KR101472301B1

KR101472301B1 - Automatic apparatus for building structure

Info

Publication number: KR101472301B1
Application number: KR20120085742A
Authority: KR
Inventors: 이창근
Original assignee: (주)아이로봇; 이창근
Priority date: 2012-08-06
Filing date: 2012-08-06
Publication date: 2015-01-15
Also published as: KR20140019156A

Abstract

SUMMARY OF THE INVENTION It is an object of the present invention to provide a building construction automation apparatus in which building construction can be efficiently performed in a short time. Accordingly, the present invention provides a method for manufacturing a building material, comprising: a first step of spraying a granular or powdery building material on a plane with a predetermined thickness by an automatic apparatus; A second step in which the building material sprayed in step 1 is planarized evenly; A third step in which the binder is sprayed only on the area of the building on the planarized building material; And the fourth step in which the first to third steps are repeated to continuously laminate the building material.

Description

{Automatic apparatus for building structure}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a building construction automation apparatus, and more particularly, to a construction building automation apparatus, in which a process of spraying a binder in a building area is repeated after spraying a building material in the form of particles or powder The present invention relates to a building construction automation device capable of rapidly proceeding construction.

The work of constructing the building such as the building takes a lot of manpower and time, and it puts a lot of effort into the development of the construction method which reduces time and cost.

FIG. 1 is a block diagram of a building automation system, which is disclosed in International Publication No. WO2005 / 001954.

1, it includes a support member 2 on both sides which is moved by a pair of rails 1 and an upper member 3 which connects the support members 2 on both sides with each other, A nozzle assembly 4 to which a building material is supplied is installed on the upper member 3 to discharge the building material.

The construction method determines the discharge position of the building material by controlling the position of the nozzle assembly 4 along a rail 1 and supporting members 2 and upper members 3 on both sides, 4), the wall of the building 6 is formed so that the construction of the building is automatically performed.

However, according to the conventional art, as the construction material is formed in such a manner that the building material discharged from the nozzles forms the walls of the building 6 while the nozzle assembly 4 moves, the unit of the nozzle assembly 4 The amount of work per hour is small and an excessive amount of repetitive movement of the nozzle assembly 4 is required until the entire structure is completed. This means that despite the automation of the construction process, it takes a lot of time to complete and the efficiency of the work is considerably low.

Particularly, in the case of forming simple houses or structures, it is very inefficient to constitute individual walls by the nozzle assembly 4 of the prior art.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a building automation apparatus in which building construction can be efficiently performed in a short time.

According to an aspect of the present invention, there is provided a head device comprising: a head part for horizontally arranging a head part and horizontally moving the head part in a direction perpendicular to a longitudinal direction of the head part; And a vertical conveying part for vertically moving the head part. The head part is provided in the longitudinal direction of the head part, and a slot is provided along the longitudinal direction of the head part to spray particulate or powder building material downward And a lower portion of the construction material supply device is provided in the longitudinal direction of the head portion at a side of the construction material supply device and the lower end of the building material is horizontally A plurality of bars in the longitudinal direction of the head portion on the side of the planarizing member; Wherein the plurality of binder injectors are independently provided with a binder supplying device for discharging the binder for curing to the building material selected by the planarizing member in accordance with the horizontal movement of the head portion, Wherein the construction material supply device, the planarizing material, and the binder supply device are sequentially arranged with respect to a direction in which the building material is horizontally moved, the building material supply device is formed in a container shape or a cylindrical shape A construction material receiver and a conveying screw installed inside the building material receiving body for uniformly conveying the building material into the interior of the building material receiving body, wherein the vertical conveying section, the horizontal conveying section, A control device for controlling the operation of the binder supply device is further provided Wherein the horizontal transfer of the head unit is performed by the horizontal transfer unit for each unit transfer amount so that the vertical transfer unit vertically transfers the unit transfer amount sequentially, The building construction automation apparatus controls the plurality of binder injectors independently so that the binder supply device discharges the binder to a predetermined position after the building material supply device sprays the building material downward.
According to another aspect of the present invention, the construction material supply device includes an opening / closing device for opening the slot only at the same time in the horizontal direction of the head unit under the control of the controller.
According to another aspect of the present invention, there is further provided a hot air supply device for discharging hot air for drying and curing the binder discharged from the binder supply device.

