System for additively manufacturing constructions or components of constructions

Abstract

The invention relates to a system (1) for additively manufacturing constructions (2) or components of constructions (2), wherein a material discharge unit (3) can be moved in several degrees of freedom in order to discharge a mixed building material (4) layer by layer in predefined print pathways (4a), said system at least comprising: - the material discharge unit (3); - a mixing and pumping device (5), which is configured to mix the building material (4) with added water and then convey same from the mixing and pumping device (5) to the material discharge unit (3); - at least one first sensor (6), which is suitable for measuring, directly inline, at least two first physical parameters of the mixed building material (4) continuously during the manufacturing process; - a control unit (7) for controlling the manufacturing process, which control unit is communicatively connected at least to the mixing and pumping device (5) and the at least one first sensor (6) and which receives at least the measured first physical parameters of the at least one first sensor (6) as input signals and which is furthermore configured to continuously adapt and / or optimise the manufacturing process automatically in real time depending on the first physical parameters of the at least one first sensor (6).

Description

[0001] System for the additive manufacturing of buildings or components of buildings

[0002] This application claims priority from German patent application No. 10 2022 127 879.4, the contents of which are incorporated herein by reference.

[0003] The invention relates to a system for the additive manufacturing of buildings or components of buildings.

[0004] The use of 3D printing or additive manufacturing processes for the production of buildings or building components (e.g., walls or formwork) is well known. Additive manufacturing of buildings or their components can significantly increase productivity in the construction industry. So-called 3D concrete printing allows buildings to be manufactured faster and at lower cost. Using a 3D concrete printer, concrete structures can be realized quickly and cost-effectively without formwork, while simultaneously offering maximum design freedom.

[0005] In such a process or system, a material dispensing unit is moved in multiple degrees of freedom to apply a building material (e.g., concrete, mortar, or thermoplastic) layer by layer in predefined print paths. The print paths can be calculated based on 3D data of the structure or component. Such processes are already known from conventional 3D printing. The 3D data of the structure or component can, in particular, be three-dimensional CAD data. The structure or component can be represented in the data, in particular, by points, clouds, edge models, surface models, and / or volume models.

[0006] In known processes, a wet mortar can be continuously produced as a building material by mixing dry mortar or dry concrete with water, which is then pumped or conveyed to a computer-controlled pressure head or material dispensing unit. A major problem in these processes is the fact that the wet mortar must be fluid enough to be pumped or conveyed, yet at the same time, once applied as a layer, must have a sufficiently high mechanical strength to support the subsequent layers above it without collapsing.

[0007] The control and monitoring of 3D printing parameters, such as viscosity, water content, and temperature, of the mixed building material is usually done manually or once, and can only be processed and visualized after a printing session. These conventional methods include, for example, on-site sampling followed by laboratory analysis and sometimes also require sample preparation prior to testing. Finally, the results report is sent to the site for decision-making. If the resulting print properties do not meet requirements, this may require remediation, particularly at least partial destruction of the already printed structure, which can lead to further problems such as cracks and inconsistencies in the print.Furthermore, this is a time-consuming and inefficient process, given rapid industrial growth and increasing demand for 3D-printed houses. Therefore, reliable information on real-time properties of the applied building material is desirable for adequate quality control, robustness, and cost reduction through accurate decision-making, improved consistency, and reduced material usage.

[0008] Furthermore, the 3D concrete printing process is influenced by varying printing conditions and environmental conditions, as well as changes in printer and mixing machine input parameters, such as transport hose diameter and length, print speed, layer time, layer height, layer width, and extrusion. Print rate, cuts, print size, machine type, pump motor power, and material type are also variable parameters for which there is currently no range of values ​​that can be used as a benchmark for quality assurance and control. Currently, no catalogs or specifications exist that provide standards for measuring the quality of a 3D-printed structure under different conditions.

[0009] EP 3 756 845 A1 discloses a system for implementing a manufacturing method of building elements comprising binders and aggregates, in which at least one sensor is provided which is designed to measure at least two physical properties of 3D-printed wet mortar online on its way from the mixing device to an outlet, wherein the physical properties include viscosity and at least one of flowability and density.

[0010] Furthermore, reference is made to EP 3 823 801 B1.

