KR102783181B1 - Three dimensional printing robot system for construction - Google Patents

Abstract

The present invention relates to a construction 3D printing robot system that can construct a building by spraying a cement-based printing material, and to this end, comprises: a 3D printing robot that constructs an interior floor surface of a building while moving according to set coordinates; and a material supply robot that mixes and supplies a cement-based printing material to the 3D printing robot in real time while moving in conjunction with the 3D printing robot; wherein the material supply robot is characterized in that it is equipped with a short-range wireless sensor so that it can automatically move at a set interval from the 3D printing robot when the 3D printing robot is moved.

Description

{THREE DIMENSIONAL PRINTING ROBOT SYSTEM FOR CONSTRUCTION}

The present invention relates to a 3D printing robot system for construction, and more specifically, since a building is constructed by a 3D printing robot that moves along the internal floor surface of a building according to set coordinates, the building is not limited by the size of the construction area, and in addition, the building can be constructed very quickly by linking with a material supply robot that mixes and supplies cement-based printing materials. This relates to an architectural 3D printing robot system that can form a stable support structure without shaking or tilting forward/backward/left/right by a 4-way scissor guide even when the center of gravity is changed by a rotating centrifugal force and a nozzle transfer bar whose length is adjustable through a 3D printing robot that applies a 4-way scissor structure.

A 3D printing device (three-dimensional printing apparatus) that sequentially stacks materials such as plastic through a nozzle to create a product with a three-dimensional shape is attracting attention.

Attempts are being made to expand the application of these 3D printing devices to the construction field, and as one example, Republic of Korea Patent No. 10-1706473 proposes a technology to manufacture construction structures such as houses and bridges using cement-based materials such as concrete as 3D printing materials.

In this way, when 3D printing devices are used for construction purposes, there is no need for complex and cumbersome work such as installing and dismantling formwork, so it is expected to be widely used in the future as it can reduce material and construction costs and the construction period.

Typically, a typical architectural 3D printing device has a structure similar to a typical gantry crane, with a pair of heavy vertical supports that can move along a Y-direction rail that contacts the ground, and a horizontal support that has both ends hanging on a Z-direction rail installed on one of the pair of vertical supports in the Z direction is installed so that it can be raised and lowered in the Z direction.

And a spray nozzle is installed so as to be able to move along the horizontal support. This allows the spray nozzle to move along the X, Y, and Z directions to spray and laminate printing materials to form a structure.

However, in the case of conventional gantry-type architectural 3D printing devices, there is a problem in that they must be manufactured larger than the building being constructed, resulting in high installation and dismantling costs.

Republic of Korea Patent No. 10-1706473 Republic of Korea Patent No. 10-2333574

The present invention has been conceived in consideration of the above problems, and a first object of the present invention is to provide a 3D printing robot system capable of forming a stable support structure without forward/backward/left/right shaking and tilting by a 4-way scissor guide even when the center of gravity is changed by a rotating centrifugal force and a nozzle transfer bar whose length is adjustable through a 3D printing robot using a 4-way scissor structure.

The second purpose of the present invention is to provide a construction 3D printing robot system that constructs a building by using a 3D printing robot that moves along the internal floor surface of the building according to set coordinates, so that the building can be constructed without being restricted by the size of the construction area, and further, can be constructed very quickly by linking with a material supply robot that mixes and supplies cement-based printing materials.

The third object of the present invention is to provide a construction 3D printing robot system that is configured to be compact in size compared to existing crane-structured 3D printing facilities, and further, to connect two material supply robots to one 3D printing robot so as to supply different types and mixing ratios of cement-based printing materials.

