Automated construction of towers and columns

Patent metadata

Field	Value
Publication number	US-10907375-B2
Application number	US-201816121545-A
Country	US
Kind code	B2
Filing date	Sep 4, 2018
Priority date	Apr 16, 2014
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

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

What is claimed is:

1. A method for forming a tower or column, the method comprising the steps of:
positioning an extrusion nozzle adjacent to a portion of a tower under construction, wherein the extrusion nozzle is connected with a climbing apparatus that is configured to engage with and climb on one of a structure surface separate from the tower or column or a surface of the tower under construction;
extruding a layer of uncured construction material through the extrusion nozzle to form a section of the portion of the tower;
raising the climbing apparatus relative to the tower to form a next section of the portion of the tower through a subsequent extrusion step using the extrusion nozzle;
aligning each layer of the tower under construction using a sensor comprising at least one of a Global Positioning System (GPS) sensor, an accelerometer, or a gyroscope; and
repeating the positioning, extruding and raising steps until the tower under construction reaches a desired height.

2. The method as recited in claim 1 wherein during at least one instance of rising, the climbing apparatus engages a structure surface separate from the tower or column, and wherein the structure is disposed inside of the tower.

3. The method as recited in claim 2 wherein the structure disposed inside of the tower is a cylinder, and wherein during rising, the climbing apparatus engages a surface of the structure.

4. The method as recited in claim 1 wherein the extrusion nozzle is supported by the climbing apparatus to move with the climbing apparatus during the step of raising.

5. The method as recited in claim 1 wherein one or more steps of positioning, extruding and raising are conducted by a controller.

6. The method as recited in claim 1 wherein the climbing apparatus is positioned inside of the tower under construction.

7. The method as recited in claim 1 wherein the climbing apparatus is positioned outside of the tower under construction.

8. The method as recited in claim 1 wherein during repeating the step of extruding, a subsequent layer of the uncured construction material is disposed onto an earlier extruded layer of the uncured construction material.

9. The method as recited in claim 1 further comprising operating a material transfer apparatus to transfer uncured construction material from a material container to the extrusion nozzle.

10. A method for forming a tower or column, the method comprising the steps of:
positioning an extrusion nozzle adjacent to a wall portion of a tower under construction, wherein the extrusion nozzle is connected with a climbing apparatus;
extruding a layer of uncured construction material through the extrusion nozzle to form a section of the wall portion;
moving the climbing apparatus to form a next section of the wall portion through a subsequent extrusion step using the extrusion nozzle, wherein during the moving step the extrusion nozzle moves with the climbing apparatus; and
repeating the positioning, extruding and moving steps until the tower under construction reaches a desired height;
wherein one or more of the steps of positioning, extruding and moving are conducted by a controller that is autonomously operated to direct the positioning of the nozzle to traverse one or more layers of previously extruded uncured construction material.

11. The method as recited in claim 10 wherein during the step of moving, the controller is autonomously operated to cause the climbing apparatus to climb an incremental amount relative to the tower after a layer of the uncured construction material has been extruded.

12. The method as recited in claim 10 wherein the climbing apparatus is positioned adjacent a structure inside of the tower to engage and move relative to the structure during the step of moving.

13. The method as recited in claim 12 wherein the structure is a cylinder and the climbing apparatus is disposed within the cylinder.

14. The method as recited in claim 12 further comprising extruding a layer of uncured construction material through a second extrusion nozzle to form a wall section of the structure.

15. The method as recited in claim 14 wherein the second extrusion nozzle is connected with the climbing apparatus to move therewith.

16. A method for forming a tower or column, the method comprising the steps of:
positioning an extrusion nozzle adjacent to a wall portion of a tower under construction, wherein the extrusion nozzle is connected with a climbing apparatus to move therewith;
extruding a layer of uncured construction material through the extrusion nozzle to form a section of the tower wall portion;
elevating the climbing apparatus to form a next section of the tower wall portion during a subsequent extrusion step using the extrusion nozzle, wherein during the elevating step the extrusion nozzle moves with the climbing apparatus; and
repeating the positioning, extruding and elevating steps until the tower under construction reaches a desired height;
wherein the steps of positioning, extruding and elevating are conducted autonomously by a controller.

17. The method as recited in claim 16 wherein during the elevating step the climbing apparatus engages a section of the tower or a structure disposed within the tower, and wherein the climbing apparatus comprises one or more rovers having a rotating element to cause climbing apparatus movement relative to the tower or structure.

18. The method as recited in claim 16 , further comprising aligning each layer of the tower under construction using a sensor comprising at least one of a Global Positioning System (GPS) sensor, an accelerometer, or a gyroscope.

Assignees

• Univ Southern California

Inventors

• Khoshnevis Behrokh

Classifications

• Y02E10/72

  Wind turbines with rotation axis in wind direction · CPC title

• B33Y30/00

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

• E04H12/341 Primary

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

• E04H12/16

  Prestressed structures · CPC title

• E04G21/0463

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