WO2019197698A1 - Sistema de construcción robotizado - Google Patents
Sistema de construcción robotizado Download PDFInfo
- Publication number
- WO2019197698A1 WO2019197698A1 PCT/ES2019/070247 ES2019070247W WO2019197698A1 WO 2019197698 A1 WO2019197698 A1 WO 2019197698A1 ES 2019070247 W ES2019070247 W ES 2019070247W WO 2019197698 A1 WO2019197698 A1 WO 2019197698A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- construction system
- robotized
- nozzles
- construction
- robotized construction
- Prior art date
Links
- 238000010276 construction Methods 0.000 title claims abstract description 72
- 238000004519 manufacturing process Methods 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 32
- 239000004035 construction material Substances 0.000 claims abstract description 23
- 239000012530 fluid Substances 0.000 claims description 15
- 210000000707 wrist Anatomy 0.000 claims description 13
- 239000000853 adhesive Substances 0.000 claims description 8
- 230000001070 adhesive effect Effects 0.000 claims description 8
- 238000005498 polishing Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 4
- 238000007639 printing Methods 0.000 claims description 3
- 239000004566 building material Substances 0.000 claims description 2
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 239000004568 cement Substances 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 abstract description 3
- -1 for example Substances 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000000576 coating method Methods 0.000 description 3
- 238000000151 deposition Methods 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 239000004567 concrete Substances 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
- 239000011178 precast concrete Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000005465 channeling Effects 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
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- YFONKFDEZLYQDH-BOURZNODSA-N indaziflam Chemical compound CC(F)C1=NC(N)=NC(N[C@H]2C3=CC(C)=CC=C3C[C@@H]2C)=N1 YFONKFDEZLYQDH-BOURZNODSA-N 0.000 description 1
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- 239000011343 solid material Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- 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
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
-
- 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
- B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
- B28B11/08—Apparatus or processes for treating or working the shaped or preshaped articles for reshaping the surface, e.g. smoothing, roughening, corrugating, making screw-threads
- B28B11/0845—Apparatus or processes for treating or working the shaped or preshaped articles for reshaping the surface, e.g. smoothing, roughening, corrugating, making screw-threads for smoothing
-
- 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
-
- 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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- 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
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
-
- 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
- B33Y10/00—Processes of additive manufacturing
-
- 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
- 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
- B33Y80/00—Products made by additive manufacturing
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/16—Structures made from masses, e.g. of concrete, cast or similarly formed in situ with or without making use of additional elements, such as permanent forms, substructures to be coated with load-bearing material
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/35—Extraordinary methods of construction, e.g. lift-slab, jack-block
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/35—Extraordinary methods of construction, e.g. lift-slab, jack-block
- E04B1/3505—Extraordinary methods of construction, e.g. lift-slab, jack-block characterised by the in situ moulding of large parts of a structure
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- 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
- E04G21/02—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
-
- 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
- E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane
-
- 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 object of the present invention is a system that allows the manufacture of any construction, such as, among others, buildings, structures, infrastructures, by means of a Cartesian robot with robotic supply of liquid construction materials that once formed form the vertical elements and horizontal that make up a construction, as well as the electrical and electronic installations necessary for the movement of the robot.
- a remarkable feature of the invention is the possibility that the Cartesian robot will rise autonomously by fixing itself to the vertical surfaces of the construction, without the need of external lifting elements such as cranes.
- Construction is a labor-intensive activity, which implies that it is a sector with low productivity and high risk of accidents at work derived from the manual nature of many of the jobs that are carried out.
- machinery plays a very important role, being essential in most of the tasks and in the safety with which they are performed.
- Precast concrete covers a large number of products made in the factory by molding and setting, such as large structural prefabricated, such as beams, walls and pillars, small structural prefabricated, such as joists, concrete pipes, blocks, curbs, pavers, as well as special prefabricated ones, including sleepers , posts and booths.
- large structural prefabricated such as beams, walls and pillars
- small structural prefabricated such as joists, concrete pipes, blocks, curbs, pavers, as well as special prefabricated ones, including sleepers , posts and booths.
