A robotic arm capable of rapid positioning in 3D facade printing

Abstract

This invention relates to a 3D facade printing robotic arm, and more particularly to a 3D facade printing robotic arm capable of rapid positioning, belonging to the field of 3D printing technology. It includes a movable robotic arm slidably mounted on a three-axis gantry, a base assembly, a base, and a discharge head. The base assembly is slidably mounted on the gantry, and the base is located at the bottom of the movable robotic arm, connected to the base assembly. The discharge head is mounted on the end effector of the movable robotic arm. The base assembly consists of a drive base and a positioning base, with the positioning base slidably connected to the drive base. The discharge head is connected to the drive base via a traction wire. By converting vibration into rotational oscillation, the robotic arm base rotates at a single hinge while simultaneously pulling a helical rod within the discharge head. This allows the positioning and drive bases to operate relatively independently, solving the problem of vibration during positioning in existing robotic arms, which affects positioning accuracy and the quality of the printed layer.

Description

Technical Field

[0001] This invention relates to a three-dimensional facade printing robotic arm, and more particularly to a three-dimensional facade printing robotic arm capable of rapid positioning, belonging to the field of 3D printing technology. Background Technology

[0002] A 3D building printing robotic arm is a system that combines large-scale 3D printing technology with robotic automation. It is mainly used for directly printing building components or the entire building structure on site. Its core concept lies in utilizing the flexible movement, precise positioning, and continuous material deposition of a multi-degree-of-freedom robotic arm in the printing of large-size workpieces.

[0003] In architectural printing, robotic arms often need to be repositioned between different printing areas, such as when printing large-area or multi-layered structures. This requires the system to have high-speed and precise positioning capabilities. Existing robotic arm designs mainly include Cartesian coordinate type, SCARA type, articulated type, Delta type, and parallel design, each suitable for different application scenarios. However, under heavy load operations, especially in heavy-load tasks such as architectural printing, the system load is large because architectural printing usually involves a large amount of concrete, mortar, or other building materials. In addition, the robotic arm and moving platform will vibrate during high-speed movement and acceleration / deceleration. This not only affects the positioning accuracy but also the quality of the printed layers, thereby reducing print quality and work efficiency.

[0004] In view of the above, in order to overcome the above technical problems, the present invention designs a three-dimensional facade printing robotic arm that can be quickly positioned, thus solving the above technical problems. Summary of the Invention

[0005] The technical objective of this invention is to achieve the following: by using a separate base design and converting vibration into rotational oscillation, the robotic arm base can rotate with a single hinge while simultaneously pulling out the spiral rod inside the material head; thereby enabling the positioning and driving of the two bases to operate relatively independently, solving the problem that vibration occurs during the positioning process of existing robotic arms, affecting positioning accuracy and the quality of the printed layer.

[0006] To achieve the above-mentioned technical objectives, the present invention provides the following technical solution:

[0007] This invention provides a rapidly positioning 3D facade printing robotic arm, comprising a movable robotic arm slidably mounted on a three-axis gantry, a base assembly, a base, and a discharge head. The base assembly is slidably mounted on the gantry, and the base is located at the bottom of the movable robotic arm, connected to the base assembly. The discharge head is mounted on the end effector of the movable robotic arm. The base assembly is divided into:

[0008] A drive base hinged to the upper part of the base is used to drive the movement of the movable robotic arm.

[0009] A positioning base driven by the gantry guide rail is installed on the gantry guide rail, and the positioning base is slidably connected to the driving base; the driving base is driven independently by a control motor and slides synchronously with the positioning base.

[0010] The base is connected to the positioning base in the middle by an elastic element, and a supporting pressure block is installed at the bottom. A supporting push block is slidably installed on the positioning base. The supporting push block and the supporting pressure block fit together to form a mating plane. The mating plane has multiple inclined surfaces to ensure that the weight of the base acts on the supporting push block. When the supporting push block retracts, the supporting pressure block loses its support, causing the base to rotate.

[0011] The discharge head is connected to the drive base via a traction steel wire. The rotational force of the base at the hinge point is used to pull the discharge screw on the discharge head to slide vertically back and forth.

[0012] The elastic element consists of multiple sets of telescopic rods with tension springs. Its bottom end slides onto the positioning base, and its top end is hinged to the base, allowing the robotic arm base to be in a semi-separated state during movement. The elastic element uses elastic components to buffer and isolate vibrations. Simultaneously, the design of positioning ramps and support planes in the mating plane ensures that the base remains controlled by the support push block under gravity. When the support push block retracts, the base undergoes a slight rotation, thus achieving adjustment. This not only optimizes the structural stability under heavy loads but also improves the overall system's vibration resistance and docking accuracy, ensuring high-quality printing.