[0011] Based on this, the present invention is based on the object of creating a system of the type mentioned at the outset which avoids the disadvantages of the prior art, in particular improves the print quality of additive manufacturing and reduces the use of materials.

[0012] This object is achieved according to the invention by a system having the features mentioned in claim 1.

[0013] According to the invention, a system for the additive manufacturing of buildings or building components is proposed, wherein a material dispensing unit is movable in several degrees of freedom in order to dispense a mixed building material layer by layer into predetermined printing paths, at least comprising the material dispensing unit, a mixing and pumping device which is designed to mix the building material with supplied water and subsequently convey it from the mixing and pumping device to the material dispensing unit, at least one first sensor which is suitable for continuously measuring at least two first physical parameters of the mixed building material directly inline during the manufacturing process or which continuously measures at least two first physical parameters of the mixed building material directly inline during the manufacturing process, a control unit for controlling the manufacturing process,which is communicatively connected to at least the mixing and pumping device and the at least one first sensor, which receives at least the measured first physical parameters of the at least one first sensor as input signals, and which is further configured to continuously adapt and / or optimize the manufacturing process automatically in real time, at least as a function of the first physical parameters of the at least one first sensor.

[0014] The system according to the invention is equipped with an integrated sensor system capable of directly determining the physical properties of the building material used inline and changing input parameters of the printing process during operation. This further improves the print quality of additive manufacturing and significantly reduces material usage. The inline measurements in the system according to the invention, which are performed directly in the manufacturing process, significantly increase measurement accuracy. In contrast, online measurements are not measured directly in the process, but rather, for example, in a specially installed branch (a "bypass"). Therefore, what is actually happening in the process is not recorded exactly. Other reliable sensors, such asViscosity sensors, water content sensors, temperature sensors, pressure sensors, and water flow sensors can be added to measure properties to achieve appropriate quality control, robustness, cost reduction through more accurate decisions, improved consistency, and reduced material consumption. The invention also solves the problem of inconsistency during printing by automatically adjusting the water flow rate and water content. This reduces the labor required to continuously make these adjustments and further maintains the quality of the printed samples.

[0015] Continuous monitoring of the printing process can reduce printing costs, waste, time loss, and inefficiency, while improving print quality. In particular, user-friendliness for operators without prior experience with 3D concrete printing is increased by quantifying print quality, meaning they can rely on sensor readings to assess material properties without requiring expert knowledge. Visualizing sensor readings makes errors easier to detect and assess. For example, if the water flow rate is too low but the water content is within an acceptable range, it can be concluded that not enough dry mortar is being pumped from the corresponding container. Automated control significantly reduces the number of personnel required on site.In addition, safety is increased by the possibility of automatic shutdown of the mixing and pumping device if, for example, excessive pressure is detected.

[0016] The control unit can, for example, be housed as a sensor box in a separate housing and equipped with a display device for visualization. The control unit can, for example, be designed as a programmable logic controller (PLC). All sensors can be connected to the control unit either directly or via an IO-Link master. The displayed data can be connected to a controller for data processing and controlling the printing process. The measuring system (sensors) then performs measurements on the fresh concrete and sends the data (real performance) to the controller. The control unit or controller then generates usable data from the measured data (e.g.If the actual printer output (e.g., water content, flow rate, temperature, pressure, etc.) is constant and the actual printer output matches the expected target output (determined from preset values), no adjustments are made to the input and the printing process continues unchanged. However, if the actual output differs from the expected output by a predefined threshold, for example, or is outside the value range, real-time optimization takes place in the controller, and the printer outputs are adjusted to make the changes. The mixing and pumping device can also be designed in two parts, with a separate mixing device and a pumping device, or can be formed by two different systems.

[0017] At least one physical characteristic of the manufacturing environment can be determined or measured, in particular, for example, online or inline by at least one second sensor, which can be communicatively connected to the control unit, preferably continuously during the manufacturing process, wherein the control unit receives the at least one physical characteristic of the manufacturing environment as an input signal and can further be configured to automatically adapt and / or optimize the manufacturing process continuously in real time depending on the at least one physical characteristic of the manufacturing environment.

[0018] This means that one or more physical parameters of the production environment, such as temperatures or humidities, which are particularly recorded online or inline by one or more second sensors or determined by calculation, can also be taken into account in the optimization.

