WO2020141371A1 - Imprimante tridimensionnelle robotisée - Google Patents

Imprimante tridimensionnelle robotisée Download PDF

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Publication number
WO2020141371A1
WO2020141371A1 PCT/IB2019/060424 IB2019060424W WO2020141371A1 WO 2020141371 A1 WO2020141371 A1 WO 2020141371A1 IB 2019060424 W IB2019060424 W IB 2019060424W WO 2020141371 A1 WO2020141371 A1 WO 2020141371A1
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WO
WIPO (PCT)
Prior art keywords
robotic
printer
dimensional
base
holder
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2019/060424
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English (en)
Inventor
Bhisne SHIVA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2020141371A1 publication Critical patent/WO2020141371A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y99/00—Subject matter not provided for in other groups of this subclass

Definitions

  • Embodiments of a present disclosure relate to building construction, and more particularly to a robotic three-dimensional printer.
  • Construction is the process of constructing/making a building or infrastructure. Construction as an industry plays an important role in the economy of a country. A conventional approach needs labours in large number due to manual process which leads to a high production cost. Accidents at construction sites can be caused by several causes, but which makes the conventional technology unsafe. A lot of human intervention needs for the conventional technology which makes the conventional approach as slower.
  • 3D printing uses a 3D printing as a core method to build buildings or building components.
  • the 3D printing on a construction industry will have a wide range of applications in private, commercial, industrial and public sectors.
  • An organisation who construct buildings can reduce the number of labours, reduce the cost and increase the speed, safety by using the newer technology (3D printing).
  • the newer technology (3D printing) is inefficient because the newer technology uses a gantry model.
  • the gantry model can make structures only in large sizes, and the gantry model cannot place concrete in an edge of the floor where a structural element is built (usually a column with metal or fibre reinforcement).
  • a yet another approach makes small size structures and assemble the small size structures in the construction sites.
  • the small size structures may overcome the scalability issues, but it will increase the complexity level of a design, and production cost.
  • the small structures make week points at building due to more joints which may affect the durability of the building.
  • a robotic three-dimensional (3D) printer includes a holder.
  • the holder includes a plurality of print nozzles.
  • the plurality of print nozzles is positioned in at least one of a parallel form and an adjacent form to each other.
  • the plurality of print nozzles is configured to allow deposition of a mixture on a platform.
  • the robotic 3D printer also includes a cantilever beam operatively coupled to the holder.
  • the cantilever beam is configured to allow a horizontal movement of the holder by using a plurality of rollers.
  • the robotic 3D printer also includes a vertical pole mechanically coupled to a base. The vertical pole is horizontally coupled with the cantilever beam.
  • the vertical pole includes a plurality of bars, and configured to operate the holder, and the cantilever beam.
  • the robotic 3D printer also includes the base operatively coupled with the vertical pole.
  • the base includes at least one of one or more controllers, one or more power supplies, one or more actuator, and one or more gearboxes.
  • the base is configured to connect with at least one of one or more image capturing devices, and one or more sensors.
  • a robotic 3D printer in accordance with another embodiment of the disclosure, includes a holder.
  • the holder includes a plurality of print nozzles.
  • the plurality of print nozzles is positioned in at least one of a parallel form and an adjacent form to each other.
  • the plurality of print nozzles is configured to allow deposition of a mixture on a platform.
  • the robotic 3D printer also includes a cantilever beam operatively coupled to the holder.
  • the cantilever beam is configured to allow a horizontal movement of the holder by using a plurality of rollers.
  • the robotic 3D printer also includes a vertical pole mechanically coupled to a base. The vertical pole is horizontally coupled with the cantilever beam.
  • the vertical pole includes a plurality of bars and, configured to operate the holder, and the cantilever beam.
  • the robotic 3D printer also includes the base operatively coupled with the vertical pole.
  • the base includes at least one of one or more controllers, one or more power supplies, one or more actuator, and one or more gearboxes.
  • the base is configured to connect with at least one of one or more image capturing devices, and one or more sensors.
  • the robotic 3D printer includes a processing subsystem.
  • the processing subsystem includes a retrieval module configured to retrieve at least one set of instructions.
  • the processing subsystem also includes a transmission module operatively coupled to the retrieval module, and configured to transmit a retrieved at least one set of instructions to a control module.
  • the processing subsystem also includes a control module operatively coupled to the retrieval module.
  • the control module includes one or more predefined set of instructions.
  • the control module is configured to remotely control the plurality of print nozzles based on the at least one set of instructions.
  • the control module is also configured to enable the plurality of print nozzles to deposit the mixture on the platform based on the one or more predefined set of instructions.
  • the processing subsystem also includes a monitoring module operatively coupled to the at least one of one or more image capturing devices, and one or more sensors. The monitoring module is configured to monitor a deposited mixture on the platform.
