The extrusion technology, consisting of a conveyor system (screw conveyor on the mixer) and a robot-guided tool head, generate the concrete layers. A spray-extrusion multi-tool nozzle (SEMT) was developed and implemented for the production of the concrete modules in the robot-supported flow production process in order to avoid a changing of tools in the production process while changing from the spray to the extrusion technology. This allows a thin additive application of material by spraying concrete and then the application of an adapted concrete extrudate. For example, facade modules consist of a fibre-reinforced shotcrete surface with a high surface quality and a support structure made of extruded thin concrete, which is applied directly to the shotcrete in the green state. On the one hand, the new type of nozzle allows the concentric, fibre-reinforced extrusion of a concrete layer and, on the other hand, the generation of a spray mist through the controlled activation of compressed air and thus the shaping by means of concrete spraying. The SEMT is attached to the robot arm, using a quick coupling. The following table 2 summarizes the tool parameters for testing.
Table 2. Tool parameters