JP7303767B2 - Structure construction device and structure construction method - Google Patents

Description

The present invention relates to a structure construction apparatus and a structure construction method for constructing a laminated structure by laminating a cement-based material and a core material-based material.

BACKGROUND ART There is known an apparatus for constructing a laminated structure including a discharge nozzle for discharging a cement-based material and a resin-based material and a moving device for moving the discharge nozzle (Patent Document 1). In this building apparatus, a laminated structure is built by stacking one unit of a modeled object having a tension member inside a compression member.

JP 2019-112884 A

When a layered structure is constructed by stacking one unit of modeled objects as in the construction device described above, the layered modeled objects do not come together due to the solidification state of the materials and the positional deviation of the stacked modeled objects. There is also the possibility that seams may form in the laminated structure. In other words, there is a possibility that the construction apparatus described above cannot properly construct a continuous laminated structure.

In order to solve the above problems, the present invention provides a structure construction apparatus and a structure construction method capable of properly constructing a continuous laminated structure.

The present invention is a structure construction apparatus for constructing a laminated structure by laminating a cement-based material and a core material-based material, comprising: a moving part that moves in a main scanning direction; A first cement-based head that discharges a material to shape a first pressure-resistant layer; a core material system head that discharges the core material system on the side and shapes a stress-resistant layer so as to overlap the first pressure-resistant layer; A second cement system that discharges the cement-based material on the upstream side of the stress-resistant layer in the main scanning direction to form a second pressure-resistant layer so that the stress-resistant layer is sandwiched between the second pressure-resistant layer and the first pressure-resistant layer. While moving the head and the moving part in the main scanning direction, the first cement-based head, the core material-based head, and the second cement-based head are controlled to discharge the first pressure-resistant layer and the tensile strength layer. and a controller for continuously forming the second pressure-resistant layer in the main scanning direction.

In this case, the moving section moves in the main scanning direction and in a sub-scanning direction orthogonal to the main scanning direction, and the control section moves the moving section in the sub-scanning direction while moving the first moving section. The discharge of the cement-based head, the core material-based head, and the second cement-based head is controlled to form the first pressure-resistant layer, the tension-resistant layer, and the second pressure-resistant layer continuously in the sub-scanning direction. You may let

Further, in this case, a first cement-based arm section that connects the moving section and the first cement-based head and movably supports the first cement-based head, and the moving section and the core material-based head. and a core material system arm part that movably supports the core material system head; and a second cement system arm that connects the moving part and the second cement system head and movably supports the second cement system head. and two cementitious arms, wherein the controller may further control movement of the first cementitious arm, the wicking arm and the second cementitious arm.

The present invention is a structure construction method for constructing a laminated structure by laminating a cement-based material and a core material-based material. a first pressure-resistant layer forming step of ejecting a cement-based material to shape a first pressure-resistant layer; a stress-resistant layer forming step of ejecting the core material on the upstream side of the pressure layer in the main scanning direction to form a stress-resistant layer so as to overlap the first pressure-resistant layer; The cement-based material is discharged from the second cement-based head on the upstream side in the main scanning direction of the stress-resistant layer formed by the core material-based head, and the stress-resistant layer is formed between the first pressure-resistant layer and the cement-based material. and a second pressure-resistant layer forming step of forming a second pressure-resistant layer so as to sandwich the By moving the moving part in the main scanning direction, the first pressure-resistant layer, the tension-resistant layer, and the second pressure-resistant layer are formed continuously in the main scanning direction.

In this case, the moving part moves in the main scanning direction and also moves in the sub-scanning direction perpendicular to the main scanning direction to perform the first pressure-resistant layer forming step, the stress-resistant layer forming step, and the second stress-resistant layer forming step. By performing the pressure layer forming step while moving the moving portion in the sub-scanning direction, the first pressure-resistant layer, the tension-resistant layer, and the second pressure-resistant layer are continuously shaped in the sub-scanning direction. may be

In this case, the first pressure-resistant layer forming step, the tension-resistant layer forming step, and the second pressure-resistant layer forming step may be performed in parallel.

According to the present invention, a continuous laminated structure can be properly constructed.

BRIEF DESCRIPTION OF THE DRAWINGS It is sectional drawing which shows the outline of the concrete surface impervious wall type rockfill dam which constructs a face slab using the structure construction apparatus which concerns on one Embodiment of this invention. 1 is a block diagram showing a structure construction device according to one embodiment of the present invention; FIG. It is a side view which shows a part of structure construction apparatus and embankment body which concern on one Embodiment of this invention. 1 is a side view showing a structure construction device according to one embodiment of the present invention; FIG. It is a top view which shows a part of structure construction apparatus and embankment body which concern on one Embodiment of this invention. It is a flow chart which shows a structure construction method concerning one embodiment of the present invention. FIG. 4 is a plan view showing another example of the structure construction device and the tensile strength layer according to one embodiment of the present invention;

Embodiments of the present invention will be described below with reference to the accompanying drawings. Although terms indicating directions and positions are used in this specification, these terms are used for convenience of explanation and do not limit the technical scope of the present invention.

