Series-parallel hybrid electro-hydraulic hybrid boom system and concrete pump truck

Abstract

The invention relates to a series-parallel connection mixed electro-hydraulic mixing arm support system and a concrete pump truck. The arm support system comprises an arm support, a hose assembly, a tail end freedom degree assembly, a multi-freedom-degree mechanical arm and a self-adaption assembly. One end of the hose assembly is connected with a conveying pipeline on the arm support, and the other end is connected with the tail end freedom degree assembly; the self-adaptive assembly is installed on the arm frame, the multi-degree-of-freedom mechanical arm is installed on the self-adaptive assembly, the tail end joint is connected with the tail end degree-of-freedom assembly, and the self-adaptive assembly is used for monitoring the tail end posture of the arm frame and the posture of the multi-degree-of-freedom mechanical arm in real time and adjusting the posture of the multi-degree-of-freedom mechanical arm according to the monitoring result. Compared with the prior art, the mechanical arm is matched with a hydraulic arm frame parallel structure to adjust the position of the discharging port, and the beneficial effects of being high in structural strength, fast in response, high in adjusting precision and the like are achieved.

Description

Technical Field

[0001] The present invention relates to the field of construction machinery, and more particularly to a series-parallel hybrid electro-hydraulic hybrid boom system and a concrete pump truck. Background Art

[0002] In modern construction, the pouring of concrete is a crucial link. To improve construction efficiency and pouring quality, concrete pump trucks have been widely used. A concrete pump truck, also known as a pump truck, is a mechanical device that continuously transports concrete along a pipeline by using pressure.

[0003] The core structure of a concrete pump truck includes a pump body and a delivery pipe. The pump body is usually installed on a vehicle, and the engine of the vehicle provides the necessary driving force for the pump body through a power transmission system. The delivery pipe is arranged along the hydraulic boom of the pump truck. As the boom extends or folds, the concrete is transported by the pump body to a predetermined position of the construction. The hydraulic boom of the pump truck is designed to adapt to the needs of different heights and angles and is suitable for complex construction environments.

[0004] During the construction process, in order to more precisely control the pouring position of the concrete, a end hose is usually installed at the end of the delivery pipe. The end hose is made of a material with a certain deformation ability. The inlet is connected to the end of the delivery pipe, and the outlet is used to discharge the concrete. During continuous concrete pouring operations, the operator usually needs to manually drag the end hose to make its outlet accurately reach the predetermined pouring position within the construction range. Especially when pouring a thin roof or other special structures, the position of the end hose needs to be frequently adjusted. If the outlet is not moved in time, it may cause the concrete to accumulate at a certain place, which not only affects the pouring quality but also requires a large amount of manpower to level the concrete, increasing the construction time cost and labor cost.

[0005] However, as the construction environment becomes more complex, the boom of the concrete pump truck is getting longer and longer, resulting in a more serious swing problem at its end during operation. The boom of a concrete pump truck is a typical flexible multi-body system. During the pouring operation, the boom is not only affected by factors such as pressure pulsation and hydraulic shock during the concrete transportation process but also disturbed by environmental factors such as external wind force. These will cause the boom to swing, and the swing amplitude at the end is particularly obvious. The movement speed of the long boom is relatively slow. Especially in pouring tasks that require frequent movement, it is often difficult to quickly reach the required pouring position, and it is necessary to manually frequently adjust the hose position or manually level the accumulated concrete, which greatly affects the construction efficiency.

[0006] As disclosed in the invention with the publication number CN102720363A, a boom device is provided, which includes a terminal boom. A conveying straight pipe is fixedly arranged on the terminal boom. The end of the conveying straight pipe is successively connected with a fixed elbow, a terminal elbow and a terminal hose. The fixed elbow is connected with the terminal elbow through a fixed pipe clamp. The fixed elbow and the terminal elbow can rotate relative to each other. The device further includes a rotation driving device arranged between the terminal boom and the terminal elbow. The rotation driving device can drive the terminal elbow and the terminal hose to rotate relative to the fixed elbow. The present invention also provides a concrete pump truck.

[0007] The above-mentioned existing boom device technology can drive the terminal elbow and the terminal hose to rotate relative to the fixed elbow through the rotation driving device, that is, to adjust the circumference of the hose outlet, but it cannot accurately adjust the position of the discharge port. Manual operation of the discharge hose is still required, which not only brings inconvenience in operation, but also poses a great safety hazard. Since the concrete may suddenly spray out during the pumping process, causing the hose to swing violently, the operator is at risk of being hit by the hose. As the component closest to the working surface and the operator, once an accident occurs, the terminal hose is extremely likely to cause harm to the surrounding operators, increasing the construction safety risk. Summary of the Invention

[0008] The purpose of the present invention is to overcome the above-mentioned defects of the existing technology that can only assist in electrically adjusting the general position of the hose, still requires manual assistance, has poor structural stiffness and low adjustment accuracy of the discharge position, and provides a series-parallel hybrid electro-hydraulic hybrid boom system and a concrete pump truck.

