Printing system and use of the printing system

Abstract

The invention relates to a printing system (1) for forming strands (ST) of building material (BS) for 3D printing of structural parts (BWT), the printing system (1) comprising a print head (2), a parallel robot (3), in particular a delta robot (3'), and a coarse movement device (4), the print head (2) being designed to deliver the building material (BS) from the printing system (1) and to shape the building material (BS) to form the strands (ST) of building material (BS), the parallel robot (3) having at least three robot arm devices (5) for fine positioning of the print head (2) relative to the coarse movement device (4), at least two of the closest robot arm devices (5) being offset from each other by an obtuse arc angle (α) along a circumferential direction (UR) around a central axis (MA) of the parallel robot (3), the coarse movement device (4) being designed for coarse movement of the parallel robot (3) with the print head (2).

Description

[Technical field]

[0001] Application fields and prior art The present invention relates to a printing system for forming strands of building material for the 3D printing of structural parts, and to the use of such a printing system for forming strands of building material for the 3D printing of structural parts. Summary of the Invention

[0002] Challenges and Solutions It is an object of the present invention to provide a printing system for forming strands of building material for the 3D printing of structural parts having improved properties.Furthermore, it is an object of the present invention to provide a use of such a printing system for forming strands of building material for the 3D printing of structural parts.

[0003] The present invention solves this problem by providing a printing system having the features of claim 1 and a use having the features of claim 15. Advantageous developments and / or embodiments of the invention are set out in the dependent claims.

[0004] The printing system according to the invention is designed to form, in particular automatically form, strands of building material for 3D printing of three-dimensional structural parts. The printing system comprises a print head, a parallel robot, in particular a delta robot, and a coarse movement device. The print head is designed to deliver, in particular automatically deliver, the building material from the printing system and to shape, in particular automatically shape, the building material to form strands of building material. The parallel robot comprises at least three robot arm devices for fine positioning or fine movement, in particular automatic fine positioning or fine movement, of the print head relative to the coarse movement device, in particular during delivery and / or shaping of the building material. At least two of the robot arm devices are in particular arranged offset from one another by an obtuse arc angle degree along a circumferential direction around a central axis of the parallel robot. The coarse movement device is designed to perform coarse or coarse positioning, in particular automatic coarse or coarse positioning, of the parallel robot with the print head, in particular during delivery and / or shaping of the building material.

[0005] This allows, in particular for parallel robots, compensation, in particular rapid compensation or correction, of the positioning or aiming accuracy of the coarse motion device. This therefore allows for precise or precise and / or rapid positioning of strands of building material for 3D printing of structural parts. Additionally or alternatively, this allows, in particular for obtuse arc angles, good access to the central axis.

[0006] In particular, the strands that are delivered and / or shaped may be continuous or may extend over a particular length.

[0007] The building material may be concrete, in particular fresh concrete, and / or thixotropic and / or puncture resistant, or form stable, in particular during delivery.

[0008] 3D-printing can be referred to as additive manufacturing. Additionally or alternatively, a strand can be deposited or placed, particularly as a layer, on or onto an already formed strand and / or another strand can be deposited or placed, particularly as a layer, on or onto said strand.

[0009] The structural part may be a building structural part and / or a wall and / or a ceiling. Additionally or alternatively, the strand, in particular the width of the strand, may have a wall thickness and / or a ceiling thickness, in particular the total thickness of the wall and / or the total thickness of the ceiling.

[0010] The printing system may be an extruder system for extruding strands of building material for 3D printing of structural parts. Additionally or alternatively, the printing head may be an extruder head for extruding the building material from the printing system. Additionally or alternatively, the printing head may have an extruder nozzle. The extruder nozzle may have an outlet opening for sending the building material, in particular the strands, from the printing system, in particular in a non-vertical, in particular horizontal, outlet direction. In particular, the outlet opening may have or have an opening width, in particular in a first radial direction perpendicular to the outlet direction, of at least 100 mm (millimeters), in particular at least 200 mm, and / or at most 800 mm, in particular at most 600 mm, in particular 400 mm. Additionally or alternatively, the outlet opening may have or have an opening height, in particular in a second radial direction perpendicular to the outlet direction, of at least 15 mm, in particular at least 25 mm, and / or at most 400 mm, in particular at most 200 mm, in particular at most 100 mm, in particular 50 mm. Additionally or alternatively, the discharge opening can have or have a quadrangular shape, in particular a trapezoidal shape, in particular a parallelogram shape, in particular a rectangular shape. Additionally or alternatively, the strand cross-section of the strand, in particular the delivered strand, in particular the shape and / or size of the strand cross-section, can correspond, in particular be equal, to the opening cross-section of the discharge opening, in particular the shape and / or size of the opening cross-section. Additionally or alternatively, the opening cross-section of the discharge opening and / or the strand cross-section of the strand can be non-parallel, in particular orthogonal, to the discharge direction. Additionally or alternatively, the printing system for depositing the delivered strands can be designed such that the strand, in particular the deposited strand, maintains the strand cross-section of the strand, in particular the strand cross-section of the delivered strand. In other words, the printing system does not have to be designed or formed in such a way that the building material needs to be printed on an already existing building material layer or building material ply and thereby deformed.

