Method and conveyor system

Abstract

The invention relates to a method for operating a conveyor system (1) for conveying construction material (M), wherein the conveyor system (1) has: a construction material pump device (2) for pumping construction material (M) to be conveyed, a discharge element (3) for discharging (A) conveyed construction material (M) out of the conveyor system (1), a monitoring device (4) for monitoring discharged construction material (M), and an adaptation device (5) for carrying out at least two different measures of a measure catalog of the conveyor system (1) for adapting the discharge (A) separately and / or in a combined manner. The method has the following steps: a) pumping construction material (M) by means of the construction material pump device (2) in order to convey construction material (M), and discharging conveyed construction material (M) by means of the discharge element (3); b) monitoring the discharged construction material (M) by means of the monitoring device (4) in order to detect at least one actual property of the discharged construction material (M); c) comparing the detected actual property with a specified target property of the discharged construction material (M) in order to detect a deviation between the detected actual property and the specified target property; d) comparing the detected deviation with the measure catalog; and e) separately carrying out at least one of the measures of the measure catalog or carrying out at least two measures of the measure catalog in a combined manner on the basis of the comparison, in each case such that the deviation is minimized.

Description

[0001] Process and conveyor system

[0002] FIELD OF APPLICATION AND STATE OF THE ART

[0003] The invention relates to a method for operating a conveyor system for conveying building materials. The invention also relates to such a conveyor system for conveying building materials.

[0004] TASK AND SOLUTION

[0005] It is an object of the present invention to provide a method for operating a conveyor system for conveying building material and such a conveyor system for conveying building material, which have improved properties.

[0006] This problem is solved by the subject matter of the independent patent claims. Preferred embodiments are the subject matter of the dependent patent claims.

[0007] A method according to the invention serves to operate a conveyor system for conveying building material. The method is expediently used for the automatic operation of the conveyor system. According to the method, the conveyor system can therefore be operated to convey building material, in particular automatically. The conveyor system has a building material pump device for pumping the building material to be conveyed. The conveyor system also has a discharge element for discharging conveyed building material from the conveyor system. Furthermore, the conveyor system has a monitoring device for monitoring discharged building material. In addition, the conveyor system has an adaptation device for the separate and / or combined implementation of at least two different measures from a catalog of measures, in particular of the conveyor system, for adapting the discharge. The measures can therefore be implemented separately and / or in combination by means of the adaptation device in order to adapt the discharge.The method comprises a step a), according to which building material is pumped by means of the building material pump device in order to convey building material. In addition, according to step a), conveyed building material is discharged by means of the discharge device. The method also comprises a step b), according to which the discharged building material is monitored by means of the monitoring device in order to detect at least one actual property of the discharged building material. “Detecting” can be understood as a synonym for “determining” and / or “capturing”. The method further comprises a step c), according to which the detected actual property is compared with a predetermined target property of the discharged building material in order to detect, in particular to determine, a deviation of the detected actual property relative to the predetermined target property.The method comprises a further step d), according to which the detected deviation is compared with the catalogue of measures. The method also comprises a step e), according to which a comparison-dependent separate implementation of at least one of the measures from the catalogue of measures or a combined, in particular simultaneous and / or interdependent implementation of at least two measures from the catalogue of measures takes place, in both cases such that the deviation is minimized. In this way, the actual property of the discharged building material can be adjusted to the target property. Accordingly, the method according to the invention can advantageously ensure that the building material has the target property, in particular as far as possible, after its discharge.Expediently, at least individual steps, in particular at least step c) and / or step d), of the method can be computer-implemented, in particular by means of an electronic control device of the conveyor system.

[0008] The term “configured” can be used synonymously with the term “trained”.

[0009] The terms “comprises” or “has” can be used synonymously with each other and with the term “comprises”.

[0010] In this case, “control” can mean “steer” and / or “regulate”, especially unless otherwise stated.

[0011] The building material can be concrete, in particular fresh concrete, and / or thixotropic and / or puncture-resistant or dimensionally stable, especially during discharge. In particular, after discharge, the concrete can harden and / or set. Additionally or alternatively, the building material can have a maximum grain size of at least 4 mm, in particular at least 10 mm, in particular at least 16 mm. Such a grain size of the building material can prove advantageous, particularly when using the invention for 3D printing a building component.

[0012] In an embodiment of the invention, the comparison according to step d) is carried out depending on a class of the detected deviation from a set of predetermined deviation classes. This enables the method to be carried out with particularly low computational effort.

[0013] During the comparison according to step d), the detected deviation is expediently classified according to predetermined deviation classes, to which at least one measure is assigned in the catalog of measures. In an embodiment of the invention, at least one deviation class relates to at least one property of the discharged building material. Such a property of the discharged building material can be an individual layer height of an individual layer of discharged building material. Another such property of the discharged building material can be an overall layer height of several, in particular all, discharged layers, in particular layers stacked on top of one another, of discharged building material. Another such property of the discharged building material can be a building material position of the discharged building material.Another such property of the extruded building material can be an offset of at least one layer of extruded building material, in particular laterally, with respect to at least one further layer of extruded building material arranged underneath. Another such property of the extruded building material can be a surface quality of the extruded building material. Another such property of the extruded building material can be a shape, in particular a substantially rectangular layer cross-section, of at least one layer of extruded building material. Another such property of the extruded building material can be an interruption and / or defect in at least one layer of extruded building material.

