• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robotized construction system comprising a Cartesian gantry-type robot that can be automatically raised according to the construction is gaining height, which has a robotic supply system for materials and electrical and electronic installations and which has manufacturing tools specific ones, which are operated by the contribution of layers of liquid construction materials, for example, of cement base that set once deposited, by projection of these same materials and others by conformation and placement in a certain position of construction elements. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2726921A1
    申请号:ES201830358
    申请日:2018-04-10
    公开日:2019-10-10
    发明作者:Pellico Daniel Lorenzo
    申请人:Evolution Construction System S L；
    IPC主号:
    专利说明:

    [0001]
    [0002] ROBOTIZED CONSTRUCTION SYSTEM
    [0003]
    [0004] Object of the invention
    [0005]
    [0006] The object of the present invention is a system that allows the manufacture of any construction, such as, among others, buildings, structures, infrastructures, by means of a Cartesian robot with robotic supply of liquid construction materials that once formed form the vertical elements and horizontal that make up a construction, as well as the electrical and electronic installations necessary for the movement of the robot. As a remarkable feature of the invention is the possibility that the Cartesian robot will rise autonomously by fixing itself to the vertical surfaces of the construction, without the need of external lifting elements such as cranes.
    [0007]
    [0008] Background of the invention
    [0009]
    [0010] Construction is a labor-intensive activity, which implies that it is a sector with low productivity and high risk of accidents at work derived from the manual nature of many of the jobs that are carried out. However, machinery plays a very important role, being essential in most of the tasks and in the safety with which they are performed.
    [0011]
    [0012] Among the machinery used can be mentioned the one used in the lifting of materials, in the esplanade, in the elaboration and pouring of mortars and concrete.
    [0013]
    [0014] Another of the elements that improve your productivity are prefabricated building materials, such as precast concrete and siding plates. Precast concrete covers a large number of factory-made products by molding and setting, such as large structural prefabricated, such as beams, walls and pillars, small structural prefabricated, such as joists, concrete pipes, blocks, curbs, pavers, as well as special prefabricated among which you can mention sleepers, posts and booths.
    [0015] But to date, no system has been developed, or at least the applicant does not know, any system that dramatically reduces human participation in construction tasks.
    [0016]
    [0017] The present invention advocates an automated system, which, through the use of a Cartesian robot, that rises on the construction autonomously as the construction gains in height, and through the contribution of liquid construction materials, allows the erection of Almost any type of structure.
    [0018]
    [0019] Description of the invention
    [0020]
    [0021] The robotic construction system, which is the object of the present invention, comprises:
    [0022] • A Cartesian robot, which in turn comprises:
    [0023] o Two porches, each of said porches formed by two or more columns and a horizontal beam arranged at the upper ends of the columns, said porches are positioned such that at least a part of the construction plant is located between the mentioned porches, or one or more bridge beams arranged between the horizontal beams of the porches and intended to move along said horizontal beams, or one or more carriages arranged in each of said bridge beams and intended to move along of said bridge beams,
    [0024] o One or more extendable columns, each of said extendable columns is coupled to one of said carriages,
    [0025] o One or more dolls, each of said dolls has one or more degrees of freedom and is coupled to the free end of the column,
    [0026] o A plurality of actuators that move bridge beams, cars, wrists and extend or collect extendable columns,
    [0027] or A plurality of position sensors of the bridge beams, cars and wrists,
    [0028] o A programmable controller that at least controls the actuators and receives data from at least the position sensors;
    [0029] • An autonomous lifting device for the frames of the mentioned Cartesian robot;
    [0030] • One or more manufacturing tools, arranged on the wrists, of the vertical and horizontal elements that are part of a building or other type of construction by providing one or more fluid construction materials suitable for setting and forming a solid mass with a predefined form;
    [0031] • An electrical and electronic power supply device operated by said controller;
    [0032] • A simultaneous delivery device of one or more fluid construction materials, water and pressurized air, to the manufacturing tools, which is operated and controlled by said controller.