- the present invention advocates an automated system, which, through the use of a Cartesian robot, that rises on the construction autonomously as the construction gains in height, and through the contribution of liquid construction materials, allows the erection of Almost any type of structure.
- the robotic construction system which is the object of the present invention, comprises:
- a Cartesian robot which in turn comprises:
- a programmable controller that at least controls the actuators and receives data from at least the position sensors
- Figure 2 shows a perspective view of the Cartesian robot when a plant of a building has been constructed and the lifting device is anchored on the roof of said plant.
- Figure 3 shows a perspective view of the raised Cartesian robot on the already built plant.
- Figure 4 shows a perspective view of a four-story building and the Cartesian robot anchored on the roof of the third floor.
- Figure 5 shows a perspective view of a detail of the Cartesian robot ready to begin its elevation.
- Figure 6 shows a perspective view of a detail of the fully elevated Cartesian robot to build a new plant.
- Figure 7 shows a perspective view of a detail of a rack-and-pinion type lifting device
- Figure 8 shows a perspective view of the Cartesian robot with two bridge beams.
- Figure 9 shows a perspective view of the Cartesian robot with two bridge beams and two cars on each of the bridge beams.
- Figure 10 shows a perspective view of the assembly of the robotic supply system of pipes for electrical and electronic materials and cables of the invention.
- Figure 1 1 shows a view of the robotic rotating drum used in the robotic supply system where the pipes are spirally wound.
- Figure 12 shows a view of the curved and motorized devices as well as the rotating bearing supports where the pipes are guided.
- Figure 13 shows a perspective view of a square section nozzle and an example of a vertical element under construction.
- Figure 14 shows a perspective view of a manufacturing tool with 5 nozzles, one of them movable and the vertical element constructed.
- Figure 15 shows a perspective view of a manufacturing tool with a mold arranged at the free end of a nozzle.
- Figure 16 shows a perspective view of a vertical element constructed by means of elements manufactured by the mold of Figure 15
- Figure 17 shows a perspective view of the mold with its bottom face open and depositing a solid building element.
- Figure 18 shows a perspective view of a vacuum and molding manufacturing tool.
- Figure 19 Shows an exploded perspective view of the manufacturing tool by layer deposition in a printing roller format.
- Figure 20 Shows a perspective view of the tool of Figure 19 forming a construction element such as a wall.
- Figure 21 shows a perspective view of the horizontal surface leveling tool.
- Figure 22 shows two perspective views of a vertical surface leveling tool.
- Figure 23 shows two perspective views of an adhesive and manipulator extruder tool.
- Figure 24 shows a perspective view of the finishing and polishing disc manufacturing tool
- Figure 25 Shows an exploded perspective view of the finishing and polishing disc manufacturing tool. PREFERRED EMBODIMENT OF THE INVENTION
- the robotic construction system comprises a Cartesian robot (1), one or more manufacturing tools (3), a power supply device (4) and a construction materials supply device (5).
- the Cartesian robot comprises two beams (8), possibly complemented by columns (7) forming porches (6), in figures 1, 8 and 9 a preferred embodiment is shown with four columns and a horizontal beam (8), where the beams they can be extensible to adapt to constructions of different length.
- These last two preferred embodiments increase the speed of the construction since the controller prevents the cars from interfering with each other.
- the construction system comprises a lifting system (2) of the beams (8) or of the porches (6).
- each extendable column is coupled to a carriage, a motorized wrist (12) and controlled by the Cartesian robot controller having one or more degrees of freedom, for example the wrist (12) can rotate with respect to a vertical axis and / or with respect to a horizontal axis to position the manufacturing tool (3) with greater precision or place it perpendicularly with respect to the column extensible, for example to apply an adhesive or an insulator to a vertical or inclined surface.
- Figures 1-7 show how the Cartesian robot (1) rises as construction progresses, in this case a five-story building.