[0014] According to the method, a distance, in particular a vertical one, between the monitoring device and a subsurface can be monitored, with the discharged building material being deposited on the subsurface. Furthermore, a distance, in particular a vertical one, between the monitoring device and at least one already produced layer of building material, on which another layer is currently being deposited, can be monitored. Based on the two aforementioned distances, a height of the at least one already produced layer above the subsurface can be determined as the difference.

[0015] In an embodiment of the invention, the catalogue of measures comprises at least two measures. One such measure of the catalogue of measures can comprise adjusting a discharge position of the discharge element, in particular along a predetermined discharge path and - alternatively or additionally - in particular vertically and / or horizontally - transversely to the discharge path. Another such measure for the catalogue of measures can comprise adapting a discharge cross-section of the discharge element, wherein a shape of the discharged strand of building material depends on the discharge cross-section, in particular wherein a layer of building material is produced with or from the strand. Another such measure for the catalogue of measures can comprise adapting a discharge flow of building material for the discharge, in particular by adapting a conveying flow of conveyed building material.A further such measure for the catalogue of measures may include adjusting an adjustment speed of the discharge element, in particular along the discharge path, and - alternatively or additionally - in particular vertically and / or horizontally, transversely to the discharge path.

[0016] In an embodiment of the invention, adapting the discharge cross-section, in particular starting from a substantially rectangular cross-sectional shape of the discharge cross-section, comprises tilting at least one cross-sectional side edge that delimits the discharge cross-section horizontally, in particular laterally, in particular about an inclination axis currently running parallel to the discharge path. In particular, the cross-sectional side edge does not run horizontally. Alternatively or additionally, adapting the discharge cross-section comprises pivoting a cross-sectional upper edge that delimits the discharge cross-section vertically, in particular counter to a direction of gravity, in particular about a pivot axis currently running parallel to the discharge path. In particular, the cross-sectional upper edge does not run vertically.Alternatively or additionally, adjusting the discharge cross-section comprises elastically curving, in particular buckling and / or bending, the upper edge of the cross-section, so that the discharge cross-section is reduced. At least one actuator of the adjustment device can expediently be provided for tilting and / or pivoting and / or curving.

[0017] In a further embodiment of the invention, the discharged building material is monitored contactlessly by the monitoring device. Alternatively or additionally, the discharged building material is monitored contact-based by the monitoring device. Contact-based monitoring of the discharged building material can be synonymously referred to as "mechanical" monitoring.

[0018] In a further embodiment of the invention, the monitoring device comprises a deflectable sensing arm for contact-based scanning of the discharged building material and a detection device for detecting a deflection of the sensing arm, in particular wherein the sensing arm carries a roller and / or a slider for contacting the discharged building material. Alternatively or additionally, the monitoring device comprises a laser device for contactless, in particular point-like and / or linear and / or grid-like, scanning of the discharged building material. Alternatively or additionally, the monitoring device comprises a camera system, in particular a 3D camera system, in particular a time-of-flight camera system, with at least one camera for contactless scanning of the discharged building material. Alternatively or additionally, the monitoring device comprises an optical system with image recognition for contactless scanning of the discharged building material.Alternatively or additionally, the monitoring device comprises at least one ultrasonic sensor for contactless scanning of the discharged building material. Alternatively or additionally, the monitoring device comprises at least one radar device for contactless scanning of the discharged building material. The contactless monitoring can be carried out optically, for example, by means of the at least one laser and / or the at least one camera and / or the optical system with image recognition.

[0019] It is expedient to scan a surface exposed upwards against the direction of gravity and / or lateral surfaces of one or more of the layers of building material.

[0020] In a further embodiment of the invention, the monitoring of the discharged building material takes place while the discharged building material is in motion. While the discharged building material is in motion, the building material, in particular the layer, can still settle and / or creep and / or flow. Alternatively or additionally, the monitoring of the discharged building material takes place while the discharged building material is, in particular at least substantially, at rest, in particular wherein the discharged building material at rest forms at least one layer of discharged building material. In particular, settling and / or creep and / or flow of the building material is completed when the discharged building material is at rest.

[0021] In a further embodiment of the invention, the discharged building material is monitored locally, in particular at a monitoring point at a predetermined distance from the discharge device. Alternatively or additionally, the discharged building material is monitored regionally, in particular in a monitoring area of ​​the structural component of the discharged building material. Alternatively or additionally, the discharged building material is monitored globally, in particular for the entire structural component.

[0022] In a further embodiment of the invention, the conveyor system for 3D printing a structural component is operated by extruded building material, particularly at a construction site. Alternatively or additionally, the conveyor system is operated by extruded building material for casting a structural component, particularly in the form of a prefabricated component for a structural component and / or at a construction site for the structural component.

[0023] 3D printing can be referred to as additive manufacturing. Additionally or alternatively, the building material can be extruded as a strand of building material and deposited, particularly layer by layer, on the substrate, particularly to form a stack of superimposed layers of building material. The structural component can be a building component and / or a wall and / or a ceiling.

[0024] A conveying system according to the invention is used to convey building material. The conveying system comprises a building material pumping device for pumping the building material to be conveyed. The conveying system also comprises a discharge element for discharging conveyed building material from the conveying system. Furthermore, the conveying system comprises a monitoring device for monitoring discharged building material. Furthermore, the conveying system comprises an adjustment device for separately or combinedly carrying out at least two different measures for adjusting the discharge. The conveying system is configured for operation, in particular automatic operation, according to a method according to the invention as described above. In this respect, the conveying system according to the invention can enable exploitation of the advantages of the method according to the invention explained above.