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The building automation apparatus according to the present invention is a method in which a granular or powdered building material is first sprayed as a single layer and then a binder is supplied to an area where a building is to be formed. To build a building one by one. Accordingly, the operation in one layer corresponding to the entire cross-section of the building is performed by one operation, which can significantly improve the speed and efficiency of the construction.

In addition, since the present invention does not require an operation of blending a building material in advance, and the binder is sprayed on a building material, a hardened portion is formed, so that the entire work process can be made very simple.

In addition, since the present invention has a magnetic attraction head and carries and inserts a steel beam inserted into a steel beam insertion area of a building through a magnetic attraction head, it is also possible to easily insert a steel beam into a building.

Further, in the present invention, since the boundary wall surrounding the building is formed around the building, the building material being sprayed to form the building is prevented from flowing out to the outside so that the building can be smoothly formed.

1 is a schematic view showing a construction method of a building according to the prior art;
2 is a perspective view of a building building automation apparatus according to an embodiment of the present invention;
3 is a perspective view showing a lower structure of a head part in a building building automation apparatus according to an embodiment of the present invention;
4 is a perspective view showing the structure of a magnetic adsorber in a building building automation apparatus according to an embodiment of the present invention.
FIG. 5 is a view showing an operation state according to a building method using a building building automation apparatus according to an embodiment of the present invention
6 is an explanatory diagram of a construction method by operation of a head portion in a structure building automation apparatus according to an embodiment of the present invention
7 is a view illustrating a state in which a building is formed by a method of building a building according to an embodiment of the present invention
8 is a view showing a state in which a magnetic beam absorber adsorbs a steel beam to insert a steel beam into a building formed by a method of building a building according to an embodiment of the present invention.
9 is a view showing a state in which a magnetic adsorber changes a posture of a steel beam to insert a steel beam into a building formed by a method of building a building according to an embodiment of the present invention,

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

A method of building a building according to an embodiment of the present invention includes a first step of spraying a granular or powdered building material on a plane with a predetermined thickness, a second step of uniformly flattening the building material applied in the first step, A third step in which the binder is sprayed only on the material forming area on the material, and a fourth step in which the first to third steps are repeated.

In order to implement the above-described method, an apparatus capable of automating construction as shown in FIG. 2 is used in this embodiment.

Referring to FIG. 2, an automation apparatus for construction includes a head 10 arranged horizontally in the longitudinal direction for spraying and curing building material, and a head 10, which is perpendicular to the longitudinal direction of the head 10, A first horizontal transfer unit 20 for horizontally moving the head unit 10 and a vertical transfer unit 30 for vertically moving the head unit 10.

The head portion 10 is a portion that supplies the building material 61 and hardens the building material 61 to substantially form the wall 51 of the building. The head unit 10 is horizontally and vertically conveyed by the first horizontal conveyance unit 20 and the vertical conveyance unit 30.

In addition, the head unit 10 sequentially moves upwards at a predetermined feed amount to form the wall 51 of the building by the amount of upward feed thereof. To this end, the first horizontal transfer unit 20 is moved horizontally once every time the vertical transfer unit 30 ascends by the set transfer amount, so that the head unit 10 dispenses the building material 61 And the building material 61 is planarized, and then the binder is discharged and cured, so that the above-described first to third steps are sequentially performed.

The first horizontal conveying unit 20 includes a horizontal conveying frame 21 and a horizontal conveying driving unit 22 for moving the head unit 10 along the horizontal conveying frame 21 .

