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WO2023110000A1 - Procédé et système de production pour la production automatisée d'un élément en béton à paroi mince au moyen d'un procédé de pulvérisation de béton et d'un moule de coffrage - Google Patents

Procédé et système de production pour la production automatisée d'un élément en béton à paroi mince au moyen d'un procédé de pulvérisation de béton et d'un moule de coffrage Download PDF

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Publication number
WO2023110000A1
WO2023110000A1 PCT/DE2022/100802 DE2022100802W WO2023110000A1 WO 2023110000 A1 WO2023110000 A1 WO 2023110000A1 DE 2022100802 W DE2022100802 W DE 2022100802W WO 2023110000 A1 WO2023110000 A1 WO 2023110000A1
Authority
WO
WIPO (PCT)
Prior art keywords
formwork
concrete
tool
concrete component
spraying
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE2022/100802
Other languages
German (de)
English (en)
Inventor
Hendrik Lindemann
Roman Gerbers
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aeditive GmbH
Original Assignee
Aeditive GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aeditive GmbH filed Critical Aeditive GmbH
Priority to EP22801982.4A priority Critical patent/EP4448240A1/fr
Publication of WO2023110000A1 publication Critical patent/WO2023110000A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B1/00—Producing shaped prefabricated articles from the material
    • B28B1/30—Producing shaped prefabricated articles from the material by applying the material on to a core or other moulding surface to form a layer thereon
    • B28B1/32—Producing shaped prefabricated articles from the material by applying the material on to a core or other moulding surface to form a layer thereon by projecting, e.g. spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/021—Feeding the unshaped material to moulds or apparatus for producing shaped articles by fluid pressure acting directly on the material, e.g. using vacuum, air pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B7/00—Moulds; Cores; Mandrels
    • B28B7/0002—Auxiliary parts or elements of the mould
    • B28B7/0014—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B7/00—Moulds; Cores; Mandrels
    • B28B7/0002—Auxiliary parts or elements of the mould
    • B28B7/0014—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps
    • B28B7/0017—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps for attaching mould walls on mould tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
    • B28C7/04—Supplying or proportioning the ingredients
    • B28C7/0404—Proportioning
    • B28C7/0418—Proportioning control systems therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
    • B05B12/20—Masking elements, i.e. elements defining uncoated areas on an object to be coated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts

Definitions

  • the invention relates to a method and a production system for the automated production of a thin-walled concrete component using a shotcrete method and a formwork tool for use in such a method and/or in such a production system.
  • Processes for the production of thin-walled concrete components are known in principle.
  • Thin-walled concrete components can be manufactured using known formwork techniques.
  • a formwork is designed and manufactured, then assembled and prepared, for example by oiling.
  • the formwork is then filled with concrete, the concrete is compacted and the formwork is removed. In order to reuse the formwork, the formwork is cleaned.
  • compacting the concrete in thin-walled concrete components is a source of error.
  • thin-walled concrete components can be produced with a formwork table that has concrete basins to be filled with concrete.
  • the concrete is poured into the formwork and then hardened.
  • the process is characterized by a high cycle time.
  • the formwork table is occupied over a long period of time, so that a large number of cost-intensive formwork tables are required to reduce the cycle times.
  • the ratio of the formwork area to the concrete volume used is large. This leads, among other things, to the fact that a high level of manual effort and thus high labor costs are required for providing the formwork for each concrete component.
  • thin-walled concrete components can currently not be functionalized or only to a limited extent, since the concrete components usually have a flat surface. This means that the concrete components are heavier than technically required. Furthermore, the sustainability of such concrete components is negatively influenced by the fact that more concrete is used than is technically necessary.
  • a requirement from the construction industry is to increase the degree of automation.
  • a shortage of skilled workers affects productivity and there is a risk that there will not be enough skilled workers to meet demand in the future.
  • This object is achieved with a method, a production system and a formwork tool according to the features of the independent patent claims. Further advantageous refinements of these aspects are specified in the respective dependent patent claims.
  • the features listed individually in the patent claims and the description can be combined with one another in any technologically meaningful way, with further embodiment variants of the invention being shown.
  • the object is achieved by a method for the automated production of a thin-walled concrete component with a shotcrete method, comprising the steps carried out by a handling system: positioning a frame-shaped formwork tool on a base element, spraying a concrete such that the formwork tool has a peripheral contour of the concrete component defined at least in sections and removal of the formwork tool immediately after the end of spraying in such a way that the peripheral contour of the concrete component is unaffected.
  • the invention is based, inter alia, on the finding that thin-walled concrete components can be produced in an advantageous manner using a shotcrete method and a frame-shaped formwork tool. Thanks to the reusable, frame-shaped formwork tool and the immediate removal of the formwork tool after spraying is complete, rapid, sequential production of thin-walled concrete components is made possible.
  • the invention is also based on the finding that the spraying of the concrete is essential, since the spraying and a targeted setting of an accelerator quantity enable an advantageous distribution and hardening of the concrete without additional distribution steps being necessary.
  • conventional methods of supplying the concrete either the concrete is not sufficiently fluid for distribution or the formwork tool cannot be removed immediately after the spraying is completed because the concrete does not have sufficient strength at that time.
  • the frame-shaped formwork tool, the spraying of the concrete and the removal of the Shuttering tool enables series production of thin-walled concrete components.
  • after removal of the formwork tool it would be positioned in a new position on the base member or on another base member and the process steps would be performed again.
  • the invention is also based on the finding that a thin-walled concrete component can be produced in an advantageous manner in that part of the concrete component is defined by the formwork tool, namely the peripheral contour, and other geometries of the concrete component can be freely defined by spraying the concrete.
  • These geometries can be functional structures, for example ribs to be produced on the upper side to reinforce the concrete component.
  • Such ribs can advantageously be produced with a shotcrete that includes an accelerator, since these would usually run with other methods.
  • Automated production is understood to mean, in particular, production that can take place essentially without manual actions.
  • positioning, spraying and removal are automated using a handling system. This does not rule out that individual steps, such as controlling or correcting the handling system, are carried out manually.
  • a thin-walled concrete component is understood as meaning a concrete component whose thickness is less than the extensions of the concrete component orthogonal to this thickness. Preferably this thickness is less than 50%, less than 30%, less than 15% of the extents orthogonal to the thickness.
  • the handling system preferably includes at least one handling unit, for example a robot.
  • the handling system comprises two or more handling units to carry out the steps.
  • the handling system is arranged and designed to carry out the steps autonomously.
  • the method includes the step of positioning the frame-shaped formwork tool on the base member.
  • positioning means in particular that the formwork tool is arranged on the base element. This can, for example, include or be placing the formwork tool on the base element.
  • the positioning can also include or be arranging the formwork tool in a predetermined position on the base element.
  • the planar extent of the formwork tool is preferably aligned essentially horizontally.
  • a frame-shaped formwork tool is also understood to mean a part-frame-shaped formwork tool since, as will be described below, one side of the formwork tool can be designed to be open.
  • the shuttering tool can be rectangular, for example, so that the peripheral contour of the concrete component is also rectangular.
  • the formwork tool can also define round and/or free-form peripheral contours of the concrete component.