[0011] The term "manipulator" may be used synonymously with the term "robot."

[0012] The term "parallel robot" can be used synonymously with the term "parallel robot". Additionally or alternatively, the parallel robot can be designed for fine positioning or fine movement, in particular translational fine positioning or fine movement, and / or fine orientation or fine movement, in particular rotational fine orientation or fine movement, in particular in a positioning direction, in particular in a horizontal positioning direction, of the print head relative to the coarse movement device. Additionally or alternatively, the robot arm device can have an articulated arm device, in particular an articulated arm device. Additionally or alternatively, the robot arm device can be coupled to the parallel robot base and / or platform, in particular by means of a universal joint. Additionally or alternatively, the parallel robot base can be assembled to the parallel robot and / or the parallel robot platform movable parts, in particular vertically or along a vertical direction and / or on or along a central axis. Additionally or alternatively, the term "central axis" can be used synonymously with the term "central axis". Additionally or alternatively, the print head may be arranged at least partially on the central axis and / or between the robot arm devices, in particular between three robot arm devices, and / or on the base and / or platform. Additionally or alternatively, the printing system may be designed such that the parallel robot and the print head, in particular with the discharge opening, rotate, in particular around the central axis, in particular automatically, during the delivery and / or shaping of the building material. Additionally or alternatively, the obtuse arc angle may be an angle between a vector from the central axis to one of the robot arm devices and another or nearest vector from the central axis to another robot arm device or to the nearest robot arm device. Additionally or alternatively, the obtuse arc angle may be at least 105° (degrees). Additionally or alternatively, all the robot arm devices of the robot arm devices, in particular the respective nearest robot arm devices, may be offset from each other along the circumferential direction around the central axis, in particular by approximately the same or equal, in particular exactly the same or equal, obtuse arc angles.In particular, approximately the same may mean that the arc angles have or can have an angular deviation of at most 5°, in particular at most 2.5°.

[0013] The parallel robot can support, in particular directly support, the print head, in particular at its end, in particular at the lower end. Additionally or alternatively, the print head, in particular the discharge opening of the print head, can be extended or stretched beyond the parallel robot, in particular downwards, in particular vertically or along the central axis, and / or laterally, circumferentially or forwards, in particular horizontally and / or along the discharge direction, or radially relative to the central axis. Additionally or alternatively, the coarse movement device can support, in particular directly support, in particular at its end, the parallel robot, in particular supporting the print head. Additionally or alternatively, the parallel robot, in particular the parallel robot with the print head, can be extended or stretched beyond the coarse movement device. This, in particular by extension, allows the delivery of the strand, in particular in a horizontal discharge direction, in particular vertically above the already formed strand, over a relatively short distance, in particular without damaging the already formed strand, so that the discharged strand can be deposited from a relatively low height.

[0014] The term "coarse positioning device" can be used synonymously with the term "coarse movement device". Additionally or alternatively, the coarse movement device can be designed for the parallel robot together with the print head to perform a translational and / or rotational coarse movement, in particular in one movement direction, in particular in a horizontal movement direction. In particular, the print head can be designed to deliver the building material, in particular the strand, from the printing system, in particular from the discharge opening, in a non-orthogonal, in particular opposite, in particular reverse discharge direction to the movement direction, in particular during the coarse movement. Additionally or alternatively, the printing system, in particular the print head, can be formed to deliver the building material, in particular the strand, from the printing system, in particular from the discharge opening, in particular with a variably, in particular continuously adjustable or adjustable discharge speed. The coarse movement device can be designed for performing the coarse movement of the parallel robot with the print head, in particular during the discharge, with a movement speed approximately equal to the discharge speed. This, in particular an approximately equal speed, can make it possible to maintain the cross-section of the delivered and / or deposited strand, in particular an equal strand cross-section, which corresponds in particular to the opening cross-section. In particular, "opposite" may mean at least 135°, particularly at least 150°, especially 165°. Additionally or alternatively, "opposite" may mean 180°. Further additionally or alternatively, "approximately" may mean, for example, a difference or deviation of at most 5 percent (%), particularly at most 2%, especially at most 1%.

