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 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.

Construction 3D printing, although a technology that is expected to provide cost, speed and environmental benefits as compared to the traditional construction practices, suffers from inefficient and often troublesome material delivery by pumping cementitious material through hoses or pipes. The present application addresses the need for a consistent and discrete payload delivery between a source and a moving destination. The invention describes an aerial tram delivery system that provides real-time, on-demand, and discrete transportation of material from a material source to the moving destination printheads of the construction 3D printer. Such discrete delivery of material is applicable and beneficial to other applications as described.

A system for manufacturing a structure includes a supporting frame assembly moveable in a vertical direction of the structure. Further, the system includes an additive printing assembly secured to the supporting frame assembly. The additive printing assembly includes at least one printer head configured to dispense a first cementitious material. The system also includes a reinforcement dispensing assembly supported by the supporting frame assembly. Thus, the reinforcement dispensing assembly is configured to automatically and continuously dispense a plurality of reinforcing members as the structure is printed and built up via the at least one printer head and as the supporting frame assembly moves in the vertical direction.

A radiation-shielding attenuation structure and method of forming the attenuation structure, wherein the attenuation structure is made by additively manufacturing a concrete material that includes one or more attenuation dopants configured to enhance the radiation shielding of the concrete material. The one or more attenuation dopants may be configured in the concrete material to attenuate one or more types of radiation, such as electromagnetic radiation, gamma radiation, X-ray radiation, or neutron radiation. The attenuation structure formed by the concrete material may be additively manufactured on-site according to a model that has already been pre-certified for safe or secure use, thereby providing a repeatable and reproducible process that can reduce lead times and fabrication costs. The attenuation structure may be easily modified during the additive manufacturing process to have different concrete mixtures with different attenuation characteristics, which increases the tailorability and flexibility in design of the attenuation structure.

Methods of manufacturing a cementitious structure, such as a structure for supporting a wind turbine, include additively printing, via an additive printing device, one or more contours that include a cementitious material so as to form a cementitious structure in a layer by layer manner such that a first portion of the plurality of contours comprises a first plurality of contour coupling features that engage with a second plurality of contour coupling features of a second portion of the plurality of contours.

A robotic system having a movable gantry robot (10) for conducting construction operations. The gantry may have an expandable bridge (20) and articulated gantry support legs (34) as well as a support track system (60) holding a gantry robot (800) which may hold one or more implements and peripheral devices (806). The device can be moved by propulsion mechanisms, a controller, and one or more geo-positioned control devices to provide position information for the robotic gantry as it moves back and forth along a plurality of work sites (700). The robotic gantry is connected to a power supply system (236). The controller is automated, self-navigating, and activates, deactivates, and/or changes the operation of the propulsion mechanisms, and deploys, retracts, activates, deactivates, and/or changes the operation of one or more of the construction implements. The height of the frame may be adjusted by extending and rotating risers and booms to accommodate different building heights or sub-level heights at a worksite. A conveyor system is optimized for removing dirt from or delivering material to the robotic arm. This invention can be applied to automating construction jobs including surveying, land preparation, excavation, foundation, masonry, framing, and additive fabrication.

The present relates to an apparatus for manufacturing 3-dimensional concrete structures comprising a projection head (1) for spraying concrete material, wherein the projection head (1) comprises a projection nozzle (11) for spraying the concrete material and at least two guiding surfaces (12) provided on both sides of the projection nozzle (11) and defining a volume in between, such that the projection nozzle (11) is adapted to spray the concrete material into said volume, and wherein the projection head (1) is repeatedly moved along a predefined path by a control means and is configured to adjust the position of the two guiding surfaces (12) during the movement of the projection nozzle (11) so as to create a 3-dimensional concrete structure made of a plurality of projected concrete layers.

A method for forming three-dimensional (3D) printed structures is disclosed. The method may include 3D printing a first structural member including an opening to a cavity inside the first structural member; and 3D printing a second structural member including a protrusion disposed within the opening and the cavity of the first structural member.

A control system for controlling operation of an implement based, at least, on a pre-determined implement control plan, includes a relative positioning system, a controller, and one or more actuators. The relative positioning system is configured for determining positioning of the and utilize input from perception sensors to determine relative positioning signals. The controller is configured to determine a resume position for a next operation of the implement based on the predetermined implement control plan and at least one of the relative positioning signals and an end position of a previous operation of the implement. The controller may further be configured to determine implement control signals based on, at least, the resume position. The one or more actuators are each operatively associated with one or both of the implement and machine and configured to receive the implement control signals and position the implement based on the implement control signals.