  • FIG. 1 is a block diagram representation of a robotic three-dimensional (3D) printer in accordance with an embodiment of the present disclosure
  • FIG. 2 is an isometric diagram representation of a robotic three-dimensional (3D) printer in accordance with an embodiment of the present disclosure
  • FIG. 3 is a block diagram representation of the robotic 3D printer comprising a control module in accordance with an embodiment of the present disclosure
  • FIG. 4 is a block diagram representation of an embodiment of the robotic 3D printer of FIG. 3 in accordance with an embodiment of the present disclosure.
  • FIG. 5 block diagram of a computer or a server in accordance with an embodiment of the present disclosure.
  • Embodiments of the present disclosure relate to a robotic three-dimensional (3D) printer.
  • the robotic 3D printer includes a holder.
  • the holder includes a plurality of print nozzles.
  • the plurality of print nozzles is positioned in at least one of a parallel form and an adjacent form to each other.
  • the plurality of print nozzles is configured to allow deposition of a mixture on a platform.
  • the robotic 3D printer also includes a cantilever beam operatively coupled to the holder.
  • the cantilever beam is configured to allow a horizontal movement of the holder by using a plurality of rollers.
  • the robotic 3D printer also includes a vertical pole mechanically coupled to a base. The vertical pole is horizontally coupled with the cantilever beam.
  • the vertical pole includes a plurality of bars, and configured to operate the holder, and the cantilever beam.
  • the robotic 3D printer also includes the base operatively coupled with the vertical pole.
  • the base includes at least one of one or more controllers, one or more power supplies, one or more actuator, and one or more gearboxes.
  • the base is configured to connect with at least one of one or more image capturing devices, and one or more sensors.
  • FIG. 1 is a block diagram representation of a robotic three-dimensional (3D) printer (10) in accordance with an embodiment of the present disclosure.
  • 3D printing is defined as any of various processes in which material is joined or solidified under computer control to create a 3D object.
  • 3D printing is a computer-controlled sequential layering of materials to create 3D shapes. The 3D printing is particularly useful for prototyping and for the manufacture of geometrically complex components. In the construction industry, 3D printing can be used to create construction components or to 'print' entire buildings.
  • the robotic 3D printer (10) includes a holder (20) as shown in FIG. 2.
  • the holder (20) includes a plurality of print nozzles (30) as shown in FIG. 2.
  • the plurality of print nozzles (30) is configured to allow deposition of a mixture on a platform.
  • the plurality of print nozzles (30) may be replaced with one or more brushes, and one or more plastering pans for painting, plastering, cleaning windows and the like.
  • the mixture may include, but not limited to, a geo-polymer cement concrete, a bituminous concrete, a polymer concrete and the like.
  • the platform may be a floor or a predetermined area that needs to be built.
  • Each of the plurality of print nozzles (30) is positioned in at least one of a parallel form and an adjacent form to each other.
  • a shape of the plurality of nozzles (30) may be at least one of a circular shape, an elliptical shape, a conical shape, and a polygonal shape.
  • the robotic 3D printer (10) also includes a cantilever beam (40) as shown in FIG. 2.
  • the cantilever beam (40) operatively coupled to the holder (20).
  • the cantilever beam (40) is configured to allow a horizontal movement of the holder (20) by using a plurality of rollers.
  • cantilever beam (40) is equipped with the plurality of print nozzle (30) of interchangeable diameters.
  • the plurality of rollers is operated by a plurality of actuators.
  • the plurality of actuators includes at least one of one or more stepper motors, one or more servo motors, one or more pneumatic machines, and one or more of hydraulic pistons.
  • the robotic 3D printer (10) also includes a vertical pole (50) as shown in FIG. 2.
  • the vertical pole (50) mechanically coupled to a base (60).
  • the vertical pole (50) is horizontally coupled with the cantilever beam (40).
  • the vertical pole (50) includes a plurality of bars, and configured to operate the holder (20) and the cantilever beam (40).
  • the base (60) may be composed of at least one of steel aluminium, hard plastic and fibre reinforced composite material.
  • the robotic 3D printer (10) also includes the base (60) as shown in FIG. 2.
  • the base (60) operatively coupled with the vertical pole (50).
  • the term‘base’ is defined as a part on which a vertical pole (130) is placed.
  • the base (60) includes at least one of one or more controllers, one or more power supplies, one or more actuator and one or more gearboxes.
  • the base (60) is positioned on the plurality of wheels which allows the robotic 3D printer to print the mixture layer by layer at a predetermined direction on the platform.
  • the base (60) is configured to connect with at least one of one or more image capturing devices (70) and one or more sensors (80).
  • the one or more image capturing devices (70) may include at least one of a still camera and a video camera to determine the area in which the printing needs to be done.
  • the at least one of a still camera and a video camera may be placed on the floor.
  • the one or more sensors (80) may include at least one of a position sensor, a proximity sensor, an infrared (IR) sensor and the like.
  • the robotic 3D printer (10) includes a plurality of wheels configured to operate the robotic 3D printer (10) at the predetermined direction on the platform.
  • the robotic 3D printer (10) includes a flat surface (66) as shown in FIG. 2.
