Method for 3D printing at least a part of a structure, device and equipment for carrying out such a method

Abstract

The invention relates to a method for 3D printing at least a part (T) of a structure (BW), wherein the method comprises the steps: a) forming an initial end face (AS) of a strand (S) of construction and / or thick material (B), such that the initial end face (AS) extends transversely to a substantially horizontal discharge direction (A) of the strand (S), wherein the forming of the initial end face (AS) is carried out by applying an automatically adjustable trowel device (1); and b) when the initial end face (AS) has been formed: removing the automatically adjustable trowel device (1) from the initial end face (AS) during and / or before and / or after a discharge of the strand (S) along the discharge direction (A) and a deposit of the discharged strand (S) thereby generating a 3D printed layer (L) of construction and / or thick material (B).

Description

SCOPE OF APPLICATION AND STATE OF THE ART

[0001] The invention relates to a method for 3D printing at least a part of a structure. The invention also relates to a device for carrying out such a method. Furthermore, the invention relates to a device, in particular another device, for carrying out such a method. TASK AND SOLUTION

[0002] It is an object of the present invention to provide a method for 3D printing at least a part of a structure, as well as a device for carrying out such a method and, in particular, a different device for carrying out such a method, each of which has improved properties. In particular, it should enable a particularly precise definition of a layer start and / or a layer end of a 3D printed layer.

[0003] This problem is solved by the subject matter of the independent patent claims. Preferred embodiments are the subject matter of the dependent patent claims. The wording of all claims is incorporated by express reference into the present description.

[0004] A method according to the invention serves for 3D printing at least a part of a building. In particular, according to the method, at least one part or several parts of a building are 3D printed. In particular, at least a part of a wall structure of the building or the entire wall structure of the building can be 3D printed. The at least partial 3D printing of the building can be carried out at a final construction site for the building or at a prefabrication site for a part of the building. In particular, the method is carried out automatically. In this context, "3D printing" can correspond to a "layer-by-layer application of building material".

[0005] The process comprises step a), according to which an initial end face of a strand of construction and / or thick material is formed. According to step a), the initial end face is formed such that it runs perpendicular to a substantially horizontal discharge direction of the strand. The forming of the initial end face is carried out according to step a) by applying an automatically adjustable trowel device.

[0006] The process includes a step b) according to which the automatically adjustable trowel device is removed from the initial end face, in particular automatically, once the initial end face has been formed. The removal of the automatically adjustable trowel device according to step b) occurs during and / or before and / or after the extrusion of the strand along the discharge device, as well as during and / or before and / or after the deposit of the extruded strand, thereby generating a 3D-printed layer of building material and / or thick material. The removal of the automatically adjustable trowel device from the initial end face according to step b) is specifically performed only after step a) has been completed. In particular, the trowel device is automatically adjusted relative to the initial end face for removal.

[0007] This method enables the initial end face, which defines the start of each 3D-printed layer, to be formed with exceptional precision and / or reliability. This can positively impact the precision of the 3D-printed component of the structure, which comprises a stack of 3D-printed layers, each of which can have at least one end face shaped according to the method. Therefore, the advantages of this method can be exploited multiple times, particularly automatically, during the 3D printing of the component.

[0008] The building material can be a viscous substance. It can be a paste-like mixture of different materials. The viscous substance can be mortar, cement, screed, or concrete, each in a mixable and / or pumpable state. In this mixable and / or pumpable state, the building material and / or viscous substance is not yet hardened and / or set. In particular, the building material and / or viscous substance is thixotropic and / or has a compressive strength.

[0009] The terms "encompass" or "have" can be used synonymously with each other and with the term "exhibit".

[0010] The phrase “- as well as alternatively or additionally -” can be replaced by the phrase “and / or” and vice versa.

[0011] The terms "position" and "adjust" can be used synonymously with each other and with the term "move".

[0012] Within the context of this disclosure, "control" can mean "steer" and / or "regulate." Accordingly, "controllable" can be understood as synonymous with "regulatory" and / or "controllable."

[0013] Advantageously, the trowel device can have a trowel body that features a forming surface, particularly one that is substantially flat, for contacting and forming the initial end face. At least one contact section of the forming surface can have a negative mold that is complementary to a mold of the end face to be formed. In particular, the negative mold and the resulting mold are flat and / or smooth.

[0014] In an embodiment of the invention, the method includes a step c) in which the ladle device is automatically adjusted such that the strand, in particular the discharged and / or deposited strand, is at least partially cut through in order to generate and / or, in particular, to form an end face of the 3D-printed layer extending transversely to the discharge direction. During step c), either a predetermined breaking point for generating the end face can be created by only partially cutting the strand, or the end face can be formed by completely cutting the strand using the ladle device. In this way, the automatic and / or particularly precise generation of not only an initial end face but also an end face of the 3D-printed layer is enabled. The 3D-printed layer extends, in particular, along the discharge direction between the initial end face and the end face.

