• 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:
    The present invention relates to a device, a system and a method for 3D printing by adding material such as concrete. In particular, a device for printing (TDPDO) by adding material comprising: - a printing head (2) adapted to receive material and deposit it; - fixing means (3) adapted to connect the print head (2) to a lifting device (LD); and stabilization means (MS) adapted to stabilize the position of the print head (2) by a gyroscopic effect. Such a device makes it possible to control the printing of the structure to be printed (200), in particular the position of the print head (2), to reduce labor costs and the installation time on a printing device. Lifting (LD) such as a standard crane with a hook (4).
    公开号:FR3063671A1
    申请号:FR1751938
    申请日:2017-03-09
    公开日:2018-09-14
    发明作者:Gael Godi；Laurent PHELIPPE；Sofiane AMZIANE
    申请人:Universite Clermont Auvergne；
    IPC主号:
    专利说明:

    DESCRIPTION
    Technical Field [01] The present invention relates to the printing of structures by depositing materials such as mortar.
    [02] More specifically, the invention relates to a device, a system and a method for 3D printing of structures by deposition of material.
    STATE OF THE ART [03] Three-dimensional printing makes it possible to produce a real object by additive manufacturing processes, that is to say by the successive deposition of layers of material.
    [04] Originally used for rapid prototyping of objects, 3D printing is now used for the manufacture of functional parts in various fields such as building construction. [05] The advantage of 3D printing for building construction is the reduction of 30 to 60% of construction waste and a shortening of production times from 50 to 70% compared to a conventional process. [06] Currently, there are several types of technology for the construction of buildings. Some technologies use gantry systems sliding on rails that support the printer's printhead and that frame the construction area. These are "small size" 3D printer scalings generally used for printing "small" plastic or metal objects. The downside to this type of technology is the bulk and the need for a large structure that encompasses the building to be "printed". [07] To solve this problem, another type of 3D printer for the building industry uses a robotic arm allowing the 3D printer to move to the center of the construction area and avoid the installation of a gantry and rails.
    [08] To overcome the aforementioned limits caused by the use of a robotic arm or a gantry sliding on rails, in terms of height and perimeter of action, new 3D printing systems have appeared. and now allow it to be attached to a crane, of the truss structure type. These systems are bulky, heavy and their installation is complex because it generally requires adapting the crane fixing system for each printing system. In addition, this kind of printer poses problems of stability and energy expended to pump the material to be deposited to the top of the crane and the printhead. [09] There is therefore a real need for a printing system which overcomes these defects, drawbacks and obstacles of the prior art, in particular a device making it possible to control the printing conditions of the structure to be printed, in particular the position of the print head, reducing labor costs and the time required to install such a device on a standard crane fitted with a hook.
    Description of the invention [10] To resolve one or more of the drawbacks mentioned above, the invention relates to a mobile 3D printing device by adding material comprising:
    • a print head adapted to receive and deposit material;
    • fixing means suitable for connecting the print head to a lifting device; and • stabilization means adapted to stabilize the position of the print head by gyroscopic effect.
    [11] These stabilization means thus make it possible to control the position of the print head despite external disturbances such as wind, especially when the print head is suspended from a cable.
    [12] Advantageously, the stabilization means are adapted to act on the position of the fixing means. By compensating for the unexpected position variations of the fixing means, for example a crane hook to which the printing device could be attached, the efforts to be made to then control the position of the printing head itself are minimized.
    [13] Advantageously, the stabilization means comprise at least three gyroscopes, adapted to stabilize the position of the print head by gyroscopic effect, making it possible to increase the reliability of the stabilization system;
    [14] The device may also include an actuator adapted to rotate the print head around a so-called vertical axis of rotation (V) perpendicular to the plane defined by the three gyroscopes, so as to give a first degree of freedom to the print head, namely a rotation, the stabilization means being adapted to compensate for the disturbances generated by the rotation of the print head and to ensure the stability of the print head during rotation.