[0019] The at least one physical characteristic of the manufacturing environment may include an ambient temperature, an ambient humidity or a water flow, in particular upstream of the mixing and pumping device.

[0020] The at least one physical characteristic of the production environment can further include a water temperature in the mixing device or a total amount of water consumed, in particular by the mixing device. Furthermore, a multitude of other parameters / characteristics can be recorded, based on which changes in the production process can be adjusted. These include, for example, hose diameter, hose length, print speed, layer time, layer height and width, print head extrusion rate, print size, mixing pump type, material type, nozzle shape, nozzle system, and pump frequency.

[0021] In addition, at least one further physical parameter of the mixed building material can be determined or, in particular online or inline, measured by at least one further sensor, which can be communicatively connected to the control unit, preferably continuously during the production process, wherein the control unit can receive the at least one further physical parameter of the mixed building material as an input signal and can further be configured to automatically continuously adapt and / or optimize the production process in real time depending on the at least one further physical parameter of the mixed building material.

[0022] These measures also allow other physical parameters or properties of the building material to be taken into account when optimizing the printing process.

[0023] The at least one further physical parameter of the mixed building material can be a viscosity. The viscosity of the mixed building material can be determined from the electrical current required to drive a mixing and pumping device. This can be an online measurement of process properties.

[0024] With an increasing power consumption for driving the mixing spindle of the mixing and pumping device, it can also be concluded that the viscosity of the mixed building material is increasing.

[0025] The at least one additional sensor or one of the sensors in the mixing and pumping device can be used to measure the current consumption of the mixing spindle or the mixing motor or the actuator that drives the mixing and pumping device. Based on this measured current consumption, conclusions can be drawn about the viscosity of the building material or the mixed material (preferably consisting of water and dry material). The higher the measured current consumption, the higher the viscosity of the material (with increasing current consumption, the viscosity also increases, i.e., the material becomes more viscous, and vice versa).

[0026] Depending on a measured value characterizing the viscosity for the current consumption for driving the mixing spindle of the mixing and pumping device, the water inflow of the mixing and pumping device can be controlled in such a way that the viscosity is kept within a certain value range, wherein preferably an upper and a lower limit value for the viscosity are provided.

[0027] Based on this measured value, the water flow can be controlled to keep the viscosity within a specific range. An upper and lower viscosity limit can be specified.

[0028] If the upper limit and / or the lower limit of the viscosity is exceeded, the water flow of the mixing and pumping device can be adjusted accordingly, whereby an increased water flow reduces the viscosity and a reduced water flow increases the viscosity.

[0029] If the upper limit is exceeded or the lower limit is undershot, the water flow rate can be controlled or adjusted accordingly. Increasing the water flow can reduce the viscosity, while decreasing the water flow can increase it. The control unit can process the data and control the water flow valve. Depending on the dry material, the ratio between water and dry material required for optimal viscosity varies. Therefore, a database for different materials can be maintained. This database contains the corresponding upper and lower viscosity limits for each material. Thus, highly precise viscosity control can be achieved by measuring the current consumption.

[0030] The control unit can be configured to compare the obtained physical parameters of the mixed building material with predefined value ranges for the physical parameters of the mixed building material, determined from a database, in particular as a function of the at least one physical characteristic and preferably other input variables of the production process. The control unit can compare the obtained physical parameters of the building material with predefined values ​​from the database. The at least one physical characteristic and / or other input variables of the production process are used to determine the comparison values ​​from the database to be used.

[0031] The preset value ranges can serve as a catalog, so to speak, for selecting appropriate printer and mixer variables and environmental conditions, and thereby determining the physical parameters or output data that ensure optimal printing performance and structural stability. Many parameters are related to one another and are influenced by different variables. It is possible to determine the effect that changing one variable on another variable has. The inventors were thus able to determine value ranges that can be used as presets for printing under different conditions and variables in order to achieve optimal printing performance, for example with regard to buildability, printability, etc. The parameters in the database can be adjusted in real time under different printing conditions, various adjustable printer and mixer parameters, and with different 3D printable materials.Building materials are measured to obtain perfect value ranges that enable the highest quality and structurally certified printing. The effects of changes in the variables are determined, and their corresponding impact on the sensor output parameters measured in real time is recorded and analyzed. Data obtained over time from numerous tests, with documented analyses, can be presented as preset ranges of expected values ​​that provide the best print quality and structural integrity for specific printer and mixer settings and conditions.

