JP2018086747A - Construction device of construction structure using 3d printing technique - Google Patents

Abstract

PROBLEM TO BE SOLVED: To freely set a structure of a molded article when a construction structure is constructed, for achieving stable quality and improvement of productivity.SOLUTION: There is provided a construction device for constructing a construction structure by discharging a material from a nozzle 10, in which the nozzle 10 is formed so that an inner space shape is gradually varied from a feeding side to a discharge side of a material so that a cross section of the discharged material becomes a desired shape on the discharge port of the material, and the nozzle 10 is attached to a tip end side of the feeding path of the material. The nozzle 10 can be detachably attached to the feeding path of the material.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an apparatus for constructing a construction structure using 3D printing technology, and more particularly to an apparatus for constructing a construction structure having a desired shape by giving a feature to a nozzle shape for discharging a material. .

  In recent years, 3D printers have been put into practical use, and various techniques for applying not only small products but also construction structures have been proposed. For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2013-507679) discloses a technique related to manufacturing a building structure that can be constructed by a 3D printer. The technique described in Patent Document 1 relates to a method for generating a representation of a building structure that can be printed by a 3D printer, and a step of providing a building model including a polyhedron to construct the building structure, and a polyhedron Minkowski summing at least one of the above and another shape whose size represents the performance of the printer, and using the combined output polyhedron to generate a representation of the building structure printable on the 3D printer; Is included.

  In addition, by using a 3D printer to construct a material in which building waste materials are mixed with cement, a technology to form a three-story low-rise house without a formwork, a technology to use a 3D printer as a building machine, or a 3D printer Technology has been announced for building seamless homes using 3D, and for creating concrete forms using 3D printers and constructing concrete columns and walls in complex shapes.

JP2013-507679A

  Currently, some of the technologies related to the construction of construction structures using 3D printers have already been realized, but some have still been conceived, and each has the following problems. Exists.

  Although it is certain that a 3D printer is used to place cement-based materials (for example, mortar), the mortar has a layered structure, but there is a shaft member that bears the tensile force by connecting the layers. do not do. That is, when a whole structure is formed with a cement-based material, it is difficult to add a tensile resistance, and thus there is a problem in application as a structural member.

  Moreover, when forming a formwork with a cement-type material, since it is difficult to add tensile resistance, it may be unable to endure the pressure of a filling material, and an application destination is limited.

  In addition, when molding a cement-based material so that it is layered in the height direction, it is necessary to select a composition that makes the material itself self-supporting, which affects the workability (pumping resistance) and reduces quality ( There are problems such as cracks).

  Furthermore, in the modeling with a resin-based material, in the case of a wall structure or a slab structure, there is a high possibility of warping, and it is difficult to obtain a structure as designed.

  The present invention has been proposed in view of the above-described circumstances. When a construction structure is constructed, a 3D printer capable of realizing stable quality and improved productivity by freely setting the structure of a modeled object is used. An object of the present invention is to provide a construction apparatus for a construction structure.

  The construction structure construction apparatus using the 3D printing technology according to the present invention has the following features in order to achieve the above-described object. That is, the construction apparatus for construction structure using the 3D printing technology according to the present invention is a construction apparatus for constructing the construction structure by discharging the material from the nozzle. It was formed with the inner air shape gradually changed from the material delivery side to the discharge side so that it became the desired shape at the discharge port, and the nozzle was attached to the tip side of the material delivery path It is characterized by.

  In the construction structure construction apparatus using the above-described 3D printing technology, the nozzle is preferably detachable from the material delivery path.

  In addition, in the construction apparatus for a construction structure using the 3D printing technique described above, when using a material that changes its fluidity by adding an additive, the additive is added to the material in the vicinity of the tip of the nozzle. It is possible to provide an additive mixing device for mixing.

  Moreover, in the construction apparatus for a construction structure using the above-described 3D printing technology, when using a material that changes in fluidity due to temperature, a temperature adjustment device that adjusts the temperature of the material in the vicinity of the tip of the nozzle. It is possible to provide.

  Moreover, in the construction apparatus for a construction structure using the 3D printing technique described above, it is possible to provide a material delivery section on the material ejection side of the nozzle.

