Robotic construction system

Abstract

The present invention relates to a robotic construction system including a Cartesian robot. The Cartesian robot can automatically rise as the height of the building increases. The robotic construction system includes a robotic system for supplying materials and electrical and electronic equipment and has specific production tools. Some of the tools work by providing layers of liquid building materials, such as cement-based materials that harden once deposited. Other tools work by forming and placing building elements in determined positions.

Description

Technical Field

[0001] The object of the present invention is a system that allows the erection of any construction, such as in particular buildings, structures, infrastructure, with the aid of a Cartesian robot and the necessary electrical and electronic equipment for a mobile robot, the Cartesian robot having a robotic supply of liquid construction materials that, when solidified, form the vertical and horizontal elements of the construction. As a remarkable feature of the present invention, it is possible for the Cartesian robot to rise autonomously and fasten to the vertical surface of the construction without the need for an external lifting element such as a crane. Background Art

[0002] Construction is an activity with a strong demand for labor, which means it is an area with insufficient productivity and a high risk of work accidents, the work accidents stemming from the manual nature of the many tasks carried out. However, machinery plays a very important role and is necessary in most tasks and in the safety of performing them.

[0003] Among the machinery used, it can be noted that there is machinery for lifting materials, for leveling, for preparing and pouring mortar and concrete.

[0004] Another element for increasing construction productivity is prefabricated construction materials, such as precast concrete elements and panels. Precast concrete elements include many products made in factories by molding and solidifying, such as large structural precast elements (such as beams, walls and columns), small structural precast elements (such as joists, concrete cylinders, blocks, curbs, paving stones), and special precast elements (among which there are sleepers, columns and cabins). But until now, no system has been developed that thoroughly reduces human participation in construction tasks, or at least the applicant is aware that no such system has been developed.

[0005] The present invention discloses an automated system that, as the construction gets taller, allows the erection of almost any type of structure by using a Cartesian robot that rises autonomously above the construction and through the contribution of liquid construction materials. Summary of the Invention

[0006] A robotized construction system as an object of the present invention includes:

[0007] · A Cartesian robot, which in turn includes:

[0008] ○ Two horizontal beams such that at least part of a floor of the construction lies between said beams;

[0009] ○ One or more bridges arranged between the horizontal beams and designed to move along said horizontal beams;

[0010] ○ One or more trolleys, which are arranged on each of the bridges and are designed to move along the bridges;

[0011] ○ One or more telescopic columns, each of which is connected to one of the trolleys;

[0012] ○ One or more cantilevers, each of which has one or more degrees of freedom and is connected to the free end of the column;

[0013] ○ A plurality of actuators, which move the bridges, trolleys, cantilevers and extend or retract the telescopic columns;

[0014] ○ A plurality of position sensors for the bridges, trolleys and cantilevers;

[0015] ○ A programmable controller, which at least controls the actuators and receives data from at least the position sensors;

[0016] · One or more manufacturing tools for vertical and horizontal elements, which are arranged on the cantilever, and the vertical and horizontal elements form part of a building or other type of construction;

[0017] · A power and electronic supply device driven by the controller;

[0018] · A device, which simultaneously supplies one or more fluid construction materials, water and pressurized air to the manufacturing tools. Description of the Drawings

[0019] Figure 1 A perspective view of a Cartesian robot is shown.

[0020] Figure 2 A perspective view of the Cartesian robot when the floor of the building has been constructed and the lifting device is anchored to the ceiling of the floor is shown.

[0021] Figure 3 A perspective view of the Cartesian robot rising above the constructed floor is shown.

[0022] Figure 4 A perspective view of a four-story building and the Cartesian robot anchored to the ceiling of the third floor is shown.

[0023] Figure 5 A perspective view of the details of the Cartesian robot ready to start rising is shown.

[0024] Figure 6 A perspective view of the details of the Cartesian robot fully risen to construct a new floor is shown.

[0025] Figure 7Perspective view showing details of a rack and pinion type lifting device.

