Cable-driven architectural 3D printers suitable for various spatial applications

Abstract

This invention relates to a cable-driven architectural 3D printer suitable for various spatial applications. It includes an end-effector concrete nozzle mechanism and a connecting bracket for fixing the end-effector concrete nozzle mechanism. Above the end-effector concrete nozzle mechanism is a tension cable-driven gimbal mechanism, which is connected to the connecting bracket via a first cable. Below the end-effector concrete nozzle mechanism is a main-force cable-driven unit, which is connected to the connecting bracket via a sixth cable. It also includes a pitch angle cable-driven unit, a horizontal rotation angle cable-driven unit, and a tension angle cable-driven unit. As can be seen from the above technical solution, this invention is suitable for printing in various occasions and spaces, and greatly solves the shortcomings of traditional large-scale architectural 3D printers, such as complex, bulky, and difficult-to-disassemble and transport mechanisms, making printing possible in more locations in the future.

Description

Technical Field

[0001] This invention relates to the field of 3D building printers, and more specifically to a cable-driven building 3D printer suitable for working in various spatial locations. Background Technology

[0002] With the advancement of 3D printing technology, an increasing number of items can be produced using 3D printing. 3D printing architecture is essentially an additive manufacturing process. Designers input digital design models into the building printer, which translates these into printing instructions. The machine then stacks special materials layer by layer to create building components of specific shapes, according to the design requirements. 3D printing architecture offers significant advantages in terms of efficiency and sustainable development. It can not only print small items, but this technology could also completely revolutionize the traditional construction industry. However, 3D printing architecture technology is still in its early stages, and traditional 3D building printers use rigid structures that are too simplistic, resulting in drawbacks such as excessive size, inability to work on complex terrain, and overall bulkiness that makes them inconvenient to transport. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects and provide a cable-driven architectural 3D printer suitable for working in various spatial locations.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: including a terminal concrete nozzle mechanism and a connecting bracket for fixing the terminal concrete nozzle mechanism, wherein a tensioning flexible cable drive gimbal mechanism fixed to the wall is provided above the terminal concrete nozzle mechanism, the tensioning flexible cable drive gimbal mechanism is connected to the connecting bracket through a first flexible cable, and a main power flexible cable drive unit fixed to the ground is provided below the terminal concrete nozzle mechanism, the main power flexible cable drive unit is connected to the connecting bracket through a sixth flexible cable, and at least three sets of the tensioning flexible cable drive gimbal mechanism and the main power flexible cable drive unit are provided.

[0005] The tension cable-driven gimbal mechanism includes an arc-shaped track. The inner arc surface of the arc-shaped track is fixed to the wall by a Y-shaped support frame. The two ends of the arc-shaped track are respectively fixed to the wall by a first track support seat and a second track support seat. The arc-shaped track and the Y-shaped support frame form the main support body of the entire tension cable-driven gimbal mechanism. A horizontal cornering motion platform that rolls with the arc-shaped track is provided on the arc-shaped track.

[0006] It also includes a first arm and a second arm that are rotatably connected by a joint assembly. The first arm is a fixed arm, and the end of the first arm near the joint assembly is fixed to the upper surface of the horizontal rotation platform. The second arm is a cantilevered rotating arm, and the cantilever end of the second arm is provided with a tension wheel.

[0007] It also includes a pitch angle flexible cable drive unit for adjusting the rotation angle of the second arm, a horizontal rotation angle flexible cable drive unit for driving the horizontal rotation motion platform to translate along the direction defined by the arc track, and a tension force flexible cable drive unit for connecting the tension wheel and the connecting bracket.

[0008] The tensioning flexible cable drive unit includes a first flexible cable, a first spool and a first motor. One end of the first flexible cable is connected to the first spool, and the other end of the first flexible cable is connected to the upper frame of the connecting bracket after passing through the tensioning wheel. The first motor drives the first spool to rotate so as to drive the first flexible cable to be wound up and down.

[0009] The horizontal cornering flexible cable drive unit includes a second flexible cable, a third flexible cable, a second spool, and a second motor. The second spool has a double-spool structure. The second and third flexible cables are wound side by side on the second spool in opposite directions. One end of each of the second and third flexible cables is connected to the second spool, and the other end of each is connected to the two ends of the horizontal cornering motion platform. The second motor drives the second spool to rotate, thereby driving the second and third flexible cables to achieve a closed-loop transmission of winding and unwinding.

[0010] The pitch angle flexible cable drive unit includes a fourth flexible cable, a fifth flexible cable, a third spool, and a third motor. The fourth and fifth flexible cables are wound side by side on the third spool in opposite directions. One end of the fourth flexible cable is connected to the third spool, and the other end of the fourth flexible cable is wound in the opposite direction through the pulley group and reversing wheel group on the joint assembly and then fixed to the first arm. One end of the fifth flexible cable is connected to the third spool, and the other end of the fifth flexible cable is wound in the forward direction through the pulley group and reversing wheel group on the joint assembly and then fixed to the first arm. The third motor drives the third spool to rotate so as to drive the fourth and fifth flexible cables to achieve a closed-loop transmission of winding and unwinding.

[0011] The active power flexible cable drive unit includes a sixth flexible cable, a fourth spool, and a fourth motor. One end of the sixth flexible cable is fixed to the fourth spool, and the other end of the sixth flexible cable is fixed to the lower bracket of the connecting bracket after passing through the third steering pulley. The fourth spool has a double-tube structure, and two corresponding sixth flexible cables are arranged side by side. Two sets of third steering pulleys are arranged.

[0012] The horizontal turning motion platform includes a platform body that engages with the arc-shaped track from the outside. The upper surface of the platform body is provided with fixing bolts that cooperate with and connect to the first arm. The platform body has a horizontally placed U-shaped structure, including a first plate, a second plate, and a side connecting plate connecting the two. The first plate and the second plate are located on the upper and lower sides of the arc-shaped track, respectively. The side connecting plate is attached to the outer surface of the arc-shaped track. A first roller is provided on the inner plate of the first plate, and a second roller and a third roller are symmetrically arranged on both sides of the first roller. The axis of the first roller is perpendicular to the first plate, and the axes of the second and third rollers are parallel to the first plate. A fourth roller is provided on the inner plate of the second plate, which matches the axis of the first roller. Specifically, the first roller forms a rolling engagement with the two side walls of the upper track groove of the arc-shaped track, the second and third rollers form a rolling engagement with the bottom of the upper track groove of the arc-shaped track, and the fourth roller forms a rolling engagement with the two side walls of the lower track groove of the arc-shaped track.

