• 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 invention relates to a system for extruding cords (9) of construction material for a robot (8) for additive manufacturing of architectural structures (6) comprising: an extrusion head (30) of cords of construction material for to be moved by the additive manufacturing robot (8) along a predetermined path to form an architectural structure (6) by stacking extruded strand layers (8); a supply circuit (20) of construction material of said extrusion head (30); characterized in that it further comprises a device (40) for inserting fibers (48) for structural reinforcement of the extruded cords (8) adapted to be able to insert in the extruded cords fibers (48) of structural reinforcement of these cords. .
    公开号:FR3070302A1
    申请号:FR1757845
    申请日:2017-08-24
    公开日:2019-03-01
    发明作者:Philippe Roux；Alban Mallet；Charles Bouyssou；Mahriz Akhavan Zakeri
    申请人:Xtreee；
    IPC主号:
    专利说明:

    CONSTRUCTION MATERIAL CORD EXTRUSION SYSTEM FOR ROBOT FOR ADDITIVE MANUFACTURE OF ARCHITECTURAL STRUCTURES INCLUDING A REINFORCING FIBER INSERTION DEVICE
    1. Technical field of the invention
    The invention relates to the additive manufacturing of building materials. The invention relates more particularly to an extrusion head of building material cords for an additive manufacturing robot for architectural structures by stacking successive layers of extruded cords. The invention also relates to a robot for additive manufacturing of architectural structures comprising such an extrusion system. The invention also relates to a method of extruding cords of building materials.
    2. Technological background
    Throughout the text, the terms “building materials” designate all types of materials that can be used to produce architectural structures by stacking layers of cords extruded from these materials. These are, for example, cementitious materials, clay materials, plaster-based materials, and in general all viscous paste materials compatible with the additive manufacturing of architectural structures.
    Throughout the text, the terms “architectural structures” designate both individual building elements (bridge, pillar, wall, street furniture, etc.), complete structures (building, house, building, etc.) and parts. various architectural works (artistic works, sculptures, etc.).
    Additive manufacturing of architectural structures by stacking layers of extruded cords, from which 3D printing of building materials, in particular cementitious material, is derived, is a very promising new technology in the field of architecture and construction.
    Indeed, 3D printing of construction material brings many advantages compared to traditional techniques among which in particular the possibility of being able to produce complex shapes by adding successive layers of construction material, the speed of construction operations, the reduction costs and labor, improved safety on construction sites, etc.
    The mastery of 3D printing of building materials calls on skills in the fields of fluid mechanics, mechanics, electronics and civil engineering. The extrusion of construction material intended for the manufacture of an architectural structure implements an extrusion head (also sometimes referred to by the terms of print head) comprising a construction material inlet mouth, a nozzle of construction material outlet and a metering pump configured to be able to convey the construction material from the inlet mouth to the outlet nozzle. The extrusion of building material also implements a circuit for supplying the extrusion head with building material comprising a building material storage tank, a pipe connecting the storage tank and the inlet of the head. extrusion and a pump for feeding the building material supply pipe from the storage tank.
    The extrusion head is intended to be moved by a positioning system such as an articulated arm of a robot, along a predetermined path, so as to be able to form an architectural piece by stacking successive layers of extruded cords .
    It is known that an architectural structure formed from viscous paste materials, in particular cementitious materials, resists compression well, but not very much tensile.
    In the context of traditional construction techniques, this problem was solved by using steel reinforcements in critical areas in order to locally reinforce the material. It is also known to use fiber-reinforced concrete which is a mixture of concrete and fibers distributed in the concrete. These fibers are for example metallic, polymeric, organic fibers, etc. and act as infinitesimal frames.
    This common technique in the field of traditional construction is not transferable in the field of 3D printing. In fact, as indicated above, an extrusion system for 3D printing implements an extrusion head comprising a building material inlet, a building material outlet nozzle, and a metering pump configured to be able to convey the construction material from the inlet to the outlet nozzle. In addition, the extrusion system also includes a building material storage tank and an extrusion head supply circuit extending between the storage tank and the extrusion head. This circuit includes a booster pump for the building material supply circuit.