According to the features for achieving the above-mentioned purpose, the first invention relates to a construction 3D printing robot system that can construct a building by spraying a cement-based printing material, and for this purpose, a 3D printing robot that constructs the interior floor surface of the building being constructed while moving according to set coordinates; And a material supply robot that mixes and supplies cement-based printing materials to the 3D printing robot in real time while moving in conjunction with the 3D printing robot; Including a short-range wireless sensor so that the material supply robot can automatically move at a certain interval from the 3D printing robot when the 3D printing robot moves, the 3D printing robot includes a housing that moves by casters, an elevating plate that is elevated by an elevating means built into the housing, a scissor guide that is coupled between the housing and the elevating plate to support the elevating plate that is elevated by the elevating means, a rotating plate that is connected to the elevating plate by a rotating means, a guide frame that is fixed to the rotating plate, a nozzle transfer bar whose length is adjusted within the guide frame, and a nozzle part that is coupled to the tip of the nozzle transfer bar to discharge cement-based mortar, wherein the scissor guide is coupled to the outer surface of the bottom surface of the elevating plate. It is characterized in that it is arranged on each of the four sides (front/back/left/right), and the lifting plate is configured to maintain a stable horizontal level without forward/backward/left/right shaking and tilting by the scissor guide even when the center of gravity changes due to the rotating centrifugal force and the nozzle transfer bar whose length is adjustable.

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The third invention is characterized in that, in the first invention, the housing is further equipped with a plurality of outriggers, and the lifting means is configured as a spiral lift.

The fourth invention is characterized in that, in the first invention, the rotating means comprises a sun gear rotatably inserted into a support ring fixed to the upper part of the lifting plate, and a planetary gear meshed inside the sun gear, wherein the planetary gear is rotated by a driving motor fixed to the lower surface of the lifting plate, and the sun gear is fixed to the lower surface of the rotating plate.

The fifth invention is characterized in that, in the first invention, the nozzle section is connected to the material supply robot through a connecting hose to receive cement-based mortar, and each of the scissors guides is configured by combining a sliding block whose upper and lower ends on one or the other side are slidably connected to a fixed rail fixed to the housing and the lifting plate so that it can expand and contract according to the elevation of the lifting plate.

The sixth invention is characterized in that, in the first invention, the guide frame further has a partial cut portion formed to prevent the nozzle portion fixed to the tip of the nozzle transport bar from being interfered with.

The seventh invention is characterized in that, in the first invention, the 3D printing robot comprises two rotating plates coupled to a single lifting plate, each of the rotating plates comprising a guide frame installed in an opposite position to each other, a nozzle transfer bar, and a nozzle part, and each nozzle part is connected to an individual material supply robot through a connecting hose so as to be supplied with different cement-based printing materials.

The eighth invention is characterized in that, in the first invention, the material supply robot is configured to be equipped with a short-range wireless sensor so that, when the 3D printing robot moves, the material supply robot can automatically move at a set interval from the 3D printing robot, and at least one communication module among short-range wireless communication, Wi-fi, Ethernet, 3G, 4G, 5G, and LTE so as to notify an external manager when the printing material runs out.

According to the construction 3D printing robot system of the present invention, there is an effect of enabling the 3D printing robot to be configured very compactly by applying a spiral lift that can be installed in a small housing (110) and a four-way scissor guide.

In addition, the above 3D printing robot has the effect of forming a stable support structure without shaking forward/backward/left/right and tilting by the four-way scissor guide even if the center of gravity is changed by the rotating centrifugal force and the nozzle transfer bar whose length is adjustable.

Additionally, since the 3D printing robot is linked to a material supply robot that mixes and supplies cement-based printing materials, it has the effect of allowing buildings to be constructed very quickly.

In addition, two material supply robots can be connected to one 3D printing robot to supply different types and mixing ratios of cement-based printing materials, which makes construction very fast and convenient.

In addition, by providing nozzles at the front and rear of the 3D printing robot respectively, the movement path of the 3D printing robot is minimized, thereby enabling the construction of a building with a minimum movement path according to forward and backward movements without a 360° rotational movement, thereby improving constructability.

FIG. 1 is a perspective view of a construction 3D printing robot system according to a first embodiment of the present invention.
Figure 2 is a front view of the 3D printing robot extracted from Figure 1.
Figure 3 is an exploded perspective view of the 3D printing robot extracted from Figure 1.
Figure 4 is a comparative diagram showing the arrangement status of the scissor guide of a 3D printing robot.
Figures 5 and 6 are exemplary diagrams showing the operating state of a construction 3D printing robot system according to the first embodiment of the present invention.
FIG. 7 and FIG. 8 are exemplary diagrams showing the operating state of an architectural 3D printing robot system according to a second embodiment of the present invention.