[0013] The arc track has an H-shaped cross-section and includes an inner arc plate and an outer arc plate arranged in parallel. The inner arc plate and the outer arc plate are connected by a middle arc plate, which divides the arc track into an upper track groove and a lower track groove. The outer side of the outer arc plate is provided with a flexible cable groove along its length.

[0014] The drive shaft of the second spool is vertically connected to the Y-shaped support frame via a bearing, and the central axis of the drive shaft of the second spool passes through the center of the arc track. One end of the second flexible cable is fixed to the second spool, and the other end of the second flexible cable passes through the first steering pulley provided on the first track support and enters the flexible cable groove, and is finally fixed to the first fixing hole on the horizontal cornering motion platform. One end of the third flexible cable is fixed to the second spool, and the other end of the third flexible cable passes through the second steering pulley provided on the second track support and enters the flexible cable groove, and is finally fixed to the second fixing hole on the horizontal cornering motion platform.

[0015] The joint assembly includes a joint shaft, on which a first connecting plate, a second connecting plate, a first pulley, a second pulley, a third pulley, a fourth pulley, a third connecting plate, and a fourth connecting plate are sequentially arranged. The first, second, third, and fourth pulleys are rotatably connected to the joint shaft and are all double-groove pulleys. The first and fourth connecting plates are symmetrically arranged, with one end fixedly connected to the joint shaft and the other end fixedly connected to the first arm body. The second and third connecting plates are also symmetrically arranged, with one end rotatably connected to the joint shaft and the other ends connected together by a connecting block. The second arm body is fixed to the connecting block, and a fifth connecting plate is provided below the second and third connecting plates to connect them.

[0016] The first arm body is generally square. Symmetrical right-angled connecting seats are provided at the ends of the first arm body near the joint assembly. Bolt holes are provided on the connecting seats, which are engaged with fixing bolts on the horizontal rotation platform. A connecting ear plate is provided at the end of the first arm body away from the joint assembly. This connecting ear plate is connected to the drive shaft of the second spool via bearings. A vertical plate extends above the end of the first arm body near the joint assembly. The vertical plate has a first flexible cable hole, a second flexible cable hole, a third flexible cable hole, and a fourth flexible cable hole in sequence. A guide wheel shaft is also provided between the vertical plate and the joint assembly. The axis of the guide wheel shaft is parallel to the axis of the joint assembly. A first guide wheel, a second guide wheel, a third guide wheel, and a fourth guide wheel are coaxially mounted on the guide wheel shaft. The first, second, third, and fourth guide wheels are all fixed to the guide wheel shaft via bearings. Both ends of the guide wheel shaft are fixed to the first connecting plate and the fourth connecting plate.

[0017] The reversing wheel assembly on the joint assembly includes a first reversing wheel and a second reversing wheel arranged side by side on the connecting block, and a third reversing wheel and a fourth reversing wheel arranged side by side on the fifth connecting plate. The first arm body is provided with a fifth reversing wheel and a sixth reversing wheel on the upper and lower end faces near the joint assembly, respectively. A flexible cable fixing member is also provided on the side of the fifth reversing wheel, and the position of the flexible cable fixing member corresponds to the fourth flexible cable hole.

[0018] The first arm has a spool groove for accommodating the third spool. The first arm has a guide tube inside, with the inlet of the guide tube located at the outlet end of the fourth flexible rope on the third spool and the outlet of the guide tube located at the end of the first arm near the joint assembly and corresponding to the first pulley. The upper surface of the first arm also has a guide groove, with one end of the guide groove corresponding to the outlet end of the fifth flexible rope on the third spool and the other end of the guide groove corresponding to the first flexible rope hole.

[0019] One end of the fourth flexible rope is fixed to the third spool, and the other end of the fourth flexible rope passes through the conductor tube and then sequentially winds around the first groove of the first pulley, the first reversing wheel, the first groove of the second pulley, the sixth reversing wheel, the first groove of the third pulley, the second reversing wheel, and the first groove of the fourth pulley before being connected and fixed to the flexible rope fixing hole on the first arm.

[0020] One end of the fifth flexible cable is fixed to the third spool, and the other end of the fifth flexible cable enters the first flexible cable hole, the first guide wheel, the second wheel groove of the first pulley, the third reversing wheel, the second wheel groove of the second pulley, the second guide wheel, the second flexible cable hole, the fifth reversing wheel, the third flexible cable hole, the third guide wheel, the second wheel groove of the third pulley, the fourth reversing wheel, the second wheel groove of the fourth pulley, the fourth guide wheel, and the fourth flexible cable hole, and is then connected and fixed to the flexible cable fixing member.

[0021] The aforementioned end concrete nozzle mechanism includes a nozzle body with an internal cavity structure, a cover at the upper end of the nozzle body, an extrusion head at the lower end of the nozzle body, a stirrer inside the nozzle body, and a shaft at the upper end of the stirrer passing through the cover and connected to a drive motor via a coupling. The nozzle body has a feeding port communicating with the interior of the nozzle body. Concrete entering the interior of the nozzle body through the feeding port is stirred by the stirrer and conveyed to the extrusion head for extrusion for building printing.

[0022] The connecting bracket includes an annular upper bracket and a circular plate-shaped lower bracket. The upper and lower brackets are arranged parallel to each other in the vertical direction and are connected as one unit by a column. The nozzle body of the end concrete spraying head mechanism passes through the lower bracket and is fixedly connected to the lower bracket.