    In other words, the indispensable presence of the dosing and booster pumps does not allow the use of a rigid fiber material as it is used in traditional techniques, unless the dosing and booster pumps are rapidly damaged of the extrusion system.
    Also, one of the solutions used in the field of 3D printing of architectural structures consists in designing upstream geometries of structures which limit the tensile forces. This solution of course has the drawback of limiting the possible geometries, which is a hindrance for a wide variety of architectural projects.
    Another proposed solution consists in providing, during the printing of the part, cavities which will receive a posteriori a cast material for reinforcing the structure. Such a cast material is for example reinforced concrete, prestressed concrete, traditional fiber-reinforced concrete, etc. The disadvantage of this solution is that it increases the duration of construction sites, requires a large workforce and requires the use of specific reinforcement materials which are sometimes expensive.
    Another proposed solution consists in producing, prior to the printing of the architectural piece, a metallic structure around which the extrusion of the cords of construction material is carried out. This solution has the disadvantage of complicating operations by in particular requiring the manufacture of a metal frame prior to printing. In addition, this complicates the operations of moving the extrusion head around the metal frame. Adhesion problems between the metal reinforcement and the building material may also appear. Finally, the quantity of construction material to be extruded can be significant for coating the reinforcement.
    None of the solutions currently proposed are completely satisfactory. Also, the inventors sought to propose a new solution making it possible to reinforce the architectural structures resulting from the additive manufacturing of building material, in particular the tensile strength of these structures.
    3. Objectives of the invention
    The invention therefore aims to provide a system for extruding construction material, in particular cementitious material, which makes it possible to solve at least some of the drawbacks of the previous solutions.
    The invention aims in particular to provide, in at least one embodiment, a system for extruding construction material, in particular cementitious material, which makes it possible to fabricate architectural structures which are resistant to traction.
    The invention also aims to provide, in at least one embodiment of the invention, an extrusion system which makes it possible to fabricate architectural structures whose geometry is not imposed by tensile strength constraints.
    The invention also aims to provide, in at least one embodiment of the invention, an extrusion system which allows the fabrication of architectural structures in a precise, stable, repeatable manner and at low cost.
    The invention also aims to provide, in at least one embodiment of the invention, an extrusion system which makes it possible to strengthen the cohesion of two layers of superposed cords.
    The invention also aims to provide a robot equipped with a system for extruding cords of construction material according to the invention.
    Finally, the invention aims to provide a method of extruding cords of construction material.
    4. Statement of the invention
    To do this, the invention relates to a system for extruding cords of construction material for an additive manufacturing robot for architectural structures comprising:
    - an extrusion head of building material cords comprising a building material inlet mouth, an outlet nozzle configured to form building material cords and a metering pump configured to be able to convey the building material the inlet mouth towards the outlet nozzle, said head being intended to be moved by the additive manufacturing robot along a predetermined path to form an architectural structure by stacking layers of said extruded cords,
    a circuit for supplying construction material to said extrusion head comprising a storage tank for construction material, a supply pipe for construction material connecting said storage tank and said extrusion head, and a pump feeding said building material supply pipe from the storage tank.
    An extrusion system according to the invention is characterized in that it further comprises a device for inserting fibers of structural reinforcement of the extruded cords adapted to be able to insert, into the cords extruded by said extrusion head, fibers structural reinforcement of these cords.
    A system according to the invention therefore comprises a device configured to be able to insert reinforcing fibers into the extruded cords. A system according to the invention therefore makes it possible to reinforce the cords and in particular their tensile strength by inserting reinforcing fibers into the extruded cords. Also, the fibers are not mixed with the building material prior to the manufacture of an architectural structure and therefore do not risk damaging the booster and metering pumps of the extrusion system, but are inserted into the extruded cords after their exit from the extrusion head. In other words, the fibers are not conveyed by the feed circuit and by the extrusion head, but inserted after the removal of the cords of cementitious material.
    According to an advantageous variant of the invention, the fiber insertion device is a fiber projection device which comprises:
    - a source of fiber,
    - means of propelling the fibers in the extruded cords,
    - means for conveying the fibers from the source of fibers to the means for propelling the fibers.
