WO2021108934A1 - Moveable robotic cell for the production of pieces with a frame or vertical ducts pre-installed inside same and of enclosures, printed on site by means of a multi-axis 3d printing system, and operating method - Google Patents

Abstract

The invention relates to a moveable robotised cell for the production of pieces with a frame or vertical ducts pre-installed inside same and of 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 ends thereof being respectively provided with a lifting handle and respectively joined to a self-levelling telescopic post that has a bracket on the upper section of the inside face thereof and rests on a base, the beams and their respective posts supporting power and control tubes; a feed apparatus, formed by a semi-rigid external hose for carrying material, which is coupled to an extension tube that passes vertically through a hollow-shaft rotary connector and connects to a forked rotary distributor, the discharge openings thereof being connected to two flexible hoses for carrying material, which hoses are connected to two nozzles provided with electronically controlled shut-off valves; and a multi-axis actuator apparatus, which is a reprogrammable electromechanical system formed by a circular guide on which a rotary diametral beam rotates about its centre, said beam supporting, on the bottom face thereof, two independent shafts having horizontal linear movement, comprising an electronically controlled shut-off valve and 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 PARTS WITH ARMOR OR VERTICAL DUCTS PRE-INSTALLED INSIDE THEIR INTERIOR AND PRINTED ENCLOSURES ON THE SITE BY MEANS OF A MULTI-AXIS 3D PRINTING SYSTEM; AND OPERATION METHOD

SCOPE

The present invention refers to a mobile robotic cell for the manufacture of parts with armor or vertical ducts pre-installed inside and enclosures printed on site by means of a multi-axis 3D printing system and operating method, which allows the generation of double helical trajectories of simultaneous deposition of continuous filaments of a cement mortar, 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 which is composed of a circular guide, on which a rotating diametrical beam revolves around its center that supports two linear displacement axes on its lower face independent horizontal, with two trolleys on which two manipulator robots mounted on two telescopic columns in an inverted position move and which manipulate two interchangeable nozzles, which have an electronically controlled stopcock and which are connected to two flexible hoses for material transport , which are part of a feeding apparatus whereby 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 of the enclosure in its entirety horizontal and vertical. 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 to manufacture walls, columns, slab components and other parts using 3D printing, is to print from the bottom up, layer per layer, the contour of the piece with a continuous mortar filament and the decoration 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 in its chain Kinematics are connected by at least three prismatic (translational) joints each oriented 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 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 totally the printed construction system itself. 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 path of the nozzle through which the mortar is extruded, in all kinds of printed construction system presented here, forms a simple helix that advances vertically, to deposit a continuous filament of the material.

Invention patent KR101914524 B1 dated 02.11.2018, 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 printing process. Print.