  Moreover, in the construction apparatus for a construction structure using the above-described 3D printing technology, the nozzle can have a peripheral surface smoothing portion for leveling the peripheral surface of the material to be discharged.

  According to the construction structure construction apparatus using the 3D printing technology according to the present invention, a construction structure having a desired shape can be easily constructed by attaching a nozzle to the leading end side of the material delivery path. Also, by constructing a plurality of nozzles according to the shape of the construction structure to be constructed and replacing the nozzles according to the progress of the work, construction structures of various shapes can be easily constructed.

  Also, in the vicinity of the tip of the nozzle, an additive is added to a material that changes fluidity by adding an additive (for example, cement-based material), or a material that changes fluidity by temperature (for example, a resin-based material). The fluidity of the material can be adjusted by adjusting the temperature of the material. For example, by adding additives and adjusting the temperature, the fluidity of the material is secured on the upstream side in the material delivery direction to improve workability, and the material is cured at the material discharge part to ensure self-sustainability. By doing so, both pumpability and self-supporting property can be achieved.

  In addition, by providing the material delivery part on the material ejection side of the nozzle, the material ejected from the nozzle can be delivered without disturbing its shape in a desired structure. Moreover, a pattern can be given to the outer peripheral surface of the material discharged with the desired shape.

  Moreover, the peripheral surface of the material discharged from the nozzle can be smoothed by setting it as the nozzle which has the surrounding surface smooth part (for example, polytetrafluoroethylene material) for leveling the surrounding surface of the material to discharge.

The schematic diagram (cylindrical shape) of the nozzle used for the construction apparatus of the construction structure using 3D printing technology concerning the embodiment of the present invention. The schematic diagram (square cylinder shape) of the nozzle used for the construction apparatus of the construction structure using 3D printing technology concerning the embodiment of the present invention. The schematic diagram (polygonal cylinder shape) of the nozzle used for the construction apparatus of the construction structure using 3D printing technology concerning the embodiment of the present invention. The schematic diagram (polygonal cylinder shape) which shows the construction | assembly procedure in the construction apparatus of the construction structure using 3D printing technique which concerns on embodiment of this invention. The schematic diagram which shows the construction | assembly procedure in the construction apparatus of the construction structure using the 3D printing technique which concerns on embodiment of this invention (polygonal cylindrical aggregate). The schematic diagram (honeycomb shape) which shows the construction procedure in the construction apparatus of the construction structure using the 3D printing technique which concerns on embodiment of this invention. The schematic diagram (hollow shape) which shows the relationship of the nozzle and construction structure in the construction apparatus of the construction structure using 3D printing technique which concerns on embodiment of this invention. The schematic diagram (solid state) which shows the relationship of the nozzle and construction structure in the construction apparatus of the construction structure using 3D printing technique which concerns on embodiment of this invention. The schematic diagram of fluidity | liquidity adjustment in the material pumping process at the time of using the material from which fluidity | liquidity changes by adding an additive. The schematic diagram of fluidity | liquidity adjustment in the material pumping process at the time of using the material from which fluidity | liquidity changes with temperature. The schematic diagram of the nozzle which provided the material delivery part. The schematic diagram of the nozzle which has a surrounding surface smooth part. The schematic diagram (heavy machine) of the construction apparatus of the construction structure using 3D printing technology concerning the embodiment of the present invention. The schematic diagram (gate type crane) of the construction apparatus of the construction structure using 3D printing technology concerning the embodiment of the present invention.

  Hereinafter, a construction apparatus for a construction structure using a 3D printing technique according to an embodiment of the present invention (hereinafter sometimes abbreviated as a construction apparatus) will be described with reference to the drawings. 1 to 14 illustrate a construction apparatus according to an embodiment of the present invention. FIGS. 1 to 3 are schematic diagrams of nozzles, FIGS. 4 to 6 are schematic diagrams showing a construction procedure, and FIGS. FIG. 9 and FIG. 10 are schematic diagrams of fluidity adjustment in the material pumping process, FIG. 11 is a schematic diagram of a nozzle provided with a material feeding portion, and FIG. 12 is a peripheral surface smoothing portion. FIG. 13 and FIG. 14 are specific schematic views of a construction structure construction apparatus.