The structure construction apparatus 1 according to this embodiment builds a laminated structure by laminating a cement-based material and a core-based material. In this embodiment, a case where the structure construction apparatus 1 constructs a face slab 93 of a concrete surface impermeable wall type rockfill dam 90 as an example of a laminated structure will be described.

[Concrete surface impermeable wall type rockfill dam]
First, with reference to FIG. 1, a concrete surface impermeable wall type rockfill dam 90 will be briefly described. FIG. 1 is a cross-sectional view schematically showing a concrete surface impermeable wall type rockfill dam 90. As shown in FIG. In the following description, the concrete surface impermeable wall type rockfill dam 90 is referred to as "CFRD 90 (Concrete Face Rockfill Dam)". Further, in the description of this embodiment, the direction along the slope is the main scanning direction, and the horizontal direction perpendicular to the main scanning direction is the sub-scanning direction.

CFRD90 is a dam constructed by piling up rock materials such as rocks and soil. The piled up rock materials form a bank body 91 having a substantially trapezoidal cross section. Concrete is cast by the structure construction apparatus 1 on the slope on the upstream side of the embankment body 91 to construct a face slab 93 as an example of a laminated structure. A core (not shown) made of a water impermeable material such as clay may be constructed at the axial center of the bank body 91 .

[Structure construction equipment]
Next, the structure construction apparatus 1 will be described with reference to FIGS. 2 to 5. FIG. FIG. 2 is a block diagram showing the structure construction device 1. As shown in FIG. FIG. 3 is a side view showing the structure construction apparatus 1 and part of the embankment body 91. As shown in FIG. FIG. 4 is a side view showing the structure construction apparatus 1. FIG. FIG. 5 is a plan view showing the structure construction apparatus 1 and part of the bank body 91. As shown in FIG.

As shown in FIG. 2 , the structure construction device 1 includes a moving section 2 , a printing section 3 and a control section 4 . The moving part 2 is installed on the upstream slope of the bank body 91 (see FIG. 3), and moves in the main scanning direction and in the sub scanning direction. The printing unit 3 is mounted on the moving unit 2 (see FIG. 3) and laminates the face slab 93 by 3D printer technology. A control unit 4 controls the moving unit 2 and the printing unit 3 .

<Moving part>
As shown in FIG. 4 , the moving section 2 has a main scanning carriage 10 and a sub-scanning carriage 11 . The main scanning carriage 10 moves in the main scanning direction, and the sub scanning carriage 11 moves in the sub scanning direction.

(main scanning carriage)
As shown in FIGS. 4 and 5, the main scanning carriage 10 is elongated in the sub-scanning direction so as to cross the embankment 91 in the sub-scanning direction. The main scanning carriage 10 has a plurality of wheels 10A for traveling on the hardened face slab 93 in the main scanning direction. A plurality of drive winches 12 (see FIG. 2) are arranged on the top end 92 of the bank 91, and the tip of a wire rope (not shown) unwound from the drive winch 12 is connected to the main scanning carriage 10. It is The drive winch 12 winds up the wire rope so that the main scanning carriage 10 rises along the upstream slope of the bank 91 . In this embodiment, the main scanning carriage 10 is lifted by the drive winch 12, but it may be driven by rotating the wheels 10A. It may be driven to rotate and run on its own (not shown).

(sub-scanning carriage)
The sub-scanning carriage 11 is mounted movably in the sub-scanning direction with respect to the main scanning carriage 10 . Specifically, the upper surface of the main scanning carriage 10 is formed substantially horizontally, and a pair of rails 13 extending in the sub-scanning direction are laid on the upper surface of the main scanning carriage 10 . The sub-scanning carriage 11 has a plurality of wheels 11A for running along a pair of rails 13. As shown in FIG. The sub-scanning carriage 11 is equipped with a drive motor 14 for rotationally driving the wheels 11A. By driving the drive motor 14 , the sub-scanning carriage 11 reciprocates along the rails 13 in the sub-scanning direction. In the present embodiment, the sub-scanning carriage 11 is moved by rotating the wheels 11A, but it may be moved by being pulled by a winch, or on the rack rails laid on the main scanning carriage 10. The meshing pinions may be rotationally driven and self-propelled (not shown).

<Print section>
As shown in FIGS. 4 and 5, the printing section 3 is mounted on the sub-scanning carriage 11 of the moving section 2. As shown in FIGS. The printing section 3 has a cement-based modeling section 20 and a core material-based modeling section 30 . The cement-based modeling unit 20 laminate-models concrete layers, and the core material-based modeling unit 30 laminate-models layers corresponding to reinforcing bars.

<Cement molding part>
As shown in FIGS. 4 and 5, the cementitious modeling section 20 includes a first cementitious head 21, a second cementitious head 22, a first cementitious arm 23, and a second cementitious arm 24. , and a compressor 25 .