The horizontal feed drive unit 22 can connect the cable to the head unit 10 so that the head unit 10 can be pulled from the outside and move the head unit 10 along the horizontal guide frame 21 by pulling the cable from the outside However, the horizontal conveying drive device 22 constituted by the servo motor is provided at a portion where the head part 10 meets the horizontal guide frame 21, so that the head part 10 travels on the horizontal guide frame 21 by the magnetic force Most preferably,

The vertical conveying unit 30 vertically moves the head unit 10 coupled to the first horizontal conveying unit 20 by vertically conveying the conveying unit 30 and includes four vertical guide frames 31 And a vertical conveying drive unit 32 for conveying the first horizontal conveying unit 20 along the vertical guide frame 31. The vertical conveyance drive unit 32 can also cause the first horizontal conveyance unit 20 to travel along the vertical guide frame 31 by the servomotor like the horizontal conveyance drive unit 22 described above, It is preferable to be constructed so as to be pulled by a power unit and a cable 322 provided on the upper side or the outside of the vertical guide frame 31 in consideration of the above.

3 shows the structure of the head unit 10 in more detail.

3, the head part 10 includes a granular or powdery building material 61 installed in the longitudinal direction of the head part 10 and formed with a slot 115 along the longitudinal direction thereof, A construction material supply device 11 installed in the longitudinal direction of the head part 10 at a side of the construction material supply device 11 and capable of spraying the building material 11 discharged from the construction material supply device 11, A planarizing member 12 whose lower end is horizontal in order to planarly move the head unit 10 in accordance with the horizontal movement of the head unit 10; A plurality of binder injectors 132 are installed on the building material 61 selected by the planarizing member 12 in accordance with the horizontal movement of the head unit 10 so that the binder 63 for curing A binder supply device 13 capable of discharging is provided.

The construction material supply device 11 is installed at a lower portion of the head portion 10 in the longitudinal direction of the head portion 10, that is, in a direction connecting the horizontal guide frames 21 provided on both sides thereof, Can be formed and the granular or powdery building material 61 accommodated therein can be sprayed downward.

The building material supply device 11 includes a container-shaped or cylindrical-shaped building material receptacle 112 extending in the longitudinal direction thereof and provided on a lower surface of the slot 115, A conveying screw 114 for uniformly conveying the building material 61 to be injected into the interior of the door 112 and an opening and closing device 16 for opening and closing the slot 115.

The building material receiver 112 is installed to extend in the longitudinal direction of the head part 10 and has a container shape for accommodating a mixture of yellow soil or sand and gravel, which is a building material 61, therein. The shape of the container can be replaced by a cylindrical shape. A slot 115 is formed on the lower surface of the building material receiver 112 so that the building material 61 accommodated therein can be discharged through the slot 115 and the slot 115 extends in the longitudinal direction of the head portion 10 And is installed at the length of the building material receiver 112, the building material 61 discharged from the slot 115 can be discharged with a predetermined width at a time.

The conveying screw 114 installed inside the building material receiver 112 is constructed such that the building material 61 supplied from the building material supply hose 117 is conveyed from the inside so that the building material 61 can be spread evenly . Further, when the building material 61 is sprayed downward through the slot 115, the conveying screw 114 is rotated to move the building material 61 and smoothly escape through the slot 115.

An opening / closing device 16 for opening / closing the slot 115 is installed at a lower portion of the building material receiver 112. The opening and closing device 16 is provided with an opening and closing port 161 for closing and opening the slot 115 so that the opening and closing port 161 is driven to swing along the lower surface of the building material receiver 112 between the closed position and the open position. (Not shown). The opening and closing device 16 opens the slot 115 only horizontally of the head part 10 so that the building material 61 is sprayed.

A construction material supply hose 117 is connected to one side of the head part 10 to supply the building material 61 to the building material receiver 112.

The planarizing member 12 is formed of a plate having a horizontal edge at its lower end. The plate material is installed side by side with the building material receiver 112 at the side of the building material receiver 112. As the head portion 10 is conveyed horizontally, the horizontal edges 123 of the planarizing member 12 move the surface of the building material sprayed by the building material receptacle 112 to form a flat surface by removing the ridges.