[0015] Advantageously, the trowel device can be pressed against the strand, particularly after it has been at least partially cut in the discharge direction, especially after it has been discharged and / or deposited. In particular, such pressure from the trowel device can compact and / or compress the building and / or thick material of the strand at the end face, especially locally and / or superficially. In this way, the end face can be shaped with particular precision and / or reliability.

[0016] The trowel body of the trowel device may expediently have a serrated edge contour, at least in sections, for at least partially cutting through the strand at the initial end face.

[0017] In a further embodiment of the invention, the trowel device is adjusted transversely, in particular perpendicularly, to the discharge direction, in particular along the initial end face, at least when carrying out step b).

[0018] The trowel device can be adjusted transversely, especially perpendicularly, to the discharge direction, especially along the end face, when carrying out step c), which is particularly optional.

[0019] In a further embodiment of the invention, the paddle assembly remains stationary relative to the initial end face during the forming process. In particular, the paddle assembly is only adjusted, especially relative to the initial end face, once the initial end face has been formed. Alternatively or additionally, a print head, designed for the shaping discharge of the strand of construction material and / or thick material along the substantially horizontal discharge direction, is moved opposite to the discharge direction relative to the initial end face while the paddle assembly is positioned against the initial end face, particularly while stationary, for forming the initial end face. Thus, a relative movement between the print head and the paddle assembly, especially along the discharge direction, can occur during the forming of the initial end face.In particular, the cross-sectional geometry of the strand is defined by the print head before the formed strand is deposited. Specifically, the formed strand undergoes essentially no further changes in its cross-sectional shape after it has been deposited.

[0020] An apparatus according to the invention serves to carry out a method according to the invention as described above. In particular, the apparatus is configured to carry out the method. The advantages of the method according to the invention, as explained above, can be achieved at least partially by means of the apparatus. The apparatus has a printhead, in particular the one mentioned above. The printhead is designed for the shaping discharge of the strand of construction material and / or thick material along the substantially horizontal discharge direction. In particular, the printhead is not designed for the vertical discharge of the strand of construction material. The apparatus also has a base and a controllable movement mechanism.The print head is movable relative to the device base by means of the movement device, in particular automatically, to deposit the extrusion while generating the 3D printed layer, especially depending on predetermined digital structure data. The device base can be stationary relative to a print bed for 3D printing at least part of the structure, particularly at least during the execution of the method. The device has an automatically adjustable blade assembly. Furthermore, the device has a controllable positioning device designed for automatically adjusting the blade assembly relative to the print head. The blade assembly is supported by the print head in such a way that it is movable together with the print head by means of the movement device and also adjustable relative to the print head, in particular automatically, by means of the positioning device.The position of the paddle device relative to the printhead can therefore be adjusted over time while the printhead is being moved relative to the device base.

[0021] The device expediently includes a measuring device, in particular with a camera, which detects a depositing area for depositing the formed strand in the discharge direction immediately in front of the print head.

[0022] Advantageously, the adjusting device can be configured to adjust the paddle assembly horizontally relative to the printhead between two ends of a movement path, particularly a straight one. The adjusting device can also be configured to pivot the paddle assembly, particularly the one located at one end of the movement path, relative to the printhead. Thus, to generate the initial end face and / or the final end face, the paddle assembly can be pivoted transversely to the dispensing direction relative to the printhead.

[0023] In a further embodiment of the invention, the adjusting device is configured to adjust the paddle assembly, in particular the paddle body of the paddle assembly, relative to the printhead along a closed, circumferential path of movement. The path of movement can define a guide contour for the movement of the paddle assembly relative to the printhead. In particular, the path of movement describes a substantially quadrilateral, and especially trapezoidal, area. The area can be parallel to the discharge direction and vertically planar. In particular, the area is substantially parallel to the direction of gravity and parallel to the discharge direction. "Substantially quadrilateral" can refer to the fact that the area has rounded corner regions.

[0024] In a further embodiment of the invention, the motion path comprises a first horizontal path section. The motion path also has a second horizontal path section. The first horizontal path section and the second horizontal path section can be arranged at a distance from each other, particularly along the direction of gravity. The distance, particularly vertical, between the two horizontal path sections can be greater than the vertical cross-sectional height of the strand that can be formed by means of the print head. The motion path further comprises a third path section, particularly vertical, wherein the third path section connects the first end sections of the horizontal path sections that point opposite to the discharge direction. The motion path also has a fourth path section, particularly inclined, wherein the fourth path section connects the second end sections of the horizontal path sections that point in the discharge direction.The third and fourth path sections can be spaced apart along the discharge direction. The third and fourth path sections can extend at acute angles to each other, particularly converging in the direction of gravity.