[0015] The printing system can have a control device, in particular an open-loop control and / or a closed-loop control device. The control device can be designed to control, in particular automatically control, in particular open-loop control and / or closed-loop control, the print head and / or the parallel robot and / or the coarse movement device, in particular based on data of the structure part to be printed, in particular based on a construction or design plan, in particular stored in a memory of the control device. In particular, the control device has a computer, in particular can be a computer. This makes it possible that an operator does not have to control the printing system and / or to reduce or even avoid errors during construction.

[0016] In a development of the invention, the printing system has a conveying hose, in particular a flexible conveying hose. The conveying hose passes between two nearest robot arm devices offset from each other by an obtuse arc angle, in particular laterally or circumferentially and / or radially to the central axis, in order to guide the building material, in particular from the coarse movement device, to the printing head. This allows the delivery of the building material by the printing head. Additionally or alternatively, this is made possible by good accessibility to the central axis. In particular, the coarse movement device, the parallel robot and / or the printing head can support the conveying hose, in particular directly. Additionally or alternatively, the conveying hose does not have to or cannot support the parallel robot and / or the printing head. Furthermore additionally or alternatively, the conveying hose can be arranged partially on the central axis and / or on the base and / or on the platform. Furthermore additionally or alternatively, the printing system can be designed for a rotational movement, in particular automatically, of the conveying hose and the printing head, in particular around the central axis, in particular at its discharge opening, in particular during delivery and / or shaping of the building material. Additionally or alternatively, the print head can have a deflection device or deflection element, which can be arranged upstream of the discharge opening and can be configured to deflect the flow of building material, in particular from a non-horizontal direction, in particular from a vertical direction, in particular from top to bottom, into the direction of the discharge opening, in particular into a discharge direction, in particular from back to front, whereby a horizontal discharge is possible, in particular by means of the deflection device.

[0017] In particular, the parallel robot may be hexapodal. However, the parallel robot need not be hexapodal. Additionally or alternatively, the parallel robot may, but need not, have four or more robot arm arrangements.

[0018] In a development of the invention, the parallel robot, in particular the delta robot, has exactly three robot arm devices. Additionally or alternatively, the obtuse arc angle is approximately 120°, in particular exactly 120°. This allows for a simple and therefore inexpensive construction of the parallel robot. Additionally or alternatively, this allows for fine positioning of the print head relative to the coarse movement device with or with three translational degrees of freedom, in particular with exactly three translational degrees of freedom. Additionally or alternatively, this allows for particularly good accessibility to the central axis. In particular, the expression "substantially" can be used synonymously with the term "approximately".

[0019] In a development of the invention, the parallel robot has an electric and / or hydraulic and / or pneumatically free drive. The drive is designed to drive, in particular automatically drive or move, the robot arm device. This allows for a particularly fast and / or accurate fine positioning of the print head relative to the coarse movement device. In particular, the term "actuator" can be used synonymously with the term "drive". Additionally or alternatively, the base can support, in particular directly support, the drive device.

[0020] In a development of the invention, the coarse movement device comprises a serial robot, in particular a distribution boom, for coarsely moving the parallel robot, in particular together with the print head, in particular at the boom tip of the distribution boom. In particular, the coarse movement device is a serial robot. This allows a large reach of the coarse movement device and therefore a large structural part. Additionally or alternatively, this allows a space-saving and therefore well-traveled and / or quickly installable on site and therefore quickly ready for use construction of the coarse movement device. Furthermore additionally or alternatively, this allows a coarse movement of the parallel robot together with the print head with or with three translational degrees of freedom, in particular with exactly three translational degrees of freedom. In particular, the term "serial robot" can be used synonymously with the term "serial robot". Additionally or alternatively, the parallel robot can be arranged, in particular directly arranged, in particular fixed, at the tip of the boom. Furthermore additionally or alternatively, the printing system can have a conveying line, in particular a conveying pipe, in particular a non-flexible conveying pipe, for guiding the building material, in particular to a conveying hose. The conveying line can lead at least partially along (at least partially) the coarse motion device and / or to the conveying hose. In particular, the serial robot can support, in particular directly support, the conveying line. Additionally or alternatively, the conveying line can support, in particular directly support, the conveying hose. Furthermore additionally or alternatively, the conveying line does not need to or cannot support the parallel robot and / or the print head.