- the anchors are divided into first anchors (14) jointly joined to the lower end of the columns (7) and on which the frames (6) are supported when the robotic construction system is working and a few second mobile anchors (15) to along the columns (7) that are fixed to the construction only when they have to lift the Cartesian robot (1) and that are part of the lifting device (2), for example in the case of a rack-and-pinion type lifting device , the pinions (16) and the motors (18) that drive them would be mounted on the second anchors and the rack (17) would be located on the columns (7).
- Figure 1 shows the Cartesian robot (1) resting on the ground on the first anchors (14) and the second anchors (15) of the lifting system (2) located at the top of the columns, in Figure 2 the first The plant is already built and the second anchors (15) rest on the floor of the first floor or on the surface of the building or construction and by means of the lifting device (2) raise the two porticos (6) simultaneously leaving the invention in its working position to build a new plant, see figure 3, when the first anchors (14) are anchored to the structure.
- Figure 5 shows how the porches (6) are supported on the first (14) and the second anchors (15) once the fourth floor is finished and prepared to raise the robotic construction system to initiate the erection of the fifth plant.
- the lifting device (2) can be of the rack-and-pinion type driven by electric motors (18), by hydraulic or pneumatic piston that drives ratchet wrench, of hydraulic cylinders, by means of spindles with mechanically actuated threads or similar systems, all types of lifting devices will be controlled and operated by the Cartesian robot controller.
- Other possible lifting device (2) is by means of extendable columns (7), such that as the frames are raised, the columns (7) rest on lower columns as an extension of the columns of the porch (7) to the ground.
- the feeding device (4 and 5) may consist of one or more pipes (19), one or more pipes for fluid construction materials, for example, cement base, one or more for auxiliary materials for acoustic coatings or thermal and two or more for water and compressed air and one or more pipes for the power supply of the robot, the pipes (19) for the supply of construction materials (5) hydraulically join a storage tank and pumping fluids with the tools of manufacturing (3).
- the feeding device as a whole (4 and 5) and in a preferred construction, is formed by flexible elements and comprises one or more motorized auxiliary drums (20) and controlled by the robot controller with simultaneous movement thereto, where they are wound
- the flexible spiral elements, the different pipes (19) can all be wound in one or more drums (20) or in one or more drums (20) dedicated only to one pipe (19).
- the curved device (21) has free rotating rollers (22) and a roller (100) coupled to the motor (23) and that by means of springs (24) compresses the pipes (19) to be able to make them move in a controlled way and simultaneously to the rotation of the drum (20).
- the pipes (19) run along the horizontal beam (8) they do so through the internal part of some supports (25) with rotating bearings (26) on independent carriages (27) that slide on rails (28) installed in the horizontal beam (8). These are separated at a maximum distance determined according to the type of pipe (19) and thanks to the use of a telescopic or scissor system (29) as shown in figure 12.
- the first carriage (27) is anchored to the carriage that moves the bridge beam (9) and the rest anchored between them in such a way that they open as needed.
- the transition of the pipes (19) between the horizontal beam (8) and the bridge beam (9) is carried out by means of a curved and motorized device (21) similar to that described in the previous paragraph and the pipes (19) run through the beam bridge (9) through the internal part of rotating bearing supports (26) on independent carriages (101) that slide on rails (30) and separated by a maximum distance determined according to the type of pipe (19) and thanks to the use of a telescopic or scissor system (29) similar to the one described above until a transition to the extendable column (1 1) by means of a curved and motorized device (21) similar to the previous ones.
- the motorizations of the curved devices (21) and the drums (20) are synchronized by the controller and release a certain pipe length (19) based on the position of the tip of the Z axis or tool (3).
- the channeling system (4 and 5) described above is also used by the power supply cables of the different actuators and electric motors of the invention.
- the supply system (4 and 5) has fast connections (99) between the rigid and flexible elements, closing and opening valves and at least one main pump (31) at the outlet of the manufacturing tank. construction materials (32) and at least one secondary pump (33) at the entrance of the manufacturing tools (3), which can be of the screw type or a double-acting piston pump, at the exit of the Secondary pump (33) can be provided with a suction valve for the removal of air from the pipes and flow sensors in all the previous elements controlled by said robot controller.