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 body of girder, and a drive mechanism and a displacement mechanism that are arranged on the girder 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 process of displacement of the displacement mechanism to complete the construction of the room wall body, 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 with armor or vertical ducts pre-installed inside 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 to external control devices, whose self-supporting structure is self-leveling and 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 that said multi-axis actuator device is composed of a guide circular on which a rotating diametrical beam rotates around its center that supports on its lower face two independent horizontal linear displacement axes, with two carriages on which two manipulator robots mounted on two telescopic columns in an inverted position move and manipulate two interchangeable nozzles, which have an electronically controlled stopcock and which are connected to two flexible hoses for material transport, through which a cement mortar, 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 nning in successive superimposed layers, according to a prior computational trajectory design that reproduces the contour 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 with reinforcement or vertical ducts pre-installed inside 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, the peripheral ends of which are respectively provided with a lifting handle, the hole of which is provided for hooking and hoist the mobile robotic cell using a crane with a three-leg strap or a three-tap yoke, where the peripheral end of each beam is attached to a self-leveling telescopic pillar that has a bracket in the upper section of its inner face and is it rests on a base that can optionally be anchored to the ground, and together they support pipes that protect cables and power and control 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 nozzles are connected two flexible hoses for transporting material that at their other end are connected to two interchangeable nozzles equipped with electronically controlled stopcocks, where the hollow shaft rotary connector derives a plurality of cables and power, control and other hoses, from the rotating diametrical beam to the hollow shaft zenith node, and the clamping flange extension tube is secured to an inner drum of the hollow shaft rotating connector to prevent the semi-rigid external hose from material transport is twisted, while an outer drum of the hollow shaft rotary connector is secured to the d beam Rotating iametral to prevent the plurality of cables and power, control and other hoses from also 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 , move in circular and linear motion and adopt various poses to print in 3D 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 circular guide on which it rotates around at 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 on two telescopic columns in an inverted position move, which manipulate the two interchangeable nozzles, which have of an electronically controlled stopcock and that 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 parts with reinforcement or vertical ducts pre-installed inside and enclosures printed 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 location of a construction site, with its supply apparatus and piping properly 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 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 to initiate 3D printing on site of the contour of a piece with reinforcement or ducts vertical pre-installed inside 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 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 displacement axes. independent horizontal linear linear and the two telescopic columns mounted on said carriages, independently position each of the two manipulator robots at the necessary horizontal and vertical distance at each required moment, and each robot The manipulator independently positions and orients the interchangeable nozzle that is mounted on its flange at each required moment, according to a prior computational trajectory design that reproduces the contour of the part 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 part printed on site with pre-installed armor inside.

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 piece printed on site with pre-installed armor inside.

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 piece printed on site with pre-installed armor inside.

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 with pre-installed armor inside.

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 piece printed on site with pre-installed armor inside.

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 piece printed on site with pre-installed armor inside.

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 with pre-installed armor inside.

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 piece printed on site with pre-installed armor inside. 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 part printed on site with pre-installed armor inside.

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 with pre-installed armor inside.

Figure 11 describes a plan view of the mobile robotized cell of printed construction of the invention, in an intermediate stage of manufacturing a part printed on site with pre-installed armor inside. Figure 12 describes a plan view of the mobile robotized cell of printed construction of the invention, in a final stage of manufacturing a part printed on site with pre-installed armor inside.

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 a first example of a wall ready to be printed on site, with pre-installed reinforcement and vertical ducts.

Figure 19 describes a second example of a site-printed wall with reinforcement and vertical ducts pre-installed inside, whose printed contour was obtained from a double helical 3D printing path. Figure 20 describes a third example of a wall printed on site with reinforcement and vertical ducts pre-installed in its interior and solid fill.

DESCRIPTION OF A PREFERRED EMBODIMENT

The first objective of the invention is to have a mobile robotic cell for the manufacture of parts with armor or vertical ducts pre-installed inside and enclosures printed on site by means of a reprogrammable, automatically controlled, and programmable multi-axis 3D printing system. 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 with armor or vertical ducts pre-installed inside and enclosures printed on site using a proposed multi-axis 3D printing system. The mobile robotic cell itself is an autonomous, scalable and replicable functional unit that can be applied in isolation or simultaneously to print parts and enclosures of a building with reinforcement and vertical ducts pre-installed inside its walls, columns and slabs. , or to print prefabricated construction components in the workshop, and it is composed of a self-supporting structure, a feeding device and a multi-axis actuator device.

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 in a way. independent and controlled, to level the mobile robotic cell in a suitable position to carry out 3D printing, with three brackets arranged in the upper section of its inner face, in which three jaws are fitted to hold a circular guide that makes up the actuator device multi-axis 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, control and other cables and hoses that feed and communicate two servo motors of a diametrical beam rotary, two independent horizontal linear displacement axes, two telescopic columns, two manipulative robots mounted on them 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 and control 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 by means of a crane with a three-leg strap or a three-socket 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 for transport of 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 extension and vertical. 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 moves the two manipulator robots in circular motion.