    [15] Advantageously, the device can include displacement means comprising a first translation system adapted to move the print head along an axis (H) perpendicular to the vertical axis (V) and thus allowing the print head to have a second degree of freedom, a translation. In this case, the first translation system can include a balancing mass adapted to maintain the balance of the first translation system as a function of the position of the print head on the axis (H) of the first translation system. translation. This mass thus makes it possible to avoid the horizontal translation system from tilting because of the weight of the print head and therefore to keep the horizontal translation system horizontal.
    [16] In order to give the print head a third degree of freedom, in this case a second translation, the displacement means may further comprise a second translation system adapted to move the print head along the vertical axis (V).
    [17] To be able to automate the printing of a structure, the mobile 3D printing device can also include:
    • suitable localization means for determining in real time the position of the print head in a geometric reference specific to the structure to be printed; and • a processing unit adapted to control the position of the print head as a function of its location in the geometric coordinate system of the structure to be printed.
    [18] Advantageously, the location means include:
    • a tracking system adapted to know the absolute position of a reference point in the geometric frame of the structure to be printed; and a set of sensors adapted to make it possible to locate the position of the printhead relative to the reference point, the processing unit being adapted to calculate the position of the printhead in the geometric coordinate system of the structure print using data from the tracking system and data from all sensors.
    [19] According to particular embodiments, usable alone or in combination:
    • the print head is connected to a material supply tube, such as mortar, which arrives along the vertical axis (V), which reduces the influence of the arrival of the material on the device like the rocking effect. In this case, the mortar supply tube can be connected to a concrete pump comprising an outlet tube, the two tubes being connected by a combination of rotating joints, so as to avoid friction which could turn the device. around the vertical axis (V), or around the hook in the event that the device is suspended from a crane hook;
    • the print head can be provided with a rotating nozzle allowing a non-rectilinear deposition of the material, and consequently of strengthening and stiffening the structure to be printed.
    [20] In a second aspect, the invention also relates to a 3D printing system for the construction of a structure by depositing layers of material comprising:
    • a mobile 3D printing device according to one of the embodiments described above; and • a lifting device capable of suspending and moving the 3D printing device.
    [21] Another aspect of the invention relates to a method of 3D printing of a structure, such as a building, by a printing system as described above, comprising:
    • a first step consisting in defining, using the locating means, at least one reference point in the geometric coordinate system of the structure to be printed, so that the processing unit can define the position of the head printing in the geometric coordinate system of the structure to be printed; and • a second step of printing the structure consisting in supplying the print head with construction materials, of the concrete or mortar or cement type, and in activating the control of the position of the print head by the processing unit according to the shape of the structure to be printed.
    Brief description of the figures [22] The invention will be better understood on reading the description which follows, given solely by way of example, and with reference to the appended figures in which:
    - Figure 1 shows an overview of a printing device according to a general embodiment of the invention;
    - Figure 2 shows an overview of a printing device according to a first variant of the general embodiment of the invention;
    - Figure 3 shows an overview of a printing device according to a second variant of the general embodiment of the invention;
    - Figure 4 shows an overview of a printing device according to a third variant of the general embodiment of the invention;
    - Figures 5 and 6 show side views of the printing device according to the third variant of the general embodiment of the invention;
    - Figure 7 shows a top view of the printing device according to the third variant of the general embodiment of the invention;
    - Figure 8 shows an example of reference point tracking system in the geometric frame of the structure to be printed; and
    - Figure 9 shows the nomenclature adopted for the angles of rotation around the axes of the reference mark of the printing device.
    Embodiments [23] According to FIG. 1 which represents a general embodiment of the invention, the TDPDO mobile three-dimensional (3D) printing device by adding material comprises:
    • a print head 2 adapted to receive material, such as mortar or concrete, and deposit it;
    • fixing means 3 adapted to connect the print head 2 to a lifting device LD, and • stabilization means MS adapted to stabilize the position of the print head 2 by gyroscopic effect.