[0023] As can be seen from the above technical solution, the present invention makes full use of the advantages of the flexible cable parallel mechanism, such as large working space and light and simple mechanism, making it suitable for printing work in various occasions and spaces. It also greatly solves the shortcomings of traditional large building 3D printers, such as complex, bulky and difficult to disassemble and transport, and provides the possibility for printing work in more places in the future. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the tension cable-driven gimbal mechanism of the present invention. Figure 1 ;

[0026] Figure 3 This is a schematic diagram of the tension cable-driven gimbal mechanism of the present invention. Figure 2 ;

[0027] Figure 4 This is a schematic diagram of the structure of the active power flexible cable drive unit of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the end concrete nozzle mechanism of the present invention;

[0029] Figure 6 This is a schematic diagram of the connecting bracket of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the horizontal angle flexible cable drive unit of the present invention;

[0031] Figure 8 This is a top view of the horizontal angle flexible cable drive unit of the present invention;

[0032] Figure 9 yes Figure 8 AA section view;

[0033] Figure 10 This is a schematic diagram of the structure of the horizontal rotation motion platform of the present invention. Figure 1 ;

[0034] Figure 11 This is a schematic diagram of the structure of the horizontal rotation motion platform of the present invention. Figure 2 ;

[0035] Figure 12 This is a schematic diagram of the structure of the first arm of the present invention. Figure 1 ;

[0036] Figure 13 This is a schematic diagram of the structure of the first arm of the present invention. Figure 2 ;

[0037] Figure 14 This is a schematic diagram of the structure of the first arm of the present invention. Figure 3 ;

[0038] Figure 15 This is a schematic diagram of the joint assembly of the present invention. Figure 1 ;

[0039] Figure 16 This is a schematic diagram of the joint assembly of the present invention. Figure 2 ;

[0040] Figure 17 This is a schematic diagram of the joint assembly of the present invention. Figure 3 ;

[0041] Figure 18 This is a schematic diagram of the first arm body and joint assembly of the present invention. Figure 1 ;

[0042] Figure 19 This is a schematic diagram of the first arm body and joint assembly of the present invention. Figure 2 ;

[0043] Figure 20 This is a simplified schematic diagram of the winding of the fourth flexible rope of the present invention;

[0044] Figure 21 This is a simplified schematic diagram of the winding of the fifth flexible rope of the present invention.

[0045] The labels in the above figures are as follows: 1. End concrete nozzle mechanism; 11. Nozzle body; 12. Cover; 13. Extrusion head; 14. Mixer; 15. Drive motor; 16. Feed port; 2. Connecting bracket; 21. Upper frame; 22. Lower bracket; 23. Column; 3. Tension cable drive gimbal mechanism; 31. Arc track; 311. Inner arc plate; 312. Outer arc plate; 313. Middle arc plate; 314. Cable groove; 32. Y-shaped support frame; 33. First track support seat; 331. First steering pulley; 34. Second track support seat; 341. Second steering pulley; 341. Horizontal cornering motion platform. 35. Fixing bolt 351, First plate 352, Second plate 353, Side connecting plate 354, First fixing hole 3541, Second fixing hole 3542, First roller 355, Second roller 356, Third roller 357, Fourth roller 358, First arm body 36, Wire channel 360, Connecting seat 361, Bolt hole 3611, Flexible cable fixing hole 362, Connecting ear plate 363, Vertical plate 364, First flexible cable hole 3641, Second flexible cable hole 3642, Third flexible cable hole 3643, Fourth flexible cable hole 3644, Fifth reversing wheel 365 The following components are included: sixth reversing wheel 366, flexible cable fixing component 367, drum groove 368, wire conduit 369, second arm body 37, tensioning wheel 371, guide wheel shaft 38, first guide wheel 381, second guide wheel 382, ​​third guide wheel 383, fourth guide wheel 384, main power flexible cable drive unit 4, sixth flexible cable 41, fourth winding drum 42, fourth motor 43, third steering pulley 44, joint assembly 5, joint shaft 51, first connecting plate 52, second connecting plate 53, connecting block 531, first reversing wheel 5311, second reversing wheel 5312. Fifth connecting plate 532, third reversing wheel 5321, fourth reversing wheel 5322, first pulley 54, second pulley 55, third pulley 56, fourth pulley 57, third connecting plate 58, fourth connecting plate 59, pitch angle flexible cable drive unit 6, fourth flexible cable 61, fifth flexible cable 62, third winding drum 63, third motor 64, horizontal turning angle flexible cable drive unit 7, second flexible cable 71, third flexible cable 72, second winding drum 73, second motor 74, tension force flexible cable drive unit 8, first flexible cable 81, first winding drum 82, first motor 83. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings:

[0047] like Figure 1The illustrated cable-driven architectural 3D printer, suitable for operation in various spaces, includes an end-cap concrete nozzle mechanism 1 and a connecting bracket 2 for fixing the end-cap concrete nozzle mechanism 1. Above the end-cap concrete nozzle mechanism 1 is a tension cable-driven gimbal mechanism 3 fixed to a wall. The tension cable-driven gimbal mechanism 3 is connected to the connecting bracket 2 via a first flexible cable 81. Below the end-cap concrete nozzle mechanism 1 is a main power cable-driven unit 4 fixed to the ground. The main power cable-driven unit 4 is connected to the connecting bracket 2 via a sixth flexible cable 41. Preferably, in this embodiment, three sets of tension cable-driven gimbal mechanisms 3 and three sets of main power cable-driven units 4 are provided, and the three sets of tension cable-driven gimbal mechanisms 3 and the three sets of main power cable-driven units 4 are respectively located on corresponding vertical lines. The tension cable-driven gimbal mechanism 3 should be fixed at a high position; the fixing surface can be a vertical wall, a ceiling, or a column, etc.

[0048] Furthermore, such as Figure 5 As shown, the end concrete nozzle mechanism 1 includes a nozzle body 11 with an internal cavity structure. The upper end of the nozzle body 11 is provided with a cover 12, and the lower end of the nozzle body 11 is provided with an extrusion head 13. The nozzle body 11 is provided with a mixer 14. The shaft at the upper end of the mixer 14 passes through the cover 12 and is connected to the drive motor 15 through a coupling. The nozzle body 11 is provided with a feeding port 16 that communicates with the interior of the nozzle body 11. The concrete entering the interior of the nozzle body 11 through the feeding port 16 is mixed by the mixer 14 and conveyed to the extrusion head 13 for extrusion for building printing.