[0025] In a further embodiment of the invention, in particular of the conveyor system, the conveyor system comprises a control device, in particular an electronic one, for at least carrying out steps c) and d) and—alternatively or additionally—for controlling the adjustment device depending on steps c) and d). In particular, the control device can be configured for automatically carrying out the method according to the invention.

[0026] When 3D printing the structural component, layers of building material can expediently be applied to one another, i.e. layer by layer and / or in stacks, using the conveyor system according to the method. This can result in superimposed layers, in particular layers, which have certain properties. The properties of the layers can depend on process accuracy, material properties of the building material, environmental influences, and the like. Accordingly, the properties can vary depending on the aspects mentioned above. The properties of the layers can be, for example, an individual and / or total layer height, a layer width, an actual position of the respective layer, an offset of one of the layers relative to at least one other of the layers, and / or a surface quality of at least one of the layers. In addition to the properties subject to fluctuations as explained above, the layers can be subject to layer defects.Such a layer defect can, for example, be a geometric deviation from a desired, for example, rectangular, cross-sectional shape. Such a geometric deviation can, for example, be in the form of a bulge, a trapezoidal shape, a diamond shape, a triangular shape, inconsistencies in layer curves, and / or inconsistencies in layer thickness. A layer defect can also be a layer offset. A layer defect can also be a lateral and / or transverse unevenness of a layer surface, in particular occurring singularly, stochastically, or cyclically. Layer defects can also be cracks.

[0027] In particular, during 3D printing, errors in individual layers may not be detectable or irrelevant, but they accumulate to a significant error when multiple layers are stacked. This error can become significant if it leads to a deviation from a predetermined tolerance, especially for the structural component.

[0028] Process- and / or material-related properties can therefore result in position and / or contour errors in the layer cross-section, which can accumulate due to the stratification of the layers. This can apply in particular to consistent geometric layer errors, i.e. layer errors that occur in the same place in several of the stacked layers. Such errors can arise, for example, from an excess of material. Such an excess of material can arise if the conveyed quantity of building material is greater than the required discharge quantity of building material, whereby the discharge quantity can result from the discharge cross-section and the adjustment speed of the discharge device relative to the substrate. Such an excess of material can be advantageous if the building material is to be discharged under pressure, since, for example, "brittle" building material can tend to tear when tension is applied to the discharged strand.Another example may be a different layer height in a transverse direction, which may result in a lateral tilt of the stack of layers.

[0029] To counteract such layer errors during 3D printing of building materials, the discharge cross-section can be expediently adjusted as already explained above. For this purpose, at least one actuator can be installed on the discharge element, which is designed to adjust the discharge cross-section. In particular, errors in a previous strand or a previous layer can be corrected as far as possible using the actuator and the adjustment of the discharge cross-section. Such errors can possibly even be prevented preventively, particularly depending on the material consistency of the building material. To influence the upper side of the layer to be discharged, an elastically deformable surface of the discharge element that is complementary to the upper side can be shaped into a desired form using actuators.If the discharged layer becomes too crowned, this shape can be adjusted using the elastically deformable surface in order to achieve the flattest possible surface on the top side. If the respective layer is tilted, the surface can be adjusted relative to a horizontal plane, in particular in such a way that the top side of the discharged layer is aligned horizontally after being placed on the layer below. The side surfaces of the respective layers can tend to drift apart at the top because the respective deposited strand is held together on its underside due to adhesion. As a result, if there is excess material, the freshly discharged layer can be wider on its top side than on its underside. This can result in a trapezoidal cross-section for the respective layer.This effect can become progressively more pronounced when stacking multiple layers, because the lower layers are compressed by the layers above them. By tilting the cross-sectional edge that horizontally defines the discharge cross-section, this drifting can be at least partially compensated for, or even preventatively counteracted.

[0030] If the properties of the building material are constant, the discharge cross-section can expediently be permanently equipped with a geometry designed such that the deposited and at rest layers have a rectangular cross-section. For example, when processing building material with constant properties, side parts of the discharge element can be wedge-shaped, in particular invariably. An upper part of the discharge element can be convex, in particular invariably. The convex upper part and / or the wedge-shaped side parts can each be designed as an insert part for insertion and / or insertion into a rectangular discharge base.

[0031] Particularly with regard to 3D printing, the invention can advantageously enable positioning of a print head of the conveyor system having the discharge element, in particular such that the print head is positioned at a defined distance from an uppermost layer of building material and / or at a defined distance from the substrate. The print head can in particular be configured for the horizontal discharge of building material for the respective layer. Optionally, a distance of a layer stacked on top of another layer can be determined relative to the substrate. Furthermore, the invention can enable detection of surface defects, in particular geometric defects, of the discharged building material. The detection of surface defects, in particular geometric defects, can be achieved by the method-based actual-target comparison with the desired geometry.

[0032] The positioning of the discharge element, in particular the print head, can expediently be carried out relative to the respective layer and / or globally via an environment-related global coordinate system. The detection device can expediently comprise a sensor unit arranged upstream and / or downstream of the print head. The sensor unit can scan, in particular, the surface of the discharged building material. The information obtained by the sensor unit can be evaluated by an evaluation unit, in particular the control device, of the conveyor system. Alternatively, on a construction site where the conveyor system is operated according to the method, a system installed on the construction site can be used to scan the 3D-printed layers from the outside.

