An electro-hydraulic hybrid robotic arm with wire-driven flexible hose for architectural 3D printing

Abstract

This invention relates to an electro-hydraulic hybrid robotic arm for architectural 3D printing with a wire-driven flexible hose, comprising a base, a four-degree-of-freedom (DOF) arm, a printing material delivery pipe, an attitude adjustment component, a printing material delivery bend, a delivery hose, and a wire-driven hose mechanism. One end of the four-DOF arm is mounted on the base and is hydraulically driven. The printing material delivery pipe is arranged along the four-DOF arm, and the printing material delivery bend is installed at the end of the four-DOF arm away from the base. The printing material delivery pipe is connected to the delivery hose through the printing material delivery bend. The attitude adjustment component is used to detect and adjust the attitude of the printing material delivery pipe. The wire-driven hose mechanism is used to adjust the position of the outlet of the delivery hose and is electrically driven. Compared with the prior art, this invention has the advantages of high adjustment accuracy and fast response speed.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to an electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for 3D printing of construction equipment. Background Technology

[0002] With the continuous development of modern construction technology, 3D printing technology, as an innovative construction method, is gradually gaining attention and being promoted in the construction field due to its advantages such as high efficiency, flexibility, and high material utilization. Especially in the construction of large and complex structures, 3D printing technology has demonstrated significant potential, not only reducing material waste but also enabling complex designs that are difficult to achieve using traditional processes. However, current 3D building printing technology still faces many challenges in practical applications, and existing technical solutions have certain limitations.

[0003] For example, utility model publication CN217106187U discloses a 3D printing mechanism and a 3D printing device. The 3D printing mechanism includes a robotic arm and a material delivery hose. The robotic arm includes multiple arm sections connected in sequence. The material delivery hose extends along the robotic arm and is movably configured relative to each arm section. The arm sections are equipped with material delivery hose guiding devices for guiding and limiting the material delivery hose.

[0004] First, while electric single-arm 3D printers are characterized by their simple structure, flexible deployment, and high precision, their limited arm reach makes it difficult to cover large printing areas. Therefore, this technology cannot meet the needs of printing large building structures. Second, gantry-type 3D printing systems have attracted attention due to their stability and printing accuracy, but the gantry needs to be built larger than the target building, resulting in complex equipment, long setup times, and an inability to flexibly adapt to building printing tasks of varying sizes.

[0005] In addition, although hydraulic tower crane 3D building printers achieve a large boom span and load capacity through hydraulic drive, their overall structure is bulky, with high inertia and poor operating precision, especially when printing details and planning complex paths, making it difficult to achieve the ideal precision requirements; at the same time, their moving speed is slow, which reduces printing efficiency.

[0006] In summary, existing traditional printing equipment suffers from problems such as insufficient printing range, complex installation, poor accuracy, and low efficiency. In particular, it is difficult to meet the high-efficiency printing requirements for large building structures. Therefore, there is an urgent need to propose a high-precision and fast-response electro-hydraulic hybrid robotic arm with wire-driven hose for building 3D printing. Summary of the Invention

[0007] The purpose of this invention is to overcome the problems of insufficient printing range, complex installation, poor accuracy, and low efficiency in the existing technology, especially the difficulty in meeting the high-efficiency printing requirements of large building structures, and to provide a high-precision and fast-response electro-hydraulic hybrid robotic arm with wire-driven hose for building 3D printing.

[0008] The objective of this invention can be achieved through the following technical solutions:

[0009] This solution provides an electro-hydraulic hybrid robotic arm for building 3D printing with a wire-driven hose, including a base, a four-degree-of-freedom arm, a printing material delivery pipe, an attitude adjustment component, a printing material delivery bend, a delivery hose, and a wire-driven hose mechanism.

[0010] One end of the four-degree-of-freedom boom is mounted on the base and is hydraulically driven. The printing material delivery pipe is arranged along the four-degree-of-freedom boom. The printing material delivery bend is installed at the end of the four-degree-of-freedom boom away from the base. The printing material delivery pipe is connected to the delivery hose through the printing material delivery bend. The attitude adjustment component is used to detect and adjust the attitude of the printing material delivery pipe. The wire-driven hose mechanism is used to adjust the position of the outlet of the delivery hose and is electrically driven.

[0011] Preferably, the wire-driven hose mechanism includes a wire-driven take-up and take-up assembly and a wire winding assembly, and the delivery hose includes a first hose and a second hose;

[0012] One end of the first flexible tube is connected to the printing material delivery bend, and the other end is connected to the second flexible tube; the wire drive take-up and release assembly is installed on the printing material delivery bend; multiple drive lines are coaxially distributed on the outer side of the delivery flexible tube; one end of the drive rope is connected to the wire drive take-up and release assembly, and the other end is fixed to the end of the second flexible tube away from the first flexible tube; the wire winding assembly is installed at the connection between the first flexible tube and the second flexible tube, and is used to wind each drive line on the outer side of the first flexible tube to the other side of the second flexible tube; the wire drive take-up and release assembly is used to control the take-up and release of the drive rope.