[0009] The purpose of the present invention can be achieved through the following technical solutions:

[0010] This solution provides a series-parallel hybrid electro-hydraulic hybrid boom system, which includes a boom, a hose assembly, a terminal freedom component, a multi-degree-of-freedom robotic arm and an adaptive component;

[0011] One end of the hose assembly is connected to the conveying pipeline on the boom, and the other end is connected to the terminal freedom component; the adaptive component is installed on the boom, the multi-degree-of-freedom robotic arm is installed on the adaptive component, and the end joint is connected to the terminal freedom component. The adaptive component is used to monitor the attitude of the boom end and the attitude of the multi-degree-of-freedom robotic arm in real time, and adjust the attitude of the multi-degree-of-freedom robotic arm according to the monitoring results.

[0012] Preferably, the adaptive component includes a power structure, a swing platform and a monitoring module;

[0013] One end of the swing platform is rotatably installed on the boom. The multi-degree-of-freedom robotic arm is fixed on the swing platform. The power structure is installed on the boom and is drivingly connected to the swing platform to drive the swing platform to swing. The monitoring module is installed on the swing platform to monitor the motion posture and force condition of the end of the boom in real time.

[0014] Preferably, the swing platform includes a hydraulic swing plate, a robotic arm mounting plate, and a universal joint. One end of the universal joint is fixed on the hydraulic swing plate, and the other end is fixed on one side of the robotic arm mounting plate. The multi-degree-of-freedom robotic arm is fixed on the other side of the robotic arm mounting plate;

[0015] One end of the hydraulic swing plate is provided with a cylindrical rotating section. On one side of the boom, there is a mounting hole that cooperates with the cylindrical rotating part. Inside the mounting hole, there are a first circlip, a second circlip, a third circlip, a first angular contact bearing, and a second angular contact bearing. The first angular contact bearing and the second angular contact bearing are respectively installed at both ends of the cylindrical rotating part;

[0016] The first circlip is used for the axial positioning of the first angular contact bearing, the third circlip is used for the axial positioning of the second angular contact bearing, and the second circlip is used for the axial positioning of the cylindrical rotating section.

[0017] Preferably, the power structure includes a first locking nut, a hydraulic cylinder, and a second locking nut. On the hydraulic swing plate, there is a swing link perpendicular to the cylindrical rotating section. One end of the hydraulic cylinder is fixed on the boom through the first locking nut, and the other end is drivingly connected to the swing link and locked through the second locking nut.

[0018] Preferably, the monitoring module includes a gyroscope and a plurality of pressure sensors. The gyroscope is fixed on one side of the hydraulic swing plate close to the robotic arm mounting plate to monitor the posture of the end of the boom. One end of the pressure sensor is connected to the hydraulic swing plate, and the other end is connected to the robotic arm mounting plate to monitor the pressure between the hydraulic swing plate and the robotic arm mounting plate. A dust cover is provided between the hydraulic swing plate and the robotic arm mounting plate.

[0019] Preferably, the end degree-of-freedom assembly includes an end steel pipe, a damper, an end degree-of-freedom support shell, a first gear, and a second gear;

[0020] One end of the end steel pipe is connected to a hose assembly. The second gear is installed on the outside of the end steel pipe. The end degree-of-freedom support shell is rotatably installed on the outside of the end steel pipe. The first gear is rotatably installed inside the end degree-of-freedom support shell. The first gear meshes with the second gear. The end joint of the multi-degree-of-freedom robotic arm is fixed on the end degree-of-freedom support shell. The damper is installed on the end degree-of-freedom support shell and connected to the first gear to monitor the torque of the end steel pipe.

[0021] Preferably, upper and lower covers are respectively installed at both ends of the end degree-of-freedom support shell. Both the upper and lower covers are sleeved on the end steel pipe. A first waterproof sealing ring is provided between the upper cover and the end steel pipe, and a second waterproof sealing ring is provided between the lower cover and the end steel pipe. The damper is fixed on the upper cover, and the damper is integrally formed with the rotating shaft of the first gear.

[0022] Preferably, the end degree-of-freedom assembly further includes a first bearing, a second bearing, a third bearing and a fourth bearing;

[0023] The second gear is key-connected to the end steel pipe. The second bearing and the fourth bearing are installed on the end steel pipe and are located on both sides of the second gear for axial positioning of the second gear. The first bearing and the third bearing are installed in the end degree-of-freedom support shell and are connected to the first gear for supporting the first gear to drive the damper to rotate.

[0024] Preferably, the hose assembly includes an elbow pipe, a first pipe clamp, an end hose and a second pipe clamp; the elbow pipe is connected to the conveying pipeline on the boom. One end of the end hose is sleeved on the elbow pipe and fixed by the first pipe clamp, and the other end of the end hose is sleeved on the end degree-of-freedom assembly and fixed by the second pipe clamp.

[0025] This solution also provides a concrete pump truck, which at least includes the above-mentioned series-parallel hybrid electro-hydraulic hybrid boom system.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) The parallel cooperation between the multi-degree-of-freedom robotic arm and the boom is used to adjust the position of the hose assembly, achieving high-stiffness support for the main load and the hose attitude, and ensuring that the discharge port maintains high stability in complex construction environments. The front end of the boom is connected in series with the existing hydraulic drive structure. The series-parallel hybrid structure not only greatly improves the system stiffness, enabling both large-range transfer and fine adjustment of the end discharge port position, but also effectively enhances the stability and operability of the boom end. The adaptive assembly can compensate for the vibration or swing during the movement of the boom, reducing the positioning or operation error of the multi-degree-of-freedom robotic arm, improving the adaptive adjustment ability of the multi-degree-of-freedom robotic arm, effectively suppressing the interference of the swing at the boom end to the system, and improving the construction efficiency and accuracy.