[0021] In one embodiment of the invention, the serial robot has rotary joints, in particular has only rotary joints. In particular, the rotation axes of the rotary joints are oriented or aligned parallel to one another, in particular are oriented or aligned only parallel to one another. This allows for a simple control of the coarse movement of the parallel robot together with the print head by the coarse movement device. Additionally or alternatively, this allows for a simple and therefore inexpensive construction of the coarse movement device. Further additionally or alternatively, this allows for an orientation of the parallel robot and / or the print head relative to the base, in particular the foot, of the serial robot, in particular a non-adjustable or non-changeable and / or parallel orientation. In particular, the rotation axes can be aligned horizontally, in particular. Additionally or alternatively, the serial robot can in particular have an articulated arm structure, in particular an articulated arm structure.

[0022] In a further development of the invention, the printing system has an orientation device, in particular a support system. The orientation device is designed to orient, in particular automatically orient, in particular the base, in particular the foot, of the coarse device with respect to the architectural environment of the printing system. This allows the serial robot to have a rotary joint, in particular only a rotary joint. Additionally or alternatively, this allows the rotation axis to be aligned, in particular horizontally. Furthermore additionally or alternatively, this allows in particular the alignment, in particular the above-mentioned alignment, of the parallel robot and / or the print head. In particular, the term "orientation" can be used synonymously with the term "alignment". Additionally or alternatively, the orientation device can support, in particular directly support, the coarse device, in particular at its base.

[0023] In a development of the invention, the print head and / or the parallel robot have no tilting degree of freedom. This allows for a simple and therefore inexpensive construction of the print head and / or the parallel robot. Additionally or alternatively, this allows for an orientation, in particular a non-adjustable or non-changeable and / or parallel orientation, of the print head and / or the parallel robot relative to the coarse movement device, in particular relative to one end of the coarse movement device. In particular, the term "tilt" can be used synonymously with the term "inclination".

[0024] In a development of the invention, the printing system comprises an interface for a position and / or orientation detection device or a position and / or orientation sensor device, in particular independent and / or external to the coarse movement device. The position and / or orientation detection device is designed to detect position and / or orientation quantities (in particular dynamic position and / or orientation quantities, in particular values ​​of position and / or orientation quantities) that determine the position (in particular translational position, in particular position values) and / or orientation (in particular rotational orientation, in particular orientation values) of the printing head and / or the parallel robot relative to the architectural environment of the printing system, in particular relative to said architectural environment. The printing system comprises a control device, in particular said control device. The control device is designed to control the parallel robot for fine positioning of the printing head relative to the coarse movement device depending on the detected position and / or orientation quantities. This allows the formation of an accurate position of the strands of building material for the 3D printing of the structural part relative to the architectural environment. In particular, the interface, the position and / or orientation detection device and / or the control device can be electrical. Additionally or alternatively, the term "sensing" may be used synonymously with the term "detection." Additionally or alternatively, the detection and / or control may be automatic. Additionally or alternatively, the position quantity and / or orientation quantity may be physical. Additionally or alternatively, the position may be an actual position. Additionally or alternatively, the orientation may be an actual orientation.

[0025] In particular, the position and / or orientation detection device may in particular comprise, in particular be, an image processing system (eg a laser light cutting system), at least one triangulation sensor, a light barrier function, and / or at least one ultrasonic sensor.

[0026] In one embodiment of the invention, the position and / or orientation detection device comprises a tachymeter, in particular a laser tacheometer. In particular, the position and / or orientation detection device is a tachymeter. This allows a high accuracy, in particular in the 1 mm meter range. In particular, the tachymeter can be optical and / or electrical.

[0027] In one embodiment of the present invention, the printing system comprises an inertial sensor device or an inertial detection device. The inertial sensor device comprises at least one inertial sensor. The inertial sensor is arranged, in particular fixed, in particular arranged directly and designed on the print head and / or the parallel robot to detect inertial quantities or momentum quantities (in particular dynamic inertial quantities or momentum quantities, in particular values ​​of inertial quantities) that determine the movement (in particular translational and / or rotational movements, in particular values ​​of movements) of the print head and / or the parallel robot, in particular relative to the architectural environment of the printing system. The control device is designed to control the parallel robot for fine positioning of the print head relative to the coarse device by combining with each other, in particular by an observer, in particular by estimation, detected position and / or orientation quantities, in particular detected at low frequencies, in particular arriving at the control device with and / or with a time offset, with inertial quantities, in particular detected at higher frequencies, in particular arriving at the control device with and / or with a smaller or non-existent time offset or without a time offset. This allows to minimize errors and / or in particular allows, as a result, a particularly accurate compensation, in particular proactively and / or in particular currently or in real time. In particular, the expression "inertial measurement unit" can be used synonymously with the term "inertial sensor device". Additionally or alternatively, the inertial sensor device and / or the inertial sensor can be electrical. Additionally or alternatively, the inertial sensor can in particular comprise an acceleration sensor and / or a rotational rate sensor, in particular an acceleration sensor and / or a rotational rate sensor. Additionally or alternatively, the inertial quantity comprises an acceleration and / or a rotational rate, in particular an acceleration and / or a rotational rate. Additionally or alternatively, the detection and / or the association can be automatic. Additionally or alternatively, the term "sampling rate" can be used synonymously with the term "frequency". Additionally or alternatively, the term "fusion" can be used synonymously with the term "association". Additionally or alternatively, the estimation can include an interpolation, in particular an interpolation by a dynamic model, in particular an interpolation. Additionally or alternatively, the estimation can be iterative.Additionally or alternatively, the observer may in particular comprise a Kalman filter, in particular a standard or extended Kalman filter, and in particular a Kalman filter, in particular a standard or extended Kalman filter. Additionally or alternatively, the inertial sensor device may be independent and / or external to the coarse motion device and / or the position and / or orientation detection device.