[0013] Preferably, the cable drive take-up and unwind assembly includes a first take-up and unwind assembly, a second take-up and unwind assembly, a third take-up and unwind assembly, and a take-up and unwind mounting plate;

[0014] The take-up and release mounting plate is fixedly mounted on one end of the printing material delivery bend near the first flexible tube. The first take-up and release assembly, the second take-up and release assembly, and the third take-up and release assembly are evenly distributed and fixed on the take-up and release mounting plate. The take-up and release mounting plate is provided with multiple wire holes, and each drive wire passes through the wire holes and is connected to the first take-up and release assembly, the second take-up and release assembly, and the third take-up and release assembly respectively.

[0015] Preferably, the wire drive take-up and take-up assembly further includes a wear-resistant ring, which is installed in the wire hole, and the drive wire passes through the wear-resistant ring.

[0016] Preferably, the first take-up and untake-up assembly, the second take-up and untake-up assembly, and the third take-up and untake-up assembly have the same structure;

[0017] The third take-up and unwind assembly includes an angle sensor, a speed reducer, a torque sensor, and a winding reel. The third take-up and unwind assembly is connected to a third drive line.

[0018] The speed reducer is fixed on the take-up and undo mounting plate, the angle sensor is fixed at one end of the output shaft of the speed reducer, the torque sensor and the winding wheel are installed at the other end of the output shaft of the speed reducer, and one end of the third drive line is fixed to the winding wheel.

[0019] Preferably, the number of the winding assembly corresponds to the drive rope, and each set of winding assemblies is used for winding and changing the direction of a drive rope. The winding assembly includes a first line guide, a first pulley, a guide wheel group, a winding support tube, a second pulley, and a second line guide.

[0020] The first hose and the second hose are connected by a wire-wound support tube. The first wire guide is installed at one end of the wire-wound support tube near the first hose. The first pulley is rotatably installed inside the first wire guide. The guide wheel group is evenly distributed along the circumference of the wire-wound support tube and is rotatably fixed on the wire-wound support tube.

[0021] The second wire guide is installed at one end of the wire winding support tube near the second flexible tube. The second pulley is rotatably installed inside the second wire guide. The first wire guide and the second wire guide are located on opposite sides of the wire winding support tube. The corresponding drive wire on the first flexible tube passes through the first wire guide, the first pulley, the guide wheel group, the wire winding support tube, the second pulley, and the second wire guide in sequence.

[0022] Preferably, the wire winding assembly further includes clamps, the first hose and the second hose are respectively sleeved on both ends of the wire winding support tube, and clamps are respectively installed on the overlapping sections of the first hose and the second hose and the wire winding support tube.

[0023] Preferably, a first wire drive support ring is sleeved on the outside of the first hose, and a self-lubricating wear-resistant ring corresponding to each drive line is installed around the first wire drive support ring, and the drive rope passes through the self-lubricating wear-resistant ring.

[0024] Preferably, a second wire drive support ring is sleeved on the outer side of the end of the second hose near the outlet, and a wire retainer corresponding to each drive wire is installed around the second wire drive support ring. The end of the drive wire away from the wire drive take-up and retract assembly is fixed on the wire retainer.

[0025] Preferably, the attitude adjustment assembly includes an attitude adjustment hydraulic cylinder, a connecting rod, and a gyroscope; the printing material delivery bend is rotatably fixed to one end of the four-degree-of-freedom boom away from the base, the attitude adjustment hydraulic cylinder is mounted on the four-degree-of-freedom boom, one end of the connecting rod is fixed to the printing material delivery bend, the telescopic rod of the attitude adjustment hydraulic cylinder is connected to the other end of the connecting rod, and the gyroscope is mounted on the printing material delivery bend.

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

[0027] (1) This solution is based on the base to fix the robotic arm as a whole, and the hydraulically driven four-degree-of-freedom arm moves over a wide range. Then, the attitude of the conveying hose is adjusted by the wire-driven hose mechanism. The attitude of the hose is adjusted so that the outlet of the conveying hose moves precisely within a small range. At the same time, the attitude adjustment component is used to detect and adjust the attitude of the printing material conveying tube in real time. The wire-driven hose mechanism is used to ensure that the outlet of the conveying hose remains vertically downward so that the printing material is perpendicular to the printing path.

[0028] The hydraulically driven four-degree-of-freedom robotic arm performs large-scale transfers and rapid adjustments to the outlet of the printing material delivery pipe. Once it reaches the preset area, a wire-driven hose mechanism performs small-range position adjustments to the outlet of the delivery hose, achieving high precision. Simultaneously, an attitude adjustment component detects and adjusts the attitude of the printing material delivery bend, ensuring the outlet of the delivery hose connected to the bend is vertically downward. This significantly improves printing accuracy while enhancing response efficiency. Compared to traditional hydraulic tower crane printing equipment, this device increases printing speed by approximately 20% and achieves a positioning accuracy of 1 mm. Furthermore, the energy utilization efficiency of the electro-hydraulic hybrid drive is improved by over 16%, significantly reducing the equipment's operating energy consumption.

[0029] (2) A two-section wire-driven hose structure is set at the end of the outlet of the printing material conveying bend, and a wire winding component is set between the first hose and the second hose, so that the same drive line is distributed on the opposite sides of the first hose and the second hose. The drive line is wound and released by the wire drive winding component, and the conveying hose can flexibly form an S-shaped curve. This, together with the attitude adjustment component, ensures that the outlet is always vertically downward, and ensures that the outlet of the conveying hose is vertical or nearly vertical to the printing path.

