• 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 an extrusion system for building material cords for robot (9) for additive manufacturing of architectural structures (8) comprising: an extrusion head (30) for cords of building material moved along a predetermined trajectory; a supply circuit (20) of building material for said extrusion head (30); and a device for fluidizing the extruded cords adapted to be able to fluidize a previously extruded lower bead, before extruding said upper bead on this lower bead, so as to maximize the adhesion between an upper bead being extruded and a previously extruded lower bead and fluidized by this fluidization device.
    公开号:FR3088569A1
    申请号:FR1860563
    申请日:2018-11-15
    公开日:2020-05-22
    发明作者:Philippe Roux；Alban Mallet；Charles Bouyssou；Mahriz Akhavan Zakeri；Romain Duballet
    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 DEVICE FOR FLUIDIFYING EXTRUDED CEMENT MATERIAL
    1. Technical field of the invention
    The invention relates to the additive manufacturing of building materials. The invention relates more particularly to a system for extruding building material cords for an additive manufacturing robot for architectural structures by stacking successive layers of extruded cords comprising a device for fluidizing the 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 construction material.
    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 beads extruded from these materials. These are, for example, cementitious materials, plaster-based materials, and generally 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, especially cementitious materials, is derived, is a 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 construction material calls on skills in the field 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 an inlet for construction material, 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 cords extradited.
    One of the difficulties of 3D printing of cementitious materials lies in the fact that the cementitious material must be supplied in a rheological state compatible with pumping of this material, that is to say sufficiently fluid to be able to be pumped from the reservoir of storage and conveyed to the outlet nozzle, when its state must be viscous enough (that is to say less fluid) downstream of the outlet nozzle to be able to form a self-supporting layer capable of supporting the next layer.
    To do this, the applicant has already proposed in his patent application PCT / FR2018 / 051371 to equip the extrusion system with an adjuvant device connected to the extrusion head upstream of the outlet nozzle adapted for ability to inject additives which modify the characteristics of the cementitious material before extrusion of the cords of the cementitious material through the outlet nozzle.
    Such a system therefore makes it possible to convey the cementitious material to the print head in a state compatible with optimized pumping and to modify its physical properties (for example its rheology, its surfactant force, its plasticity, its stability, its thixotropy, etc.) only before deposition of the layer by the outlet nozzle.
    This solution produces good results but does not yet completely resolve the problem of the heterogeneity of the architectural structure imprinted by such a system. This heterogeneity of the printed structure results in particular from the difficulty of fusing the cords with each other because the freshly extruded bead (also designated throughout the text by the terms "upper bead") does not have the same rheological state. than the previously extruded bead (also designated throughout the text by the terms "lower bead"), in particular when accelerating agents are used to accelerate the setting of the cords. This lack of heterogeneity can generate areas of weakness at each interface between the cords, in particular when the cords extend over long straight portions or when the print head of the additive manufacturing robot moves at low speed, such that the time between the extrusion of the upper layer and the lower layer is long enough for the properties of the material to change from one layer to another.
    To overcome this difficulty, it has been tested not to use accelerating agents so that a freshly extruded bead has a state close to that of the previously extruded bead. This solution is not viable since the cords are not strong enough to support several layers of cords. It is then necessary to stop printing to wait until the cords are sufficiently robust. This slows down the printing process and / or limits the forms of structures printable by such a system.
    The inventors therefore sought to improve their printing system to overcome these problems.
    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 without the need to interrupt printing in order to wait taking the cords.
    The invention also aims to provide, in at least one embodiment, a system for extruding construction material, in particular cementitious material, compatible with the use of accelerating agents.
    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 height constraints.
    The invention also aims to provide, in at least one embodiment of the invention, an extrusion system which allows the manufacture 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 beads.
    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 building material cords 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 extrusion head being intended to be moved by an additive manufacturing robot along a predetermined path to form an architectural structure by successive stacking of layers of extruded beads,
    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.
