WO2021108933A1

WO2021108933A1 - Moveable robotic cell for the production of pieces and enclosures printed on site by means of a multi-axis 3d printing system, and operating method

Info

Publication number: WO2021108933A1
Application number: PCT/CL2019/050130
Authority: WO
Inventors: Luis Felipe GONZÁLEZ BÖHME; Rodrigo Hernán GARCÍA ALVARADO; Francisco Javier QUITRAL ZAPATA; Alejandro MARTÍNEZ ROCAMORA; Fernando Alfredo AUAT CHEEIN
Original assignee: Universidad Técnica Federico Santa María
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2021-06-10

Abstract

The invention relates to a moveable robotic cell for the production of pieces and enclosures printed on site by means of a multi-axis 3D printing system, comprising: a self-supporting structure, formed by three beams that meet at a zenithal hollow-shaft connection point and are radially disposed every 120° in a horizontal plane, the peripheral end of each beam being respectively provided with a lifting handle and joined to a self-levelling telescopic post that rests on a base, the beams and their respective posts supporting tubes that protect cables and hoses for power, control and other elements; a feed apparatus, formed by a semi-rigid external hose for carrying material, which has two discharge openings connected to two flexible hoses for carrying material, which hoses are connected at the other end thereof to two interchangeable nozzles provided with electronically controlled shut-off valves; and a multi-axis actuator apparatus, which is a reprogrammable electromechanical system that is automatically controlled and can be programmed offline or online, in all the degrees of freedom thereof, from an external or remote computer, the apparatus moving a circular guide on which a rotary diametral beam rotates about its centre, said beam supporting two manipulator robots mounted in an inverted position, each manipulator robot having an electronically controlled interchangeable nozzle mounted on a flange thereof and said nozzle being connected to a flexible hose for carrying material. The invention also relates to an operating method.

Description

A MOBILE ROBOTIZED CELL FOR THE MANUFACTURE OF PRINTED PARTS AND ENCLOSURES ON SITE BY MEANS OF A 3D PRINTING MULTI-AXIS SYSTEM; AND OPERATIONAL METHOD

SCOPE

The present invention refers to a mobile robotic cell for the manufacture of parts and enclosures printed on site by means of a multi-axis 3D printing system and operation method, which allows to generate double helical trajectories for the simultaneous deposition of continuous filaments of a mortar of cement, polymer, biomaterial or other similar material that does not require formwork to shape or contain it while it solidifies. More specifically to a mobile robotic cell, which is zenithal connectable to external sources of material and energy, as well as external control devices, whose self-supporting structure is self-leveling and which contains a multi-axis actuator device that is reprogrammable, automatically controlled and programmable. offline or online in all its degrees of freedom from an external or remote computer and is composed of a set of three tables with vertical linear displacement that hold a circular guide, on which a rotating diametrical beam revolves around its center that supports on its lower face two independent horizontal linear displacement axes, with two carriages on which two manipulator robots mounted in an inverted position move and that manipulate two interchangeable nozzles, which have an electronically controlled stopcock and which are connected to two flexible hoses for material transport, which are par of a feeding apparatus through which the mortar that is pumped from the outside of the mobile robotic cell descends, to be extruded into filaments that are deposited in successive superimposed layers, according to a prior computational trajectory design that reproduces the contour of the part or enclosure in all its horizontal and vertical extension.

DESCRIPTION OF PRIOR ART Printed construction, also known as 3D printing construction, consists of the additive manufacturing of buildings and construction components by means of the computer-controlled mechanical deposition of filaments of a mortar material in a plastic state, generally with a high content of cement, fine grains. of aggregates, usually between 2 and 3 mm in diameter, accelerators and other specific additives, which reproduces the contour of the piece to be printed, in its horizontal and vertical extension, in successive superimposed layers that adhere to each other consecutively, forming a resistant continuum that progressively solidifies, preserving its shape and position without the help of formwork. During the initial setting, the threshold of time in which each cement mortar filament best adheres to the lower filament, in successive overlapping layers, without crushing each other too much, or overturning or crumbling, is a crucial parameter in the programming and control of the speeds and accelerations of deposition and pumping of mortar, especially in the impression of pieces of great horizontal extension or of rooms. Naturally, the composition of the mortar, the number of superimposed layers and their respective weight are also determining factors in the programming and control of the 3D printing process with cement mortar. Less frequent, until now, is the construction printed with mortar of polymer materials, biomaterials and other composite materials. In the printed construction of complex geometry contours, the shape and orientation of the nozzle through which the mortar is extruded are also essential to determine the effective reach of the tool, especially if the part to be printed contains pre-installed reinforcement or ducts, likewise if the angle that the walls of the piece form with the ground is different from ninety degrees and, in some cases, also if it is sought to expedite the exit of the mortar filament from the nozzle, reducing the friction produced by the vertical orientation of the nozzle. The printed construction process can occur on site, that is, on the construction site, to manufacture buildings in their final location or in a workshop, to prefabricate construction components that will eventually be put into service in a place other than where they were printed. The conventional way of manufacturing walls, columns, slab components and other parts using 3D printing, is to print from the bottom up, layer by layer, the contour of the piece with a continuous mortar filament and the trim of the piece with another or the same filament, to form a structuring weft of the piece. For example, slab components can be prefabricated, preferably in the workshop, by printing them in a vertical position, as if they were hollow walls or bricks that are finally knocked down to be put into service, laid in their final position and orientation. You can also use the printed contour of the piece so that it acts as a formwork and once its walls harden and acquire sufficient strength, fill the interior of the piece with the same or another appropriate material to improve its mechanical resistance, insulation acoustic or thermal insulation. Both the contour and trim mortar can also contain natural or synthetic fibers to improve their mechanical resistance. In any case, supply and extraction ducts for water, electricity, gases and other means can also be installed before, during or after manufacturing the part, as allowed by the printed construction system used. The same condition applies to installing windowsills and lintels, for example, to form the openings of doors and windows, before or during the 3D printing process of the walls that make up an enclosure. In certain cases it is necessary to install a reinforcement of bars or steel meshes inside the piece, in order to improve its mechanical resistance, especially to the lateral forces produced, for example, by an earthquake. For this purpose, the reinforcement of the piece must be anchored to the foundation, as well as to the adjacent pieces, if any, in order to obtain a continuous resistance, solidly based on the ground and in solidarity with the rest of the building. In this case, it is critical to plan in detail the way and the chronological order in which the part will be printed and said reinforcement will be installed. Likewise, the choice of the printed construction system used is vitally important, especially if it will not be possible to modify the position or orientation of the part during the 3D printing process, as is generally the case in construction printed on site.