[0013] Preferably, the base rotates no more than 10 degrees towards the drive base and rotates to the opposite side, causing the telescopic rod to extend. This ensures that during movement and docking, the base only rotates slightly on one side of the drive base, effectively limiting positional deviations and vibrations caused by excessive rotation. Simultaneously, the rotation in the opposite direction causes the telescopic rod to automatically extend, compensating for and adjusting displacement errors caused by rotation. This ensures both the overall stability and precision of the robotic arm and allows for dynamic adjustment via the telescopic mechanism, enabling the system to maintain good docking accuracy and structural coordination even under heavy loads and high-speed movement.

[0014] Preferably, the mating plane has at least two pairs of mating positioning ramps and two pairs of mating supporting planes, which realizes the uniform distribution of force on the robot arm base when bearing heavy loads; the positioning ramps and supporting planes are alternately arranged and a transition surface is provided between them.

[0015] The positioning ramp ensures that the base can slide accurately to the predetermined position during positioning, while the supporting plane bears the main supporting force. The positioning ramp and the supporting plane are alternately arranged and connected by a transition surface, so that the two can achieve a smooth transition during mutual meshing, reducing the impact and vibration during mechanical meshing, thereby effectively improving the stability and docking accuracy of the overall structure.

[0016] Preferably, the supporting push block is composed of multiple push blocks, wherein: the first-level push block is located at the bottom and the second-level push block is slidably installed inside it, and so on, with at least a third-level push block; and each push block is provided with a supporting surface, and the sliding contact between each push block is provided with a limiting protrusion for limiting the sliding stroke.

[0017] Preferably, the first-stage pusher is driven by a pusher cylinder. After the first-stage pusher slides, it pushes the second-stage pusher through the limiting protrusion on the second-stage pusher, thereby pushing and unfolding each stage pusher step by step.

[0018] Preferably, the supporting push block is provided with a supporting card block having a supporting plane, and the supporting pressure block is provided with a supporting card groove that fits into the supporting card block.

[0019] Preferably, a locking pin is slidably provided on the supporting plane of the supporting block, and a locking hole is provided inside the supporting slot. The locking pin can be inserted into the locking hole to lock the supporting push block and the supporting pressure block.

[0020] When the locking pin is inserted into the locking hole, it can effectively lock the relative movement between the supporting push block and the supporting pressure block, thereby preventing instability caused by vibration or external force during positioning and docking, and ensuring that the overall structure of the robotic arm remains stable and accurate under high load and dynamic operation.

[0021] Preferably, the bottom of the first-stage push block is provided with a front push block, and the bottom of the supporting pressure block is provided with an adjustable-angle mating top block. The angle of the mating top block is adjustable, so that the structure can adapt to different installation requirements or movement trajectories, thereby improving the adaptability and versatility of the system. When the base rotates, the opposing surfaces of the mating top block and the front top block are parallel to each other.

[0022] The parallel relationship between the front push block and the mating top block ensures a stable direction of thrust, avoiding uneven force due to angular deviation, thereby reducing wear and energy loss.

[0023] Regarding the material dispensing system, this invention utilizes the rotational force generated at the hinge of the base to connect the dispensing head to the drive base via a traction steel wire. This pulls the dispensing screw rod installed on the dispensing head to slide vertically back and forth. As a result, after the robotic arm completes its positioning, it can convert the micro-vibrations generated during the movement into auxiliary power that is beneficial to the delivery of printing materials. This improves the fluidity of the material during the printing process, ensures continuous and uniform deposition of the material, and further improves printing efficiency and interlayer bonding quality.

[0024] Preferably, a wire sleeve is installed on the movable robotic arm, and the wire sleeve is fixed at multiple movable joints of the movable robotic arm. A traction wire runs through the inside of the wire sleeve to guide the traction wire to pull the discharge screw.

[0025] The beneficial effects of this invention are as follows:

[0026] 1. This invention achieves rapid positioning and precise repositioning under heavy loads by separating the mobile base from the robotic arm base. The core of this invention lies in the collaborative work of the independently driven positioning base and the follow-up drive base, while using a multi-level support structure and elastic elements to isolate and mitigate vibrations. This effectively solves the problems of vibration interference and decreased positioning accuracy caused by heavy loads, ensuring that the printing robotic arm can always maintain high-precision docking and stable movement in three-dimensional facade printing operations.

