a nozzle assembly for a 3D printer of building construction includes: a chamber to contain a flowable mixture to form a constructional material layer; an outlet to discharge the flowable mixture in a first direction, the outlet being supported for movement in a second direction intersecting the first direction; and an edge smoothing device extending in the first direction from the lower end of the outlet to guide the flow of the flowable mixture discharged from the outlet and to provide a substantially flat side surfaces of the constructional material layer formed according to the movement of the outlet in the second direction.

an integrated mixer and nozzle device for a 3D printer of building construction components includes: a support; a mixer disposed inside the support to mix a first material and a second material together to produce a flowable mixture; a conveyor directly connected to the mixer to convey the flowable mixture in a first direction; and a nozzle directly connected to the conveyor to extrude the flowable mixture and to discharge the extruded mixture in a second direction different from the first direction.

Systems, methods, and devices for structural 3D printing. A machine frame with multiple articulated arm segments pivoting within planes substantially parallel to the plane of material deposition are controlled by a controller to move a printhead attached to a material line to convey a construction material to a deposit position for dispensation. The controller is configured to receive 3D printing information and convert it to positional coordinates of the printhead, and to cause movement of the articulated arm segments and support members to position the printhead, while using sensor feedback. Vertical movement of the printhead is facilitated through one or more mechanisms such as elevating the machine platform, elevating the articulating arm segments, and/or the incorporation of a mast on one or more of the arm segments.

A concrete construction (100) made by 3D concrete printing that contains: two or more layers (102, 106) of cementitious material extruded one above the other, and at least one elongated steel element (104, 108) reinforcing at least one of the two or more layers. The elongated steel element (104, 108) is provided with a first crimp. Due to the crimp, a good anchorage in concrete is obtained and the anchorage force is predictable, since the standard deviation of the anchorage force is very small. The elongated steel element can be a single steel wire with a diameter D, the amplitude of the crimp ranges from 1.05×D to 5.0×D. The elongated steel element can also be a steel with steel filaments having a maximum diameter d. The amplitude of the crimp ranges from 1.05×d to 5.0×d.

A gunite trailer includes a frame operable to be coupled to a vehicle. A compressor is disposed on the frame, a cement bin is coupled to the frame and operable to deliver cement, a sand bin is coupled to the frame and operable to deliver sand, and a mixing bin is coupled to the frame and operable to receive the sand from the sand bin and the cement from the cement bin. A delivery connection is operable to receive the sand and the cement from the mixing bin. The delivery connection is operable to be coupled with a delivery system. The delivery system is operable to combine the sand and the cement with a fluid at a point of application to form gunite. The delivery system is operable to convey the gunite to a surface.

An example device for building stationary structures on a work surface includes a scaffold, which is arranged around the work surface. In the example, a working head is provided, which, with the help of multiple control cables is held on the scaffold and arranged above the work surface, upper control cables are provided, which run above the working head from the scaffold, lower control cables are provided, which run below the working head from the scaffold, all control cables can be extended out of the scaffold and retracted to the scaffold, in order to change a position of the working head, and a control unit is provided, which is connected with actuators for the extending and retracting of the control cables, and is configured to actuate these actuators to change the position of the working head.

A rotary mobile 3D printer, with a printer; an upright post; and a cross arm. The printer is connected to the cross arm; the cross arm is rotatably connected to the upright post so that the cross arm is rotatable around the connection point where the cross arm is rotatably connected to the upright post; the printer is rotatable together with the cross arm; the printer is movable back and forth in a first direction and back and forth in a second direction relative to the cross arm; the first direction is the lengthwise direction of the cross arm; and the second direction extends at an angle with respect to the first direction.

A device and method for measuring slump of concrete in a hopper feeding a concrete pump. A slump sensor generates a signal from either an ammeter to measure current from a power source feeding an electric motor being configured to rotate an agitator shaft or a pressure gauge configured to measure hydraulic pressure in a hydraulic drive hose passing between a hydraulic pump and a hydraulic motor configured to rotate the agitator shaft. A controlling computer includes a memory in which an operating range may reside, the operating range being a range from a lower slump signal value corresponding to a lower limit of slump value to an upper slump signal value. The controlling computer generates an alert signal when the slump sensor signal falls outside of the operating range. In one embodiment, the controlling computer stops the concrete pump when the alert signal is detected.

A large manipulator includes a chassis, a mast pedestal, an articulated mast, and a control unit. The mast pedestal is rotatable around a vertical axis by means of a rotary drive and arranged on the chassis. The articulated mast includes two or more mast arms pivotally-movably connected, via articulated joints, with the respectively adjacent mast pedestal or other mast arm by a pivot drive. The control unit is configured to actuate the pivot drive and/or the rotary drive to move the articulated mast with a control sequence from an initial position of the articulated mast, autonomously, into a pre-specified target position of the articulated mast.

A portable grout device is provided. The device includes a grout hopper, a cylindrical tube portion connected to and operable to receive grout from the grout hopper, and a drive shaft and auger assembly within the cylindrical tube portion. The drive shaft and auger assembly includes a central shaft and a helical auger screw operable to push the grout out of an end of the cylindrical tube portion.