[0032] The database can be implemented as a table or database in which the predefined value ranges, which are determined in advance, preferably using big data learning, are stored as a function of the at least one physical parameter and preferably other input variables of the manufacturing process. In this case, appropriate new types of data storage and analysis systems (e.g., parallel processors) can be used to process and analyze the potentially extensive mass data (big data). The control unit can additionally be connected to a cloud or a data storage unit on which the measurement data obtained from the first, second, and further sensors is stored.

[0033] This allows the real sensor output data sent to the controller's operating system to be transferred to an offline data storage device. The data can also be sent directly to a cloud via a gateway connected to the controller.

[0034] The control unit can be configured to adapt and / or optimize the manufacturing process if one or more of the obtained physical parameters of the mixed building material do not lie within the certain predetermined value ranges.

[0035] Thus, if the output building material differs from the expected target output, real-time optimization can be carried out.

[0036] For the continuous adaptation and / or optimization of the production process, the control unit can be configured to control the mixing and pumping device accordingly and / or to adapt a set layer height of the individual printing layers or printing paths and / or to set a printing speed of the production process and / or to set a dosage of the mixed water and / or to set an extrusion rate of the material output unit.

[0037] These measures can be used to make appropriate changes to the ongoing production process. The control of the mixing and pumping device can include on / off control or frequency adjustment (e.g. reducing the pump speed). For example, the pumping device can switch off automatically if the measured pressure is too high. Furthermore, the layer height, i.e. the height of an individual print layer or print path, can be adjusted if the actually measured layer height deviates from a theoretically set desired layer height. If, for example, the measured layer height is too low, the print head moves vertically downwards a specified distance, i.e. it dispenses the material at a lower absolute height. Since the building material no longer falls as far, the speed at which the material impacts is also reduced, thereby increasing the layer height.

[0038] The control unit can also be configured to leave the manufacturing process unchanged if the obtained physical parameters of the mixed building material are within the certain specified value ranges.

[0039] The control unit can be configured to automatically and continuously adapt and / or optimize the production process in real time using a synchronized feedback control system. The control unit can employ a synchronized feedback control system that continuously adapts the printer inputs to the expected output. This expected output is preset or predetermined values ​​derived in advance from analyses and print runs to ensure optimized printing with specific printer and blender variables.

[0040] The at least two first physical parameters of the mixed building material may include a water content, a pressure, in particular in the hose, or a material temperature.

[0041] The material temperature, water content, and pressure of the building material in the hose or pipe can be measured, for example, at an outlet of the mixing and pumping device. However, measurements can also be taken in other parts of the system, such as the inlet to the pressure head, i.e., the material dispensing unit.

[0042] The at least one first sensor can thus be designed as a pressure sensor, temperature sensor or water content sensor.

[0043] The at least one first sensor can be arranged in or on a sensor tube, in particular between the mixing and pumping device and the material dispensing unit, further in particular in the region of a start of a section between the mixing and pumping device and the material dispensing unit.

[0044] The at least one first sensor can be arranged in or on a directly inline sensor tube, in particular on a conveying path or hose path of the mixed building material between the mixing and pumping device on the one hand and the material dispensing unit on the other hand, in particular downstream. It is also conceivable to arrange the at least one first sensor on the material dispensing unit.

[0045] The at least one first sensor may be suitable for continuously measuring the at least two first physical parameters of the mixed building material directly inline during the manufacturing process on its path from the mixing and pumping device to the material dispensing unit, in particular at an outlet of the mixing and pumping device or at the beginning of the path of the mixed building material between the mixing and pumping device and the material dispensing unit.

[0046] In principle, the sensor tube or pipe can be attached to either end of the hose. However, it is particularly advantageous to attach it to the end of the mixing and pumping device, as the sensor can remain stationary there, allowing any change in the physical parameters to be immediately visible without having to wait until the change is visible at the other end of the hose. The at least one second sensor can be designed as a thermometer, humidity sensor, or flow sensor.

[0047] The at least one second sensor can be arranged in the region of the mixing and pumping device or on the control unit or on a housing of the control unit.

