WO2024222979A1

WO2024222979A1 - Method of inserting reinforcement into a cement mixture when creating objects using 3d printing and a device for performing the method

Info

Publication number: WO2024222979A1
Application number: PCT/CZ2023/050022
Authority: WO
Inventors: Petr ZELENY
Original assignee: Technicka Univerzita v Liberci
Current assignee: Technicka Univerzita v Liberci
Priority date: 2023-04-27
Filing date: 2023-04-27
Publication date: 2024-10-31
Anticipated expiration: 2025-10-27

Abstract

The invention relates to a method of inserting reinforcement into a cement mixture while creating objects by 3D printing. Individual layers (7) of concrete are successively placed on top of each other by means of a printing head (6) arranged on a positioning device (22), being connected by at least one reinforcement (8) in the form of a cable or wire. During the deposition of a new layer (7) of concrete, immediately in front of the printing head (6), the reinforcement (8) is periodically shaped, pressed in and pulled out of the previous deposited layer (7), forming a periodically repeating continuous curve which partly extends above the previously deposited layer (7) and which is immediately afterwards completely covered by the concrete of the new layer (7). A device (9) for inserting reinforcement (8) into concrete when creating objects by 3D printing and a device for creating objects by 3D printing comprising this reinforcement inserting device (9) are also claimed.

Description

Method of inserting reinforcement into a cement mixture when creating objects using 3D printing and a device for performing the method

Technical field

The invention relates to a method of inserting reinforcement into a cement mixture when creating objects using 3D printing, in which individual layers of the cement mixture are successively placed on top of each other by means of a printing head arranged on a positioning device, wherein at least two layers of the cement mixture are connected by at least one reinforcement in the form of a cable or wire.

The invention also relates to a device for inserting reinforcement into a cement mixture when creating objects using 3D printing, which comprises a reinforcement inserting device of and a reinforcement carrier.

In addition, the invention relates to a device for creating objects using 3D printing cement or other mixtures, which comprises a printing head of a cement mixture which is arranged on a 3D positioning device, wherein the device is provided with a control device for controlling 3D printing of the cement mixture.

Background art

When creating objects from concrete using 3D printing, first a cement mixture needs to be produced, e.g., using a mixer, and then the mixture needs to be transported to a printing nozzle in a printing head by means of a pump. The printing head is usually arranged on a robotic arm of a printing device, and, by the controlled movement of the printing head on the robotic arm, the individual layers of the future object are created one by one.

Due to the properties of the cement mixture after it solidifies and hardens, in order to improve the mechanical properties of the created 3D objects, especially their load-bearing capacity and resistance, the need arises to apply suitable reinforcement to the created layers of the cement mixture, similarly to how this is done in conventional methods of creating concrete constructions, floors, walls, etc., by pouring cement mixture into formwork cavities, in which steel reinforcing structures, etc., are placed.

Known are methods of inserting reinforcement into a 3D printed object at different stages of the 3D printing process.

JP2018199940A describes a solution for construction technique of a layered structure capable of improving the interlayer bond strength. The solution consists in that in constructing the base 10 as a layered structure, a portion 11 of a shell wall is formed by laminating the printing material 1 as a hydraulic mixture along the contour of the shell wall to be constructed and a reinforcing body 4 is embedded to improve the interlayer bond strength. Subsequently, a filled portion 17 is created by filling a segment 11 k surrounded by the shell wall portion 11 with ready-made concrete 2 as a filling material. The reinforcement is inserted behind the printing head into the freshly deposited layer of cement mixture, and the upper end of the reinforcement extends above this freshly deposited layer of cement mixture and waits to be covered with a new layer of cement mixture during the next passage of the printing head through the given place of the object being created.