The following objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms.

Rather, the embodiments introduced herein are provided to ensure that the disclosure is thorough and complete and to sufficiently convey the spirit of the present invention to those skilled in the art.

The embodiments described and illustrated herein also include complementary embodiments thereof.

In this specification, the singular includes the plural unless the context specifically states otherwise. The words "comprise" and/or "comprising" as used in the specification do not exclude the presence or addition of one or more other elements.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing specific embodiments below, various specific contents have been written to more specifically explain the invention and help understanding. However, readers who have knowledge in this field enough to understand the present invention can recognize that the invention can be used without these various specific contents. In some cases, it is mentioned in advance that parts that are commonly known but not greatly related to the invention are not described in order to avoid confusion in describing the present invention.

Hereinafter, a construction 3D printing robot system according to the present invention will be described in detail together with the attached drawings.

[Second embodiment]

FIG. 1 is a perspective view of a 3D printing robot system for construction according to a first embodiment of the present invention, FIG. 2 is a front view of the 3D printing robot extracted from FIG. 1, FIG. 3 is an exploded perspective view of the 3D printing robot extracted from FIG. 1, FIG. 4 is a comparative drawing showing the arrangement state of a scissor guide of the 3D printing robot, and FIGS. 5 and 6 are exemplary views showing the operating state of the 3D printing robot system for construction according to the first embodiment of the present invention.

As illustrated in FIGS. 1 to 6, the first embodiment constructs a building by means of a 3D printing robot that moves along the internal floor surface of a building according to set coordinates, so that the building is not limited by the size of the building area, and further, by linking with a material supply robot that mixes and supplies cement-based printing materials with the 3D printing robot, the building can be constructed very quickly, and even if the center of gravity is changed by the rotational centrifugal force and the nozzle transfer bar whose length is adjustable through the 3D printing robot using the 4-way scissor structure, the system relates to an architectural 3D printing robot that forms a stable support structure without shaking forward/backward/left/right and without tilting by the 4-way scissor guide.

The architectural 3D printing robot system (300) according to the first embodiment of the present invention is largely composed of two parts: a 3D printing robot (100) and a material supply robot (200).

The above 3D printing robot (100) is configured to form a stable support structure without forward/backward/left/right shaking and tilting by a four-way scissor guide even though the center of gravity of the 3D printing robot is changed by a rotating centrifugal force and a nozzle transfer bar whose length is adjustable.

In addition, the above 3D printing robot (100) is structured to receive cement-based printing material mixed from a material supply robot (200) in real time through a connecting hose (181).

The above 3D printing robot (100) is capable of self-movement according to set coordinates, and is configured to be capable of rotation and length adjustment along with height adjustment so that the nozzle section (180) through which cement-based printing material is discharged can move along the X, Y, and Z axes.

The above 3D printing robot (100) is largely composed of six parts: a housing (110), an elevating plate (120), a scissor guide (140), a rotating plate (150), a guide frame (160), a nozzle transfer bar (170), and a nozzle part (180).

The 3D printing robot (100) of the present invention can operate in an IoT environment according to an Internet of Things communication method.

At this time, the housing (110) may be equipped with a caster (C) so that the interior of the building being constructed can be automatically moved according to set coordinates on the floor surface, and a communication module (113) for communicating via at least one of short-range wireless communication, Wi-fi, Ethernet, 3G, 4G, 5G, and LTE, a motor (not shown) for rotating the caster (C), and a secondary battery (B) for supplying power to the motor may be mounted inside.

Additionally, the housing (110) may be equipped with four more electric outriggers (111) to precisely discharge printing materials through the nozzle section (180).

These outriggers (111) may have the additional function of preventing the housing (110) from moving when printing material is discharged through the nozzle section (180) and raising the height of the nozzle section (180) together with the lifting means described later.

In addition, an elevating means for elevating the elevating plate (120) may be built into the interior of the housing (110).