  • the flat surface (66) may be used to place the computing device.
  • the computing device may be a hand-held device may be a laptop, a desktop, a notebook, a tablet, a smartphone and the like.
  • the computing device may be a portable device.
  • the base (60) is positioned on the plurality of wheels which allows the robotic 3D printer to print the mixture layer by layer at a predetermined direction on the platform.
  • the robotic 3D printer (10) includes a plurality of metal plates (62) as shown in FIG. 2.
  • the cantilever beam (40) is joined to the vertical pole (50) by using a plurality of metal plates (62).
  • the robotic 3D printer (10) includes a plurality of wheels (64) configured to operate the robotic 3D printer (10) at the predetermined direction on the platform.
  • the flat surface (66) is configured to place a computing device on the robotic 3D printer (10).
  • the computing device may be a hand-held device may be a laptop, a desktop, a notebook, a tablet, a smartphone and the like.
  • the computing device may be a portable device.
  • the robotic 3D printer (90) includes a holder (100).
  • the holder (100) includes a plurality of print nozzles (110) configured to allow deposition of a mixture on a platform.
  • the plurality of print nozzles (110) may be replaced with one or more brushes, and one or more plastering pans for painting, plastering, cleaning windows and the like.
  • the mixture may include, but not limited to, a geo-polymer cement concrete, a bituminous concrete, a polymer concrete and the like.
  • the platform may be a floor or a predetermined area that needs to be built.
  • Each of the plurality of print nozzles (100) is positioned in at least one of a parallel form and an adjacent form to each other.
  • a shape of the plurality of nozzles (110) may be at least one of a circular shape, an elliptical shape, a conical shape, and a polygonal shape.
  • the robotic 3D printer (90) also includes a cantilever beam (120) operatively coupled to the holder (100).
  • the cantilever beam (120) is configured to allow a horizontal movement of the holder (100) by using a plurality of rollers.
  • cantilever beam (120) is equipped with the plurality of print nozzle (30) of interchangeable diameters.
  • the plurality of rollers operated by a plurality of actuators.
  • the plurality of actuators includes at least one of one or more stepper motors, one or more servo motors, one or more pneumatic machines, and one or more of hydraulics pistons.
  • the robotic 3D printer (90) also includes a vertical pole (130) mechanically coupled to a base (140).
  • the vertical pole (130) is horizontally coupled with the cantilever beam (120).
  • the vertical pole (130) includes a plurality of bars and, configured to operate the holder (100), and the cantilever beam (120).
  • the base (140) may be composed of at least one of steel aluminium, hard plastic and fibre reinforced composite material.
  • the robotic 3D printer (90) also includes the base (140) operatively coupled with the vertical pole (130).
  • the term‘base’ is defined as a part on which a vertical pole (130) is placed.
  • the base (140) includes at least one of one or more controllers, one or more power supplies, one or more actuator, and one or more gearboxes.
  • the base (140) is positioned on the plurality of wheels (218) which allows the robotic 3D printer (90) to print the mixture layer by layer at a predetermined direction on the platform.
  • the base (140) is configured to connect with at least one of one or more image capturing devices (150), and one or more sensors (160).
  • the one or more image capturing devices (150) may include at least one of a still camera and a video camera to determine the area in which the printing needs to be done.
  • the at least one of a still camera and a video camera may be placed on the floor.
  • the one or more sensors (160) may include at least one of a position sensor, a proximity sensor, IR sensor and the like.
  • the robotic 3D printer (90) includes a plurality of wheels (218) configured to operate the robotic 3D printer (90) at a predetermined direction on the platform.
  • the robotic 3D printer (90) includes a processing subsystem (170), wherein the processing subsystem (170) includes a retrieval module (180).
  • the retrieval module (180) is configured to retrieve at least one set of instructions.
  • the at least one set of instructions may include a design that needs to be print by the robotic 3D printer.
  • the set of instructions may be a ‘G-Code’ (G-Programming Language).
  • the set of instructions may be an‘M-Code’ (Machine Code).
  • the G-Code and M-Code are received from one or more users.
  • the term‘G-code’ is defined as a language in which people instruct a computerized machine tools one or more procedure to make the product.
  • M-Code is defined as codes that tell a machine how to perform an action. Further, M-Codes allow a user to create programming calls for complex processes, activating or deactivating outputs, reading inputs, performing math.
  • the one or more users provide the at least one set of instructions via a computing device.
  • the computing device may be a hand-held device may be a laptop, a desktop, a notebook, a tablet, a smartphone and the like. In such another embodiment, the computing device may be a portable device.
  • the processing subsystem (170) also includes a transmission module (190) operatively coupled to the retrieval module (180).
  • the transmission module (190) is configured to transmit a retrieved at least one set of instructions to a control module (200).
  • the processing subsystem (170) also includes a control module operatively coupled to the retrieval module (180).
  • the control module (200) includes one or more predefined set of instructions.
  • the control module (200) is configured to remotely control the plurality of print nozzles (100) based on the at least one set of instructions upon comparing with the one or more predefined set of instructions.