DE102020120895A1 discloses a shaped body (1 ), comprising a first component of a cement-based composite material (3), wherein the first component has a layered structure with at least two layers (2), the second component is formed by a reinforcing structure (4) integrated in the first component, wherein the second component consists of at least one filament or at least one wire (5) per layer, wherein the at least one wire or at least one fiber has at least one loop (6) extending into a second layer directly adjacent to the layer where the loop is pierced by at least one other filament or wire. In the area in front of the printing head, the reinforcement is held at a height above the previously deposited layer, wherein loops are formed on the reinforcement which intertwine with the previous loops in the lower layer, and the new loops extend above the next layer of cement mixture to be deposited immediately thereafter. The reinforcement thus formed and shaped is covered with the next layer of cement mixture to be deposited immediately thereafter and the new loops partially extend over the top of this immediately deposited cement layer to interlock with the loops of the next upper layer. The reinforcement thus formed is not introduced into the cement mixture layer already deposited but is always part of the next immediately deposited cement layer and the next succeeding layer.

WO201 9092169A1 discloses a method of producing a component (1 ) made of a hardenable material, wherein in a first method step at least one layer (2, 3) of the material is printed in one direction in a 3D printing method, in a second method step, at least one reinforcement element is placed in the layer(s) (2, 3) and the two process steps are repeated cyclically until the component (1 ) is completed, characterized in that each reinforcement element is in the form of a strand (4) extending in the direction of the layers (2, 3) and having an oscillating, periodic pattern perpendicular to the layers each reinforcing element extending over at least two layers (2, 3). The reinforcement is inserted behind the printing head into a freshly deposited layer of cement mixture and the upper end of the reinforcement extends above this freshly deposited layer of cement mixture and waits to be covered with a new layer of cement mixture during the next passage of the printing head through the given place of the object to be formed.

WO2021 175580A1 describes a concrete structure (100) made by 3D concrete printing, which comprises two or more layers (102, 106) of cementitious material extruded one above the other and at least one elongated steel member (104) reinforcing at least one of the layers (102, 106). The elongated steel member (104) has an elastic and plastic elongation at break that exceeds 4 %. The high elongation of the elongated steel element provides increased ductility to the concrete structure (100). The reinforcement is inserted directly in the printing head longitudinally and directly into the layer of cementitious mixture that is being deposited, wherein the reinforcement does not pass through the superimposed layers of the cementitious mixture.

WO2021 175581 A1 discloses a concrete construction (100) made by 3D concrete printing which comprises 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 1.05xD to 5.0xD. The elongated steel element can also be a steel with steel filaments having a maximum diameter d. The amplitude of the crimp ranges from 1.05xd to 5.0xd. The reinforcement is introduced directly in the printing head longitudinally and directly inside the layer of cementitious mixture that is being deposited, wherein the reinforcement does not pass the superimposed layers of cementitious mixture located above each other.

The disadvantage of the background art is application of reinforcement only behind the printing head over the freshly deposited top layer of the cement mixture. Another disadvantage is the fact that it is practically impossible to operatively change or set the size of the crimp (wavelength, period) and the crimp amplitude (height) according to the current need, or to change this variably also during the deposition of the cement layer along a certain length, e.g., in order to increase the reinforcement of a certain necessary suitable area of the object to be formed and, on the contrary, in order to decrease the reinforcement of another suitable area of the object to be formed. Another disadvantage is the impossibility or limited possibility of changing the direction of reinforcement application in the direction perpendicular to the direction of movement of the printing head, i.e. , in the direction perpendicular to the direction of deposition of the cement layer.

The object of the invention is to remove or at least mitigate the disadvantages of the background art.

Summary of the invention

The object of the invention is achieved by a method of inserting reinforcement into a cement mixture when creating objects using 3D printing, whose principle consists in that immediately in front of a printing head, during the deposition of a layer of a cement mixture, the reinforcement is periodically shaped, pressed into and pulled out of the previous at least one deposited layer, wherein part of the length of the reinforcement passes in the form of a periodically repeating continuous curve through the previous at least one deposited layer and part of the length of the reinforcement passes in the form of a periodically repeating continuous curve above the level of the at least one previous deposited layer and the part of the length of the reinforcement above the previous deposited layer is immediately thereafter completely covered with the cement mixture of a new layer during the simultaneous movement of the printing head in the direction of the new layer deposition.