[0030] The two-section hose design significantly improves the printing accuracy and stability of the robotic arm, allowing the ejector to reach the printing position flexibly and precisely. Compared to a single-section hose design, this hose structure avoids printing errors and poor material adhesion that can result from an excessively small angle between the end-effector's posture and the printing path. The two-section hose structure can improve printing accuracy by approximately 15% and material utilization by over 10%, thereby effectively improving printing quality, material utilization efficiency, printing accuracy, and the quality of the printed surface.

[0031] (3) This solution employs a two-section wire-driven hose structure at the material outlet. Individual retractable and extendable rope components control each drive rope, with each set of components cooperating to retract and extend the drive rope, thus deforming the conveying hose and fine-tuning the outlet position. This electric wire-driven structure reduces the overall weight of the printing robotic arm while improving its flexibility and stability. Compared to traditional gantry and tower crane 3D printers, the robotic arm's weight is reduced by approximately 20%, making transportation and installation more convenient; the robotic arm's movement speed is increased by 40%, significantly improving printing efficiency.

[0032] (4) In this scheme, multiple parallel-distributed wire drive support rings are set on the outer side of the two sections of conveying hose, and a self-lubricating wear-resistant ring is set around the outer support ring of the middle section of the hose, which can limit the radial displacement of the drive line and assist the hose to deform at multiple angles. Secondly, a second wire drive support ring and a wire fixer are set at the discharge port end of the second hose to fix the other end of each drive line, so that the drive line is kept taut, thereby ensuring the response speed of the hose movement.

[0033] (5) This solution incorporates angle and torque sensors in the online drive take-up and retractor assembly. By monitoring the attitude and force state of the drive line in real time, combined with attitude feedback from the gyroscope, a closed-loop control is formed to ensure synchronized and coordinated movement of the printing material delivery bend and the online drive hose. This multi-sensor collaborative control system improves the reliability and ease of operation of the equipment. The system can control printing errors to within 1 mm, while significantly reducing operator debugging time and increasing overall machine operating efficiency by approximately 25%. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the end structure of the present invention;

[0036] Figure 3 This is a schematic diagram of the end structure from another angle of the present invention;

[0037] Figure 4 for Figure 3 A magnified schematic diagram of the structure of a portion of region A in the middle;

[0038] Figure 5 for Figure 3 A magnified schematic diagram of the local structure of region B in the middle area;

[0039] Figure 6 This is a schematic diagram of the end structure from another angle of the present invention;

[0040] Figure 7 for Figure 6 A magnified schematic diagram of the structure of region C in the middle;

[0041] Figure 8 for Figure 6 A magnified schematic diagram of the local structure of region D in the middle;

[0042] Figure 9 Exploded view of the wire laying assembly;

[0043] Figure 10 These are schematic diagrams showing different end-effector postures of the present invention;

[0044] Figure 11 These are schematic diagrams showing different end-effector postures of the present invention;

[0045] Figure 12 These are schematic diagrams showing different end-effector postures of the present invention;

[0046] In the diagram, 1. Base; 2. Four-degree-of-freedom boom; 3. Printing material delivery pipe; 4. Attitude adjustment assembly; 5. Wire drive take-up and release assembly; 6. Wire winding assembly; 7. Clamp; 8. First wire drive hose assembly; 9. Second wire drive hose assembly; 4. Attitude adjustment assembly includes: 41. Attitude adjustment hydraulic cylinder; 42. Connecting rod; 43. Concrete delivery bend; 44. Gyroscope; 5. Wire drive take-up and release assembly: 51. First take-up and release assembly; 52. Second take-up and release assembly; 53. Third take-up and release assembly; 54. Take-up and release mounting plate; 55. Wear ring; 53. 1. Angle sensor; 532. Reducer; 533. Torque sensor; 534. Winding wheel; 535. Third drive line; 61. First line guide; 62. First pulley; 63. First guide roller; 64. Second guide roller; 65. Third guide roller; 66. Line winding support tube; 67. Second pulley; 68. Second line guide; 81. First hose; 82. First line drive support ring; 83. Self-lubricating wear-resistant ring; The second line drive hose assembly 9 includes: 91. Second hose; 92. Second line drive support ring; 93. Line retainer. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. 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.

[0051] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0052] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0053] Example 1

[0054] like Figure 1As shown, this embodiment provides an electro-hydraulic hybrid robotic arm for building 3D printing with a wire-driven hose, including a base 1, a four-degree-of-freedom arm 2, a printing material delivery pipe 3, an attitude adjustment component 4, a printing material delivery bend 43, a delivery hose, and a wire-driven hose mechanism.

[0055] One end of the four-degree-of-freedom boom 2 is mounted on the base 1 and is hydraulically driven. The printing material delivery pipe 3 is arranged along the four-degree-of-freedom boom 2. The printing material delivery bend 43 is installed at the end of the four-degree-of-freedom boom 2 away from the base 1. The printing material delivery pipe 3 is connected to the delivery hose through the printing material delivery bend 43. The attitude adjustment component 4 is used to detect and adjust the attitude of the printing material delivery pipe 3. The wire-driven hose mechanism is used to adjust the position of the outlet of the delivery hose and is electrically driven.