    [24] In order to be easy to use, the fixing means 3 of the TDPDO printing device are suitable for standard lifting devices of the crane, overhead crane type or in a telescopic lifting carriage. In particular, the fixing means 3 of the device are compatible with the attachment systems of these lifting devices such as a crane hook 4, so that no particular adjustment of the lifting device has to be made for the installation of the TDPDO mobile printing device.
    [25] Thus, the TDPDO mobile printing device can be suspended from a crane cable (or chain), that is to say a non or not very rigid structure, using a crane hook 4 and its fixing means 3.
    [26] Inherent in such an assembly, on a non or not very rigid structure, the mobile printing device TDPDO can be subjected to various disturbances. In the context of the construction of a building, these disturbances can come from environmental disturbances (example: the wind), from the forces generated by the supply of material to the print head 2, from the reaction of the material during removal, or the "spring" effect of the crane cable.
    [27] In order to control the deposition of material, it is necessary to stabilize the position of the print head 2 through which the material actually exits. This stabilization is carried out using the stabilization means MS, which can act directly on the print head 2. However, the inventors have noted that it could be particularly advantageous for the stabilization means MS to act on the position of the fixing means 3.
    [28] Indeed, stabilization being ensured by gyroscopic effect, the more it will be applied near the point most sensitive to disturbances, as in Figure 2, the less force will be required to compensate for disturbances. As far as possible, it is therefore advantageous for the stabilization means MS to act on the position of the fixing means 3, the rest of the TDPDO device having much greater inertia and intrinsic stability than that of a crane hook 4 suspended at the end of a cable or chain.
    [29] Figures 2 to 7 show a printing device according to different variants TDPD1, TDPD2 and TDPD3 of the general embodiment of the invention, in which the stabilization means MS comprise at least three gyroscopes 5 adapted to stabilize the position of the print head 2 by gyroscopic effect. For security reasons and also for a good balance of the device, a fourth gyroscope can be used so as to be able to ensure the stability of the print head 2, as illustrated in FIGS. 2 to 7.
    [30] According to a particular embodiment, the four gyroscopes 5 are positioned in the same plane (P) and operate symmetrically, two by two, so as to control the pitch and the roll of the plane (P) defined by the center of the gyroscopes, and so that the print head 2 remains in a horizontal plane with respect to the ground despite the disturbances. Figures 2 to 7 illustrate such a type of assembly.
    [31] Advantageously, the gyroscopes can be inclined relative to the vertical axis (V) which improves the stability of the assembly, as illustrated in FIGS. 4 to 7.
    [32] According to an option, the device TDPD0, TDPD1, TDPD2 or TDPD3, can include an actuator adapted to rotate the print head 2 around an axis of rotation, called vertical (V) perpendicular to the plane defined by the three (or four) gyroscopes 5 so as to allow the print head 2 to have a first degree of freedom, namely a rotation around the vertical axis (V). As the rotation of the print head 2 can generate disturbances, the stabilization means must be adapted to compensate for these disturbances and ensure the stability of the print head during rotation. They must in particular produce a reaction torque which makes it possible to overcome the inertia of the printing device during the rotation of the printing head.
    [33] Advantageously, this actuator can rely on the three (or four) gyroscopes 5 to perform this rotation.
    [34] In FIG. 2, the torque produced by the gyroscopes 5 will make it possible to cancel the torque induced by the rotation of the print head 2. The assembly with the gyroscopes 5 will not rotate, but the torque produced by the gyroscopes 5 will have made it possible to rotate what is below, namely the print head 2. This makes it possible, among other things, not to rotate the crane hook on which the device can be fixed and to stabilize the position of the print head 2 during its rotation.
    [35] In the TDPD2 and 3 devices represented in FIGS. 3 to 7, it is the torque produced by the gyroscopes 5 which will directly allow the rigid assembly of which they are part to rotate, comprising the print head 2. In these two configurations, TDPD2 and TDPD3, the actuator is mainly composed of gyroscopes 5.