The planarizing member 12 is installed on both sides of the building material receiver 112 so that the surface of the building material can always be planarized regardless of the direction of movement of the head part 10. [

The binder supply device 13 is a device for discharging the binder 63 only to the portion where the wall 51 of the building will be formed as the head 10 moves.

The binder supplying device 13 is provided on the side of the flattening member 12 in parallel with the flattening member 12 and has a plurality of binder injectors 132 on the lower side of the binder supplying pipe 133 and the binder supplying pipe 133. When the flattening members 12 are installed on both sides of the building material receptacle 112 respectively, the binder supplying device 13 is also arranged on the outside of the planarizing member 12 side by side with the planarizing member 12 and the building material receiver 112, Respectively.

The binder supply pipe 133 is a part that receives the binder 63 from the outside through the supply hose 137 connected to one side of the head part 10 and the binder 63 which is pressure- .

The plurality of binder injectors 132 are arranged in a row so that the binder 63 can be sprayed to any portion of the head portion 10 in the width direction forming the longitudinal direction. Each binder injector 132 independently injects the binder 63 as the inner valve body is opened and the wall 51 of the building is formed while the head 10 moves according to the design data of the building The corresponding binder injector 132 of the plurality of binder injectors 132 discharges the binder 63. [

When the building material 61 is a mixture of sand and gravel, the binder 63 is generally used in the case where the building material 61 is yellow soil, and a binder 63 made of marigold or starch is generally used. It may be a binder 63 containing cement. Glue, glue, or the like may be used according to the building material 61.

A hot air supply device (14) is provided on the side of the binder supply device (13). The hot air supply device 14 receives and discharges hot air from the hot air supply hose 147 to promote drying and curing of the binder 63 sprayed on the building material 61.

On the other hand, a control device (not shown) for controlling the operations of the vertical conveying section 30, the first horizontal conveying section 20, the construction material supplying device 11 and the binder supplying device 13 is provided.

The control unit causes the vertical transfer unit 30 to vertically transfer the unit transfer amount sequentially and horizontally moves the head unit 10 by the first horizontal transfer unit 20 per unit transfer amount Respectively. When the building material 61 is sprayed and the binder 63 is discharged to the surface thereof, the building material 61 and the binder 63 are firmly fixed to the wall 51 The appropriate amount of feed that can be formed. The amount of the conveyance can be varied depending on the building material 61.

In addition, each time the first horizontal conveyance unit 20 is conveyed by the unit conveyance amount in the vertical direction, the controller controls the first horizontal conveyance unit 20 to horizontally convey the head unit 10, The opening and closing device 16 of the building material supply device 11 controls the opening of the slot 115 and the operation of the conveying screw 114 to spray the building material 61 downward through the slot 115 . Here, the conveying screw 114 is more effective when the forward and reverse rotations are repeated. And also controls each binder injector 132 so that the binder 63 is moved to the set position by the binder supply device 13 moving together.

A magnetic adsorber 80 is installed laterally on the head unit 10 to adsorb and move the steel beam 64 and the magnetic adsorber 80 includes an adsorber main body 82 and a magnetic adsorption head 83 do.

4, the adsorber body 82 is coupled to a second horizontal transfer section 86 which is guided by the guide frame 18 of the head section 10 and moves along the guide frame 18. As shown in FIG. The second horizontal transfer section 86 includes a guide frame engaging section 821 and a guide frame 18 of the head section 10 to move the adsorber main body 82 in the longitudinal direction of the head section 10. The guide frame engaging portion 821 is provided with a servomotor for driving driving so that the guide frame 18 can travel in the longitudinal direction of the head portion 10 by magnetic force.

Accordingly, the adsorber body 82 can be vertically moved together with the head portion 10 by the first horizontal conveyance portion 20 being raised and lowered by the vertical conveyance portion 30, and the first horizontal conveyance portion 20 In the longitudinal direction of the head unit 10 along the guide frame 18 in the head unit 10 by the second horizontal transfer unit 86 The adsorber main body 82 can move horizontally, so that the adsorber main body 82 can move in three axial directions.