[0026] Figure 8 Perspective view showing a Cartesian robot with two bridges.

[0027] Figure 9 Perspective view showing a Cartesian robot with two bridges and two carriages on each bridge.

[0028] Figure 10 Perspective view showing the entire robotic supply system of the present invention for materials and ducts for power and electrical cables.

[0029] Figure 11 View showing a robotic rotating drum in the robotic supply system, where the duct is coiled in a spiral form.

[0030] Figure 12 View showing a curved and power-driven device and a support for a rotary bearing through which the duct is guided.

[0031] Figure 13 Perspective view showing a nozzle with a square cross-section and an example of a vertical element under construction.

[0032] Figure 14 Perspective view showing a manufacturing tool with 5 nozzles and a constructed vertical element, where one nozzle is movable.

[0033] Figure 15 Perspective view showing a manufacturing tool with a die arranged at the free end of the nozzle.

[0034] Figure 16 Shows by means of passing through Figure 15 Perspective view of a vertical element constructed with elements made by the die of.

[0035] Figure 17 Perspective view showing a die where the lower surface of the die is open and stores solid construction elements.

[0036] Figure 18 Perspective view showing a manufacturing tool that works by molding and vacuum.

[0037] Figure 19 Exploded perspective view showing a manufacturing tool for depositing a layer in the form of a printing roller.

[0038] Figure 20 Shows a tool for forming a construction element such as a wall Figure 19 Perspective view of.

[0039] Figure 21A perspective view of a leveling tool for a horizontal surface is shown.

[0040] Figure 22 Two perspective views of a leveling tool for a vertical surface are shown.

[0041] Figure 23 Two perspective views of an adhesive extrusion tool and a processor are shown.

[0042] Figure 24 A perspective view of a dressing and polishing disc manufacturing tool is shown.

[0043] Figure 25 An exploded perspective view of a dressing and polishing disc manufacturing tool is shown. Detailed Description

[0044] The robotic construction system includes a Cartesian robot (1), one or more manufacturing tools (3), a power supply device (4), and a construction material supply device (5).

[0045] The Cartesian robot includes two beams (8), occasionally supplemented by columns (7) forming a colonnade (6), in Figure 1 , Figure 8 and Figure 9 In a preferred embodiment, it is shown as having four columns and a horizontal beam (8), where the beam is telescopic to accommodate structures of different lengths. One or more bridges (9) can also be telescopic to change their width when the beams (8) are not parallel to each other. One or more bridges (9) are arranged between the horizontal beams (8), and one or more trolleys (10) are arranged on them. In Figure 1 , only one bridge (9) is shown as having a trolley (10). In Figure 8 , the Cartesian robot (1) is shown as having two bridges (9) and a single trolley (10) on each of them. And in Figure 9 , the Cartesian robot (1) is shown as having two bridges (9) and two trolleys (10) on each of the bridges (9). These last two preferred embodiments increase the construction speed because the controller avoids the trolleys interfering with each other.

[0046] Preferably, the construction system includes a system (2) for lifting the beam (8) or the colonnade (6).

[0047] At the free end of each telescopic column (11), each telescopic column is connected to a trolley. The cantilever (12) can be arranged on and controlled by the controller of the Cartesian robot. The cantilever is provided with one or more degrees of freedom. For example, the cantilever (12) can rotate relative to the vertical axis and / or relative to the horizontal axis in order to more accurately position the manufacturing tool (3) or position it vertically relative to the telescopic column, for example to apply an adhesive or an insulating layer on a vertical or inclined surface.