    [36] According to another option, the mobile printing device TDPDO, TDPD1, TDPD2 or TDPD3 can also include displacement means comprising a first translation system 6 adapted to move the printing head 2 along an axis (H) perpendicular to the vertical axis (V), or in a plane parallel to the plane (P). In order to ensure the balance of the first translation system 6, this may include a balancing mass 7 adapted to maintain the balance of the first translation system 6 as a function of the position of the print head 2 on the axis (H) of the first translation system 6, as illustrated in FIGS. 2 to 7.
    [37] In the case of FIG. 2, the first translation system 6 comprises first and second rectilinear beams, 6a and 6b, parallel to each other. The print head 2 moves along the first beam 6a, while the balancing mass 7 moves along the second beam 6b. The use of two beams makes it possible to increase the amplitude of the translational movement of the print head (as close as possible to the vertical axis of rotation (V) of the device) and therefore the range of action of the device TDPD1 ..
    [38] Thus, when the print head 2 moves away from the vertical axis (V), the balancing mass 7, also moves away from the vertical axis (V) and vice versa when the print head impression 2 approaches the vertical axis (V). Furthermore, it may be advantageous, during the stabilization phase, to move both the print head 2 and the balancing mass 7 in tandem (i.e. in the same direction) to punctually punctuate an excessive swing of the device.
    [39] Advantageously, the displacement means also comprise a second translation system 8 adapted to move the print head 2 along the vertical axis (V). This can be a beam or a rail as shown in Figures 3 to 5 or it can be a jack that can optionally be integrated into the actuator or below the fixing means so as to translate from a block the rest elements of the device (the gyroscopes 5, the translation systems 6 and 8 and the balancing weight 7, and the print head 2).
    [40] The print head 2 can then have three degrees of freedom:
    - a rotation around the vertical axis (V) provided by the gyroscopes and possibly a rotary motorized actuator (embodiment TDPD1);
    - A translation along the axis (H) of the first translation system 6, ie radially with respect to the vertical axis (V); and
    - a translation along the vertical axis (V) thanks to the second translation system 8.
    [41] The first two degrees of freedom allow the deposition of a layer of material in a plane parallel to the plane (P) and the third degree allows the print head 2 to be raised so as to be able to deposit another layer of material on the first in another plane superimposed on the previous plane.
    [42] In order to avoid sudden movements generating disturbances, the guides of tubes and mobile cables are preferably provided by cable-carrying chains, as represented by element 12 of the printing device TDPD1 in FIG. 2. It is the same for the arrival of the material such as for mortar or concrete, as well as for the other cables of the system.
    [43] According to an option compatible with the embodiments described above, the stabilization means MS can also include an inertial stabilization structure 9, as illustrated in FIG. 3, making it possible to increase the stability of the mobile printing device TDPD2 . Advantageously, this inertial stabilization structure 9 comprises vibration attenuators further increasing the stability of the mobile printing device TDPD2 and therefore of the printing head 2.
    [44] According to another embodiment of the mobile printing device TDPD0, TDPD1, TDPD2 or TDPD3, it can further comprise:
    • localization means adapted to determine in real time the position of the print head 2 in a geometric reference specific to the structure to be printed; and • a PU processing unit adapted to control the position of the print head 2 as a function of its location in the geometric coordinate system of the structure to be printed.
    [45] The location of the print head 2 in the geometric coordinate system of the structure to be printed can be achieved in different ways.
    [46] FIG. 8 illustrates a solution consisting in using optical test patterns 13 arranged on the ground in the reference 20 of the structure to be printed 200 and representing reference points whose position in the geometric reference 20 of the structure 200 is determined. According to this solution, the means for locating the print head 2 are equipped with at least one camera 14 (also visible in FIG. 2) adapted to visualize the ground and detect the optical patterns 13. For questions of reliability, in cases where the target is not visible from certain angles, it is desirable to use a plurality of cameras. In addition, to facilitate position calculations, it is preferable that the cameras 14 are fixed and do not rotate when the print head 2 is rotated.
    [47] These localization means also include:
    - an inclinometer having two axes suitable for measuring an inclination of the TDPD1 printing device relative to a plane perpendicular to the vertical (Z), which corresponds to the measurement of the angles (φ, θ) shown in FIG. 9; and
    - a compass suitable for measuring the angle ψ of rotation around the vertical (Z).