[0028] (2) Through the data fusion of the gyroscope and the force sensor in this solution, the real-time monitoring of the movement state and force condition of the boom end is realized. According to the data fed back by the gyroscope and the pressure sensor, the multi-degree-of-freedom robotic arm can immediately adjust its attitude, accurately compensating for the vibration and swing at the boom end to ensure the stability of the discharge port position. At the same time, the hydraulic cylinder is responsible for the main lifting and rotating actions, ensuring the efficient operation of the system under high-load conditions.

[0029] This adaptive component takes into account both precision and load: the hydraulic system provides strong load capacity, and the multi-degree-of-freedom robotic arm achieves high-precision motion control at the discharge port, meeting the dual requirements of large load and fine end positioning of the concrete pump truck. The adaptive component has a fast response speed. The monitoring module monitors in real time and coordinates with the fast response ability of the multi-degree-of-freedom robotic arm. The rapid movement of the hydraulic cylinder enables the system to quickly correct the attitude and effectively improve the motion precision of the boom in cooperation with the multi-degree-of-freedom robotic arm. By measuring the four-corner force difference through three force sensors between the hydraulic swing plate and the robotic arm mounting plate, the swing direction and amplitude of the end of the concrete pump truck boom are calculated, and then the swing of the boom end is compensated by the multi-degree-of-freedom robotic arm to ensure that the position of the discharge port remains unchanged.

[0030] (3) Due to the limited degrees of freedom of the multi-degree-of-freedom robotic arm, when the end degree-of-freedom component is in certain specific positions and postures, it will cause a large torsion of the end hose. In this solution, relative rotation can occur between the multi-degree-of-freedom robotic arm and the end steel pipe. Based on the meshing gears, the torque borne by the end steel pipe is transmitted to the damper. When the torque received by the hose component exceeds the threshold, relative rotation occurs between the multi-degree-of-freedom robotic arm and the end steel pipe, releasing the torque of the hose component. This can not only avoid the frequent rotation of the end degree-of-freedom component and the interference with position adjustment, improve the adjustment accuracy, but also ensure the safety and service life of the hose component.

[0031] (4) In the concrete pump truck based on the series-parallel hybrid and electro-hydraulic hybrid boom system in this solution, by introducing a six-degree-of-freedom robotic arm installed at the end of the concrete pump truck boom to replace the traditional manual control of the end hose operation. This design not only effectively avoids the safety risks faced by operators when operating in close contact with the end hose, but also greatly reduces the labor input. The six-degree-of-freedom robotic arm can quickly and accurately adjust the position of the end discharge port, achieve efficient and precise pouring, avoid the additional manual leveling operation required for concrete stacking, and improve the construction efficiency and safety. Description of the Drawings

[0032] Figure 1 It is a schematic structural diagram of the concrete pump truck provided by the present invention;

[0033] Figure 2 It is a schematic structural diagram of the first perspective of the boom system provided by the present invention;

[0034] Figure 3 It is a schematic structural diagram of the second perspective of the boom system provided by the present invention;

[0035] Figure 4 is Figure 3 the enlarged structural view at B in

[0036] Figure 5 It is a schematic structural diagram of the boom system provided by the present invention from the third perspective;

[0037] Figure 6 is Figure 5 the enlarged view of the structure at position A in

[0038] Figure 7 It is a schematic structural diagram of the boom system provided by the present invention from the fourth perspective;

[0039] Figure 8 is Figure 6 the enlarged view of the structure at position C in

[0040] Figure 9 It is a schematic structural diagram of the boom system provided by the present invention in the first posture;

[0041] Figure 10 It is a schematic structural diagram of the boom system provided by the present invention in the second posture;

[0042] Figure 11 It is a schematic structural diagram of the boom system provided by the present invention in the third posture;

[0043] Figure 12 It is a schematic structural diagram of the boom system provided by the present invention in the fourth posture;

[0044] In the figure: 1. Boom, 2. Hose assembly, 3. End degree-of-freedom assembly, 4. Multi-degree-of-freedom robotic arm, 5. Adaptive assembly; 201. Elbow pipe, 202. Pipe clamp, 203. End hose, 204. Pipe clamp; 301. End steel pipe, 302. First dust-proof sealing ring, 303. Damper, 304. Upper cover plate, 305. First bearing, 306. End degree-of-freedom support shell, 307. First gear, 308. Second bearing, 309. Third bearing, 310. Second gear, 311. Fourth bearing, 312. Lower cover plate, 313. Second dust-proof sealing ring, 501. First circlip, 502. Second circlip, 503. First angular contact ball bearing, 504. Hydraulic swing plate, 505. Second angular contact ball bearing, 506. Third circlip, 507. Robotic arm mounting plate, 508. Universal joint, 509. Gyroscope, 510. Pressure sensor, 511. First locking nut, 512. Hydraulic cylinder, 513. Second locking nut, 514. Dust-proof cover. Detailed implementation manners

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0048] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0049] It should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality" means two or more unless otherwise specifically defined.