    A system according to the invention is characterized in that it further comprises a device for fluidizing the extruded cords adapted to be able, for at least one bead, to a layer of cords being extruded by said extrusion head on said predetermined path, said upper bead, to fluidize at least one bead of the layer of cords previously extruded, said lower bead, before extrusion of the upper bead on this lower bead, so as to maximize the adhesion between said upper bead being extrusion and said lower bead fluidized by said fluidization device.
    A system according to the invention therefore makes it possible to overcome the problems of the previous systems by thinning the beads of the lower layer before pouring the upper layer. The inventors had the idea, which goes against the various lessons of the technical field, to re-fluidize the cords after extrusion so that they find a state close to that of the cords during extrusion. This idea could appear surprising at first sight insofar as an extrusion system generally implements an accelerating agent intended precisely to accelerate the setting at the exit of extrusion head so that the layer thus extruded can support the following cords. In reality, the inventors have determined that an extruded bead can regain a fluid state if it is agitated quickly after its extrusion and that this improves the cohesion between the layers. The idea is therefore to locally fluidize the lower bead to maximize the adhesion between the layers, without however calling into question the use of accelerating agents which make it possible to accelerate the setting.
    This refluidification of the beads of the lower layer reduces the porosity of the beads and therefore generates an interface between the beads of better quality. In addition, this refluidification of the bead of the lower layer takes place just before the removal of the bead of the upper layer (insofar as the device is configured to thin the lower bead downstream of the extrusion head along the trajectory of displacement of the extrusion head), which allows the bead of the lower layer to regain its fluid state without degrading the material, just before receiving the upper bead.
    Throughout the text, the terms "downstream of the extrusion head" refer to the space to which the extrusion head is directed when it follows the predetermined path. Thus, a portion of lower cord downstream of the printhead is a portion of a cord of the layer lower than that being extruded which is arranged in front of the extrusion head and which is about to be covered by the bead during extrusion.
    Advantageously and according to the invention, said fluidification device comprises means for vibrating the lower cord adapted to be able to vibrate said lower cord locally, before extrusion of the upper cord on this lower cord, so as to be able to modify the shear threshold of said cord lower which makes it pass from a viscous state corresponding to the state of the bead after extrusion, to a less viscous fluid state maximizing the adhesion between said upper bead during extrusion and said lower bead.
    A system according to this advantageous variant makes it possible to fluidize the bead of the lower layer by using vibrating means configured to be able to vibrate locally the bead of the lower layer. This vibration of the bead is preferably made in a controlled manner just before the removal of the upper bead to allow the lower bead to regain a fluid state without degrading the material or the geometry of the removal.
    In other words, the system according to this variant comprises means for vibrating said lower cord adapted to be able to locally vibrate said lower cord downstream from said extrusion head along said predetermined path so that it can modify the threshold this shearing of the lower cord.
    Different vibrating means can be used to thin the lower cords.
    For example and according to a first variant of the invention, said vibration means comprise at least one needle, called a vibrating needle, connected to a vibration motor of said vibrating needle and to a mechanism adapted to be able to move said vibrating needle by a position, said retracted position in which it is spaced from said lower cord of said lower layer, at a position, said vibration position, in which one end of the needle can be inserted into said lower cord of said lower layer.
    According to this advantageous variant, a vibrating needle is used to locally agitate the lower cord so that it regains a fluid state allowing to maximize the adhesion between the upper cord during extrusion and the lower cord.
    This vibrating needle preferably has a diameter much less than the thickness of the lower cord, for example equal to less than 10% of the width of the thickness of the lower cord. The needle placement mechanism is preferably configured to be able to place the needle in said vibration position in the center of the cord. The vibration motor is preferably configured to be able to drive the vibrating needle according to rapid movements and of small amplitude relative to the thickness of the cord, making it possible to soften the cord.