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 circular guide on which it rotates around its center. , with one degree of freedom, a rotating diametrical beam that supports two independent horizontal linear displacement axes on its lower face, with two carriages on which two six-degree-of-freedom manipulator robots move, with one degree of freedom respectively, mounted in an inverted position on two telescopic columns, which extend and retract, with one degree of freedom respectively. 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 fitted in three brackets, respectively arranged in the upper section of the inner face of the three self-leveling telescopic pillars of the self-supporting structure of the mobile robotic cell. The two columns Telescopic, which can be electrically, hydraulically or pneumatically actuated, extend and retract independently and in a controlled manner, to move each of the two manipulative robots in a vertical direction, as the printing progresses layer by layer. The plurality of cables and power, control and other hoses that feed and communicate to the set composed of two servomotors of the rotating diametral beam, two independent horizontal linear displacement axes, two telescopic columns and two manipulative robots mounted on them, is duly driven and protected by cable trays and chains.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT

The mobile robotic cell (100) for the manufacture of parts with reinforcement or vertical ducts pre-installed inside 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; Furthermore, the multi-axis actuator apparatus (30) 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 has a bracket (15) in the upper section of its inner face and is supported on a base (16), which can optionally be anchored down; each beam (12), together with its corresponding telescopic pillar self-leveling (14), support pipe (17) that protects power and control cables and hoses, which are connected to an electricity generator or an installed electrical network, an external controller and compressor, which are 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 deriving a plurality of cables and hoses from energy, control and others (25) that feed and communicate two servomotors (31 k), two motorized pinions (31 b), two telescopic columns (31 g) and two manipulator robots (31 h), which are detailed in the figures 15 and 16, to the power generator or installed power grid, external controller and external compressor, 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 transporting material (27), which lead the mortar towards two interchangeable nozzles (28) with electronically controlled stopcocks (not shown), mounted on the flange of the two robot manipulators (31 h).

The 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, which is described in detail in Figures 15 through 17; It is composed of a rotating diametrical beam (31) that rotates around its center on a circular guide (32), which is supported by three brackets (15), each one arranged in the upper section of the inner face of each pillar telescopic self-leveling (14) of the mobile robotic cell (100). The rotating diametral beam (31) supports on its lower face two axes of Independent horizontal linear displacement, 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 runners (31 d) on two parallel guides (31 e) between them, and on each trolley (31 a) a telescopic column (31 g) is mounted and on this a manipulator robot (31 h) in inverted position, with all its cables and power, control and other (25) hoses protected by a cable-carrying chain (31 f), which are described in addition in Figures 15 and 16. On both sides of the rotating diametrical beam (31) there is a rail (31 i) where a retractable rocker (31 j) moves 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, 5, 7 and 8. The rotating diametral beam (31) itself, it is driven by a servomotor (31 k) and a set of drive pinion and V-bearings (311), arranged symmetrically at both ends, with all their cables and power, control and other hoses protected respectively by a cable tray (31 m), which are better described in figure 15. The circular guide (32), which is described in figure 17; It consists of a double V-edged guide ring (32a) with an internal rack (32b), comprising three supports (32c) arranged radially in a horizontal plane every 120 angular degrees, which fit exactly in three jaws (32d), which at in turn, they fit into the three brackets (15) arranged in the upper section of the inner face of the three self-leveling telescopic pillars (14).

The printed part (40), which is described in Figures 18 to 20; illustrates a first example of a wall ready to be printed on site, with pre-installed reinforcement and vertical ducts (40a), figure 18; a second example of a wall printed on site with reinforcement and vertical ducts pre-installed inside, whose printed contour (40b) was obtained from a double helical 3D printing trajectory, figure 19; and a third example of a wall printed on site with reinforcement and vertical ducts pre-installed inside and solid fill (40c), figure 20. DESCRIPTION OF THE SYSTEM'S OPERATIONAL METHOD