[0050] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0051] Embodiment 1

[0052] As Figure 2 shown, this embodiment provides a series-parallel hybrid electro-hydraulic hybrid boom system, including a boom 1, a hose assembly 2, an end degree-of-freedom assembly 3, a multi-degree-of-freedom robotic arm 4, and an adaptive assembly 5;

[0053] One end of the hose assembly 2 is connected to the conveying pipeline on the boom 1, and the other end is connected to the end degree-of-freedom assembly 3; the adaptive assembly 5 is installed on the boom 1, the multi-degree-of-freedom robotic arm 4 is installed on the adaptive assembly 5, and the end joint is connected to the end degree-of-freedom assembly 3. The adaptive assembly 5 is used to monitor the attitude of the end of the boom 1 and the attitude of the multi-degree-of-freedom robotic arm 4 in real time, and adjust the attitude of the multi-degree-of-freedom robotic arm 4 according to the monitoring results.

[0054] Working principle: The multi-degree-of-freedom robotic arm 4 is installed on the adaptive assembly 5 at the end of the boom 1, and the end joint is connected to the end degree-of-freedom assembly 3 connected to the discharge port of the hose assembly 2, and the robotic arm with degrees of freedom 4 is connected in parallel with the hose assembly 2. The hydraulically driven boom 1 cooperates with the electrically driven multi-degree-of-freedom robotic arm 4 to support the hose assembly 2 and cooperate to adjust the position of the discharge port. The attitude of the multi-degree-of-freedom robotic arm 4 is adjusted through the adaptive assembly 5 to compensate for the vibration and swing at the end of the boom 1.

[0055] The parallel cooperation between the multi-degree-of-freedom robotic arm 4 and the boom 1 is used to adjust the position of the hose assembly 2, achieving high-stiffness support for the main load and the hose attitude, and ensuring that the discharge port maintains high stability in a complex construction environment. There is an existing hydraulically driven structure in series at the front end of the boom. The series-parallel hybrid structure not only greatly improves the system stiffness, enabling both large-range transfer and fine adjustment of the position of the end discharge port, but also effectively improves the stability and operability of the end of the boom. The adaptive assembly 5 can compensate for the positioning or operation error of the multi-degree-of-freedom robotic arm 4 caused by the vibration or swing during the movement of the boom, improve the adaptive adjustment ability of the multi-degree-of-freedom robotic arm 4, effectively suppress the interference of the swing at the end of the boom to the system, and improve the construction efficiency and accuracy.

[0056] Preferred implementation method, as Figures 5 to 8 shown, the adaptive assembly 5 includes a power structure, a swing platform and a monitoring module;

[0057] One end of the swing platform is rotatably installed on the boom 1, the multi-degree-of-freedom robotic arm 4 is fixed on the swing platform, the power structure is installed on the boom 1, and is drivingly connected to the swing platform to drive the swing platform to swing. The monitoring module is installed on the swing platform to monitor the movement attitude and force condition of the end of the boom 1 in real time.

[0058] Specifically, the swing platform includes a hydraulic swing plate 504, a robotic arm mounting plate 507 and a universal joint 508. One end of the universal joint 508 is fixed on the hydraulic swing plate 504, and the other end is fixed on one side of the robotic arm mounting plate 507. The multi-degree-of-freedom robotic arm 4 is fixed on the other side of the robotic arm mounting plate 507;

[0059] One end of the hydraulic swing plate 504 is provided with a cylindrical rotating section. On one side of the boom 1, there is a mounting hole that cooperates with the cylindrical rotating part. Inside the mounting hole, there are a first circlip 501, a second circlip 502, a third circlip 506, a first angular contact bearing 503, and a second angular contact bearing 505. The first angular contact bearing 503 and the second angular contact bearing 505 are respectively installed at both ends of the cylindrical rotating part;

[0060] Further, the first circlip 501 is used for the axial positioning of the first angular contact bearing 503, the third circlip 506 is used for the axial positioning of the second angular contact bearing 505, and the second circlip 502 is used for the axial positioning of the cylindrical rotating section.

[0061] The power structure includes a first locking nut 511, a hydraulic cylinder 512, and a second locking nut 513. On the hydraulic swing plate 504, there is a swing link perpendicular to the cylindrical rotating section. One end of the hydraulic cylinder 512 is fixed to the boom 1 through the first locking nut 511, the other end drives and connects the swing link, and is locked through the second locking nut 513.

[0062] Furthermore, the monitoring module includes a gyroscope 509 and multiple pressure sensors 510. The gyroscope 509 is fixed on the side of the hydraulic swing plate 504 close to the robotic arm mounting plate 507 for monitoring the attitude of the end of the boom 1. One end of the pressure sensor 510 is connected to the hydraulic swing plate 504, and the other end is connected to the robotic arm mounting plate 507 for monitoring the pressure between the hydraulic swing plate 504 and the robotic arm mounting plate 507. There is a dust cover 504 between the hydraulic swing plate 504 and the robotic arm mounting plate 507.

