WO2021108934A1 - Cellule robotisée mobile pour la fabrication de pièces à armature ou conduits verticaux pré-installés à l'intérieur et enceintes imprimées sur site au moyen d'un système multi-axe d'impression 3d ; et procédé de fabrication - Google Patents

Cellule robotisée mobile pour la fabrication de pièces à armature ou conduits verticaux pré-installés à l'intérieur et enceintes imprimées sur site au moyen d'un système multi-axe d'impression 3d ; et procédé de fabrication Download PDF

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Publication number
WO2021108934A1
WO2021108934A1 PCT/CL2019/050131 CL2019050131W WO2021108934A1 WO 2021108934 A1 WO2021108934 A1 WO 2021108934A1 CL 2019050131 W CL2019050131 W CL 2019050131W WO 2021108934 A1 WO2021108934 A1 WO 2021108934A1
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WO
WIPO (PCT)
Prior art keywords
printed
contour
wall
mobile robotic
robotic cell
Prior art date
Application number
PCT/CL2019/050131
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English (en)
Spanish (es)
Inventor
Luis Felipe GONZÁLEZ BÖHME
Rodrigo Hernán GARCÍA ALVARADO
Francisco Javier QUITRAL ZAPATA
Alejandro MARTÍNEZ ROCAMORA
Fernando Alfredo AUAT CHEEIN
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Universidad Técnica Federico Santa María
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Universidad Técnica Federico Santa María filed Critical Universidad Técnica Federico Santa María
Priority to PCT/CL2019/050131 priority Critical patent/WO2021108934A1/fr
Publication of WO2021108934A1 publication Critical patent/WO2021108934A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B1/00—Producing shaped prefabricated articles from the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Cartesian Cartesian
  • cylindrical Cartesian
  • 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.
  • 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.
  • cylindrical and articulated systems cannot fully imprint their surroundings, without being enclosed within their own printed work.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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.
  • 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 TM 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.
  • a hollow shaft rotary connector such as the H-Through Hole Slip Ring or the SENRING TM Gas & Flow Passage Hollow Shaft Rotary Union
  • 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 TM 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 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
  • 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.
  • 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.
  • 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 hose
  • 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.
  • 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).
  • 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).
  • 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.
  • 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.

Abstract

L'invention concerne une cellule robotisée mobile pour la fabrication de pièces à armature ou conduits verticaux pré-installés à l'intérieur et des enceintes imprimées sur site au moyen d'un système multi-axe d'impression 3D, qui comprend : une structure autoportante, constituée de trois poutres concourant en un noeud zénithal à axe creux, disposées radialement dans un plan horizontal tous les 120 degrés angulaires, dont les extrémités sont pourvues respectivement d'une anse de levage et sont reliées à un pilier télescopique à mise de niveau automatique qui présente un encorbellement au niveau de la section supérieure de sa face intérieure et s'appuie sur une base et supportent une conduite d'énergie et de commande ; un appareil d'alimentation, constitué d'un tuyau externe semi-rigide pour le transport de matière, qui s'accouple à un tube d'extension qui traverse verticalement un connecteur rotatif à axe creux et est relié à un distributeur rotatif bifurqué, aux ouvertures de décharge duquel sont reliés deux tuyaux souples pour le transport de matière, qui sont reliés à deux buses pourvues de robinets d'arrêt commandés électroniquement ; et un appareil actionneur multi-axe, qui est un système électromécanique reprogrammable, qui est constitué d'un guide circulaire sur lequel tourne autour de son centre une poutre diamétrale rotative qui supporte sur sa face inférieure deux axes de déplacement linéaire horizontal indépendants, qui présente un robinet d'arrêt commandé électroniquement et qui est relié à un tuyau souple pour le transport de matière. L'invention concerne également un procédé de fonctionnement.
PCT/CL2019/050131 2019-12-05 2019-12-05 Cellule robotisée mobile pour la fabrication de pièces à armature ou conduits verticaux pré-installés à l'intérieur et enceintes imprimées sur site au moyen d'un système multi-axe d'impression 3d ; et procédé de fabrication WO2021108934A1 (fr)

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PCT/CL2019/050131 WO2021108934A1 (fr) 2019-12-05 2019-12-05 Cellule robotisée mobile pour la fabrication de pièces à armature ou conduits verticaux pré-installés à l'intérieur et enceintes imprimées sur site au moyen d'un système multi-axe d'impression 3d ; et procédé de fabrication

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PCT/CL2019/050131 WO2021108934A1 (fr) 2019-12-05 2019-12-05 Cellule robotisée mobile pour la fabrication de pièces à armature ou conduits verticaux pré-installés à l'intérieur et enceintes imprimées sur site au moyen d'un système multi-axe d'impression 3d ; et procédé de fabrication

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Citations (9)

* Cited by examiner, † Cited by third party
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US7641461B2 (en) * 2003-01-21 2010-01-05 University Of Southern California Robotic systems for automated construction
US7753642B2 (en) * 2007-09-06 2010-07-13 Ohio University Apparatus and method associated with cable robot system
WO2017062567A1 (fr) * 2015-10-06 2017-04-13 Worcester Polytechnic Institute Manipulateur entraîné par câble pour impression en 3d
WO2017209756A1 (fr) * 2016-06-02 2017-12-07 Silgan White Cap LLC Dispositif de fermeture avec garniture
CN108356955A (zh) * 2018-04-26 2018-08-03 同济大学 一种实验用水泥基材料3d打印机
AU2015247515B2 (en) * 2014-04-16 2018-08-16 University Of Southern California Automated construction of towers and columns
US20190105834A1 (en) * 2017-10-09 2019-04-11 Joom 3D Llc Systems and methods for rapidly producing concrete structures
US20190315016A1 (en) * 2018-04-13 2019-10-17 Ut-Battelle, Llc Cable-driven additive manufacturing system
WO2020031132A1 (fr) * 2018-08-10 2020-02-13 Csp S.R.L. Appareil pour l'impression 3d de bâtiments

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7641461B2 (en) * 2003-01-21 2010-01-05 University Of Southern California Robotic systems for automated construction
US7753642B2 (en) * 2007-09-06 2010-07-13 Ohio University Apparatus and method associated with cable robot system
AU2015247515B2 (en) * 2014-04-16 2018-08-16 University Of Southern California Automated construction of towers and columns
WO2017062567A1 (fr) * 2015-10-06 2017-04-13 Worcester Polytechnic Institute Manipulateur entraîné par câble pour impression en 3d
WO2017209756A1 (fr) * 2016-06-02 2017-12-07 Silgan White Cap LLC Dispositif de fermeture avec garniture
US20190105834A1 (en) * 2017-10-09 2019-04-11 Joom 3D Llc Systems and methods for rapidly producing concrete structures
US20190315016A1 (en) * 2018-04-13 2019-10-17 Ut-Battelle, Llc Cable-driven additive manufacturing system
CN108356955A (zh) * 2018-04-26 2018-08-03 同济大学 一种实验用水泥基材料3d打印机
WO2020031132A1 (fr) * 2018-08-10 2020-02-13 Csp S.R.L. Appareil pour l'impression 3d de bâtiments

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