  • the base element can be any base for positioning the formwork tool. It is preferred that the base element is a pallet. In addition, the base element can consist of metal and/or plastic and/or concrete and/or comprise these materials. The top of the base element is preferably oriented essentially horizontally.
  • the method also includes the step of spraying the concrete.
  • the spraying of the concrete takes place in such a way that the formwork tool defines a circumferential contour of the concrete component at least in sections.
  • a peripheral contour is understood to mean, in particular, a contour of the concrete component in horizontal planes.
  • the peripheral contour can be an edge of the concrete component.
  • the formwork tool can act as a border around the concrete component to be produced.
  • a sectional definition of the peripheral contour means that at least one side of the concrete component is defined by the formwork tool.
  • one, two or more sides of the formwork tool can also be open. Provision is made in particular for an upper side of the concrete component to be free of the formwork tool, so that the upper side can be freely defined by spraying the concrete.
  • the definition of the peripheral contour by the formwork tool and the free formation of functional structures, such as ribs on the upper side of the concrete component make it possible to manufacture the concrete component in an automated and moreover efficient manner.
  • the formwork tool is removed immediately after the end of spraying, ie in particular after the concrete component has been sprayed.
  • Immediately after the end of the spraying means in particular that the formwork tool is removed after less than 10 minutes, less than 5 minutes, less than 2 minutes, less than 1 minute after the end of the spraying.
  • immediately after the end of the spraying can mean that there is a period of time between the end of the spraying and the removal of the formwork tool which is less than 25%, less than 10%, less than 5%, less than 1% of a spraying time for the spraying of the concrete.
  • the shuttering tool is removed in a vertical direction.
  • the formwork tool is removed with a removal movement, the removal movement having a vertical movement component. It is also preferred that the formwork tool is removed in such a way that there are no interfering contours in the direction of the lifting vector.
  • peripheral contour of the concrete component is unaffected by the removal of the formwork tool means in particular that the contour is essentially unaffected. This can mean, for example, that the circumferential contour does not experience any component-relevant changes as a result of the removal of the formwork tool. Furthermore, this can mean that by removing the formwork tool essentially no post-processing of the concrete component as such is required, which would not have been necessary by another removal of the formwork tool.
  • the method includes the step of changing the formwork tool, with another formwork tool having a different shape being used, so that another circumferential contour of a concrete component can be produced.
  • the method includes the step: introducing reinforcement. It is particularly preferred that the reinforcement is placed before or during the spraying of the concrete. For example, a bottom layer of the concrete can be sprayed first, on which the reinforcement is arranged and then the concrete component can be sprayed to finish.
  • a further preferred embodiment of the method includes the step: cleaning, in particular automatic cleaning, of the formwork tool in a cleaning station after the formwork tool has been removed.
  • the method comprises the step: automatic application of formwork oil to the formwork tool after the cleaning described above.
  • the method can include the step of changing at least one edge length and repeating the steps of positioning, spraying and removing. A different concrete component can thus be produced with the same formwork tool by enlarging or reducing the formwork tool.
  • a preferred variant of the method is characterized in that it comprises the step of spraying the concrete in such a way that at least one functional structure is formed, with the concrete forming the functional structure having a higher proportion of accelerator than the concrete adjoining the functional structure.
  • the accelerator content describes the proportion of an accelerator in the concrete.
  • An accelerator is a concrete admixture that hardens concrete faster.
  • the functional structure can be a thickening, for example, so that a static requirement for the concrete component is met.
  • a preferred variant of the method is characterized in that the concrete to be sprayed is provided in a flowable state and an accelerator is added.
  • a free-flowing concrete is advantageous in that the frame-shaped formwork tool can be easily filled with it.
  • the accelerator has an advantageous effect in that the concrete filling the formwork tool hardens quickly and, as a result, the formwork tool can advantageously be removed immediately after the spraying has ended.
  • a further advantageous embodiment of the method is characterized in that an accelerator component of the accelerator in the concrete is varied depending on the position.
  • individual sections of the concrete component can be freely formed.
  • the formation of ribs or reinforcements is possible in that a higher proportion of the accelerator is used here and the concrete solidifies quickly in the sprayed position.
  • the formwork tool has at least one open formwork side and the formwork tool is positioned in such a way that the open formwork side is closed by means of a formwork element arranged on the base element.
  • the formwork element can be any element suitable for closing the open formwork side of the formwork tool.
  • the formwork element can be made of metal or wood, for example, or can include these materials. It can be preferred that the formwork element can be arranged or is arranged fixedly on the base element.
  • the formwork element can be designed as a vertical wall. It is also preferred that the base element has a large number of formwork elements, in particular on vertical walls, on which the formwork tool can be arranged with the open formwork side, so that the concrete component can be produced in an advantageous manner.
  • the open side of the formwork tool allows for improved removal of the formwork tool after spraying is complete. Closing the open formwork side also means partial closing.
  • a further preferred embodiment of the method is characterized in that the height of the concrete component is brought about by a varying feed rate.
  • a varying spray layer thickness and a height of the concrete component can also be influenced by the varying feed rate.