The principle of the device for inserting reinforcement into a cement mixture when creating objects by 3D printing consists in that the inserting device is provided with means for the periodic shaping of the reinforcement, pressing it into and pulling it out of the previous at least one deposited cement layer, immediately in front of the printing head.

The principle of the device for creating objects by 3D printing of a cement or other mixture consists in that the device for inserting reinforcement into the cement mixture according to any one of claims 3 to 9 is arranged on the printing head or 3D positioning device.

This solution allows automatic insertion of reinforcement in the form of a cable or wire during 3D printing from cement or other mixture. The reinforcement, i.e. , a cable or a wire is made of a suitable material, such as metal, especially steel, also carbon fibers, synthetic fibers, natural fibers, textile fibers, all in the form of either a filament, i.e., a one-piece fiber, or in the form of an intertwined or twisted or otherwise interconnected set of fibers or wires or cables or other structures, etc. A spool with a cable or a wire and a mechanism for inserting the cable or wire are part of the printing head, or they are mounted on the printing head or in the vicinity of the printing head on a manipulator, etc., wherein the cable or wire is by a special shaping mechanism periodically shaped and pressed into the previous at least one deposited layer and periodically pulled out of the previous at least one deposited layer above the level of the previously deposited layer, just before the deposition of a new layer that immediately afterwards during the simultaneous movement of the printing head in the direction of the deposition of the new layer will completely cover the part of the periodic length of the cable or wire pulled above the level of the previous at least one deposited layer. During this process of pressing and pulling, the cable or wire is simultaneously shaped into a continuous repeating curve, e.g., in the form of a sine wave or a wave, which passes through at least two previously deposited layers and thus connects these layers to the layer that is deposited immediately after the cable or wire is inserted. Thus, the invention makes it possible to efficiently achieve the required reinforcement, including the possibility of varying the density of the reinforcing wire or cable along the length, height and width of the cement layers of the object to be formed, increasing the overall stiffness of the object to be formed in multiple directions and in necessary locations or areas of the object to be formed with respect to the future loading of the object to be formed, optimizing the distribution of the reinforcement with respect to the expected and projected loading of the object to be formed, etc.

Brief description of drawings

The invention is schematically represented in drawings, where Fig. 1 shows the overall assembly of a device for 3D printing from a cement mixture with automatic insertion of reinforcement in the form of a wire or cable into the layers of the cement mixture, Figure 2 shows the basic principle of the solution according to the invention, Figure 3 shows a diagram of the arrangement of the wire or cable in the layers of the object to be formed, and Figures 4 to 4b show the various stages of operation of a device for inserting reinforcement in the form of a wire or cable during 3D printing from a cement mixture according to the invention.

Examples of embodiment

The invention will be described with reference to examples of embodiment of a method of inserting reinforcement in the form of a cable or wire into layers of a cement mixture when creating objects using 3D printing and it will also be described with reference to a device for inserting reinforcement in the form of a cable or wire into layers of a cement mixture in creating objects by 3D printing, in which the cement mixture is conveyed through a transport pipe 4 from a pump 3 to the point of consumption of the cement mixture, where the cement mixture is extruded in a controlled manner by the printing head 6 in the form of layers 7 deposited on top of each other, wherein the reinforcement_8 is automatically placed in the layers 7. The device for forming objects by 3D printing of cement or other mixture comprises a source 1_ of the cement mixture, such as a mixer. The source 1_ of the cement mixture is coupled to the input of the pump 3 of the cement mixture through the inlet 2 of the cement mixture. In an unillustrated example of embodiment, the inlet 3 of the cement mixture pump is associated with an unloading point of the cement mixture from mobile mixers of the cement mixture which is prepared at a location other than the current location of the device for creating objects by 3D printing of cement or other mixture, and these mixers thus form the source 1. of the cement mixture.