- a variant of the feeding system (4 and 5) comprises that the pipes are guided by cable chains and pipes that rest on the top of the beams (8) and the bridge beam (9) and are anchored in turn to the carriages that allow the movement of both the bridge beam (9) and the extendable column (11). In this way the guidance of the pipes (9) will not be controlled by the mentioned robot controller.
- a variant of the feeding system (4 and 5) of the pipes (19) of the construction materials (5) comprises one or more unmanned aerial vehicles, commonly called drones, which have one or more deposits of construction material, which fly up to the upper part of the extendable column (1 1) and inject the construction material among others directly to the tools (3) and / or to the corresponding primary (31) and secondary pumps (33) and / or opening and closing valves,
- the drones will be controlled by the controller that will have a wireless communication medium with the drone.
- the first type of manufacturing tool (3) comprises one or more nozzles coupled to the wrist (12) hydraulically and electrically connected to the feeding device (4 and 5) and intended to deposit layers of a fluid constructive material that when generated generate said vertical or horizontal elements, at least one of the nozzles (34) may be of rectangular section and may be the only nozzle of the manufacturing tool (3), said nozzles may have a shut-off valve (35) actuated by the controller and even an independent pumping system for each of them for the perfect dosing of the material.
- the nozzles can have a side plate with angular movement by engine that allows to support the deposited material and / or give it a predetermined shape by the roughness of the side plate to the material once deposited.
- the manufacturing tool (3) can have two or more nozzles (34) and each of them can deposit a different fluid material, for example, a cement base and an acoustic or thermal insulating material, in addition to one or more nozzles (34) can be moved in a horizontal plane with respect to the rest of the fixed or mobile nozzles (34) by electric motors (36) driven by the controller, for example manufacturing the vertical element of Figure 14.
- a different fluid material for example, a cement base and an acoustic or thermal insulating material
- one of the nozzles (34) can be provided with a printing roller (36) that deposits layers with a certain design.
- Said roller comprises a structure (102) to which four concentric tubes (37) are fixed and which are arranged inside each other, two of them being rotatable. These tubes (37) have on their surface a series of holes that turn and together with the injection of material form a constructive element.
- Another variant of the manufacturing tool (3) would be the result of mixing the two previous systems in a single device.
- a mold (38) can be arranged to generate a solid construction element by default when the fluid inside sets.
- said solid element is deposited in a predetermined position when its lower face (39) is opened and ejected by a pusher (40) driven for example by compressed air both driven by the controller.
- the mold (38) can have a compactor and vibrator device, as well as being heated, for example, by induction to accelerate the setting of the fluid construction material.
- a variant of This tool would be to apply a light to the construction material introduced in the mold so that it hardens and once it has been deposited in the position.
- tools (3) can be installed on the wrist (3) to level horizontal or vertical surfaces, which can have a vibratory movement to compact the material provided, solid material handling tools, surface finishing and polishing discs, drills, or elongated nozzles for the application of adhesives and cladding plates, tools for handling prefabricated building elements, such as beams or metal reinforcements, necessary in the conformation of structural elements.
- the horizontal surface grader is, in a preferred construction, a manifold (61) connected to the outlet of the pipe (34) where a fluid construction material that can be cement based is transported, which allows the material constructive can leave in a homogeneous way and be deposited in the necessary position and quantity.
- the main pipeline has a valve (35) remotely controlled and synchronized with the main (31) and secondary pumps (33).
- This tool has depth sensors installed (62) to determine the distance of the tool to the position or location where it will be deposited and sends this signal to the controller.
- a ruler (63) is installed which, thanks to a rapid return mechanism (64), makes a longitudinal movement that makes the deposited material can be, in addition to compacted, perfectly leveled.