[0025] The movement of the paddle assembly relative to the printhead can be conveniently divided into movement phases as follows. At the beginning of a first movement phase, the paddle assembly can be located at a position relative to the printhead defined by the first end of the second horizontal path segment. Starting from this position, the paddle assembly can be moved during the first movement phase in the discharge direction to a position relative to the printhead determined by the second end of the second horizontal path segment. In particular, the printhead can be moved against the discharge direction during the first movement phase, especially so that the paddle assembly is stationary relative to the device base. A second movement phase can begin when the paddle assembly is located at the position determined by the second end of the second horizontal path segment.During the second movement phase, particularly immediately following the first movement phase, the paddle assembly can be adjusted along the fourth path segment to a position relative to the printhead defined by the second end of the first horizontal path segment. During the second movement phase, the printhead can be adjusted against the discharge direction, particularly so that the paddle assembly is moved exactly vertically away from the device base. A third movement phase can begin when the paddle assembly is in the position defined by the second end of the first horizontal path segment. During the third movement phase, the paddle assembly can be adjusted against the discharge direction along the first horizontal path segment to a position relative to the printhead defined by the first end of the first horizontal path segment.Starting from the position of the paddle assembly determined by the first end of the first horizontal path section, the paddle assembly can be adjusted vertically, particularly in the direction of gravity, relative to the printhead during a fourth movement phase until it reaches a position relative to the printhead determined by the first end of the second horizontal path section. In this position, determined by the first end of the second horizontal path section, the paddle assembly, particularly the paddle body, can cover a discharge opening of the printhead, particularly directly.The fourth movement phase can either be followed by the first movement phase, so that a further cycle of the movement described above along the movement path can be carried out, or an optional fifth movement phase can follow, during which the paddle device is moved back vertically against the direction of gravity along the third path section to the position relative to the print head defined by the first section end of the first horizontal path section.

[0026] In a further embodiment of the invention, the adjusting device comprises a traction element drive, in particular in the form of a chain drive. A guide path of a traction element of the traction element drive, in particular a chain of the chain drive, can define a movement path, in particular the one described above, for adjusting the paddle device relative to the print head.

[0027] In a further embodiment of the invention, the actuating device has a cam mechanism, in particular with parallel guidance.

[0028] In a further embodiment of the invention, the positioning device includes a robot assembly, in particular in the form of a duopod robot assembly. The duopod robot assembly can be a two-axis delta robot.

[0029] In a further embodiment of the invention, the adjusting device of the apparatus comprises two drive units, in particular connected in parallel or in series, each configured either for linear or rotary adjustment of the paddle assembly relative to the printhead. In particular, the two drive units are configured for simultaneous and / or superimposed adjustment of the paddle assembly relative to the printhead.

[0030] In a further embodiment of the invention, the adjusting device has a first linear drive for horizontally adjusting the paddle assembly relative to the printhead. The adjusting device also has a second linear drive for vertically adjusting the paddle assembly relative to the printhead.

[0031] It is advantageous, in particular at least or exactly, for one of the trowel bodies of the trowel device to be pivotably adjustable.

[0032] Advantageously, the scooping device can have several scoop bodies, one of which can be selected for the process by pivoting it into its working orientation, particularly vertically, especially automatically or by operator input. Under certain circumstances, the same or a different scoop body can be selected for step c) as for steps a) and b). The several scoop bodies can be pivoted about a horizontal axis oriented perpendicular to the discharge direction. Alternatively or additionally, if necessary, an oblique cutting of the strand can be enabled and / or carried out after pivoting the scoop body.

[0033] In particular, it is conceivable that at least one ladle body, especially for steps a) to c) of the method, is designed to completely cover the discharge opening of the printhead, through which the strand can be discharged. In particular, another ladle body can be designed to only partially cover the discharge opening, so that the strand can be formed through an uncovered area of ​​the discharge opening with a cross-section different from that of the discharge opening itself. In particular, by means of such another ladle body, the strand can be produced with a channel profile and / or a trough profile directly during its discharge by appropriately adapting its cross-section to that of the discharge opening. For example, it is conceivable that the selectable ladle bodies differ at least in their width.

[0034] A device according to the invention, in particular a different device, and especially one distinct from the device described above, serves to carry out the method according to the invention as described above. In particular, the device according to the invention is designed to carry out the method according to the invention. The advantages of the method according to the invention mentioned above can be achieved at least partially by means of the device according to the invention. The device has an automatically adjustable trowel assembly. Furthermore, the device has a controllable climbing mechanism, wherein the climbing mechanism supports the trowel assembly. The climbing mechanism is designed to automatically climb at least one generated 3D-printed layer, in particular a stack of generated 3D-printed layers, in order to automatically adjust the trowel assembly relative to the at least one 3D-printed layer.In particular, the device is physically separate from a print head for shaping and dispensing the strand of construction and / or thick material.

[0035] In a further embodiment of the invention, the climbing device is designed for releasable, in particular form-fit and / or force-fit, attachment to at least one 3D-printed layer, especially to the layer stack. In particular, the climbing device for attachment is controllable.

[0036] It may be useful to attach climbing aids adapted to the climbing device to the stack of layers, especially at the corners of the stack.