    [0033]
    [0034] Brief description of the figures
    [0035]
    [0036] Figure 1: shows a perspective view of the Cartesian robot.
    [0037]
    [0038] Figure 2: shows a perspective view of the Cartesian robot when a plant of a building has been constructed and the lifting device is anchored on the roof of said plant.
    [0039]
    [0040] Figure 3: shows a perspective view of the raised Cartesian robot on the already built plant.
    [0041]
    [0042] Figure 4: shows a perspective view of a four-story building and the Cartesian robot anchored on the roof of the third floor.
    [0043]
    [0044] Figure 5: shows a perspective view of a detail of the Cartesian robot ready to begin its elevation.
    [0045]
    [0046] Figure 6: shows a perspective view of a detail of the fully elevated Cartesian robot to build a new plant.
    [0047]
    [0048] Figure 7: shows a perspective view of a detail of a rack-and-pinion type lifting device
    [0049]
    [0050] Figure 8: shows a perspective view of the Cartesian robot with two bridge beams.
    [0051]
    [0052] Figure 9: shows a perspective view of the Cartesian robot with two bridge beams and two cars on each of the bridge beams.
    [0053]
    [0054] Figure 10: shows a perspective view of the assembly of the robotic supply system of pipes for electrical and electronic materials and cables of the invention.
    [0055] Figure 11: shows a view of the robotic rotating drum used in the robotic supply system where the pipes are spirally wound.
    [0056]
    [0057] Figure 12: shows a view of the curved and motorized devices as well as the rotating bearing supports where the pipes are guided.
    [0058]
    [0059] Figure 13: shows a perspective view of a square section nozzle and an example of a vertical element under construction.
    [0060]
    [0061] Figure 14: shows a perspective view of a manufacturing tool with 5 nozzles, one of them movable and the vertical element constructed.
    [0062]
    [0063] Figure 15: shows a perspective view of a manufacturing tool with a mold arranged at the free end of a nozzle.
    [0064]
    [0065] Figure 16: shows a perspective view of a vertical element constructed by means of elements manufactured by the mold of Figure 15
    [0066]
    [0067] Figure 17: shows a perspective view of the mold with its bottom face open and depositing a solid building element.
    [0068]
    [0069] Figure 18 shows a perspective view of a vacuum and molding manufacturing tool.
    [0070]
    [0071] Figure 19: Shows an exploded perspective view of the manufacturing tool by layer deposition in a printing roller format.
    [0072]
    [0073] Figure 20: Shows a perspective view of the tool of Figure 19 forming a construction element such as a wall.
    [0074]
    [0075] Figure 21: shows a perspective view of the horizontal surface leveling tool.
    [0076] Figure 22: shows a perspective view of a vertical surface leveling tool.
    [0077] Figure 23: shows a perspective view of an adhesive and manipulator extruder tool.
    [0078]
    [0079] Preferred Embodiments
    [0080]
    [0081] The robotic construction system comprises a Cartesian robot, a lifting device for the cartesian robot frames, one or more manufacturing tools, a power supply device and a construction materials supply device.
    [0082]
    [0083] The Cartesian robot comprises two frames, each consisting of two or more columns, in Figures 1, 8 and 9 a preferred embodiment is shown with four columns and a horizontal beam, which can be extensible to adapt to constructions of different lengths . One or more bridge beams, which can also be extensible, which are arranged between the horizontal beams and in them one or more cars are arranged, in figure 1 only a bridge beam with a carriage is shown, in figure 8 the Cartesian robot with two bridge beams and a single carriage in each of them and in figure 9 a Cartesian robot with two bridge beams and two cars in each of the bridge beams is shown. These last two preferred embodiments increase the speed of the construction since the controller prevents the cars from interfering with each other.