[0048] Figures 1 to 7 Illustrated is how the Cartesian robot (1) rises as construction continues in the case of a five-story building. The anchors are divided into a first anchor (14) and a second anchor (15). The first anchor is integral with the lower end of the column (7), and the colonnade (6) is supported on the first anchor when the robotic construction system is operating. The second anchor is movable along the column (7) and is fixed to the building only when they have to lift the Cartesian robot (1), and for example in the case where a rack and pinion type lifting device, a pinion (16), and a motor (18) for driving the pinion will be mounted on the second anchor and the rack (17) will be located on the column (7), it forms part of the lifting device (2). Figure 1 Illustrated is the Cartesian robot (1) which is supported on the ground on a first anchor (14) and a second anchor (15) of a lifting system (2) located at the upper part of the column. In Figure 2 it, the first floor has been built, the second anchor (15) is supported on the ground of the first floor or on the surface of the building or construction, and when the first anchor (14) is anchored to the structure, the second anchor simultaneously lifts the two colonnades (6) by means of the lifting device (2), bringing the present invention into its working position for building a new floor, see Figure 3 . Figure 5 Illustrated is how the colonnade (6) is supported on the first anchor (14) and the second anchor (15) once the fourth floor is completed and ready to lift the robotic construction system to start erecting the fifth floor.

[0049] The lifting device (2) can be of the rack and pinion type, driven by an electric motor (18) by means of a hydraulic or pneumatic piston of a hydraulic cylinder driving a ratchet wrench, by means of a mechanically operated threaded spindle or a similar system. All types of lifting devices will be controlled and driven by the controller of the Cartesian robot. Another possible lifting device (2) is by means of a telescopic column (7), such that as the colonnade rises, the column (7) is supported on a lower column which is an extension of the column (7) of the colonnade down along the ground.

[0050] On the other hand, the supply devices (4 and 5) may be provided with one or more pipes (19). One or more of the pipes are for fluid construction materials (such as cement-based construction materials), one or more of the pipes are for auxiliary materials for sound insulation or thermal insulation coatings, two or more of the pipes are for water and compressed air, and one or more of the pipes are for power supply to the robot. The pipe (19) for supplying the construction material (5) hydraulically engages the storage tank and pumps the fluid with the manufacturing tool (3). The supply devices (4 and 5) are formed as a whole and in a preferred configuration by flexible elements, and include one or more auxiliary motor-driven drums (20), which are controlled by the controller of the robot and move simultaneously with the robot, wherein the flexible elements are coiled in a spiral manner, and different pipes (19) may all be coiled in one or more drums (20), or coiled in one or more drums (20) dedicated to only one pipe (19). The pipe (19) exits from the drum (20) and passes through a telescopic column (7) until the horizontal beam (8). The transition of the vertical arrangement of the pipe (19) to the horizontal arrangement is carried out by means of a curved and motor-driven device (21), which pushes the pipe (19) towards the drum (20) or towards the manufacturing tool (3) according to the movement of the whole robot. In this way, friction is avoided and the minimum bending radius required for each different pipe (19) is ensured. The bending device (21) is provided with a freely rotating bearing (22) and a roller (100) coupled to the motor (23), and the roller compresses the pipe (19) by means of a spring (24) so that the pipe is controlled and moves simultaneously with the rotation of the drum (20). As the pipe (19) flows beside the horizontal beam (8), the pipe flows through the inner part of a support (25) having a rotating bearing (26) on an independent trolley (27), and the trolley slides on a track (28) installed in the horizontal beam (8). The trolleys are separated by a determined maximum distance and due to the use of a telescopic system or scissors (29) as shown in Figure 12 The maximum distance is determined according to the type of the pipe system (19). The first trolley (27) is anchored to the trolley of the moving bridge (9), and the remaining trolleys are anchored to each other so that they can be opened when needed.

[0051] The transition of the pipeline (19) between the horizontal beam (8) and the bridge (9) is carried out by means of a curved and motor-driven device (21) similar to the curved and motor-driven device disclosed in the previous section. And similar to the previous disclosure, the pipeline (19) flows beside the bridge (9) through the inner part of the support with a rotary bearing (26) on the independent trolley (101). The trolley slides on the track (30) and is separated by a maximum distance determined according to the type of the pipeline system (19) and due to the use of a telescopic system or scissors (29) until it transitions to the telescopic column (11) by means of a curved and motor-driven device (21) similar to the previous one. The motorization of the curved and power-driven device (21) and the roller (20) is synchronized by the controller, and a pipeline (19) of a determined length is released based on the position of the axis Z or the end of the tool (3).