[0048] The at least one further sensor can be designed as an inductive sensor.

[0049] The mixed building material can consist of concrete, mortar, clay, loam, or a thermoplastic. Of course, additives such as polymers, glass, steel, or mineral fibers can also be added. Regarding the compositions of the building materials used for 3D concrete printing, reference is also made to the aforementioned EP 3 756 845 A1 and EP 3 823 801 B1.

[0050] The control unit and / or the cloud and / or the data storage unit can be accessed via a human-machine interface (HMI) or a web interface. These measures allow the sensor values ​​to be visualized offline on an HMI and online on a web interface, which can be programmed to control the mixing process, water flow rate, extrusion rate, and print speed. The measured data can then be sent to a PC cloud platform, where it can be later processed and stored for future reference. The data can be further used to analyze the integrity of the printed patterns. The sensor values ​​can be displayed on an HMI or a dashboard, which can be accessed in any standard web browser.

[0051] The material dispensing unit can also be communicatively connected to the control unit.

[0052] The invention thus comprises a system for the additive manufacturing of structures or building components with an integrated sensor system capable of measuring the viscosity and temperature, water content, and pressure of 3D-printable wet mortar or other building materials, as well as the flow rate, water temperature, and total amount of water used by the mixing machine, as well as the ambient temperature and humidity. These sensor values ​​can be collected by a computer system capable of storing, visualizing, and analyzing the sensor data to automate the printing process. Furthermore, the measurement data can be used to adapt and optimize the manufacturing process in real time.

[0053] Advantageous embodiments and further developments of the invention emerge from the subclaims.

[0054] An exemplary embodiment of the invention is described below with reference to the drawing. The sole figure of the drawing shows a highly simplified schematic diagram of the system according to the invention.

[0055] The figure shows a system 1 according to the invention for the additive manufacturing of structures 2 (only partially and highly simplified in the figure) or components of structures 2, wherein a material dispensing unit 3 is movable in several degrees of freedom to apply a mixed building material 4 layer by layer in predetermined printing paths 4a. The system 1 comprises at least:

[0056] - the material dispensing unit 3 or the nozzle or print head;

[0057] - a mixing and pumping device 5, which is designed to mix the building material 4 with supplied water and subsequently to convey it from the mixing and pumping device 5 to the material dispensing unit 3;

[0058] - at least one first sensor 6, which is suitable for continuously measuring at least two first physical parameters of the mixed building material 4 directly inline during the manufacturing process or which continuously measures at least two first physical parameters of the mixed building material directly inline during the manufacturing process;

[0059] - a control unit 7 for controlling the manufacturing process, which is communicatively connected at least to the mixing and pumping device 5 and the at least one first sensor 6 (indicated by arrows in the figure), which receives at least the measured first physical parameters of the at least one first sensor 6 as an input signal and which is further configured to continuously adapt and / or optimize the manufacturing process automatically in real time at least as a function of the first physical parameters of the at least one first sensor 6.

[0060] The at least one first sensor 6 can be designed as a pressure sensor 6a or as a water content sensor 6b. As can be seen from the figure, the at least one first sensor 6, 6a, 6b can be arranged in or on a sensor tube 6c, in particular between the mixing and pumping device 5 and the material dispensing unit 3, in particular downstream. A conveying path, in particular in a hose or the like, of the mixed building material 4 from the mixing and pumping device 5 to the material dispensing unit 3 is provided with the reference symbol 4b. In further exemplary embodiments, the mixing and pumping device 5 can also be divided into two parts, with a separate mixing device and a separate pumping device (not shown).

[0061] The mixing and pumping device 5 is provided with an actuator 5a, in particular a stepper motor or the like, which moves a valve for the water supply of the mixing and pumping device 5. The actuator 5a can adjust the water supply based on the specifications of the control unit 7.

[0062] At least one physical characteristic of the production environment can be determined or measured, in particular, for example, online or inline, by at least one second sensor 8, which is communicatively connected to the control unit 7 (indicated by arrows in the figure), preferably continuously during the production process. The control unit 7 receives the at least one physical characteristic of the production environment as an input signal and is further configured to automatically adapt and / or optimize the production process continuously in real time depending on the at least one physical characteristic. The at least one second sensor 8 can be designed as a thermometer, humidity sensor, or flow sensor and can measure an ambient temperature and / or ambient humidity and / or a water flow, in particular upstream of the mixing and pumping device 5, as a physical characteristic of the production environment.The at least one second sensor 8 can, as in the present embodiment, be arranged in the area of ​​or in front of or in the mixing and pumping device 5 or, in further embodiments not shown, can be arranged on the control unit 7 or on a housing 7a of the control unit 7 or in further areas of the production environment.