(1st cementitious head, 2nd cementitious head)
The first cementitious head 21 and the second cementitious head 22 respectively have first and second nozzles 21A, 22A for discharging cementitious material. Cementitious materials are, for example, concrete mixed with cement, aggregates (sand, gravel, etc.), water and admixtures. Concrete has a fluidity that can be discharged from the first and second nozzles 21A and 22A, a thixotropic property that allows it to stand on its own so that it can be layered on the shaped layer, and a quick-hardening property that hardens to a strength that allows it to be layered. It's becoming Although the details will be described later, the first cement head 21 dispenses concrete to shape the first pressure-resistant layer L1, and the second cement-based head 22 dispenses concrete to shape the second pressure resistant layer L3. The first and second pressure-resistant layers L1, L3 are layers made of concrete.

(First cement-based arm, second cement-based arm)
The first cement-based arm unit 23 and the second cement-based arm unit 24 are respectively multi-joint robot arms, and include the moving unit 2 (sub-scanning carriage 11) and the first and second cement-based heads 21 and 22. are concatenated. The first and second cementitious arms 23, 24 movably support the first and second cementitious heads 21, 22 in the front-back, left-right, and up-down directions. Specifically, the base end portions of the first and second cement-based arm portions 23 and 24 are rotatable about an axis with respect to the downstream side surface of the sub-scanning carriage 11 and can swing back and forth, left and right, and up and down. connected to The first cement head 21 is supported at the tip of the first cement arm 23 with the first nozzle 21A facing downward (facing the upstream slope of the bank 91). Similarly, the second cementitious head 22 is supported at the distal end of the second cementitious arm 24 with the second nozzle 22A directed downward. The first cementitious arm portion 23 is formed longer than the second cementitious arm portion 24, and the first cementitious head 21 is located downstream of the second cementitious head 22 in the main scanning direction. be able to.

<Compressor>
Compressor 25 is a device that pumps concrete to first and second cementitious heads 21,22. Compressor 25 communicates with first and second cementitious heads 21, 22 via first and second pipes 21B, 22B. A concrete pump 26 for pumping concrete toward a compressor 25 is arranged at a position aligned with the main scanning carriage 10 at the end of the bank 91 in the sub-scanning direction (see FIG. 5). Like the main scanning carriage 10, the concrete pump 26 is provided movably in the main scanning direction. The concrete pump 26 may be configured to be mounted on the main scanning carriage 10 and move together with the main scanning carriage 10 .

As shown in FIGS. 3 and 5, concrete is supplied from a mixer truck 27 arranged at the top end 92 of the embankment body 91 to the concrete pump 26 via the chute 28 and sent from the concrete pump 26 to the compressor 25 . The chute 28 is made of steel, for example, and is formed in a semi-cylindrical shape, and is provided along the end of the bank body 91 in the sub-scanning direction. Concrete is pumped from compressor 25 to first and second cementitious heads 21, 22 and discharged from first and second nozzles 21A, 22A.

<Core material system molding part>
As shown in FIGS. 4 and 5 , the core material system modeling section 30 has a core material system head 31 , a core material system arm section 32 , and an ink tank 33 .

(Core head)
The core material head 31 has, for example, a plurality of ejection nozzles 31A for ejecting the core material by a piezo method. A plurality of discharge nozzles 31A are bored in a nozzle plate 31B facing the upstream slope of the bank 91 . The core material is, for example, metallic ink (liquid) containing fine particles made of iron. A heater (not shown) for heating the metal ink is attached to the core head 31 . Although the details will be described later, the core material head 31 ejects metal ink to shape the tensile strength layer L2. The high-strength layer L2 is formed by fusing and curing a plurality of metal particles contained in the ejected droplets of the metal ink.

(core material arm)
Like the first and second cement arm units 23 and 24, the core material system arm unit 32 is a multi-joint robot arm that includes the moving unit 2 (sub-scanning carriage 11) and the core material system head 31. are connected. The core material system arm part 32 supports the core material system head 31 so as to be movable forward and backward, left and right, and up and down. The core material arm portion 32 is formed to be shorter than the first cement arm portion 23 and longer than the second cement arm portion 24 . The core material system arm portion 32 can position the core material system head 31 upstream of the first cement system head 21 in the main scanning direction and downstream of the second cement system head 22 in the main scanning direction.

(ink tank)
The ink tank 33 (see FIG. 4) is a container for storing metallic ink. The ink tank 33 communicates with the core head 31 via a tube (not shown). A compressor 25 communicates with the ink tank 33 , and the metallic ink is pressure-fed to the core material head 31 by the compressor 25 .

<Control section>
The control unit 4 is mounted on the sub-scanning carriage 11 of the moving unit 2 (see FIG. 4). Note that the control unit 4 may be mounted on the main scanning carriage 10 or may be mounted on the printing unit 3 .