  Specifically, in FIGS. 1, 2, and 3, (a) and (c) are perspective views as seen from the nozzle outlet side, and (b) as seen from the base end side (material feeding side) of the nozzle. FIG. 4, (a) is an outer cylinder, (b) to (d) are mold members provided in order from the base end side (material pumping side) of the nozzle to the discharge port side, and (e) is a construction structure. (F) is sectional drawing of the construction structure which inserted the reinforcing bar. 5, (a) to (d) are mold members provided in order from the base end side (material pumping side) of the nozzle to the discharge port side, (e) is a construction structure, and (f) is a reinforcing bar. It is sectional drawing of the inserted construction structure.

  In FIG. 6, (a) is one unit of a construction structure, (b) is a construction structure in an assembled state, and (c) is a perspective view of the construction structure in an assembled state in which fillers and reinforcing bars are inserted. In FIG. 7, (a) is a prismatic lattice-shaped hollow construction structure, (b) is a cylindrical lattice-shaped hollow structure, and (c) is a perspective view of a cylindrical hollow structure. In FIG. 8, (a) is a prismatic grid-like solid construction structure, (b) is a cylindrical grid-like solid structure, and (c) is a perspective view of a cylindrical solid structure.

  FIGS. 7 and 8 are schematic views that imagine the relationship between the final cross-sectional shape of the nozzle 10 and the construction structure, and the final cross-sectional shape of the nozzle 10 is expressed by a portion expressed as a thin plate. 13 and 14, (a) is a schematic diagram when a construction structure is constructed in a substantially horizontal direction, and (b) is a schematic diagram when a construction structure is constructed in a substantially vertical direction.

<Nozzle>
The construction structure constructed by the construction apparatus according to the embodiment of the present invention is an embedded formwork, a reinforcing bar, an FRP structure, a geopolymer structure, etc., and the material for constructing these structures is discharged from the nozzle 10. Discharge from the outlet. The material is made of a cement-based material, a resin-based material, a metal material, or the like. Although not shown, the cement-based material and the resin-based material are pumped from the material reservoir to the nozzle 10 via a material delivery path (for example, a pressure feed pipe), and discharged in a desired shape at the material discharge port. .

  The desired shape is a shape corresponding to the construction structure to be constructed. For example, the outer peripheral shape is a prismatic shape, a cylindrical shape, a wall shape, etc., and the cross-sectional shape is a mesh shape, a solid shape, a hollow shape, etc. be able to. That is, in the present invention, by changing the internal shape of the nozzle 10, a construction structure having a desired shape can be constructed using 3D printing technology.

<Material delivery unit>
In addition, as shown in FIG. 11, a material delivery unit 15 can be provided on the material ejection side of the nozzle 10. The material delivery unit 15 is a member for delivering a material while maintaining the shape of the material ejected from the nozzle 10. For example, the material delivery unit 15 has an inner diameter equal to or slightly larger than the outer diameter of the material ejected from the nozzle 10. It consists of a cylindrical member having. By providing such a material delivery part 15, the material discharged from the nozzle 10 can be delivered without disturbing its shape in a desired structure. Further, by providing a slit or the like in the length direction in the material delivery unit 15, a pattern can be formed on the outer peripheral surface of the material discharged in a desired shape.

<Surface smooth part>
Moreover, as shown in FIG. 12, the nozzle 10 can be configured to have a peripheral surface smoothing portion 16 for leveling the peripheral surface of the material to be discharged. The peripheral surface smooth portion 16 is formed, for example, by forming the nozzle 10 with a low friction polytetrafluoroethylene material or the like, or providing a smooth layer made of a polytetrafluoroethylene material or the like on the inner surface of the nozzle 10. . By setting it as the nozzle 10 which has such a surrounding surface smooth part 16, the surrounding surface of the material discharged from the nozzle 10 can be smoothed.

<Material>
In order to pump cement-based materials and resin-based materials through a pumping pipe, ease of pumping (pumping performance) in the pumping process is important. On the other hand, self-sustainability when discharging materials from the material outlet Is important. For this reason, in the pumping process, it is necessary to have a softness that does not interfere with the pumping, but to have a hardness that can stand by itself after discharge.