    [0084]
    [0085] At the free end of each of the extendable columns, each extendable column is coupled to a carriage, a motorized wrist can be arranged and controlled by the Cartesian robot controller that has one or more degrees of freedom, for example the wrist can rotate with respect to a vertical axis and / or with respect to a horizontal axis to position the manufacturing tool more precisely or to place it perpendicularly with respect to the extensible column, for example to apply an adhesive or an insulator to a vertical surface or inclined
    [0086]
    [0087] Figures 1-7 show how the Cartesian robot rises as construction progresses, in this case a five-story building. The anchors are divided into first anchors united in solidarity with the lower end of the columns and on which the frames are supported when the robotic construction system is working and a few second mobile anchors along the columns that are fixed to the construction only when they have to raise the Cartesian robot and that they are part of the lifting device, by For example, in the case of a rack-type pinion lifting device, the pinions and the motors that drive them would be mounted on the second anchors and the rack would be located on the columns. Figure 1 shows the Cartesian robot resting on the ground on the first anchors and the second anchors of the lifting system located at the top of the columns, in Figure 2 the first floor is already built and the second anchors are supported by the floor of the first floor or on the surface of the building or construction and by means of the lifting device it raises the two porticos simultaneously leaving the invention in its working position to build a new plant, see figure 3, when the first anchors are anchored to the structure. Figure 5 shows how the porches are supported on the first and second anchors once the fourth floor is finished and prepared to raise the robotic construction system to start the erection of the fifth floor.
    [0088]
    [0089] The lifting device can be of the rack-and-pinion type driven by electric motors, by means of a hydraulic or pneumatic piston that drives ratchet wrench, of hydraulic cylinders, by means of spindles with mechanically actuated threads or similar systems, all types of lifting devices will be controlled and powered by the cartesian robot controller.
    [0090]
    [0091] On the other hand, the feeding device may consist of four or more pipes, one or more pipes for fluid construction materials, for example, cement base, one or more for auxiliary materials for acoustic or thermal coverings and two or more for water and compressed air, the pipes connect a fluid storage tank hydraulically with the manufacturing tools. The feeding device is formed by flexible elements and comprises one or more motorized auxiliary drums and controlled by the robot controller with simultaneous movement to it, where the flexible spiral elements are wound, the different pipes can be wound all in one or more drums or in one or more drums dedicated only to a pipe. The pipes leave the drum and go up one of the columns to the horizontal beam, the transition from its vertical to horizontal arrangement is carried out by means of a curved and motorized device, which pushes the pipe towards the drum or towards the manufacturing tool, prevents friction and ensures that the minimum radii of curvature of each of the different pipes are met. The curved device has free rotating rollers and a roller coupled to the motor and that by means of springs compresses the pipes to be able to make them move in a controlled way and simultaneously to the rotation of the drum.
    [0092] As the pipes run along the horizontal beam they do so on the inside of some supports with rotating bearings on independent carriages that slide on rails installed on the horizontal beam. These are separated at a maximum distance determined according to the type of pipe and thanks to the use of a telescopic or scissor system like the one shown in figure 12. The first car is anchored to the car that moves the bridge beam and the rest anchored between them. so that they open as it is needed.
    [0093]
    [0094] The transition of the pipes between the horizontal beam and the bridge beam is carried out by means of a curved and motorized device similar to that described in the previous paragraph and the pipes run through the bridge beam through the internal part of rotating bearing supports on independent carriages that they slide on rails until a transition to the extendable column by means of a curved and motorized device similar to the previous ones. The motorizations of the curved devices and the drums are synchronized by the controller and release a certain channeling length based on the position of the tip of the Z axis or tool.
    [0095]
    [0096] The channeling system described above is also used by the power supply cables of the different actuators and electric motors of the invention.
    [0097]
    [0098] Of course, the supply system has quick connections between the rigid and flexible elements, closing and opening valves and at least one main pump at the exit of the construction materials manufacturing tank and at least one secondary pump to the Inlet of the manufacturing tools, which can be of the type of helical screw or of a double-acting piston pump, at the outlet of the secondary pump a suction valve can be provided for the removal of air from the pipes and flow sensors in all the previous elements controlled by the mentioned robot controller.
