WO2016156626A1 - Robot de construction par couches et installation de construction comprenant une multitude de robots - Google Patents

Robot de construction par couches et installation de construction comprenant une multitude de robots Download PDF

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Publication number
WO2016156626A1
WO2016156626A1 PCT/ES2015/070242 ES2015070242W WO2016156626A1 WO 2016156626 A1 WO2016156626 A1 WO 2016156626A1 ES 2015070242 W ES2015070242 W ES 2015070242W WO 2016156626 A1 WO2016156626 A1 WO 2016156626A1
Authority
WO
WIPO (PCT)
Prior art keywords
construction
robot
control unit
storage tank
elevator
Prior art date
Application number
PCT/ES2015/070242
Other languages
English (en)
Spanish (es)
Inventor
Francisco DE BORJA HUESO RIEU
Ignacio GONZÁLEZ ALONSO
Original Assignee
Huritrabe, S. L.
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 Huritrabe, S. L. filed Critical Huritrabe, S. L.
Priority to PCT/ES2015/070242 priority Critical patent/WO2016156626A1/fr
Publication of WO2016156626A1 publication Critical patent/WO2016156626A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B1/00—Producing shaped prefabricated articles from the material
    • B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B15/00—General arrangement or layout of plant ; Industrial outlines or plant installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • 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
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the present invention is framed in the technical field of layered construction systems.
  • a layered construction robot and an installation comprising a swarm of said robots and a central control unit that controls the movement of the robots and the pouring of the building material centrally are described.
  • Layered construction is based on the operation of 3D printers to automate the construction process of all the elements of a building. This construction system allows to build pre-designed buildings in a CAD / CAM / BIM program.
  • 3D object printing is a technical field that has developed a lot in recent years. This technique is based on the manufacture of objects by deposition of layers of material until the final shape of the object is obtained. In some cases, 3D printing is done using powder material that is solidified by layers, for example by means of a laser that heats the corresponding section.
  • a 3D construction system which comprises a light-bridge crane that maintains good load resistance ratios thanks to the inclusion of tensors in its structure.
  • bridge cranes that are removable and that are at least partially installed in a truck to allow a faster and easier movement of the installation to the construction site.
  • the present invention proposes a layered construction robot and a construction installation comprising said robot.
  • the described layer construction robot allows the placement of a plurality of layers, one on top of the other, to form at least one constructive section of a building, such as a house wall.
  • the great advantage provided by the robot of the present invention is that it moves directly over the previously deposited layers of the construction, so there is no height limit for the construction.
  • the construction material is mixed with a binder that allows rapid hardening of said material once it has been poured.
  • the operation of the robot is very simple since it is based on depositing the building material in layers.
  • it essentially comprises a tank intended to receive the construction material, means of displacement that allow its movement and a spill head configured to deposit the spill material as it progresses in its displacement.
  • It preferably also comprises a second storage tank for binder material, which is the material that allows rapid drying of the previous layers.
  • the robot comprises at least one control unit that is responsible for receiving a signal with the necessary instructions for the movement and pouring of construction material.
  • Said signal is preferably sent from a control unit in which it has been introduced or a CAD / CAM / BIM model of the building to be built has been developed.
  • a user can therefore design a specific building and then send the necessary data to the robot to build the different parts of the building in layers.
  • the robot follows the corresponding displacement instructions and discharges material in the specified areas, making passes of several layers that allow it to take height until the building is completed.
  • the pouring of material is carried out from the pouring head which is connected to the construction material tank and preferably also to the second deposit of binder material.
  • Said pouring head is disposed at one end of the robot so that when the robot advances at the same time the construction material that is deposited from the rear of the robot performs the pouring. Thus the robot does not pass over the newly poured material and it has time to harden.
  • the means of movement of the robot preferably comprise track wheels to ensure the stability of the robot and its movement on any type of surface. Also these means of movement allow the robot to form layers with any type of shape and geometry.
  • An object of the present invention is also a construction installation comprising at least one robot as described above and comprising at least two storage tanks, a storage tank for building material and a storage tank for binder material.
  • the installation comprises a swarm of robots as described above.
  • the storage tank allows a large amount of construction material to be accumulated so that when the robot tank has been emptied the robot moves to the tank and refills it. In this way it is not necessary for the robot to travel long distances to reach a refueling unit.