[0063] Through the data fusion of the gyroscope and the force sensor, the real-time monitoring of the motion state and force condition of the end of the boom 1 is realized. According to the data fed back by the gyroscope 509 and the pressure sensor 510, the multi-degree-of-freedom robotic arm 4 can immediately adjust its attitude, accurately compensate for the vibration and swing of the end of the boom 1, and ensure the stability of the discharge port position. At the same time, the hydraulic cylinder is responsible for undertaking the main lifting and rotating actions to ensure the efficient operation of the system under high-load conditions.

[0064] The adaptive component 5 takes into account both precision and load: The hydraulic system provides strong load capacity, and the multi-degree-of-freedom robotic arm 4 achieves high-precision motion control at the discharge port, meeting the dual requirements of the concrete pump truck for large loads and fine positioning at the end. The adaptive component 5 has a fast response speed. The monitoring module monitors in real time and cooperates with the fast response ability of the multi-degree-of-freedom robotic arm 4, and the fast action of the hydraulic cylinder enables the system to quickly correct the attitude, effectively improving the motion precision of the boom 1 in cooperation with the multi-degree-of-freedom robotic arm 4. By measuring the four-corner force difference through the three force sensors between the hydraulic swing plate 504 and the robotic arm mounting plate 507, the swing direction and amplitude of the end of the concrete pump truck boom are calculated, so as to compensate for the swing of the end of the boom through the multi-degree-of-freedom robotic arm, ensuring that the position of the discharge port remains unchanged.

[0065] Preferred embodiments, such as Figure 3 and Figure 4 shown, the end degree-of-freedom component 3 includes an end steel pipe 301, a damper 303, an end degree-of-freedom support shell 306, a first gear 307, and a second gear 310;

[0066] One end of the end steel pipe 301 is connected to the hose assembly 2. The second gear 310 is installed on the outside of the end steel pipe 301. The end degree-of-freedom support shell 306 is rotatably installed on the outside of the end steel pipe 301. The first gear 307 is rotatably installed in the end degree-of-freedom support shell 306. The first gear 307 meshes with the second gear 310. The end joint of the multi-degree-of-freedom robotic arm 4 is fixed on the end degree-of-freedom support shell 306. The damper 303 is installed on the end degree-of-freedom support shell 306 and connected to the first gear 307 for monitoring the torque of the end steel pipe 301.

[0067] Due to the limited degrees of freedom of the multi-degree-of-freedom robotic arm, when the end degree-of-freedom component 3 is in certain specific positions and postures, it will cause the end hose to generate a large torsion. In this solution, relative rotation can occur between the multi-degree-of-freedom robotic arm 4 and the end steel pipe 301, and based on the meshing gears, the torque borne by the end steel pipe 301 is transmitted to the damper 303. When the torque received by the hose assembly exceeds the threshold, relative rotation occurs between the multi-degree-of-freedom robotic arm 4 and the end steel pipe 301, releasing the torque of the hose assembly. It can not only avoid the frequent rotation of the end degree-of-freedom component 3 and the interference with position adjustment, improve the adjustment accuracy, but also ensure the safety and service life of the hose assembly.

[0068] Among them, upper cover plate 304 and lower cover plate 305 are respectively installed at both ends of the end degree-of-freedom support shell 306. Both the upper cover plate 304 and the lower cover plate 305 are sleeved on the end steel pipe 301. A first waterproof sealing ring 302 is provided between the upper cover plate 304 and the end steel pipe 301, and a second waterproof sealing ring 313 is provided between the lower cover plate 305 and the end steel pipe 301. The damper 303 is fixed on the upper cover plate 304, and the damper 303 is integrally formed and connected with the rotating shaft of the first gear 307.

[0069] Specifically, the end degree-of-freedom assembly 3 further includes a first bearing 305, a second bearing 308, a third bearing 309 and a fourth bearing 311;

[0070] The second gear 310 is key-connected to the end steel pipe 301. The second bearing 308 and the fourth bearing 311 are installed on the end steel pipe 301 and are located on both sides of the second gear 310 for axial positioning of the second gear 310. The first bearing 305 and the third bearing 309 are installed in the end degree-of-freedom support shell 306 and are connected to the first gear 307 for supporting the first gear 307 to drive the damper 303 to rotate.

[0071] Among them, the hose assembly 2 includes an elbow 201, a first pipe clamp 202, an end hose 203 and a second pipe clamp 204; the elbow 201 is connected to the conveying pipeline on the boom 1, one end of the end hose 203 is sleeved on the elbow 201 and fixed by the first pipe clamp 202, and the other end of the end hose 203 is sleeved on the end degree-of-freedom assembly 3 and fixed by the second pipe clamp 204.

[0072] As Figure 1 shown, this embodiment also provides a concrete pump truck, which at least includes the above-mentioned series-parallel hybrid electro-hydraulic hybrid boom system.