[0027] 2. This invention consists of a telescopic rod with multiple sets of tension springs and a multi-stage push block. Its design not only reduces instability caused by vibration during movement, but also achieves a fast and stable tight docking between the robotic arm base and the positioning base after positioning. This further enhances the overall vibration resistance of the system and the stability of printing after repositioning, and optimizes printing accuracy and work continuity.

[0028] 3. This invention utilizes the rotational force generated at the base hinge to drive the spiral rod on the discharge head via a traction steel wire, thereby achieving vertical reciprocating material transport. This converts the vibration generated during the movement into a force that is beneficial to the transport of printing material, which not only improves the fluidity of the printing material and ensures continuous and uniform deposition, but also further improves printing efficiency and printing effect. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] The above and other aspects of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

[0031] Figure 1 This is a schematic diagram of the installation of the robotic arm of the present invention on the gantry guide rail;

[0032] Figure 2 This is a schematic diagram of the base assembly and the discharge head of the mobile robotic arm of the present invention;

[0033] Figure 3 This is the present invention. Figure 2 A side plan view;

[0034] Figure 4 This is a schematic diagram of the hinge rotation angle of the movable robotic arm base of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the pressure block supported on the base of the present invention;

[0036] Figure 6 This is a schematic diagram of the retracted state of the supporting push block of the present invention;

[0037] Figure 7 This is a schematic diagram of the unfolded state of the supporting push block of the present invention;

[0038] Figure 8 This is a schematic diagram of the installation of the locking pin on the supporting push block of the present invention.

[0039] In the diagram: 1. Movable robotic arm; 2. Drive base; 3. Positioning base; 4. Base; 5. Discharge head; 51. Wire sleeve; 52. Discharge screw; 6. Elastic element; 61. Telescopic rod; 7. Supporting block; 71. Supporting slot; 72. Locking hole; 73. Matching top block; 8. Supporting push block; 81. First-stage push block; 811. Pushing cylinder; 812. Front push block; 82. Second-stage push block; 83. Third-stage push block; 84. Limiting protrusion; 86. Supporting block; 87. Locking post; 9. Fitting plane; 91. Positioning inclined plane; 92. Supporting plane; 93. Transition curved surface. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] This embodiment provides a rapidly positioning 3D facade printing robotic arm, including a movable robotic arm 1, which is slidably mounted on a three-axis gantry. It also includes a base assembly, a base 4, and a discharge head 5. The base assembly is slidably mounted on the gantry. The bottom of the movable robotic arm 1 is provided with the base 4, which is connected to the base assembly. The base assembly consists of:

[0043] The drive base 2, which is hinged to the upper part of the base 4, is used to drive the movable robotic arm 1 to move.

[0044] The positioning base 3, driven by the gantry guide rail, is installed on the gantry guide rail and is slidably connected to the drive base 2. The drive base 2 is driven independently by a control motor and slides synchronously with the positioning base 3.

[0045] Specifically, the end effector of the mobile robotic arm 1 is equipped with a discharge head 5; the discharge head 5 is connected to the drive base 2 via a traction steel wire, and the rotational force of the base 4 at the hinge point is used to pull the discharge screw rod 52 on the discharge head 5 to slide vertically back and forth.

[0046] In this embodiment, the discharge head 5 is an existing screw discharge, which is driven by a motor to rotate the screw in the center of the discharge cylinder to achieve discharge. The screw discharge rod of the present invention can slide up and down in the vertical direction. That is, the transmission rod of the screw discharge rod is assembled through a keyway and has a vertical degree of freedom. By sliding in the vertical direction, the screw discharge rod is stirred up and down inside the discharge head 5, avoiding the problems of building materials condensing or obstructed discharge.

[0047] In this embodiment, the elastic element 6 is composed of multiple sets of telescopic rods 61 with tension springs; the middle part of the base 4 is connected to the positioning base 3 through the telescopic rods 61, and a supporting pressure block 7 is installed at the bottom; the bottom end of the telescopic rod 61 is slidably installed on the positioning base 3, and the top end is hinged to the base 4. A supporting push block 8 is slidably installed on the positioning base 3, and the supporting push block 8 and the supporting pressure block 7 fit together to form a mating plane 9. The mating plane 9 has two inclined surfaces and two flat surfaces, thereby ensuring that the weight of the base 4 acts on the supporting push block 8; when the supporting push block 8 retracts, the supporting pressure block 7 loses its support, causing the base 4 to rotate. In this embodiment, the rotation angle of the base 4 toward the driving base 2 is 9 degrees.