[0056] Working principle: The robotic arm is fixed as a whole by the base 1. The hydraulically driven four-degree-of-freedom arm 2 moves over a wide range. Then, the attitude of the delivery hose is adjusted by the wire-driven hose mechanism. The attitude of the hose is adjusted so that the outlet of the delivery hose moves precisely within a small range. At the same time, the attitude adjustment component 4 detects and adjusts the attitude of the printing material delivery pipe 3 in real time. Together with the wire-driven hose mechanism, it ensures that the outlet of the delivery hose remains vertically downward, so that the printing material is perpendicular to the printing path.

[0057] The hydraulically driven four-degree-of-freedom robotic arm 2 performs a wide-range transfer of the material delivery pipe's outlet, with rapid adjustment. Upon reaching the preset area, a wire-driven hose mechanism performs a small-range position adjustment of the delivery hose's outlet, achieving high precision. Simultaneously, the attitude adjustment component 4 detects and adjusts the attitude of the material delivery bend 43, ensuring the outlet of the delivery hose connected to the bend 43 is vertically downward. This significantly improves printing accuracy while enhancing response efficiency. Compared to traditional hydraulic tower crane printing equipment, this device increases printing speed by approximately 20% and achieves a positioning accuracy of 1 mm. Furthermore, the energy utilization efficiency of the electro-hydraulic hybrid drive is improved by over 16%, significantly reducing equipment operating energy consumption.

[0058] Preferred implementation methods, such as Figures 2 to 9 As shown, the wire drive hose mechanism includes a wire drive take-up and release assembly 5 and a wire winding assembly 6, and the delivery hose includes a first hose 81 and a second hose 91.

[0059] One end of the first flexible tube 81 is connected to the printing material delivery bend 43, and the other end is connected to the second flexible tube 91; the wire drive take-up and release assembly 5 is installed on the printing material delivery bend 43; multiple drive lines are coaxially distributed on the outer side of the delivery tube, one end of the drive rope is connected to the wire drive take-up and release assembly 5, and the other end is fixed to the end of the second flexible tube 91 away from the first flexible tube 81; the wire winding assembly 6 is installed at the connection between the first flexible tube 81 and the second flexible tube 91, and is used to wind each drive line on the outer side of the first flexible tube 81 to the other side of the second flexible tube 91; the wire drive take-up and release assembly 5 is used to control the take-up and release of the drive rope.

[0060] A two-section wire-driven hose structure is provided at the end of the outlet of the printing material conveying bend 43, and a wire winding assembly 6 is provided between the first hose 81 and the second hose 91, so that the same drive line is distributed on the opposite sides of the first hose 81 and the second hose 91. The drive line is wound and released by the wire drive take-up and release assembly 5, and the conveying hose can flexibly form an S-shaped curve, thereby cooperating with the attitude adjustment assembly 4 to ensure that the outlet always remains vertically downward, and to ensure that the outlet of the conveying hose is vertical or nearly vertical to the printing path.

[0061] The two-section hose design significantly improves the printing accuracy and stability of the robotic arm, allowing the ejector to reach the printing position flexibly and precisely. Compared to a single-section hose design, this hose structure avoids printing errors and poor material adhesion that can result from an excessively small angle between the end-effector's posture and the printing path. The two-section hose structure can improve printing accuracy by approximately 15% and material utilization by over 10%, thereby effectively improving printing quality, material utilization efficiency, printing accuracy, and the quality of the printed surface.

[0062] Preferred implementation methods, such as Figure 9 As shown, the cable drive take-up and unwind assembly 5 includes a first take-up and unwind assembly 51, a second take-up and unwind assembly 52, a third take-up and unwind assembly 53, and a take-up and unwind mounting plate 54;

[0063] The take-up and release mounting plate 54 is fixedly mounted on one end of the printing material delivery bend 43 near the first flexible tube 81. The first take-up and release assembly 51, the second take-up and release assembly 52, and the third take-up and release assembly 53 are evenly distributed and fixed on the take-up and release mounting plate 54. The take-up and release mounting plate 54 is provided with multiple wire holes. Each drive wire passes through the wire holes and is connected to the first take-up and release assembly 51, the second take-up and release assembly 52, and the third take-up and release assembly 53 respectively.

[0064] The wire drive take-up and untake-down assembly 5 also includes a wear-resistant ring 55, which is installed inside the wire hole through which the drive wire passes. By installing the wear-resistant ring 55 inside the wire hole, the wear of the drive wire can be effectively reduced, thereby effectively extending the service life of the drive wire.

[0065] Furthermore, the first take-up and untake-up assembly 51, the second take-up and untake-up assembly 52, and the third take-up and untake-up assembly 53 have the same structure;

[0066] The third take-up and unwind assembly 53 includes an angle sensor 531, a speed reducer 532, a torque sensor 533, and a winding reel 534. The third take-up and unwind assembly 53 is connected to a third drive line 535.

[0067] The reducer 532 is fixed on the take-up and undo mounting plate 54, the angle sensor 531 is fixed on one end of the output shaft of the reducer 532, the torque sensor 533 and the winding wheel 534 are installed on the other end of the output shaft of the reducer 532, and one end of the third drive line 535 is fixed on the winding wheel 534.