As shown in FIG. 2 , the control unit 4 has an arithmetic processing unit 40 , a storage unit 41 and a communication unit 42 . The arithmetic processing unit 40, the storage unit 41 and the communication unit 42 are electrically connected to each other.

The arithmetic processing unit 40 executes arithmetic processing according to programs stored in the storage unit 41 . The storage unit 41 includes a semiconductor storage device, a magnetic storage device, and the like, and stores programs and data in the storage unit 41 . The communication unit 42 wirelessly transmits and receives signals to and from the remote control device 5 installed away from the structure construction apparatus 1 . The control unit 4 may be provided with a display unit (liquid crystal display, etc.) for displaying data, calculation results, etc., and an operation unit (keyboard, mouse, etc.) for inputting instructions to the control unit 4 . Further, the communication unit 42 may transmit and receive signals to and from the remote control device 5 by wire.

The control unit 4 is electrically connected to the drive winch 12 and the drive motor 14 of the moving unit 2 . Also, the control unit 4 is electrically connected to each device of the printing unit 3 . The control unit 4 controls ejection of the first and second cement-based heads 21 and 22 and the core material-based head 31 while moving the moving unit 2 in the main scanning direction or the sub-scanning direction. The control unit 4 also controls the movement of the first and second cement-based arm portions 23 and 24 and the core material-based arm portion 32 .

A measuring unit 6 is provided in the structure construction apparatus 1 . The measuring unit 6 is provided in the moving unit 2, and is provided in the printing unit 3 with sensors (for example, encoders, laser rangefinders, laser scanners, etc.) that detect the amount of movement of the main scanning carriage 10 and the sub-scanning carriage 11. and a sensor (for example, a camera, a laser scanner, etc.) for detecting the ejection amount of each material from each head 21, 22, 31 and the state of the output (thickness, smoothness, etc.). The control unit 4 feedback-controls the movement amount and the ejection amount based on the output from the measurement unit 6 . The measurement unit 6 (various sensors) may not be mounted on the moving unit 2 or the printing unit 3, and may be provided outside the moving unit 2 or the printing unit 3 (bank body 91).

[Structure construction method]
Next, a structure construction method for constructing the face slab 93 will be described with reference to FIGS. 4 to 6. FIG. FIG. 6 is a flow chart showing a structure construction method.

As shown in FIGS. 4 and 5, the face slab 93 is constructed by laminating a first pressure-resistant layer L1, a tension-resistant layer L2 and a second pressure-resistant layer L3. The first pressure-resistant layer L1, the stress-resistant layer L2, and the second pressure-resistant layer L3 are each three-dimensionally modeled on a computer, and the three-dimensional modeling data is a plurality of lamination data (two-dimensional data) divided into thin layers. ) are processed. A plurality of stacking data are stored in the storage section 41 of the control section 4 . Note that the plurality of layered data may be stored in the storage device of the remote control device 5 and transmitted from the remote control device 5 to the control unit 4 at appropriate times.

The face slab 93 is constructed from the bottom of the bank body 91 toward the top end 92 . The structure construction method is executed while continuously moving the structure construction apparatus 1 to construct a seamless continuous face slab 93 . Note that a starter slab 94 is constructed in advance at the lowest end of the bank 91 (see FIG. 1) because concrete cannot be cast by the structure construction apparatus 1 (see FIG. 1). Before starting the structure construction method (initial state), the structure construction apparatus 1 (main scanning carriage 10) is installed on the starter slab 94, and the sub-scanning carriage 11 is positioned at one end in the sub-scanning direction. do.

The worker operates the remote control device 5 to transmit a control signal for executing automatic operation from the remote control device 5 to the control unit 4 of the structure construction apparatus 1 . Upon receiving the control signal, the control unit 4 executes (starts) construction processing of the face slab 93 based on the lamination data stored in the storage unit 41 .

First, the control unit 4 moves the first cementitious arm part 23, arranges the first cementitious head 21 at the modeling start point of the first pressure-resistant layer L1, and moves the first cementitious head 21 (the first nozzle 21A ) to start forming the first pressure-resistant layer L1 (first pressure-resistant layer forming step S1 shown in FIG. 6). In the first pressure-resistant layer forming step S<b>1 , the first cement-based head 21 discharges concrete while being moved within the movable range of the first cement-based arm portion 23 . The droplets ejected from the first nozzle 21A land (blow) on the upstream slope of the bank 91, forming the first pressure-resistant layer L1 within the movable range of the first cementitious arm portion 23.