A second objective of the invention is to provide an operating method for the mobile robotic cell (100), which requires the following steps: a) Transferring the mobile robotic cell (100) to the construction site or the destination workshop, with its multi-axis actuator apparatus (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 location of a construction site to perform 3D printing on site of parts with armor or vertical ducts pre-installed inside or enclosures of a building; d) Optionally, anchor the bases (16) of the self-supporting structure (10) of the mobile robotic cell (100) to the ground; e) Connect the power supply device (20) of the mobile robotic cell (100) to a source of material such as, for example, a mortar pump and also to an electricity generator or an installed electrical network, an external controller and a external compressor, not shown; f) Connect power and control cables and hoses, which come out of the pipe (17) that supports the self-supporting structure (10) of the mobile robotic cell (100) to the electricity generator or the installed electrical network, to the external controller and to the 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 diametral beam (31) to orient it in an appropriate direction, such that the two carriages (31a) move the two manipulator robots (31 h) up to two preferably distal points of the contour of the piece ready to be printed, and extend the two telescopic columns (31 g) to a suitable height from where the two manipulator robots (31 h) 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 through the two interchangeable nozzles (28), which are mounted on the flange of the two manipulating robots (31 h); 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 h) can properly print in the current situation;

L) Disconnect the power supply apparatus (20) of the mobile robotic cell (100) from the mortar pump, from the electricity generator or from the installed electrical network, from the external controller and compressor, which are not shown; m) Disconnect power and control cables and hoses coming out of the pipe (17) that supports the self-supporting structure (10) of the mobile robotic cell (100) from the electricity generator or the installed electrical network, from the external controller and compressor , which are not shown; n) Secure the multi-axis actuator device (30) in its transport position; i) 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) printed on site with reinforcement and vertical ducts pre-installed (40a) inside, which do not exceed the maximum height from where the two manipulator robots can print (31 h), with the reinforcement duly anchored to a foundation and adjacent walls if any - and which are not shown -, the mobile robotic cell (100) is positioned in a planned place of the construction site, its power supply device (20) and pipe are connected (17) to a mortar pump, an electricity generator or an installed electrical network, a controller and an external compressor, its three self-leveling telescopic pillars (14) are activated, to level its self-supporting structure (10) and its device is operated multi-axis actuator (30), by means of a program executed from an external or remote computer, to initiate the 3D printing of the contour of the wall (40) in successive superimposed layers.

In a second example of application to manufacture a wall (40) printed on site with reinforcement and pre-installed vertical ducts (40a) inside, whose printed contour (40b) was obtained from a double helical 3D printing trajectory, the design of trajectories computational analysis, which reproduces the contour of the wall in all its horizontal and vertical extension, must consider the geometry and position of the pre-installed reinforcement and vertical ducts (40a) inside the wall (40), so that the synchronized multi-axis movement of the set consisting of the rotating diametral beam (31), the two carriages (31 a), the two telescopic columns (31 g) and the two manipulative robots (31 h), allow the contour of the wall (40) to be printed in successive layers superimposed, preventing the multi-axis actuator device (30) and the two interchangeable nozzles (28) from colliding with the pre-installed armature and vertical ducts (40a) while the joint advance of both interchangeable nozzles (28) describes 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.

In a third example of application to manufacture a wall (40) printed on site with reinforcement and pre-installed vertical ducts (40a) inside and filling solid (40c) of the same material as its printed contour (40b), one of the two manipulating robots (31 h) manufactures the printed contour (40b) of the wall (40), while the other extrudes the solid filling (40c) in its interior with a certain delay, in such a way that the contour walls, formed by the superposition of successive layers of mortar filaments, progressively reach sufficient height and strength to contain the solid filling (40c). Alternatively, both manipulating robots (31 h) simultaneously manufacture the printed contour (40b) of the wall (40) up to a certain height and when the walls of the printed contour (40b), formed by the superposition of successive layers of mortar filaments, reach sufficient resistance, both manipulating robots (31 h) simultaneously extrude the solid filling (40c) inside the wall (40), repeating the operation until completing the total height of the wall (40).

In a fourth example of application to manufacture a wall (40) printed on site with reinforcement and vertical ducts pre-installed (40a) inside and solid filling (40c) of another material, different from that used in its printed contour (40b) as , for example, sulfur concrete, both manipulating robots (31 h) simultaneously manufacture the printed contour (40b) of the wall (40) and when the walls of the printed contour (40b), formed by the superposition of successive layers of mortar filaments , reach the total height of the wall (40) and sufficient strength to contain the solid fill (40c) inside, the solid fill (40c) is poured inside the wall, using an external tool with a hose to transport the material connected to an additional source.