  • the storage tank is installed in the land where the building is being built and comprises at least one connection pipe intended to be connected to the robot tank.
  • the second storage tank of binder material is next to the storage tank of binder material.
  • the robot when the robot is pouring into the corresponding layer and needs more material, it moves to the area near the foot of the crane and the tanks are connected to the tanks with the connection pipes. While the robot is recharging building material and binder material, another robot can replace you in the work you were doing.
  • the battery can also be recharged.
  • the installation comprises as an essential element a central control unit to which the storage tanks and robots are linked.
  • Said central control unit is configured to send a signal with instructions for moving and pouring material to the control unit of each robot.
  • the central control unit is the element in charge of managing all robot movements when the installation comprises a swarm of robots that work synchronously.
  • the central control unit is the element in charge of controlling the refueling of each robot, managing the amounts of construction and binder material in each robot and managing the queues for refueling and recharging the robot's battery.
  • the installation comprises an elevator that moves vertically and comprises first connections to the tank connection pipes and second connections configured to join the robot tanks.
  • the sense that the elevator has is to allow the connection between the connection pipes of the tanks and the tanks of the robot at any height that the robot is.
  • the elevator moves to the necessary height thanks to the elevator positioning means configured to regulate the vertical movement until facing the robot.
  • the elevator is a central battery that allows you to recharge the robot's battery.
  • the elevator's second connections are placed facing the robot tanks and connected to them. As more layers are placed, the elevator also moves up to continue allowing refueling. This is true in buildings where the height requires it to allow the pumping of material to be effective.
  • the installation also comprises a crane with at least one loading arm and which is connected to the central control unit.
  • This loading arm allows you to load objects necessary for construction or that you want to place inside the building and at the same time also allows you to load the robots to move them to the desired positions.
  • the robots have to go to refuel material and the layers on which they are working correspond, for example, with building walls that have a window or door and are not continuous, the robot cannot reach the refueling zone. In these cases, the crane can pick up the robots with the loading arm and take it to the refueling zone.
  • the crane may have the possibility of moving in a horizontal direction to guarantee the access of the loading arm to all possible positions of the robots.
  • Figure 1 Shows a perspective view of a layered construction robot in which the robot is seen from above.
  • Figure 2. Shows a perspective view of a layered construction robot in which the robot is seen from below.
  • Figure 3. Shows a perspective view of the construction installation working on the construction of a building.
  • Figure 4.- Shows a zoom view of Figure 3 in which a robot is observed refueling construction material from the storage tank and binder material from the binder storage tank, and recharging the battery.
  • FIG 1 a perspective of the proposed layer construction robot (1) can be seen.
  • This robot (1) is configured to deposit one layer of material after another to form a part of the structure or the complete structure of a building.
  • the essential elements of the robot (1) can be seen as a storage tank (2) for construction material.
  • the robot (1) comprises enough construction material to be able to carry out the pouring work without having to depend on a direct connection to a storage tank (1 1).
  • the tank (2) comprises a recharge mouth of construction material (20) through which the inside of the tank (2) is filled.
  • the robot (1) can move independently without having to depend on pipes to be continuously receiving construction material. In this way a lot of versatility is gained since the robot does not have its limited movements at a certain distance from a storage tank of construction material or to specific positions marked by its continuous union to pipes with pouring material.
  • the robot (1) comprises a second storage tank of binder material which is the material that allows rapid drying of the construction material of the previous layers giving it cohesion.
  • Said second tank comprises a recharge mouth of binder material (21) through which its interior is filled with binder material.
  • the robot (1) also comprises displacement means (3) configured to allow the robot to move on a surface on which you will deposit a layer of building material.
  • these displacement means (3) comprise track wheels, as can be clearly seen in figure 2.
  • the track type wheels allow the movement of the robots (1) on any surface and also allow the movement of the robots (1 ) on any surface or geometry.
  • a swarm of robots (1) can be seen working on the construction of a building from which one of them is pouring material into a corner of the building.
  • pouring head (4) of construction material that is connected to the tank (2) and is configured to extrude the building material on the surface on which it travels.
  • the pouring head (4) is a pumping system associated with a Cartesian robot and is attached to the body of the robot like the carriage of a printer.
  • Other elements of the robot (1) are at least one battery (6) and at least one servomotor (5) linked to the displacement means (3).