  • the object mentioned at the outset is achieved by a production system for the automated production of a thin-walled concrete component using a shotcrete method, comprising a frame-shaped formwork tool, a handling system for positioning the frame-shaped formwork tool and for spraying a concrete, and a control device coupled to the handling system in terms of signals, which is set up to control the handling system in such a way that the formwork tool is positioned on a base element, the concrete is sprayed in such a way that the formwork tool defines a peripheral contour of the concrete component at least in sections, and the formwork tool is removed immediately after the end of spraying in such a way that the peripheral contour of the concrete component is unaffected.
  • a preferred embodiment variant of the production system is characterized in that the formwork tool has an open formwork side and the base element has a formwork element for closing the open formwork side.
  • the formwork element is preferably wall-shaped.
  • a further preferred embodiment variant of the production system is characterized in that it comprises a nozzle unit which is arranged and designed to vary the proportion of accelerator in the concrete and the control device being set up to adjust the proportion of accelerator depending on the position. It is preferred that the handling system includes the nozzle unit.
  • a production system designed in this way can improve the distribution of the concrete within the formwork tool and, in addition, functional structures can be used to reduce the weight of the concrete component be introduced by, for example, reducing the feed rate at these positions and increasing the proportion of the accelerator.
  • a preferred development of the production system is characterized in that it comprises a vibration unit which is arranged and designed to induce vibration in the frame-shaped formwork tool in order to reduce adhesion of the concrete to the formwork tool.
  • a vibration unit which is arranged and designed to induce vibration in the frame-shaped formwork tool in order to reduce adhesion of the concrete to the formwork tool.
  • the handling system has a first robot, in particular a first articulated-arm robot, and a second robot, in particular a second articulated-arm robot, and the first robot for spraying the concrete and the second robot for positioning and removing the Formwork tool is arranged and formed.
  • the efficiency of the process can be further increased by using two robots and the systematic separation of spraying and handling activities, namely positioning and removal.
  • the first robot and/or the second robot is/are arranged such that it can be moved on a rail, so that a large base element can also be used.
  • a formwork tool for use in a method according to one of the embodiment variants mentioned above and/or in a production system according to one of the embodiment variants described above, comprising a formwork frame that defines a formwork area in which a concrete component can be sprayed and a handling section coupled to the formwork frame for coupling to a handling system.
  • the formwork frame defines the formwork area.
  • the formwork area can be closed or open on one, two or more sides.
  • the formwork area is designed in particular such that a peripheral contour of the concrete component can be defined with this, in particular can be defined in sections.
  • a preferred variant of the formwork tool is characterized in that the formwork tool has at least one open formwork side.
  • An open formwork side means in particular that a section of the formwork frame is designed to be open.
  • An open formwork side allows for improved formwork tool removal.
  • a further preferred development of the formwork tool is characterized in that the formwork tool has at least one adjustable edge length. Furthermore, it is preferred that the shuttering tool has an actuator, in particular an adjustable cylinder, which is arranged and designed to adjust the edge length. For this purpose, one, two or more components of the formwork frame preferably have a telescopic function.
  • a further preferred variant of the formwork tool is characterized in that a contour element covering the formwork area is arranged on at least one upper edge of the formwork frame.
  • the contour element can be designed, for example, in the form of strips or rods, in particular with an angular cross section.
  • the spraying of the concrete can lead to spattering, particularly at the edge areas of the formwork frame, which reduces the edge quality of the concrete component.
  • the edges of the concrete component can be formed precisely by means of such a contour element.
  • Another preferred variant of the formwork tool is characterized in that it has an adhesion-reducing surface. It is particularly preferred that surfaces of the formwork tool facing the formwork area have the adhesion-reducing surface.
  • the adhesion-reducing surface can be a polished steel surface, for example.
  • the adhesion-reducing surface can be formed by a coating, for example a plastic coating or a lacquer.
  • the adhesion-reducing surface is designed to be particularly durable, so that it can be used for a large number of formwork processes.
  • FIG. 1 a schematic, three-dimensional view of an exemplary embodiment of a production system
  • FIG. 2 a schematic, three-dimensional view of an exemplary embodiment of a base element
  • FIG. 3 a schematic, three-dimensional view of an exemplary embodiment of a formwork tool
  • Figure 4 a schematic view of a method for automated
  • FIG. 5 a schematic view of a preferred embodiment of the method shown in FIG. 4;
  • FIG. 6 a schematic view of a preferred embodiment of the method shown in FIG. 4;
  • FIG. 7 a schematic view of a preferred embodiment of the method shown in FIG.
  • FIG. 1 shows a production system 100 for the automated production of a thin-walled concrete component 114 using a shotcrete method.
  • the production system 100 includes a frame-shaped formwork tool 140 which is used as a template for the concrete components 114 .
  • the manufacturing system 100 includes a handling system 104.
  • the Handling system 104 is adapted for positioning the frame-shaped formwork tool 140 and for spraying the concrete.
  • the handling system 104 includes a first robot 106 and a second robot 108.
  • the robots 106, 108 are arranged on rails 132, 134, so that the robots 106, 108 can be moved in translation.
  • a nozzle unit 136 with which the concrete is sprayed is arranged distally on the first robot 106 .
  • the nozzle unit 136 is designed in particular to vary an accelerator content in the concrete.
  • the second robot 108 is arranged and configured for positioning and removing the formwork tool 140 .