The above-mentioned lifting means is composed of a spiral lift (112), in which two stainless steel bands are woven in a spiral shape to create a strong and stable cylinder, and this cylinder is assembled as it rises and disassembled as it goes down, so that a structure is provided that can be installed in a housing (110) with a small space.

And the above-mentioned lifting plate (120) is a high-structured structure in which a support ring (121) is fixed to the upper surface to install a rotating means (130) for rotating the rotating plate (150).

At this time, the rotation means (130) is composed of a sun gear (131) rotatably inserted into a support ring (121) fixed to the upper part of the lifting plate (120), and a planetary gear (132) meshed inside the sun gear (131).

Here, the above-mentioned planetary gear (132) is rotated by a driving motor (M) fixed to the lower surface of the above-mentioned lifting plate (120), and the above-mentioned driving motor (M) can secure an installation space through the cylinder of the spiral lift (112).

And the above sun gear (131) is fixed to the bottom surface of the rotary plate (150) so that the rotary plate (150) can rotate according to the rotation of the sun gear (131).

In addition, in order to prevent shaking when the above-mentioned lifting plate (120) is raised and lowered by the spiral lift (112), a scissor guide (140) is additionally connected between the housing (110) and the lifting plate (120).

Here, the above-mentioned scissor guide (140) is configured to be arranged on each of the four outer surfaces (front/rear/left/right) of the lower surface of the above-mentioned lifting plate (120).

The above-mentioned scissor guide (140) has the function of supporting the lifting plate (120) whose center of gravity is variable by the rotating centrifugal force and the nozzle transfer bar (170) whose length is adjustable so that it can maintain a stable horizontal level without shaking forward/backward/left/right and tilting.

In addition, each of the above scissor guides (140) is configured by combining a sliding block (141a) that is slidably connected to a fixed rail (142) fixed to the housing (110) and the lifting plate (120) at the upper and lower ends on one or the other side so that it can expand and contract according to the lifting of the lifting plate (120).

The above scissor guide (140) narrows the width of the upper and lower parts of the link bars (141) linked in an X shape when the spiral lift (112) rises. This is possible because the sliding blocks (141a) fixed to each link bar (141) move along the fixed rail (142).

At this time, the sliding block (141a) and fixed rail (142) can be configured by replacing them with a linear motor.

Meanwhile, as shown in (b) of Fig. 4, the four-sided scissor guide described above has the following advantages compared to the two-sided scissor guide shown in (a) of Fig. 4.

First, as in (a) of Fig. 4, when the scissor guide (140) is installed in the two directions of front and rear, it can suppress left and right shaking, but there is a problem that it cannot suppress shaking in the front and rear directions. In addition, when the scissor guide (140) is installed in the two directions of left and right, it can suppress forward and rear shaking, but there is a problem that it cannot suppress shaking in the left and right directions.

Considering these problems of the present invention, as shown in (b) of FIG. 4, the scissor guide (140) of the present invention is installed on the four sides of the 3D printing robot (100) to form a stable support structure without shaking or tilting forward/backward/left/right.

In addition, the 3D printing robot (100) of the present invention is easy to install and move by minimizing its volume with a four-sided scissor guide (140) support structure.

The above guide frame (160) is formed as a linear frame and functions to guide the nozzle transport bar (170) in a straight direction.

And the nozzle transfer bar (170) has the function of moving the nozzle part (180) that sprays the cement-based printing material by combining it, and is configured so that its length can be adjusted within the guide frame (160).

For this purpose, the nozzle transport bar (170) is structured to be coupled inside the guide frame (160) via a linear motor (171).

Here, the linear motor (171) is composed of an LM guide (171a) fixed to a guide frame (160) and an LM block (171b) fixed to the bottom surface of the nozzle transport bar (170) and transported along the LM guide (171a).

Through this, the nozzle transport bar (170) can be positioned to fit the shape of the building being constructed by adjusting its length inside the guide frame (160).

The above nozzle part (180) is connected to the tip of the nozzle transfer bar (170) and functions to construct a building by spraying cement mortar.

Here, the nozzle part (180) is connected to the material supply robot (200) through a connection hose (181) so that cement mortar can be supplied in real time.