[0068] This solution employs a two-section wire-driven hose structure at the material outlet. Individual retractable and extendable rope components control each drive rope, with these components working in tandem to retract and extend the ropes, thus deforming the delivery hose and fine-tuning the outlet position. This electrically driven wire structure reduces the overall weight of the robotic arm while improving its flexibility and stability. Compared to traditional gantry and tower crane 3D printers, the robotic arm's weight is reduced by approximately 20%, making transportation and installation more convenient; the arm's movement speed is increased by 40%, significantly improving printing efficiency.

[0069] Specifically, the number of winding components 6 corresponds to the number of drive ropes. Each set of winding components 6 is used for winding and changing the direction of a drive rope. The winding components 6 include a first line guide 61, a first pulley 62, a guide wheel group, a winding support tube 66, a second pulley 67, and a second line guide 68.

[0070] The first flexible hose 81 and the second flexible hose 91 are connected by a wire-wound support tube 66. The first wire guide 61 is installed on one end of the wire-wound support tube 66 near the first flexible hose 81. The first pulley 62 is rotatably installed inside the first wire guide 61. The guide wheel group is evenly distributed along the circumference of the wire-wound support tube 66 and is rotatably fixed on the wire-wound support tube 66.

[0071] The second wire guide 68 is installed at one end of the wire winding support tube 66 near the second flexible tube 91. The second pulley 67 is rotatably installed inside the second wire guide 68. The first wire guide 61 and the second wire guide 68 are located on opposite sides of the wire winding support tube 66. The corresponding drive wire on the first flexible tube 81 passes through the first wire guide 61, the first pulley 62, the guide wheel group, the wire winding support tube 66, the second pulley 67, and the second wire guide 68 in sequence.

[0072] The wire winding assembly 6 also includes clamps 7. The first hose 81 and the second hose 91 are respectively sleeved on both ends of the wire winding support tube 66, and clamps 7 are installed on the overlapping sections of the first hose 81, the second hose 91 and the wire winding support tube 66.

[0073] Furthermore, a first wire drive support ring 82 is sleeved on the outside of the first hose 81, and a self-lubricating wear-resistant ring 83 corresponding to each drive line is installed around the first wire drive support ring 82, and the drive rope passes through the self-lubricating wear-resistant ring 83.

[0074] Furthermore, a second wire drive support ring 92 is sleeved on the outer side of the second hose 91 near the discharge port. A wire retainer 93 corresponding to each drive wire is installed around the second wire drive support ring 92. The end of the drive wire away from the wire drive take-up and release assembly 5 is fixed on the wire retainer 93.

[0075] This solution sets multiple parallel-distributed wire drive support rings on the outer sides of the two sections of the conveying hose, and sets a self-lubricating wear-resistant ring 83 around the outer support ring of the middle section of the hose, which can limit the radial displacement of the drive line and assist the hose to deform at multiple angles. Secondly, a second wire drive support ring 92 and a wire fixer 93 are set at the discharge port end of the second hose to fix the other end of each drive line, so that the drive line is kept in a taut state, thereby ensuring the response speed of the hose movement.

[0076] In a preferred embodiment, the attitude adjustment assembly 4 includes an attitude adjustment hydraulic cylinder 41, a connecting rod 42, and a gyroscope 44; the printing material delivery bend 43 is rotatably fixed to one end of the four-degree-of-freedom boom 2 away from the base 1, the attitude adjustment hydraulic cylinder 41 is mounted on the four-degree-of-freedom boom 2, one end of the connecting rod 42 is fixed to the printing material delivery bend 43, the telescopic rod of the attitude adjustment hydraulic cylinder 41 is connected to the other end of the connecting rod 42, and the gyroscope 44 is mounted on the printing material delivery bend 43.

[0077] This solution incorporates angle and torque sensors in the inline drive take-up and retractor assembly. By monitoring the attitude and force state of the drive line in real time, combined with attitude feedback from a gyroscope, a closed-loop control system is formed to ensure synchronized and coordinated movement of the printing material delivery bend and the inline drive hose. This multi-sensor collaborative control system improves the reliability and ease of operation of the equipment. The system can control printing errors within ±1 mm, while significantly reducing operator setup time and increasing overall machine operating efficiency by approximately 25%.

[0078] In conjunction with the above preferred embodiments, this embodiment provides a more specific implementation: an electro-hydraulic hybrid robotic arm for architectural 3D printing with a wire-driven flexible hose includes: a base 1, a four-degree-of-freedom arm 2, a printing material delivery pipe 3, an attitude adjustment assembly 4, a wire drive take-up and release assembly 5, a wire winding and rotating assembly 6, a clamp 7, a first wire drive flexible hose assembly 8, and a second wire drive flexible hose assembly 9; wherein, the attitude adjustment assembly 4 includes: an attitude adjustment hydraulic cylinder 41, a connecting rod 42, a printing material delivery bend 43, and a gyroscope 44; the wire drive take-up and release assembly 5 includes: a first take-up and release assembly 51, a second take-up and release assembly 52, a third take-up and release assembly 53, and a take-up and release mounting device. The first wire winding assembly 53 includes: a reel 54, a wear-resistant ring 55; the second wire winding assembly 53 includes: an angle sensor 531, a reducer 532, a torque sensor 533, a winding wheel 534, and a third drive line 535; the third wire winding assembly 6 includes: a first wire guide 61, a first pulley 62, a first guide roller 63, a second guide roller 64, a third guide roller 65, a wire winding support tube 66, a second pulley 67, and a second wire guide 68; the third wire drive hose assembly 8 includes: a first hose 81, a first wire drive support ring 82, and a self-lubricating wear-resistant ring 83; the fourth wire drive hose assembly 9 includes: a second hose 91, a second wire drive support ring 92, and a wire retainer 93.