    This advantageous variant provides for propelling the fibers towards the extruded cords, that is to say to project the fibers into the extruded cords. Such a projection device comprises a source of fibers, which can be of any type. It can be a source of individual fibers supplied in bulk in a fiber reservoir, such as a hopper, or a continuous fiber that is cut prior to insertion into the extruded cords. This variant also provides means for conveying the fibers to means for propelling the fibers in the extruded cords.
    Advantageously and according to this variant of the invention, the fiber propulsion means are configured to propel the fibers in the extruded cords in a direction non-collinear to the direction along which the extruded cords extend after extrusion.
    Advantageously, the direction of the fibers projected into the extruded cords coincides with the direction of the predominant stresses of the loads of the structure once manufactured.
    This projection in a direction that is not collinear to the direction along which the cords extend after extrusion makes it possible to strengthen the cohesion between two superimposed extruded cords. The configuration of the propulsion device allowing this propulsion of the fibers in a non-collinear direction, for example perpendicular, to the direction of the cords depends on the orientation of the propulsion device and / or the structure of the device.
    Advantageously and according to this variant of the invention, the fibers are metallic and the means for propelling the metallic fibers comprise a hollow electromagnet arranged around a tube for guiding the metallic fibers, said electromagnet being connected to a power supply source of so as to be able to create a magnetic field for propelling the metallic fibers in said guide tube.
    This particularly advantageous variant of the invention provides metallic fibers, at the very least ferromagnetic, and means for magnetic propulsion of the metallic fibers towards the extruded cords. These magnetic propulsion means allow the fibers to be inserted into the cords without mechanical contact between the propulsion means and the fibers. The magnetic propulsion of the fibers uses an electromagnet, such as a solenoid, powered by a source of electrical energy. The current supply to the solenoid creates a magnetic field in the guide tube, which propels the metal fibers inside the tube and ejects them outside the tube to the extruded cords. To do this, the guide tube must be oriented so that its outlet is oriented towards the extruded cords to be reinforced.
    Advantageously and according to this variant, the power source comprises devices for controlling the electrical energy supplied to said electromagnet connected to a control unit for these control devices so as to be able to configure the penetration depth of the fibers projected into the cords extradited.
    This advantageous variant makes it possible to control the depth of penetration of the fibers by controlling the energy supplied to the electromagnet. These control devices are for example capacitors.
    According to another variant, the propulsion means comprise a source of compressed air configured to be able to release a predetermined quantity of air on command so as to propel the fiber towards the extruded cords to be reinforced, potentially by means of a part. mechanical such as a piston.
    Whatever the embodiment of the propulsion means, the conveying means advantageously comprise rollers for conveying the fibers from said source of fibers to said means for propelling fibers.
    These conveyor rollers move the fibers from the fiber source to the propulsion means. These rollers are for example driven in rotation by electric motors or any equivalent means and come to bear against the fibers to move them from the source of fibers to the propulsion means.
    According to an advantageous variant, said conveying rollers are housed in said guide tube.
    According to an advantageous variant, the source of fibers comprises at least one continuous spool of fibers associated with means for cutting the spool into individual fibers.
    This variant provides a spool of fibers, which is for example formed of a spool of metal wire, associated with means for cutting the thread of the spool to form fibers of a size suitable for projection into the extruded cords.
    Advantageously, said means for cutting the thread of the spool are formed by at least one conveying roller equipped with at least one cutting incision configured to be able to cut the thread of the spool at the time of contact between the cutting incision of the roll. guide and coil wire.
    This advantageous variant implements at least one roller, preferably a pair of rollers arranged in opposition on either side of the metal wire, comprising a cutting incision, so that during the passage of the wire over the cutting incision , the metal wire is cut to form a fiber, which can then be projected towards an extradited cord by the propulsion means, which are preferably magnetic propulsion means. In the case where the conveyor rollers are housed in the guide tube, the propulsion means are preferably arranged downstream of the cutting rollers so that the fiber can be projected as soon as the cutting of the fiber is carried out.