  • the robot (1) comprises a control unit (7) configured to receive a signal with the instructions for movement and spillage of material and configured to send said signal to the displacement means (3) and to the spill head (4 ).
  • the displacement means (3) comprise at least one servomotor, a microcontroller and the tracks.
  • the signal with the instructions for displacement and pouring of material is received based on a previous design made in CAD / CAM / BIM in which the building to be constructed is represented.
  • the instructions received by the robot (1) are related to the forward movements that it has to perform and the positions in the You have to do or not pour construction material. Also when the tank (2) empties the robot (1) has to move to the vicinity of the storage tank of construction material, the storage tank of binder to refuel and the central battery to recharge the battery (6) of the robot through battery recharge tabs (19).
  • the layered construction robot (1) additionally comprises an arm with clamp (8) that is connected to the control unit (7) and configured to manipulate objects.
  • This arm with clamp (8) is that you can place products necessary for the housing facilities, such as pipes, allows the possibility of coupling with another robot in the swarm, and allows the removal of obstacles and elements leftovers from the layers on which one works.
  • the robot (1) comprises positioning means (9) that are configured to guide said movement.
  • positioning means (9) are ultrasonic sensors or antennas with markers.
  • the positioning means (9) can also be infrared sensors, GPS sensors and wireless beacons.
  • the transmitting antennas of the wireless beacons are in communication with a central control unit (18).
  • the robot (1) comprises the control unit (7) configured to receive instructions from an external control device.
  • the control unit (7) comprises wireless communication means (10) for receiving said instructions and sending them to the control unit (7).
  • an object of the present invention is a construction installation, such as that shown in Figure 3, which comprises at least one robot (1) like the one described above and which preferably comprises a swarm of said robots (1).
  • These robots (1) work governed by a central control unit (18) that is part of the installation and is configured to send a signal with instructions for movement and spillage of material to the control unit (7) of each robot (1).
  • a storage tank (1 1) for building material with at least one connecting pipe (12) configured to allow the construction material to exit.
  • the robots (1) do not have to move from the construction zone to refuel construction material.
  • the installation may comprise an elevator (15) that moves vertically and comprises first connections to the connecting pipe (12) of the construction material storage tank (1 1) and to the second connection pipe to the storage tank of binder material and second connections (16) configured to join the robot tanks (1).
  • elevator positioning means configured to regulate its vertical movement to a position facing the robot (1) to be refueled.
  • the second connections (16) are retractable tubes that retract when they are not being used and which lengthen until contacting the robot (1) when refueling is to be done. In this way, when moving up or down the elevator, the second connections (16) do not at any time come into contact with areas of the building already built.
  • retractable tube (17) to recharge the robot's battery.
  • Said retractable tube (17) is arranged in the elevator, so that it can be conveniently connected to the robot at whatever height it is.
  • the shrink tube (17) has a conical head to facilitate coupling with the battery recharge tabs (19) of the robots (1).
  • Figure 4 shows a zoom of Figure 3 showing the connection between the elevator (15) and the robot (1) for refueling.
  • the installation can comprise, as seen in figures 3 and 4, a crane (13) with at least one loading arm (14). Said crane (13) is also connected to the central control unit (18) that coordinates its movements with those of the swarm of robots (1).
  • the installation also includes a guide rail (15) on which the crane (13) moves in a horizontal direction. Thanks to this freedom of movement on the horizontal axis of the crane and the freedom of movement of the loading arm (14) it can reach any part of the construction to load objects and load robots (1) as described above.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Materials Engineering (AREA)
  • Ceramic Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot (1) de construction par couches qui comprend un réservoir (2) de stockage de matériau de construction, des moyens de déplacement (3) conçus pour permettre le déplacement du robot (1) sur une surface sur laquelle est déposée une couche de matériau de construction, et une tête de versement (4) dudit matériau de construction. Ledit robot permet la construction par couches de type impression 3D de bâtiments sans limite de hauteur. Ladite invention concerne également une installation, de préférence, avec une multitude de robots (1) telle que décrite, lesdits robots étant commandés depuis une unité centrale de commande (18).
PCT/ES2015/070242 2015-03-30 2015-03-30 Robot de construction par couches et installation de construction comprenant une multitude de robots WO2016156626A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/ES2015/070242 WO2016156626A1 (fr) 2015-03-30 2015-03-30 Robot de construction par couches et installation de construction comprenant une multitude de robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/ES2015/070242 WO2016156626A1 (fr) 2015-03-30 2015-03-30 Robot de construction par couches et installation de construction comprenant une multitude de robots