  In order for the material discharged from the material discharge port to have a desired shape, the shape of the material discharge port must be defined. For this reason, construction structures of various shapes are constructed by attaching the nozzle 10 to the distal end side of a material delivery path (for example, a pressure feed pipe) and defining the shape of the nozzle 10. The nozzle 10 can be attached to and detached from the distal end side of a material delivery path (for example, a pressure feeding pipe), and thus, construction structures having various shapes can be constructed by simply replacing the nozzle 10.

  For example, when constructing a cylindrical construction structure, as shown in FIGS. 1A to 1C, FIG. 7C, and FIG. The material discharge port needs to be cylindrical. In this case, the nozzle 10 is formed by the cylindrical outer cylinder 11 and the solid columnar mold member 12 inside the outer cylinder 11 so that the material becomes cylindrical inside the nozzle 10. In order to fix the mold member 12 to the inside of the outer cylinder 11, the inner peripheral part of the outer cylinder 11 and the outer peripheral part of the mold member 12 must be connected. If it does, the connection member (fixing bar 13) used as a connection part will become an obstruction, and the material used as the desired shape cannot be discharged.

  Therefore, in the present invention, the material discharge path (for example, the pressure feed pipe) is directed from the material supply side to the discharge side so that the cross section of the material discharged from the nozzle 10 has a desired shape at the discharge port. The nozzle 10 formed in a state where the inner space shape is gradually changed is attached. The nozzle 10 includes an outer cylinder 11, a mold member 12, and a fixing bar 13.

  Specifically, as shown in FIGS. 1 to 5, a connection member (fixed bar 13) whose phase with respect to the central axis is shifted from the material delivery side to the discharge side is provided, and a mold is formed inside the outer cylinder 11. The member 12 is fixed, and the connecting member (fixing bar 13) is not provided in the vicinity of the discharge port of the nozzle 10 so that the material to be discharged has a desired shape. 1, FIG. 7 (c) and FIG. 8 (c) are nozzles 10 for constructing a cylindrical construction structure, FIG. 2 is a nozzle 10 for constructing a square tubular construction structure, FIG. FIG. 4 shows the nozzle 10 in the case of constructing a hexagonal cylindrical construction structure. Similarly, a hexagonal prism-shaped construction structure shown in FIG. 5, a honeycomb-like construction structure shown in FIG. 6, and a quadrangular prism-like construction structure shown in FIGS. 7 (a) and 8 (a). It is possible to construct a structure having a cylindrical lattice structure as shown in FIGS. 7B and 8B and a wall-like construction structure as shown in FIGS.

<Nozzles for octagonal tubular construction>
With reference to FIG. 4, the nozzle 10 for constructing an octagonal cylindrical construction structure will be described in detail. In the example shown in FIG. 4, the nozzle 10 is formed by fixing a plurality of stages of mold members 12 inside an octagonal cylindrical outer cylinder 11. In FIG. 4, the first stage (a), the second stage (b), the third stage (c), the fourth stage, and the fifth stage (d) are arranged from the material delivery side to the discharge side.

  The mold member 12 is composed of an octagonal steel plate, and the mold member 12 is not installed in the first stage, and a total of eight pieces are formed in all corners between the outer cylinder 11 and the mold member 12 in the second stage. The fixing cylinder 13 is used to connect the outer cylinder 11 and the mold member 12. In the third stage, a total of four fixing bars 13 are provided at every other corner between the outer cylinder 11 and the mold member 12. The outer cylinder 11 and the mold member 12 are connected to each other, and the fixing bar 13 is not installed between the outer cylinder 11 and the mold member 12 in the fourth and fifth stages. Further, an upper and lower connecting bolt through hole (not shown) that communicates vertically is provided at the center of the second to fifth stage mold members 12, and a bolt 14 is inserted into the upper and lower connecting bolt through hole. Then, the mold members 12 at each stage are connected in the vertical direction.