    Advantageously and according to the invention, the fiber insertion device is carried by the extrusion head by means of a mounting support.
    This advantageous variant makes it possible to link the movements of the extrusion head to the movements of the fiber insertion device. In particular, this advantageous variant makes it possible to insert the reinforcing fibers in a synchronized manner with the extrusion of the cords.
    According to a variant of the invention, the extrusion head comprises a casing extending along a direction, called the longitudinal direction, and the mounting support carrying the insertion device is mounted so as to be able to rotate on the casing. the extrusion head about an axis extending along said longitudinal direction.
    Also, the fiber insertion device can be positioned opposite any extradited cord, regardless of its orientation. In particular, this variant makes it possible to reinforce the beads at the level of the curvatures and angles of the architectural structure.
    The invention also relates to a robot for additive manufacturing of architectural structures comprising a positioning system, such as an articulated arm, controlled by a control unit, and an extrusion system comprising an extrusion head mounted on said system. positioning so that the displacement of the positioning system carrying said extrusion head along a predetermined path allows the production of an architectural structure by stacking layers of building material cords, characterized in that said extrusion system conforms to the invention.
    The invention also relates to a method of extruding cements of cementitious material for robot for additive manufacturing of architectural structures comprising:
    - a step of supplying cementitious material to an extrusion head of cementitious material beads from a cementitious material storage tank,
    a step of extruding cements of cement material by an extrusion head comprising an inlet mouth of cement material and an outlet nozzle configured to form cords of cement material,
    a step of strengthening the extruded cords by inserting structural reinforcing fibers in the extruded cords.
    A method according to the invention is advantageously implemented by an extrusion system according to the invention and an extrusion system according to the invention advantageously implements a method according to the invention.
    The invention also relates to an extrusion system and an additive manufacturing robot characterized in combination by all or some of the characteristics mentioned above or below.
    5. List of figures
    Other objects, characteristics and advantages of the invention will appear on reading the following description given by way of non-limiting example and which refers to the appended figures in which:
    FIG. 1 is a schematic view of an extrusion system according to an embodiment of the invention,
    FIG. 2 is a schematic view of an extrusion head of an extrusion system according to an embodiment of the invention,
    FIG. 3 is a schematic view of a fiber projection device mounted on an extrusion head, partially shown, of an extrusion system according to an embodiment of the invention,
    FIG. 4 is a detailed schematic view of the propulsion means and of the guide means of a projection device of an extrusion system according to an embodiment of the invention,
    FIG. 5 is a schematic view of an additive manufacturing robot according to an embodiment of the invention,
    - Figure 6 is a schematic view of an extrusion method according to an embodiment of the invention.
    6. Detailed description of an embodiment of the invention
    In the figures, the scales and proportions are not strictly observed, for the purposes of illustration and clarity. In all the detailed description which follows with reference to the figures, unless otherwise indicated, each element of the extrusion system is described as it is arranged when the extrusion system is used in the context of the manufacture of a architectural structure by stacking layers of extradited cords.
    In addition, identical, similar or analogous elements are designated by the same references in all the figures.
    An extrusion system according to the invention comprises, as shown in FIG. 1, a storage tank 10 for a construction material, an extrusion head 30, a circuit 20 for supplying construction material of the extrusion head, arranged between the storage tank 10 and the extrusion head 30, and a projection device 40 of fibers 48 for reinforcing the extruded cords.
    In the following, the invention is described by considering that the material used is a cementitious material, it being understood that any other viscous paste construction material as defined in the text can be used within the framework of this invention .
    Each of the various organs of the system will now be described in detail.
    Storage tank
    The storage tank 10 is preferably a hopper comprising an upper opening 11 adapted to receive mixes of cementitious materials and a lower outlet 12 connected to the supply circuit 20. The hopper may further comprise an agitator 13 comprising a shaft 14 carrying a plurality of lateral blades 15 by means of axes perpendicular to the shaft 14, and a motor 16 for rotating the shaft 14. The motor 16 is for example an electric motor configured to be able to drive at low speed, for example at a speed of six revolutions per minute, the shaft 14 of the agitator 13. The use of a heat engine is of course possible without modifying the performance of the extrusion system according to the invention. The role of the agitator is to be able to maintain the cementitious material in the hopper in an almost constant rheological state before being led to the print head by the supply circuit.