[0049] Furthermore, such as Figure 6 As shown, the connecting bracket 2 includes an annular upper bracket 21 and a circular plate-shaped lower bracket 22. The upper bracket 21 and the lower bracket 22 are arranged parallel to each other in the vertical direction and are connected as one unit by a column 23. The nozzle body 11 of the end concrete spraying head mechanism 1 passes through the lower bracket 22 and is fixedly connected to the lower bracket 22. In this embodiment, the first flexible cable 81 is connected to the upper bracket 21, and the sixth flexible cable 41 is connected to the lower bracket 22.

[0050] Furthermore, such as Figure 4As shown, the active power flexible cable drive unit 4 includes a sixth flexible cable 41, a fourth spool 42, and a fourth motor 43. One end of the sixth flexible cable 41 is fixed to the fourth spool 42, and the other end of the sixth flexible cable 41 is fixed to the lower bracket 22 of the connecting bracket 2 after passing through the third guide pulley 44. Preferably, in this embodiment, the fourth spool 42 is a double-cylinder structure, with two corresponding sixth flexible cables 41 arranged side by side, and two sets of corresponding third guide pulleys 44. During operation, the fourth motor 43 drives the fourth spool 42 to rotate, and the rotation of the fourth spool 42 controls the simultaneous winding and unwinding of the two parallel sixth flexible cables 41, thereby pulling the end concrete nozzle mechanism 1 connected to the end of the sixth flexible cable 41 to move and complete the printing work.

[0051] Furthermore, such as Figure 2 , Figure 3 As shown, the tension cable-driven gimbal mechanism 3 includes a first arm 36 and a second arm 37 rotatably connected by a joint assembly 5. The first arm 36 is the input end of the joint assembly 5, and the second arm 37 is the output end of the joint assembly 5. Specifically, the first arm 36 is a fixed arm, and the end of the first arm 36 closest to the joint assembly 5 is fixed to the upper surface of the horizontal rotation platform 35. The second arm 37 is a cantilevered rotating arm, and a tension wheel 371 is provided at the cantilever end of the second arm 37.

[0052] Furthermore, such as Figure 7 , Figure 8 , Figure 9 As shown, the tension cable driven gimbal mechanism 3 includes an arc-shaped track 31. The inner arc surface of the arc-shaped track 31 is fixed to the wall by a Y-shaped support frame 32. The two ends of the arc-shaped track 31 are fixed to the wall by a first track support seat 33 and a second track support seat 34, respectively. The arc-shaped track 31 and the Y-shaped support frame 32 form the main support body of the entire tension cable driven gimbal mechanism 3. A horizontal cornering motion platform 35 is provided on the arc-shaped track 31 to form a rolling engagement with the arc-shaped track 31.

[0053] Specifically, the arc track 31 has an H-shaped cross-section, including an inner arc plate 311 and an outer arc plate 312 arranged in parallel. The inner arc plate 311 and the outer arc plate 312 are connected by an intermediate arc plate 313. The intermediate arc plate 313 divides the arc track 31 into an upper track groove and a lower track groove. The outer side of the outer arc plate 312 is provided with a flexible cable groove 314 along its length.

[0054] Specifically, such as Figure 10 , Figure 11As shown, the horizontal turning motion platform 35 includes a platform body that is inserted into the arc-shaped track 31 from the outside. The upper surface of the platform body is provided with fixing bolts 351 that cooperate with and connect to the first arm 36. The platform body has a horizontally placed U-shaped structure, including a first plate 352, a second plate 353, and a side connecting plate 354 connecting the two. The first plate 352 and the second plate 353 are located on the upper and lower sides of the arc-shaped track 31, respectively. The side connecting plate 354 is attached to the outer surface of the arc-shaped track 31. A first roller 355 is provided on the inner plate surface of the first plate 352. The first roller 355 has two... The second roller 356 and the third roller 357 are symmetrically arranged. The axis of the first roller 355 is perpendicular to the first plate 352, and the axes of the second roller 356 and the third roller 357 are parallel to the first plate 352. The inner plate surface of the second plate 353 is provided with a fourth roller 358 that matches the axis of the first roller 355. The first roller 355 forms a rolling fit with the two side groove walls of the upper track groove of the arc track 31, the second roller 356 and the third roller 357 form a rolling fit with the bottom of the upper track groove of the arc track, and the fourth roller 358 forms a rolling fit with the two side groove walls of the lower track groove of the arc track.

[0055] Furthermore, such as Figure 15 , Figure 16 , Figure 17 As shown, the joint assembly 5 includes a joint shaft 51, on which are sequentially arranged a first connecting plate 52, a second connecting plate 53, a first pulley 54, a second pulley 55, a third pulley 56, a fourth pulley 57, a third connecting plate 58, and a fourth connecting plate 59. The first pulley 54, the second pulley 55, the third pulley 56, and the fourth pulley 57 are rotatably connected to the joint shaft 51 and are all double-groove pulleys. The first connecting plate 52 and the fourth connecting plate 59 are symmetrically arranged, and one end of each of the first connecting plate 52 and the fourth connecting plate 59 is connected to the joint shaft 51. The joint shaft 51 is fixedly connected, and the other ends of the first connecting plate 52 and the fourth connecting plate 59 are both fixedly connected to the first arm body 36. The second connecting plate 53 and the third connecting plate 58 are symmetrically arranged, and one end of the second connecting plate 53 and the third connecting plate 58 is rotatably connected to the joint shaft 51. The other ends of the second connecting plate 53 and the third connecting plate 58 are connected as one unit through the connecting block 531. The second arm body 37 is fixed on the connecting block 531. A fifth connecting plate 532 is also provided at a lower position of the second connecting plate 53 and the third connecting plate 58 to connect the two. The reversing wheel group on the joint assembly 5 includes a first reversing wheel 5311 and a second reversing wheel 5312 arranged side by side on the connecting block 531, and a third reversing wheel 5321 and a fourth reversing wheel 5322 arranged side by side on the fifth connecting plate 532.

[0056] Furthermore, such as Figure 12 , Figure 13 , Figure 14As shown, the first arm body 36 is generally square. The first arm body 36 has right-angled connecting seats 361 symmetrically provided at its end near the joint assembly 5. The connecting seats 361 have bolt holes 3611, which are fixed with fixing bolts 351 on the horizontal rotation platform 35. The first arm body 36 has a connecting ear plate 363 at its end away from the joint assembly 5. The connecting ear plate 363 is connected to the drive shaft of the second spool through a bearing.