In a fifth example of application to manufacture a printed enclosure on site, the two manipulator robots (31 h) can respectively print the internal wall and the 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) with pre-installed frame or vertical ducts (40a) inside and enclosures printed on site using 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) that has a bracket

(15) in the upper section of its inner face and rests on a base

(16);

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, control and other cables and hoses (25), wherein the fixing flange extension tube (23) vertically traverses the hollow shaft rotary connector (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 nozzles interchangeable (28) with electronically controlled stopcocks; 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 an external or remote computer, composed of a rotating diametrical beam (31) that rotates around its center on a circular guide (32), which is supported by three brackets (15), each one arranged on the upper section of the inner face of each self-leveling telescopic pillar (14) of the mobile robotic cell ( 100), where the rotating diametral beam (31) supports two independent horizontal linear displacement axes on its lower face, each one composed of a carriage (31a) that is driven by a motorized pinion (31b) and a rack (31c) and guided by four skids (31 d) on two guides (31 e) parallel to each other, and on each carriage (31a) a telescopic column (31 g) is mounted and on this a manipulator robot (31 h) in an inverted position, with all its cables and power, control and other hoses (25) protected by a power chain (31 f).

2. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the base (16) 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 (17) that protects cables and power and control 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 cables and power, control and other hoses (25), which feed and communicate two servomotors (31 k), two motorized pinions (31b), two telescopic columns (31 g) and two manipulative robots (31 h), towards an electricity generator or an installed electrical network, an external controller and compressor.

5. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the two flexible hoses for transporting material (27), they lead the mortar towards two interchangeable nozzles (28) with electronically controlled stopcocks, mounted on the flange of the two manipulating robots (31 h).

6. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the rotating diametrical 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 telescopic column (31 g) is mounted and on this a manipulator robot (31 h) in an inverted position, with all its cables and power, control and other hoses (25) protected by a cable-carrying chain (31 f), and on both sides of the rotating diametrical beam (31) there is a rail (31 i) along which a retractable rocker (31 j) moves that helps to partially support the weight of each flexible hose for transporting material (27) while it moves through three-dimensional space loaded with mortar.

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

8. 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 fit exactly in three jaws (32d), which in turn fit into three brackets (15), arranged on the upper section of the inner face of three self-leveling telescopic pillars (14).

9. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is an armature and vertical ducts pre-installed (40a) inside a wall ready to be printed, by means of a double helical trajectory of 3D printing of its contour.

10. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is a wall printed on site with reinforcement and pre-installed vertical ducts (40a) inside, whose printed contour (40b) was obtained from a double helical 3D printing trajectory.

11. The mobile robotic cell (100) according to claim 1, CHARACTERIZED in that the printed part (40) is a wall printed on site with reinforcement and pre-installed vertical ducts (40a) inside and solid filling (40c).

12. A method to operate a mobile robotic cell (100) for the manufacture of parts (40) with pre-installed reinforcement or vertical ducts (40a) inside and enclosures printed on site by means of a multi-axis 3D printing system, CHARACTERIZED because it comprises having a mobile robotic cell (100), according to claims 1 to 11; a) position the mobile robotic cell (100) in a planned place of a construction site, with its power supply device (20) and pipe (17) 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 its self-supporting structure (10) and to operate its multi-axis actuator device (30), by means of a program executed from an external or remote computer, and start the 3D printing of the contour of a piece (40) with pre-installed vertical reinforcement or ducts (40a) in its interior or of an enclosure; b) actuate the two manipulator robots (31 h) 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, for example, to reduce the time elapsed between the deposition of each successive layer and to avoid that too rapid an initial set prevents consecutive layers of mortar from adhering properly to each other, and where both nozzles interchangeable nozzles (28) repeat the same trajectory in each successive layer, or alternately, each interchangeable nozzle (28) reproduces a different trajectory and performs a different task, without prejudice to the fact that, due to the design of the piece or 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 rotating diametrical beam (31) rotates in the direction and with the necessary acceleration and speed at each required moment, the two carriages ( 31a) that make up the two independent horizontal linear displacement axes and the two telescopic columns (31 g) mounted on said trolleys (31a), independently position each of the two manipulator robots (31 h) at the horizontal and vertical distance required at each required instant, and each manipulator robot (31 h) 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.