    The cementitious material used is for example a premix based on cement with fine particles, hydrated and fluidized.
    Supply circuit
    The supply circuit 20 connects the storage tank 10 to the extrusion head 30. This circuit comprises a pipe 21 connecting the outlet 12 of the storage tank 10 to an inlet mouth 31 of the extrusion head 30. The supply circuit 20 further comprises a booster pump 22. This booster pump 22 is for example controlled by pressure / flow rate by a pressure sensor 33 arranged in the vicinity of the inlet mouth 31 of the extrusion head 30. This booster pump 22 is for example an eccentric screw pump so as to be able to convey the cementitious material to the extrusion head 30 while minimizing the pulsations. This booster pump 22 is for example a pump sold under the references Putzmeister® FP-V Mono. Of course, other pumps can be used without modifying the performance of the invention.
    Extrusion head
    The extrusion head 30 comprises, as shown diagrammatically in FIG. 2, an inlet mouth 31 connected to the supply circuit 20 and an outlet nozzle 34 configured to form beads of cementitious material.
    The extrusion head further comprises a mixing enclosure 35 arranged upstream of the outlet nozzle 34. This mixing enclosure 35 is equipped with a dynamic mixer adapted to be able to mix the cementitious material and any additives supplied by an additional admixture device not shown in the figures.
    This dynamic mixer comprises for example a shaft 37 extending longitudinally in the mixing enclosure 35 on which are mounted radial fingers 38 distributed along the shaft 37. The dynamic mixer also comprises a motor 39 configured to be able to drive the shaft 37 in rotation so as to be able to provide a homogeneous mixture of the cementitious material. This motor 39 can be an electric motor, a heat engine, and in general all types of motors. According to the embodiment of the figures, the motor 39 is offset relative to the shaft 37.
    The extrusion head 30 also comprises a metering pump 51 with an eccentric screw configured to be able to convey the cementitious material from the inlet mouth 31 to the outlet nozzle, passing through the mixing enclosure 35. Such a pump dosing is for example a pump sold under the references Viscotec® 3VMP36. Of course, other pumps can be used without modifying the performance of the invention.
    According to another embodiment not shown in the figures, the metering pump 51 is replaced by a volumetric metering device configured to be able to ensure a constant flow rate over a predetermined operating range.
    The extrusion head 30 also includes a safety pressure sensor 52 arranged upstream of the mixing enclosure 35. This sensor is for example a sensor sold under the references ifm® PF2953. Of course, other sensors can be used without modifying the performance of the invention. This safety sensor 52 makes it possible to measure the pressure upstream of the mixing enclosure 35 so as to be able to prevent risks of clogging of the mixing enclosure 35 or of the outlet nozzle 34. This sensor can for example be connected to an automatic shutdown system of the extrusion system as soon as a pressure threshold is reached.
    The outlet nozzle 34 of the print head is preferably removable so as to be able to adapt the shape of the outlet nozzle 34 to the part to be manufactured. In particular, the section of the outlet nozzle 34 can be adapted to each type of manufactured part, see changed during printing to modify the section of the cords of certain portions of the manufactured part. To do this, the outlet nozzle comprises, for example, a threaded outer wall which cooperates with a threaded inner portion of the wall of the print head delimiting the mixing enclosure 35. According to another variant, the outlet nozzle comprises a internal threaded wall which cooperates with an external threaded portion of the wall of the print head.
    Fiber projection device
    The projection device 40 according to the embodiment of the figures comprises a source of fibers 41, means of propulsion 43 of the fibers in the extruded cords, and means of conveying 42 fibers from the source of fibers to the means of propulsion 43 fibers.
    The fibers can be of all types, for example metallic fibers, glass fibers, carbon fibers, natural fibers, etc.
    According to the embodiment of the figures, the fibers are metallic and are obtained by cutting a continuous metallic wire 45.