In general, four classes of printed construction system can be distinguished according to their mechanical structure and workspace: Cartesian, cylindrical, parallel and articulated. The Cartesian system of printed construction is fundamentally composed of a gantry. The links of its kinematic chain are connected by at least three prismatic joints (translational) oriented each one in one of the directions of the X, Y and Z axes of the Cartesian coordinate system. Your workspace is in the shape of a rectangular prism (orthohedron) and is completely contained by the supporting structure of the printed building system itself. The conventional nozzle through which the material is extruded moves with three degrees of freedom and with a single fixed orientation. The cylindrical system of printed construction is essentially composed of a cantilevered rotating arm. The links of its kinematic chain are connected by a joint of revolution (rotational) around the vertical axis Z, a prismatic joint (translational) also in the direction of the vertical axis Z and a prismatic joint (translational) in the direction of one of the horizontal X or Y axes of the Cartesian coordinate system. Your workspace is in the shape of an incomplete cylinder - if the joint of revolution around the vertical Z axis does not reach 360 angular degrees - or complete - if the joint of revolution around the vertical Z axis does reach or exceed 360 angular degrees-, which partially or totally contains the printed construction system itself. The conventional nozzle through which the material is extruded moves with three degrees of freedom and with a single fixed orientation. The parallel system of printed construction, also known as Delta, is essentially composed of three concurrent articulated arms. The links of the kinematic chain of each arm are connected by either a prismatic (translational) joint in the direction of the vertical axis Z, or a joint of revolution (rotational) around one of the horizontal axes X or Y and two universal (rotational) joints around one of the horizontal X or Y axes and around the vertical Z axis. Your workspace is roughly shaped like the lower hemisphere of a sphere or an inverted umbrella and is completely contained by the structure supporting structure of the printed construction system itself. The conventional nozzle through which the material is extruded moves with three degrees of freedom and with a single fixed orientation. The articulated system of printed construction is essentially composed of a manipulator robot. The links of its kinematic chain are connected by six joints of revolution (rotational), each around one of the X, Y or Z axes of the Cartesian coordinate system. Your workspace is roughly shaped like an incomplete or complete sphere, containing either partially or fully the proper printed construction system. The conventional nozzle through which the material is extruded moves with three degrees of freedom and is oriented with three degrees of freedom.

In general, Cartesian and parallel systems of printed construction take up more space for installation and operation than cylindrical and articulated systems, mainly due to the need to install larger and more robust support systems on site and sometimes also additional guidance systems. Cylindrical and articulated systems of printed construction, although generally self-supporting, can only print around them, unless additional support and guidance systems are installed on site that allow them to move horizontally or vertically. However, cylindrical and articulated systems cannot fully imprint their surroundings, without being enclosed within their own printed work. In any case, the need to install additional guidance systems on site for the horizontal or vertical movement of a printed construction system, limits the possibilities of operating simultaneously with a plurality of replicas of the system, or subsequently repositioning the same system in different places. of a construction site. The topology of the conventional nozzle path through which the mortar is extruded, in all kinds of printed construction system described herein, forms a simple helix that advances vertically, to deposit a continuous filament of the material.

Invention patent KR101914524 B1 dated 01.02.2018, by Ghang Lee, entitled "3D mobile concrete building 3d printing system", discloses a mobile 3D printing system for concrete buildings, with less space limitation than conventional technology. The mobile concrete building 3D printing system according to the present invention can manufacture a wall by extruding concrete using a 3D printing method. A working position is recognized by a reference point, installed in a predetermined position, and the wall can be formed in various ways.

Invention patent application DE10342934 A1 dated 04.28.2005, by Helmut Kuch et al., Entitled "Moldless, geometrically-fixed, prefabricated concrete part manufacturing method, eg for base sections of shafts in sewage Systems, by discharging material from head to form finite volume elements, and hardening ”, describes that the body to be created is formed with a defined geometry by aligning finite volume elements in the three spatial directions. Immediately after being discharged from a head containing material nozzles, these volume elements are joined to all immediately adjacent volume elements, to form a fixed composite by chemical transformation, eg, hardening. A 3D-CAD data file is used as the geometric data for the body.

Invention patent application WO2018136475 (A1) dated 07.26.2018, by Yi-Lung Mo et al, entitled "4-dimensional printing of reinforced concrete", describes a 4-dimensional printing system and a method for printing reinforced concrete which can allow reinforced concrete elements to be freely printed and / or fully automated without the need for formwork, molding, or labor. The printing system can include software and hardware systems. The software system can process 3D models of the desired reinforced concrete element in multiple layers. The software system can use the individual layer to control the operation of the hardware system to print the desired reinforced concrete element, layer by layer. The hardware system can provide a concrete nozzle, a reinforcing material nozzle, as well as dispensing mechanisms to print the materials at the desired locations and / or at the desired times for the individual layer being printed. The hardware system can also include motion control mechanisms that allow the position of the nozzles to move side to side, up and down, and zoom in or out relative to the item being printed as desired during the process. of impression.

Invention patent CN105715052 (B) dated 01.22.2019, by Jianping Wu, entitled "3D room printer and printing method for printing concrete at construction site and room", describes a room, a room 3D printer and a printing method . The room 3D printer is used for on-site printing at a construction site and comprises a joist body, and a drive mechanism and a travel mechanism that are arranged in the joist body and are connected to each other, a concrete discharge assembly that is connected with the displacement mechanism and is configured to discharge concrete in the displacement process of the displacement mechanism to complete the construction of the body of the room wall, a lifting mechanism to increase the height of the room 3D printer, and an automatic control mechanism to automatically control the displacement of the concrete discharge assembly. The room 3D printer can be used to print the room with reinforced concrete on the construction site, so the degree of automation of room construction is high, the cost is low, and the working efficiency is high.