[0052] The previously disclosed pipeline systems (4 and 5) are also used by the power supply cables supplied by different actuators and electric motors of the present invention.

[0053] Obviously, the supply systems (4 and 5) are provided with a quick connector (99) between the rigid element and the flexible element, an on / off valve, at least one main pump (31) at the outlet of the tank (32) for manufacturing construction materials, and at least one secondary pump (33) at the inlet of the manufacturing tool (3). The secondary pump can be of the type of a screw or a double-driven piston pump. An air suction valve can be provided at the outlet of the secondary pump (33) to remove air from the pipelines and flow sensors on all the aforementioned elements controlled by the controller of the robot.

[0054] A variant of the supply systems (4 and 5) includes: the pipeline is guided by a cable suspension chain and the pipeline, and the cable suspension chain and the pipeline are supported on the upper part of the beam (8) and the bridge (9), and are anchored on the trolley allowing the movement of the bridge (9) and the telescopic column (11). In this way, the guiding pipeline (9) will not be controlled by the controller of the robot.

[0055] A variant of the supply system (4 and 5) for the pipeline (19) of the construction material (5) includes one or more unmanned aerial vehicles, usually called drones, which are provided with one or more tanks of construction materials, fly to the upper part of the telescopic column (11) and inject the construction materials into it, directly reaching the tool (3) and / or reaching the relevant main pump (31) and secondary pump (33) and / or on / off valve. The drones will be controlled by the controller, and in this case, the controller will be provided with means for wireless communication with the drones.

[0056] Regarding the manufacturing tool (3) for the vertical and horizontal elements of the building, four types of tools are designed: for deposition, for molding and placement, for throwing and finishing, and for processing.

[0057] A first type of manufacturing tool (3) comprises one or more nozzles hydraulically coupled to a cantilever (12) and electrically connected to the supply means (4 and 5). The nozzles are designed to deposit layers of fluid building material which, when solidified, generate said vertical or horizontal elements. At least one of the nozzles (34) may have a rectangular cross section and may be a unique nozzle of the manufacturing tool (3). The nozzles may be provided with an on / off valve (35) driven by a controller and even with an independent pumping system for each nozzle in order to perfectly meter the material. The nozzles may be provided with side plates which are angularly moved by means of motors which allow support to be provided for the deposited material and / or to give the material, once it has been deposited, a shape predetermined by the roughness of the side plates.

[0058] The manufacturing tool (3) may be provided with two or more nozzles (34), and each nozzle may deposit different fluid materials, for example, a cement-based material and a sound-proofing or thermal insulation material. In addition, one or more nozzles (34) may be moved in a horizontal plane relative to the remaining nozzles (34) which may be fixed or movable, by means of an electric motor (36) driven by a controller, to manufacture, for example Figure 14 vertical element.

[0059] As a variant of a manufacturing tool (3) with one or more nozzles (34), at the outlet of one nozzle (34), a printing roller (36) can be provided, which deposits a layer with a determined design. The roller comprises a structure (102) to which four concentric tubes (37) are fastened and arranged one inside the other, two of which are rotating. These tubes (37) have on their surface a series of hollows which, when rotating, together with the injection of material, form a building element.

[0060] Another variant of manufacturing the tool (3) would be to mix the two aforementioned systems in a single device.

[0061] As another variant of the tool, we have: at the outlet of one nozzle (34), a mold (38) can be provided to generate a solid building element of a predetermined shape as the fluid solidifies in the mold. Preferably, when the lower surface (39) of the solid element is opened, the solid element is deposited at a predetermined position and is expelled by a propeller (40) driven, for example, by compressed air, both of which are driven by a controller. The mold (38) can be provided with compacting and vibration means and heated, for example by induction, to accelerate the solidification of the fluid building material. A variant of the tool is to irradiate light to the building material introduced into the mold so as to harden the building material and deposit it in an appropriate position after hardening of the building material.