    [48] The processing unit then uses the images captured by the camera. The position of the cameras 14 on the TDPD1 device being known, the processing unit can, with the angular data (φ, θ, ψ), and the position of each reference point in the reference 20 of the structure to be printed 200, determine the position of the print head 2 in this reference 20. It should be noted that the angle ψ measured by the compass is not necessary to know the position of the TDPD1 device in space, this angle being able to be deduced from the analysis of the images of the target taken by the camera (s) 14.
    [49] According to another solution, the location of the print head 2 can be achieved by triangulation. For this, the geometric reference 20 of the structure to be printed 200 is marked on the ground using one or more transmitting or receiving beacons representing the reference points, so that a signal is transmitted or received by this or these beacons regularly and received or transmitted by the means for locating the mobile printing device TDPD2 or TDPD3, such as one or more receivers positioned precisely on the printing head 2 or on the mobile printing device TDPD2 or TDPD3. The location means then send the information received to the processing unit PU which performs the calculations for locating the print head 2 in the space of the structure, then calculates and sends to the displacement means (for translations) as well that to the actuator (for rotation) the movement instructions adapted to the printing path and therefore to the shape of the structure to be printed 200.
    [50] Different technologies can be used to achieve this triangulation: ultrasound, laser or even a centimeter GPS system. However, since the triangulation methods do not always offer sufficiently regular measurements (in relation to the flow of material, or also in relation to the speed of movement of the print head), it may be advantageous, even necessary, to use a system of complementary measurements to emulate an increase in the frequency of the measurements and therefore the precision of the location of the print head 2 in the reference frame of the structure to be printed 200.
    [51] Thus, the location means can advantageously include:
    • a tracking system (eg optical sight or emitting beacons) adapted to know the absolute position of at least one reference point in the geometric reference 20 of the structure to be printed 200; and a set of sensors adapted to make it possible to locate the position of the printhead 2 relative to the reference point, the processing unit PU being adapted to calculate the position of the printhead 2 in the geometric coordinate system 20 of the structure to be printed 200 using the data from the tracking system and the data from all the sensors.
    [52] The set of sensors could, for example, include:
    - A sensor adapted to know, at regular time intervals, the absolute position of the print head in the geometric reference 20 of the structure to be printed 200; and
    - an intertial unit suitable for continuously measuring the speeds and accelerations of the print head 2 along three axes, thus allowing the emulation of an increase in the frequency of the measurements and therefore better localization accuracy of the print head print 2.
    [53] To compensate for any drift in the measurements which may occur, a readjustment to the reference position or positions of the structure to be printed 200 can be carried out at regular time intervals.
    [54] Advantageously, the print head 2 is connected to a material supply tube 10, such as construction materials of the mortar, concrete or cement type, the inlet 11 of which takes place parallel to the vertical axis (V), which makes it possible to reduce the influence of the arrival of the material on the mobile printing device TDPD2 or TDPD3, such as the rocking effect. In FIG. 3, the material 11 arrives from the top of the TDPD2 mobile printing device, while in FIGS. 4-6 this takes place from the bottom of the TDPD3 mobile printing device.
    [55] In order to limit the friction which could cause the mobile printing device TDPD2 or TDPD3 to rotate on itself and therefore to limit disturbances, in particular for depositing concrete, the supply tube 10 can be connected to a concrete pump comprising an outlet tube, the two tubes being connected by a combination of rotary joints. Advantageously, the combination of rotary joints can be motorized so as to overcome the friction induced by the material caught between the two tubes forming the joint.
    [56] According to an option compatible with the TDPD0, TDPD1, TDPD2 or TDPD3 devices previously presented, the print head 2 can be provided with a rotating nozzle allowing non-rectilinear deposition of the concrete. This type of "zigzag" printing makes it possible to strengthen and stiffen the printed structure.