Invention patent application WO2018162858 (A1) dated 09/13/2018, by Gaél Godi et al., Entitled "3D concrete printer", describes a mobile 3D printing device (TDPD0) that prints by adding material, intended to be attached to a device lifting device (LD) with a single lifting cable or chain, the mobile 3D printing device (TDPD0) comprising: - a printing head suitable for receiving the material and depositing it; - fixing means suitable for connecting the print head to a lifting device (LD); and - stabilizing means (MS) suitable for stabilizing the position of the recording head by gyroscopic effect. Such a device makes it possible to control the printing of the structure to be printed, in particular the position of the print head, and reduce labor costs and the time required for installation on a lifting device (LD) such as a standard crane provided of a hook.

There is no mobile robotic cell in the state of the art for the manufacture of parts and enclosures printed on site by means of a multi-axis 3D printing system, which can be moved in a single piece to be able to position it anywhere on a construction site. by means of a crane or similar, without the need to install additional support or guidance systems on site, which can be connected from above to external sources of material and energy, as well as external control devices, whose self-supporting structure is self-leveling and contains a multi-actuator device. -axis that is reprogrammable, automatically controlled and programmable offline or online in all its degrees of freedom from an external or remote computer and that said multi-axis actuator device is composed of a set of three vertical linear displacement tables that support a circular guide, on which it rotates around its center a rotating diametrical beam that supports on its lower face two independent horizontal linear displacement axes, with two carriages on which two manipulator robots mounted in an inverted position move and that manipulate two interchangeable nozzles, which have a key electronically controlled passage and connected to two flexible hoses for material transport, through which a mortar of cement, polymer, biomaterial or other similar material descends, which is pumped from the outside of the mobile robotic cell, to be extruded into filaments that are deposited in successive layers superimposed, according to a design of trajectories computed previous tional that reproduces the outline of the piece or of the enclosure in all its horizontal and vertical extension; and an operation method that allows to generate double helical trajectories of simultaneous deposition of continuous mortar filaments, to reduce the time elapsed between the deposition of each successive layer; that allows several tasks to be carried out simultaneously, such as printing contours and patterning of structuring screens, or solid fills; and that allows orienting with three rotational degrees of freedom interchangeable nozzles, which can have different shapes, symmetrical or asymmetric, to make the extrusion of various types of mortars more expeditious and optimize the coverage of each filament.

SUMMARY OF THE INVENTION

A first objective of the invention is to provide a mobile robotic cell for the manufacture of parts and enclosures printed on site by means of a multi-axis 3D printing system, which comprises a self-supporting structure, composed of three concurrent beams in a hollow axis zenith node , arranged radially in a horizontal plane every 120 angular degrees, whose peripheral ends are respectively provided with a lifting handle, whose hole is provided to hook and hoist the mobile robotic cell by means of a crane with a three-leg strap or a three-leg yoke jacks, where the peripheral end of each beam it is attached to a self-leveling telescopic pillar that rests on a base that can optionally be anchored to the ground, and together they support pipes that protect cables and power, control and other hoses; a feeding apparatus, consisting of a semi-rigid external hose for material transport, which is connected by a hose coupling to an extension tube with fixing flange that runs vertically through a hollow shaft rotary connector and connects to a rotary distributor bifurcated, to whose two discharge outlets are connected two flexible hoses for material transport that at their other end are connected to two interchangeable nozzles provided with electronically controlled stopcocks, where the hollow shaft rotary connector derives a plurality of cables from power and control from the rotating diametral beam to the hollow shaft zenith node, protected by a protective bellows, and the extension tube with fixing flange is secured to an inner drum of the hollow shaft rotating connector to prevent the external semi-rigid hose for material transport is twisted, while an outer drum of the hollow shaft rotary connector is secured ra to the rotating diametrical beam to prevent the plurality of power and control cables from twisting, and where the bifurcated rotary distributor prevents the two flexible hoses for material transport from twisting while two manipulator robots that position and orient the interchangeable nozzles, they move in circular and linear motion and adopt various poses to 3D print with the mortar; and a multi-axis actuator device, which is a reprogrammable electromechanical system, automatically controlled, programmable offline or online in all its degrees of freedom from an external or remote computer, which is composed of a set of three tables with vertical linear displacement. that support a circular guide on which a rotating diametrical beam revolves around its center that supports two independent horizontal linear displacement axes on its lower face, with two carriages on which two manipulator robots mounted in an inverted position move, which manipulate the two interchangeable nozzles, which have an electronically controlled stopcock and which are connected to the two flexible hoses for material transport.

A second objective of the invention is to provide a method to operate a mobile robotic cell, for the manufacture of printed parts and enclosures on site. by means of a multi-axis 3D printing system, which comprises the steps of: a) positioning the mobile robotic cell in a planned place of a construction site, with its supply apparatus and pipeline duly connected to a mortar pump, a generator of electricity or an installed electrical network, an external controller and compressor, to operate the three self-leveling telescopic pillars and level its self-supporting structure and to operate its multi-axis actuator device, by means of a program executed from an external or remote computer, and start 3D printing on site of the contour of a piece or an enclosure; b) actuate the two manipulator robots to position and orient the two interchangeable nozzles, at two points preferably distal to the contour of the piece ready to be printed, to start with each one, in the same direction of advance, the deposition of continuous filaments of mortar in successive layers superimposed, according to a previous computational trajectory design, which reproduces the contour of the part or the enclosure in all its horizontal and vertical extension and whose joint advance can describe the topology of an ascending double helix, for example, to reduce the time elapsed between the deposition of each successive layer and preventing too rapid an initial setting from preventing consecutive layers of mortar from adhering properly to each other, and where both interchangeable nozzles repeat the same trajectory in each successive layer, or alternately, each Interchangeable nozzle reproduces a different trajectory and performs a different task, without p erjudge that, due to the design of the part or the enclosure, the position and orientation of each interchangeable nozzle varies slightly in the next layer; and c) execute the program of the multi-axis actuator device from an external or remote computer, so that the set of three vertical linear displacement tables positions the circular guide at the necessary vertical distance at each required moment, the rotating diametrical beam rotates in the direction and with the necessary acceleration and speed at each required instant, the two carriages that make up the two independent horizontal linear displacement axes independently position each of the two manipulator robots at the necessary horizontal distance at each required instant, and each robot manipulator independently position and orient the interchangeable nozzle that is mounted on its flange at each required moment, according to a previous computational trajectory design that reproduces the contour of the piece or of the enclosure in all its horizontal and vertical extension.