[0037] In a further embodiment of the invention, the climbing device, in particular driven wheels, has wheels for rolling, in particular opposing wheels, in a friction-fit manner along the at least one 3D-printed layer, in particular the layer stack. Alternatively or additionally, the climbing device has two grip assemblies, each of which is designed and / or controllable for releasably, in particular by positive and / or frictional, gripping the at least one 3D-printed layer, in particular the layer stack, and which are adjustable relative to each other by means of an adjusting device of the climbing device, in particular to perform a vertical walking movement. Each grip assembly can have two grips, adjustable horizontally relative to each other, for releasably gripping the at least one 3D-printed layer between the two grips.

[0038] It is conceivable that the device described above and the separate apparatus could be used simultaneously to carry out one embodiment of the method according to the invention. For example, steps a) and b) could be carried out using the apparatus, whereas step c) could be carried out using the apparatus on the printhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Further advantages and features of the invention will become apparent from the claims and from the following description of preferred embodiments of the invention, which are illustrated with reference to the drawings. In this context, identical reference numerals refer to identical, similar, or functionally equivalent components.

[0040] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention. Fig. Figure 1 shows an exemplary flowchart for carrying out an embodiment of a method according to the invention for 3D printing at least a part of a structure, Fig. Figure 2 shows a rough schematic of the movement sequence of a trowel device when carrying out one of the procedures according to Fig. 1, Fig. Figure 3 shows a schematic side view of a traction gear of an actuating device of an embodiment of a device according to the invention for carrying out the method according to Fig. 1, Fig. 4 schematically a side view of the traction gear Fig. 3 device having Fig. 5 the device according to Fig. 4 with in contrast to the representation of the Fig. 4 adjusted trowel attachments, Fig. 6 in schematic side view the device according to the Fig. 4 and Fig. 5 compared to the representation according to Fig. 5 further adjusted trowel device, Fig. Figure 7 shows a schematic side view of a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, Fig. Figure 8 shows a schematic side view of a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, Fig. Figure 9 shows a further embodiment of the device according to the invention for carrying out the method according to schematic side view. Fig. 1, Fig. 10 in schematic top view an embodiment of a device according to the invention when carrying out the method according to the invention Fig. 1, Fig. 11 in schematic side view the facility according to Fig. 10, Fig. 12 in schematic top view a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, Fig. 13 in schematic top view a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, Fig. 14 in schematic side view a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, Fig. 15 in successive lateral snapshots a further embodiment of the device according to the invention for carrying out the method according to Fig. 1 when performing a vertical stepping movement, Fig. 16 in schematic perspective view a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, Fig. 17, Fig. 18, Fig. 19 to Fig. 20 in successive lateral snapshots the device according to Fig. 16 in the case of a properly executed movement sequence, Fig. 21 in schematic perspective representation a further embodiment of the device according to the invention for carrying out the method according to Fig. 1, and Fig. 22, Fig. 23, Fig. 24 to Fig. 25 in successive lateral snapshots the device according to Fig. 16 if the movement is carried out according to procedure. DETAILED DESCRIPTION OF THE EXECUTION EXAMPLES

[0041] A method is used for 3D printing at least one part T of a building BW. The part T of the building BW can be a wall structure of the building BW.

[0042] The process includes a step a) in which the initial end face AS of a strand S of construction and / or thick material B is formed. The initial end face AS is formed such that it runs perpendicular to a substantially horizontal discharge direction A of the strand S. According to step a), the initial end face AS is formed by applying an automatically adjustable trowel device 1. The trowel device 1 can therefore be applied to the end face of the strand S to give the initial end face AS its shape through contact.

[0043] Furthermore, the process includes a step b) according to which – once the initial end face AS has been formed – the automatically adjustable trowel device 1 is removed from the initial end face AS. This removal of the trowel device 1 from the initial end face AS occurs while the strand S is being extruded along the discharge direction A and the extruded strand S is being deposited, creating a 3D-printed layer L of building material and / or thick material B. Alternatively or additionally, the removal of the trowel device 1 from the initial end face AS can occur before or after the extrusion of the strand S along the discharge direction A and the depositing of the extruded strand S, creating the 3D-printed layer L.

[0044] The discharge direction A corresponds in particular to the direction along which the strand S, immediately after its forming, leaves a print head 2, which is designed for the forming discharge of the strand S of construction and / or viscous material B along the discharge direction A. The discharge direction A can thus correspond to an extrusion direction of the strand S, in particular wherein the formed and discharged strand S has a constant cross-sectional area oriented perpendicular to the discharge direction A.

[0045] For example, when performing step b), the trowel device 1 is adjusted transversely, for example perpendicularly, to the discharge direction A, for example parallel to the initial end face AS.

[0046] For example, the trowel device 1 is stationary relative to the initial end face AS when forming the initial end face AS.