[0033] As already explained, monitoring or scanning can be global, regional, or local. "Global" can mean scanning the entire surface of a layer, especially across multiple structural components such as walls. "Local" can mean scanning a section of a most recently applied layer directly in front of the print head.

[0034] BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Further advantages and features of the invention will become apparent from the claims and the following description of preferred embodiments of the invention, which are illustrated with reference to the drawings. Like reference numerals refer to like, similar, or functionally identical components.

[0036] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0037] Fig. 1 shows a schematic side view of an embodiment of a conveyor system according to the invention for conveying building material, which is operated according to a method according to the invention,

[0038] Fig. 2 shows a schematic cross-section of a 3D-printed structural component whose layers are defective,

[0039] Fig. 3 schematically shows a cross-section of a further structural part with defective layers, wherein an uppermost layer of the structural part is monitored by means of a monitoring device of a further embodiment of the conveyor system according to the invention, Fig. 4 schematically shows a cross-section of a structural part which is produced by operation of the conveyor system according to Fig. 1, in particular without defects,

[0040] Fig. 5 shows a further embodiment of the conveyor system according to the invention in operation according to a method according to the invention,

[0041] Fig. 6 shows a schematic front view of a discharge device for the conveyor system according to Fig. 1,

[0042] Fig. 7 shows a schematic front view of another discharge device for the conveyor system according to Fig. 1,

[0043] Fig. 8 shows another discharge system for the conveyor system according to Fig. 1 in a schematic perspective view,

[0044] Fig. 9 shows a schematic perspective view of a detail of the discharge device according to Fig. 8,

[0045] Fig. 10 shows a schematic perspective view of a further detail of the discharge device according to Figs. 8 and 9, and

[0046] Fig. 11 shows a schematic front view of another discharge device for the conveyor system according to Fig. 1.

[0047] DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] A conveying system 1 according to the invention is provided for conveying building material M. The conveying system 1 has a building material pump device 2 for pumping the building material M to be conveyed. The conveying system 1 also has a discharge element 3 for discharging A of conveyed building material M from the conveying system 1. The discharge element 3 can be comprised of a print head for 3D printing building material M. The conveying system 1 also has a monitoring device 4 by means of which the discharged building material M can be monitored. Furthermore, the conveying system 1 has an adjustment device 5 which is configured to separately or in combination carry out at least two different measures for adjusting the discharge A of conveyed building material M. The conveying system 1 is configured for operation according to a method according to the invention. In the present case, the conveying system 1 can be operated automatically according to the method. The method is explained below by way of example.The method for operating the conveying system 1 comprises a step a), according to which building material M is pumped by means of the building material pump device 2 in order to convey building material M. Furthermore, according to step a), the conveyed building material M is discharged by means of the discharge device 3. According to a further step b) of the method, the discharged building material M is monitored by means of the monitoring device 4 in order to detect at least one actual property of the discharged building material M. A further step c) of the method provides that the detected actual property is compared with a predetermined target property of the discharged building material M in order to detect a deviation of the detected actual property relative to the predetermined target property. According to a further step d) of the method, the detected deviation is compared with a catalog of measures.According to a further step e) of the method, at least one of the measures from the catalog of measures is implemented based on the comparison according to step d). Alternatively, according to step e), at least two measures from the catalog of measures are implemented in combination based on the comparison according to step d). The implementation of the at least one measure or the combined implementation of at least two measures according to step e) is carried out in both cases in such a way that the deviation between the detected actual property and the predetermined target property is minimized, in particular eliminated.

[0049] For example, the comparison according to step b) is carried out depending on a class of the detected deviation from a set of predetermined deviation classes. The comparison according to step d) can include classifying the detected deviation according to the predetermined deviation classes, with at least one measure being assigned to each of the predetermined deviation classes in the catalog of measures.

[0050] For example, one of the deviation classes relates to an individual layer height HL of a single layer L of applied building material M. Alternatively or additionally, a further one of the deviation classes relates to a total layer height HG of several, in particular all, applied, in particular stacked, layers L of applied building material M. Alternatively or additionally, a further one of the deviation classes relates to a building material position of the applied building material M. Alternatively or additionally, a further one of the deviation classes relates to an offset of at least one layer L of applied building material M, in particular laterally with respect to at least one further layer L of applied building material M arranged underneath. Alternatively or additionally, a further one of the deviation classes relates to a surface quality of the applied building material M, in particular of a layer L.Alternatively or additionally, another of the deviation classes relates to a shape, in particular a substantially rectangular layer cross-section QL, of at least one layer L of extruded building material M. Alternatively or additionally, another of the deviation classes relates to the presence of an interruption and / or a defect in at least one layer L of extruded building material M. Furthermore, deviation classes can be provided that relate to several selected properties of the extruded building material M.

[0051] For example, a distance H2 between the monitoring device 4 and a substrate U can be monitored. The extruded building material M can be deposited on the substrate U, in particular in a lowest layer L. In addition, a distance H1 between the monitoring device 4 and at least one already produced layer L, on which a further layer L is currently being arranged, can be monitored. Based on the distances H2, H1, a height of the at least one already produced layer L above the substrate U, on which the further layer L is currently being applied, can be determined as a difference.