[0062] Similarly, on the cantilever (12), tools (3) for levelling horizontal or vertical surfaces can be mounted. These tools can have a vibrating motion for compacting the provided material; tools for handling solid materials; discs for trimming and polishing surfaces; drills or slender nozzles for applying adhesives and panels; tools for handling prefabricated construction elements, such as beams or metal armours necessary for forming structural elements.

[0063] Regarding the levelling tools, it is considered convenient to cite and describe a tool for levelling a horizontal surface (60) and a tool for levelling a vertical surface (70).

[0064] In a preferred configuration, the tool for levelling a horizontal surface is a collector (61) connected at the outlet of a pipe (34), through which a fluid construction material, which can be cement-based, is transported. The collector allows the construction material to flow out evenly and be deposited in the necessary positions and quantities. The main pipe is equipped with a valve (35), which is remotely controlled and synchronized with the main pump (31) and the auxiliary pump (33). The tool has a depth sensor (62), which is installed to determine the distance of the tool to the position or location where it will be stored and send the signal to the controller. A ruler (63) is installed beside the collector (61), and the ruler moves longitudinally due to a quick return mechanism 64, which enables the deposited material to be perfectly levelled in addition to being compacted. If necessary, the ruler can include a vibrating device to increase its vibrating ability, and the vibrating device can be isolated to avoid transmitting vibrations to the rest of the present invention.

[0065] The said ruler (63) can be fastened to the rest of the tool by means of a linear slider (65). The linear slider allows the longitudinal displacement of the ruler. The linear slider is connected to the collector through an axis to allow the ruler to rotate together with the structure of the tool under the action of two actuators (66).

[0066] The tool for levelling a vertical surface (70) is designed for continuous coating on a wall surface with different materials. In a preferred configuration, the tool for levelling a vertical surface consists of the guiding and swinging movement of a pipe (71), which releases a certain amount of a defined fluid construction material and is connected to another compressed air pipe (72), enabling it to be thrown onto the surface layer. The tool is additionally provided with a moving, vibrating and articulated ruler (73), which aligns the material on the support due to a pneumatic or electric actuator (74) guided by the controller. The tool is also provided with sensors (75) for measuring the depth down to the support in addition to a flowmeter at the outlet of the pipe, and these sensors send signals to the controller for guiding the movement.

[0067] The supply or non-supply of the material and compressed air is carried out by means of a valve driven by the controller.

[0068] Other manufacturing tools are: an adhesive extrusion tool that allows the deposition of a defined amount of adhesive on a surface to secure a coating, such as a ceramic coating on walls and floors; and a handling tool (90) that enables the picking up of material from a raw material present at a specific location and its application precisely in place and accurately on a wall. In a preferred embodiment, these two tools are combined into one, and it includes a nozzle (91) with a rectangular cross-section and an outlet slot through which the adhesive material exits and is deposited. The same tool is equipped with a suction manipulator (92) that picks up material from the raw material by means of vacuum and applies it in place on the wall, and accurately uses pressure sensors that ensure perfect placement. The manipulator (92) and the nozzle (91) are oriented at 90 degrees to each other and rotate by means of an electric motor (93) driven by a controller in order to position the manipulator or the nozzle facing the surface.

[0069] Another manufacturing tool (3) includes one or more nozzles (34) that supply a gun or mechanism for throwing construction material onto a support or onto itself to create new construction elements or deposit layers on other existing construction elements as a coating on a surface.

[0070] Another manufacturing tool (3) includes a dressing and polishing disk (64) that includes a rotating motor (641) with a high rotational speed. The rotating motor rotates a rigid support disk (644) to which dressing disks (643) of different materials are attached, which are also fastened on the axis of the motor (645) and allow for the polishing of surfaces such as walls and floors.

[0071] Preferably, the robotic construction system (1) includes a weather protection system. The protection system extends horizontally from one colonnade (8) to another in the direction of the bridge (9) and on both sides of each bridge (9), and extends and retracts according to the movement of the bridge (9) to allow free movement of the protection system and to protect the working area of the robot from the effects of the climate. The system is designed to direct water from rain outside the construction area.