  When such a nozzle 10 is used, an octagonal tubular construction structure 100 as shown in FIG. 4E can be constructed. Moreover, as shown in FIG.4 (f), you may arrange | position the rear insertion reinforcing bar 110 in the center part of an octagonal cylindrical construction structure. Note that by increasing or decreasing the number of mold members 12, the internal shape of the nozzle 10 can be changed to adapt to the properties of the material.

<Nozzles corresponding to construction structures consisting of an octagonal cylindrical assembly>
With reference to FIG. 5, the nozzle 10 for constructing | assembling the construction structure which consists of an octagonal cylindrical aggregate is demonstrated in detail. In the example illustrated in FIG. 5, the nozzle 10 is formed by fixing a plurality of stages of mold members (a central mold member 12 a, an outer edge mold member 12 b, and an intermediate mold member 12 c) inside an octagonal cylindrical outer cylinder 11. In FIG. 5, from the material delivery side to the discharge side, the first stage (a), the second stage and the third stage (b), the fourth stage (c), the fifth stage and the sixth stage (d). It is said.

  The mold members (the central mold member 12a, the outer edge mold member 12b, and the intermediate mold member 12c) are made of steel plates, and in the first stage, the central mold member 12a and the outer edge mold member 12b are installed, and in the second to sixth stages. The central die member 12a, the outer edge die member 12b, and the eight octagonal intermediate die members 12c are arranged in an annular shape. Further, in the first stage, the outer cylinder 11 and the central mold member 12a are connected using the fixed bar 13, and the outer cylinder 11, the central mold member is reduced while reducing the number of the fixed bars 13 from the second stage to the fourth stage. 12a, the outer edge mold member 12b, and the intermediate mold member 12c are connected to each other.

  In addition, a vertical through bolt through hole (not shown) that communicates vertically with the central portion of the first-stage to sixth-stage central mold member 12a and the central section of the second-stage to sixth-stage intermediate mold member 12c. The bolts 14 are inserted into the upper and lower connecting bolt through holes to connect the center mold member 12a and the intermediate mold member 12c of each stage in the vertical direction.

  When such a nozzle 10 is used, it is possible to construct a construction structure composed of an octagonal cylindrical assembly as shown in FIG. Moreover, as shown in FIG.5 (f), you may arrange | position the back insertion reinforcing bar 110 in the center part of the construction structure which consists of an octagonal cylindrical aggregate, and each octagonal cylindrical center part. In addition, the internal shape of the nozzle 10 can be changed by adjusting the number of the central mold member 12a, the outer edge mold member 12b, and the intermediate mold member 12c to adapt to the properties of the material.

<Fluidity and independence of material near the nozzle tip>
When the material discharged from the nozzle 10 changes its fluidity by adding an additive, as shown in FIG. 9, an additive mixing device that mixes the additive with the material near the tip of the nozzle 10 20 is preferable. Although not shown in detail, the additive mixing device 20 includes a delivery pipe and a delivery pump for delivering the additive to an additive mixing port provided on the side surface of the nozzle 10 near the tip of the nozzle 10. .

  The material to be pumped to the nozzle 10 through the pumping pipe is to improve the workability by securing the fluidity of the material on the upstream side in the material feeding direction, and to add the additive at the material discharge portion to harden the material. To ensure independence. Thereby, both the pumpability and the self-supporting property of the material can be achieved.

  Examples of the material whose fluidity is changed by adding an additive include cement-based materials, geopolymers, urethanes and the like. In the case of a cement-based material, it can be cured in a short time by adding a quick setting agent. In the case of a geopolymer composed of blast furnace slag and fly ash, it can be cured in a short time by adding an alkali silicate solution to the geopolymer. Further, when the material is urethane, it can be foamed and cured by mixing two liquids of raw materials.

  When the material discharged from the nozzle 10 changes in fluidity due to temperature, it is preferable to provide a temperature adjusting device 30 for adjusting the temperature of the material at an appropriate position of the nozzle 10 as shown in FIG. Although not shown in detail, the temperature adjustment device 30 includes, for example, a cooling device for cooling the peripheral surface of the nozzle in the vicinity of the tip portion of the nozzle 10.