[0057] Specifically, the first arm body 36 extends above its end near the joint assembly 5 with a vertical plate 364. The vertical plate 364 is provided with a first flexible cable hole 3641, a second flexible cable hole 3642, a third flexible cable hole 3643 and a fourth flexible cable hole 3644 in sequence. A guide wheel shaft 38 is also provided between the vertical plate 364 and the joint assembly 5. The axis of the guide wheel shaft 38 is parallel to the axis of the joint assembly 5. A first guide wheel 381, a second guide wheel 382, ​​a third guide wheel 383 and a fourth guide wheel 384 are coaxially provided on the guide wheel shaft 38. The first guide wheel 381, the second guide wheel 382, ​​the third guide wheel 383 and the fourth guide wheel 384 are all fixed on the guide wheel shaft 38 by bearings. The two ends of the guide wheel shaft 38 are fixed on the first connecting plate 52 and the fourth connecting plate 59.

[0058] Specifically, the first arm body 36 has a fifth reversing wheel 365 and a sixth reversing wheel 366 respectively on the upper and lower end faces near the joint assembly 5. A flexible cable fixing member 367 is also provided on the side of the fifth reversing wheel 365, and the position of the flexible cable fixing member 367 corresponds to the fourth flexible cable hole 3644.

[0059] Specifically, the first arm body 36 has a drum groove 368 for accommodating the third spool 63. The first arm body 36 has a wire guide tube 369 inside. The inlet of the wire guide tube 369 is located at the outlet end of the fourth flexible rope 61 on the third spool 63. The outlet of the wire guide tube 369 is located at the end of the first arm body 36 near the joint assembly and corresponds to the first pulley 54. The upper end face of the first arm body 36 also has a wire guide groove 360. One end of the wire guide groove 360 ​​corresponds to the outlet end of the fifth flexible rope 62 on the third spool 63, and the other end of the wire guide groove 360 ​​corresponds to the first flexible rope hole 3641.

[0060] Furthermore, the tension cable drive gimbal mechanism 3 also includes a pitch angle cable drive unit 6 for adjusting the rotation angle of the second arm 37, a horizontal rotation cable drive unit 7 for driving the horizontal rotation motion platform 35 to translate along the direction defined by the arc track 31, and a tension cable drive unit 8 for connecting the tension wheel 371 and the connecting bracket 2.

[0061] Specifically, such as Figure 2As shown, the tensioning flexible cable drive unit 8 includes a first flexible cable 81, a first spool 82, and a first motor 83. One end of the first flexible cable 81 is connected to the first spool 82, and the other end of the first flexible cable 81 is connected to the upper frame 21 of the connecting bracket 2 after passing through the tensioning wheel 371. The first motor 83 drives the first spool 82 to rotate, thereby driving the first flexible cable 81 to wind up and down. More specifically, the output end of the first motor 83 is connected to the drive shaft of the first spool through a pair of reduction gears. During operation, the first motor 83 drives the first spool 82 to rotate, thereby pulling the first flexible cable 81 connected to the end concrete spraying head mechanism 1 and providing tension.

[0062] Specifically, such as Figure 7 , Figure 8 , Figure 9As shown, the horizontal angle flexible cable drive unit 7 includes a second flexible cable 71, a third flexible cable 72, a second spool 73, and a second motor 74. The drive shaft of the second spool 73 is vertically connected to the Y-shaped support frame 32 via bearings, and the central axis of the drive shaft of the second spool 73 passes through the center of the arc track 31. The second spool 73 has a double-spool structure. The second flexible cable 71 and the third flexible cable 72 are wound side by side on the second spool 73 in opposite directions. One end of each of the second flexible cable 71 and the third flexible cable 72 is connected to the second spool 73, and the other end of each is connected to the two ends of the horizontal angle motion platform 35. The second motor 74 drives the second spool 73 to rotate, thereby driving the second flexible cable 71 and the third flexible cable 72 to achieve a closed-loop transmission of winding and unwinding. More specifically, one end of the second flexible cable 71 is fixed to the second spool 73, and the other end of the second flexible cable 71 passes through the first steering pulley 331 provided on the first track support 33 and enters the flexible cable groove 314 and is finally fixed to the first fixing hole 3541 on the horizontal cornering motion platform 35. One end of the third flexible cable 72 is fixed to the second spool 73, and the other end of the third flexible cable 72 passes through the second steering pulley 341 provided on the second track support 34 and enters the flexible cable groove 314 and is finally fixed to the second fixing hole 3542 on the horizontal cornering motion platform 35. During operation, the second motor 74 drives the second spool 73 to rotate via a pair of reduction gears. Since the second flexible rope 71 and the third flexible rope 72 are wound in opposite directions on the second spool 73, when the rotation of the second spool 73 causes the second flexible rope 71 to become longer, the third flexible rope 72 becomes shorter, and vice versa. However, the absolute value of the length change of the second flexible rope 71 and the third flexible rope 72 remains consistent to maximize accuracy. The rotation of the second spool 73 synchronously pulls the second flexible cable 71 and the third flexible cable 72. One of the flexible cables 71 and 72 provides tension, while the other provides tautness. The horizontal rotation platform 35 can drive the first arm 36 connected to it to translate along the direction defined by the arc track 31. That is, the first arm 36 rotates horizontally along the drive shaft of the second spool 73. At the same time as the first arm 36 rotates, the second arm 27 rotates synchronously. In this way, the position and direction of the tension wheel 371 can be adjusted in conjunction with the pitch angle flexible cable drive unit 6. After the three sets of tension force flexible cable drive gimbal mechanisms 3 in this embodiment are installed, their projections in the same horizontal plane should form an arbitrary triangular shape. The horizontal rotation angle flexible cable drive unit 7 can make the tension wheel 371 point to the center of the circumcircle of the triangle to ensure the stable operation of the printer during operation.