- the mentioned rule (63) is fixed to the rest of the tool by means of linear guides (65) that allow its longitudinal displacement, which are connected to the collector through an axis to allow rotation with the structure of the tool through the action of two actuators (66).
- the vertical surface leveling tool (70) is intended to make continuous coatings with different materials on walls and walls. In a preferred construction, it consists in guiding and oscillating movement of a pipeline (71) that releases a certain amount of fluid construction material and that connected to another compressed air pipeline (72) manages to project it on the wall.
- the tool also has a mobile, vibratory and articulated ruler (73) which, thanks to pneumatic (74) or electric actuators guided by the controller, aligns the material on the support.
- the tool has sensors (75) to measure the depth to the support as well as a flow meter at the outlet of the pipes that send the signals to the controller to guide the movement.
- the supply or not of material and compressed air is done by valves operated by the controller.
- Other manufacturing tools are the adhesive extruder tool that allows a certain amount of adhesive to be deposited on a surface to fix coatings, for example, ceramic to walls and floors and the manipulator tool (90), which manages to collect from the stock made in a place specific, the material and apply it on the wall in the exact position and precisely.
- these two tools are combined in one and comprises a nozzle (91) of cross-sectional, rectangular section and exit slots where an adhesive material comes out and is deposited.
- the same tool has a suction cup manipulator (92) installed which by Vacuum manages to pick up the material from the stock and apply it on the wall in the exact position and precisely, using pressure sensors that guarantee perfect placement.
- the manipulator (92) and the nozzle (91) are oriented at 90 degrees from each other and by means of an electric motor (93) driven by the controller rotates to place the manipulator or the nozzle in front of the surface.
- Another manufacturing tool (3) comprises one or more nozzles (34) that feeds a gun or mechanism for projecting the construction material on a support or on itself to generate new construction elements or deposit a layer on existing ones by way of cover the surface.
- Another manufacturing tool (3) comprises in a finishing and polishing disc (64) which comprises a high rpm turning motor (641) that rotates a rigid support disk (644) to which a finishing disk is coupled (643) of different materials, which, in turn, are fixed to the motor shaft (645) and allow polishing surfaces such as walls and floors.
- the robotic construction system (1) comprises a weather protection system that is deployed horizontally from one portico (8) to another in the direction of the bridge beam (9) and to one side and to the other of each beam bridge (9) and that extends or collects according to the movements of the beam / s bridge / s (9) to allow free movement of it and protect the work area of the robot from the weather.
- This system is designed so that rainwater is channeled out of the construction area.
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Structural Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Civil Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Ceramic Engineering (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
- Producing Shaped Articles From Materials (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201980039421.6A CN112351867A (zh) | 2018-04-10 | 2019-04-10 | 机器人化的建造系统 |
US17/046,348 US11939763B2 (en) | 2018-04-10 | 2019-04-10 | Robotised construction system |
JP2021504580A JP2021521366A (ja) | 2018-04-10 | 2019-04-10 | ロボット化された建設システム |
EP19784817.9A EP3733354B1 (en) | 2018-04-10 | 2019-04-10 | Robotized construction system and corresponding method for fabricating a buildung |
BR112020020786-1A BR112020020786A2 (pt) | 2018-04-10 | 2019-04-10 | Sistema de construção robotizado |