[0048] It is worth noting that the bottom of the multiple sets of telescopic rods 61 in this embodiment has an integrated slider. The slider makes the connection between the telescopic rod 61 and the positioning base 3 a relatively sliding connection, thereby ensuring that the positioning base 3 and the drive base 2 are not rigidly connected, but have a relatively sliding contact relationship, thereby reducing the motion load of the positioning base 3 during positioning and movement.

[0049] In this embodiment, the mating plane 9 is provided with two pairs of mating positioning slopes 91 and two pairs of mating supporting planes 92; the positioning slopes 91 and supporting planes 92 are alternately arranged and a transition surface 93 is provided between them.

[0050] In this embodiment, the supporting push block 8 is composed of three levels of push blocks, wherein: the first level push block 81 is located at the bottom and the second level push block 82 is slidably installed inside it, and the third level push block 83 is installed in the same manner; and each level push block is provided with a supporting surface 92, and the locking and sliding part between each level push block is provided with a limiting protrusion 84 for limiting the sliding stroke.

[0051] like Figure 3 and Figure 6 As shown, the first-stage pusher 81 is driven by a pusher cylinder 811. After sliding, the first-stage pusher 81 pushes the second-stage pusher 82 through the limiting protrusion 84 on the second-stage pusher 82, thereby pushing and unfolding the third-stage pusher 83 step by step. Specifically, the middle part of the first-stage pusher 81 is provided with a groove for installing the second-stage pusher 82. The second-stage pusher 82 and the first-stage pusher 81 are engaged by a guide rail groove with a concave-convex fit. The guide rail groove is provided with limiting protrusions 84 and limiting grooves at both ends for limiting, which are mutually adapted to realize the linkage extension and retraction of each stage of the pusher.

[0052] like Figures 5 to 7 As shown, the supporting push block 8 is provided with a supporting card block 86 having a supporting plane 92, and the supporting pressure block 7 is provided with a supporting card groove 71 that fits into the supporting card block 86.

[0053] like Figure 8 As shown, a locking pin 87 is slidably provided on the supporting plane 92 of the supporting block 86, and a locking hole 72 is provided inside the supporting slot 71. The locking pin 87 can be inserted into the locking hole 72 to lock the supporting push block 8 and the supporting pressure block 7.

[0054] like Figure 4 As shown, the bottom of the first-stage push block 81 is provided with a front push block 812, and the bottom of the supporting pressure block 7 is provided with an adjustable angle mating top block 73; when the base 4 rotates, the mating top block 73 and the front top block are parallel to each other.

[0055] like Figure 1 and Figure 2As shown, a wire sleeve 51 is installed on the movable robotic arm 1. The wire sleeve 51 is fixed at multiple movable joints of the movable robotic arm 1. In order to ensure that the traction wire correctly transmits the traction force, the wire sleeve should be reasonably arranged according to the movable joints of the movable robotic arm 1. Specifically, universal hinged fixing rings can be set at the joints. Through the redundant design, the wire sleeve 51 is segmented and hinged to be limited on the movable robotic arm 1, so that it can both follow the movement of the robotic arm and accurately transmit the traction force of the hinged rotation of the base 4.

[0056] In this embodiment, a traction wire runs through the inside of the wire sleeve 51 to guide the traction wire to pull the discharge screw rod 52. In this embodiment, the traction wire is made of stainless steel wire rope, which is made of 316 steel wire. One end of the traction wire is connected to the hinge shaft on the upper part of the base 4, and the other end is connected to the screw discharge rod on the discharge head 5 (not shown in the figure, located at the top center of the discharge head 5). In order to make the traction wire pull the screw discharge rod up and down, those skilled in the art can install corresponding guiding devices, such as pulleys and guide brackets, on the discharge head 5 so that the traction wire can correctly pull the screw discharge rod.

[0057] In this embodiment, when the mobile robotic arm 1 is working normally and discharging material, the positioning base 3 and the drive base 2 are interlocked and locked together as one unit. At this time, the movement of the mobile robotic arm 1 on the gantry guide rail is driven by the drive base 2. At this time, the movement of the mobile robotic arm 1 is in a low-speed discharging movement state. After the positioning base 3 is positioned in advance and the positioning sensor of the mobile robotic arm 1 is positioned, the accuracy of the discharging position of the discharging head 5 is guaranteed, and the low-speed movement of the drive base 2 will not cause significant positioning interference.