BRIEF DESCRIPTION OF THE FIGURES

Figure 1 describes a main isometric view of the mobile robotized cell of printed construction of the invention, in an initial stage of manufacturing a printed part on site or in a workshop.

Figure 2 describes a main isometric view of the mobile robotized cell of printed construction of the invention, in an intermediate stage of manufacturing a printed part on site or in the workshop.

Figure 3 describes a main isometric view of the mobile robotized cell of printed construction of the invention, in a final stage of manufacturing a printed part on site or in the workshop.

Figure 4 describes a partial front view of the mobile robotized cell of printed construction of the invention in an initial stage of manufacturing a printed part on site or in a workshop.

Figure 5 describes a partial front view of the mobile robotized cell of printed construction of the invention in an intermediate stage of manufacturing a printed part on site or in a workshop.

Figure 6 describes a partial front view of the mobile robotized cell of printed construction of the invention, in a final stage of manufacturing a printed part on site or in the workshop.

Figure 7 describes a partial side view of the mobile robotized cell of printed construction of the invention in an initial stage of manufacturing a printed part on site or in a workshop.

Figure 8 describes a partial side view of the mobile robotized cell of printed construction of the invention, in an intermediate stage of manufacturing a printed part on site or in the workshop. Figure 9 describes a partial side view of the mobile robotized cell of printed construction of the invention, in a final stage of manufacturing a printed part on site or in the workshop.

Figure 10 describes a plan view of the mobile robotized cell of printed construction of the invention in an initial stage of manufacturing a printed part on site or in the workshop.

Figure 11 describes a plan view of the mobile robotized cell of printed construction of the invention, in an intermediate stage of manufacturing a printed part on site or in the workshop. Figure 12 describes a plan view of the mobile robotized cell of printed construction of the invention, in a final stage of manufacturing a printed part on site or in the workshop.

Figure 13 describes an isometric view of the self-supporting structure of the mobile robotized cell of printed construction of the invention. Figure 14 depicts an exploded isometric view of the feeding apparatus of the mobile robotized cell of printed construction of the invention.

Figure 15 depicts an exploded top isometric view of the rotating diametral beam of the mobile robotized cell of printed construction of the invention. Figure 16 depicts an exploded bottom isometric view of the rotating diametral beam of the mobile robotized cell of printed construction of the invention.

Figure 17 depicts an exploded isometric view of the circular guide of the printed construction mobile robotized cell of the invention. Figure 18 describes an exploded isometric view of one of the three vertical linear displacement tables of the mobile robotized cell of printed construction of the invention.

Figure 19 describes a first example of a wall obtained from a double helical trajectory of 3D printing of its contour. Figure 20 depicts a second example of a printed wall with structuring weft pattern.

Figure 21 depicts a third example of a solid infill printed wall.

Figure 22 describes a fourth example of a printed slab component and reinforcement inside.

Figure 23 describes a fifth example of a printed slab component, with reinforcement inside and solid filling.

DESCRIPTION OF A PREFERRED EMBODIMENT

The first objective of the invention is to have a mobile robotic cell for the manufacture of parts and enclosures printed on site by means of a reprogrammable 3D printing multi-axis system, automatically controlled and programmable in all its degrees of freedom from an external or remote computer. . The mobile robotic cell itself is transferable in a single piece, by air, land or water, to the site of a construction site, positionable by means of a crane in the required place of said work, including any level of a building under construction, to proceed to 3D printing. The mobile robotic cell can be supported on slabs and scaffolding, it is leveled by activating its three self-leveling telescopic pillars and is fed from a zenith with material, from a mortar pump, with electrical energy, from an electricity generator or an installed electrical network, with signals control, from an external controller, and with hydraulic or pneumatic energy, from an external compressor, without the need to obstruct other construction tasks in its environment at ground level.

A mobile robotic cell is the main physical component for the manufacture of parts and enclosures printed on site through a proposed multi-axis 3D printing system. The mobile robotic cell itself is an autonomous, scalable and replicable functional unit, which can be applied in isolation or simultaneously to print parts and enclosures of a building on site, or to print prefabricated construction components in the workshop, and is composed of a self-supporting structure, a feeding apparatus and a multi-axis actuator apparatus.

The self-supporting structure itself is an open frame composed of three concurrent beams in a hollow axis zenith node, respectively attached to three electrically, hydraulically or pneumatically actuated self-leveling telescopic pillars, which can be extended and retracted independently and controlled, to level the Mobile robotic cell in a suitable position to carry out 3D printing and with bases that can optionally be anchored to the ground. The mechanical purpose of the hollow shaft zenith node is to prevent rotation and displacement in any direction of each member of the self-supporting structure with respect to the other; all the members of the self-supporting structure -including the hollow shaft zenith node itself- of a size and robustness to be defined according to specifications to adequately resist the forces to which the self-supporting structure will be subjected in its commissioning. The operational purpose of the hollow shaft zenith node is to let in and out of the mobile robotic cell a semi-rigid external hose for material transport and a plurality of power and control cables that feed and communicate two servomotors of a rotating diametral beam, two axes independent horizontal linear displacement machines, two robot manipulators mounted on their carriages and two electronically controlled stopcocks that are integrated into the two interchangeable nozzles. The mechanical purpose of the self-supporting structure is to constitute the support and support of the power supply apparatus, the multi-axis actuator and tubing apparatus that protects power, control and other cables and hoses. The operational purpose of the self-supporting structure is to act as a transport cage for the mobile robotic cell, by including three lifting handles arranged respectively on the upper faces of the peripheral ends of its three beams, which serve to hook and hoist the robotic cell. mobile using a crane with a three-leg strap or a three-tap yoke.