[0028] In a development of the invention, the printing system comprises a chassis, in particular a truck-mounted building material pump including a chassis. The chassis supports, in particular directly supports, the print head, the parallel robot and the coarse movement device. This allows the printing system to be transported to the place of use easily and / or in particular thereby quickly. In particular, the chassis can support, in particular directly support, the coarse movement device on its base. Additionally or alternatively, the chassis can support a transport hose, an orientation device, in particular directly, an interface, a position and / or orientation detection device, an inertial sensor device and / or a control device. Still additionally or alternatively, the orientation device can support, in particular directly support, the chassis, in particular at the place of use and / or for orienting the coarse movement device relative to the building environment of the printing system.

[0029] In a further development of the invention, the printing system has a building material pump. The building material pump is designed to convey, in particular automatically convey, the building material from the printing system, in particular at least partially along the coarse movement device, in particular to pump out the conveyed building material. In particular, the building material pump can be connected to the print head, in particular by a conveying line and / or a conveying hose, for the flow of building material from the building material pump to the print head. Additionally or alternatively, the building material pump can be designed to convey the building material through a conveying line and / or a conveying hose. Furthermore additionally or alternatively, the building material pump can be discontinuous, in particular a piston pump, in particular a twin-piston pump with a pipe switch. Furthermore additionally or alternatively, the control device can be designed to control, in particular automatically control, in particular open-loop and / or closed-loop control, the building material pump, in particular depending on the data of the construction part to be printed. Furthermore additionally or alternatively, the chassis can support, in particular directly support, the building material pump.

[0030] In a development of the invention, the print head is designed to form strands of building material with a grain size or maximum grain size of at least 2 mm, in particular a minimum of 8 mm and / or a maximum of 50 mm. Additionally or alternatively, the parallel robot has or has a load capacity of at least 10 kg (kilograms) and / or a maximum of 3000 kg, in particular a maximum of 500 kg. Still additionally or alternatively, the parallel robot has or has a positioning accuracy of at least 50 mm and / or a maximum of 0.1 mm, in particular a maximum of 1 mm. Still additionally or alternatively, the parallel robot has or has a reach of at least 10 mm, in particular at least 100 mm and / or a maximum of 1000 mm, in particular a maximum of 500 mm. Still additionally or alternatively, the parallel robot has a maximum speed of at least 10 mm / s (millimeters per second) and / or a maximum of 10 m / s (meters per second). Still additionally or alternatively, the parallel robot has or has a maximum speed of at least 0.1 m / s. 2 (meters per square second) and / or up to 500m / s 2Additionally or alternatively, the coarse adjustment device has or has a maximum acceleration and / or deceleration of at least 50 kg and / or at most 5000 kg. Additionally or alternatively, the coarse adjustment device has or has a positioning accuracy of at least 500 mm and / or at most 10 mm. Additionally or alternatively, the coarse adjustment device has or has in particular a reach of at least 10 m (meters) and / or at most 100 m. Additionally or alternatively, the coarse adjustment device has or has a maximum speed of at least 10 mm / s and / or at most 2 m / s. Additionally or alternatively, the coarse adjustment device has or has a maximum speed of at least 1 m / s. 2 and / or up to 20m / s 2 has or has a maximum acceleration and / or deceleration of

[0031] Furthermore, the invention relates to the use, in particular the automatic use, of a printing system as described above, in particular for forming, in particular automatically forming, strands of building material for the 3D printing of structural parts, in particular of said structural parts.