    [57] For security reasons, the TDPDO, TDPD1, TDPD2 or TDPD3 mobile printing device may be equipped with a weather sensor measuring external disturbances such as wind force. These measurements can be sent to the processing unit PU which, according to predefined thresholds, can stop the servo-control of the print head 2 and the printing of the structure 200 in order to put itself in an “alert” mode. danger to users and surrounding persons.
    [58] Advantageously, the dimensions and the mass of the TDPDO, TDPD1, TDPD2 or TDPD3 mobile printing device are compatible with those of a transport trailer, thus making it easier to move the TDPDO device from one site to another, TDPD1, TDPD2 or TDPD3. Typically, the length of the device will be less than 12 meters, and the mass less than 1 ton.
    [59] Advantageously, the shape and dimensions of the TDPDO, TDPD1, TDPD2 or TDPD3 device are adapted to limit wind resistance, and therefore the influence of external disturbances, when the device is suspended, for example from a construction crane 4, and used outdoors. In the case where certain elements of the device are covered, as in FIG. 2, the cover (s) 15 used will have an aerodynamic shape.
    [60] The present invention also relates to a 3D printing system for the construction of a structure 200 by depositing layers of concrete comprising:
    • a mobile printing device TDPDO, TDPD1, TDPD2 or TDPD3, according to one of the embodiments previously described; and • an LD lifting device, such as a crane, overhead crane or in a telescopic lifting cart, capable of suspending and moving the TDPDO, TDPD1, TDPD2 or TDPD3 mobile 3D printing device.
    [61] For security reasons, when the external disturbances measured by the weather sensor exceed predefined thresholds causing the control of the print head 2 and the printing of the structure 200 to stop, the device for LD lifting can place the TDPD0, TDPD1, TDPD2 or TDPD3 mobile printing device in a security configuration such as the “flag” configuration, where the TDPD0, TDPD1, TDPD2 or TDPD3 device will naturally be oriented in the direction of wind so as to limit its effects on the device.
    [62] The present invention also relates to a method for 3D printing of a concrete structure by a 3D printing system as described above, comprising:
    A first step consisting in defining at least one point and a reference direction in the geometric coordinate system of the structure to be printed using a marking system and a direction, and in locating the position of the print head 2 of the printing device TDPD0, TDPD1, TDPD2 or TDPD3, in the geometric coordinate system of the structure to be printed; and • a second step of printing the structure consisting in supplying the print head 2 with construction materials, of the concrete, mortar or cement type, and in activating the control of the position of the print head 2 by the processing unit PU as a function of the shape of the structure to be printed 200.
    [63] Advantageously, the control of the print head 2 includes the deposition of a first layer of material along a plane perpendicular to the vertical axis (V), the processing unit PU controlling the angular and radial positions (either according to the first translation system 6) of the print head 2 relative to the vertical axis (V) by sending instructions adapted to the actuator and to the means for moving the mobile printing device TDPD0, TDPD1 , TDPD2 or TDPD3.
    [64] Advantageously, the control of the print head 2 also comprises at least one movement of the print head 2 along the vertical axis (V) so as to be able to deposit a new layer of material on the previous layer of material deposited.
    [65] So as to be able to print a structure whose span is greater than the authorized movement of the print head 2 by the actuator and the means of movement of the mobile printing device TDPDO, TDPD1, TDPD2 or TDPD3 , the method may further comprise at least one additional step of moving the mobile printing device TDPDO, TDPD1, TDPD2 or TDPD3 by the lifting device LD between two deposits of material layer.
    [66] Finally, the present invention also relates to 3D printing software suitable for coordinating the material deposition steps of the 3D printing process as defined above so that the printing of the structure 200 can resume at the position where the print head 2 was before the mobile printing device TDPDO, TDPD1, TDPD2 or TDPD3 was moved by the lifting device LD between two deposits of material layer.