[0058] Based on the above, the cylinder 811 is pushed forward, causing the front plane of the front push block 812 to slide forward. The front push block 812 then pushes the mating top block 73, thereby driving the supporting pressure block 7 to move. This further causes the base 4 to rotate upward along the hinge axis for vertical reset. At the same time, the positioning slope 91 on each stage of the push block (first stage push block 81, second stage push block 82 and third stage push block 83) contacts the positioning slope 91 on the supporting pressure block 7 in sequence, thereby forming the fitting plane 9. During this process, the transition surface 93 at the front end of the positioning slope 91 will first contact the corresponding transition fillet or positioning slope 91 or supporting plane 92 on the supporting pressure block 7, thereby flexibly and with low friction pushing the supporting pressure block 7 to a suitable posture, thereby ensuring that the positioning slope 91 on the supporting push block 8 can smoothly engage with the positioning slope 91 on the supporting pressure block 7.

[0059] In addition, the supporting block 86 with a supporting plane 92 in the middle part of the supporting push block 8 is a component used to provide the main vertical supporting force. Specifically, as the supporting push block 8 moves forward and engages with the supporting pressure block 7, the supporting block 86 will also be inserted into the supporting slot 71, and then the supporting planes 92 of the two will engage with each other to form an engaging surface.

[0060] In this embodiment, when the robotic arm 1 completes part of the work and needs to be repositioned or return to the initial positioning point, the drive base 2 needs to be quickly moved and reset. The control system sends a command to control the retraction of the push cylinder 811, which in turn drives the push blocks (first-stage push block 81, second-stage push block 82, and third-stage push block 83) to retract sequentially. The base 4 of the robotic arm 1 releases its bottom support and lock, and the base 4 rotates downward along the hinge axis. Under the elastic support of the multiple sets of telescopic rods 61 in the middle of the base 4, the base 4 tilts as a whole. In this state, with a rotation angle of 9 degrees inward, the motor on the drive base 2 drives the drive base 2 to move independently, while the positioning base 3 is driven independently by the drive component on the gantry guide rail. Since the upper part of the drive base 2 is in sliding contact with the positioning base 3, the middle part is slidably connected to the positioning base 3 through the bottom of the telescopic rod 61, and the lower part is engaged with the support push block 8 and the support pressure block 7, once the lower engagement is released, the drive base 2 and the positioning base 3 separate from each other, thereby improving the movement accuracy of the positioning base 3 and reducing the load on the positioning base 3.

[0061] It is worth noting that when it is necessary to unlock, the control system sends a command to first control the locking pin 87 to reset and retract before proceeding with subsequent actions.

[0062] In this embodiment, based on the above, after the supporting block 86 and the supporting slot 71 are engaged, in order to ensure horizontal stability, a locking pin 87 that can be automatically controlled to extend and retract is installed on the top of the supporting block 86. The specific control scheme will not be described in detail in this invention. Those skilled in the art can use a signal generator such as a pressure sensor or photoelectric sensor installed on the supporting plane 92 to sense the locking state. As for the driving component, a micro cylinder can be set inside the supporting push block 8 to uniformly push out and retract. Furthermore, once the supporting block 86 is inserted into the supporting slot 71, the positioning base 3 and the driving base 2 are mutually engaged and locked, and the micro cylinder drives the locking pin 87 to insert upward into the locking hole 72, thereby realizing the locking of the horizontal degree of freedom of the supporting push block 8 and the supporting pressure block 7.

[0063] The description herein is provided to enable those skilled in the art to implement or use the present disclosure. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other variations without departing from the scope of the disclosure. Therefore, this disclosure is not limited to the examples and designs described herein, but should be given the broadest scope consistent with the principles and novel features disclosed herein.

[0064] Although one or more exemplary embodiments of this disclosure have been described with reference to the accompanying drawings, those skilled in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of this disclosure as defined by the appended claims.

[0065] Although the present disclosure has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to the embodiments of the present disclosure, which will be obvious to those skilled in the art. Therefore, such modifications or improvements made without departing from the spirit of the present disclosure are all within the scope of protection claimed by the present disclosure.

[0066] The foregoing description is merely illustrative of this disclosure, and modifications may be made to the invention in light of the above detailed description. The terminology used in the appended claims should not be construed as limiting the invention to the specific embodiments disclosed in the specification. Rather, the scope of the invention will be fully defined by the appended claims, which will be interpreted according to established principles of claim interpretation.