The outlet of the pump 3 of the cement mixture is coupled to the inlet of the transport pipe 4 of the cement mixture, whose outlet of the cement mixture is coupled to the inlet of the cement mixture into the printing head 6 of the cement mixture. The outlet of the transport pipe_4 is provided with suitable means for coupling to the inlet of the cement mixture to the printing head 6 of the cement mixture.

The printing head 6 is adapted to form objects by 3D printing of cement or other mixture by controlled stacking of individual defined layers of the cement mixture on top of each other in the direction A of the forward movement of the printing head 6 and in the required 3D plan by the movement of the 3D positioning device 22 on which the printing head 6 is arranged. The 3D positioning device 22 is coupled to a control device for controlling the 3D movement of the printing head 6 and the forward movement of the printing head 6_in the direction_A during the deposition of the layer 7 of the cement mixture.

In an unillustrated example of embodiment, the transport pipe 4 is along at least part of its length provided with a pipe section with a variable internal volume, which forms an intermediate reservoir, i.e., a buffer, of the cement mixture to compensate for possible unevenness in the supply of the cement mixture from the source 1. via the pump 3 to the printing head 6. In another unillustrated exemplary embodiment, the buffer of the cement mixture consists of a buffer vessel, or buffer tank, of the cement mixture.

The device for creating objects using 3D printing of a cement or other mixture according to the invention further comprises a device 9 for the automatic insertion of reinforcement 8 in the form of a cable or wire by an inserting device 90, by periodically forming and pressing the wire or cable by the inserting device 90 into the previous at least one deposited layer 7 and by periodically forming and pulling the wire or cable by the inserting device 90 out of the previous at least one deposited layer 7 above the level of the previous deposited layer 7 immediately, or just before the deposition of a new layer 7, and then, immediately thereafter, while the printing head 6 is simultaneously moving in the direction A of the deposition of the new layer 7, this newly deposited layer 7 completely covers the part of the periodic length of the cable or wire pulled by the inserting device 90 above the level of the previous at least one deposited layer 7. During the shaping, pressing into and pulling out by the inserting device 90, the cable or wire is shaped into the shape of a continuous repeating, i.e. , periodic, curve, e.g. into the shape of a sine wave or a wave of a suitable periodic curve, i.e., a periodic curve of a suitable length and height of repetition, i.e. period, including a variable length and/or repetition height, i.e., period that passes at least once through the previously deposited layer 7 and intertwines this layer 7 or layers 7 with the next layer_7 which is deposited immediately after the insertion of the cable or wire and which immediately after the insertion of the wire or wire overlaps this cable or wire.

The reinforcement s, i.e., the cable or wire, is mounted on a suitable carrier

5, e.g., it is mounted on a coil which is rotatably mounted about its longitudinal axis either directly on the printing head 6 or on the device 9 for the automatic insertion of the reinforcement 8 or it is mounted on the 3D positioning device 22, ideally in the vicinity of the device 9 for the automatic insertion of the reinforcement 8 and in the vicinity of the printing head 6, etc.

In the exemplary embodiment shown in Figs. 1 and 2, the device 9 for the automatic insertion of the reinforcement 8 is mounted directly on the printing head

6, wherein the inserting device 90 is situated in the direction A of the movement of the printing head 6 during the deposition of the layers 7 of the cement mixture immediately in front of the printing head 6. For example, the device 9 for the automatic insertion of the reinforcement 8 is mounted on the front side of the printing head 6 in the direction A of the movement of the printing head 6 during the deposition of the layers 7 of the cement mixture. In an unillustrated example of embodiment, the device 9 for the automatic insertion of the reinforcement 8 is mounted on the 3D positioning device 22, where the inserting device 90 is situated in the direction A of the movement of the printing head 6 during the deposition of the layers 7 of the cement mixture immediately in front of the printing head 6.

Fig. 3 shows an assembly of layers 7 deposited on top of each other with reinforcements 8 in the form of a cable or wire according to the present invention.