The adsorber main body 82 is rotatably driven by a horizontal axis 84 parallel to the longitudinal direction of the head 10 and can be driven to rotate about a rotation axis 85 perpendicular to the horizontal axis 84 A magnetic adsorption head 83 is provided. It is preferable that the magnetic attraction head 83 is attached to the side of the head portion 10 as a portion for generating a magnetic force of the electromagnet by the control signal of the control portion and adsorbing the steel beam 64. [ The orientation can be changed so that the magnetic attraction head 83 faces upward or downward by being pivoted by the horizontal shaft 84. [

The magnetic attraction head 83 has a rotation axis 85 orthogonal to the horizontal axis 84 and rotates about the rotation axis 85 so as to rotate the attracted iron beam 64 to rotate the iron beam 64, Can be changed. A hydraulic motor or a servo motor for rotating or rotating the magnetic attraction head 83 about the horizontal axis 84 and the rotation axis 85 is provided in the inside of the magnetic adsorber 80.

Hereinafter, a method of building a building according to an embodiment of the present invention will be described in detail.

A method of building a building according to an embodiment of the present invention includes a first step of spraying a granular or powdered building material on a plane with a predetermined thickness, a second step of uniformly flattening the building material sprayed in step 1, And three stages in which a binder is sprayed only on the building material on the building material, and the steps 1 to 3 are repeated so as to continuously laminate the building material, thereby forming the building.

The foundation work to form the floor of the building before the construction work is started is as shown in FIG. 2, so that the building work is started on the horizontal floor surface 53.

6 (a) shows a state in which the process from step 1 to step 3 is performed by the building material supply device 11, the planarization member 12, and the binder supply device 13. [

The first step of spraying the granular or powdered building material on the plane with a predetermined thickness is performed by the head part 10, the vertical conveying part 30 and the first horizontal conveying part 20. When the vertical conveying section 30 sets the height and the first horizontal conveyance section 20 starts the horizontal movement of the head section 10, the building material 61 in the building material supply device 11 of the head section 10, Is sprayed to a predetermined thickness.

Since the predetermined thickness h corresponds to the amount of conveyance in which the vertical conveying section 30 raises the head section 10 in a stepwise manner, a corresponding amount or a slightly larger amount of the building material 61 should be sprayed. When a slightly larger amount of the building material 61 is applied, the thickness h of the building material 61 can be set by itself by skipping the excess amount along the planarizing member 12 described later.

The second step is performed by the planarization member 12 provided on the side of the construction material supply device 11. [ Since the planarizing member 12 provided together with the construction material supplying device 11 is moved together with the head part 10, the surface of the building material 61 sprayed by the construction material supplying device 11 with a predetermined thickness is moved to the flattening member 12 Is flattened horizontally to form a flat surface. By forming the flat surface in this manner, the binder can uniformly and evenly penetrate and contact the building material to form a good bonding state.

Step 3 is performed by the binder supplying device 13 which is installed on the head part 10 together with the flattening member 12 and is moving.

The binder supply device 13 discharges the binders 63 from the respective binder injectors 132 arranged in a line and discharges the binders 63 independently from each other in the respective binder injectors 132, The binder 63 is discharged only at a position set by the control device.

Since the design data of the horizontal cross section according to the unit transfer amount h is stored in the control device in relation to the building to be constructed, the binder 63 is supplied from the portion where the wall 51 of the building is present on the horizontal cross- So as to control opening and closing of the binder injector 132 as much as possible.

In the third step, as shown in an enlarged view of FIG. 5, a steel beam insertion region 54 into which a steel beam 64 can be inserted is formed in the wall 51 of the building 50. The metal beam inserting area 54 has a region where the binder is not sprayed inside the area of the building. When the binder 63 is applied, a binder 63 is attached to a part of the building, leaving only the area where the steel beam 64 is to be inserted. Lt; / RTI >

The first step and the third step are repeated to repeatedly form the steel beam insertion region 54 in the process of laminating the building material 61 and the building material 61 in which the binder 63 is not sprayed after the building is formed An empty steel beam insertion area 54 that is perpendicular to the inside of the wall 51 of the building 50 is formed so that the steel beam 64 can be inserted.