[0047] For example, the printhead 2 is moved, particularly as an alternative or additional measure to holding the paddle unit 1 stationary relative to the initial end face AS, in the opposite direction to the discharge direction A relative to the initial end face AS. During this movement of the printhead 2 in the opposite direction to the discharge direction A, the paddle unit 1 remains in contact with the initial end face AS for forming it. The paddle unit 1 can thus, during the adjustment of the printhead 2, accumulate the build material and / or viscous material B of the strand S while forming the initial end face AS and / or form it locally, particularly only temporarily on one side.

[0048] For example, the method includes a step c) according to which the paddle device 1 is automatically adjusted such that the strand S, which may have been previously discharged and / or deposited, is at least partially severed. The strand S can be at least partially severed by means of the paddle device 1 to create an end face ES of the 3D-printed layer L that runs transversely to the discharge direction A. Alternatively or additionally, the end face ES of the 3D-printed layer L can be formed by at least partially severing the strand S, in particular by contact with it using the paddle device 1.

[0049] It is conceivable that the blade assembly 1 only partially cuts through the strand S to create the end face ES, for example, to create a predetermined breaking point in the strand S. Alternatively, it is possible that the blade assembly 1 is automatically adjusted in such a way that the strand S is completely cut through by the blade assembly 1 while creating and / or forming the end face ES.

[0050] For example, when performing step c), the trowel device 1 is adjusted transversely, for example perpendicularly, to the discharge direction A. The trowel device 1 can be adjusted parallel to the initial end face AS and / or parallel to the final end face ES.

[0051] The initial end face AS and / or the final end face ES, for example, is essentially vertically oriented.

[0052] For example, after at least partially cutting the strand S, the trowel device 1 can be pressed against the deposited strand S in the discharge direction A.

[0053] The trowel device 1, for example, is essentially flat and vertically extended perpendicular to the discharge direction A, at least when forming the initial end face AS and / or when generating the final end face ES. To at least partially cut the strand S during step c), a transverse edge of a trowel body of the trowel device 1 facing the strand S can have a serrated contour.

[0054] The method can be carried out, for example, using a device 20. The device 20 is designed to carry out the method. The device 20 includes the print head 2. Furthermore, the device 20 has a device base 22 and a controllable motion device 23. The print head 2 is movable relative to the device base 22 by means of the motion device 23, in this case automatically. By moving the print head 2 relative to the device base 22 by means of the motion device 23, the strand S formed and extruded by the print head 2 can be deposited, in particular automatically, thereby generating the 3D printed layer L.

[0055] The movement device 23 can be controlled depending on predetermined digital building data in order to deposit the strand S while generating the 3D printing layer depending on the digital building data.

[0056] The device 20 comprises a trowel assembly 1 that is automatically adjustable for the process and a controllable positioning device 24, wherein the positioning device 24 is designed for automatically adjusting the trowel assembly 1 relative to the printhead 2. The positioning device can be automatically controlled depending on digital building data. The trowel assembly 1 of the device 20 is supported by the printhead 2 such that it is movable together with the printhead 2 by means of the movement device 23 and is adjustable relative to the printhead 2, in particular automatically, by means of the positioning device 24. In particular, the trowel assembly 1 is connected to the printhead 2 by means of the positioning device 24 in order to be supported by the printhead 2.

[0057] For example, the device 20 has a camera K which is carried by the printhead 2. The camera K is aligned and / or designed to capture a detection area directly in front of a discharge opening 70 of the printhead 2. The paddle device 1 is movable relative to the printhead 2 by means of the adjusting device 24 such that the paddle device 1 can be removed from the detection area as completely as possible and / or the detection of the detection area by the camera K is impaired as little as possible.

[0058] The adjusting device 24 of the device 20 can be configured to adjust the paddle device 1 of the device 20 horizontally relative to the printhead 2 between two ends of a, for example, straight, movement path 25. The adjusting device 24 can also be configured to pivot the paddle device 1 relative to the printhead 2 when the paddle device 1 is located at one end of the movement path 25.

[0059] In the present case, the adjusting device 24 is designed to adjust the paddle device relative to the print head 2 along a closed, circumferential movement path 25. This movement path 25 inscribes a substantially quadrilateral, in particular trapezoidal and / or non-rectangular, surface 26. The surface 26 runs parallel to the discharge direction A and is vertically planar. "Substantially quadrilateral" can refer to the fact that the surface 26 – as in the present case – may have rounded corner areas 27.

[0060] For example, motion path 25 has a first horizontal path segment 28. Motion path 25 also has, for example, a second horizontal path segment 29. The first horizontal path segment 28 and the second horizontal path segment 29 can be arranged at a vertical distance from each other. The first horizontal path segment 28 and the second horizontal path segment 29 can be of different lengths.

[0061] The movement path 25, for example, has a third path section 30, which is vertical in this case. By means of the third path section 30, a first section end 31 of the first horizontal path section 28, pointing against the discharge direction A, is connected to a first section end 31 of the second horizontal path section 29.

[0062] For example, the movement path 25 also has a fourth path section 32, which is inclined in this case. In this case, a second section end 33 of the first horizontal path section 28 pointing in the discharge direction A and a second section end 33 of the second horizontal path section 29 pointing in the discharge direction A are connected to each other by means of the fourth path section 32.

