A mobile 3D printing device, system and method based on the addition of material intended to be attached to a lifting device with a single lifting cable or chain, including a printing head adapted to receive material and depositing it;fixing means adapted to link the printing head to the lifting dev
A mobile 3D printing device, system and method based on the addition of material intended to be attached to a lifting device with a single lifting cable or chain, including a printing head adapted to receive material and depositing it;fixing means adapted to link the printing head to the lifting device, andstabilization means adapted to stabilize the position of the printing head by a gyroscopic effect. The printing device enables the control of the printing of a structure to be printed, in particular the position of the printing head, to reduce the labor costs and the time to install such a device on a standard crane provided with a hook.
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1. A mobile 3D printing device based on the addition of material intended to be attached to a lifting device with a single lifting cable or chain, the mobile 3D printing device comprising a printing head adapted to receive material and depositing it;fixing means adapted to link the printing head to
1. A mobile 3D printing device based on the addition of material intended to be attached to a lifting device with a single lifting cable or chain, the mobile 3D printing device comprising a printing head adapted to receive material and depositing it;fixing means adapted to link the printing head to the lifting device, characterized in that it also includesstabilization means (MS) adapted to stabilize the position of the printing head by a gyroscopic effect. 2. The mobile 3D printing device according to claim 1, in which the stabilization means are adapted to act on the position of the fixing means. 3. The mobile 3D printing device according to claim 1, in which the stabilization means comprise at least three gyroscopes, adapted to stabilize the position of the printing head by a gyroscopic effect. 4. The mobile 3D printing device according to claim 1, in which the stabilization means comprise complementary stabilization means comprising at least three turbines adapted to stabilize the position of the printing head by air flow, the three turbines being distributed angularly equidistantly from a substantially vertical lifting axis defined by the single lifting cable or chain of the lifting device. 5. The mobile 3D printing device according to claim 3, further comprising an actuator adapted to rotate the printing head about an axis of rotation, called vertical, at right angles to the plane defined by the three gyroscopes, the stabilization means being adapted to neutralize the disturbances generated by the rotation of the printing head and ensuring the stability of the printing head during the rotation. 6. The mobile 3D printing device according to claim 5, further including displacement means comprising a first translation system adapted to displace the printing head along an axis at right angles to the vertical axis. 7. The mobile 3D printing device according to claim 6, in which the first translation system comprises an articulated arm allowing the displacement of the printing head along the axis at right angles to the vertical axis. 8. The mobile 3D printing device according to claim 6, in which the first translation system comprises a balancing weight adapted to maintain the equilibrium of the first translation system as a function of the position of the printing head on the axis of the first translation system. 9. The mobile 3D printing device according to claim 6, in which the displacement means further comprise a second translation system adapted to displace the printing head along the vertical axis. 10. The mobile 3D printing device according to claim 1, further comprising: location means adapted to determine in real time the position of the printing head in a geometrical reference frame specific to the structure to be printed; anda processing unit adapted to servo-control the position of the printing head as a function of its location in the geometrical reference frame of the structure to be printed. 11. The mobile 3D printing device according to claim 10, in which the location means comprise: a spotting system adapted to know the absolute position of a reference point in the geometrical reference frame of the structure to be printed; anda set of sensors adapted to allow the position of the printing head to be located relative to the reference point, the processing unit being adapted to calculate the location of the printing head in the geometrical reference frame of the structure to be printed using the data from the spotting system and the data from the set of sensors. 12. The mobile 3D printing device according to claim 1, in which the printing head is connected to a material supply tube, the arrival of which being made along the vertical axis. 13. The mobile 3D printing device according to claim 12, in which the material supply tube is linked to a material pump comprising an output tube, the two tubes being linked by a combination of revolving joints. 14. The mobile 3D printing device according to claim 1, in which the printing head is provided with a revolving nozzle allowing for a non-rectilinear deposition of the material. 15. A 3D printing system for constructing a structure by the deposition of layers of material comprising: a mobile 3D printing device as claimed in claim 1; anda lifting device with a single lifting cable or chain, the lifting device being capable of suspending and displacing the 3D printing device. 16. A method for 3D printing of a structure such as a building by a 3D printing system as claimed in claim 15, comprising: a first step consisting in defining, using a spotting system, at least one reference point in the geometrical reference frame of the structure to be printed, such that the processing unit can define the position of the printing head in the geometrical reference frame of the structure to be printed; anda second step of printing of the structure consisting in supplying the printing head with construction materials, of concrete, mortar or cement type, and in activating the servo-controlling of the position of the printing head by the processing unit as a function of the form of the structure to be printed.
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