Claims

1. A three-dimensional facade printing robotic arm capable of rapid positioning, comprising a movable robotic arm (1), said movable robotic arm (1) being slidably mounted on a three-axis gantry, characterized in that: It also includes a base assembly, a base (4), and a discharge head (5). The base assembly is slidably mounted on the gantry frame. The bottom of the movable robotic arm (1) is provided with a base (4), which is connected to the base assembly. The discharge head (5) is installed on the end effector of the movable robotic arm (1). The base assembly is divided into: A drive base (2) hinged to the upper part of the base (4) is used to drive the movable robotic arm (1) to move; The positioning base (3), driven by the gantry guide rail, is installed on the gantry guide rail. The positioning base (3) is slidably connected to the driving base (2). The driving base (2) is driven independently by a control motor and slides synchronously with the positioning base (3). The middle part of the base (4) is connected to the positioning base (3) by an elastic element (6), and a supporting pressure block (7) is installed at the bottom. A supporting push block (8) is slidably installed on the positioning base (3). The supporting push block (8) and the supporting pressure block (7) fit together to form a mating plane (9). The mating plane (9) has multiple inclined surfaces to ensure that the weight of the base (4) acts on the supporting push block (8). When the supporting push block (8) retracts, the supporting pressure block (7) loses its support, causing the base (4) to rotate. The discharge head (5) is connected to the drive base (2) by a traction steel wire. The rotational force of the base (4) at the hinge point is used to pull the discharge screw (52) on the discharge head (5) to slide vertically back and forth. The elastic element (6) is composed of multiple sets of telescopic rods (61) with tension springs. The bottom end of the elastic element (6) is slidably mounted on the positioning base (3) and the top end is hinged to the base (4).

2. The three-dimensional vertical printing robotic arm capable of rapid positioning according to claim 1, characterized in that: The base (4) rotates at an angle not exceeding 10 degrees toward the drive base (2) and rotates toward the opposite side, causing the telescopic rod (61) to extend.

3. The three-dimensional vertical printing robotic arm capable of rapid positioning according to claim 1, characterized in that: The mating plane (9) has at least two pairs of mating positioning slopes (91) and two pairs of mating supporting planes (92); the positioning slopes (91) and supporting planes (92) are alternately arranged and a transition surface (93) is provided between them.

4. A rapidly positioning three-dimensional facade printing robotic arm according to any one of claims 1-3, characterized in that: The supporting push block (8) is composed of multiple push blocks, wherein: The first-stage push block (81) is located at the bottom and the second-stage push block (82) is slidably installed inside it, and so on, with at least a third-stage push block (83); and each push block is provided with a supporting surface (92), and the sliding contact between each push block is provided with a limiting protrusion (84) for limiting the sliding stroke.

5. A three-dimensional vertical printing robotic arm capable of rapid positioning according to claim 4, characterized in that: The first-stage push block (81) is driven by the push cylinder (811). After the first-stage push block (81) slides, it pushes the second-stage push block (82) through the limiting protrusion (84) on the second-stage push block (82), thereby pushing and unfolding each stage of the push block step by step.

6. The three-dimensional vertical printing robotic arm capable of rapid positioning according to claim 5, characterized in that: The supporting push block (8) is provided with a supporting card block (86) having a supporting plane (92), and the supporting pressure block (7) is provided with a supporting card groove (71) that fits into the supporting card block (86).

7. A rapidly positioning three-dimensional facade printing robotic arm according to claim 6, characterized in that: A locking pin (87) is slidably provided on the supporting plane (92) of the supporting block (86). A locking hole (72) is provided inside the supporting slot (71). The locking pin (87) can be inserted into the locking hole (72) to lock the supporting push block (8) and the supporting pressure block (7).

8. A three-dimensional vertical printing robotic arm capable of rapid positioning according to claim 4, characterized in that: The first-stage push block (81) has a front push block (812) at its bottom, and the supporting pressure block (7) has an adjustable angle mating top block (73) at its bottom; when the base (4) rotates, the mating top block (73) and the front top block are parallel to each other.

9. A three-dimensional vertical printing robotic arm capable of rapid positioning according to claim 1, characterized in that: The movable robotic arm (1) is equipped with a wire sleeve (51), which is fixed at multiple movable joints of the movable robotic arm (1). Traction wires pass through the inside of the wire sleeve (51) to guide the traction wires to pull the discharge screw rod (52).

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