The third step includes a process of promoting drying and curing of the binder 63 sprayed with the hot air by the hot air supply device 14 and sprayed on the building material 61.

6 (b), the control unit controls the vertical transfer unit 30 to transfer the unit transfer amount h to the transfer unit 30 as shown in FIG. 6 (b) The first horizontal conveying section 20 and the head section 10 are raised as much as the first horizontal conveying section 20 and the first horizontal conveying section 20 is controlled to convey the head section 10 in the horizontal direction again, The process of step 3 is repeated. As a result, the building material 61 is continuously laminated and the molding of the building progresses.

As described above, when the binder 63 is not supplied, the building material 61 stacked in the process of molding the building 50 flows down to the periphery so that the building work can not proceed smoothly.

In order to solve such a problem, the boundary wall 52 is formed around the periphery of the building to be formed in the step 3, as shown in FIG. The boundary wall 52 surrounds an area constituting the building at a predetermined distance from the area constituting the building. As a result, the construction material 61 sprayed from the building material supply device 11 can be prevented from flowing to the periphery, and the position where the building material 61 is sprayed can be maintained on the inside of the boundary wall 52 A smooth molding operation can be performed.

The boundary wall 52 is formed so as to surround the periphery of the building 50 at a position slightly distant from the building 50 to be constructed. In the same way as the formation of the wall 51 of the building 50, (63), and is removed after the building of the building is completed.

When the molding process of the building is completed, the building material 61 and the binder 63 are mixed and cured in a portion of the building wall 51, And the remaining portion is filled with the building material 61 only.

When the molding operation is completed, step 5 is performed in which all of the building material in which the binder is not sprayed is removed from the building material, and step 6 is performed in which the steel beam 64 is inserted into the steel beam insertion area 54.

7, the boundary wall 52 surrounding the building 50 is dismantled, and the building material 61 is sucked by the collection device 70 that sucks the building material 61, whereby the binder 63 And the rest of the accumulated building material 61 is removed. The building material 61 inside the steel beam insertion area 54 is also sucked and removed.

After the removal of the building material 61 is completed, the magnetic adsorber 80 advances the six steps of inserting the steel beam 64 into the steel beam insertion area 54.

The magnetic adsorber 80 includes a vertical conveying unit 30, a first horizontal conveying unit 20, and a first horizontal conveying unit 20 that drives the first horizontal conveying unit 20 in a direction perpendicular to the conveying unit 20, Since the horizontal transfer unit 86 is movable in three axial directions, the horizontal transfer unit 86 moves to absorb the steel beam 64 placed in the vicinity of the building. In adsorption, it is preferable that the magnetic adsorption head 83 adsorbs the end of the steel beam 64 as shown in Fig.

The magnetic adsorber 80 that has adsorbed the iron beam 64 is moved in three axes by the vertical transfer unit 30, the first horizontal transfer unit 20 and the second horizontal transfer unit 86, To the steel beam insertion area 54 and changes the posture of the steel beam 64 in the process. That is, the magnetic adsorption head 83 is rotated up and down by the horizontal axis 84 of the magnetic adsorber 80 and the magnetic attraction head 83 83 change the posture of the steel beam 64 so as to be inserted into the steel beam insertion area 54. [

9, when the posture of the steel beam 64 is changed by the rotation of the magnetic attraction head 83 so that the steel beam 64 is vertically positioned above the steel beam insertion area 54, The steel beam 64 is inserted into the steel beam insertion area 54 while the magnetic absorber 80 and the steel beam 64 descend together by lowering the horizontal transfer part 20 by the lower arm 30. Thereafter, when the magnetic attraction of the magnetic attraction head 83 is stopped, the steel beam 64 is separated from the magnetic attraction head 83 and the insertion into the steel beam insertion area 54 is completed.