In the example shown in Fig. 4, the inserting device 90 comprises a main rod 900 which is arranged vertically along its length and by its upper end, it is mounted longitudinally adjustable in the vertical direction B in the device 9 for the automatic insertion of the reinforcement 8. At the lower end of the main rod 900, an auxiliary arm 901 is mounted by its central part swinging about the horizontal axis C, which is perpendicular to the direction A of the movement of the printing head 6 during the deposition of the layers 7 of the cement mixture. At least at the free ends of the auxiliary arm 901 , vertical guide rods 902 are mounted by their upper ends, the vertical guide rods 902 being provided with guides 903 of the reinforcement 8, i.e., the cable or wire, at their lower ends. The auxiliary arm 901 is swingingly mounted at the lower end of the main rod 900 about the horizontal axis C with the possibility of controlling the swing or tilt angle of the auxiliary arm 901 relative to the main rod 900, whereby the auxiliary arm 901 with the guide rods 902 and the guides 903 is adapted not only to form a continuous repeating, i.e. periodic, curve of the inserted cable or wire, but also to set and control the shape parameters of the continuous repeating, i.e. periodic, curve, such as amplitude and period length, including variable values of these parameters. In the example embodiment of Fig. 4, a central guide rod 902 is arranged in the central part of the auxiliary arm 901 with a central guide 903 of the reinforcement 8, i.e., the cable or wire, at its lower end.

In the example shown in Figs. 4a and 4b, the inserting device 90 comprises the main rod 900 which is arranged vertically along its length and which is mounted by its upper end longitudinally adjustable in the vertical direction B in the device 9 for the automatic insertion of the reinforcement 8. At the lower end of the main rod 900, an auxiliary arm 901 is mounted by its central part. At least at the free ends of the auxiliary arm 901 , vertical guide rods 902 with controllably variable length, are mounted by their upper ends, e.g., by means of linear motors wherein the guide rods 902 are at their lower ends provided with guides 903 of the reinforcement 8, i.e. , the cable or wire. The linear motors 904 are connected to a control device which controls the vertical position of the guide 903 on the respective guide rod 902, by which means the auxiliary arm 901 with the guide rods 902 and guides 903 is adapted not only to create a continuous repeating, i.e. periodic, curve of the inserted cable or wire, but also to set and control the parameters of the shape of this continuous repeating, i.e. periodic, curve, such as the amplitude and length of the period, including variable values of these parameters. In the exemplary embodiment shown in Figs. 4a and 4b, the central guide rod 902 with a controllably variable length is arranged in the central part of the auxiliary arm 901 . The central guide rod 902 is at its lower end provided with a central guide 903 of the reinforcement 8, i.e., of the cable or wire.

In an unillustrated example of embodiment, the inserting device 90 comprises at least two vertically controllable adjustable guides 903 of the reinforcement 8, i.e., of the cable or wire, which are arranged in the direction A of the movement of the printing head 6 during the deposition of the layers 7 of the cement mixture immediately in front of the printing head 6.

The device 9 for the automatic insertion of the reinforcement 8 and the carrier 5 of the reinforcement 8 are either a part of the device for creating objects by 3D printing of a cement or other mixture or it is designed as a separate device which is connectable as an optional accessory to the device for creating objects by 3D printing of a cement or other mixture.

In another unillustrated example of embodiment, the device 9 for the automatic insertion of reinforcement 8 and/or the inserting device 90 is arranged in a controllable rotatable manner about the vertical axis, whereby the device 9 for the automatic insertion of the reinforcement 8 and/or the inserting device 90 is adapted to shape, press into and pull out the reinforcement 8, i.e., the cable or wire also in the direction of the width of the deposited layer 7 of the cement mixture, i.e., in the direction of the thickness of the wall of the formed object. For example, the rotatable arrangement of the device 9 for the automatic insertion of the reinforcement 8 is controllable about the vertical axis by the rotatable mounting of the device 9 for the automatic insertion of the reinforcement 8 on the printing head 6 or on the positioning device 22. In another exemplary embodiment, the rotatable arrangement of the inserting device 90 is controllable about the vertical axis by the rotatable mounting of the main rod 900 in the device 9 for the automatic insertion of the reinforcement 8 or it is controllable about the vertical axis by the rotatable mounting of the auxiliary arm 901 on the main rod 900.