[0052] The catalogue of measures comprises, for example, at least two of the following measures. One measure for the catalogue of measures can comprise adjusting a discharge position of the discharge member 3, in particular along a predetermined discharge path P, and - alternatively or additionally - transversely to the discharge path P. The adjustment of the discharge position transversely to the discharge path P can take place vertically and - alternatively or additionally - horizontally. A further measure for the catalogue of measures can comprise adapting a discharge cross-section QA of the discharge member 3, wherein a shape of the discharged strand S of building material M depends on the discharge cross-section QA. In the present case, at least one layer L of building material M is produced with or from the strand S. As long as the building material M has not yet been deposited, it can be referred to as the strand S. After the strand S has been deposited, the building material M can form the layer L from the strand S.A further measure for the catalogue of measures can include adjusting a discharge flow of building material M for discharge A. In particular, the discharge flow can be adjusted by adjusting a conveying flow of conveyed building material M. A further measure for the catalogue of measures can include adjusting an adjustment speed of the discharge element 3. In particular, the adjustment speed of the discharge element 3 can be adjusted along the discharge path P and—alternatively or additionally—transversely to the discharge path P. The adjustment of the adjustment speed of the discharge element 3 transversely to the discharge path P can, for example, be vertically and, alternatively or additionally, horizontally. For example, adjusting the discharge cross-section QA comprises inclining at least one cross-sectional side edge 6 that horizontally delimits the discharge cross-section.In the present case, two horizontally opposite cross-sectional side edges 6 can be inclined, in particular individually and / or dependently on one another. For example, the respective cross-sectional side edge 6 is inclined about an inclination axis N currently running parallel to the discharge path P. Alternatively or additionally, the discharge cross-section QA can be adjusted by pivoting a cross-sectional upper edge 7 that vertically delimits the discharge cross-section QA. The cross-sectional upper edge 7 delimits the discharge cross-section QA, for example, counter to a direction of gravity G. In the present case, the cross-sectional upper edge 7 delimits the discharge cross-section QA vertically. The cross-sectional upper edge 7 can be pivoted about a pivot axis K that currently runs parallel to the discharge path P to adjust the discharge cross-section QA.Alternatively or additionally, to adjust the discharge cross-section QA, the upper cross-sectional edge 7 is elastically curved, for example, bulged, and - alternatively or additionally - bent, so that the discharge cross-section QA is reduced. In the present case, the discharge cross-section QA is adjusted starting from a substantially rectangular cross-sectional shape of the discharge cross-section QA. "Substantially rectangular" is intended to include rectangular shapes that have rounded and / or chamfered corners. At least one actuator 8 of the adjustment device 5 can be provided for tilting, pivoting, and / or curving to adjust the discharge cross-section QA.

[0053] For example, the discharged building material M is monitored contactlessly by means of the monitoring device 4. Alternatively or additionally, the discharged building material M can be monitored contact-wise by means of the monitoring device 4.

[0054] The monitoring device 4 comprises, for example, a deflectable sensing arm 9 configured for contact-based sensing of the discharged building material M. The monitoring device 4 may comprise a detection device 10 configured to detect a deflection of the sensing arm 9. The sensing arm 9 may comprise a roller 11 and—alternatively or additionally—a slider 12, which serves to contact the discharged building material M.

[0055] Alternatively or additionally, the monitoring device 4 comprises, for example, a laser device 13 which is configured for contactless scanning of the discharged building material M. The laser device 13 can be designed for contactless, point-like and - alternatively or additionally - linear and - alternatively or additionally - grid-like scanning of the discharged building material M. Alternatively or additionally, the monitoring device 4 comprises, for example, a camera system 14. The camera system 14 can be a 3D camera system. Alternatively or additionally, the camera system 14 can be a time-of-flight camera system. In the present case, the camera system 14 has at least one camera 15 for contactless scanning of the discharged building material M.

[0056] Alternatively or additionally, the monitoring device 4 comprises, for example, an ultrasonic sensor 18 which is designed for contactless scanning of the discharged building material M.

[0057] Alternatively or additionally, the monitoring device 4 comprises, for example, at least one radar device 19 which is designed for contactless scanning of the discharged building material M.

[0058] For example, the monitoring of the discharged building material M takes place while the discharged building material M is in motion. The building material M can be considered to be in motion until it has settled and / or until the flow of the building material M essentially no longer occurs. Solidified building material M can be considered not to be in motion. Alternatively or additionally, the building material M can be monitored while the discharged building material M is, in particular essentially, at rest. The discharged building material M at rest can form at least one layer L of discharged building material M. In particular, the building material M can be at rest when it is at least partially solidified or hardened.

[0059] The discharged building material M is monitored locally, for example. The local monitoring of the discharged building material M can be carried out at a monitoring point 20 at a predetermined distance from the discharge device 3. Alternatively or additionally, the discharged building material M is monitored regionally, for example. The regional monitoring of the discharged building material M can be carried out in a monitoring area of ​​the structural part 50 of the discharged building material M. Alternatively or additionally, the discharged building material is monitored globally, for example. The global monitoring of the discharged building material M can be carried out for the entire structural part 50, in particular all at once.

[0060] For example, the conveyor system 1 is operated according to the method for 3D printing the structural component 50 from excavated building material M, in particular on-site at a construction site 60. Alternatively or additionally, the conveyor system 1 is operated for casting a structural component 50, in particular in the form of a prefabricated component for a structural component 50 and / or at a construction site 60 for the structural component 50, from excavated building material M.

[0061] In this case, the conveyor system 1 has a control device 21, for example an electronic one. The control device 21 is configured to perform at least steps c) and d). Alternatively or additionally, the control device 21 is configured to control the adjustment device 5 depending on steps c) and d).

