A WALKING ROBOTIC CELL FOR THE MANUFACTURE OF BUILDINGS PRINTED ON SITE BY MEANS OF A MULTI-AXIS 3D PRINTING SYSTEM; AND METHOD OF OPERATION

A walking robotised cell for the manufacture of buildings printed on site by means of a multi-axis 3D printing system, comprising: a four-legged mobile robotic system, acting independently and under remote control, comprising four locomotive legs bearing a toroid shell that houses in its interior power, control and navigation systems, supporting radial beams, equidistant to each other and meeting at a zenithal axial hub through which hoses and cables pass, and at its lower external side bearing a circular displacement axis, which is part of a multi-axis actuator apparatus; a feed apparatus, comprised of an external hose for the transport of material, which is connected to an extension tube and to a rotating multi-outlet distributor whose discharge outlets are connected to flexible hoses for the transport of material, and at the other extremity whereof are connected to interchangeable nozzles, where the rotating hollow axis connector distributes a plurality of power and control cables and hoses from each carriage of the circular displacement axis toward the zenithal hub; and the multi-axis actuator apparatus, which is a reprogrammable electromechanical system, comprised of a circular displacement axis, with carriages upon which manipulator robots installed in an inverted position on telescopic columns move; and on the flange of each manipulator robot, the interchangeable nozzle is installed, this having a controlled shut-off valve and being connected to the flexible hose for the transport of material. Una celda robotizada caminante para la fabricación de edificios impresos en obra mediante un sistema multi-eje de impresión 3D, que comprende: un sistema robótico móvil cuadrúpedo, que actúa de manera autónoma y teleoperada, compuesto por cuatro patas locomotoras, que portan una carcasa toroidal que en su interior alberga sistemas de potencia, control y navegación, que soporta vigas radiales, equidistantes entre sí y concurrentes en un nudo cenital de eje por donde pasan mangueras y cables, y en su cara exterior inferior sostiene un eje de desplazamiento circular, que es parte de un aparato actuador multi-eje; un aparato de alimentación, compuesto por una manguera externa para transporte de material, que se conecta a un tubo de extensión y a un distribuidor rotativo multi-salida, cuyas bocas de descarga se conectan a mangueras flexibles para transporte de material y en su otro extremo se conectan a boquillas intercambiables, en donde el conector rotativo de ej