The reinforcement 8, i.e., the cable or wire, is made of a suitable material, such as metal, especially steel, as well as carbon fibers, synthetic fibers, natural fibers, textile fibers, all in the form of either a filament, i.e., a single-piece fiber, or in the form of a braided or twisted or otherwise interconnected assembly of fibers or wires or cables or another structure, etc.

The device works in such a manner that the cement mixture is fed to the 3D printing head 6 of the cement mixture. The 3D printing head 6 deposits the defined layers 7 of the cement mixture one top of another and forms an object from the layers 7. The movement of the printing head 6 is insured by the positioning device 22 based on the data supplied by an unillustrated control system. The device 9 for the automatic insertion of the reinforcement 8 in the form of a cable or wire performs, by means of the inserting device 90 immediately in front of the printing head 6, the periodic shaping, pressing and pulling the cable or wire into and out of the previous at least one deposited layer 7 so that part of the length of the cable or wire passes in the form of a periodically repeating continuous curve, e.g., sine wave, etc., through this previous at least one deposited layer 7 and part of the length of the cable or wire passes in the form of a periodically repeating continuous curve, e.g., sine wave etc., above the level of the at least one previously deposited layer 7 and this part of the length of the cable or wire above the previously deposited layer 7 immediately afterwards, with the simultaneous movement of the printing head 6 in the direction A of the deposition of the new layer 7, is completely covered with the cement mixture of the new layer 7.

In a preferred embodiment, where it is necessary to optimize the distribution of the reinforcement 8 in the layers 7 of the cement mixture, during the periodic shaping, pressing into and pulling out the reinforcement 8, i.e. the cable or wire, during the deposition of the layer 7 of the cement mixture, at least one of the geometric parameters of the periodically repeating continuous curve of the reinforcement 8 changes, especially the period, i.e., the length of the wave, and/or it is the amplitude that changes, i.e., the height of the wave, or the position of the reinforcement 8 changes in the direction of the width of the deposited layer

7 of the cement mixture, i.e. in the direction of the width of the wall of the object to be formed. For that purpose, the device 9 for the automatic insertion of the reinforcement 8 and/or the inserting device 90 is coupled to the control device which is provided with means for setting and/or changing and/or adjusting the geometric parameters of the periodically repeating continuous curve of the reinforcement 8.

The invention is not limited to the solutions expressly described herein, but within the skill of a skilled person of the art is applicable in other specific embodiments and combinations allowing to realize the inserting device 90 for the automatic insertion of the reinforcement 8 in the form of a cable or wire immediately in front of the printing head 6 to immediately cover the reinforcement

8 in the form of a cable with a newly deposited layer 7 of the cement mixture or similar material.

Industrial applicability

The invention can be used, for example, in the construction industry in 3D printing of buildings, etc.

List of references

1 source of cement mixture

2 inlet of cement mixture

3 pump of cement mixture

4 transport pipe

5 reinforcement carrier

6 printing head

7 layer of cement mixture

8 reinforcement

9 device for the automatic insertion of the reinforcement in the form of a cable or a wire

90 inserting device

900 main rod

901 auxiliary arm

902 vertical guide rod

903 guide of the reinforcement

904 linear motor

22 positioning device

A direction of the movement of the printing head

B vertical direction

C horizontal axis

Claims

PATENT CLAIMS

1. A method of inserting reinforcement into a cement mixture in creating objects by 3D printing, in which individual layers (7) of the cement mixture are successively placed on top of each other by means of a printing head (6) arranged on a positioning device (22), at least two layers (7) of the cement mixture being connected by at least one reinforcement (8) in the form of a cable or wire, characterized in that during the deposition of the layer (7) of the cement mixture, immediately in front of the printing head (6), the reinforcement (8) is periodically shaped, pressed in and pulled out of the previous at least one deposited layer (7), wherein part of the length of the reinforcement (8) in the form of a periodically repeating continuous curve passes through the previous at least one deposited layer (7) and part of the length of the reinforcement (8) in the form of a periodically repeating continuous curve passes above the level of the at least one previously deposited layer (7) and the part of the length of the reinforcement (8) above the previously deposited layer (7) is immediately afterwards completely covered with the cement mixture of a new layer (7) during the simultaneous movement of the printing head (6) in the direction (A) of the deposition of the new layer (7).