[0062] 8 to 10 show an embodiment of an extruder device 100, which may have the discharge member 3. Fig. 11 shows a further embodiment of the extruder device 100, which may have the discharge member 3. The extruder device 100 serves for the, in particular automatic, extrusion of the strand S of building material M for 3D printing the building component 50. The extruder device 100 has a discharge nozzle 200. The discharge member 3 can have the discharge nozzle 200. The discharge nozzle 200 serves for the shaping discharge of the strand S from the extruder device 100. The discharge nozzle 200 has a nozzle base 300. The discharge nozzle 200 also has an adjustable discharge cross-section QA, 400. The discharge cross-section 400, QA is adjustable to give the strand S its shape, in particular a strand cross-sectional contour.The extruder device 100 also has an adjustment device 5, 500 designed to adjust the discharge cross-section QA, 400. The adjustment device 5, 500 comprises at least one, in particular automatically adjustable, shaping section 600, which defines the discharge cross-section QA, 400 at least in sections. The adjustment device 5, 500 also has at least one, in this case elastically deformable, adjustment section 700, which connects the shaping section 600 to the nozzle base 3.

[0063] The nozzle base 300 can - as in the present case - be flat, in particular horizontal, at least in some regions. A deflection device of the extruder device 100 can be connected to the nozzle base 300. In the present case, the deflection device is connected horizontally and tangentially to the nozzle base 300. The deflection device can be designed to deflect building material M, in the present case from vertical to horizontal, in order to feed the deflected building material M to the discharge nozzle 200. In the present case, the forming section 600 defines the discharge cross-section QA, 400 exclusively in sections. The nozzle base 300 is, for example, essentially rigid, ie it undergoes no or only slight deformation during the discharge of the strand S, as intended.For example, the adjustment device 5, 500 has at least one actuator 8, 800 for adjusting the at least one shaping section 600 relative to the nozzle base 300 while elastically deforming the adjustment section 700. According to Figs. 5 to 7, the adjustment device 5, 500 has, for example, two actuators 8, 800, which are designed to adjust the respective shaping section 600 relative to the nozzle base 300.

[0064] The nozzle base 300 defines the discharge cross-section QA, 400 in sections, in particular in the direction of gravity G. In this case, all forming sections 600 together with the nozzle base 300 define the discharge cross-section QA, 400, in particular completely as can be seen in Figs. 8 to 10.

[0065] The extruder device 100 has, for example, at least one, in particular lateral, wall part 900. The wall part 900 comprises the adaptation section 700 and the at least one forming section 600. In the present case, the wall part 900 comprises the adaptation section 700 and the at least one forming section 600 in a uniform material.

[0066] According to Figures 8 to 11, the adaptation section 700 of at least one wall part 900 of the extruder device 100 is twistable by means of a first actuator 8, 800 of the adaptation device 5, 500 in order to pivot the associated forming section 600 about a rotation axis A of the adaptation device 5, 500. The rotation axis A runs, for example, transversely, in this case perpendicularly, to the discharge cross-section QA, 400. The rotation axis A can correspond to the inclination axis N. The wall part 900 is pivotable in this case by means of a second actuator 8, 800 of the adaptation device 5, 500 in order to adjust the at least one forming section 6, 600 along a horizontal width direction B of the extruder device 100. By means of the second actuator 8, 800, the forming section 600 can be pivoted about a vertical axis. The wall part 900 can be adjusted and / or manipulated simultaneously or individually by means of both actuators 8, 800.The actuators 8, 800 may comprise linear and / or rotary actuators.

[0067] According to Fig. 11, the adaptation device 5, 500 comprises a bladder 1000 that can be filled with a fluid under pressure. In this case, the bladder 1000 is designed to be filled with a substantially incompressible fluid, in particular automatically. In this case, the bladder 1000 comprises two adaptation sections 700 and a shaping section 600 arranged therebetween. The shaping section 600 and the adaptation sections 700 of the bladder 1000 are in particular integral components of the bladder 1000. In this case, the bladder 1000 is supported on the nozzle base 300, for example, on an upper part of the nozzle base 300, facing away from its adaptation sections 700 and its shaping section 600.

[0068] The extruder device 100 has, for example, two wall parts 900 opposite one another along the horizontal width direction B, see in particular Figs. 8, 7 and 10. According to Fig. 11, the bladder 1000 is arranged along the width direction B between the wall parts 900. The wall parts 900 can enable a width adjustment of the discharge cross-section QA, 400. According to Fig. 11, the forming sections 600 of the wall parts 900 and of the bladder 1000, together with the nozzle base 300, completely define the discharge cross-section QA, 400, in particular together with the adaptation sections 700 of the bladder 1000.

[0069] Fig. 11 also shows that the discharge nozzle 200 can have, for example, a hose element 1100. The hose element 1100 can be elastic and / or flexible. In the present case, the hose element 1100 is designed for building material M to flow through. The hose element 1100 can comprise latex or be made of latex. In this case, the elastic hose element 1100 directly delimits the discharge cross-section QA, 400 on the inside. The hose element 1100 can cover, in particular line, the wall parts 900 and the nozzle base 300. The hose element 1100 can prevent direct contact of building material M with the wall parts 900 and the nozzle base 300, but can enable an indirect, in particular mechanical, effect of the wall parts 900 and the nozzle base 300 on the building material M during strand formation. The same can apply to the bladder 1000.