Further, the control unit 4 moves the core material system arm part 32, arranges the core material system head 31 at the modeling start point of the tensile strength layer L2, and ejects the metal ink from the core material system head 31 (discharge nozzle 31A). Then, the forming of the stress-resistant layer L2 is started so as to overlap the first pressure-resistant layer L1 (strength-resistant layer forming step S2 shown in FIG. 6). In the tensile strength layer forming step S<b>2 , the core material head 31 ejects the metal ink while being moved within the movable range of the core material system arm portion 32 . Since the core material-based arm portion 32 is shorter than the first cement-based arm portion 23, the core material-based head 31 is located on the upstream side in the main scanning direction of the first pressure-resistant layer L1 formed by the first cement-based head 21. A metal ink is ejected (see FIGS. 4 and 5). Droplets ejected from each ejection nozzle 31A land on the first pressure-resistant layer L1, and the stress-resistant layer L2 is laminated on the first pressure-resistant layer L1. The tensile strength layer L2 has a plurality of main bars L21 extending in the main scanning direction and a plurality of distributing bars L22 extending in the sub-scanning direction, and is formed in a grid pattern (see FIG. 5). In order to laminate the stress-resistant layer L2 on the first pressure-resistant layer L1, the stress-resistant layer forming step S2 is performed later than the first pressure-resistant layer forming step S1 in the initial stage.

Furthermore, the control unit 4 moves the second cementitious arm part 24, arranges the second cementitious head 22 at the modeling start point of the second pressure-resistant layer L3, and moves the second cementitious head 22 (the second nozzle 22A ) to start forming the second pressure-resistant layer L3 so as to sandwich the tension-resistant layer L2 between the first pressure-resistant layer L1 and the first pressure-resistant layer L1 (second pressure-resistant layer forming step S3 shown in FIG. 6). . In the second pressure-resistant layer forming step S<b>3 , the second cementitious head 22 discharges concrete while being moved within the movable range of the second cementitious arm 24 . Since the second cement-based arm portion 24 is shorter than the core material-based arm portion 32, the second cement-based head 22 cuts concrete on the upstream side in the main scanning direction of the tensile strength layer L2 formed by the core material-based head 31. Discharge (see FIGS. 4 and 5). The droplets ejected from the second nozzle 22A land (spray) on the high-strength layer L2, and the second high-strength layer L3 is laminated on the high-strength layer L2. As a result, the second pressure-resistant layer L3 is formed within the movable range of the second cementitious arm portion 24 . In order to laminate the second pressure-resistant layer L3 on the stress-resistant layer L2, the second stress-resistant layer forming step S3 is performed later than the stress-resistant layer forming step S2 in the initial stage.

At the same time as the first pressure-resistant layer L1 starts to be shaped, the control unit 4 drives the drive motor 14 to start running the sub-scanning carriage 11 from one side of the sub-scanning direction to the other side. In the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3, the sub-scanning carriage 11 continues to move until it reaches the other end in the sub-scanning direction. The moving speed of the sub-scanning carriage 11 in the sub-scanning direction is, for example, about 10 to 20 m/h, but it is not limited to this and may be freely set according to the molding speed of each layer L1 to L3.

When the sub-scanning carriage 11 reaches the other end in the sub-scanning direction, the controller 4 stops the drive motor 14 and drives the drive winch 12 to move the main scanning carriage 10 downstream (upward) in the main scanning direction. . In the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3, even while the main scanning carriage 10 is being pulled up, the material is ejected from each head 21, 22, 31 ( modeling of each layer L1 to L3). The lift amount (predetermined amount) of the main scanning carriage 10 is, for example, several centimeters to several tens of centimeters. set.

When the main scanning carriage 10 is lifted by a predetermined amount, the control unit 4 stops the drive winch 12 and confirms that the face slab 93 (each layer L1 to L3) is not constructed until it is adjacent to the top end 92 ( If NO in S4 shown in FIG. 6), the drive motor 14 is driven again to move the sub-scanning carriage 11 from the other side to the one side in the sub-scanning direction. That is, the three steps S1 to S3 described above are continuously executed. Note that while it is being determined whether or not the face slab 93 has been constructed up to the top end 92, the modeling of the layers L1 to L3 is continued.

Thereafter, the structure construction apparatus 1 moves in the sub-scanning direction and downstream in the main scanning direction while ejecting each material from each head 21 , 22 , 31 until the face slab 93 reaches the top end 92 . It is controlled to alternately repeat movement and movement. In other words, the structure construction apparatus 1 shapes the layers L1 to L3 while continuing to move zigzag along the slope on the upstream side of the bank body 91 . The three arms 23 , 24 , 32 appropriately change the positions (order) of the three heads 21 , 22 , 31 according to the moving direction of the sub-scanning carriage 11 .

When the face slab 93 (layers L1 to L3) is constructed to be adjacent to the top edge 92 (YES in S4 shown in FIG. 6), the control unit 4 stops (ends) the construction process of the face slab 93. FIG. In the process of constructing the face slab 93, the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3 are performed in parallel (at the same time) except for the initial stage. Therefore, a seamless face slab 93 is formed.