    [67] The description and the drawings simply illustrate the principles of the invention. It will thus be understood that a person skilled in the art will be able to design various variants which, although not explicitly described or illustrated here, incorporate the principles of the invention. Furthermore, all the examples cited here are mainly intended for educational purposes to help the reader understand the principles of the invention and the concepts brought by the inventor to the prior art and should be interpreted as being without limitation to these. examples and conditions specifically cited. Furthermore, all statements in which principles, aspects and embodiments of the invention, as well as specific examples thereof, are intended to include equivalents thereof.
    LIST OF REFERENCE NUMBERS
    TDPDO Mobile printing device according to a general embodiment of the invention (Three-Dimensional Printing Device)
    TDPD1 Mobile printing device according to a first variant of the general embodiment of the invention (Three-Dimensional Printing Device) TDPD2 Mobile printing device according to a second variant of the general embodiment of the invention (Three-Dimensional Printing Device) Device)
    TDPD3 Mobile printing device according to a third variant of the general embodiment of the invention (Three-Dimensional Printing Device)
    LD Lifting Means
    MS Means of Stabilization
    PU Process Unit
    Printhead
    Fastening means
    Crane hook
    Gyroscope
    First drive system
    6a first rectilinear beam of the first translation system 6b second rectilinear beam of the first translation system
    Balance mass
    Second translation system
    Inertial stabilization structure
    Material feed tube
    Arrival of the material cable holder chain
    Optical sight
    Camera
    Hood
    Geometric mark of the structure to be printed
    200 Structure to print
    权利要求:
    Claims (14)
    [1" id="c-fr-0001]
    1. Mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) by adding material including
    - a print head (2) adapted to receive material and deposit it;
    - fixing means (3) adapted to connect the print head (2) to a lifting device (LD), characterized in that it also includes
    - Stabilization means (MS) adapted to stabilize the position of the print head (2) by gyroscopic effect.
    [2" id="c-fr-0002]
    2. Mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to claim 1, in which the stabilization means (MS) are adapted to act on the position of the fixing means (3).
    [3" id="c-fr-0003]
    3. Mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to any one of claims 1 to 2, in which the stabilization means (MS) comprise at least three gyroscopes (5), adapted to stabilize the position of the print head (2) by gyroscopic effect.
    [4" id="c-fr-0004]
    4. mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to ia claim 3 further comprising an actuator adapted to rotate the print head (2) about an axis of rotation, said vertical (V ), perpendicular to the plane defined by the three gyroscopes (5), the stabilization means being adapted to compensate for the disturbances generated by the rotation of the print head and to ensure the stability of the print head during rotation.
    [5" id="c-fr-0005]
    5. A mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to claim 4 further including displacement means comprising a first translation system (6) adapted to move the print head (2) along an axis (H) perpendicular to the vertical axis (V).
    [6" id="c-fr-0006]
    6. mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to claim 5, wherein the first translation system (6) comprises a balancing mass (7) adapted to maintain the balance of the first system translation (6) depending on the position of the print head (2) on the axis (H) of the first translation system (6).
    [7" id="c-fr-0007]
    7. mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to one of claims 5 or 6, wherein the displacement means further comprises a second translation system (8) adapted to move the head d 'impression (2) along the vertical axis (V).
    [8" id="c-fr-0008]
    8. Mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to any one of claims 1 to 7, further comprising:
    localization means suitable for determining in real time the position of the print head (2) in a geometric reference (20) specific to the structure to be printed (200); and a processing unit adapted to control the position of the print head (2) as a function of its location in the geometric coordinate system (20) of the structure to be printed (200).
    [9" id="c-fr-0009]
    9. Mobile 3D printing device (TDPDO, TDPD1, TDPD2, TDPD3) according to claim 8, in which the location means comprise:
    a locating system adapted to know the absolute position of a reference point in the geometric coordinate system (20) of the structure to be printed (200); and a set of sensors suitable for locating the position of the print head (2) relative to the reference point, the processing unit being adapted to calculate the position of the print head (2) in the geometric reference (20) of the structure to be printed (200) thanks to the data of the tracking system and to the data of all the sensors.