13. The method to operate a mobile robotic cell (100), according to claim 12, CHARACTERIZED because to manufacture a wall (40) printed on site with armor and pre-installed vertical ducts (40a) inside, which do not exceed the maximum height from where the two manipulator robots can print (31 h), with the reinforcement duly anchored to a foundation and adjacent walls if any, the mobile robotic cell (100) is positioned in a planned place of the construction site, connect their supply apparatus (20) and pipeline (17) to a mortar pump, an electricity generator or an installed electrical network, a controller and an external 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 superimposed layers.

14. The method to operate a mobile robotic cell (100), according to claim 12, CHARACTERIZED in that to manufacture a wall (40) printed on site with reinforcement and pre-installed vertical ducts (40a) inside, whose printed contour ( 40b) was obtained from a 3D printing double helical trajectory, the previous computational trajectory design, which reproduces the contour of the wall in all its horizontal and vertical extension, must consider the geometry and position of the reinforcement and pre-installed vertical ducts (40a) inside the wall (40), so that the synchronized multi-axis movement of the assembly composed of the rotating diametral beam (31), the two carriages (31a), the two telescopic columns (31 g) and the two manipulator robots ( 31 h), allows printing the contour of the wall (40) in successive superimposed layers, preventing the multi-axis actuator device (30) and the two interchangeable nozzles (28) from colliding with the reinforcement and vertical preinst ducts winged (40a) while the joint advance of both interchangeable nozzles (28) describes the topology of an ascending double helix, to reduce the time elapsed between the deposition of each successive layer and to avoid that an initial setting too fast prevents that the consecutive layers of mortar adhere properly to each other.

15. The method to operate a mobile robotic cell (100), according to claim 12, CHARACTERIZED because to manufacture a wall (40) printed on site with reinforcement and vertical ducts pre-installed (40a) inside and solid filling (40c ) of the same material as its printed contour (40b), one of the two manipulating robots (31 h) manufactures the printed contour (40b) of the wall (40), while the other extrudes the solid filling (40c) inside it with a certain delay, in such a way that the contour walls, formed by the superposition of successive layers of mortar filaments, progressively reach sufficient height and strength to contain the solid filling (40c); and alternatively, both manipulative robots (31 h) simultaneously manufacture the printed contour (40b) of the wall (40) up to a certain height and when the walls of the printed contour (40b), formed by the superposition of successive layers of mortar filaments, reach sufficient resistance, both manipulating robots (31 h) simultaneously extrude the solid filling (40c) inside the wall (40), repeating the operation until completing the total height of the wall (40).

16. The method to operate a mobile robotic cell (100), according to claim 12, CHARACTERIZED because to manufacture a wall (40) printed on site with pre-installed reinforcement and vertical ducts (40a) inside and solid fill (40c ) of another material, different from that used in its printed contour (40b) such as, for example, sulfur concrete, both manipulative robots (31 h) simultaneously manufacture the printed contour (40b) of the wall (40) and when the walls of the printed contour (40b), formed by the superposition of successive layers of mortar filaments, reach the total height of the wall (40) and sufficient strength to contain the solid filling (40c) inside, the solid filling (40c ) inside the wall, using an external tool with a material transport hose connected to an additional source.

17. The method for operating a mobile robotic cell (100), according to claim 12, CHARACTERIZED in that to manufacture a printed enclosure on site, the two manipulator robots (31 h) can respectively print the internal wall and the external wall of the contour of said enclosure, because topologically it is the same as printing the contour of a wall (40).