Publications (1)

Publication Number Publication Date
WO2016156626A1 true WO2016156626A1 (fr) 2016-10-06

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PCT/ES2015/070242 WO2016156626A1 (fr) 2015-03-30 2015-03-30 Robot de construction par couches et installation de construction comprenant une multitude de robots

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107246151A (zh) * 2017-08-08 2017-10-13 湖南三快而居住宅工业有限公司 一种建筑物的建造方法及建筑物的建造装置
CN107553687A (zh) * 2017-09-11 2018-01-09 李尚明 3d房屋打印机
FR3073170A1 (fr) * 2017-11-06 2019-05-10 Xtreee Dispositif et procede de fabrication additive d’une structure architecturale comprenant au moins une piece encastree
WO2021108936A1 (fr) * 2019-12-05 2021-06-10 Universidad Técnica Federico Santa María Cellule robotisée mobile pour la fabrication de bâtiments imprimés lors de travaux au moyen d'un système à axes multiples d'impression 3d, et procédé de fonctionnement associé

Citations (5)

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CH673498A5 (en) * 1986-08-27 1990-03-15 Thomas Albert Pfister Automatic brick laying system using programme-controlled robot - uses gripper to transfer bricks with simultaneous feed of bedding mortar
WO2005070657A1 (fr) * 2004-01-20 2005-08-04 University Of Southern California Construction automatisee comprenant des systemes robotiques
US20130292039A1 (en) * 2012-04-04 2013-11-07 Massachusetts Institute Of Technology Methods and Apparatus for Actuated Fabricator
US20140374933A1 (en) * 2013-06-23 2014-12-25 Addibots LLC Methods and apparatus for mobile additive manufacturing of advanced structures and roadways
US20150076732A1 (en) * 2013-09-13 2015-03-19 Made In Space, Inc. Additive Manufacturing of Extended Structures

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH673498A5 (en) * 1986-08-27 1990-03-15 Thomas Albert Pfister Automatic brick laying system using programme-controlled robot - uses gripper to transfer bricks with simultaneous feed of bedding mortar
WO2005070657A1 (fr) * 2004-01-20 2005-08-04 University Of Southern California Construction automatisee comprenant des systemes robotiques
US20130292039A1 (en) * 2012-04-04 2013-11-07 Massachusetts Institute Of Technology Methods and Apparatus for Actuated Fabricator
US20140374933A1 (en) * 2013-06-23 2014-12-25 Addibots LLC Methods and apparatus for mobile additive manufacturing of advanced structures and roadways
US20150076732A1 (en) * 2013-09-13 2015-03-19 Made In Space, Inc. Additive Manufacturing of Extended Structures

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Title
"3D-printed moonbase? No problem for our robots, says European Space Agency (VIDEO)", 9 November 2014 (2014-11-09), XP055229281, Retrieved from the Internet <URL:https://www.rt.com/news/203643-moon-base-3d-printer/> [retrieved on 20151118] *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107246151A (zh) * 2017-08-08 2017-10-13 湖南三快而居住宅工业有限公司 一种建筑物的建造方法及建筑物的建造装置
CN107246151B (zh) * 2017-08-08 2020-01-07 湖南三一快而居住宅工业有限公司 一种建筑物的建造方法及建筑物的建造装置
CN107553687A (zh) * 2017-09-11 2018-01-09 李尚明 3d房屋打印机
CN107553687B (zh) * 2017-09-11 2019-07-02 李尚明 3d房屋打印机
FR3073170A1 (fr) * 2017-11-06 2019-05-10 Xtreee Dispositif et procede de fabrication additive d’une structure architecturale comprenant au moins une piece encastree
WO2021108936A1 (fr) * 2019-12-05 2021-06-10 Universidad Técnica Federico Santa María Cellule robotisée mobile pour la fabrication de bâtiments imprimés lors de travaux au moyen d'un système à axes multiples d'impression 3d, et procédé de fonctionnement associé

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