[0063] The motion path 25 defines, for example, a movement of the paddle device 1, in particular of the paddle body of the paddle device 1, relative to the printhead 2. For example, each path segment 28, 29, 30, 32 defines at least or exactly one movement phase of the movement of the paddle device 1 relative to the printhead 2.

[0064] The movement of the paddle assembly 1 of the device 20 relative to the printhead 2 can be expediently divided into movement phases as follows. At the beginning of a first movement phase, the paddle assembly 1 can be located at a position relative to the printhead 2 defined by the first section end 31 of the second horizontal path section 29. Starting from this position, the paddle assembly 1 can be adjusted during the first movement phase in the discharge direction A up to a position relative to the printhead 2 determined by the second section end 33 of the second horizontal path section 29. In particular, the printhead 2 can be moved during the first movement phase against the discharge direction A, especially such that the paddle assembly 1 is stationary relative to the device base 22.A second movement phase can begin when the paddle assembly 1 is at the position determined by the second end 33 of the second horizontal path section 29. During the second movement phase, and particularly immediately following the first movement phase, the paddle assembly 1 can be moved along the fourth path section 32 to a position relative to the printhead 2 defined by the second end 33 of the first horizontal path section 28. During the second movement phase, the printhead 2 can be moved opposite to the discharge direction A, in particular so that the paddle assembly 1 is moved exactly vertically away from the device base 22. A third movement phase can begin when the paddle assembly 1 is at the position determined by the second end 33 of the first horizontal path section 28.During the third movement phase, the paddle assembly 1 can be adjusted against the discharge direction A along the first horizontal path section 28 to a position relative to the printhead 2 defined by the first section end 31 of the first horizontal path section 28. Starting from the position of the paddle assembly 1 determined by the first section end 31 of the first horizontal path section 28, the paddle assembly 1 can, during a fourth movement phase, be adjusted vertically relative to the printhead 2, particularly in the direction of gravity G, to a position relative to the printhead 2 defined by the first section end 31 of the second horizontal path section 29. In this position, defined by the first section end 31 of the second horizontal path section 29, the paddle assembly 1, particularly the paddle body, can cover a discharge opening 70 of the printhead 2, particularly directly.The fourth movement phase can either be followed by the first movement phase, so that a further cycle of the movement along the movement path 25 can be carried out, or an optional fifth movement phase can follow, during which the paddle device 1 is moved back vertically against the direction of gravity G along the third path section 30 to the position relative to the print head 2 defined by the first section end 31 of the first horizontal path section 28.

[0065] The actuating device 24 of the device 20, for example, has a traction element drive 34. The traction element drive 34 can be designed in the form of a chain drive 35. A guide path 36 of a traction element 37 of the traction element drive 34, in particular a guide path 36 of a chain of the chain drive 35, can define the movement path 25 for adjusting the paddle device 1 relative to the print head 2.

[0066] Alternatively or additionally, the actuating device 24 can have a cam mechanism 38. The cam mechanism 38 can include a parallel guide 39.

[0067] Alternatively or additionally, the positioning device 24 can include a robot unit 40. The robot unit 40 can be designed in the form of a duopod robot unit 43.

[0068] For example, the positioning device 24 has two drive units 41, 42. The two drive units 41, 42 can be arranged in parallel or in series. The drive units 41, 42 are each configured either for linear or rotary adjustment of the paddle unit 1 relative to the printhead 2. According to the embodiment shown Fig. 9 the positioning device 24 has, for example, a first linear drive 41, 41a for horizontal adjustment of the paddle device 1 relative to the printhead 2 and a second linear drive 42, 42a for vertical adjustment of the paddle device 1 relative to the printhead 2.

[0069] For example, according to the Fig. 16, Fig. 17, Fig. 18, Fig. 19, Fig. 20, Fig. 21, Fig. 22, Fig. 23, Fig. 24 to Fig. 25 The adjusting device 24, in addition to the two rotary drive devices 41, 42, has a further drive device 44. The further drive device 44 can be configured to pivot the blade assembly 1 about a horizontal axis H perpendicular to the discharge direction A. For example, the further drive device 44 has an electric linear drive, in particular an electric cylinder. In principle, due to the pivot adjustability of the blade assembly 1, in particular its blade body, it is possible to cut the strand S at an angle relative to the discharge direction A and the direction of gravity G. In this respect, the production of an inclined end face ES may occur.

[0070] The method for 3D printing at least one part T of a structure BW, as described above, can alternatively or additionally be carried out using a device 50. The device 50 is designed accordingly for carrying out the method. The device 50 is designed differently from the apparatus 20.