    [10" id="c-fr-0010]
    10. mobile 3D printing device (TDPD0, TDPD1, TDPD2, TDPD3) according to any one of claims 1 to 9, in which the print head (2) is connected to a material supply tube, of which the arrival takes place along the vertical axis (V).
    [11" id="c-fr-0011]
    11. mobile 3D printing device (TDPD0, TDPD1, TDPD2, TDPD3) according to claim 10, in which the material supply tube (10) is connected to a material pump comprising an outlet tube, the two tubes being connected by a combination of rotary joints.
    [12" id="c-fr-0012]
    12. Mobile 3D printing device (TDPD0, TDPD1, TDPD2, TDPD3) according to any one of claims 1 to 11 in which the print head (2) is provided with a rotating nozzle allowing non-rectilinear deposition of matter.
    [13" id="c-fr-0013]
    13. 3D printing system for the construction of a structure by depositing layers of material comprising:
    a mobile 3D printing device (TDPD0, TDPD1, TDPD2, TDPD3) according to any one of claims 1 to 12; and a lifting device (LD) able to suspend and move the 3D printing device (TDPD0, TDPD1, TDPD2, TDPD3).
    [14" id="c-fr-0014]
    14. Method for 3D printing of a structure such as a building by a 3D printing system according to claim 13, comprising:
    • a first step consisting in defining, using a marking system, at least one reference point in the geometric coordinate system (20) of the structure to be printed (200), so that the processing unit can define the position of the print head (2) in the geometrical coordinate system (20) of the structure to be printed (200); and a second step of printing the structure consisting in supplying the print head (2) with construction materials, of the concrete, mortar or cement type, and in activating the servo-control of the position of the print head. printing (2) by the processing unit according to the shape of the structure to be printed (200).
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    同族专利:
    公开号 | 公开日
    WO2018162858A1|2018-09-13|
    US20200040567A1|2020-02-06|
    FR3063671B1|2021-10-08|
    EP3592520A1|2020-01-15|
    BR112019018535A2|2020-04-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102014015335A1|2014-10-17|2016-04-21|Theodor Trautmann GmbH Bauunternehmen und Beton- und Stahlbetonbaubetrieb|Generative manufacturing device and manufacturing process for the layered construction of structures|
    FR3029811A1|2014-12-16|2016-06-17|Xavier Rocher|DEVICE AND METHOD FOR MANUFACTURING THREE DIMENSIONAL STRUCTURES CARRIED OUT IN SUCCESSIVE LAYERS|
    US11230032B2|2018-04-13|2022-01-25|Ut-Battelle, Llc|Cable-driven additive manufacturing system|
    US11254027B2|2019-09-18|2022-02-22|Tinari 3D Inc.|Systems and methods for producing concrete structures|
    WO2021108933A1|2019-12-05|2021-06-10|Universidad Técnica Federico Santa María|Moveable robotic cell for the production of pieces and enclosures printed on site by means of a multi-axis 3d printing system, and operating method|
    CN112176869A|2020-09-08|2021-01-05|上海建工集团股份有限公司|Horizontal structure 3D printing system|
    CN112459487A|2020-09-08|2021-03-09|上海建工集团股份有限公司|Portable building 3D printing system and method|
    法律状态:
    2018-02-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-09-14| PLSC| Search report ready|Effective date: 20180914 |
    2020-03-24| PLFP| Fee payment|Year of fee payment: 4 |
    2021-03-25| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1751938A|FR3063671B1|2017-03-09|2017-03-09|CONCRETE 3D PRINTER|
    FR1751938|2017-03-09|FR1751938A| FR3063671B1|2017-03-09|2017-03-09|CONCRETE 3D PRINTER|
    US16/492,385| US20200040567A1|2017-03-09|2018-03-08|3d concrete printer|
    BR112019018535A| BR112019018535A2|2017-03-09|2018-03-08|mobile 3d printing device, and, 3d printing system and method.|
    EP18712979.6A| EP3592520A1|2017-03-09|2018-03-08|3d concrete printer|
    PCT/FR2018/050542| WO2018162858A1|2017-03-09|2018-03-08|3d concrete printer|
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