  The material to be pumped to the nozzle 10 via the pumping pipe is improved in workability by increasing the temperature of the material on the upstream side in the material feeding direction to ensure fluidity and lowering the temperature at the material discharge section. Independence is ensured by curing. Thereby, both the pumpability and the self-supporting property of the material can be achieved.

  Examples of the material whose fluidity changes with temperature include resin-based materials and geopolymers that are inorganic materials. The resin material has fluidity at a predetermined temperature or higher and can be cured by cooling. Moreover, the geopolymer which is an inorganic material can maintain fluidity by maintaining a predetermined temperature, and can be cured in a short time by heating beyond a predetermined temperature.

<Structure of construction structure>
Various construction structures can be constructed using the construction apparatus of the above-described aspect. At this time, if the constructed construction structure has a hollow portion, the hollow portion may be left as it is as shown in FIGS. 6B and 7A to 7C. 6 (c) and FIGS. 8 (a) to 8 (c), the hollow portion may be filled with a filler 120 such as concrete to form a solid structure. Moreover, as shown in FIG.6 (c), while inserting a back insertion reinforcing bar in a hollow part and filling with fillers 120, such as concrete, it can be structurally stabilized.

  Moreover, although not shown in figure, a heat insulation wall can be constructed | assembled by filling lightweight concrete (foam beads etc.) in the hollow part of a construction structure. Furthermore, although not shown, a wall having daylighting properties can be constructed by filling colored beads or the like into the hollow portion of a construction structure constructed using a resin material having translucency.

  As described above, by using the construction apparatus according to the embodiment of the present invention, a construction structure by mechanization and automation can be constructed, so that the quality can be stabilized and the productivity can be improved. In addition, since the 3D printing technology is applied, it is possible to easily form a complex formwork. In addition, the internal structure of the modeled object (structural characteristics of the modeled object) can be freely controlled by attaching various patterns of nozzles 10 to the tip side of the material delivery path (for example, a pressure-feed pipe) and discharging the material. be able to. Moreover, since the structure shape and the discharge amount are controlled by changing the pattern of the nozzle 10, there is almost no need to change the pump or the like as incidental equipment. Further, by using the nozzle 10, it is possible to form a closed structure, and even if a resin material is used, it is possible to prevent warping of the construction structure.

<Compound structure of construction structure>
In addition, by using the construction device according to the embodiment of the present invention, an RC structure using insertion reinforcing bars (reinforcing bars, stainless steel reinforcing bars, plastic reinforcing bars, steel materials, aluminum materials) and mesh materials and fiber reinforcements as tensile materials (inorganic fibers (metals) Fiber (steel fiber, stainless fiber), glass fiber, ceramic fiber, carbon fiber), synthetic fiber (aramid fiber, nylon fiber, PVA fiber, polyethylene fiber, polypropylene fiber), semi-synthetic fiber, regenerated fiber, plant fiber, animal fiber , Mineral fibers) and the like can be constructed.

<Outline of construction device>
In the construction apparatus according to the embodiment of the present invention, the nozzle 10 described above is detachably attached to the distal end side of a material delivery path (for example, a pressure feed pipe). The main part of this construction device is a device that can construct almost all members comprehensively when constructing construction structures, such as embedded formwork, reinforcing bars, FRP, concrete, geopolymer, etc. This is the construction of the members.

  For example, as shown in FIGS. 13A and 13B, a construction apparatus in which a heavy machine 40 equipped with a construction material tank, a pumping device, a power source, and the like is used and a nozzle 10 is attached to the tip of an arm 41 is provided. Can be used. 14 (a) and 14 (b), the nozzle 10 is attached to the hoist 51 of the portal crane 50, and the portal crane 50 is provided by a separately installed tank of construction material, a pumping device, a power source, and the like. In addition, the hoist 51 may be driven and the material may be supplied to the nozzle 10. At this time, the material delivery direction is from the top, bottom, left, and right directions such as the horizontal direction as shown in FIGS. 13A and 14A and the vertical direction as shown in FIGS. 13B and 14B. Material may be delivered.

  Further, although not shown, the construction apparatus can be configured with a plurality of robot arms, a robot arm traveling rail, a robot arm moving device, a gantry, and a gantry moving device as main components.