[0071] The device 50 has a trowel device 1 that is automatically adjustable for the process, in particular a different type. Furthermore, the device 50 has a climbing device 51, wherein the climbing device 51 supports the trowel device 1. The climbing device 51 is configured to automatically climb at least one previously produced 3D-printed layer L, in particular against the direction of gravity G. By climbing the at least one produced 3D-printed layer L, the trowel device 1 is automatically adjustable relative to the at least one climbed 3D-printed layer L, in particular to execute the process, more specifically step a) and / or step b) and / or step c). For example, the climbing device 51 is configured to automatically climb a stack LS of produced and stacked 3D-printed layers L.

[0072] The climbing device 51 is designed, for example, for releasably, in this case force-fit, holding onto the at least one 3D-printed layer L, in particular the layer stack LS. Alternatively or additionally, the climbing device 51 can be designed for releasably form-fit holding onto the at least one 3D-printed layer L. The climbing device 51 is designed, for example, to climb onto the at least one 3D-printed layer L by engaging opposite, vertically extending lateral flanks of the at least one 3D-printed layer L in the extrusion direction A.

[0073] It is conceivable to attach climbing aids adapted to the climbing device 51 to the layer stack LS, especially at the end and / or corner areas of the layer stack LS, but this is not shown here.

[0074] For example, the climbing device has 51 wheels 52, as is particularly evident in the Fig. 10 and Fig. Figure 11 shows that at least one or all of the wheels 52 can be driven. To drive at least one wheel 52, in particular several of the wheels or even all of the wheels 52, the climbing device 51 can have at least one controllable wheel rotation drive device 53. At least two of the wheels 52 are designed, for example, to roll, in particular opposite each other, in a frictional manner on the at least one 3D printed layer L, in this case on the layer stack LS.

[0075] The climbing device 51 can have a controllable lifting and / or pressing device 54 for lifting and / or pressing the wheels 52 against the at least one 3D printed layer L or from the at least one 3D printed layer L. Alternatively or additionally, the climbing device 51 can have a preloading device 55, in particular a flexible one, for generating a preload force pressing the wheels 52 against the 3D printed layer L.

[0076] The climbing device 51 can have a support frame 56 for carrying the wheels 52. The wheels 52 can be connected to the support frame 56 by means of the lifting and / or pressing device 54 and / or by means of the wheel rotation drive device 53 and / or by means of the pretensioning device 55, as shown here.

[0077] For example, the device 50 has a linear actuator 57 which is designed to vertically adjust the trowel device 1 relative to the climbing device 51.

[0078] Alternatively or additionally, the climbing facility can be used, as is particularly common in the Fig. 12, Fig. 13, Fig. 14 to Fig. Figure 15 shows two clamping devices 53. Each of the clamping devices 53 is designed for detachable, in particular form-fit and / or force-fit, retention on the at least one 3D printed layer L, in particular on the layer stack LS.

[0079] For example, the claw devices 53 are adjustable relative to each other by means of an adjusting device 60 of the climbing device 51, in particular to perform a vertical walking movement. The vertical walking movement is shown by means of successive snapshots in the illustration according to the Fig. 15 understandable.

[0080] Each of the clamping devices 53 has a pair of clamps 58. In total, there are four clamps 58, two of which are assigned to each of the two clamping devices 53. Each clamping device 53 has, for example, a horizontal linear drive 59, by means of which the clamps 58 belonging to that clamping device 53 can be adjusted apart from each other and / or towards each other in order to hold or release the clamping of at least one 3D printed layer L.

[0081] Each of the clamping devices 53 has a controllable lifting and / or pressing device 54 by means of which the two clamps 58 of the respective clamping device 53 can be adjusted towards each other in order to hold the at least one 3D printed layer L in place. The lifting and / or pressing device 54 can also be used to move the clamps 58 of each clamping device 53 apart in order to release them from holding the at least one 3D printed layer L in place.

[0082] Each claw 58 can be guided and movable relative to the support frame 56 of the climbing device 51 by means of a guide device 61, which in this case has a guide pin.

[0083] In the illustration depicting the walking motion according to Fig. 15. Holding pad devices 53 are each marked by a black-filled circular ring, whereas released pad devices 53 are each represented by an unfilled circular ring. The circular rings can correspond to the controllable lifting and / or pressing device 54 of the respective pad device 53, see in particular. Fig. 14.