[0079] like Figure 1 As shown, base 1 is used for fixed installation on the ground or a mobile platform, providing a supporting foundation for the device. A four-degree-of-freedom (DOF) boom 2 is mounted above base 1. Its rotational freedom relative to base 1 is achieved by a hydraulic motor, while the other three degrees of freedom are achieved by linear hydraulic cylinders. A printing material delivery pipe 3 is arranged along the four-DOF boom 2, with its inlet located near base 1 and its outlet located at the end of the four-DOF boom 2. This arrangement allows printing material to be delivered from near base 1 to the end of the boom, enabling printing operations at higher or greater distances.

[0080] like Figure 1 and Figure 2 As shown, the attitude adjustment assembly 4 is installed at the end of the four-degree-of-freedom boom 2. The attitude adjustment assembly 4 includes a printing material delivery bend 43, a connecting rod 42, a gyroscope 44, and an attitude adjustment hydraulic cylinder 41. One end of the printing material delivery bend 43 is connected to the end of the printing material delivery pipe 3 and can rotate freely relative to the four-degree-of-freedom boom 2. The connecting rod 42 is fixedly connected above the printing material delivery bend 43, and the gyroscope 44 is installed on the connecting rod 42 to detect the attitude of the printing material delivery bend 43 in real time. One end of the attitude adjustment hydraulic cylinder 41 is connected to the four-degree-of-freedom boom 2 via a revolute joint, and the other end is connected to the connecting rod 42 via a revolute joint. The extension and retraction of the attitude adjustment hydraulic cylinder 41 drives the connecting rod 42, thereby causing the printing material delivery bend 43 to rotate relative to the four-degree-of-freedom boom 2.

[0081] like Figure 1 , Figure 3 and Figure 4 As shown, the take-up and release mounting plate 54 is fixedly mounted on the printing material conveying bend 43. The first take-up and release assembly 51, the second take-up and release assembly 52, and the third take-up and release assembly 53 are respectively fixed above the take-up and release mounting plate 54 by bolts. The take-up and release mounting plate 54 is provided with corresponding wire holes, and wear-resistant rings 55 are installed at the holes.

[0082] like Figure 1 , Figure 6 and Figure 7 As shown, the upper end of the first wire drive hose assembly 8 is connected to the printing material delivery bend 43. Specifically, one end of the first hose 81 in the first wire drive hose assembly 8 is sleeved on the end of the printing material delivery bend 43 and then tightened and fixed by the clamp 7. The first wire drive support ring 82 is fixed and sleeved on the first hose 81. The self-lubricating wear-resistant ring 83 is installed in the corresponding hole of the first wire drive support ring 82. The three self-lubricating wear-resistant rings 83 and the one first wire drive support ring 82 are called a set of wire drive support ring assemblies. Two sets of wire drive support ring assemblies are installed in the first wire drive hose assembly 8.

[0083] like Figure 1 , Figure 3 and Figure 5 As shown, in the first wire drive hose assembly 8, the other end of the first hose 81 is fitted onto the upper end of the wire winding support tube 66 in the wire winding assembly 6, and then tightened and fixed by the clamp 7; three first wire guides 61 are evenly distributed on the wire winding support tube 66, and each first wire guide 61 is equipped with a first pulley 62, and the first pulley 62 can rotate relative to the first wire guide 61; the first guide roller 63, the second guide roller 64, and the third guide roller 65 are respectively installed on the surface of the wire winding support tube 66, and all of them can rotate relative to the wire winding support tube 66; three second wire guides 68 are evenly distributed on the lower end of the wire winding support tube 66, and each second wire guide 68 is also equipped with a second pulley 67.

[0084] like Figure 1 , Figure 6 and Figure 8 As shown, the upper end of the second hose 91 in the second wire drive hose assembly 9 is connected to the wire winding support tube 66 in the wire winding assembly 6 and is fixed by clamp 7; similarly, three second wire drive support rings 92 are also fixedly installed on the second hose 91, of which three wire retainers 93 are installed in the corresponding holes of the lowest second wire drive support ring 92, and three self-lubricating wear-resistant rings are also installed in the corresponding holes of the other two second wire drive support rings 92; the end of the second wire drive hose assembly 9 is the printing material outlet.

[0085] like Figure 9As shown, the reducer 532 in the third take-up and undo assembly 53 is bolted to the top of the take-up and undo mounting plate 54; the angle sensor 531 is mounted and fixed to one end of the output shaft of the reducer 532; the other end of the output shaft of the reducer 532 is equipped with a torque sensor 533 and a winding wheel 534; one end of the third drive line 535 is fixed to the winding wheel 534; the third drive line 535 comes out from the winding wheel 534, passes through the wear ring 55, the two sets of self-lubricating wear rings 83 on the first wire drive support ring 82 in the first wire drive hose assembly 8, and then passes through... The first wire guide 61, first pulley 62, first guide roller 63, second guide roller 64, third guide roller 65, second pulley 67, and second wire guide 68 in the wire winding assembly 6 pass through the two sets of self-lubricating wear-resistant rings on the second wire drive support ring 92 in the second wire drive hose assembly 9, and are finally connected and fixed to the wire retainer 93 on the lowest second wire drive support ring 92 in the second wire drive hose assembly 9; the other two sets of wire take-up and unwinding assemblies, the first wire take-up and unwinding assembly 51 and the second wire take-up and unwinding assembly 52, are also installed in the same way.