  • the control module (200) is also configured to enable the plurality of print nozzles (100) to deposit the mixture on the platform based on the at least one set of instructions upon comparing with the one or more predefined set of instructions.
  • the processing subsystem (170) also includes a monitoring module (210) operatively coupled to the one or more image capturing devices (150), and the one or more sensors (160). The monitoring module (210) is configured to monitor a deposited mixture which is deposited on the platform.
  • FIG. 4 is a block diagram representation of an embodiment of the robotic 3D printer of FIG. 3 in accordance with an embodiment of the present disclosure.
  • a user‘X’ (230) sends at least one set of instructions to a retrieval module (260) via a user hand held device (240).
  • the at least one set of instructions includes a design of a building that needs to be built.
  • the set of instructions is in G-Code and M-Code.
  • the transmission module (270) transmits the at least one set of instructions from the retrieval module (260) to a control module (280).
  • the control module (280) is connected to a plurality of nozzles (310).
  • the control module (280) includes one or more predefined set of instructions.
  • the control module (280) controls the plurality of print nozzles (310) remotely based on at least one set of instructions upon comparing the one or more predefined set of instructions.
  • the control module (280) enables the plurality of print nozzles (310) to deposit a concrete cement mixture on a platform based on the at least one set of instructions upon comparing the one or more predefined set of instructions.
  • a monitoring module (290) is communicatively connected to a camera ⁇ (350) and one or more sensors (360). The monitoring module (290) monitors a deposited concrete cement mixture on the platform, and determines the area in which needs to be built.
  • the camera“Y” (350) is placed on the floor.
  • the user hand-held device (240) receives an output of the 3D printing by using the camera ⁇ (350) and the one or more sensors (360).
  • the robotic 3D printer (220) includes a plurality of wheels (368) that operates at a predetermined direction on the platform.
  • the retrieval module (260), transmission module (270), the control module (280), the monitoring module (290), the plurality of print nozzles (310), the camera ⁇ (350), and the one or more sensors (360) in the FIG. 3 are substantially similar to a retrieval module (180), a transmission module (190), a control module (200), a monitoring module (210), a plurality of nozzles (110), one or more image capturing devices (150), and one or more sensors (160) of FIG. 2.
  • FIG. 5 is a block diagram of a computer or a server in accordance with an embodiment of the present disclosure.
  • the system (370) includes a processor(s) (400), and a memory (380) coupled to the processor(s) (400).
  • the processor(s) (400), as used herein, means any type of computational circuit, such as, but not limited to, a microprocessor, a microcontroller, a complex instruction set computing microprocessor, a reduced instruction set computing microprocessor, a very long instruction word microprocessor, an explicitly parallel instruction computing microprocessor, a digital signal processor, or any other type of processing circuit, or a combination thereof.
  • Computer memory elements may include any suitable memory device(s) for storing data and executable program, such as read only memory, random access memory, erasable programmable read only memory, electrically erasable programmable read only memory, hard drive, removable media drive for handling memory cards and the like.
  • Embodiments of the present subject matter may be implemented in conjunction with program modules, including functions, procedures, data structures, and application programs, for performing tasks, or defining abstract data types or low- level hardware contexts.
  • Executable program stored on any of the above-mentioned storage media may be executable by the processor(s).
  • the memory (380) includes a plurality of modules stored in the form of executable program which instructs the processor to perform designated steps.
  • the memory (380) has following modules: a retrieval module (180), a transmission module (190), a control module (200), and a monitoring module (210).
  • the retrieval module (180) is configured to retrieve at least one set of instructions.
  • the transmission module (190) operatively coupled to the retrieval module (180) and configured to transmit a retrieved at least one set of instructions to the control module (200).
  • the control module (200) is operatively coupled to the retrieval module (180).
  • the control module (200) includes one or more predefined set of instructions.
  • the control module (200) is configured to remotely control the plurality of print nozzles (110) based on the at least one set of instructions upon comparing with the one or more predefined set of instructions.
  • the control module is also configured to enable the plurality of print nozzles to deposit the mixture on the platform based on the at least one set of instructions upon comparing with the one or more predefined set of instructions.
  • the monitoring module (210) operatively coupled to the one or more image capturing devices (150), and the one or more sensors (160).
  • the monitoring module (210) is configured to monitor a deposited mixture on the platform.
  • Various embodiments of the present disclosure enable the robotic 3D printer to reduce number of labours due to automation process.
  • the present disclosure enables the robotic 3D printer to decrease cost of construction, and increase speed & safety because of no human intervention.
  • the present disclosure can print structures and buildings in any predetermined direction on the platform.
  • the present disclosure solves the scalability issues because the present disclosure can make/print small and big stmctures/buildings anywhere based on a requirement of the one or more users.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)