<Robot arm>
The robot arm is an apparatus for constructing a member for constructing a structure, and is provided with a nozzle that is a material construction section at the tip. Further, by providing a plurality of joints (for example, three places, four places, etc.), the material can be applied in three dimensions. Note that the number of joints (degree of freedom) and the length of the arm can be appropriately changed according to the shape and size of the construction structure to be constructed, the environment of the construction site, and the like. In the present invention, an arm having no joint is also included in the robot arm. In this case, a construction structure is constructed by moving the robot arm to a desired position using the functions of the robot arm moving device and the gantry moving device.

  Moreover, it is preferable to install a plurality of robot arms according to the material to be constructed. For example, for embedded formwork construction, rebar construction, FRP construction, geopolymer construction, etc. When the material to be constructed is a similar member, for example, a fluid, two or more materials may be constructed using one robot arm. Further, a plurality of robot arms may be used for the same material.

  Each robot arm is provided with a pumping device (for example, a pumping pipe) for pumping the material to the material construction section, and a material supply device (for example, a pump) is connected to the feeding device. Each robot arm is supported by a robot arm traveling rail, and can move along the robot arm traveling rail by the function of the robot arm moving device.

<Robot arm travel rail>
The robot arm traveling rail is a rail for movably supporting a plurality of robot arms. This robot arm traveling rail can be formed in various shapes according to the construction structure to be constructed. For example, it may be in the horizontal direction, may be in the vertical direction, or may be inclined obliquely. That is, although the robot arm traveling rail is supported by the gantry, the gantry moves along the construction direction of the structure by the gantry moving device, so that the direction differs depending on the shape of the structure.

<Robot arm moving device>
The robot arm moving device is a device that is provided in each robot arm and moves each robot arm along the robot arm traveling rail. The robot arm traveling rail has, for example, a pipe-shaped or solid-shaped rail with a rounded circular or elliptical annular shape, and the robot arm moving device is connected to the robot arm traveling rail. It is a device for moving an attached robot arm to a desired position.

  The robot arm moving device can be composed of, for example, a pair of rollers that sandwich a robot arm traveling rail and a drive source such as a motor that rotationally drives the rollers. Alternatively, a rack gear may be formed on the surface of the robot arm traveling rail, a pinion gear meshing with the rack gear may be attached to the base end portion of the robot arm, and the pinion gear may be driven by a driving source such as a motor. That is, the robot arm moving device may use any mechanism as long as each robot arm can be moved along the robot arm traveling rail.

DESCRIPTION OF SYMBOLS 10 Nozzle 11 Outer cylinder 12 Type member 12a Center type member 12b Outer edge type member 12c Intermediate type member 13 Fixed bar 14 Bolt 15 Material delivery part 16 Peripheral surface smooth part 20 Additive mixing device 30 Temperature control device 40 Heavy machine 41 Arm 50 Gate type Crane 51 Hoist 100 Construction structure 110 Rear insertion rebar 120 Filling material

Claims (6)

A construction device for constructing a construction structure by discharging material from a nozzle,
The nozzle is formed in a state in which the inner air shape is gradually changed from the material delivery side toward the discharge side so that the cross section of the material to be discharged has a desired shape at the material discharge port.
An apparatus for constructing a construction structure using 3D printing technology, characterized in that the nozzle is attached to the tip side of a material delivery path.   The construction apparatus for a construction structure using 3D printing technology according to claim 1, wherein the nozzle is detachable from the material delivery path.   2. An additive mixing device for adding an additive to the material in the vicinity of the tip of the nozzle when using a material that changes in fluidity by adding the additive. Alternatively, a construction apparatus for a construction structure using the 3D printing technique described in 2.   3. The 3D print according to claim 1, further comprising a temperature adjusting device that adjusts the temperature of the material in the vicinity of the tip of the nozzle when using a material that changes in fluidity with temperature. Construction equipment for construction structures using technology.   The construction apparatus for a construction structure according to any one of claims 1 to 4, wherein a material delivery section is provided on a material ejection side of the nozzle.   The said nozzle has a surrounding surface smooth part for leveling the surrounding surface of the material to discharge, The construction apparatus of the construction structure of any one of Claims 1-5 characterized by the above-mentioned.

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