[0086] This robotic arm does not have its own pump for conveying printing material; its power comes from a ground-based or mobile pump connected to the inlet of this invention. These devices provide power for the delivery of printing material within the invention. The printing material enters the device through the inlet, flows sequentially through the printing material delivery pipe 3, then through the printing material delivery bend 43 in the attitude adjustment assembly 4, the first hose 81 in the first wire drive hose assembly 8, the wire winding support pipe 66 in the wire winding assembly 6, and the second hose 91 in the second wire drive hose assembly 9, finally exiting from the outlet at the end of the second hose 91. Throughout the operation, the outlet at the end of the printing material delivery pipe can move with the movement of the four-degree-of-freedom arm 2 and the actions of the first wire drive hose assembly 8, the wire winding assembly 6, and the second wire drive hose assembly 9 driven by the wire drive take-up and retraction assembly 5. The outlet can flexibly move to the target building area, achieving precise printing of the building structure.

[0087] The four-degree-of-freedom boom 2 enables a wide-range, rapid movement of the discharge port, while the small-range, precise movement of the discharge port is accomplished by the end-effector's wire-driven flexible hose, such as... Figures 1 to 12 As shown, the specific working principle is as follows:

[0088] In the wire-driven take-up and unwind assembly 5, one end of the third drive wire 535 is fixed to the winding wheel 534. The third drive wire 535 passes sequentially through the first wire-driven hose assembly 8 and the wire winding assembly 6, and finally its other end is connected to the wire retainer 93 near the discharge port in the second wire-driven hose assembly 9. The winding wheel 534 is driven to rotate by the reducer 532, and the third drive wire 535 is wound up and tightened. Since the first hose 81 in the first wire-driven hose assembly 8 and the second hose 91 in the second wire-driven hose assembly 9 have a certain degree of flexibility and deformation capability, the hose bends when the third drive wire 535 is tightened; when the third drive wire 535 is loosened, the bending amplitude of the hose is reduced, thereby realizing dynamic adjustment of the hose posture. In addition, the wire-driven take-up and unwind assembly 5 is configured in parallel with the first take-up and unwind assembly 51, the second take-up and unwind assembly 52, and the third take-up and unwind assembly 53, and each take-up and unwind assembly is equipped with an angle sensor and a torque sensor. By calibrating the sensors, the specific position of the discharge port can be accurately obtained. Through the coordinated operation of these three sets of take-up and unwinding components, comprehensive adjustment of the first hose 81 and the second hose 91 can be achieved, ultimately enabling precise small-range movement of the discharge port to meet the printing needs of complex building structures.

[0089] To improve printing quality, this invention designs two key mechanisms to ensure that the discharge port is always vertically downward, thereby achieving the output of printing material vertically or nearly vertically to the printing path: First, the attitude adjustment hydraulic cylinder 41 in the attitude adjustment component 4 dynamically adjusts the attitude of the printing material conveying bend 43 according to the attitude signal provided in real time by the gyroscope 44, ensuring that its end port always remains vertically downward, and also ensuring that the wire drive take-up and take-up component 5 fixedly installed on the bend 43 always remains horizontal.

[0090] Secondly, the flexible hose at the outlet end adopts a two-section structure, consisting of a first wire-driven flexible hose assembly 8 and a second wire-driven flexible hose assembly 9, with a wire-wound rotating assembly 6 installed between them to achieve more flexible attitude control. Its working principle is as follows: Figure 12 As shown, the third take-up and undo assembly 53 drives the first wire drive hose assembly 8 to bend towards the third take-up and undo assembly 53 by tightening the third drive cable 535. Simultaneously, the first take-up and undo assembly 51 and the second take-up and undo assembly 52, based on the force signal detected by their internal torque sensors, correspondingly loosen the drive cable in coordination with the movement of the third drive cable 535. During this process, the third drive cable 535 passes sequentially through the first wire guide 61, the first pulley 62, the first guide roller 63, the second guide roller 64, the third guide roller 65, the second pulley 67, and the second wire guide 68 as it passes through the wire winding assembly 6, crossing 180° from one side of the first wire drive hose assembly 8 to the other side. The tightened third drive cable 535 further acts on the second wire drive hose assembly 9, causing it to bend in the opposite direction to the third take-up and undo assembly 53 (e.g., ...). Figure 12(As shown); Since the first wire drive hose assembly 8 and the second wire drive hose assembly 9 have the same length, and the force applied to both by the third drive line 535 is equal, the bending deformation of the two hose sections remains consistent, ultimately forming an S-shaped curve. This ensures that the outlet always remains vertically downward, allowing the printing material to be output vertically or nearly perpendicular to the printing path. Similarly, the three sets of wire drive take-up and unwinding assemblies 5—the first take-up and unwinding assembly 51, the second take-up and unwinding assembly 52, and the third take-up and unwinding assembly 53—work together to move the outlet.