[0073] Combined with the above preferred implementation manners, this embodiment provides a more specific implementation manner, as Figures 1 to 12As shown in the figure, the concrete pump truck based on the series-parallel hybrid and electro-hydraulic hybrid boom system includes a concrete pump truck with a boom, a hose assembly 2, an end degree-of-freedom assembly 3, a multi-degree-of-freedom robotic arm 4, and an adaptive assembly 5. The hose assembly 2 includes an elbow 201, a first pipe clamp 202, an end hose 203, and a second pipe clamp 204. The end degree-of-freedom assembly 3 includes an end steel pipe 301, a first dust-proof sealing ring 302, a damper 303, an upper cover plate 304, a first bearing 305, an end degree-of-freedom support shell 306, a first gear 307, a second bearing 308, a third bearing 309, a second gear 310, a fourth bearing 311, a lower cover plate 312, and a second dust-proof sealing ring 313. The multi-degree-of-freedom robotic arm 4 is an ordinary six-degree-of-freedom robotic arm. The adaptive assembly 5 includes a first snap ring 501, a second snap ring 502, a first angular contact ball bearing 503, a hydraulic swing plate 504, a second angular contact ball bearing 505, a third snap ring 506, a robotic arm mounting plate 507, a universal joint 508, a gyroscope 509, a pressure sensor 510, a first locking nut 511, a hydraulic cylinder 512, a second locking nut 513, and a dust cover 514.

[0074] Among them, the concrete pump truck with a boom is an ordinary concrete pump truck with a boom 1.

[0075] In the hose assembly 2, one end of the elbow 201 is connected to the end of the concrete delivery pipe of the concrete pump truck 1 with a boom, and the other end is connected to the end hose 203 and tightly connected by the first pipe clamp 202. The end hose 203 is made of a material with a certain deformation ability, and its lower end is connected to the end steel pipe 301 in the end degree-of-freedom assembly 3 and tightly connected by the second pipe clamp 204.

[0076] Furthermore, in the end degree-of-freedom assembly 3, the upper end of the end steel pipe 301 is connected to the hose 203, and the second gear 310 is installed in the middle of the end steel pipe 301, and torque transmission is achieved through key connection between the two. The first gear 307 and the second gear 310 are in gear meshing cooperation, and the damper 303 is connected to the first gear 307 through an irregular hole-shaft fit to achieve torque transmission from the end steel pipe 301 to the damper 303.

[0077] In addition, the second bearing 308 and the fourth bearing 311 provide axial positioning for the second gear 310. The second bearing 308 and the fourth bearing 311 are installed in the end degree-of-freedom support shell 306 and ensure the rotation of the end steel pipe 301 relative to the end degree-of-freedom support shell 306.

[0078] Meanwhile, a first bearing 305 is also installed inside the end-degree-of-freedom support housing 306, forming a pair with the third bearing 309 installed inside the upper cover plate 304 to provide support for the first gear 307. The upper cover plate 304 is fixed to the top of the end-degree-of-freedom support housing 306 by screws. The damper 303 is fixed to the upper cover plate 304 by screws.

[0079] Moreover, a first dust-proof sealing ring 302 is provided on the upper cover plate 304. In addition, the lower cover plate 312 is fixed to the lower part of the end-degree-of-freedom support housing 306 by screws and is also provided with a second dust-proof sealing ring 313 to prevent foreign objects from entering the interior of the end-degree-of-freedom assembly.

[0080] In the adaptive assembly 5, the first angular contact ball bearing 503 and the second angular contact ball bearing 505 are installed in the end hole of the boom of the concrete pump truck 1 with a boom, and are axially positioned by the first circlip 501 and the third circlip 506 respectively; the hydraulic swing plate 504 passes through these two first angular contact ball bearings 503 and the second angular contact ball bearing 505, so that it can rotate freely relative to the boom of the concrete pump truck, and the second circlip 502 provides axial positioning for the hydraulic swing plate 504.

[0081] The upper end of the hydraulic swing plate 504 is connected to one end of the hydraulic cylinder 512 and is locked by the second locking nut 513. The other end of the hydraulic cylinder 512 is fixed to the boom 1 and is locked by the first locking nut 511. Three pressure sensors 510 are installed on the lower end face of the hydraulic swing plate 504, and a gyroscope 509 is fixedly installed. The middle part of the lower end of the hydraulic swing plate 504 is connected to the universal joint 508 by screws, and the other end of the universal joint 508 is also fixed to the robotic arm mounting plate 507 by screws. The other ends of the three pressure sensors 510 are also fixed to the robotic arm mounting plate 507 by screws, and a dust-proof cover 514 is installed between the hydraulic swing plate 504 and the robotic arm mounting plate 507 to achieve a dust-proof effect.

[0082] Adaptive compensation for the swing at the end of the boom to achieve precise control of the discharge port position: In the end hose control device of the concrete pump truck with a telescopic boom combination in this solution, a six-degree-of-freedom robotic arm is introduced below the hydraulic drive swing sensor assembly. Based on the known joint angles of the six-degree-of-freedom robotic arm, its moment of inertia can be easily calculated. Combining the measurement data of the four force sensors in the hydraulic drive swing sensor assembly, the swing direction and amplitude of the end of the boom of the concrete pump truck can be calculated in real time. The six-degree-of-freedom robotic arm can quickly perform swing compensation to ensure that no matter how the end of the boom swings, the position of the concrete discharge port always remains stable, achieving precise control of the discharge port position, and further ensuring the accuracy of the pouring process.

[0083] The six-degree-of-freedom robotic arm 4 is fixedly installed below the robotic arm mounting plate 507 in the adaptive component 5 by screws. The end joint of the six-degree-of-freedom robotic arm 4 is fixedly connected to the end-degree-of-freedom support shell 306 of the end-degree-of-freedom component 3 by screws.