    [0099]
    [0100] A variant of the feeding system comprises one or more unmanned aerial vehicles, commonly called drones, which have one or more deposits of construction material, which fly to the top of the extendable column and inject the construction material among others directly to the tools and / or even the corresponding primary and secondary pumps and / or opening and closing valves, the drones will be controlled by the controller that will have in this case a means of wireless communication with the drone.
    [0101]
    [0102] In relation to the manufacturing tools of the vertical and horizontal elements of the construction, four types of tools are designed: deposition, molding and placement, projection and finishing and handling.
    [0103]
    [0104] The first type of manufacturing tool comprises one or more nozzles coupled to the wrist hydraulically connected to the feeding device and intended to deposit layers of a fluid construction material that generate such vertical or horizontal elements when setting, at least one of the nozzles is of rectangular section and may be the only nozzle of the manufacturing tool, said nozzles may have a shut-off valve operated by the controller.
    [0105]
    [0106] The manufacturing tool can have two or more nozzles and each of them can deposit a different fluid material, for example, one of cement base and an acoustic or thermal insulating material, in addition one or more nozzles can move in a horizontal plane with respect to the rest of the fixed or mobile nozzles by means of electric motors driven by the controller, for example manufacturing the vertical element of figure 13.
    [0107]
    [0108] As a variant of the manufacturing tool with one or more nozzles, a printing roller can be arranged at the exit of one of the nozzles that deposits layers with a certain design. Said roller comprises a structure to which four concentric tubes are fixed and which are arranged inside each other, two of them rotating. These tubes have on their surface a series of holes that turn and together with the injection of material form a constructive element.
    [0109]
    [0110] Another variant of the manufacturing tool would be the result of mixing the two previous systems in a single device.
    [0111]
    [0112] As another tool variant we have that at the exit of one of the nozzles a mold can be arranged to generate a solid construction element by default when the fluid inside sets, said solid element is deposited in a predetermined position when its face is opened bottom and be ejected by a pusher driven by example by compressed air both operated by the controller. The mold can have a compactor and vibrator device, as well as being heated, for example, by induction to accelerate the setting of the fluid construction material.
    [0113]
    [0114] Another option of a tool to generate a solid construction element is by printing by molding and vacuum comprising an external housing that is filled with the fluid construction material and which in its lower part has a hollow positive mold that will penetrate the previously deposited material. and by means of a vacuum pump it will extract the material determined by the shape of the mold. A negative mold is fixed to the bottom of the housing to prevent the fluid material from moving vertically when the external housing together with the hollow positive mold is raised.
    [0115]
    [0116] Likewise, tools for leveling horizontal or vertical surfaces can be installed on the wrist, which can have a vibratory motion to compact the contributed material, solid material handling tools, surface finishing and polishing discs, drills, or elongated nozzles for the application of adhesives and cladding plates, tools for handling prefabricated building elements, such as beams or metal reinforcements, necessary in the conformation of structural elements.
    [0117]
    [0118] In relation to leveling tools, it is considered convenient to cite and describe the horizontal surface leveling tool and the vertical surface leveling tool:
    [0119]
    [0120] The horizontal surface grader is a collector connected to the outlet of the pipeline through which a fluid construction material that can be cement based is transported, which allows the construction material to be able to exit homogeneously and be deposited in the position and quantity needed. The main pipeline has a remotely controlled valve installed and synchronized with the main and secondary pumps. This tool has depth sensors installed to determine the distance of the tool to the position or location where it will be deposited and sends this signal to the controller. A ruler is installed next to the collector that, thanks to a quick return mechanism, makes a longitudinal movement that allows the deposited material to be, in addition to compacted, perfectly leveled. If necessary, it may include vibratory devices to increase its vibration capacity, which may be isolated to prevent the transmission of vibrations to the rest of the invention.
    [0121] The mentioned rule is fixed to the rest of the tool by means of linear guides that allow its longitudinal displacement, which are connected to the collector through an axis to allow rotation with the structure of the tool by means of the action of two actuators.