    According to another variant, the vibrating needle is replaced by a vibrating blade connected to a mechanism adapted to move the blade from said retracted position in which it is spaced from said lower cord of said lower layer, to said vibration position in which one end of the blade is inserted into said lower bead of said lower layer.
    According to either of these two variants, the vibrating needle or the vibrating blade can be configured so that, in the vibration position, it can be inserted into at least two successive lower cords so as to be able to fluidize, not only the cord of the layer previously extradited, but also the penultimate layer, that is to say that extradited before the extrusion of said lower layer.
    According to another alternative embodiment, the vibration means comprise a directional generator of mechanical waves adapted to be able to generate mechanical waves towards said lower cord of said lower layer so as to be able to locally fluidize this lower cord.
    According to this advantageous variant, the fluidization of the lower bead is obtained by a directional generator of mechanical waves. This makes it possible to thin the bead without mechanical contact with the bead.
    The mechanical wave generator is for example a sound wave generator, of the high amplitude infrasound or low amplitude ultrasound type. Such a generator can for example comprise a piezoelectric actuator.
    The choice of the type of sound wave generator depends on the type of material and additives used by the printing system.
    Advantageously and according to the invention, said fluidification device is carried by said 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 fluidization device for the beads. In particular, this advantageous variant makes it possible to fluidize the cords in a synchronized manner with the extrusion of the cords.
    Advantageously and according to the invention, the extrusion head comprises a casing extending along a direction, called the longitudinal direction, and the mounting support carrying said fluidization device is mounted so as to be able to rotate on said casing of said head. extrusion around an axis extending along said longitudinal direction.
    According to this advantageous variant, the fluidization device can be positioned opposite any extruded bead, whatever its orientation. In particular, this variant makes it possible to fluidize the beads at the level of the curvatures and angles of the architectural structure.
    As a variant or in combination, the mounting support is movable in translation along the casing of the extrusion head so as to be able to adapt the distance between the fluidization device and the bead to be fluidized.
    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 manufacture of an architectural structure by stacking layers of beads of cementitious material, characterized in that said extrusion system conforms to the invention.
    The invention also relates to a method of extruding cords of construction material for robot for additive manufacturing of architectural structures comprising:
    a step of supplying building material with an extrusion head of building material cords from a building material storage tank, said extrusion head comprising a material inlet mouth construction and an outlet nozzle configured to form extruded beads of construction material,
    - a step of moving said extrusion head along a predetermined path to form an architectural structure by stacking layers of extruded beads,
    - a concomitant step of extruding cords of construction material by the extrusion head during the movement of said extrusion head on said predetermined path,
    - a concomitant step of fluidification, downstream of said extrusion head on said predetermined path, cords extruded from a layer of cords, called the lower layer, extruded prior to the layer of cords being extruded, called the upper layer , so as to maximize the adhesion between the beads of the upper layer and the lower layer.
    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 diagrammatic view of a device for fluidizing the cords mounted on an extrusion head, partially shown, of an extrusion system according to an embodiment of the invention,
    FIG. 4 is a schematic view of a device for fluidizing extruded cords, partially shown, of an extrusion system according to another embodiment of the invention,
    FIG. 5 is a diagrammatic 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 embodiments of the invention
    In the figures, the scales and the proportions are not strictly observed, for 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 a preferred embodiment of the invention comprises, as shown in FIG. 1, a storage tank 10 for a cementitious building material, an extrusion head 30, a circuit 20 for supply of cementitious material for construction of the extrusion head 30, an adjuvant device 40 connected to the printing head 30, and a fluidization device 50 of the extruded cords.
    In the following, the invention is described by considering that the material used is a cementitious building material, it being understood that any other viscous paste building material as defined in the text can be used in the context of this invention.
    Each of the different sets of the system listed above will now be described in detail.
    Storage tank 10
    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 20.
    The cementitious material used is for example a premix based on cement with fine particles, hydrated and fluidized.