  • the second robot 108 is designed distally in order to interact with an interface 170 of the formwork tool 140 .
  • the base element 112 is arranged between the rails 132 , 134 and thus between the robots 106 , 108 .
  • the base element 112 is plate-shaped and comprises a multiplicity of wall-shaped and vertically positioned formwork elements 116.
  • the base element 112 is arranged in an interchangeable manner.
  • the production system 100 can have a roller system on which the base element can be arranged.
  • the production system 100 also includes a control device 110, which is set up to control the handling system 104 in such a way that the formwork tool 140 is positioned on the base element 112, the concrete is sprayed in such a way that the formwork tool 140 forms a peripheral contour of the concrete component 114 at least in sections defined and the formwork tool 140 is removed immediately after the end of spraying in such a way that the peripheral contour of the concrete component 114 is unaffected.
  • a control device 110 which is set up to control the handling system 104 in such a way that the formwork tool 140 is positioned on the base element 112, the concrete is sprayed in such a way that the formwork tool 140 forms a peripheral contour of the concrete component 114 at least in sections defined and the formwork tool 140 is removed immediately after the end of spraying in such a way that the peripheral contour of the concrete component 114 is unaffected.
  • the base element 112 extends from a first base element end 122 to a second base element end 124. Orthogonally to this, the base element 112 extends from a first base element side 126 to a second base element side 128. These extensions form the planar side of the base element 112.
  • the base member 112 is rectangular.
  • the base element 112 has a total of 13 formwork elements 116 .
  • the formwork elements 116 each have a first formwork side 118, which faces away from the viewer, and a second formwork side 120, which faces the viewer.
  • the formwork tool 140 can be arranged with the open formwork side 156 on the formwork sides 118, 120, so that the formwork elements 116 close the open formwork side 156.
  • the formwork elements 116 are arranged on the top side 130 of the base element.
  • FIG. 3 shows the formwork tool 140.
  • the formwork tool 140 has a formwork frame 142 which defines a formwork area 144.
  • Formwork frame 142 extends from a first end 146 to a second end 148.
  • Formwork frame 142 is formed by a first transverse frame member 150 at first end 146 and a second transverse frame member 152 at second end 148.
  • the transverse frame members 150, 152 are aligned parallel to one another.
  • the first transverse frame member 150 and the second transverse frame member 152 are connected to each other with a longitudinal frame member 154 .
  • the side of the formwork frame 142 opposite the longitudinal frame element 154 is designed as an open formwork side 156 .
  • the open formwork side 156 is formed in particular by providing a bracket unit 158 with a clear height above the formwork area 144 on this side.
  • the bracket assembly 158 is formed by a first spar member 160 adjacent the first end 146, a second spar member 162 adjacent the second end 148, and a support member 164 connecting the spar members 160,162.
  • a handling section 166 which has a handling element 168 .
  • An interface 170 is provided on the handling element 168 with which the formwork tool 140 can be coupled to a handling system 104 and in particular to a second robot 108 .
  • Contour elements 172 , 174 , 176 are provided on the transverse frame elements 150 , 152 and on the longitudinal frame element 154 .
  • the contour elements 172, 174, 176 enable the formation of a defined concrete component edge without spatter and the like occurring.
  • the formwork tool 140 is arranged with the open formwork side 156 on one of the formwork elements 116 shown in FIG.
  • Concrete is then injected into the formwork frame 142, in particular into the formwork area 144, so that the formwork tool defines the peripheral contour of the concrete component 114.
  • the formwork tool 140 is arranged on a formwork element 116 so that all four sides of the formwork frame 142 are closed, a complete peripheral contour of the concrete component can be formed.
  • the formwork tool 140 can be removed immediately.
  • FIG. 4 shows a method for the automated production of a thin-walled concrete component 114 using a shotcrete method with three steps carried out by a handling system 104.
  • the frame-shaped formwork tool 140 is positioned on a base element 112 .
  • concrete is sprayed in such a way that the formwork tool 140 defines a peripheral contour of the concrete component 114 at least in sections. If the formwork tool 140 is designed according to FIG. 3 and a corresponding arrangement of the formwork tool 140 on a formwork element 118, the peripheral contour of the concrete component is completely defined.
  • step 204 the formwork tool 140 is removed immediately after the spraying has ended, so that the peripheral contour of the concrete component 114 is unaffected. Immediately after stopping spraying can mean immediately or also less than 10 minutes, less than 5 minutes, less than 2 minutes, less than 1 minute.
  • FIG. 5 shows a preferred variant of the method shown in FIG.
  • step 210 the frame-shaped formwork tool 140 is positioned and in step 212 the concrete is sprayed as in step 202 .
  • step 214 the amount of accelerator in the concrete is varied and then sprayed again in step 212 with this varied amount of accelerator.
  • the loop between steps 212 and 214 can be repeated any number of times.
  • step 216 as in step 204, the shuttering tool 140 is removed.
  • Steps 212 and 214 are combined in FIG. 6, since the quantity of accelerator is varied in parallel with the spraying of the concrete. Varying the amount of accelerator is also optional in this process variant, since this may not be absolutely necessary depending on the component.
  • Step 222 of spraying is preferably designed such that functional structures are formed, in particular by a varying spray layer thickness that can be generated by a varying feed rate of robot 106 .
  • Functional structures of this type can, for example, be thickened portions that structurally strengthen the component. This avoids the concrete component 114 having a correspondingly high thickness at all component positions, but only at those where this is statically necessary.
  • Formwork element first formwork side second formwork side first base element end second base element end first base element side second base element side
  • longitudinal frame element 156 open formwork side