Claims

1. A robotic construction system, comprising: A Cartesian robot (1), and the Cartesian robot further comprises: Two horizontal beams (8), the two horizontal beams (8) are positioned on a column (7) such that any point of the floor to be constructed of a building is located below the two horizontal beams (8) and between the two horizontal beams (8); One or more bridges (9), the one or more bridges are arranged between the two horizontal beams (8) and are designed to move along the two horizontal beams (8); One or more trolleys (10), the one or more trolleys are arranged on each of the bridges (9) and are designed to move along the bridges (9); One or more telescopic columns (11), each of the telescopic columns (11) is connected to one of the trolleys (10); One or more cantilevers (12), each of the cantilevers (12) has one or more degrees of freedom and is connected to the free end of the telescopic column (11); A plurality of actuators, which move the bridges (9), the trolleys (10), the cantilevers (12) and extend or retract the telescopic columns (11); A plurality of position sensors for the bridges (9), the trolleys (10) and the cantilevers (12); A programmable controller, which at least controls the actuators and receives data from at least the position sensors; One or more manufacturing tools (3), the one or more manufacturing tools (3) are arranged on the cantilever (12) and include one or more nozzles (34); A power supply device (4); A supply device (5), the supply device (5) simultaneously supplies one or more fluid construction materials, and the supply device (5) is hydraulically connected to the one or more nozzles (34); Wherein, when the one or more bridges (9) are positioned at a working position above the top floor, the one or more telescopic columns (11) are long enough to allow the one or more nozzles (34) to deposit layers of fluid construction materials one above the other to produce vertical elements or side by side to produce horizontal elements, so as to complete the floor to be constructed of the building from the working position.

2. The robotic construction system according to claim 1, wherein, The horizontal beam (8) is supported on the column (7) forming a colonnade (6).

3. The robotic construction system according to claim 2, wherein, The robotic construction system includes a lifting device (2) for the horizontal beam (8) or the colonnade (6) of the Cartesian robot (1).

4. The robotic construction system according to claim 3, wherein, The lifting device is composed of columns (7) that lift a group of the colonnades (6), and the columns (7) are telescopic.

5. The robotic construction system according to claim 3, wherein, The lifting device of the colonnade is provided with anchors (14, 15) to the building.

6. The robotic construction system according to claim 3, wherein, The lifting device is of the pinion (16) and rack (17) type.

7. The robotic construction system according to claim 3, characterized in that the lifting device (2) is of the hydraulic cylinder type.

8. The robotic construction system according to claim 1, characterized in that the cantilever (12) has a degree of freedom of rotation relative to the vertical axis.

9. The robotic construction system according to claim 8, characterized in that the cantilever (12) has a second degree of freedom of rotation relative to the horizontal axis.

10. The robotic construction system according to claim 1, characterized in that each of the nozzles (34) is provided with an on / off valve (35) controlled by the controller.

11. The robotic construction system according to claim 1, characterized in that at least one of the nozzles (34) is supplied by the supply device (5) with a fluid construction material different from the construction material supplied to the remaining nozzles (34).

12. The robotic construction system according to claim 1, characterized in that at least one of the nozzles (34) is capable of moving horizontally relative to the fixed nozzles (34) by means of a motor controlled by the controller.

13. The robotic construction system according to claim 1, characterized in that at least one of the nozzles (34) has a square cross-section.

14. The robotic construction system according to claim 1, characterized in that one of the nozzles (34) supplies a mold (38) to form a solid construction element having a predetermined shape, and the solid construction element is deposited at a position determined by the controller.

15. The robotic construction system according to claim 14, characterized in that the mold (38) is heated.

16. The robotic construction system according to claim 14, characterized in that the material hardens under light.

17. The robotic construction system according to claim 14, characterized in that the mold (38) has a vibrating device for compacting the fluid construction material.