    This continuous metal wire 45 is preferably and as shown in FIG. 3 housed in a cassette 46 carried by the casing of the extrusion head 30. This cassette 46 has a lower opening through which the wire 45 reaches the conveying means 42 and the means 43 for propelling the fibers, as well as a device for feeding and driving 47 the continuous wire 45 into the cassette 46 coming from an external source of metal wire not shown in FIG. 3. The cassette 46 is fixed relative to the extrusion head 30 and the conveying means 42 and the propulsion means 43 are carried by a mobile support 32 rotating around the extrusion head 30. The lower opening through which the wire 45 reaches the conveying means 42 and the propelling means 43 is circular and extends around the main axis of the extrusion head.
    According to another embodiment not shown in the figures, the cassette 46 houses all of the continuous metallic wire 45 intended to form the reinforcing fibers so that the device 47 for supplying the cassette by an external source of continuous wire is not necessary. According to this alternative embodiment, once the cassette 46 has been emptied of its metallic wire, the cassette is replaced by another full cassette or the cassette 46 is filled with a new continuous metallic wire.
    According to another variant not shown in the figures, the conveying means are directly supplied with metallic wire by an external source of metallic wire so that the cassette is not necessary.
    The conveyor means 42 and the propulsion means 43 are shown in more detail in FIG. 4.
    According to the embodiment of the figures, the conveying means 42 comprise rollers 53, 54 for conveying the fibers to the means 43 for propelling the fibers. These rollers go in pairs and are rotated in opposite directions from each other so that the wire 45 can be pulled down towards the propelling means.
    The conveying rollers 54 also have, as shown in FIG. 4, cutting incisions 62 configured to be able to cut the thread 45 of the spool at the time of contact between the cutting incision 62 of the guide roller 54 and the coil wire 45. This makes it possible to form fibers of reduced length compatible with the insertion of the fiber into the extruded cords.
    The projection device also comprises means 43 for propelling fibers 48 towards the extruded cords.
    As shown in Figure 4, the propulsion means 43 are for example formed by a magnetic gun. This magnetic gun comprises a guide tube 63, an electromagnet 64 formed by a solenoid arranged around the guide tube 63 and a source 65 of power for this electromagnet 64.
    The supply of the electromagnet 64 by the power source 65 makes it possible to create a magnetic field in the guide tube 63, which causes the metal fibers 48 to be propelled in the said guide tube in the direction of the extruded cords.
    According to the embodiment of Figure 4, the power source 65 includes two capacitors 66 mounted in parallel and connected to a control switch 67, so as to be able to control the intensity of the magnetic field generated in the guide tube 63 , and therefore to control the penetration depth of the fibers 48 projected into the extruded cords 9.
    According to the embodiment of the figures, the fiber projection device is mounted directly on the casing of the extrusion head by means of a mounting support 32. This mounting support can be mounted to be movable in rotation around the main axis of the extrusion head so as to be able to move the fiber projection device around the extrusion head.
    FIG. 5 is a schematic view of a robot 8 for additive manufacturing of architectural structures according to an embodiment of the invention. Such a robot comprises an articulated arm 7, controlled by a control unit not shown in the figures which carries the extrusion head 30 of an extrusion system according to the invention. In FIG. 5, only the extrusion head 30 and the fiber projection device 40 are shown for clarity, it being understood that the extrusion head 30 is supplied with cementitious material by a supply circuit and a storage tank as described above.
    The robot is controlled by a control unit to drive the movement of the extrusion head 30 along a predetermined path making it possible to manufacture an architectural structure by stacking layers of extruded beads.
    The fiber projection device 40 carried by the extrusion head makes it possible to reinforce the architectural structures thus produced by structural reinforcement fibers.
    FIG. 6 is a schematic view of a method of extruding cords of cementitious material for robot for additive manufacturing of architectural structures according to the invention.
    Such a method comprises a first step E1 of supplying building material, such as a cementitious material, to the extrusion head 30 of cords of cementitious material from a storage tank 10 of cementitious material.
    The method comprises a subsequent step E2 of extruding strands of cementitious material by the extrusion head 30 along a predetermined path.