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  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Dispersion Chemistry (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)

Abstract

L'invention concerne un procédé de production automatisée d'un élément en béton à paroi mince (114) au moyen d'un procédé de pulvérisation de béton, comprenant les étapes suivantes effectuées par un système de manipulation (104) : positionnement d'un moule de coffrage de type cadre (140) sur un élément de base (112), pulvérisation de béton de telle sorte que le moule de coffrage (140) définisse un contour périphérique de l'élément en béton (114) au moins en partie, et retrait du moule de coffrage (140) immédiatement après la fin de la pulvérisation, de telle sorte que le contour périphérique de l'élément en béton (114) ne soit pas affecté.
PCT/DE2022/100802 2021-12-17 2022-10-28 Procédé et système de production pour la production automatisée d'un élément en béton à paroi mince au moyen d'un procédé de pulvérisation de béton et d'un moule de coffrage Ceased WO2023110000A1 (fr)

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EP22801982.4A EP4448240A1 (fr) 2021-12-17 2022-10-28 Procédé et système de production pour la production automatisée d'un élément en béton à paroi mince au moyen d'un procédé de pulvérisation de béton et d'un moule de coffrage

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DE102021133597.3 2021-12-17
DE102021133597.3A DE102021133597A1 (de) 2021-12-17 2021-12-17 Verfahren und Herstellungssystem zur automatisierten Herstellung eines dünnwandigen Betonbauteils mit einem Spritzbetonverfahren und Schalungswerkzeug

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WO2023110000A1 true WO2023110000A1 (fr) 2023-06-22