The nozzle part (180) described above can be adjusted in height along the Z-axis through the outrigger (111) and spiral lift (112), can be rotated horizontally through the rotation means (130), and can be moved in position along the X-axis by varying the length of the nozzle transport bar (170).

At this time, the guide frame (160) is configured with a partially cut portion (161) further formed to prevent the nozzle portion (180) fixed to the tip from interfering with the guide frame (160) when the nozzle transfer bar (170) is transferred in the direction of the guide frame (160).

In addition, a support bracket (151) may be further connected to the above-mentioned rotating plate (150) to support the connecting hose (181) while avoiding interference with the guide frame (160), and a cylindrical support tube (151a) may be further fixed to the upper end of the support bracket (151) to support the connecting hose (181) by inserting it.

Meanwhile, the material supply robot (200) moves in conjunction with the 3D printing robot (100) and supplies cement-based printing materials in real time to the 3D printing robot (100).

The above material supply robot (200) is configured with a mixing tank (210) for mixing cement-based printing material and a pump (220) for pumping the mixed printing material to the nozzle section (180).

In addition, the material supply robot (200) may also be equipped with a motor (M) for rotating the caster (C) and a secondary battery (B) for supplying power to the motor (M).

In addition, the material supply robot (200) may be configured to be equipped with a short-range wireless sensor (230) so that it can automatically move at a certain distance from the 3D printing robot (100) when the 3D printing robot (100) moves.

Accordingly, the material supply robot (200) can be linked with the 3D printing robot (100) to move inside a building and supply cement-based printing material in real time.

In addition, the material supply robot (200) may be configured to be equipped with at least one communication module (240) among short-range wireless communication, Wi-fi, Ethernet, 3G, 4G, 5G, and LTE that can notify an external manager when the printing material in the mixing tank (210) is exhausted.

Therefore, since the architectural 3D printing robot system (300) of the first embodiment constructs a building by means of a 3D printing robot that moves along the internal floor surface of the building according to set coordinates, it is not limited by the size of the building area, and in addition, it can construct a building very quickly by linking with a material supply robot that mixes and supplies cement-based printing materials, and its size can be reduced to a compact size compared to existing crane-structured 3D printing facilities, and the reduced architectural 3D printing robot system (300) has the advantage of being very convenient to install and move.

[Second embodiment]

FIG. 7 and FIG. 8 are exemplary diagrams showing the operating state of an architectural 3D printing robot system according to a second embodiment of the present invention.

The second embodiment includes the first embodiment, except that the 3D printing robot (100) may be configured with two rotating plates (150) coupled to a single lifting plate (120), and each rotating plate (150) may be configured with a guide frame (160), a nozzle transfer bar (170), and a nozzle part (180) that are installed opposite to each other.

The 3D printing robot system (300) of the second embodiment is connected to an individual material supply robot (200) through a connection hose (181) so that different types of cement-based printing materials can be supplied to each nozzle section (180).

Here, as shown in (a) and (b) of FIG. 6, the 3D printing robot (100) has nozzle parts (180) positioned at the front and rear, respectively, so that the movement path of the 3D printing robot can be minimized.

This can improve constructability because the 3D printing robot (100) can construct a building with a minimum movement path according to forward and backward movements without a 360° rotational movement of the rotating plate (150).

In addition, in the second embodiment, when one nozzle part (180) rotates by the rotating plate during operation, the other nozzle part (180) also rotates together, so that the two nozzle parts (180) can be prevented from interfering with each other.

In addition, the second embodiment stores cement-based printing materials of different types and different mixing ratios in each of the material supply robots (200) so that the materials for the outer wall of the building and the reinforcing wall reinforcing the outer wall are different from each other, thereby improving the stability and durability of the building.

In addition, the 3D printing robot system (300) of the second embodiment can simultaneously construct a building in both directions, as shown in FIG. 7, thereby improving constructability.

The embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

100: 3D Printing Robot 110: Housing 111: Outrigger
112: Spiral Lift 113: Communication Module
120: Lifting plate 121: Support ring
130: Rotating means 131: Sun gear
132: Planetary Gear 140: Scissors Guide
141: Link Bar 141a: Sliding Block
142: Fixed rail 150: Rotating plate
151: Support bracket 151a: Support body
160: Guide frame 161: Partial cutout
170: Nozzle transport bar 171: Linear motor
171a: LM guide 171b: LM block
180: Nozzle part 181: Connecting hose
200: Material supply robot 210: Mixing tank 220: Pump
230: Short-range wireless sensor 240: Communication module
C: Caster M: Motor B: Battery

Claims (8)

In an architectural 3D printing robot system that can construct a building by spraying cement-based printing materials,
A 3D printing robot (100) that moves along the floor surface inside a building being constructed according to set coordinates and constructs it; and
It comprises a material supply robot (200) that moves in conjunction with the above 3D printing robot (100) and mixes and supplies cement-based printing materials to the above 3D printing robot in real time;
The above material supply robot (200) is equipped with a short-range wireless sensor (230) so that it can automatically move at a certain distance from the 3D printing robot (100) when the 3D printing robot (100) moves.
The above 3D printing robot (100)
A housing (110) that moves by a caster (C),
An elevating plate (120) that is elevated by an elevating means built into the above housing (110), and
A scissor guide (140) coupled between the housing (110) and the lifting plate (120) to support the lifting plate (120) that is lifted by the lifting means,
A rotating plate (150) connected via the above-mentioned lifting plate (120) and the rotating means (130),
A guide frame (160) fixed to the above rotating plate (150),
A nozzle transfer bar (170) whose length is adjusted within the above guide frame (160) and
It is composed of a nozzle part (180) that is connected to the tip of the nozzle transfer bar (170) and discharges cement mortar.
The above scissor guide (140) is placed on each of the four outer sides (front/back/left/right) of the lower surface of the above lifting plate (120).
The above lifting plate (120) is characterized in that it is configured to maintain a stable horizontal level without forward/backward/left/right shaking and tilting by the scissor guide (140) even when the center of gravity is changed by the rotating centrifugal force and the nozzle transfer bar (170) whose length is adjustable.
delete In the first paragraph,
The above housing (110) is further equipped with a plurality of outriggers (111),
A construction 3D printing robot system characterized in that the above-mentioned lifting means is composed of a spiral lift (112).
In the first paragraph,
The above-mentioned rotation means (130) is composed of a sun gear (131) rotatably inserted into a support ring (121) fixed to the upper part of the lifting plate (120) and a planetary gear (132) meshed inside the sun gear (131).
The above planetary gear (132) rotates by a driving motor (M) fixed to the bottom surface of the above lifting plate (120).
A 3D printing robot system for construction, characterized in that the above sun gear (131) is fixed to the bottom surface of the above rotating plate (150).
In the first paragraph,
The above nozzle part (180) is connected to the material supply robot (200) through a connection hose (181) and receives cement mortar.
The above-mentioned scissor guide (140) is characterized by including a sliding block (141a) that is slidably connected to a fixed rail (142) fixed to the housing (110) and the lifting plate (120) at the upper and lower ends on one or the other side so that it can expand and contract according to the lifting of the lifting plate (120).
In the first paragraph,
The above guide frame (160) is characterized by a construction 3D printing robot system in which a partial cut portion (161) is further formed to prevent the nozzle portion (180) fixed to the tip of the nozzle transfer bar (170) from being interfered with.
In the first paragraph,
The above 3D printing robot (100) is composed of two rotating plates (150) combined on a single lifting plate (120), and each rotating plate (150) is configured with a guide frame (160) installed in opposite positions, a nozzle transfer bar (170), and a nozzle part (180).
An architectural 3D printing robot system characterized in that each of the above nozzle parts (180) is connected to an individual material supply robot (200) through a connecting hose so that different cement-based printing materials can be supplied.
In the first paragraph,
The material supply robot (200) is characterized in that it is configured with a short-range wireless sensor (230) so that the material supply robot (200) can automatically move at a certain interval from the 3D printing robot (100) when the 3D printing robot (100) moves, and at least one communication module (240) among short-range wireless communication, Wi-fi, Ethernet, 3G, 4G, 5G, and LTE that can notify an external manager when printing materials are exhausted.

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