18. The robotic construction system according to claim 14, characterized in that the mold (38) has a pressure compaction device for the fluid construction material.

19. The robotic construction system according to claim 1, characterized in that at least one of the manufacturing tools (3) includes one or more nozzles (34) that are hydraulically connected to the supply device (5), coupled to the cantilever (12) and constituted by a leveling device for a horizontal surface (60) and / or a vertical surface (70), the leveling device including at least one ruler (63), through which the material exits and is distributed on the horizontal surface and / or the vertical surface.

20. The robotic construction system according to claim 19, characterized in that at least one of the rulers is fastened to an attachment (77) that connects it to a support (78), and is moved by an actuator (74) and a quick return mechanism (79).

21. The robotic construction system according to claim 19, characterized in that The robot construction system includes a guided pipe (71) that performs a swinging movement to release construction materials, and a pipe (72) connected to compressed air to throw the materials onto the surface.

22. The robot construction system according to any one of claims 1 to 21, wherein, at least one of the manufacturing tools (3) includes one or more nozzles (34) that are hydraulically connected to the supply device (5), coupled to the cantilever (12), and are constituted by a manipulator that picks up a panel (95) from raw materials provided at a specific location and applies it to a wall.

23. The robot construction system according to any one of claims 1 to 21, wherein, at least one of the manufacturing tools (3) includes one or more nozzles (34) that are hydraulically connected to the supply device (5), coupled to the cantilever (12), and the manufacturing tool is constituted by an adhesive extruder that includes a collector (91) connected to a pipe (19) for the material, and the adhesive material exits from the pipe connected to the material.

24. The robot construction system according to any one of claims 1 to 21, wherein, at least one of the manufacturing tools (3) includes one or more nozzles (34) that include a printing roller (36) for depositing a layer with a given design.

25. The robot construction system according to claim 24, wherein, the printing roller (36) includes a structure (102) to which four concentric tubes (37) are fixed, and the four concentric tubes are arranged one inside the other, two of the four concentric tubes are rotatable, and the tubes have a series of hollow portions in their surfaces such that when the tubes rotate with the injected material, they construct a building element.

26. The robot construction system according to any one of claims 1 to 21, wherein, at least one of the manufacturing tools (3) includes one or more nozzles (34) supplied by a gun or mechanism for throwing the construction materials onto a support or onto itself to produce a new building element or deposit a layer on other existing layers.

27. The robot construction system according to any one of claims 1 to 21, wherein, at least one of the manufacturing tools (3) includes side plates that have an angular movement by means of a motor that allows providing support for the deposited material and / or imparting a given shape to the material when the material has been deposited due to the roughness of the side plates.

28. The robot construction system according to any one of claims 1 to 21, wherein, At least one of the manufacturing tools (3) includes a dressing and polishing disk (64), the dressing and polishing disk including a rotary motor (641) with a high rotational speed, the rotary motor rotating a rigid support disk (644), a dressing disk (643) of a different material being coupled to the rigid support disk and fixed on a motor shaft (645) and allowing for the polishing of a surface.

29. The robotic construction system according to any one of claims 1 to 21, characterized in that the robotic construction system includes a weather protection system, the weather protection system extending horizontally from one colonnade (6) to another colonnade in the direction of the bridge (9) and on one side and both sides of each bridge (9), and the weather protection system extending or retracting according to the movement of the bridge (9) to allow for the free movement of the weather protection system.

30. The robotic construction system according to any one of claims 1 to 21, characterized in that the bridge (9) is telescopic in its length to adapt the bridge itself to the variable distance between the horizontal beams (8).

31. The robotic construction system according to any one of claims 1 to 21, characterized in that the supply device (5) for the supply of one or more fluid construction materials to the manufacturing tool (3) is one or more unmanned aerial vehicles having one or more deposits of construction materials.

32. The robotic construction system according to any one of claims 1 to 21, characterized in that the power supply device (4) and the supply device (5) include a system through which a pipe (19) connected to the material passes, the system being driven and controlled by the controller.

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