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EP (1) EP4448240A1 (fr)
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Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT385550B (de) 1985-06-20 1988-04-11 Ruzicka Klaus Dipl Ing Dr Tech Einrichtung zur herstellung von bauteilen od. gebaeuden mittels rechengesteuerten produktionsmaschinen
EP2255938A2 (fr) * 2009-05-27 2010-12-01 Progress Maschinen & Automation AG Installation de découpe automatique d'une station de coffrage
US8801415B2 (en) 2005-01-21 2014-08-12 University Of Southern California Contour crafting extrusion nozzles
KR101888335B1 (ko) * 2018-03-06 2018-09-07 주식회사 건축사사무소디지털건축연구소위드웍스 비정형 내외장재의 소량 다품종 생산을 위한 로보틱 기반의 융합형 형상변형몰드 제작장치 및 비정형 내외장재 성형용 몰드 제작방법
EP2886277B1 (fr) 2011-11-01 2018-12-12 Loughborough University Procédé et appareil pour la distribution d'un matériau cimentaire
WO2019121316A1 (fr) 2017-12-21 2019-06-27 Eth Zurich Procédé de formation verticale d'une structure de mur en béton et appareil s'y rapportant
EP3626420A1 (fr) * 2018-09-18 2020-03-25 Mobbot SA Appareil de fabrication d'une structure en béton et procédé
CN111219197A (zh) * 2018-11-26 2020-06-02 蓝传雯 一种模喷设备及模喷工艺
DE102019204259A1 (de) 2019-03-27 2020-10-01 Putzmeister Engineering Gmbh Extrudervorrichtung, Extrudersystem und Verwendung einer Extrudervorrichtung und/oder eines Extrudersystems
DE102019133755A1 (de) 2019-12-10 2021-06-10 Technische Universität Chemnitz Verfahren und Vorrichtung zur Herstellung eines faser- und/oder textilbewehrten, mineralischen Bauteils
AT17186U1 (de) 2020-03-11 2021-08-15 Progress Maschinen & Automation Ag 3D-Druckvorrichtung, insbesondere für die Bauindustrie

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT385550B (de) 1985-06-20 1988-04-11 Ruzicka Klaus Dipl Ing Dr Tech Einrichtung zur herstellung von bauteilen od. gebaeuden mittels rechengesteuerten produktionsmaschinen
US8801415B2 (en) 2005-01-21 2014-08-12 University Of Southern California Contour crafting extrusion nozzles
EP2255938A2 (fr) * 2009-05-27 2010-12-01 Progress Maschinen & Automation AG Installation de découpe automatique d'une station de coffrage
EP2886277B1 (fr) 2011-11-01 2018-12-12 Loughborough University Procédé et appareil pour la distribution d'un matériau cimentaire
WO2019121316A1 (fr) 2017-12-21 2019-06-27 Eth Zurich Procédé de formation verticale d'une structure de mur en béton et appareil s'y rapportant
KR101888335B1 (ko) * 2018-03-06 2018-09-07 주식회사 건축사사무소디지털건축연구소위드웍스 비정형 내외장재의 소량 다품종 생산을 위한 로보틱 기반의 융합형 형상변형몰드 제작장치 및 비정형 내외장재 성형용 몰드 제작방법
EP3626420A1 (fr) * 2018-09-18 2020-03-25 Mobbot SA Appareil de fabrication d'une structure en béton et procédé
CN111219197A (zh) * 2018-11-26 2020-06-02 蓝传雯 一种模喷设备及模喷工艺
DE102019204259A1 (de) 2019-03-27 2020-10-01 Putzmeister Engineering Gmbh Extrudervorrichtung, Extrudersystem und Verwendung einer Extrudervorrichtung und/oder eines Extrudersystems
DE102019133755A1 (de) 2019-12-10 2021-06-10 Technische Universität Chemnitz Verfahren und Vorrichtung zur Herstellung eines faser- und/oder textilbewehrten, mineralischen Bauteils
AT17186U1 (de) 2020-03-11 2021-08-15 Progress Maschinen & Automation Ag 3D-Druckvorrichtung, insbesondere für die Bauindustrie

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EP4448240A1 (fr) 2024-10-23

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