[0070] The extruder device 100 in the present case has a detection device 10, 1200, which is designed to detect an actual shape of the discharged strand S. The detection device 10, 1200 can have or be a sensor device. The detection device 10, 1200 has, for example, at least one camera 15, 1300. In the present case, the detection device 10, 1200 has two cameras 15, 1300. The extruder device 100 has, for example, a control device. The control device can correspond to the control device 21 or be designed to interact with the control device 21. In the present case, the control device is designed as an electronic control device. The control device is designed for the, in particular automatic, control, in particular of at least one actuator 8, 800, of the adaptation device 5, 500.The control device is designed to control the adaptation device 5, 500 in such a way that a deviation between the detected actual shape and a predetermined target shape for the discharged strand S is automatically minimized, in particular in the manner of a control loop.

[0071] For example, a strand section of the discharged strand S can be monitored by means of the at least one camera 15, 1300. The strand section to be monitored can already have been discharged for a predetermined minimum time before it enters the field of view of the camera 15, 1300. The camera 15, 1300 and / or its field of view can be arranged at a distance from the discharge nozzle 200, in particular for the aforementioned purpose. The minimum time or the distance can be selected such that the monitored strand section already has its permanent shape, in particular after a setting and / or flow time of the building material M of the strand S.

[0072] Figs. 2 and 3 show how discharged strands S can deform due to settling and / or flow of the building material M after discharge of the strand S with a rectangular discharge cross-section QA, 400. The extruder device 100 can counteract this deformation of the discharged strand S by automatically adjusting the discharge cross-section QA, 400 using the adjustment device 5, 500, so that the structural part 50 shown in Fig. 4 can be produced. It can be seen from Fig. 4 that the respective strand S has a substantially rectangular shape of its cross-section after the settling and / or creep of its building material M. The desired shape can have a substantially rectangular cross-section in accordance with Fig. 4.

[0073] By inclining the shaping sections 600 of the wall parts 900 in the extruder device 100 according to Figs. 8 to 11, a folding apart of the flank sides of the strand cross-section, as can be seen in Fig. 2, can be avoided. By inclining said shaping sections 600 of the wall parts 900, the discharge cross-section QA, 400 can be adapted in a trapezoidal direction. A torsional force for twisting the adaptation sections 700 of the wall parts 900 can be applied by the actuator 8, 800 shown at the front in Figs. 8 and 10. Said actuator 8, 800 can act on a lever arm that is attached to a discharge-side end of the wall part 900, wherein the shaping section 600 of the respective wall part 900 is located at this outlet-side end.A degree of torsion of the respective wall part 900 can be specified by the detection device 10, 1200, which in this case is arranged above the discharge opening in order to detect and evaluate the strand shape. The result of the detection and evaluation of the strand shape can be used as a controlled variable for a stroke of the actuator 8800 that twists, in particular interlaces, the wall part 900. Inclining the lateral shaping sections 600 may, under certain circumstances, not be sufficient to fully align the actual shape of the strand S with the desired shape. In particular, despite inclining the lateral shaping sections 600, a curvature of the strand S may remain at the upper edge of the strand cross-section, see Fig. 3. This curvature can now be counteracted by the pressurizable bladder 1000.An excess of building material M can be calculated from a geometry of the curvature and converted into a filling level of the bubble 1000, so that the strand S can then be produced with a horizontal upper edge of its strand cross-section - after the settling and / or flow time has elapsed - see Fig. 4. A controlled variable for the filling level of the bubble 1000 can also be provided by the detection system 10, 1200.

[0074] The two cameras 15, 1300 can record the strand geometry or the strand shape, whereby a processor of the control device can carry out an actual-target comparison in order to provide the controlled variable for the correction of the discharge cross-section QA, 400 in the form of a respectively necessary actuator stroke for the torsion of the respective wall part 900.

[0075] The conveyor system 1 can comprise a movement device. The movement device can be designed to move the extruder device 100 in a horizontal movement direction H, wherein the extruder device 100 is designed to discharge the strand S from the extruder device 100 in a shaping manner counter to the horizontal movement direction H. The movement direction H can be opposite to a discharge direction. The discharge direction can extend along the discharge path P and / or follow the discharge path P.Alternatively or additionally, the conveyor system 1, in particular the extruder device 100, as in the present case, is designed for the shaping discharge of the strand S from the extruder device 100 at a discharge speed, in particular a variably adjustable one, wherein the movement device is designed to move the extruder device 100 at a speed approximately corresponding in magnitude to the discharge speed. Accordingly, the strand S can be discharged essentially without any relative speed to the underlying building material layers.

[0076] The building material pump device 2 can be designed to supply the extruder device 100 with building material M for the strand S, in particular automatically.

[0077] The extruder device 100 comprising the discharge element 3 and the conveyor system 1 can be used as shown in Fig. 1. Accordingly, the extruder device 100 is used to extrude the strand S of building material M for 3D printing the building component 50. Alternatively or additionally, the conveyor system 1 is used, for example, to extrude the strand S of building material M for 3D printing the building component 50, in particular if the conveyor system 1 comprises the extruder device 100.

Claims

Patent claims 1. A method for operating a conveying system (1) for conveying building material (M), wherein the conveying system (1) comprises: a building material pumping device (2) for pumping the building material (M) to be conveyed, a discharge member (3) for discharging (A) the conveyed building material (M) from the conveying system (1), a monitoring device (4) for monitoring the discharged building material (M), and an adjustment device (5) for separately and / or combinedly carrying out at least two different measures from a catalogue of measures of the conveying system (1) for adjusting the discharge (A), the method comprising the steps of: a) pumping building material (M) by means of the building material pumping device (2) in order to convey the building material (M), and discharging the conveyed building material (M) by means of the discharge member (3); b) monitoring the discharged building material (M) by means of the monitoring device (4) in order to detect at least one actual property of the discharged building material (M);c) comparing the detected actual property with a predetermined target property of the discharged building material (M) in order to detect a deviation of the detected actual property relative to the predetermined target property; d) comparing the detected deviation with the catalogue of measures; and e) separately implementing at least one of the measures from the catalogue of measures or combined implementing at least two measures from the catalogue of measures, in each case in such a way that the deviation is minimized.