[0063] Specifically, such as Figure 18 , Figure 19 , Figure 20 , Figure 21As shown, the pitch angle flexible cable drive unit 6 includes a fourth flexible cable 61, a fifth flexible cable 62, a third spool 63, and a third motor 64. The fourth flexible cable 61 and the fifth flexible cable 62 are wound side by side on the third spool 63 in opposite directions. One end of the fourth flexible cable 61 is connected to the third spool 63, and the other end of the fourth flexible cable 61 is wound in the opposite direction through the pulley group and reversing wheel group on the joint assembly 5 and then fixed to the first arm body 36. One end of the fifth flexible cable 62 is connected to the third spool 63, and the other end of the fifth flexible cable 62 is wound in the forward direction through the pulley group and reversing wheel group on the joint assembly 5 and then fixed to the first arm body 36. The third motor 64 drives the third spool 63 to rotate so as to drive the fourth flexible cable 61 and the fifth flexible cable 62 to achieve a closed-loop transmission of winding and unwinding. More specifically, one end of the fourth flexible cable 61 is fixed to the third spool 63, and the other end of the fourth flexible cable 61 passes through the conductor tube 369 and then sequentially winds around the first groove of the first pulley 54, the first reversing wheel 5311, the first groove of the second pulley 55, the sixth reversing wheel 366, the first groove of the third pulley 56, the second reversing wheel 5312, and the first groove of the fourth pulley 57 before being connected and fixed to the flexible cable fixing hole 362 on the first arm body 36. One end of the fifth flexible cable 62 is fixed to the third spool 63, and the other end of the fifth flexible cable 62 enters the first flexible cable hole 3641, the first guide wheel 381, the second wheel groove of the first pulley 54, the third reversing wheel 5321, the second wheel groove of the second pulley 55, the second guide wheel 382, ​​the second flexible cable hole 3642, the fifth reversing wheel 365, the third flexible cable hole 3643, the third guide wheel 383, the second wheel groove of the third pulley 56, the fourth reversing wheel 5322, the second wheel groove of the fourth pulley 57, the fourth guide wheel 384, and the fourth flexible cable hole 3644 along the guide wire groove, and then connects and fixes to the flexible cable fixing member 367. During operation, the third motor 64 drives the third spool 63 to rotate through a pair of reduction gears. At this time, one of the fourth flexible cable 61 and the fifth flexible cable 62 provides tension, and the other provides tautness, so as to complete the rotation of the joint assembly 5, that is, the pitch angle of the second arm 37 can be adjusted and the current position can be maintained.

[0064] The usage process of this invention is as follows:

[0065] Before printing begins, arrange the printer's various mechanisms in their working positions according to the work area. Then, fix the three sets of tension cable-driven pan-tilt mechanisms to the wall or ceiling, and locate the triangle formed by the projection positions of the three on the same horizontal plane and the center of its circumscribed circle. The second motor in the horizontal angle cable drive unit controls the rotation of the second spool, causing the second and third cables to retract and release alternately. At this time, the horizontal angle motion platform, pulled by the second and third cables, drives the second arm to rotate horizontally, pointing the tension wheel towards the center of the circumscribed circle. Further, the third motor in the pitch angle cable drive unit is driven to rotate the third spool. The rotation of the third spool, through the fourth and fifth cables, causes the second arm to change its pitch angle. By adjusting the pitch angle, the tension wheels in the three sets of tension cable-driven pan-tilt mechanisms are kept at the same height.

[0066] Three sets of active power cable drive mechanisms are respectively arranged on the ground along the vertical lines of the three sets of tension cable drive gimbal mechanisms, and all point towards the center of the circumcircle of the triangle formed by their positions. The six flexible cables of the three active power cable drive mechanisms are connected to the lower support of the connecting bracket. The three first flexible cables controlled by the three tension cable drive gimbal mechanisms are connected to the upper support of the connecting bracket. The upper and lower supports are connected by three evenly distributed columns, which fix the end concrete nozzle mechanism. The feed port of the end concrete nozzle mechanism is connected to a concrete transport pipe. A certain length of the transport pipe connected to the feed port must be in a vertical position to minimize the force exerted on the end concrete nozzle mechanism during printing, thus ensuring printing accuracy. Before printing, the six flexible cables and the three first flexible cables must be in a taut state to suspend the end concrete nozzle mechanism in mid-air. The controller transmits instructions to each motor according to the motion trajectory required for printing. The motor drives each winding drum to rotate, thereby realizing the winding and unwinding of the corresponding flexible cables, and thus driving the end concrete nozzle mechanism to move to achieve 3D printing.

[0067] The beneficial effects of this invention are as follows:

[0068] 1) This invention makes full use of the flexible cable drive characteristics, greatly simplifies the structure of large 3D building printers so that they can be assembled and used anytime and anywhere, and realizes the function of 3D building printing under various spatial conditions.

[0069] 2) The gimbal mechanism of the present invention enables it to adapt to the workplace and adjust the attitude of the pitch angle unit in real time during operation, so that the entire mechanism has a larger working space.

[0070] 3) This invention adopts a modular unit structure, which allows for the replacement of parts of different units for different workplaces to meet the required working conditions.

[0071] 4) The end effector of the present invention includes, but is not limited to, a concrete spray nozzle. By changing the end effector under different needs, more different functions can be achieved.

[0072] 5) The present invention has a simple and lightweight structure, and its manufacturing cost is far lower than that of existing rigid structure large building printers.