    [0122]
    [0123] The vertical surface leveling tool is intended to make continuous coatings with different materials on walls and walls. It consists of guiding and oscillating movement of a pipeline that releases a certain amount of fluid construction material and that connected to another pipeline of compressed air manages to project it on the wall. The tool also has a mobile, vibratory and articulated ruler that, thanks to pneumatic or electric actuators guided by the controller, aligns the material on the support. The tool has sensors to measure the depth to the support as well as a flow meter at the outlet of the pipes that send the signals to the controller to guide the movement. The supply or not of material and compressed air is done by valves operated by the controller.
    [0124]
    [0125] Another manufacturing tool is the adhesive and manipulator extruder tool, which comprises a nozzle with a cross-sectional, rectangular section and exit slots where an adhesive material exits and is deposited on the wall or vertical surface, on which a coating will be placed, For example, ceramic. The same tool has a vacuum manipulator installed that manages to collect from the stock made in a specific place, the material and apply it on the wall in the exact position and precisely, using pressure sensors that guarantee the perfect placement. The manipulator and the nozzle are oriented at 90 degrees from each other and by means of an electric motor driven by the controller rotates to place the manipulator or the nozzle in front of the surface.
    权利要求:
    Claims (20)
    [1]
    1. Robotized construction system characterized by comprising:
    o A Cartesian robot, which in turn comprises:
    ■ Two porches, each of said porches formed by two or more columns and a horizontal beam arranged at the upper ends of the columns, said porches are positioned such that at least a part of the construction floor is located between the mentioned porches,
    ■ One or more bridge beams arranged between the horizontal beams of the porches and intended to move along said horizontal beams, ■ One or more cars arranged in each of said bridge beams and intended to move along said beams bridge, ■ One or more extendable columns, each of said extendable columns is coupled to one of said carriages, ■ One or more dolls, each of said dolls has one or more degrees of freedom and is coupled to the end free of the column, ■ A plurality of actuators that move the bridge beams, cars, wrists and extend or collect the extendable columns,
    ■ A plurality of position sensors of bridge beams, carriages and dolls,
    ■ A programmable controller that at least controls the actuators and receives data from at least the position sensors;
    o A lifting device for the frames of said Cartesian robot; o One or more manufacturing tools, arranged on the wrists, of the vertical and horizontal elements that are part of a building by providing one or more fluid construction materials suitable for setting and forming a solid mass with a predefined shape;
    or A power supply device;
    o A simultaneous delivery device of one or more fluid construction materials to the manufacturing tools, which is operated and controlled by said controller.
    [2]
    2. System robotized construction according to claim 1, characterized in that the lifting device has anchors porches construction.
    [3]
    3. Robotized construction system according to claim 1 or 2, characterized in that the lifting device is of the pinion and rack type.
    [4]
    4. System robotized construction according to claim 1 or 2, wherein the lifting device is of the hydraulic cylinders.
    [5]
    5. Robotized construction system according to any of the preceding claims, characterized in that the wrist has a degree of freedom that is the rotation with respect to a vertical axis.
    [6]
    6. Robotized construction system according to claim 5, characterized in that the wrist has a second degree of freedom which is the rotation with respect to a horizontal axis.
    [7]
    7. Robotized construction system according to any one of the preceding claims, characterized in that at least one of the manufacturing tools comprises one or more nozzles hydraulically connected to the delivery device, coupled to the wrist and intended to deposit layers of a fluid construction material one on top of the other generating vertical elements.
    [8]
    8. Robotized construction system according to claim 7, characterized in that each of the nozzles has a shut-off valve controlled by said controller.
    [9]
    9. Robotized construction system according to claim 8, characterized in that at least one of the nozzles is fed by the supply device with a fluid construction material different from the construction material that feeds the rest of the nozzles.
    [10]
    10. Robotized construction system according to claim 8 or 9, characterized in that at least one of the nozzles is movable horizontally with respect to the fixed nozzles by means of an electric motor controlled by said controller.