    The method further comprises a step concomitant or immediately subsequent to the extrusion of each bead, of reinforcement E3 of the extruded cords by projection of structural reinforcement fibers in the extruded cords.
    A method according to the invention is preferably implemented by a robot according to the invention.
    The invention is not limited to the embodiments described only. In particular, according to other embodiments, the robot can be a six-axis robot, mounted on rails or not, on a gantry or not. The robot can also be a cable robot or any type of robot whose positioning system, such as an articulated arm, can be controlled by computer.
    A robot according to the invention can be used to manufacture all types of architectural pieces. Such an architectural piece can be a reinforcement piece, a building, and in general, any piece of cementitious material. The architectural pieces produced by the use of an extrusion system according to the invention can be of varied scales. It can be a portion of a pole, an entire pole, a wall, a slab element, a building, street furniture, a sculpture, etc.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1. Extrusion system for cords (9) of construction material for robot (8) for additive manufacturing of architectural structures (6) comprising:
    an extrusion head (30) of building material cords comprising an inlet mouth (31) of building material, an outlet nozzle (34) configured to form cords (9) of building material and a pump metering unit (51) configured to be able to convey the construction material from the inlet mouth (31) to the outlet nozzle (34), said extrusion head (30) being intended to be moved by the robot (8) additive manufacturing along a predetermined path to form an architectural structure (6) by stacking layers of said extruded cords (8), a supply circuit (20) of material for building said extrusion head (30) comprising a reservoir for storing (10) building material, a supply pipe (21) for building material connecting said storage tank (10) and said extrusion head (30), and a booster pump (22) for said feed line entation (21) of construction material from the storage tank (10), characterized in that it further comprises an insertion device (40) of fibers (48) for structural reinforcement of the extruded cords (9) suitable for being able to insert, into the cords extradited by said extrusion head, fibers (48) for the structural reinforcement of these cords.
    [2" id="c-fr-0002]
    2. System according to claim 1, characterized in that said insertion device for (40) fibers is a fiber projection device which comprises:
    a source (41) of fibers, means of propulsion (43) of the fibers in the extruded cords, means of conveying (42) fibers from the source (41) of fibers to the means of propulsion (43) of the fibers.
    [3" id="c-fr-0003]
    3. System according to claim 2, characterized in that said fiber propulsion means (43) are configured to propel the fibers (48) in the beads (9) extruded in a direction non-collinear to the direction along which the extruded beads extend after extrusion.
    [4" id="c-fr-0004]
    4. System according to one of claims 2 or 3, characterized in that said fibers (48) are metallic and in that said propelling means (43) of metallic fibers comprise a hollow electromagnet (64) arranged around a metal fiber guide tube (63), said electromagnet (64) being connected to a power source (65) so as to be able to create a magnetic field for propelling the metal fibers (48) in said guide tube (63 ).
    [5" id="c-fr-0005]
    5. System according to claim 4, characterized in that said electrical power source (65) comprises control devices (66) of the electrical energy supplied to said electromagnet (64) connected to a control unit of the control devices (66) so as to be able to configure the penetration depth of the fibers (48) projected into the extruded cords (9)
    [6" id="c-fr-0006]
    6. System according to one of claims 2 to 5, characterized in that said conveying means (53) comprise conveying rollers (53) of the fibers from said source of fibers to said means of propulsion (43) of the fibers.
    [7" id="c-fr-0007]
    7. System according to claims 4 and 6 taken together, characterized in that said conveying rollers (53) are housed in said guide tube (63).
    [8" id="c-fr-0008]
    8. System according to one of claims 2 to 7, characterized in that said source (41) of fibers comprises at least one continuous coil (45) of fibers associated with cutting means (54) of the coil of individual fibers .
    [9" id="c-fr-0009]
    9. System according to claims 7 and 8 taken together, characterized in that said cutting means (54) of the coil are formed by at least one conveying roller equipped with at least one cutting incision (62) configured to be able cutting the spool (45) at the time of contact between the incision (62) for cutting the guide roller and the spool (45) of wire.