[0084] In summary, the six-degree-of-freedom robotic arm 4 can, within a certain range, adjust its posture to make the discharge port at the lower end of the end-degree-of-freedom component reach different positions. However, due to the limited degrees of freedom of the six-degree-of-freedom robotic arm 4, when the end-degree-of-freedom component is in certain specific positions and postures, it will cause a large torsion of the end hose 203. To solve this problem, the end-degree-of-freedom component provides a passive rotational degree of freedom to allow the torsion of the end hose 203 to be released. At the same time, through the meshing of the first gear 307 and the second gear 310, the damper 303 limits the overly frequent free rotation of the end-degree-of-freedom component. Only when the torque of the end hose 203 exceeds the damping value set by the damper 303 will the torsion generated by the end hose 203 be released.

[0085] The hydraulic-driven swing sensor assembly controls the telescopic actuation of the hydraulic cylinder 512 through the data of the gyroscope 509, thereby driving the hydraulic swing plate 504 and the robotic arm mounting plate 507 to rotate, so that the mounting surface of the robotic arm mounting plate 507 equipped with the six-degree-of-freedom robotic arm 4 always remains parallel to the ground. The hydraulic swing plate 504 and the robotic arm mounting plate 507 are fixedly connected through a universal joint 508, and the universal joint 508 provides a vertical pulling force for the robotic arm mounting plate 507. The six-degree-of-freedom robotic arm 4 below the hydraulic-driven swing sensor assembly, when the joint angles, the mass distribution of each connecting rod, and the position and mass of the end-degree-of-freedom component are known, calculates the swing direction and amplitude of the end of the concrete pump truck boom through the four-corner force difference measured by the three pressure sensors 510 between the hydraulic swing plate 504 and the robotic arm mounting plate 507, so as to compensate for the swing of the boom end through the six-degree-of-freedom robotic arm 4 and ensure that the position of the discharge port remains unchanged.

[0086] Adopting a series-parallel hybrid structure, in the hose control and motion compensation system at the end of the boom, this embodiment creatively introduces a series-parallel hybrid structure. The traditional concrete pump truck boom adopts a pure series motion form, which has the problem of being difficult to balance the working space and motion stiffness: although the pure series structure has a large working space, its overall stiffness is low and the end swing amplitude is large; in this embodiment, a six-degree-of-freedom robotic arm and the end hose are in parallel to achieve high-stiffness support for the main load and posture, and finely adjust the position of the end discharge port; at the same time, part of the series boom of the ordinary concrete pump truck is retained to meet the flexible movement of the boom in a large range. This series-parallel hybrid structure not only greatly improves the system stiffness but also expands the end motion space, effectively enhancing the stability and operability of the boom end. It improves the anti-swing ability of the boom end, ensures that the discharge port maintains high stability in complex construction environments; meets the requirements of the construction site for multi-angle and large-range pouring positions, improves construction efficiency and accuracy; reduces the impact of the end robotic arm on the overall stiffness of the boom, and reduces the additional swing risk of the long boom during high-altitude operations.

[0087] In terms of the driving mode of the concrete pump truck boom, an electric six-degree-of-freedom robotic arm is innovatively installed at the end of the traditional pump truck boom, forming an electro-hydraulic hybrid boom system. The traditional pump truck boom is mainly driven by a hydraulic system. Although the hydraulic system has the advantages of large output force and compact structure, its motion control accuracy is relatively low. And using an electric six-degree-of-freedom robotic arm alone can provide relatively high control accuracy, but when dealing with high-load requirements, there are certain limitations in the output torque of its motor servo control.

[0088] This embodiment combines the electric six-degree-of-freedom robotic arm with the traditional hydraulic boom system to achieve the complementary advantages of electro-hydraulic hybrid drive. Specifically, the electric robotic arm is responsible for fine and fast attitude control and can achieve high-precision adjustment of the position of the end hose; the hydraulic system undertakes the main power output for dealing with large loads and large-range movements during the concrete pumping process. This combination not only improves the control accuracy of the boom end but also enhances the overall dynamic performance of the system.

[0089] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. A series-parallel hybrid electro-hydraulic hybrid boom system, characterized in that, It includes a boom (1), a hose assembly (2), a end-degree-of-freedom assembly (3), a multi-degree-of-freedom robotic arm (4), and an adaptive assembly (5). One end of the hose assembly (2) is connected to the conveying pipeline on the boom (1), and the other end is connected to the end-degree-of-freedom assembly (3); the adaptive assembly (5) is installed on the boom (1), the multi-degree-of-freedom robotic arm (4) is installed on the adaptive assembly (5), and the end joint is connected to the end-degree-of-freedom assembly (3). The adaptive assembly (5) is used to monitor the attitude of the end of the boom (1) and the attitude of the multi-degree-of-freedom robotic arm (4) in real time, and adjust the attitude of the multi-degree-of-freedom robotic arm (4) according to the monitoring results.

2. The electro-hydraulic hybrid boom system with series-parallel connection according to claim 1, characterized in that, The adaptive assembly (5) includes a power structure, a swing platform, and a monitoring module. One end of the swing platform is rotatably installed on the boom (1), the multi-degree-of-freedom robotic arm (4) is fixed on the swing platform, the power structure is installed on the boom (1), and is drivingly connected to the swing platform to drive the swing platform to swing. The monitoring module is installed on the swing platform to monitor the motion attitude and force condition of the end of the boom (1) in real time.