    Supply circuit 20
    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. This pipe 21 is for example a flexible pipe. 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® LPV Mono. Of course, other pumps can be used without modifying the performance of the invention. The pressure / flow sensor 33 can be of any known type. It is for example a sensor sold under the reference ifm® PL2953. Of course, other sensors can be used without modifying the performance of the invention. The booster pump 22 is configured to follow a predetermined servo law which can be configured by an operator as required. For example, the control law is set to maintain the pressure of the cementitious material between 2 and 6 bars.
    Extrusion head 30
    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 preferably 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 the adjuvant device 40.
    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 to minimize the disturbance of the mixture in the mixing enclosure 35.
    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 that the shape of the outlet nozzle 34 can be adapted to the workpiece. In particular, the section of the outlet nozzle 34 can be adapted to each type of part produced, or even changed during printing to modify the section of the cords of certain portions of the part produced. 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 threaded inner wall which cooperates with a threaded outer portion of the wall of the print head.
    Additive 40
    The adjuvant device 40 comprises, as shown in FIG. 1, a barrel 41 containing a plurality of adjuvants, at least one needle 42 connected to the barrel 41 by means of a pipe 48, a volumetric dispenser and of a peristaltic pump 43. The adjuvants of the barrel 41 of adjuvants can be of all types. These are additives aimed at modifying any physical property of the cementitious material (mainly its rheology, but also its surface-active force, its plasticity, its stability, its thixotropy, etc.).
    Adjuvants are, for example, accelerating agents to accelerate the grip of the cords.
    As shown in more detail in FIG. 2, the needle 42 opens into the mixing enclosure 35, opposite the outlet nozzle 34, in a direction of addition, which forms for example an angle of 45 ° with the main direction of the mixing enclosure.
    Device for fluidizing the cords 50
    The fluidization device 50 of the beads is schematically represented in Figures 1 and 2 by the reference 50 and is illustrated in more detail in Figures 3 and 4 for two separate embodiments.
    In FIGS. 3 and 4, the fluidization device 50 is carried by the extrusion head 30 by means of a mounting support 32. This mounting support 32 can be mounted movable in rotation about the main axis of the extrusion head so as to be able to move the fluidization device around the extrusion head.
    The extrusion head is moved along a predetermined path shown schematically by the arrow referenced Fl in Figures 3 and 4, that is to say from left to right.
    Throughout the following and relative to the position of the extrusion head, the elements to the left of the head are said upstream of the head along the predetermined trajectory and the elements to the right of the head are said to be downstream of the head along the predetermined path.
    The extrusion head is moved along the predetermined path to form an architectural structure 8 by successive stacking of layers of extruded cords. The bead being extruded, called the upper bead, has the reference 7 and the extradited bead from the lower layer, called the lower bead, has the reference 6.
    The fluidization device is configured to be able to fluidize the bead 6 downstream from the extrusion head 30 along the predetermined path F1, so as to maximize the adhesion between the upper bead 7 during extrusion and the lower bead 6.
    The fluidizing device 50 according to the embodiment of FIG. 3 comprises means for vibrating the lower cord 6 which are in the form of a needle 55 connected to a motor, not shown in the figures, making it possible to vibrate the 'needle. This motor is for example housed in a casing 53. The motor is for example configured to be able to act on the needle 55 so that it is driven in a series of rapid back and forth movements of small amplitude in the cord 6 , relative to the thickness of the bead.
    The vibrating needle 55 can be connected to a mechanism adapted to be able to move it from a retracted position in which it is spaced from the lower cord 6, to a vibration position, in which one end of the needle 55 can be inserted into the lower cord 6.
    FIG. 4 illustrates a fluidization device according to another embodiment. According to this embodiment, the vibration means comprise a directional generator of mechanical waves 54, such as sound waves, of the infrasound or ultrasound type, adapted to be able to generate waves 54 towards the lower cord 6. This generator comprises for example a piezoelectric actuator.