Claims

[1] Method for 3D printing at least one part (T) of a structure (BW), wherein the method comprises the steps: a) Forming an initial end face (AS) of a strand (S) of construction and / or thick material (B) such that the initial end face (AS) runs transversely to a substantially horizontal discharge direction (A) of the strand (S), wherein the forming of the initial end face (AS) is carried out by applying an automatically adjustable trowel device (1); and b) when the initial end face (AS) has been formed: removal of the automatically adjustable trowel device (1) from the initial end face (AS) during and / or before and / or after the discharge of the strand (S) along the discharge direction (A) and the depositing of the discharged strand (S) generating a 3D printed layer (L) of building and / or thick material (B). [2] Method according to the preceding claim, wherein the method comprises the following step: c) Automatic adjustment of the paddle device (1) so that the strand (S), in particular the discharged and / or deposited strand, is at least partially cut through in order to produce and / or, in particular by contacting, form an end face (ES) of the 3D printed layer (L) extending transversely to the discharge direction (A), in particular wherein the paddle device (1) is pressed against the strand (S), in particular the discharged and / or deposited strand, after the strand (S) has been at least partially cut through in the discharge direction (A), in order to produce and / or form the end face (ES). [3] Method according to any one of the preceding claims, - wherein the trowel device (1) is adjusted at least when carrying out step b) transversely, in particular perpendicularly, to the discharge direction (A), in particular along the initial end face (AS). [4] Method according to any one of the preceding claims, - wherein the trowel device (1) is stationary relative to the initial end face (AS) during the forming of the initial end face (AS); and / or - wherein a print head (2), which is designed for shaping the strand (S) of construction and / or thick material (B) along the substantially horizontal discharge direction (A), is moved against the discharge direction (A) relative to the initial end face (AS), while the trowel device (1) for shaping the initial end face (AS) is applied to the initial end face (AS). [5] Device (20) for carrying out a method according to one of the preceding claims, wherein the device (20) comprises: - a print head (2) which is designed for shaping the strand (S) of construction and / or thick material (B) along the substantially horizontal discharge direction (A), - a device base (22) and a controllable motion device (23), wherein the print head (2) is movable relative to the device base (22) by means of the motion device (23), in particular automatically, in order to deposit the strand (S) while generating the 3D printed layer (L), in particular depending on predetermined digital building data, - an automatically adjustable paddle device (1) and a controllable positioning device (24) for automatically adjusting the paddle device (1) relative to the printhead (2), - wherein the paddle device (1) is supported by the printhead (2) in such a way that it can be moved together with the printhead (2) by means of the movement device (23) and can be adjusted relative to the printhead (2), in particular automatically, by means of the positioning device (24). [6] Device (20) according to the preceding claim, - wherein the adjusting device (24) is designed to adjust the paddle device (1) relative to the print head (2) along a closed circumferential movement path (25), - in particular wherein the movement path (25) describes a substantially quadrilateral, in particular trapezoidal, area (26) which is parallel to the discharge direction (A) and vertically planar. [7] Device (20) according to the preceding claim, - wherein the motion path (25) has a first horizontal path segment (28), - wherein the movement path (25) has a second horizontal path segment (29), - wherein the movement path (25) has a third path section (30), in particular a vertical one, wherein the third path section (30) connects first section ends (31) of the horizontal path sections (28, 29) pointing in the opposite direction to the discharge direction (A), - wherein the movement path (25) has a fourth path section (32), in particular an inclined one, wherein the fourth path section (32) connects the second section ends (33) of the horizontal path sections (28, 29) pointing in the discharge direction (A). [8] Device (20) according to one of the three preceding claims, - wherein the actuating device (24) comprises a traction gear (34), in particular in the form of a chain gear (35), - in particular, wherein a guide path (36) of a traction element (37) of the traction element drive (34) defines a movement path (25) for adjusting the paddle device (1) relative to the print head (2). [9] Device (20) according to any one of the four preceding claims, - wherein the actuating device (24) has a cam mechanism (38), in particular with parallel guidance (39). [10] Device (20) according to any one of the five preceding claims, - wherein the positioning device (24) comprises a robot device (40), in particular in the form of a duopod robot device (43). [11] Device (20) according to any one of the six preceding claims, - wherein the actuating device (24) has two, in particular parallel or in series, drive devices (41, 42) which are each designed either for linear or rotary adjustment of the paddle device (1) relative to the print head (2). [12] Device (20) according to any one of the seven preceding claims, - wherein the actuating device (24) has a first linear drive (41, 41A) for horizontally adjusting the paddle device (1) relative to the printhead (2) and a second linear drive (42, 42A) for vertically adjusting the paddle device (1) relative to the printhead (2). [13] Device (50) for carrying out a method according to any one of claims 1 to 4, wherein the device (50) comprises: - an automatically adjustable trowel device (1), and - a controllable climbing device (51) supporting the trowel device (1), - wherein the climbing device (51) is designed to automatically climb at least one produced 3D printed layer (L), in particular a stack (LS) of produced 3D printed layers (L), in order to automatically adjust the trowel device (1) relative to the at least one 3D printed layer (L). [14] Device (50) according to the preceding claim, - wherein the climbing device (51) is designed to detachably, in particular by form and / or force, hold the at least one 3D printed layer (L), in particular the layer stack (LS). [15] Device (50) according to one of the two preceding claims, - wherein the climbing device (51), in particular driven, wheels (52) for, in particular opposing, frictional rolling on the at least one 3D printed layer (L), in particular on the layer stack (LS), and / or - wherein the climbing device (51) has at least two claw devices (53), each of which is designed to detachably, in particular by positive and / or force-locking, hold the at least one 3D printed layer (L), in particular the layer stack (LS), and which are adjustable relative to each other by means of an adjusting device (60) of the climbing device (51), in particular to perform a vertical walking movement.

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