[0032] Other advantages and aspects of the invention will become apparent from the appended claims and from the following detailed description of preferred embodiments of the invention, taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0033] [Figure 1] 1 is a schematic diagram of a printing system according to the present invention; [Diagram 2] FIG. 2 is a schematic top view of the parallel robot of the printing system of FIG. 1. [Diagram 3] FIG. 2 is a schematic diagram of the printing system of FIG. 1 in use in accordance with the present invention. [Figure 4] FIG. 4 is a schematic diagram of the print head and building material pump of the printing system of FIG. 1 in use. [Diagram 5] FIG. 2 is a schematic diagram of a structural portion made of formed strands of building material 3D printed using the printing system of FIG. [Figure 6]2 is a schematic diagram of a position and / or orientation sensing device, an inertial sensor device, and a control device of the printing system of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] 1 and 3 show a printing system 1 according to the invention for forming, in particular for forming, strands ST of building material BS, in particular for 3D printing, in particular for 3D printing, as shown in FIG. 5, of a structural part BWT. The printing system 1 comprises a printing head 2, a parallel robot 3, in particular a delta robot 3', and a coarse movement device 4. The printing head 2 is designed to deliver the building material BS from the printing system 1 and to shape the building material BS in order to form, in particular as shown in FIG. 4, strands ST of the building material BS. The parallel robot 3 comprises at least three robot arm devices 5 for fine positioning, in particular for fine positioning, of the printing head 2 relative to the coarse movement device 4, as shown in FIG. 1 and 2. At least two of the closest robot arm devices 5 are offset from one another by an obtuse arc angle α along a circumferential direction UR around a central axis MA of the parallel robot 3. The coarse movement device 4 is designed to perform a coarse movement, in particular for a coarse movement, of the parallel robot 3 with the printing head 2.

[0035] In particular, the printing system 1 comprises a conveying hose 6 which passes between two nearest robot arm devices 5 offset by an obtuse arc angle α, in order to guide the building material BS, in particular from the coarse movement device 4 to the print head 2.

[0036] Furthermore, the parallel robot 3 , in particular the delta robot 3 ′, comprises exactly three robot arm arrangements 5 .

[0037] Additionally or alternatively, the obtuse angle α is approximately 120°, in particular exactly 120°.

[0038] Furthermore, the parallel robot 3 has an electric and / or hydraulic and / or pneumatic free drive 7, in particular a plurality, in particular equal to, in the illustrated embodiment three, of the robot arm arrangements 5. The drive 7 is designed to drive, in particular to drive, the robot arm arrangements 5.

[0039] Furthermore, the coarse movement device 4 comprises a serial robot 8, in particular a distribution boom 9, for carrying out coarse movements of the parallel robot 3, in particular at a boom tip 9S of the distribution boom 9. In particular, the coarse movement device 4 is a serial robot 7.

[0040] In particular, the serial robot 8 has revolute joints 10. The rotation axes 10A of the revolute joints 10 are parallel to one another, in particular horizontal.

[0041] In the illustrated embodiment, the serial robot 8 has at least five revolute joints 10. In alternative embodiments, the serial robot may have at least two revolute joints.

[0042] Furthermore, the printing system 1 comprises an orientation device 11, in particular a support system 12. The orientation device 11 is designed for and in particular orients, (in particular horizontally) the coarse movement device 4 with respect to the architectural environment BU of the printing system 1.

[0043] Furthermore, the print head 2 and / or the parallel robot 3 have no tilting degrees of freedom.

[0044] Furthermore, the printing system 1 comprises an interface for and / or a position and / or orientation detection device 13, in particular independent and / or external to the coarse movement device 4, as shown in Figures 3 and 6. The position and / or orientation detection device 13 is designed and in particular detects a position and / or orientation quantity PAG, in particular a dynamic position and / or orientation quantity PAG, which determines a position PO and / or an orientation AR of the print head 2 and / or the parallel robot 3 relative to the building environment BU of the printing system 1. The printing system 1 comprises a control device 14. The control device 14 is designed and in particular controls the parallel robot 3 for fine positioning of the print head 2 relative to the coarse movement device 4 depending on the detected position and / or orientation quantity PAG.

[0045] In particular, the position and / or orientation detection device 13 comprises a tacheometer 15, in particular a laser tacheometer 15'.

[0046] The printing system 1 further comprises an inertial sensor arrangement 16. The inertial sensor arrangement 16 comprises at least one inertial sensor 16'. The inertial sensor 16' is arranged and designed on the printing head 2 and / or the parallel robot 3, in particular to detect inertial quantities IG, in particular dynamic inertial quantities IG, which determine the movement of the printing head 2 and / or the parallel robot 3 relative to the architectural environment BU of the printing system 1. The control device 14 is designed to control the parallel robot 3 for fine positioning of the printing head 2 relative to the coarse movement device 4 by linking together, in particular by an observer BT, in particular by estimation, the detected position and / or orientation quantities PAG, in particular detected at low frequencies fn and in particular arriving at the control device 14 with and / or with a time offset Δt, and the inertial quantities IG, in particular detected at higher frequencies fh and in particular arriving at the control device 14 with and / or without a smaller or non-existent time offset or time offset Δt.