    FIG. 5 is a schematic view of a robot 9 for additive manufacturing of an architectural structure 8 according to an embodiment of the invention. Such a robot 9 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 fluidization device 50 of the beads of the embodiment of FIG. 3 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. In addition, such a robot can of course implement the fluidization device of the embodiment of FIG. 4.
    The robot 9 is controlled by a control unit to drive the displacement of the extrusion head 30 along a predetermined path making it possible to manufacture the architectural structure 8 by stacking layers of extruded cords. The implementation of the fluidization device 50 makes it possible, as indicated above, to maximize the adhesion between the beads.
    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.
    The method comprises a first step E1 of supplying building material to an extrusion head of building material cords from a storage tank for building material, said extrusion head comprising a mouth of building material inlet and an outlet nozzle configured to form extruded beads of building material.
    The method comprises a step E2 of moving said extrusion head along a predetermined path to form an architectural structure by stacking layers of extruded beads.
    The method also includes a concomitant step E3 of extruding strands of construction material by the extrusion head during the movement of the extrusion head on said predetermined path.
    Finally, the method comprises a concomitant step E4 of fluidification, downstream of said extrusion head on said predetermined path, from the lower bead 6 to the bead 7 during extrusion, which makes it possible to maximize the adhesion between the cords 6 and 7.
    A method according to the invention is preferably implemented by a robot 5 according to the invention.
    The invention is not limited only to the embodiments described. 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 10, 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 various 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 (11)
    [1" id="c-fr-0001]
    1. Extrusion system for building material cords for robot (9) for additive manufacturing of architectural structures (8) 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 (6, 7) of building material and a metering pump (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 a robot ( 9) additive manufacturing along a predetermined path to form an architectural structure (8) by successive stacking of layers of extruded cords (6, 7), a supply circuit (20) of material for building said extrusion head ( 30) comprising a storage tank (10) of construction material, a supply pipe (21) of construction material connecting said storage tank (10) and said extrusion head (30), and a booster pump (22) of said supply line (21) of building material uction from the storage tank (10), characterized in that it further comprises a fluidification device (50) of the extruded cords adapted to be able, for at least one bead, to a layer of cords being extruded by said extrusion head (30) on said predetermined path, said upper bead (7), to fluidize at least one bead of the layer of cords previously extruded, said lower bead (6), before extrusion of the upper bead (7) on this lower bead (6), so as to maximize the adhesion between said upper bead (7) during extrusion and said lower bead (6) fluidized by this fluidization device (50).
    [2" id="c-fr-0002]
    2. System according to claim 1, characterized in that said fluidification device comprises means for vibrating said lower cord adapted to be able to vibrate locally said lower cord, before extrusion of the upper cord on this lower cord, so as to be able to modify the shear threshold of said lower bead which makes it pass from a viscous state corresponding to the state of the bead after extrusion, to a less viscous fluid state maximizing the adhesion between said upper bead during extrusion and said lower bead.
    [3" id="c-fr-0003]
    3. System according to claim 2, characterized in that said vibration means comprise at least one needle, called vibrating needle, connected to a vibration motor of said vibrating needle and to a mechanism adapted to be able to move said vibrating needle by a position, said retracted position in which it is spaced from said lower cord of the lower layer, at a position, said vibration position, in which one end of the needle can be inserted into said lower cord of said lower layer.
    [4" id="c-fr-0004]
    4. System according to claim 2, characterized in that said vibration means comprise a directional generator of mechanical waves adapted to be able to generate mechanical waves towards said lower cord of said lower layer so as to be able to locally fluidize this lower cord.
    [5" id="c-fr-0005]
    5. System according to claim 4, characterized in that said directional generator of mechanical waves is a generator of sound waves, of the infrasound type at high amplitude or ultrasound at low amplitude.
    [6" id="c-fr-0006]
    6. System according to claim 5, characterized in that said directional generator of sound waves comprises a piezoelectric actuator.