In the structure construction apparatus 1 (structure construction method) according to the present embodiment described above, the core head 31 ejects the metal ink on the upstream side of the first pressure-resistant layer L1 in the main scanning direction, and the second cement The structure is such that the system head 22 discharges concrete on the upstream side of the tensile strength layer L2 in the main scanning direction. Further, the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3 are performed while moving the moving part 2 in the main scanning direction, whereby the first pressure-resistant layer L1, The stress-resistant layer L2 and the second stress-resistant layer L3 were formed continuously in the main scanning direction. Further, the steps S1 to S3 are performed while moving the moving part 2 in the sub-scanning direction, so that the layers L1 to L3 are formed continuously in the sub-scanning direction. According to this configuration, the face slab 93 in which the stress-resistant layer L2 is sandwiched between the first stress-resistant layer L1 and the second stress-resistant layer L3 can be continuously formed in the main scanning direction and the sub-scanning direction. . Thereby, the seamless continuous face slab 93 can be properly constructed.

Generally, the face slab 93 of the CFRD 90 is often constructed by the slipform construction method. In the slip-form method, concrete is placed in the formwork while moving the molding machine with the formwork in the main scanning direction. Moreover, in the slip form construction method, the reinforcing bars (strength-resistant layer L2) had to be arranged in a state of floating from the upstream slope of the bank body 91 before pouring the concrete. For this reason, the reinforcing bars must be manufactured at a place (factory, etc.) other than the place where the reinforcing bars are arranged, and a great deal of labor is required for transporting and arranging the previously manufactured reinforcing bars. On the other hand, according to the structure construction apparatus 1 (structure construction method) according to the present embodiment, concrete can be placed without using a formwork, so the cost of the formwork can be reduced. can. In addition, since the stress-resistant layer L2 corresponding to the reinforcing bars can be formed at the same time as the first and second pressure-resistant layers L1 and L3, the labor required for transporting and arranging the stress-resistant layer L2 manufactured at another location is can be omitted. Furthermore, conventionally, compaction work using a vibrator was required after placing concrete, but according to the structure construction apparatus 1 (structure construction method) according to the present embodiment, compaction work using a vibrator becomes unnecessary. can be done. In addition, the structure construction apparatus 1 may be provided with a finishing form for smoothing the top surface of the face slab 93 (not shown).

Further, according to the structure construction apparatus 1 according to the present embodiment, since the plurality of heads 21, 22, 31 are mounted on one moving part 2, the moving part 2 is provided for each of the heads 21, 22, 31. It is possible to reduce the size of the structure construction apparatus 1 and the manufacturing cost as compared with the case.

Moreover, if the moving part 2 does not move in the sub-scanning direction, the number of heads 21, 22, 31 must be increased in order to construct the face slab 93. This leads to an increase in costs. In contrast, according to the structure construction apparatus 1 (structure construction method) according to the present embodiment, by moving the moving unit 2 in the sub-scanning direction, the number of heads 21 , 22 , 31 can be increased without increasing the number of heads 21 , 22 , 31 . , the face slab 93 can be formed continuously in the sub-scanning direction.

Further, according to the structure construction apparatus 1 according to the present embodiment, each arm 23, 24, 32 moves each head 21, 22, 31, thereby widening the movable range of each head 21, 22, 31. be able to. As a result, since the modeling range of each layer L1 to L3 is widened, the construction period of the face slab 93 can be shortened.

Further, according to the structure construction method according to the present embodiment, since the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3 are executed in parallel, the first The pressure-resistant layer L1, the tension-resistant layer L2 and the second pressure-resistant layer L3 can be constructed at the same time. Thereby, the face slab 93 can be constructed in a short time.

In addition, in the general slip form construction method, since the reinforcing bars (strength layer L2) must be supported in a state of floating from the construction surface of the laminated structure (upstream slope of the bank body 91), the reinforcing bars (strength layer L2) L2) is often formed by assembling the main reinforcement L21 and the distributing reinforcement L22 in a grid pattern. Reinforcement bars arranged in a grid pattern are installed on the entire construction surface. On the other hand, in the structure construction apparatus 1 (structure construction method) according to the present embodiment, since it is not necessary to float the stress-resistant layer L2 on the construction surface, the stress-resistant layer L2 is not formed in a grid pattern. may For example, as shown in FIG. 7, the load-bearing layer L4 may omit the distributing reinforcement L22 and may be composed only of a plurality of main reinforcements L21 extending in the main scanning direction. According to this configuration, it is possible to reduce the material (metallic ink) required for the tensile strength layer L4 and shorten the time required for modeling. The main reinforcement L21 is not limited to a bar shape, and may be a plate having openings in a predetermined pattern (vertical line, zigzag, etc.) (not shown). Further, the main reinforcing bars L21 may be provided only at necessary locations instead of the entire construction surface.