[0047] In the illustrated embodiment, the inertial sensor 16' is located at and senses the location sensed by the position and / or orientation sensing device 13. In other words, the inertial sensor 16' has the same target as the position and / or orientation sensing device 13.

[0048] 1 and 3, the printing system 1 further comprises a chassis 17, in particular a truck mounted building material pump 18 having a chassis 17. The chassis 17 supports the print head 2, the parallel robot 3 and the coarse movement device 4.

[0049] Furthermore, the printing system 1 has a building material pump 19, as shown in Fig. 4. The building material pump 19 is configured and in particular transports the building material BS, in particular at least partially along the coarse movement device 4, in particular to pump the transported building material BS out of the printing system 1.

[0050] In the embodiment shown, the control device 14 is designed to control, in particular to control, the print head 2, the parallel robot 3, the coarse adjustment device 4 and / or the building material pump 19, in particular depending on the data DBWT of the structural part BWT to be printed.

[0051] Additionally or alternatively, the print head 2, the parallel robot 3, the coarse motion device 4, the interface, the position and / or orientation detection device 13, the inertial sensor device 16 and / or the building material pump 19 are each specifically designed to cooperate with and specifically cooperate with the control device 14.

[0052] Furthermore, the print head 2 is designed to form, in particular forms, strands ST of building material BS having a grain size KO or maximum grain size of at least 2 mm, in particular at least 8 mm and / or at most 50 mm.

[0053] Additionally or alternatively, the parallel robot 3 has a load capacity 3TL of at least 10 kg and / or at most 3000 kg, in particular at most 500 kg.

[0054] Additionally or alternatively, the parallel robot 3 has a positioning precision 3PG of at least 50 mm and / or at most 0.1 mm, in particular at most 1 mm.

[0055] Additionally or alternatively, the parallel robot 3 has a reach 3R of at least 10 mm, in particular at least 100 mm and / or at most 1000 mm, in particular at most 500 mm.

[0056] Additionally or alternatively, the parallel robot 3 has a maximum velocity 3vmax of at least 10 mm / s and / or at most 10 m / s.

[0057] Additionally or alternatively, the parallel robot 3 may have a speed of at least 0.1 m / s 2 and / or up to 500m / s 2 and / or a maximum acceleration and / or deceleration of 3amax.

[0058] Additionally or alternatively, the coarse adjustment device 4 has a load capacity 4TL of at least 50 kg and / or up to 5000 kg.

[0059] Additionally or alternatively, the coarse adjustment device 4 has a positioning accuracy 4PG of at least 500 mm and / or at most 10 mm.

[0060] Additionally or alternatively, the coarse adjustment device 4 has a reach 4R of at least 10 m and / or at most 100 m.

[0061] Additionally or alternatively, the coarse adjustment device 4 has a maximum speed 4vmax of at least 10 mm / s and / or at most 2 m / s.

[0062] Additionally or alternatively, the coarse adjustment device 4 may have a speed of at least 1 m / s and / or at most 20 m / s. 2 and / or a maximum acceleration and / or deceleration of 4amax.

[0063] Furthermore, Figures 3, 4 and 6 show the use according to the invention of a printing system 1 for forming a strand ST of building material BS for 3D printing of a structural part BWT.

[0064] Furthermore, FIG. 5 shows a structural part BWT consisting of a formed strand ST of building material BS, 3D printed by the printing system 1.

[0065] As the illustrated and described embodiments make clear, the present invention provides an advantageous printing system for forming strands of building material for 3D printing of structural parts having improved properties. Furthermore, the present invention provides an advantageous use of such a printing system for forming strands of building material for 3D printing of structural parts.

Claims

1. A printing system (1) for forming strands (ST) of a building material (BS) for the 3D printing of a structural part (BWT), said printing system (1) comprising: The apparatus includes a print head (2), a parallel robot (3), and a coarse adjustment device (4), said print head (2) is designed to deliver the building material (BS) from said printing system (1) and to shape the building material (BS) to form said strands (ST) of building material (BS), the parallel robot (3) has at least three robot arm devices (5) for finely positioning the print head (2) relative to the coarse movement device (4), and at least two of the closest robot arm devices (5) are offset from each other by an obtuse arc angle (α) along a circumferential direction (UR) around a central axis (MA) of the parallel robot (3); A printing system, wherein the coarse movement device (4) is designed to coarsely move the parallel robot (3) together with the print head (2).