After the steel beam 64 is inserted into all the steel beam insertion areas 54, a building material such as concrete is placed in the steel beam insertion area 54 to harden the steel beam 64 integrally with the building.

As shown in FIG. 2, the steel beam insertion area 54 is formed with a steel beam insertion hole 58 on the bottom surface 53 at the time of foundation work to form the bottom of the building, More preferably, the steel beam is fixed from the bottom surface 53 by advancing the above-described operation so that the steel beam insertion area 54 is aligned.

Then, since the surface of the molded building is in a rough state, the building is finished by performing the plastering work.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the invention as defined by the appended claims. Various modifications may be made by those skilled in the art.

10; Head portion 11; Construction material supply device
12; A planarization member 13; Binder feeder
14; Hot air ball 16; Opening and closing device
18; Guide frame 20; The first horizontal conveyance
21; A horizontal guide frame 22; Horizontal feed drive
30; Vertical transport 31; Vertical guide frame
32; A vertical feed drive device 50; building
51; Wall 52; Boundary wall
53; Bottom surface 54; Steel beam insertion area
58; Steel beam insertion hole 61; Building material
63; Binder 64; Steel beam
70; Collecting device 80; Magnetic adsorber
82; Absorber main body 83; Magnetic adsorption head
84; A horizontal axis 85; Rotation axis
86; A second horizontal transfer section 112; Building material receptor
114; Conveying screw 115; slot
117; Construction material supply hose 123; Horizontal corners
132; Binder injector 137; Supply hose
147; Hot air supply hose 161; Opening
162; A driver 322; cable
821; The guide-

Claims

A head part 10 arranged horizontally in the longitudinal direction and for curing by spraying a building material,
A horizontal transfer unit 20 for horizontally moving the head unit 10 in a direction perpendicular to the longitudinal direction of the head unit 10,
And a vertical transfer part (30) for vertically moving the head part (10)
In the head portion 10,
A building material supply device 11 installed in the longitudinal direction of the head part 10 and provided with a slot 115 along the longitudinal direction thereof and spraying the granular or powdery building material 61 downward,
The construction material 61 installed in the longitudinal direction of the head part 10 at the side of the construction material supply device 11 and sprayed by the construction material supply device 11 is moved in the horizontal direction of the head part 10 A planarizing member 12 whose lower end is horizontal in order to flatten it,
A plurality of binder injectors 132 are arranged in a row in the longitudinal direction of the head unit 10 on the side of the flattening member 12 so that the plurality of binder injectors 132, A binder supply device 13 capable of independently discharging the curing binder 63 to the building material 61 picked up by the planarizing member 12 is provided,
The construction material supply device 11, the planarizing member 12, and the binder supply device 13 are sequentially disposed with respect to a direction in which the head unit moves horizontally,
The construction material supply device (11)
A construction material receptacle 112 extending in the longitudinal direction and provided on the bottom surface of the slot 115 and having a cylindrical shape or a cylindrical shape; And a conveying screw (114) for evenly conveying the building material (61)
Further comprising a control device for controlling operations of the vertical transfer section (30), the horizontal transfer section (20), the timber supply device (11) and the binder supply device (13)
The control device
The vertical transfer unit 30 sequentially transfers the unit transfer amount vertically,
So that the horizontal movement of the head unit (10) is performed by the horizontal transfer unit (20) for each unit transfer amount,
The binder supply device 13 discharges the binder 63 to a predetermined position after the construction material supply device 11 sprays the building material 61 downward when the head part 10 is horizontally moved, And the plurality of binder injectors (132) are controlled independently of each other.

The method according to claim 1,
Characterized in that the building material supply device (11) includes an opening / closing device (16) for opening the slot (115) only horizontally at the head part (10) under the control of the control device Device

3. The method according to claim 1 or 2,
In the head portion 10,
And a hot air supply device (14) for discharging hot air for drying and curing the binder (63) discharged by the binder supply device (13)

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