    [10" id="c-fr-0010]
    10. System according to one of claims 1 to 9, characterized in that said insertion device is carried by said extrusion head via a mounting support (32).
    [11" id="c-fr-0011]
    11. System according to claims 2 and 10 taken together, in which said extrusion head (30) comprises a casing extending along a direction, called longitudinal direction, characterized in that said mounting support (32) carrying said projection device (40) is rotatably mounted on said casing of said extrusion head (30) about an axis extending along said longitudinal direction.
    [12" id="c-fr-0012]
    12. Robot (8) for additive manufacturing of architectural structures comprising a positioning system, such as an articulated arm, controlled by a control unit, and an extrusion system comprising an extrusion head (30) mounted on said positioning system so that the displacement of the positioning system carrying said extrusion head along a predetermined path allows the production of an architectural structure by stacking layers of beads of cementitious material, characterized in that said extrusion system is according to one of claims 1 to 11.
    [13" id="c-fr-0013]
    13. Method for extruding cords of construction material for additive manufacturing robot for architectural structures comprising:
    a step of supplying (E1) of building material to an extrusion head of building material cords from a storage tank for building material, a step of extruding (E2) of material cords of construction by an extrusion head comprising an inlet (31) of construction material and an outlet nozzle (34) configured to form cords of construction material, a step of strengthening (E3) of the cords extruded by insertion of structural reinforcement fibers in the extruded cords.
    1/3
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    同族专利:
    公开号 | 公开日
    WO2019038491A1|2019-02-28|
    EP3638473B1|2022-03-09|
    EP3638473A1|2020-04-22|
    FR3070302B1|2019-08-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102005062406A1|2005-12-23|2007-06-28|Baufritz-Ag|Method for erecting wall involves extruding first layer onto foundation before adding in reinforcement threads and then applying second layer|
    EP2886277A1|2011-11-01|2015-06-24|Loughborough University|Method and apparatus for delivery of cementitious material|
    US20170129153A1|2014-06-27|2017-05-11|Fimatec Finnish Intelligent Module Apartments Oy|An Apparatus and a Method for Constructing a Construction Element or a Building|
    WO2016166116A1|2015-04-12|2016-10-20|Imprimere Ag|Concrete printer and method for erecting structures using a concrete printer|
    IT201900006300A1|2019-04-24|2020-10-24|Etesias S R L|PROCEDURE FOR THE REALIZATION OF ELEMENTS IN CEMENTITIOUS MATERIAL WITH INTERLAMINARY REINFORCEMENTS THROUGH 3D PRINTING AND ELEMENTS OBTAINED THROUGH THIS PROCEDURE|
    DE102019130150A1|2019-11-08|2021-05-12|Tobias Brett|Construction system|
    CN112720775A|2020-12-02|2021-04-30|同济大学|Continuous rib distributing device and concrete 3D printing equipment|
    法律状态:
    2019-03-01| PLSC| Publication of the preliminary search report|Effective date: 20190301 |
    2019-07-17| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-29| PLFP| Fee payment|Year of fee payment: 4 |
    2021-07-09| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1757845|2017-08-24|
    FR1757845A|FR3070302B1|2017-08-24|2017-08-24|CONSTRUCTION MATERIAL CORD EXTRUSION SYSTEM FOR ADDITIVE MANUFACTURING ROBOT OF ARCHITECTURAL STRUCTURES COMPRISING A REINFORCING FIBER INSERTION DEVICE|FR1757845A| FR3070302B1|2017-08-24|2017-08-24|CONSTRUCTION MATERIAL CORD EXTRUSION SYSTEM FOR ADDITIVE MANUFACTURING ROBOT OF ARCHITECTURAL STRUCTURES COMPRISING A REINFORCING FIBER INSERTION DEVICE|
    PCT/FR2018/051866| WO2019038491A1|2017-08-24|2018-07-20|System for extruding beads of building material for a robot for the additive manufacture of architectural structures comprising a device for inserting reinforcing fibres|
    EP18752601.7A| EP3638473B1|2017-08-24|2018-07-20|System for extruding beads of building material for a robot for the additive manufacture of architectural structures comprising a device for inserting reinforcing fibres|
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