[0063] In further embodiments, the material dispensing unit 3 can also be communicatively connected to the control unit 7 (indicated by a dashed arrow).

[0064] At least one further physical parameter of the mixed building material 4 can be determined or, in particular online or inline, measured by at least one further sensor 9 which is communicatively connected to the control unit 7 (indicated by arrows in the figure), preferably continuously during the production process, wherein the control unit 7 receives the at least one further physical parameter of the mixed building material 4 as an input signal and is further configured to automatically continuously adapt and / or optimize the production process in real time depending on the at least one further physical parameter of the mixed building material 4.

[0065] The at least one further sensor 9 can be designed as an inductive sensor and thus enable a determination of the viscosity of the mixed building material 4 as a further physical parameter from an electrical current required to drive a mixing spindle (not shown) of the mixing and pumping device 5.

[0066] With an increasing current consumption for driving the mixing spindle of the mixing and pumping device 5, an increasing viscosity of the mixed building material can also be inferred. The at least one further sensor 9 or one of the sensors in the mixing and pumping device 5 can be used to measure the current consumption of the mixing spindle or the mixing motor or the actuator that drives the mixing and pumping device 5. Based on this measured current consumption, the viscosity of the building material 4 or the mixed material (preferably consisting of water and dry material) can be inferred. The higher the measured current consumption, the higher the viscosity of the material (with increasing current consumption, the viscosity also increases, i.e. the material becomes more viscous and vice versa). Depending on this measured value, the water flow can be controlled via the actuator 5a in order to keep the viscosity within a certain range.An upper and a lower limit for the viscosity can be provided. If the upper limit is exceeded or the lower limit is undershot, the actuator 5a can be activated and the water inflow quantity can be controlled or adjusted accordingly. Increasing the water inflow can reduce the viscosity, while decreasing the water inflow can increase the viscosity. The data processing and control of the water inflow valve can be handled by the control unit 7. Depending on the dry material, the ratio between water and dry material required for optimal viscosity varies, which is why a database for different materials can be available, which contains the corresponding upper and lower limits for viscosity for each material. Thus, highly precise viscosity control can be carried out by measuring the current consumption.

[0067] The at least one physical characteristic of the production environment can also include a water temperature in the mixing and pumping device 5 or a total amount of water consumed, in particular by the mixing and pumping device 5.

[0068] The control unit 7 can be configured to compare the obtained physical parameters of the mixed building material 4 with predetermined value ranges determined by the physical parameters of the mixed building material 4 on the basis of a database 7b, in particular as a function of the at least one physical characteristic and preferably further input variables of the manufacturing process.

[0069] The database 7b can be communicatively connected to the control unit 7 or can be present in a memory element of the control unit 7 (not shown in detail).

[0070] The control unit 7 can also be configured to adapt and / or optimize the production process if one or more of the obtained physical parameters of the mixed building material 4 do not lie within the specific, predefined value ranges. The use of threshold values ​​or the like is also possible.

[0071] The control unit 7 can be configured to continuously adapt and / or optimize the manufacturing process:

[0072] - to control the mixing and pumping device 5 accordingly and / or

[0073] - to adjust a set layer height or layer thickness of the individual printing webs 4a and / or

[0074] - to set a printing speed of the production process and / or

[0075] - to adjust the dosage of the mixed water and / or

[0076] - to set an extrusion rate of the material output unit 3.

[0077] The control unit 7 can be configured to leave the manufacturing process unchanged if the obtained physical parameters of the mixed building material 4 are within the certain predetermined value range.

[0078] The control unit 7 can be configured to continuously adapt and / or optimize the production process automatically in real time using a synchronized feedback control. The at least two first physical parameters of the mixed building material 4 can include a water content, a pressure, and / or a material temperature.

[0079] The mixed building material 4 may comprise concrete, mortar, clay, loam or a thermoplastic.