PL19784817.9T PL3733354T3 (pl) | 2018-04-10 | 2019-04-10 | Zrobotyzowany układ budowlany i odpowiadający mu sposób wytwarzania budynku |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ESP201830358 | 2018-04-10 | ||
ES201830358A ES2726921B2 (es) | 2018-04-10 | 2018-04-10 | Sistema de construccion robotizado. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019197698A1 true WO2019197698A1 (es) | 2019-10-17 |
Family
ID=68109510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2019/070247 WO2019197698A1 (es) | 2018-04-10 | 2019-04-10 | Sistema de construcción robotizado |
Country Status (8)
Country | Link |
---|---|
US (1) | US11939763B2 (es) |
EP (1) | EP3733354B1 (es) |
JP (1) | JP2021521366A (es) |
CN (1) | CN112351867A (es) |
BR (1) | BR112020020786A2 (es) |
ES (1) | ES2726921B2 (es) |
PL (1) | PL3733354T3 (es) |
WO (1) | WO2019197698A1 (es) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230016498A1 (en) * | 2019-12-05 | 2023-01-19 | Universidad Técnica Federico Santa María | A walking robotic cell for the manufacture of buildings printed on site by means of a multi-axis 3d printing system; and method of operation |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES1253726Y (es) | 2020-07-17 | 2021-01-07 | Evolution Construction System S L | Herramienta niveladora |
RU206658U1 (ru) * | 2020-11-06 | 2021-09-21 | Общество с ограниченной ответственностью "Энергосфера" | Печатающая головка строительного 3D-принтера для печати многослойных стен |
CN112814387A (zh) * | 2021-02-22 | 2021-05-18 | 齐鲁工业大学 | 一种新型龙门式双轨道3d建筑打印设备 |
GB2605372B (en) * | 2021-03-29 | 2024-09-04 | Q Bot Ltd | An apparatus for working a wet coating on a surface and a method of the same |
CN113334361A (zh) * | 2021-07-06 | 2021-09-03 | 贵州快易科成新材料科技有限公司 | 一种建筑施工机器人轨迹控制框架系统 |
ES2957717A1 (es) * | 2022-06-17 | 2024-01-24 | The Printable Company | Sistema de fabricacion aditiva multifuncion, procedimiento asociado de construccion de un edificio y procedimiento de montaje |
DE102022115249A1 (de) | 2022-06-20 | 2023-12-21 | Peri Se | Vorrichtung und Verfahren zur additiven Fertigung eines Bauteils |
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2018
- 2018-04-10 ES ES201830358A patent/ES2726921B2/es active Active
-
2019
- 2019-04-10 BR BR112020020786-1A patent/BR112020020786A2/pt unknown
- 2019-04-10 EP EP19784817.9A patent/EP3733354B1/en active Active
- 2019-04-10 PL PL19784817.9T patent/PL3733354T3/pl unknown
- 2019-04-10 US US17/046,348 patent/US11939763B2/en active Active
- 2019-04-10 CN CN201980039421.6A patent/CN112351867A/zh active Pending
- 2019-04-10 JP JP2021504580A patent/JP2021521366A/ja active Pending
- 2019-04-10 WO PCT/ES2019/070247 patent/WO2019197698A1/es unknown
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WO2005097476A2 (en) * | 2004-04-02 | 2005-10-20 | Z Corporation | Methods and apparatus for 3d printing |
WO2009037550A2 (en) * | 2007-09-17 | 2009-03-26 | Enrico Dini | Improved method for automatically producing a conglomerate structure and apparatus therefor |
WO2009055580A2 (en) * | 2007-10-24 | 2009-04-30 | University Of Southern California | Contour crafting extrusion nozzles |
WO2016166116A1 (de) * | 2015-04-12 | 2016-10-20 | Imprimere Ag | Betondrucker und verfahren zur errichtung von bauwerken mittels eines betondruckers |
WO2017222599A1 (en) * | 2016-06-21 | 2017-12-28 | Raytheon Company | Additively manufactured attenuation structure |
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Also Published As
Publication number | Publication date |
---|---|
EP3733354C0 (en) | 2023-11-01 |
EP3733354A4 (en) | 2021-10-20 |
US11939763B2 (en) | 2024-03-26 |
ES2726921A1 (es) | 2019-10-10 |
CN112351867A (zh) | 2021-02-09 |
US20210164218A1 (en) | 2021-06-03 |
BR112020020786A2 (pt) | 2021-04-06 |
EP3733354A1 (en) | 2020-11-04 |
ES2726921B2 (es) | 2020-05-25 |
PL3733354T3 (pl) | 2024-04-02 |
JP2021521366A (ja) | 2021-08-26 |
EP3733354B1 (en) | 2023-11-01 |
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