2. A device according to claim 1 , characterized in that during the periodic shaping, pressing in and pulling out the reinforcement (8) during the deposition of the cement mixture layers (7), at least one of the geometric parameters of the periodically repeating continuous curve of the reinforcement (8) changes, especially the period and/or the amplitude and/or the position in the direction of the width of the layer (7) of the cement mixture to be deposited.

3. The device for inserting reinforcement into a cement mixture when creating objects by 3D printing, which comprises an inserting device (90) of reinforcement (8) and a carrier (5) of the reinforcement (8), characterized in that the inserting device (90) is provided with means for the periodic shaping of the reinforcement (8), pressing it into and pulling it out of the previous at least one deposited layer (7) immediately in front of the printing head (6).

4. The device according to claim 3, characterized in that the inserting device (90) is adapted to be mounted on the printing head (6) or on a 3D positioning device (22) of the device for creating objects by 3D printing of a cement or other mixture.

5. The device according to claim 3 or 4, characterized in that the inserting device (90) comprises a main rod (900) which is arranged vertically by its length and whose upper end is mounted longitudinally adjustable in vertical direction (B) in a device (9) for the automatic insertion of the reinforcement (8), at the lower end of the main rod (900), an auxiliary arm (901 ) is by its central part mounted swinging about horizontal axis (C), which is perpendicular to the direction (A) of the movement of the printing head (6) during the deposition of the layers (7) of the cement mixture, wherein at least at the free ends of the auxiliary arm (901 ), vertical guide rods (902) are mounted by their upper ends, the guide rods (902) being provided at their lower ends with guides (903) of the reinforcement (8), wherein the auxiliary arm (901 ) is mounted at the lower end of the main rod (900) swinging about the horizontal axis (C) with the possibility of controlling the swing angle of the auxiliary arm (901 ) relative to the main rod (900).

6. The device according to claim 3 or 4, characterized in that the device (90) comprises the main rod (900), which is arranged vertically by its length and is mounted longitudinally adjustable in vertical direction (B) by its upper end in the device (9) for the automatic insertion of the reinforcement (8), the auxiliary arm (901 ) is mounted by its central part at the lower end of the main rod (900), wherein at least at the free ends of the auxiliary arm (901 ), vertical guide rods (902) of controllable variable length are mounted by their upper ends, the guide rods (902) being provided at their lower ends with guides (903) for the reinforcement (8).

7. The device according to claim 5 or 6, characterized in that the auxiliary arm (901 ) is in its central part provided with a central guide rod (902) with a central guide (903) for the reinforcement (8).

8. The device according to any of claims 3 to 7, characterized in that the inserting device (90) is rotatably adjustable about the vertical axis and is adapted for shaping, pressing in and pulling out the reinforcement (8) also in the direction of the width of the layer (7) of the cement mixture being deposited.

9. The device according to any of claims 3 to 8, characterized in that the inserting device (90) is coupled to a control device which is provided with means for setting and/or changing and/or adjusting geometrical parameters of the periodically repeating continuous curve of the reinforcement (8).

10. A device for creating objects by 3D printing of a cement or other mixture, which comprises a printing head (6) of a cement mixture, which is arranged on a 3D positioning device (22), wherein the device is provided with a control device for controlling 3D printing of the cement mixture, characterized in that on the printing head (6) or on the 3D positioning device (22) is arranged a device (9) for inserting the reinforcement into the concrete mixture according to any of claims 3 to 9.