3. The electro-hydraulic hybrid boom system with series-parallel connection according to claim 2, characterized in that, The swing platform includes a hydraulic swing plate (504), a robotic arm mounting plate (507), and a universal joint (508). One end of the universal joint (508) is fixed on the hydraulic swing plate (504), and the other end is fixed on one side of the robotic arm mounting plate (507). The multi-degree-of-freedom robotic arm (4) is fixed on the other side of the robotic arm mounting plate (507). One end of the hydraulic swing plate (504) is provided with a cylindrical rotating section. An installation hole matching the cylindrical rotating part is provided on one side of the boom (1). The installation hole is provided with a first circlip (501), a second circlip (502), a third circlip (506), a first angular contact bearing (503), and a second angular contact bearing (505). The first angular contact bearing (503) and the second angular contact bearing (505) are respectively installed at both ends of the cylindrical rotating section. The first circlip (501) is used for the axial positioning of the first angular contact bearing (503), the third circlip (506) is used for the axial positioning of the second angular contact bearing (505), and the second circlip (502) is used for the axial positioning of the cylindrical rotating section.

4. The electro-hydraulic hybrid boom system with series-parallel connection according to claim 3, wherein, The power structure includes a first locking nut (511), a hydraulic cylinder (512), and a second locking nut (513). The hydraulic swing plate (504) is provided with a swing link perpendicular to the cylindrical rotating section. One end of the hydraulic cylinder (512) is fixed on the boom (1) through the first locking nut (511), the other end is drivingly connected to the swing link, and is locked through the second locking nut (513).

5. A series-parallel hybrid electro-hydraulic hybrid boom system according to claim 3, characterized in that, The monitoring module includes a gyroscope (509) and multiple pressure sensors (510). The gyroscope (509) is fixed on one side of the hydraulic swing plate (504) close to the robotic arm mounting plate (507) for monitoring the attitude of the end of the boom (1). One end of the pressure sensor (510) is connected to the hydraulic swing plate (504), and the other end is connected to the robotic arm mounting plate (507) for monitoring the pressure between the hydraulic swing plate (504) and the robotic arm mounting plate (507). A dust cover (504) is provided between the hydraulic swing plate (504) and the robotic arm mounting plate (507).

6. The electro-hydraulic hybrid boom system with series-parallel connection according to claim 1, characterized in that, The end degree-of-freedom assembly (3) includes an end steel pipe (301), a damper (303), an end degree-of-freedom support shell (306), a first gear (307), and a second gear (310); One end of the end steel pipe (301) is connected to the hose assembly (2). The second gear (310) is installed on the outside of the end steel pipe (301). The end degree-of-freedom support shell (306) is rotatably installed on the outside of the end steel pipe (301). The first gear (307) is rotatably installed in the end degree-of-freedom support shell (306). The first gear (307) meshes with the second gear (310). The end joint of the multi-degree-of-freedom robotic arm (4) is fixed on the end degree-of-freedom support shell (306). The damper (303) is installed on the end degree-of-freedom support shell (306) and connected to the first gear (307) for monitoring the torque of the end steel pipe (301).

7. A series-parallel hybrid electro-hydraulic hybrid boom system according to claim 6, characterized in that, Upper and lower cover plates (304) and (305) are respectively installed at both ends of the end degree-of-freedom support shell (306). Both the upper cover plate (304) and the lower cover plate (305) are sleeved on the end steel pipe (301). A first waterproof sealing ring (302) is provided between the upper cover plate (304) and the end steel pipe (301). A second waterproof sealing ring (313) is provided between the lower cover plate (305) and the end steel pipe (301). The damper (303) is fixed on the upper cover plate (304). The damper (303) is integrally formed with the rotating shaft of the first gear (307).

8. A series-parallel hybrid electro-hydraulic hybrid boom system according to claim 6, characterized in that The end degree-of-freedom assembly (3) further includes a first bearing (305), a second bearing (308), a third bearing (309), and a fourth bearing (311); The second gear (310) is key-connected to the end steel pipe (301). The second bearing (308) and the fourth bearing (311) are installed on the end steel pipe (301) and located on both sides of the second gear (310) for axial positioning of the second gear (310). The first bearing (305) and the third bearing (309) are installed in the end degree-of-freedom support shell (306) and connected to the first gear (307) for supporting the first gear (307) to drive the damper (303) to rotate.

9. The electro-hydraulic hybrid boom system with series-parallel connection according to claim 1, wherein, The hose assembly (2) includes an elbow pipe (201), a first pipe clamp (202), an end hose (203), and a second pipe clamp (204); the elbow pipe (201) is connected to the conveying pipeline on the boom (1), one end of the end hose (203) is sleeved on the elbow pipe (201) and fixed by the first pipe clamp (202), and the other end of the end hose (203) is sleeved on the end freedom assembly (3) and fixed by the second pipe clamp (204).

10. A concrete pump truck, characterized in that, At least including a series-parallel hybrid electro-hydraulic hybrid boom system according to any one of claims 1-9.

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