[0080] The database 7b can be designed as a table or database in which the predetermined value ranges, which are determined in advance, preferably by means of big data learning, are stored as a function of the at least one physical characteristic and preferably further input variables of the manufacturing process.

[0081] As can be further seen from the figure, the control unit 7 can additionally be connected to a cloud 10 or a data storage unit 11 on which the measurement data obtained from the first, second and further sensors 6, 6a, 6b, 8, 9 are stored.

[0082] The control unit 7 and / or the cloud 10 and / or the data storage unit 11 can be accessed via a human-machine interface (HMI) or a web interface.

[0083] A simplified display unit of the system 1 is provided with the reference number 12.

[0084] List of reference symbols:

[0085] 1 system

[0086] 2 Building

[0087] 3 Material dispensing unit (nozzle)

[0088] 4 mixed building material

[0089] 4a Printing path

[0090] 4b Conveying path of the mixed building material

[0091] 5 Mixing and pumping device

[0092] 5a Actuator

[0093] 6 first sensor

[0094] 6a Pressure sensor

[0095] 6b Water content sensor

[0096] 6c Sensor tube

[0097] 7 Control unit

[0098] 7a Housing of the control unit 7

[0099] 7b Database

[0100] 8 second sensor

[0101] 9 additional sensor (inductive sensor)

[0102] 10 Cloud

[0103] 11 Data storage unit

[0104] 12 Display unit

Claims

Patent claims System (1) for the additive manufacturing of buildings (2) or components of buildings (2), wherein a material dispensing unit (3) is movable in several degrees of freedom in order to apply a mixed building material (4) layer by layer in predetermined printing paths (4a), at least comprising: - the material dispensing unit (3); - a mixing and pumping device (5) which is designed to mix the building material (4) with supplied water and subsequently to convey it from the mixing and pumping device (5) to the material dispensing unit (3); - at least one first sensor (6, 6a, 6b) which is suitable for continuously measuring at least two first physical parameters of the mixed building material (4) directly inline during the manufacturing process; - a control unit (7) for controlling the manufacturing process, which is communicatively connected at least to the mixing and pumping device (5) and the at least one first sensor (6, 6a, 6b), which receives at least the measured first physical parameters of the at least one first sensor (6, 6a, 6b) as input signals and which is further configured to automatically and continuously adapt and / or optimize the manufacturing process in real time at least as a function of the first physical parameters of the at least one first sensor (6, 6a, 6b).System (1) according to claim 1, characterized in that at least one physical characteristic of the production environment is determined or measured by at least one second sensor (8) which is communicatively connected to the control unit (7), preferably continuously during the production process, wherein the control unit (7) receives the at least one physical characteristic of the production environment as an input signal and is further configured to additionally automatically adapt and / or optimize the production process continuously in real time depending on the at least one physical characteristic of the production environment.System (1) according to claim 1 or 2, characterized in that at least one further physical parameter of the mixed building material (4) is determined or, in particular online or inline, measured by at least one further sensor (9) which is communicatively connected to the control unit (7), preferably continuously during the production process, wherein the control unit (7) receives the at least one further physical parameter of the mixed building material (4) as an input signal and is further set up to additionally control the production process as a function of the at least one further. to automatically and continuously adapt and / or optimize the physical parameters of the mixed building material (4) in real time. System (1) according to claim 1, 2 or 3, characterized in that the control unit (7) is configured to compare the obtained physical parameters of the mixed building material (4) with predetermined value ranges for the physical parameters of the mixed building material (4) determined on the basis of a database (7b), in particular as a function of the at least one physical characteristic and preferably further input variables of the production process. System (1) according to claim 4, characterized in that the control unit (7) is configured to adapt and / or optimize the production process if one or more of the obtained physical parameters of the mixed building material (4) do not lie within the certain predetermined value ranges.System (1) according to one of claims 1 to 5, wherein the control unit (7) is configured to continuously adapt and / or optimize the manufacturing process:. - to control the mixing and pumping device (5) accordingly and / or - to adjust a set layer height of the individual printing webs (4a) and / or - to set a printing speed of the production process and / or - to adjust the dosage of the mixed water and / or - adjust an extrusion rate of the material output unit (3). System (1) according to claim 4, 5 or 6, characterized in that the control unit (7) is configured to leave the production process unchanged if the obtained physical parameters of the mixed building material (4) lie within the certain predetermined value ranges. System (1) according to one of claims 1 to 7, characterized in that the control unit (7) is configured to automatically and continuously adapt and / or optimize the production process in real time by means of a synchronized feedback control. System (1) according to one of claims 1 to 8, characterized in that the at least two first physical parameters of the mixed building material (4) comprise a water content, a pressure and / or a material temperature.