Abstract

La présente invention concerne une imprimante tridimensionnelle (3D) robotisée. L'imprimante 3D robotisée comprend un support. Le support comprend une pluralité de buses d'impression. La pluralité de buses d'impression sont positionnées selon une forme parallèle et/ou une forme adjacente les unes aux autres. La pluralité de buses d'impression permet le dépôt d'un mélange. L'imprimante 3D robotisée comprend également un bras en porte-à-faux configuré de sorte à permettre un mouvement horizontal du support. L'imprimante 3D robotisée comprend également un pôle vertical. Le pôle vertical est configuré de sorte à actionner le support et le bras en porte-à-faux. L'imprimante 3D robotisée comprend également la base. La base est configurée de sorte à se connecter à au moins un dispositif de capture d'image et à un ou à plusieurs capteurs. L'imprimante 3D robotisée comprend également une pluralité de roues configurées de sorte à actionner l'imprimante 3D robotisée dans une direction prédéterminée sur une plate-forme.
PCT/IB2019/060424 2018-12-31 2019-12-04 Imprimante tridimensionnelle robotisée Ceased WO2020141371A1 (fr)

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IN201941000103 2018-12-31
IN201941000103 2018-12-31

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114670447A (zh) * 2021-10-29 2022-06-28 上海轮廓科技有限公司 用于3d打印机的柔性悬臂结构和3d打印机
US20240025076A1 (en) * 2020-08-17 2024-01-25 Mobbot Sa Nozzle for spraying concrete or similar material, portions of the same and structure manufacturing apparatus using the same
WO2025120007A1 (fr) * 2023-12-04 2025-06-12 Rheinisch-Westfälische Technische Hochschule Aachen Procédé mis en œuvre par ordinateur pour fournir des données de commande servant à commander au moins un composant de robot conçu pour effectuer une tâche de construction ou une partie d'une tâche de construction, en particulier pour assembler et/ou démonter une structure d'échafaudage

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2892708B1 (fr) * 2012-09-05 2018-10-10 Aprecia Pharmaceuticals LLC Système d'impression tridimensionnelle et ensemble équipement

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2892708B1 (fr) * 2012-09-05 2018-10-10 Aprecia Pharmaceuticals LLC Système d'impression tridimensionnelle et ensemble équipement

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240025076A1 (en) * 2020-08-17 2024-01-25 Mobbot Sa Nozzle for spraying concrete or similar material, portions of the same and structure manufacturing apparatus using the same
CN114670447A (zh) * 2021-10-29 2022-06-28 上海轮廓科技有限公司 用于3d打印机的柔性悬臂结构和3d打印机
WO2025120007A1 (fr) * 2023-12-04 2025-06-12 Rheinisch-Westfälische Technische Hochschule Aachen Procédé mis en œuvre par ordinateur pour fournir des données de commande servant à commander au moins un composant de robot conçu pour effectuer une tâche de construction ou une partie d'une tâche de construction, en particulier pour assembler et/ou démonter une structure d'échafaudage

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