[0073] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A cable-driven architectural 3D printer suitable for working in a variety of spatial sites, characterized in that: The utility model relates to a concrete spraying mechanism, which comprises a terminal concrete spraying mechanism (1) and a connecting support (2) for fixing the terminal concrete spraying mechanism (1), wherein the connecting support (2) comprises a circular upper frame (21) and a circular plate-shaped lower support (22), the terminal concrete spraying mechanism (1) is provided with a tension cable-driven cloud platform mechanism (3) fixed to a wall above the terminal concrete spraying mechanism (1), the tension cable-driven cloud platform mechanism (3) is connected to the connecting support (2) through a first cable (81), the terminal concrete spraying mechanism (1) is provided with a main power cable-driven unit (4) fixed to the ground below the terminal concrete spraying mechanism (1), the main power cable-driven unit (4) is connected to the connecting support (2) through a sixth cable (41), and the tension cable-driven cloud platform mechanism (3) and the main power cable-driven unit (4) are each provided with at least three groups. The tension cable-driven cloud platform mechanism (3) comprises an arc-shaped track (31), the inner arc surface of the arc-shaped track (31) is fixed to a wall through a Y-shaped support frame (32), the two ends of the arc-shaped track (31) are respectively fixed to the wall through a first track support seat (33) and a second track support seat (34), and the arc-shaped track (31) and the Y-shaped support frame (32) form a support main body of the entire tension cable-driven cloud platform mechanism (3); the arc-shaped track (31) is provided with a horizontal corner movement platform (35) in rolling connection with the arc-shaped track (31). The utility model further comprises a first arm body (36) and a second arm body (37) connected through a joint assembly (5), the first arm body (36) is a fixed arm, the end of the first arm body (36) close to the joint assembly (5) is fixed to the upper surface of the horizontal corner movement platform (35), and the second arm body (37) is a cantilevered rotating arm, and the cantilevered end of the second arm body (37) is provided with a tension wheel (371). The utility model further comprises a pitch cable-driven unit (6) for adjusting the rotation angle of the second arm body (37), a horizontal corner cable-driven unit (7) for driving the horizontal corner movement platform (35) to move along the arc-shaped track (31) in a limited direction, and a tension cable-driven unit (8) connecting the tension wheel (371) and the connecting support (2). The tension cable-driven unit (8) comprises a first cable (81), a first winding drum (82) and a first motor (83), one end of the first cable (81) is connected to the first winding drum (82), the other end of the first cable (81) is connected to the upper frame (21) of the connecting support (2) after winding through the tension wheel (371), and the first motor (83) drives the first winding drum (82) to rotate to drive the first cable (81) to be wound or unwound. The horizontal rotation angle cable drive unit (7) comprises a second cable (71), a third cable (72), a second winding drum (73) and a second motor (74), the second winding drum (73) is a double drum structure, the second cable (71) and the third cable (72) are parallel wound on the second winding drum (73) and the winding directions are opposite, one end of the second cable (71) and the third cable (72) is connected with the second winding drum (73) respectively, the other end of the second cable (71) and the third cable (72) is connected with two end portions of the horizontal rotation angle movement platform (35) respectively, the second motor (74) drives the second winding drum (73) to rotate to drive the second cable (71) and the third cable (72) to realize the closed loop transmission of one winding and one unwinding; The pitch angle cable drive unit (6) comprises a fourth cable (61), a fifth cable (62), a third winding drum (63) and a third motor (64), the fourth cable (61) and the fifth cable (62) are parallel wound on the third winding drum (63) and the winding directions are opposite, one end of the fourth cable (61) is connected with the third winding drum (63), the other end of the fourth cable (61) is fixed with the first arm body (36) after being reversely wound through the pulley set and the reversing wheel set on the joint assembly (5), one end of the fifth cable (62) is connected with the third winding drum (63), the other end of the fifth cable (62) is fixed with the first arm body (36) after being directly wound through the pulley set and the reversing wheel set on the joint assembly (5), the third motor (64) drives the third winding drum (63) to rotate to drive the fourth cable (61) and the fifth cable (62) to realize the closed loop transmission of one winding and one unwinding; The active power cable drive unit (4) comprises a sixth cable (41), a fourth winding drum (42) and a fourth motor (43), one end of the sixth cable (41) is fixed with the fourth winding drum (42), the other end of the sixth cable (41) is fixed with the lower support (22) of the connecting support (2) after being wound through the third turning pulley (44), the fourth winding drum (42) is a double drum structure, the corresponding sixth cable (41) is arranged in parallel in two roots, and the third turning pulley (44) is arranged in two groups.

2. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 1, characterized in that: The horizontal rotation platform (35) comprises a platform body which is clamped into the arc-shaped track from the outside of the arc-shaped track (31), and the upper end surface of the platform body is provided with a fixing bolt (351) which is connected with the first arm body (36) in a matched mode, the platform body as a whole has a U-shaped structure which is horizontally placed, and comprises a first flat plate (352), a second flat plate (353) and a side connecting plate (354) which connects the first flat plate (352) and the second flat plate (353), the first flat plate (352) and the second flat plate (353) are respectively located on the upper side and the lower side of the arc-shaped track (31), the side connecting plate (354) is attached to the outer side surface of the arc-shaped track (31), the inner plate surface of the first flat plate (352) is provided with a first roller (355), the two sides of the first roller (355) are symmetrically provided with a second roller (356) and a third roller (357), the axis of the first roller (355) is perpendicular to the first flat plate (352), the axes of the second roller (356) and the third roller (357) are parallel to the first flat plate (352), the inner plate surface of the second flat plate (353) is provided with a fourth roller (358) which is consistent with the axis of the first roller (355), wherein the first roller (355) forms rolling cooperation with the two side groove walls of the upper track groove of the arc-shaped track (31), the second roller (356) and the third roller (357) form rolling cooperation with the groove bottom of the upper track groove of the arc-shaped track, and the fourth roller (358) forms rolling cooperation with the two side groove walls of the lower track groove of the arc-shaped track.

3. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 1, characterized in that: The cross section of the arc-shaped track (31) has an H-shaped structure, and comprises an inner arc plate (311) and an outer arc plate (312) which are arranged in parallel, the inner arc plate (311) and the outer arc plate (312) are connected through an intermediate arc-shaped plate (313), the intermediate arc-shaped plate (313) divides the arc-shaped track (31) into an upper track groove and a lower track groove, and the outer side surface of the outer arc plate (312) is provided with a flexible cable groove (314) along the length direction of the outer arc plate (312); the transmission shaft of the second winding drum (73) is connected to the Y-shaped support frame (32) through a bearing, and the central axis of the transmission shaft of the second winding drum (73) passes through the center of the arc-shaped track (31), one end of the second flexible cable (71) is fixed to the second winding drum (73), the other end of the second flexible cable (71) passes through a first deflection pulley (331) arranged on the first track support base (33), enters the flexible cable groove (314) and is finally fixed to the first fixed hole (3541) on the horizontal rotation platform (35), and one end of the third flexible cable (72) is fixed to the second winding drum (73), the other end of the third flexible cable (72) passes through a second deflection pulley (341) arranged on the second track support base (34), enters the flexible cable groove (314) and is finally fixed to the second fixed hole (3542) on the horizontal rotation platform (35).

4. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 1, characterized in that: The joint assembly (5) comprises a joint shaft (51), the joint shaft (51) is sequentially provided with a first connecting plate (52), a second connecting plate (53), a first pulley (54), a second pulley (55), a third pulley (56), a fourth pulley (57), a third connecting plate (58) and a fourth connecting plate (59), wherein: the first pulley (54), the second pulley (55), the third pulley (56) and the fourth pulley (57) are rotationally connected on the joint shaft (51) and are double-groove pulleys; the first connecting plate (52) and the fourth connecting plate (59) are symmetrically arranged, one end of the first connecting plate (52) and the fourth connecting plate (59) is fixedly connected with the joint shaft (51), and the other end of the first connecting plate (52) and the fourth connecting plate (59) is fixedly connected with the first arm body (36); the second connecting plate (53) and the third connecting plate (58) are symmetrically arranged, one end of the second connecting plate (53) and the third connecting plate (58) is rotationally connected with the joint shaft (51), and the other end of the second connecting plate (53) and the third connecting plate (58) is connected into one body through a connecting block (531), the second arm body (37) is fixedly connected with the connecting block (531), and the second connecting plate (53) and the third connecting plate (58) are further provided with a fifth connecting plate (532) at lower positions of the second connecting plate (53) and the third connecting plate (58).

5. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 1, characterized in that: The first arm body (36) is in the form of a square as a whole, the first arm body (36) is symmetrically provided with a right-angle-shaped connecting seat (361) at an end close to the joint assembly (5), the connecting seat (361) is provided with a bolt hole (3611) matched with a fixed bolt (351) on the horizontal corner motion platform (35) for fixation, the first arm body (36) is provided with a connecting lug plate (363) at an end away from the joint assembly (5), the connecting lug plate (363) is connected with a transmission shaft of a second winding drum through a bearing; the first arm body (36) is provided with a vertical plate (364) extending above an end close to the joint assembly (5), the vertical plate (364) is sequentially provided with a first flexible cable hole (3641), a second flexible cable hole (3642), a third flexible cable hole (3643) and a fourth flexible cable hole (3644), a guide wheel shaft (38) is further arranged between the vertical plate (364) and the joint assembly (5), an axis of the guide wheel shaft (38) is parallel to an axis of the joint assembly (5), the guide wheel shaft (38) is coaxially provided with a first guide wheel (381), a second guide wheel (382), a third guide wheel (383) and a fourth guide wheel (384), the first guide wheel (381), the second guide wheel (382), the third guide wheel (383) and the fourth guide wheel (384) are respectively fixed on the guide wheel shaft (38) through bearings, and two ends of the guide wheel shaft (38) are fixed on the first connecting plate (52) and the fourth connecting plate (59).

6. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 5, characterized in that: The reversing wheel set on the joint assembly (5) comprises a first reversing wheel (5311) and a second reversing wheel (5312) arranged side by side on a connecting block (531), and a third reversing wheel (5321) and a fourth reversing wheel (5322) arranged side by side on a fifth connecting plate (532), the first arm body (36) is provided with a fifth reversing wheel (365) and a sixth reversing wheel (366) respectively on the upper and lower end faces close to the joint assembly (5), and a flexible cable fixing member (367) is further arranged beside the fifth reversing wheel (365), the position of the flexible cable fixing member (367) corresponds to the fourth flexible cable hole (3644).

7. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 5, characterized in that: The first arm body (36) is provided with a winding drum groove (368) for accommodating the third winding drum (63), the first arm body (36) is internally provided with a wire guide tube (369), the inlet of the wire guide tube (369) is located at the outlet end of the fourth flexible cable (61) on the third winding drum (63), the outlet of the wire guide tube (369) is located at the end of the first arm body (36) close to the joint assembly and corresponds to the first pulley (54), and the upper end face of the first arm body (36) is further provided with a wire guide groove (360), one end of the wire guide groove (360) corresponds to the outlet end of the fifth flexible cable (62) on the third winding drum (63), and the other end of the wire guide groove (360) corresponds to the first flexible cable hole (3641).

8. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 7, characterized in that: One end of the fourth flexible cable (61) is fixed to the third winding drum (63), and the other end of the fourth flexible cable (61) is connected and fixed to the flexible cable fixing hole (362) on the first arm body (36) after passing through the wire guide tube (369) and sequentially winding through the first wheel groove of the first pulley (54), the first reversing wheel (5311), the first wheel groove of the second pulley (55), the sixth reversing wheel (366), the first wheel groove of the third pulley (56), the second reversing wheel (5312), the first wheel groove of the fourth pulley (57); One end of the fifth flexible cable (62) is fixed to the third winding drum (63), and the other end of the fifth flexible cable (62) is connected and fixed to the flexible cable fixing member (367) after entering the first flexible cable hole (3641), the first guide wheel (381), the second wheel groove of the first pulley (54), the third reversing wheel (5321), the second wheel groove of the second pulley (55), the second guide wheel (382), the second flexible cable hole (3642), the fifth reversing wheel (365), the third flexible cable hole (3643), the third guide wheel (383), the second wheel groove of the third pulley (56), the fourth reversing wheel (5322), the second wheel groove of the fourth pulley (57), the fourth guide wheel (384), the fourth flexible cable hole (3644).

9. The cable-driven architectural 3D-printer suitable for working in multiple spatial sites according to claim 1, characterized in that: The terminal concrete nozzle mechanism (1) comprises a nozzle body (11) with a hollow structure, the upper end of the nozzle body (11) is provided with a cover (12), the lower end of the nozzle body (11) is provided with an extrusion head (13), the inside of the nozzle body (11) is provided with a stirrer (14), the shaft body of the upper end of the stirrer (14) penetrates through the cover (12) and is connected with a driving motor (15) through a shaft coupling, the nozzle body (11) is provided with a feeding port (16) which is communicated with the inside of the nozzle body (11), the concrete entering the inside of the nozzle body (11) from the feeding port (16) is stirred by the stirrer (14) and is conveyed to the extrusion head (13) to be extruded for building printing.

10. The cable-driven architectural 3D printer suitable for working in multiple spatial sites according to claim 1, characterized in that: The upper frame (21) and the lower support (22) are arranged in parallel in the up-down direction and are connected into an integrated whole through the stand column (23) between the upper frame (21) and the lower support (22), the nozzle body (11) of the terminal concrete nozzle mechanism (1) penetrates through the lower support (22) and is fixedly connected with the lower support (22).

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