[0091] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for 3D printing in construction, characterized in that, It includes a base, a four-degree-of-freedom boom, a printing material delivery pipe, an attitude adjustment assembly, a printing material delivery bend, a delivery hose, and a wire-driven hose mechanism; One end of the four-degree-of-freedom boom is mounted on the base and is hydraulically driven. The printing material delivery pipe is arranged along the four-degree-of-freedom boom. The printing material delivery bend is installed at the end of the four-degree-of-freedom boom away from the base. The printing material delivery pipe is connected to the delivery hose through the printing material delivery bend. The attitude adjustment component is used to detect and adjust the attitude of the printing material delivery pipe. The wire-driven hose mechanism is used to adjust the position of the outlet of the delivery hose and is electrically driven. The wire-driven hose mechanism includes a wire-driven take-up and release assembly and a wire winding assembly, and the delivery hose includes a first hose and a second hose. One end of the first flexible tube is connected to the printing material delivery bend, and the other end is connected to the second flexible tube; the wire drive take-up and release assembly is installed on the printing material delivery bend; multiple drive lines are coaxially distributed on the outer side of the delivery flexible tube, one end of each drive line drives and connects to the wire drive take-up and release assembly, and the other end is fixed to the end of the second flexible tube away from the first flexible tube; the wire winding assembly is installed at the connection between the first flexible tube and the second flexible tube, and is used to wind each drive line on the outer side of the first flexible tube to the other side of the second flexible tube; the wire drive take-up and release assembly is used to control the take-up and release of the drive rope. The cable drive take-up and take-up assembly includes a first take-up and take-up assembly, a second take-up and take-up assembly, a third take-up and take-up assembly, and a take-up and take-up mounting plate; The take-up and release mounting plate is fixedly mounted on one end of the printing material delivery bend near the first flexible tube. The first take-up and release assembly, the second take-up and release assembly, and the third take-up and release assembly are evenly distributed and fixed on the take-up and release mounting plate. The take-up and release mounting plate is provided with multiple wire holes. Each drive wire passes through the wire holes and is connected to the first take-up and release assembly, the second take-up and release assembly, and the third take-up and release assembly respectively. The number of the winding components corresponds to the number of the drive rope. Each set of winding components is used for winding and changing the direction of a drive rope. The winding components include a first line guide, a first pulley, a guide wheel group, a winding support tube, a second pulley, and a second line guide. The first hose and the second hose are connected by a wire-wound support tube. The first wire guide is installed at one end of the wire-wound support tube near the first hose. The first pulley is rotatably installed inside the first wire guide. The guide wheel group is evenly distributed along the circumference of the wire-wound support tube and is rotatably fixed on the wire-wound support tube. The second wire guide is installed at one end of the wire winding support tube near the second flexible tube. The second pulley is rotatably installed inside the second wire guide. The first wire guide and the second wire guide are located on opposite sides of the wire winding support tube. The corresponding drive wire on the first flexible tube passes through the first wire guide, the first pulley, the guide wheel group, the wire winding support tube, the second pulley, and the second wire guide in sequence.

2. The electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for 3D printing in construction according to claim 1, characterized in that, The wire drive take-up and take-up assembly also includes a wear-resistant ring, which is installed in the wire hole, and the drive wire passes through the wear-resistant ring.

3. The electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for architectural 3D printing according to claim 1, characterized in that, The first take-up and pay-off assembly, the second take-up and pay-off assembly, and the third take-up and pay-off assembly have the same structure; The third take-up and unwind assembly includes an angle sensor, a speed reducer, a torque sensor, and a winding reel. The third take-up and unwind assembly is connected to a third drive line. The speed reducer is fixed on the take-up and undo mounting plate, the angle sensor is fixed at one end of the output shaft of the speed reducer, the torque sensor and the winding wheel are installed at the other end of the output shaft of the speed reducer, and one end of the third drive line is fixed to the winding wheel.

4. The electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for architectural 3D printing according to claim 1, characterized in that, The wire winding assembly also includes clamps. The first hose and the second hose are respectively sleeved on both ends of the wire winding support tube, and clamps are installed on the overlapping sections of the first hose, the second hose and the wire winding support tube.

5. The electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for architectural 3D printing according to claim 1, characterized in that, A first wire drive support ring is sleeved on the outside of the first hose. A self-lubricating wear-resistant ring corresponding to each drive line is installed around the first wire drive support ring. The drive rope passes through the self-lubricating wear-resistant ring.

6. The electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for architectural 3D printing according to claim 5, characterized in that, A second wire drive support ring is sleeved on the outer side of the end of the second hose near the outlet. A wire retainer corresponding to each drive wire is installed around the second wire drive support ring. The end of the drive wire away from the wire drive take-up and retract assembly is fixed on the wire retainer.

7. The electro-hydraulic hybrid robotic arm with a wire-driven flexible hose for architectural 3D printing according to claim 1, characterized in that, The attitude adjustment assembly includes an attitude adjustment hydraulic cylinder, a connecting rod, and a gyroscope; the printing material delivery bend is rotatably fixed to one end of the four-degree-of-freedom boom away from the base, the attitude adjustment hydraulic cylinder is mounted on the four-degree-of-freedom boom, one end of the connecting rod is fixed to the printing material delivery bend, the telescopic rod of the attitude adjustment hydraulic cylinder is connected to the other end of the connecting rod, and the gyroscope is mounted on the printing material delivery bend.

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