastbrick Ip Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks
WO2007076581A1 (fr) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd Systeme automatise de pose de briques pour construire un batiment a partir d'une pluralite de briques
WO2012021732A1 (fr) * 2010-08-12 2012-02-16 Scott Lawrence Peters Système pour la pose de briques
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
US10695973B2 (en) 2013-10-30 2020-06-30 Branch Technology, Inc. Additive manufacturing of buildings and other structures
US10272613B2 (en) 2013-10-30 2019-04-30 R. Platt Boyd, IV Additive manufacturing of building and other structures
US10618217B2 (en) 2013-10-30 2020-04-14 Branch Technology, Inc. Cellular fabrication and apparatus for additive manufacturing
US11975484B2 (en) 2013-10-30 2024-05-07 Branch Technology, Inc. Cellular fabrication and apparatus for additive manufacturing
US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
US10876308B2 (en) 2016-07-15 2020-12-29 Fastbrick Ip Pty Ltd Boom for material transport
US11106836B2 (en) 2016-07-15 2021-08-31 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11299894B2 (en) 2016-07-15 2022-04-12 Fastbrick Ip Pty Ltd Boom for material transport
US12001761B2 (en) 2016-07-15 2024-06-04 Fastbrick Ip Pty Ltd Computer aided design for brick and block constructions and control software to control a machine to construct a building
US11842124B2 (en) 2016-07-15 2023-12-12 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexible arm
US11687686B2 (en) 2016-07-15 2023-06-27 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
WO2018156045A1 (fr) * 2017-02-27 2018-08-30 Общество С Ограниченной Ответственностью "Темпо" Dispositif et procédé de production additive d'articles faits de blocs
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith

Also Published As

Publication number Publication date
WO2004083540A3 (fr) 2005-02-10
NL1022970C2 (nl) 2004-09-21

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