Also, in the structure construction apparatus 1 (structure construction method) according to the present embodiment, only one layer of the tensile strength layer L2 is formed, but two or more layers may be formed (not shown). For example, a laminated structure is constructed by sandwiching two stress-resistant layers L2 laminated on both front and back surfaces of an intermediate layer (cement-based material) between a first pressure-resistant layer L1 and a second pressure-resistant layer L3. may

In addition, in the structure construction apparatus 1 (structure construction method) according to the present embodiment, the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3 are carried out by one sub-scanning. Although it was performed while moving in a direction, the invention is not so limited. As another example, the control unit 4 shapes the first pressure-resistant layer L1 while moving the moving unit 2 from one side to the other side in the sub-scanning direction without changing the position of the moving unit 2 in the main scanning direction, While moving the moving part 2 from the other side to the other side in the sub-scanning direction, the stress-resistant layer L2 is shaped, and while moving the moving part 2 from one side to the other side in the sub-scanning direction, the second pressure-resistant layer L3 is shaped. good too. That is, the first pressure-resistant layer forming step S1, the tension-resistant layer forming step S2, and the second pressure-resistant layer forming step S3 may be sequentially switched and executed for each movement (one pass) in the sub-scanning direction. good. In other words, the face slab 93 may be constructed while the moving part 2 arranged at the same position in the main scanning direction reciprocates 1.5 times in the sub scanning direction. The three arms 23 , 24 , 32 appropriately change the positions (order) of the three heads 21 , 22 , 31 according to the moving direction of the sub-scanning carriage 11 .

Further, in the structure construction apparatus 1 (structure construction method) according to the present embodiment, the moving section 2 is controlled to move downstream in the main scanning direction after moving in the sub-scanning direction. is not limited to this. For example, the moving section 2 may be controlled to move in one of the sub-scanning directions after moving in the main scanning direction. Further, depending on the thickness of each layer L1 to L3, each layer L1 to L3 may be formed while the sub-scanning carriage 11 is repetitively reciprocated.

Further, in the structure construction apparatus 1 according to the present embodiment, one each of the first cement-based head 21, the second cement-based head 22, and the core material-based head 31 is provided, but the present invention is not limited to this. . At least one of the first cementitious head 21, the second cementitious head 22 and the core material head 31 may be provided in plurality (not shown). Further, for example, when a plurality of first cementitious heads 21 are provided, the plurality of first cementitious heads 21 may be supported by one first cementitious arm 23, or the plurality of first cementitious heads 21 may be supported by one first cementitious arm 23. A plurality of first cementitious arms 23 may be provided to correspond to 21 (not shown). The core material head 31 and the second cement head 22 are the same.

Further, in the structure construction apparatus 1 according to the present embodiment, the moving section 2 is configured to be movable in the main scanning direction and the sub-scanning direction, but the present invention is not limited to this. For example, when the distance in the sub-scanning direction of the laminated structure is short, or when three or more heads 21, 22, 31 are arranged side by side in the sub-scanning direction, it is necessary to move the moving part 2 in the sub-scanning direction. If not, the sub-scanning carriage 11 may be omitted and the moving section 2 may be composed only of the main scanning carriage 10 (not shown). In this case, the printing section 3 is mounted on the main scanning carriage 10 .

Moreover, although each head 21, 22, 31 was supported by each arm part 23, 24, 32 in the structure construction apparatus 1 which concerns on this embodiment, this invention is not limited to this. The arms 23, 24, 32 may be omitted and the heads 21, 22, 31 may be directly supported by the moving part 2 (main scanning carriage 10 or sub scanning carriage 11) (not shown).

In this embodiment, the case where the structure construction apparatus 1 (structure construction method) constructs the face slab 93 of the CFRD 90 has been described, but the present invention is not limited to this. The structure construction apparatus 1 (structure construction method) is employed for constructing vertically extending cylindrical laminated structures (not shown) such as concrete chimneys and vertical shafts, as other examples of laminated structures. may be In this case, the vertical direction is the main scanning direction, and the circumferential direction is the sub-scanning direction. In addition, the structure construction apparatus 1 (structure construction method) is constructed by the slip form construction method, such as a defensive wall for roads and railways, roadbeds for concrete roads and railway tracks (none of which is shown), etc. It may be employed in the construction of possible laminated structures.

Further, although the structure construction apparatus 1 according to the present embodiment is configured to be remotely operated by the worker using the remote control device 5, the configuration is not limited to this, and the remote control device 5 may be omitted so that the worker can operate the structure. The controller 4 mounted on the object construction device 1 may be operated directly.

Although concrete is used as the cementitious material in this embodiment, the present invention is not limited to this. The cementitious material may be cement paste, mortar, or the like. Further, the core material is not limited to metallic ink containing iron particles, and may be metallic ink containing stainless steel particles. Further, as another example of the core material, a reinforced plastic reinforced by dispersing glass fiber or carbon fiber in the plastic may be used. The reinforced plastic may be stored in a melted state in an ink tank 33 having a heating function (not shown). Further, the core head 31 may have a heating function (not shown) in order to heat the reinforced plastic immediately before ejection. Alternatively, in place of the ink tank 33, a reel wound with reinforced plastic in the form of thread may be set (not shown). This thread-like reinforced plastic may be sent to the core head 31 and heated by the core head 31 to be melted.