    [11]
    11. System robotic construction, according to claim 9, wherein at least one of the nozzles has a square cross section.
    [12]
    12. Robotized construction system according to one of claims 7-11, characterized in that one of the nozzles feeds a mold to form a solid construction element in a predetermined manner, the lower face of said mold is displaceable at will controlled by the controller so that the solid construction element can be deposited in a location chosen by the controller when it is ejected by a pusher driven by compressed air by means of the controller.
    [13]
    13. Robotized construction system according to claim 12, characterized in that the mold is heated.
    [14]
    14. Robotized construction system according to claim 12 or 13, characterized in that the mold has a vibrating device for compacting the fluid construction material.
    [15]
    15. Robotized construction system according to one of claims 12-14, characterized in that the mold has a pressure compacting device for the fluid construction material.
    [16]
    16. Robotized construction system according to any one of claims 1 to 6, characterized in that at least one of the manufacturing tools comprises one or more nozzles hydraulically connected to the delivery device, coupled to the wrist and consists of a horizontal surface leveler (61) with a manifold (611) connected to a pump of transport of constructive material in liquid state in a main pipe (612) with valve (613) and sensors, and a ruler (614) with longitudinal sliding moved by a motor ( 618) with quick return mechanism (617) and actuators (619).
    [17]
    17. Robotized construction system according to any one of claims 1 to 6, characterized in that at least one of the manufacturing tools comprises one or more nozzles hydraulically connected to the delivery device, coupled to the wrist and consists of a vertical surface leveler (63) comprising a duct (632) of oscillating guidance and movement with valves (633) and nozzle (631) that releases constructive material, being connected to a compressed air duct (630) to project the material on the vertical surface, and a ruler (634) mobile, vibratory and articulated by actuators (639) pneumatic or electric guided by the controller.
    [18]
    18. Robotized construction system according to the preceding claim, characterized in that the vertical surface leveler (63) has sensors and flow meter at the outlet of the pipes (632, 630) that send information to the controller to guide the movement .
    [19]
    19. Robotized construction system according to the preceding claim, characterized in that the ruler (634) is subject to a fixation (635) that links it to a support (636) and moved by actuators (639) with quick return mechanism (637) ), and the nozzle (631) oscillates horizontally mechanically within a guide rail (638).
    [20]
    20. Robotized construction system according to any one of claims 1 to 6, characterized in that at least one of the manufacturing tools comprises one or more nozzles hydraulically connected to the delivery device, coupled to the wrist and consists of an adhesive extruder and manipulator (65) comprising a manifold (651) connected to a pipe (652) of materials where adhesive material comes out and a vacuum manipulator consisting of a suction cup (655) connected to a vacuum pump (656) that collects, from stock provided in a specific place, a siding plate or panel (22) and applies it to the wall in the exact position and precisely using pressure sensors connected to the controller.
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    法律状态:
    2018-11-16| PC2A| Transfer of patent|Owner name: EVOLUTION CONSTRUCTION SYSTEM, S.L. Effective date: 20181112 |
    2019-10-10| BA2A| Patent application published|Ref document number: 2726921 Country of ref document: ES Kind code of ref document: A1 Effective date: 20191010 |
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201830358A|ES2726921B2|2018-04-10|2018-04-10|ROBOTIZED CONSTRUCTION SYSTEM.|ES201830358A| ES2726921B2|2018-04-10|2018-04-10|ROBOTIZED CONSTRUCTION SYSTEM.|
    BR112020020786-1A| BR112020020786A2|2018-04-10|2019-04-10|ROBOTIZED CONSTRUCTION SYSTEM|
    PCT/ES2019/070247| WO2019197698A1|2018-04-10|2019-04-10|Robotised construction system|
    US17/046,348| US20210164218A1|2018-04-10|2019-04-10|Robotised construction system|
    JP2021504580A| JP2021521366A|2018-04-10|2019-04-10|Robotized construction system|
    CN201980039421.6A| CN112351867A|2018-04-10|2019-04-10|Robotized construction system|
    EP19784817.9A| EP3733354A4|2018-04-10|2019-04-10|Robotised construction system|
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