2. A printing system as described in claim 1, wherein the parallel robot (3) is a delta robot (3').

3. 2. The printing system (1) according to claim 1, further comprising a conveying hose (6) which passes between the two nearest robot arm devices (5) offset from each other by the obtuse arc angle (α) to guide the building material (BS) to the print head (2).

4. said parallel robot (3) having exactly three robot arm devices (5); and / or 2. The printing system (1) according to claim 1, wherein the obtuse arc angle (α) is 120°.

5. 2. The printing system (1) according to claim 1, wherein the parallel robot (3) has an electric and / or hydraulic and / or pneumatically free drive (7), the drive (7) being designed to drive the robot arm arrangement (5).

6. 2. The printing system (1) according to claim 1, wherein the coarse movement device (4) comprises a serial robot (8) for performing coarse movement of the parallel robot (3).

7. 7. The printing system (1) according to claim 6, wherein the serial robot (8) has a plurality of rotary joints (10), the rotation axes (10A) of the rotary joints (10) being parallel to each other.

8. 2. The printing system (1) of claim 1, wherein the printing system (1) comprises an orientation device (11) designed to orient the coarse movement device (4) with respect to a building environment (BU) of the printing system (1).

9. 2. The printing system (1) according to claim 1, wherein the print head (2) and / or the parallel robot (3) have no tilting degrees of freedom.

10. said printing system (1) comprising an interface for a position and / or orientation detection device (13) and / or a position and / or orientation detection device (13), said position and / or orientation detection device (13) is configured to detect position and / or orientation quantities (PAG) that determine a position (PO) and / or an orientation (AR) of said print head (2) and / or said parallel robot (3) relative to a building environment (BU) of said printing system (1); 2. The printing system (1) of claim 1, further comprising a control device (14) designed to control the parallel robot (3) for fine positioning of the print head (2) relative to the coarse adjustment device (4) depending on the detected position and / or orientation quantities (PAG).

11. 11. The printing system (1) according to claim 10, wherein the position and / or orientation detection device (13) comprises a tachymeter (15).

12. the printing system (1) comprises an inertial sensor device (16), the inertial sensor device (16) comprises at least one inertial sensor (16') arranged and designed on the print head (2) and / or the parallel robot (3) to detect inertial quantities (IG) that determine the motion of the print head (2) and / or the parallel robot (3) relative to the built environment (BU) of the printing system (1); 11. The printing system (1) according to claim 10, wherein the control device (14) is designed to control the parallel robot (3) for fine positioning of the print head (2) relative to the coarse motion device (4) by coupling detected position and / or orientation quantities (PAG) and detected inertial quantities (IG) with each other.

13. 2. The printing system (1) of claim 1, comprising a chassis (17), the chassis (17) supporting the print head (2), the parallel robot (3), and the coarse adjustment device (4).

14. 2. The printing system (1) according to claim 1, wherein the printing system (1) has a building material pump (19), the building material pump (19) being designed to transport building material (BS) from the printing system (1).

15. said print head (2) is designed to form strands (ST) of building material (BS) having a grain size (KO) of at least 2 mm and / or at most 50 mm; and / or said parallel robot (3) having a load capacity (3TL) of at least 10 kg and / or at most 3000 kg; and / or said parallel robot (3) having a positioning accuracy (3PG) of at least 50 mm and / or at most 0.1 mm; and / or said parallel robot (3) having a reach (3R) of at least 10 mm and / or at most 1000 mm; and / or said parallel robot (3) having a maximum speed (3vmax) of at least 10 mm / s and / or at most 10 m / s; and / or The parallel robot (3) has a speed of at least 0.1 m / s 2 and / or up to 500 m / s 2 and / or has a maximum acceleration and / or a maximum deceleration (3amax) of the coarse adjustment device (4) has a load capacity (4TL) of at least 50 kg and / or at most 5000 kg; and / or the coarse adjustment device (4) has a positioning accuracy (4PG) of at least 500 mm and / or at most 10 mm; and / or the coarse adjustment device (4) has a reach (4R) of at least 10 m and / or at most 100 m; and / or the coarse adjustment device (4) has a maximum speed (4vmax) of at least 10 mm / s and / or at most 2 m / s, and / or The coarse adjustment device (4) has a speed of at least 1 m / s 2 and / or up to 20 m / s 2 2. The printing system (1) according to claim 1, wherein the printing system (1) has a maximum acceleration and / or a maximum deceleration of 0.5-100 rpm (4amax).

16. Use of a printing system (1) according to any one of claims 1 to 15 for forming strands (ST) of building material (BS) for 3D printing of a structural part (BWT).

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