Further, in the present embodiment, concrete is supplied from the mixer truck 27 to the concrete pump 26 via the chute 28, but this is not limiting, and the chute 28 is omitted and the concrete is mixed near the concrete pump 26. good too.

In addition, in the structure construction apparatus 1 according to the present embodiment, the arithmetic processing unit 40 of the control unit 4 is a processor that performs arithmetic processing according to a program. It may be realized by a logic circuit (hardware) that has been designed.

It should be noted that the description of the above embodiment shows one aspect of the structure construction apparatus and the structure construction method according to the present invention, and the technical scope of the present invention is not limited to the above embodiment. The present invention may be changed, replaced, and modified in various ways without departing from the spirit of the technical idea, and the claims include all embodiments that can be included within the scope of the technical idea.

1 Structure Construction Device 2 Moving Part 4 Control Part 21 First Cement Head 22 Second Cement Head 23 First Cement Arm 24 Second Cement Arm 31 Core Head 32 Core Arm 93 Face Slab (laminated structure)
L1 first pressure-resistant layer L2 tension-resistant layer L3 second pressure-resistant layer S1 first pressure-resistant layer forming step S2 tension-resistant layer forming step S3 second pressure-resistant layer forming step

Claims (6)

A structure construction device for constructing a laminated structure by laminating a cement-based material and a core material-based material,
a moving part that moves in the main scanning direction;
a first cementitious head that is mounted on the moving part and ejects the cementitious material to form a first pressure-resistant layer;
Mounted on the moving part, the core material is ejected on the upstream side in the main scanning direction of the first pressure-resistant layer formed by the first cement-based head so as to overlap the first pressure-resistant layer. A core material head that forms a tensile strength layer in the
The cement-based material is discharged on the upstream side in the main scanning direction of the stress-resistant layer mounted on the moving part and shaped by the core material head, and the stress-resistant layer is ejected between the first pressure-resistant layer and the cement-based material. a second cementitious head for shaping a second pressure-resistant layer so as to sandwich the layer;
While moving the moving part in the main scanning direction, the first cement-based head, the core material-based head, and the second cement-based head are controlled to discharge, and the first pressure-resistant layer, the tensile strength layer, and the second cement-based head are discharged. and a control unit that continuously shapes two pressure-resistant layers in the main scanning direction. the moving unit moves in the main scanning direction and in a sub-scanning direction orthogonal to the main scanning direction;
The control unit controls ejection of the first cement-based head, the core material-based head, and the second cement-based head while moving the moving unit in the sub-scanning direction, 2. The structure construction apparatus according to claim 1, wherein the tension layer and the second pressure-resistant layer are formed continuously in the sub-scanning direction. a first cementitious arm connecting the moving part and the first cementitious head and movably supporting the first cementitious head;
a core material system arm unit that connects the moving part and the core material system head and supports the core material system head so as to be movable;
a second cementitious arm that connects the moving part and the second cementitious head and movably supports the second cementitious head;
3. The structure construction apparatus according to claim 1, wherein the control unit further controls movements of the first cement-based arm, the core material-based arm, and the second cement-based arm. . A structure construction method for building a laminated structure by laminating a cement-based material and a core material-based material,
A first pressure-resistant layer forming step of ejecting the cement-based material from a first cement-based head mounted on a moving part movable in the main scanning direction to form a first pressure-resistant layer;
The core material is discharged from the core material head mounted on the moving part on the upstream side in the main scanning direction of the first pressure-resistant layer formed by the first cement head, and the first pressure-resistant layer is discharged. A stress-resistant layer forming step of forming a stress-resistant layer so as to overlap the pressure layer;
The cement-based material is discharged from the second cement-based head mounted on the moving part on the upstream side in the main scanning direction of the stress-resistant layer formed by the core material-based head to form the first pressure-resistant layer. A second pressure-resistant layer forming step of forming a second pressure-resistant layer so as to sandwich the stress-resistant layer between
By performing the first pressure-resistant layer forming step, the stress-resistant layer forming step, and the second pressure-resistant layer forming step while moving the moving portion in the main scanning direction, the first pressure-resistant layer, the A structure construction method, wherein the stress-resistant layer and the second pressure-resistant layer are formed continuously in the main scanning direction. the moving unit moves in the main scanning direction and in a sub-scanning direction orthogonal to the main scanning direction;
By performing the first pressure-resistant layer forming step, the stress-resistant layer forming step, and the second pressure-resistant layer forming step while moving the moving unit in the sub-scanning direction, the first pressure-resistant layer, the 5. The structure construction method according to claim 4, wherein the stress-resistant layer and the second pressure-resistant layer are formed continuously in the sub-scanning direction. 6. The structure construction method according to claim 4, wherein the first pressure-resistant layer forming step, the tension-resistant layer forming step, and the second pressure-resistant layer forming step are performed in parallel.

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