2. Method according to the preceding claim, wherein the comparison according to step d) is carried out as a function of a class of the detected deviation from a set of predetermined deviation classes.

3. Method according to the preceding claim, wherein at least one deviation class is related to at least one of the following properties of discharged building material (M): a single layer height (HL) of a single layer (L) of discharged building material (M), a total layer height (HG) of several, in particular all, discharged, in particular stacked, layers (L) of discharged building material (M), a building material position of discharged building material (M), an offset of at least one layer (L) of discharged building material (M), in particular laterally with respect to at least one further layer (L) of discharged building material (M) arranged underneath, a surface quality of discharged building material (M), a shape, in particular of a substantially rectangular layer cross-section (QL), of at least one layer (L) of discharged building material (M), an interruption and / or defect in at least one layer (L) of discharged building material (M).

4. Method according to one of the preceding claims, wherein the catalogue of measures comprises at least two of the following measures: Adjusting a discharge position of the discharge member (3), in particular along a predetermined discharge path (P) and / or, in particular vertically and / or horizontally, transversely to the discharge path (P), - adapting a discharge cross-section (QA) of the discharge member (3), on which a shaping of a discharged strand (S) of building material (M) depends, in particular wherein at least one layer (L) of building material (M) is produced with or from the strand (S), - adjusting a discharge flow of building material (M) for the discharge (A), in particular by adjusting a conveying flow of conveyed building material (M), - Adjusting an adjustment speed of the discharge member (3), in particular along the discharge path (P) and / or, in particular vertically and / or horizontally, transversely to the discharge path (P).

5. Method according to the preceding claim, wherein the adjustment of the discharge cross-section (QA), in particular starting from a substantially rectangular cross-sectional shape of the discharge cross-section (QA), comprises: Inclining at least one cross-sectional side edge (6) horizontally delimiting the discharge cross-section (QA), in particular about an inclination axis (N) currently running parallel to the discharge path (P), and / or pivoting a cross-sectional upper edge (7) vertically delimiting the discharge cross-section (QA), in particular counter to a direction of gravity (G), in particular about a pivot axis (K) currently running parallel to the discharge path (P), and / or elastically arching, in particular buckling and / or bending, of the cross-sectional upper edge (7), so that the discharge cross-section (QA) is reduced.

6. Method according to one of the preceding claims, wherein the monitoring of the discharged building material (M) by means of the monitoring device (4) is carried out in a contactless and / or contact-based manner.

7. Method according to one of the preceding claims, wherein the monitoring device (4) comprises: a deflectable sensing arm (9) for contact-based scanning of the discharged building material (M) and a detection device (10) for detecting a deflection of the sensing arm (9), in particular wherein the sensing arm (9) carries a roller (11) and / or a slider (12) for contacting the discharged building material (M), and / or a laser device (13) for contactless, in particular point-like and / or linear and / or grid-like, scanning of the discharged building material (M), a camera system (14), in particular a 3D camera system, in particular a time-of-flight camera system, with at least one camera (15) for contactless scanning of the discharged building material (M), - at least one ultrasonic sensor (18) for contactless scanning of the discharged building material (M), - at least one radar device (19) for contactless scanning of the discharged building material (M).

8. Method according to one of the preceding claims, wherein the monitoring of the discharged building material (M) is carried out, - while the discharged building material (M) is in motion, and / or - while the discharged building material (M) is, in particular at least substantially, at rest, in particular wherein the discharged building material (M) at rest forms at least one layer (L) of discharged building material (M).

9. Method according to one of the preceding claims, wherein the monitoring of the discharged building material (M) takes place locally, in particular at a monitoring point (20) at a predetermined distance from the discharge member (3), and / or wherein the monitoring of the discharged building material (M) takes place regionally, in particular in a monitoring area of ​​a building part (50) of discharged building material (M), and / or wherein the monitoring of the discharged building material (M) is carried out globally, in particular for the entire building part (50).

10. Method according to one of the preceding claims, wherein the conveyor system (1) is operated for 3D printing a building part (50) from extruded building material (M), in particular at a construction site (60), and / or wherein the conveyor system (1) is operated for casting a building part (50), in particular in the form of a prefabricated part for a building part (50) and / or at a construction site (60) for the building part (50), from extruded building material (M).

11. Conveying system (1) for conveying building material (M), the conveying system (1) comprising: a building material pump device (2) for pumping the building material (M) to be conveyed, a discharge member (3) for discharging (A) conveyed building material (M) from the conveying system (1), a monitoring device (4) for monitoring discharged building material (M), and an adaptation device (5) for separately or combinedly carrying out at least two different measures for adapting the discharge (A), the conveying system (1) being set up for operation, in particular automatic operation, according to a method according to one of the preceding claims.

12. Conveyor system (1) according to the preceding claim, wherein the conveyor system (1) has a, in particular electronic, control device (21) at least for carrying out steps c) and d) and / or for controlling the adaptation device (5) as a function of steps c) and d).

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