Automated System for Robotised Construction and Construction Method
원문보기
IPC분류정보
국가/구분
United States(US) Patent
공개
국제특허분류(IPC7판)
E04B-001/35
B25J-013/08
B25J-011/00
B25J-015/00
출원번호
16635848
(2018-07-26)
공개번호
20200256051
(2020-08-13)
우선권정보
MX-MX/A2017/009909 (2017-07-31)
국제출원번호
PCT/MX2018/000069
(2018-07-26)
발명자
/ 주소
Becerril Hernández, Germán
출원인 / 주소
Becerril Hernández, Germán
인용정보
피인용 횟수 :
0인용 특허 :
0
초록▼
The present invention provides an automated system and method for construction and assembly of walls, floors and ceilings. Said system comprises at least one robotic arm, at least one material gripper tool, at least one sliding, rising and rotating system, and tongue-and-groove interconnection eleme
The present invention provides an automated system and method for construction and assembly of walls, floors and ceilings. Said system comprises at least one robotic arm, at least one material gripper tool, at least one sliding, rising and rotating system, and tongue-and-groove interconnection elements.
대표청구항▼
1. An automated and robotized construction system comprising: at least one programmable robotic arm;at least one tool attachable to the programmable robotic arm;a plurality of construction materials arranged in a predetermined position so that the programmable robotic arm identifies their arrangemen
1. An automated and robotized construction system comprising: at least one programmable robotic arm;at least one tool attachable to the programmable robotic arm;a plurality of construction materials arranged in a predetermined position so that the programmable robotic arm identifies their arrangement and can pick them up;wherein said construction materials are selected from at least interconnecting crossbeams for floor, wall or ceiling, elements for floor, ceiling, or wall, which can be gripped by said at least one tool and transported and installed by the robotic arm; andsaid at least one tool is selected from a welding tool or device, a gripping and loading tool or device, a sealing and/or gluing tool or system, and/or combinations thereof. 2. The automated and robotized construction system according to claim 1, additionally comprises a sliding, rising and/or rotating platform on which the construction and/or assembly is carried out, which comprises proximity sensors. 3. The automated and robotized construction system according to claim 2, wherein said sliding, rising and/or rotating platform further comprises position sensors. 4. The automated and robotized construction system according to claim 3, wherein said sliding, rising or rotating platform comprises a rotating and rising base conformed by a lower structure, an upper structure coupled to the platform, and a rising system. 5. The automated and robotized construction system according to claim 1, wherein said at least one tool is interchangeable by the robotic arm itself according to the programming thereof, so that the programmable robotic arm is able to interchange and select the tool by itself according to the needs of the constructive design. 6. The automated and robotized construction system according to claim 1, wherein the gripping and loading tool comprises means that cooperate with it to be able to grip construction materials that comprises complementary means to the tool means, such that the tool is able to grip structural profiles (hollow or solid, square, rectangular, polygonal or round tubes, crossbeams, “C” channels, “U” channels, “Z” channels, PTR, IPR, HSS profiles, made from metal, plastic, wood, carbon fiber, aluminum, etc.) and can grip one or several pieces at the same time and can be electronic, electrical, mechanical, hydraulic, pneumatic, vacuum, or a combination thereof, likewise said tool can be manual, semi-automatic, or automatic, and can grip, either precast wall, floor or ceiling panels, sheetrock type panels, Durock® panels, panels W, laminated gypsum panels, EPS panels, lightweight concrete panels, sandwich panels, aerated concrete panels, concrete panels, bricks, concrete blocks, sandwich panels, Alucobond® panels, composite aluminum panels, precast walls, access doors, windows, bars, toilets, lavatories, bathroom furniture, precast stairs, as well as floor covering pieces of the following types: tiles, ceramic floors, porcelain, talaveras, carpets, marble, vinyl, stone, wood, metal, concrete, glass, plastic, rubber, asphalt, cobblestone, adocreto, quarry, plastic resins, etc.; 7. The automated and robotized construction system according to claim 1, wherein the bonding agent or sealing dispensing tool is able to apply bonding agents such as chemical adhesives of epoxy, acrylate, methacrylate, urethane, polyurethane, acrylic, silane, polyamide, phenolic resin, cyanoacrylate, silicone, anaerobe, thermoplastic, elastomer, thermoset, rubber, polyester, hotmelt, plastisol, polyacrylate, cement, paste, and tile adhesive types. 8. The automated and robotized construction system according to claim 1, wherein with the device for making permanent attachments allows to welding by MIG, MIG-MAG, AC-TIG, MMA, MIG-MAG bi-pulse, FCAW, by gas, by arc, laser, friction, ultrasound, fusion weld, electrode, by resistance, dipped, flux-cored arc, stud-welding, spot, of bolts, by hydrogen, by coal, by plasma types, or any other type, or through screwing, nailing, stapling, riveting, or binding, or a combination thereof. 9. The automated and robotized construction system according to claim 1, wherein the construction system further includes a linear track or linear axis, upon which said at least one robotic arm is slidably assembled, providing an additional motion axis. 10. The automated and robotized construction system according to claim 1, wherein said at least one tool is fixed to said robotic arm. 11. The automated and robotized construction system according to claim 1, wherein the plurality of construction materials comprises cooperating means that cooperate with the at least one tool and comprises interconnecting crossbeams with female connectors, interconnecting crossbeams with male connectors to be assembled with said interconnecting crossbeams with female connectors; precast floor, wall or ceiling panels, precast stairs, precast wall panels with window, precast wall panels with or without at least one window or door. 12. The automated and robotized construction system according to claim 11, wherein said female connectors of the interconnecting crossbeams comprises an elongated hollow body, a gap, with outer assembly protrusions, and stop or abutment elongations or outer protrusions arranged below said assembly protrusions; 13. The automated and robotized construction system according to claim 11, and wherein said male connectors from the floor or wall interconnecting crossbeams comprises an elongated body and an assembly structure with assembly holes to receive and trap said assembly protrusions of the female connector. 14. The automated and robotized construction system according to claim 1, wherein said at least one robotic arm includes an upper joint that articulately engages an upper robotic end with a lower robotic end, a lower joint that articulately engages a base with said lower robotic end, wherein said at least one tool is detachably arranged at the end of the upper joint, and a proximity sensor system arranged in said at least one robotic arm. 15. The automated and robotized construction system according to claim 1, preferably comprising two robotic arms each having six degrees of freedom. 16. The automated and robotized construction system according to claim 1, wherein said system is installed on a movable platform that allows it to be moved anywhere. 17. The automated and robotized construction system according to claim 1, wherein two robotic arms are preferably used, a linear track upon which said two robotic arms are assembled, and a sliding platform. 18. The automated and robotized construction system according to claim 2, wherein said platform comprises a mechanical band, or any other device that allows sliding, said platform preferably comprises a system of rollers which can rotate around themselves according to a programming. 19. An automated and robotized construction method, which uses the construction system of claim 1, and which comprises the following steps: forming at least one floor frame section using interconnecting crossbeams with the help of said at least one robotic arm;placing at least one floor element on said at least one floor frame section by means of said robotic arm. 20. The automated and robotized construction method according to claim 19, that further comprising forming at least one wall frame section by means of said at least one robotic arm using interconnecting crossbeams; andplacing at least one wall element in said at least one wall frame section by means of said at least one robotic arm. 21. The automated and robotized construction method according to claim 20, wherein it further comprises: forming at least one ceiling frame section by means of said at least one robotic arm and; placing at least one ceiling element in said at least one ceiling frame section by means of said at least one robotic arm.
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