The feeding device itself is a device for conveying material, diverting and twisting cables and hoses, composed of a semi-rigid external hose for material transport, which is connected by means of a hose coupling to an extension tube with a fixing flange, which vertically traverses a hollow shaft rotary connector (such as the H-Through Hole Slip Ring or the SENRING ™ Gas & Flow Passage Hollow Shaft Rotary Union) and connects to a bifurcated rotary distributor, to whose two openings discharge, two flexible hoses are connected respectively to transport the material that lead the mortar to two interchangeable nozzles with electronically controlled stopcocks, respectively mounted on the flange of two manipulator robots that reproduce a previous computational trajectory design that reproduces the contour of the part or of the enclosure in all its horizontal and vertical extension. The extension tube with fixing flange to which the external semi-rigid hose for material transport is coupled, is securely attached to the upper edge of an inner drum of the hollow shaft rotary connector, preventing the external semi-rigid hose for material transport from twisting and allowing an outer drum of the hollow shaft rotary connector to rotate integrally with a rotary diametrical beam that simultaneously displaces the two manipulative robots in circular motion. A protective bellows covers the semi-rigid external hose for material transport and mainly the plurality of power and control cables, preventing them from deviating from their vertical axis or becoming entangled when the assembly made up of the rotating diametral beam and a circular guide moves in vertical direction.

The multi-axis actuator device itself is a reprogrammable electromechanical system, automatically controlled, programmable offline or online in all its degrees of freedom from an external or remote computer and is composed of a set of three vertical linear displacement tables that hold and they simultaneously displace, with one degree of freedom, a circular guide on which a rotating diametrical beam rotates around its center, with one degree of freedom, which supports two independent horizontal linear displacement axes on its lower face, with two carriages on which move, with one degree of freedom respectively, two manipulative robots with six degrees of freedom, mounted in an inverted position. The rotating diametral beam itself comprises two independent horizontal linear displacement axes with drive by motorized pinion and rack and guiding system by skates and guides, respectively arranged in each half of the longitudinal extension of said rotating diametric beam, and two servomotors respectively equipped with a set of drive pinion and V-bearings, arranged symmetrically at both ends of said rotating diametral beam, acting simultaneously on a circular guide consisting of a double-edged V-guide ring with internal rack (such as, for example, HDRTs HEPCOMOTION ™ Heavy Duty Ring Guides and Track Systems). Said circular guide is supported by three clamps that are respectively secured to three tables with vertical linear displacement, respectively arranged on the inner face of the three self-leveling telescopic pillars of the self-supporting structure of the mobile robotic cell. The three tables of vertical linear displacement support and simultaneously displace with a translational degree of freedom, the assembly made up of the circular guide, the rotating diametral beam with the two independent horizontal linear displacement axes and the two manipulative robots. Each vertical linear travel table itself is driven by a pair of twin pinions and a pair of toothed guide rails (such as LEANTECHNIK ™ Double Lifting Columns). The plurality of power and control cables of the set made up of the rotating diametrical beam, the two independent horizontal linear displacement axes and the two manipulator robots, as well as the three vertical linear displacement tables, are duly guided and protected by trays and horizontal and vertical energy chains.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT

The mobile robotic cell (100) for the manufacture of parts and enclosures printed on site by means of a multi-axis 3D printing system, which is described in different stages of operation, in Figures 1 to 3, is composed of a self-supporting structure (10), a power supply device (20) and a multi-axis actuator device (30), which is a reprogrammable electromechanical system, automatically controlled, programmable offline or online in all its degrees of freedom from an external or remote computer , in the process of printing a printed part (40); furthermore, it is described in progressive operation in a first front view in Figures 4 to 6, in a second side view in Figures 7 to 9, and in a third plan view in Figures 10 to 12. The self-supporting structure (10), which is described in figure 13, is composed of three concurrent beams (12) in a hollow axis zenith node (11), arranged radially in a horizontal plane every 120 angular degrees, whose peripheral ends are respectively provided with a lifting handle (13), the hole of which is provided to hook and hoist the mobile robotic cell (100) by means of a crane with a three-leg strap or a three-tap yoke, not shown; the peripheral end of each beam (12) is attached to a self-leveling telescopic pillar (14) that rests on a base (15) that can optionally be anchored to the ground; Each beam (12), together with its corresponding self-leveling telescopic pillar (14), support pipe (16) that protects cables and power, control and other hoses, which are connected to an electricity generator or an installed electrical network, a external controller and compressor, not shown.

The feeding apparatus (20), which is described in Figure 14; It consists of a semi-rigid external hose for material transport (21), which can come from a mortar pump, which is connected by means of a hose coupling (22) to an extension tube with a fixing flange (23), which is bolts to an inner drum of a hollow shaft rotary connector (24), which is a rotating device used to transfer electrical, hydraulic or pneumatic power, control or data circuits, analog or digital, and also media such as vacuum , refrigerant fluids, steam and others, from one or multiple fixed inlets - in this case arranged on the inner drum - towards one or multiple rotating outlets - in this case arranged on an outer drum - and which derives a plurality of power cables and control (25) that feed and communicate two servomotors (31 j), two motorized pinions (31 b) and two manipulator robots (31 g), which are detailed in figures 15 and 16, towards the electricity generator or the network electrical i Installed and External Controller, which are not shown. The extension tube with fixing flange (23) runs vertically through the hollow shaft rotary connector (24) and is connected at its lower end to a bifurcated rotary distributor (26), to whose two discharge ports two flexible hoses are connected for material transport (27), which lead the mortar towards two interchangeable nozzles (28) with electronically controlled stopcocks (not shown), mounted on the flange of the two manipulator robots (31 g); and in where a protective bellows (29) covers the semi-rigid external hose for material transport (21) and mainly the plurality of power and control cables (25), preventing them from deviating from their vertical axis or becoming entangled when the assembly composed of the rotating diametrical beam (31), which is described in figures 15 and 16, a circular guide (32), which is described in figure 17, and three vertical linear displacement tables (33), which are described in an example in Figure 18, moves in the vertical direction.