10. System (1) according to one of claims 2 to 9, characterized in that the at least one physical characteristic of the production environment comprises an ambient temperature, an ambient humidity, a water flow, in particular upstream of the mixing and pumping device (5), a water temperature, in particular in or upstream of the mixing and pumping device (5) or a total amount of water consumed, in particular by the mixing and pumping device (5).

11. System (1) according to one of claims 3 to 9, characterized in that the at least one further physical parameter of the mixed building material (4) is a viscosity.

12. System (1) according to claim 11, characterized in that the viscosity of the mixed building material is determined from an electric current required to drive a mixing spindle of the mixing and pumping device (5).

13. System (1) according to one of claims 1 to 12, characterized in that the at least one first sensor (6, 6a, 6b) is suitable for continuously measuring the at least two first physical parameters of the mixed building material (4) directly inline during the manufacturing process on its way from the mixing and pumping device (5) to the material dispensing unit (3), in particular at an outlet of the mixing and pumping device (5) or at the beginning of the path of the mixed building material (4) between the mixing and pumping device (5) and the material dispensing unit (3).

14. System (1) according to one of claims 1 to 13, characterized in that the control unit (7) is additionally connected to a cloud (10) or a data storage unit (11) on which the measurement data obtained from the first, second and further sensors (6, 6a, 6b, 8, 9) are stored.

15. System (1) according to one of claims 4 to 14, characterized in that the database (7b) is designed as a table or database in which the predetermined value ranges, which are determined in advance, preferably by means of big data learning, are stored as a function of the at least one physical characteristic and preferably further input variables of the manufacturing process. System (1) according to one of claims 1 to 15, characterized in that the at least one first sensor (6) is designed as a pressure sensor (6a), temperature sensor or water content sensor (6b). System (1) according to one of claims 1 to 16, characterized in that the at least one first sensor (6, 6a, 6b) is arranged in or on a sensor tube (6c), in particular between the mixing and pumping device (5) and the material dispensing unit (3), further in particular in the region of a start of a section between the mixing and pumping device (5) and the material dispensing unit (3). System (1) according to one of claims 2 to 17, characterized in that the at least one second sensor (8) is designed as a thermometer, humidity sensor or flow sensor.System (1) according to one of claims 2 to 18, characterized in that the at least one second sensor (8) is arranged in the region of the mixing and pumping device (5) or on the control unit (7) or on a housing (7a) of the control unit (7). System (1) according to one of claims 3 to 19, characterized in that the at least one further sensor (9) is designed as an inductive sensor. System (1) according to one of claims 1 to 20, characterized in that the mixed building material (4) comprises concrete, mortar, clay, loam or a thermoplastic. System (1) according to one of claims 1 to 21, characterized in that the control unit (7) and / or the cloud (10) and / or the data storage unit (11) can be accessed via a human-machine interface (HMI) or a web interface.System (1) according to one of claims 1 to 22, characterized in that. the material dispensing unit (3) is communicatively connected to the control unit (7). System (1) according to one of claims 12 to 23, characterized in that an increasing current consumption for driving the mixing spindle of the mixing and pumping device (5) also indicates an increasing viscosity of the mixed building material. System (1) according to one of claims 12 to 24, characterized in that, depending on a measured value characterizing the viscosity for the current consumption for driving the mixing spindle of the mixing and pumping device (5), the water inflow to the mixing and pumping device (5) is controlled in such a way that the viscosity is kept within a specific value range, wherein an upper and a lower limit value for the viscosity are preferably provided.System (1) according to claim 25, characterized in that when the upper limit value and / or when the lower limit value of the viscosity is exceeded, the water inflow to the mixing and pumping device (5) is adjusted accordingly, wherein the viscosity is reduced by an increased water inflow and the viscosity is increased by a reduced water inflow.

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