Automated construction of towers and columns

Patent metadata

Field	Value
Publication number	US-10066413-B2
Application number	US-201514688676-A
Country	US
Kind code	B2
Filing date	Apr 16, 2015
Priority date	Apr 16, 2014
Publication date	Sep 4, 2018
Grant date	Sep 4, 2018

Abstract

A robot may extrude a tower or column. The robot may include an extrusion nozzle, a positioning system, a climbing apparatus, and a controller. The extrusion nozzle may controllably extrude uncured construction material. The positioning system may controllably cause the extrusion nozzle to traverse a perimeter layer of the tower or column. A climbing apparatus may controllably cause the robot to climb. A controller may autonomously: direct the positioning system to cause the nozzle to traverse the perimeter layer of the tower or column; direct the nozzle to extrude uncured construction material during the traverse; direct the climbing apparatus to cause the robot to climb an incremental amount; and repeat each of the foregoing positioning, extrusion, and climbing steps until the extruded tower or column attains a desired height.

First claim

The invention claimed is:

1. A robot for extruding a tower or column and for climbing the tower or column as it is being constructed, comprising:
an extrusion nozzle configured for controllably extruding uncured construction material;
a positioning system configured for controllably positioning the extrusion nozzle around a perimeter of the tower or column;
a climbing apparatus supporting the extrusion nozzle and positioning system and configured for climbing the tower or column as it is being constructed; and
a controller that autonomously directs:
positioning the extrusion nozzle around the perimeter of the tower or column;
extruding uncured construction material by the extrusion nozzle during the positioning;
climbing the tower or column as it is being constructed, by the climbing apparatus; and
continuing directing of the positioning, extruding, and climbing until the tower or column attains a desired height.

2. The robot of claim 1 wherein the controller directs the positioning system to cause the nozzle to traverse multiple perimeter layers of the tower or column, each on top of a previously-extruded layer, before directing the climbing apparatus to cause the robot to climb the wall of the tower in an incremental amount.

3. The robot of claim 1 wherein the climbing apparatus includes multiple rovers, each having one or more rotating drive tracks.

4. The robot of claim 3 wherein each rover has at least two independently-operable rotating drive tracks.

5. The robot of claim 3 wherein each rover is supported by a substantially vertical truss attached to a substantially horizontal truss that collectively press each rover against a substantially vertical surface to be climbed.

6. The robot of claim 5 wherein each vertical truss is slidably engaged to each horizontal truss.

7. The robot of claim 6 further comprising a cable controllably pulls inwardly on each vertical truss so as to cause each rover to press against a wall of the tower or column.

8. The robot of claim 1 wherein the climbing apparatus has a configuration that climbs by grabbing onto an exterior wall of the tower or column.

9. The robot of claim 1 wherein the climbing apparatus has a configuration that climbs by grabbing onto a structure inside of the tower or column.

10. The robot of claim 1 wherein the robot includes a second extrusion nozzle that extrudes a structure inside of the tower or column in layers, each at approximately the same time as the robot extrudes a layer of the tower or column.

11. The robot of claim 1 further comprising a material container and a hoist that controllably transports the material container between ground and the top of the tower or column.

12. The robot of claim 11 further comprising an automated material transfer apparatus that transfer material from the material container to the extrusion nozzle under the control of the controller.

13. The robot of claim 11 wherein the material container includes an internal piston that forces out material within the container when moved.

14. The robot of claim 13 wherein the hoist includes a cable connected to the material container and wherein the piston is connected to the cable.

15. The robot of claim 14 wherein the material container includes a controllable lock that prevents movement of the piston in response to force applied to the cable when locked and permits movement of the piston in response to force applied to the cable when unlocked.

16. The robot of claim 1 further comprising an articulated arm that controls the location of the extrusion nozzle.

17. The robot of claim 16 wherein the articulated arm can controllably move the extrusion nozzle both vertically and horizontally.

18. The robot of claim 1 wherein the positioning system includes a laser that provides a fixed position reference light.

Assignees

• Univ Southern California

Inventors

• Khoshnevis Behrokh

Classifications

• E04H12/16

  Prestressed structures · CPC title

• E04H12/341 Primary

  Arrangements for casting in situ concrete towers or the like · CPC title

• E04G21/0463

  with boom control mechanisms, e.g. to automate concrete distribution · CPC title

• B33Y30/00

  Apparatus for additive manufacturing; Details thereof or accessories therefor · CPC title

• Y02E10/72

  Wind turbines with rotation axis in wind direction · CPC title