The multi-axis actuator apparatus (30), which is described in detail in Figures 15 to 18; It is composed of a rotating diametral beam (31) that rotates around its center on a circular guide (32), which moves on three vertical linear displacement tables (33), each one arranged on the inside face of each pillar telescopic self-leveling (14) of the mobile robotic cell (100). The rotating diametrical beam (31) supports on its lower face two independent horizontal linear displacement axes, each one composed of a carriage (31 a) that is driven by a motorized pinion (31 b) and a rack (31 c) and guided by four skids (31 d) on two guides (31 e) parallel to each other, and on each carriage (31 a) a manipulator robot (31 g) is mounted in an inverted position, with all its power and control cables (25) protected by a horizontal cable chain (31 f), which are described in addition in Figures 15 and 16. On both sides of the rotating diametral beam (31) there is a rail (31 h) where a retractable rocker (31 i) which helps to partially support the weight of each flexible material transport hose (27) as it travels through three-dimensional space loaded with mortar, as best shown in Figures 4 to 9. The rotating diametrical beam (31 ) itself, it is driven by a servomotor (31 j) and a set of drive pinion and V-bearings (31 k), arranged symmetrically at both ends, with all their power and control cables (25) protected respectively by a horizontal cable tray (311), which are described in the Figure 15. The circular guide (32), which is described in Figure 17; It consists of a double V-edged guide ring (32a) with internal rack (32b), comprising three supports (32c) arranged radially in a horizontal plane every 120 angular degrees, which fit exactly in three jaws (32d) that are secured respectively with bolts to three vertical linear displacement tables (33), arranged respectively on the inside face of the three pillars telescopic self-leveling (14), where each vertical linear displacement table (33) comprises a motor-reducer (33a), a pair of twin pinions (33b), a pair of twin skids (33c), a pair of guide rails serrations (33d), a vertical cable chain (33e) and a vertical cable tray (33f), which are described in figure 18.

The printed part (40), which is described in Figures 19 to 23; illustrates a first example of a wall obtained from a double helical trajectory of 3D printing of its contour, figure 19; a second example of a printed wall with structuring weft decoration (40a), Figure 20; a third example of a printed wall with solid infill (40b), figure 21; a fourth example of a printed slab component and reinforcement (40c) therein, figure 22; and fifth example of a printed slab component, with reinforcement (40c) inside and solid filling (40b), figure 23. DESCRIPTION OF THE SYSTEM'S OPERATING METHOD

A second objective of the invention is to provide an operating method of the mobile robotic cell (100), which requires the following steps: a) Bringing the mobile robotic cell (100) to the construction site or the destination workshop, with its multi-axis actuator device (30) duly secured in its transport position; b) Hook its three lifting handles (13) with a three-leg strap or a three-socket yoke coupled to a crane; c) Positioning the mobile robotic cell (100) in a planned place of a construction site to perform 3D printing on site of parts or enclosures of a building; d) Optionally, anchor the bases (15) of the self-supporting structure (10) of the mobile robotic cell (100) to the ground; e) Connect the power supply apparatus (20) of the mobile robotic cell (100) to a source of material such as, for example, a mortar pump and also to a power generator or installed power grid and external controller, not shown; f) Connect power, control and other cables and hoses that come out of the pipe (16) that supports the self-supporting structure (10) of the mobile robotic cell (100), to the electricity generator or the installed electrical network, to the controller external and an external compressor, not shown; g) Activate the three self-leveling telescopic pillars (14) of the mobile robotic cell (100) to level it in a suitable position for 3D printing. h) Release the multi-axis actuator device (30) from its transport position and actuate the rotating diametrical beam (31) to orient it in an appropriate direction, such that the carriages (31a) move the two manipulator robots (31 g) until two preferably distal points of the contour of the piece ready to be printed, activate the three vertical linear displacement tables (33) to lower the set of rotating diametrical beam (31) and circular guide (32) to a suitable height from where the two Handling robots (31 g) position and properly orient the two interchangeable nozzles (28) of the feeding apparatus (20) and can initiate the deposition of continuous mortar filaments. i) Start pumping the mortar that enters through the semi-rigid external hose for material transport (21) and descends through the extension tube with fixing flange (23), the bifurcated rotary distributor (26) and the two flexible hoses for material transport (27), until extruded by the two interchangeable nozzles (28), which are mounted on the flange of the two manipulator robots (31 g); j) Start the deposition of continuous mortar filaments, in successive superimposed layers, according to a previous computational trajectory design that reproduces the contour of the piece or of the room in all its horizontal and vertical extension, executing the program of the multi-axis actuator device (30) from an external or remote computer; k) Stop the 3D printing process, once the desired height for the printed part (40) has been reached, or the maximum height from which the two manipulator robots (31 g) can properly print in the current situation;

L) Disconnect the power supply apparatus (20) of the mobile robotic cell (100) of the mortar pump, of the electricity generator or of the installed electrical network and of the external controller, which are not shown; m) Disconnect power, control and other cables and hoses that come out of the pipe (16) that supports the self-supporting structure (10) of the mobile robotic cell (100) of the electricity generator or the installed electrical network, from the controller and external compressor, not shown; n) Secure the multi-axis actuator device (30) in its transport position; and o) Repeat the procedure from step b). Otherwise, remove the mobile robotic cell (100) from the construction site with a crane.

EXAMPLES OF APPLICATIONS

In a first example of application to manufacture a wall (40) obtained from a double helical trajectory of 3D printing of its contour, the mobile robotic cell (100) is positioned in a planned place of the construction site, its device is connected supply (20) and pipe (16) to a mortar pump, an electricity generator or an installed electrical network, an external controller and compressor, its three self-leveling telescopic pillars (14) are actuated, to level its self-supporting structure (10 ) and its multi-axis actuator apparatus (30) is activated, by means of a program executed from an external or remote computer, to start the 3D printing of the contour of the wall (40) in successive superimposed layers. The synchronized multi-axis movement of the set of three vertical linear displacement tables (33), the rotating diametrical beam (31), the two carriages (31 a) and the two manipulator robots (31 g), allows the joint advance of The two interchangeable nozzles (28) describe the topology of an ascending double helix, which can reduce the time elapsed between the deposition of each successive layer and prevent too fast an initial setting from preventing consecutive layers of mortar from adhering properly to each other. In a second application example to manufacture a wall (40) printed with a structuring weft pattern (40a), there are multiple ways to proceed, whether one of the two manipulator robots (31 g) prints the outline, while the other prints the lining with a structuring weft (40a) of the wall (40), or that both manipulator robots (31 g) print the contour and the structuring weft lining (40a) alternately.

