Automation of the construction process by using a hinged robot with interchangeable nozzles

The article describes a method for automating the construction process by using a hinged robot in construction. Problems such as the mobility of the 3D printing device have been solved. The main idea is to use nozzles that have certain capabilities for construction. The first nozzle is a system of capturing brick blocks fed by the conveyor, and their further movement to the desired point. The other nozzle is a mobile extruder in a timely manner, dosage. The system is able to create a concrete thread with great precision, which can be used as a masonry mortar, and as a solution for printing the frame of the building. It was also calculated the optimal percentage of components of water-cement solution for both cases of solution supply. (C) 2019 Elsevier Ltd. All rights reserved.