    [7" id="c-fr-0007]
    7. System according to one of claims 1 to 6, characterized in that said fluidization device is carried by said extrusion head via a mounting support (32).
    [8" id="c-fr-0008]
    8. System according to claim 7, characterized in that said extrusion head (30) comprises a casing extending along a direction, called longitudinal direction, and in that said mounting support (32) carrying said fluidizing device (40) is rotatably mounted on said casing of said extrusion head (30) about an axis extending along said longitudinal direction.
    [9" id="c-fr-0009]
    9. System according to one of claims 1 to 8, characterized in that it further comprises an adjuvanting device.
    [10" id="c-fr-0010]
    10. 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 9.
    [11" id="c-fr-0011]
    11. Method for extruding cords of construction material for robot for additive manufacturing of architectural structures comprising:
    a step of supplying building material with an extrusion head of building material cords from a building material storage tank, said extrusion head comprising a material inlet mouth construction and an outlet nozzle configured to form extruded cords of construction material,
    - a step of moving said extrusion head along a predetermined path to form an architectural structure by stacking layers of extruded cords,
    - a concomitant step of extruding cords of construction material by the extrusion head during the movement of said extrusion head on said predetermined path,
    - a concomitant step of fluidification, downstream of said extrusion head on said predetermined path, cords extruded with a layer of cords, called the lower layer, extradited before the layer of cords being extruded, called the upper layer , so as to maximize the adhesion between the beads of the upper layer and the lower layer.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3674045B1|2021-08-18|System for extrusion of beads of construction material for a robot for additive manufacturing of architectural structures including a device for fluidification of the extruded cement material
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    同族专利:
    公开号 | 公开日
    EP3674045B1|2021-08-18|
    ES2894236T3|2022-02-14|
    FR3088569B1|2020-10-16|
    EP3674045A1|2020-07-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2007050972A2|2005-10-26|2007-05-03|University Of Southern California|Extruded wall with rib-like interior|
    WO2013064826A1|2011-11-01|2013-05-10|Loughborough University|Method and apparatus for delivery of cementitious material|
    CN204354263U|2014-12-29|2015-05-27|中国建筑股份有限公司|A kind of Stuart Bingham multicomponent fluid mixing extrusion device being applicable to different viscosities|CN112518974A|2020-11-04|2021-03-19|广东博智林机器人有限公司|Extrusion molding apparatus and extrusion molding method|
    WO2022008843A1|2020-07-08|2022-01-13|Saint-Gobain Weber France|Additive manufacturing of insulating construction elements|
    法律状态:
    2019-10-11| PLFP| Fee payment|Year of fee payment: 2 |
    2020-05-22| PLSC| Publication of the preliminary search report|Effective date: 20200522 |
    2020-11-09| PLFP| Fee payment|Year of fee payment: 3 |
    2021-11-24| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1860563A|FR3088569B1|2018-11-15|2018-11-15|CONSTRUCTION MATERIAL CORD EXTRUSION SYSTEM FOR ADDITIVE MANUFACTURING ROBOTS OF ARCHITECTURAL STRUCTURES INCLUDING A DEVICE FOR FLUIDIFYING THE EXTRUDED CEMENT MATERIAL|FR1860563A| FR3088569B1|2018-11-15|2018-11-15|CONSTRUCTION MATERIAL CORD EXTRUSION SYSTEM FOR ADDITIVE MANUFACTURING ROBOTS OF ARCHITECTURAL STRUCTURES INCLUDING A DEVICE FOR FLUIDIFYING THE EXTRUDED CEMENT MATERIAL|
    ES19207626T| ES2894236T3|2018-11-15|2019-11-07|Construction material cord extrusion system for additive manufacturing robot of architectural structures comprising a device for fluidizing the extruded cementitious material|
    EP19207626.3A| EP3674045B1|2018-11-15|2019-11-07|System for extrusion of beads of construction material for a robot for additive manufacturing of architectural structures including a device for fluidification of the extruded cement material|
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