In a third application example to manufacture wall (40) printed with solid fill (40b) of the same material as its contour, one of the two manipulator robots (31 g) prints the contour of the wall (40), while the other manipulator robot (31 g) fills the interior of the wall (40) with a certain delay, in such a way that the walls that form the successive overlapping layers of the contour progressively reach sufficient height and strength to contain the solid filling (40b). If it is desired that the solid filling (40b) of the wall (40) be made of another material different from that used in the impression of its contour, such as, for example, sulfur concrete, then an external tool can be used with a hose for transport. of material connected to an additional source.

In a fourth application example to manufacture a printed slab component (40) and reinforcement (40c) inside it, both manipulator robots (31 g) print the contour of the cross section of the printed slab component (40), in position vertical, as if it were a wall or a hollow brick that will later be lowered to put it into service, laid in its final position and orientation. The reinforcement (40c) is installed inside the slab component (40), after it has been completely printed.

In a fifth application example to manufacture a printed slab component (40), with reinforcement (40c) inside and solid filling (40b), the latter is poured inside the slab component (40) after having installed the reinforcement (40c), once the walls of the printed slab component (40) have reached sufficient strength to contain the solid filler (40b). Optionally, the truss bars (40c) can be prestressed prior to pouring the solid filler (40b) into the printed slab component (40).

In a sixth example of application to manufacture a printed enclosure on site, the two manipulator robots (31 g) can respectively print the wall internal and external wall of the contour of said enclosure, because topologically it is the same as printing the contour of a wall (40). Sills and lintels can be installed during the 3D printing process to form door, window and other openings.

Claims

1. A mobile robotic cell (100) for the manufacture of parts (40) and enclosures printed on site by means of a multi-axis 3D printing system, CHARACTERIZED because it comprises:

A self-supporting structure (10), composed of three concurrent beams (12) in a hollow axis zenith node (11), arranged radially in a horizontal plane every 120 angular degrees, whose peripheral ends are respectively provided with a lifting handle (13 ), whose hole is intended to hook and hoist the mobile robotic cell (100) by means of a crane with a three-leg strap or a three-tapped yoke, where the peripheral end of each beam (12) is attached to a telescopic pillar self-leveling (14) resting on a base (15);

A feeding device (20), composed of a semi-rigid external hose for material transport (21), which is connected by means of a hose coupling (22) to an extension tube with a fixing flange (23), which is secured with bolts to an inner drum of a hollow shaft rotary connector (24), which bypasses a plurality of power and control cables (25), wherein the clamping flange extension tube (23) vertically traverses the rotary shaft connector hollow (24) and is connected at its lower end to a bifurcated rotary distributor (26), to whose two discharge ports are respectively connected two flexible hoses for material transport (27) that lead the mortar to two interchangeable nozzles (28) with electronically controlled stopcocks, and where a protective bellows (29) covers the semi-rigid external hose for material transport (21) and mainly the plurality of power and control cables (25); Y

A multi-axis actuator device (30), which is a reprogrammable electromechanical system, automatically controlled, programmable offline or online in all its degrees of freedom from a computer external or remote, composed of a rotating diametrical beam (31) that rotates around its center on a circular guide (32), which moves on three vertical linear displacement tables (33), each one arranged on the inside face of each self-leveling telescopic pillar (14) of the mobile robotic cell (100), where the rotating diametral beam (31) supports on its lower face two independent horizontal linear displacement axes, each one composed of a carriage (31a) that is driven by a motorized pinion (31b) and a rack (31c) and guided by four runners (31 d) on two guides (31 e) parallel to each other, and on each carriage (31a) a manipulator robot (31 g) is mounted in inverted position, with all its power and control cables (25) protected by a horizontal cable chain (31 f).

2. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the base (15) can optionally be anchored to the ground.

3. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that each beam (12), together with its corresponding self-leveling telescopic pillar (14), support pipe (16) that protects cables and power, control and other hoses .

4. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the inner drum of a hollow shaft rotary connector (24), which is a rotary device used to transfer electrical, hydraulic or pneumatic energy, control circuits or data, analog or digital, and also media such as vacuum, refrigerant fluids, steam and others, from one or multiple fixed inlets -in this case arranged on the inner drum- to one or multiple rotating outputs -in this case arranged on a drum exterior-, derives a plurality of power and control cables (25) that feed and communicate two servomotors (31 j), two motorized pinions (31b) and two manipulator robots (31 g), towards an electricity generator or a network installed power supply, an external controller and compressor.

5. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the two flexible hoses for material transport (27) lead the mortar to two interchangeable nozzles (28) with keys. electronically controlled pitch, mounted on the flange of the two robot manipulators (31 g).

6. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the protective bellows (29) that covers the semi-rigid external hose for material transport (21) and mainly a plurality of power and control cables (25), prevents that deviate from their vertical axis or become entangled when the assembly consisting of the rotating diametral beam (31) and the circular guide (32) moves in a vertical direction.

7. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the rotating diametrical beam (31) supports two independent horizontal linear displacement axes on its underside, each one composed of a carriage (31a) that is driven by a motorized pinion (31b) and a rack (31c) and guided by four runners (31 d) on two guides (31 e) parallel to each other, and on each carriage (31a) a manipulator robot (31 g) is mounted in an inverted position , with all its power and control cables (25) protected by a horizontal cable chain (31 f), and on both sides of the rotating diametrical beam (31) there is a rail (31 h) where a retractable rocker moves (31 i) which helps to partially support the weight of each flexible material transport hose (27) as it moves through three-dimensional space loaded with mortar.

8. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that at both ends of the rotating diametrical beam (31) a servomotor (31 j) and a set of drive pinion and V-bearings (31 k) are symmetrically arranged , with all its power and control cables (25) protected respectively by a horizontal cable tray (311), which actuate the rotation of the rotating diametrical beam (31) around its center on the circular guide (32).

9. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the circular guide (32) consists of a double-edged V-shaped guide ring (32a) with an internal rack (32b), comprising three supports (32c) arranged radially in a horizontal plane every 120 angular degrees, which exactly fit three jaws (32d) that are secured respectively with bolts to three vertical linear displacement tables (33), respectively arranged on the inside face of the three self-leveling telescopic pillars (14), where each vertical linear displacement table (33) comprises a motor-reducer (33a), a pair of twin pinions (33b), a pair of twin runners (33c), a pair of toothed guide rails (33d), a vertical cable chain (33e) and a vertical cable tray (33f).

10. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is a wall obtained from a double helical 3D printing path of its contour.

11. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed piece (40) is a printed wall with a structuring weft pattern (40a).

12. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is a printed wall with solid filling (40b).

13. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is a component of printed slab and reinforcement (40c) inside it.

14. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is a printed slab component, with reinforcement (40c) inside and solid filling (40b).

15. A method to operate a mobile robotic cell (100), for the manufacture of parts and enclosures printed on site by means of a multi-axis 3D printing system, CHARACTERIZED because it comprises having a mobile robotic cell (100), in accordance with claims 1 to 14; a) position the mobile robotic cell (100) in a planned place of a construction site, with its power supply device (20) and pipe (16) duly connected to a mortar pump, an electricity generator or an installed electrical network , an external controller and compressor, to operate the three self-leveling telescopic pillars (14) and level their self-supporting structure (10) and to operate their apparatus multi-axis actuator (30) by means of a program executed from an external or remote computer, and start printing the contour of a part (40) or of an enclosure; b) actuate the two manipulative robots (31 g) to position and orient the two interchangeable nozzles (28) with electronically controlled stopcocks, at two points preferably distal to the contour of the piece ready to be printed, to start with each one, in the same direction of advance, the deposition of continuous mortar filaments in successive superimposed layers, according to a previous computational trajectory design, which reproduces the contour of the piece or of the enclosure in all its horizontal and vertical extension and whose joint advance can describe the topology of an ascending double helix to, for example, reduce the time elapsed between the deposition of each successive layer and avoid that an initial set too fast prevents the consecutive layers of mortar from adhering properly to each other, and where both nozzles interchangeable (28) repeat the same trajectory in each successive layer, or alternately, each interchangeable nozzle (28) re it produces a different trajectory and performs a different task, without prejudice to the fact that, due to the design of the piece or of the enclosure, the position and orientation of each interchangeable nozzle (28) varies slightly in the next layer; and c) execute the program of the multi-axis actuator device (30) from an external or remote computer, so that the set of three vertical linear displacement tables (33), arranged on the inside of the three self-leveling telescopic pillars (14) , position the circular guide (32) that supports the rotating diametral beam (31) with both robot manipulators (31 g) at the necessary vertical distance at each required instant, the rotating diametral beam (31) rotates in the direction and with the acceleration and speed required at each required instant, the carriages (31a) that make up the two independent horizontal linear displacement axes independently position each of the two manipulator robots (31 g) at the horizontal distance required at each required instant, and each manipulator robot (31 g) independently positions and orients the interchangeable nozzle (28) that is mounted on its flange at each required instant, according to a prior computational trajectory design that reproduces the contour of the part or enclosure in all its horizontal and vertical extension.

16. The method for operating a mobile robotic cell (100), according to claim 15, CHARACTERIZED in that to manufacture a wall (40) obtained from a double helical path of 3D printing of its contour, the mobile robotic cell is positioned ( 100) at a planned location on the construction site, its power apparatus (20) and tubing (16) are connected to a mortar pump, electricity generator or installed electrical network, external controller and compressor, Its three self-leveling telescopic pillars (14) are activated to level its self-supporting structure (10) and its multi-axis actuator device (30) is activated, by means of a program executed from an external or remote computer, to start the 3D printing of the contour of the wall (40) in successive overlapping layers; The synchronized multi-axis movement of the set of three vertical linear displacement tables (33), the rotating diametral beam (31), the two carriages (31a) and the two manipulator robots (31 g), allows the joint advance of the two interchangeable nozzles (28) describe the topology of an ascending double helix, which can reduce the time elapsed between the deposition of each successive layer and prevent too rapid an initial set from preventing consecutive layers of mortar from adhering properly to each other.

17. The method for operating a mobile robotic cell (100), according to claim 15, CHARACTERIZED because to manufacture a wall (40) printed with a structuring weft pattern (40a), there are multiple ways to proceed, whether one of the two manipulator robots (31 g) print the outline, while the other prints the pattern with a structuring screen (40a) from the wall (40), or that both manipulator robots (31 g) print the outline and the structuring screen pattern (40a) alternately.

18. The method for operating a mobile robotic cell (100), according to claim 15, CHARACTERIZED in that to manufacture wall (40) printed with solid filling (40b) of the same material as its contour, one of the two manipulator robots ( 31 g) prints the contour of the wall (40), while the other manipulator robot (31 g) fills the interior of the wall (40) with a certain delay, in such a way that the walls that form the successive overlapping layers of the contour progressively reach height and strength sufficient to contain the solid filling (40b). If it is desired that the solid filling (40b) of the wall (40) be made of another material different from that used in the impression of its contour, such as, for example, sulfur concrete, then an external tool can be used with a hose for transport. of material connected to an additional source.

19. The method to operate a mobile robotic cell (100), according to claim 15, CHARACTERIZED in that to manufacture a printed slab component (40) and armor (40c) inside, both manipulator robots (31 g) print the contour of the cross-section of the printed slab component (40), in a vertical position, as if it were a wall or a hollow brick that will later be folded down to put it into service, laid in its final position and orientation; and the reinforcement (40c) is installed inside the slab component (40), after it has been completely printed.

20. The method for operating a mobile robotic cell (100), according to claim 15, CHARACTERIZED in that to manufacture a printed slab component (40), with reinforcement (40c) inside and solid filling (40b), this The latter is poured into the slab component (40) after the reinforcement (40c) has been installed, once the walls of the printed slab component (40) have reached sufficient strength to contain the solid filling (40b); and optionally, the reinforcement bars (40c) can be prestressed prior to pouring the solid filler (40b) into the printed slab component (40).

21. The method for operating a mobile robotic cell (100), according to claim 15, CHARACTERIZED because to manufacture an enclosure Printed on site, the two manipulator robots (31 g) can respectively print the inner wall and the outer wall of the contour of said enclosure, because topologically it is the same as printing the contour of a wall (40).