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

Abstract

This invention relates to a series-parallel hybrid electro-hydraulic boom system and a concrete pump truck. The boom system includes a boom, a hose assembly, an end effector assembly, a multi-degree-of-freedom (DOF) robotic arm, and an adaptive assembly. One end of the hose assembly is connected to a delivery pipe on the boom, and the other end is connected to the end effector assembly. The adaptive assembly is mounted on the boom, and the multi-DOF robotic arm is mounted on the adaptive assembly, with its end joint connected to the end effector assembly. The adaptive assembly is used to monitor the end effector posture of the boom and the multi-DOF robotic arm in real time, and adjust the posture of the multi-DOF robotic arm based on the monitoring results. Compared with the prior art, the parallel structure of the robotic arm and hydraulic boom of this invention for adjusting the discharge port position has advantages such as high structural strength, fast response, and high adjustment accuracy.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, and in particular to a series-parallel hybrid electro-hydraulic boom system and a concrete pump truck. Background Technology

[0002] In modern construction, concrete pouring is a crucial step, and concrete pump trucks are widely used to improve construction efficiency and pouring quality. A concrete pump truck, also known as a pump truck, is a mechanical device that uses pressure to continuously transport concrete along pipelines.

[0003] The core structure of a concrete pump truck includes the pump body and the delivery pipe. The pump body is typically mounted on the vehicle, and the vehicle's engine provides the necessary driving force to the pump body through the power transmission system. The delivery pipe runs along the pump truck's hydraulic boom; as the boom extends or folds, concrete is pumped by the pump body to the designated construction location. The pump truck's hydraulic boom design allows it to adapt to different height and angle requirements, making it suitable for complex construction environments.

[0004] During construction, a flexible end hose is typically installed at the end of the concrete delivery pipe to more precisely control the pouring position. This end hose, made of a material with a certain degree of deformability, has an inlet connected to the end of the delivery pipe and an outlet for discharging concrete. In continuous concrete pouring operations, operators usually need to manually drag the end hose to ensure its outlet precisely reaches the predetermined pouring position within the construction area. This is especially true when pouring thin roofs or other special structures, where frequent adjustments to the end hose's position are necessary. If the outlet is not moved in time, concrete may accumulate in one spot, affecting the pouring quality and requiring significant manpower for leveling, increasing both time and labor costs.

[0005] However, as construction environments become increasingly complex, concrete pump truck booms are becoming longer, leading to more severe swaying problems at the end of the boom during operation. A concrete pump truck boom is a typical flexible multibody system. During pouring operations, the boom is affected not only by pressure pulsations and hydraulic shocks during concrete transport but also by external environmental factors such as wind. All of these factors cause boom swaying, with the swaying amplitude at the end being particularly noticeable. Long booms have relatively slow movement speeds, especially in pouring tasks requiring frequent movement. They often struggle to quickly reach the desired pouring position, necessitating frequent manual adjustments to the hose position or manual leveling of accumulated concrete, significantly impacting construction efficiency.

[0006] For example, invention publication number CN102720363A discloses a boom device, including an end boom, on which a straight delivery pipe is fixedly mounted. A fixed bend, an end bend, and an end hose are sequentially connected to the end of the straight delivery pipe. The fixed bend is connected to the end bend via a fixed pipe clamp. The fixed bend and the end bend are rotatable relative to each other. The invention also includes a rotation drive device disposed between the end boom and the end bend, which drives the end bend and the end hose to rotate relative to the fixed bend. This invention also provides a concrete pump truck.

[0007] The existing boom assembly technology described above can drive the end bend and end hose to rotate relative to the fixed bend via a rotary drive device, allowing for circumferential adjustment of the hose outlet. However, it cannot achieve precise adjustment of the discharge port position, still requiring manual operation of the discharge hose. This not only causes operational inconvenience but also poses significant safety hazards. Since concrete may suddenly spray out during pumping, causing the hose to swing violently, operators face the risk of being hit by the hose. As the component closest to the work surface and operators, the end hose is highly susceptible to injury to surrounding workers in the event of an accident, increasing construction safety risks. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art, which can only assist in adjusting the approximate position of the electric hose, still requires manual operation, has poor structural rigidity, and has low adjustment accuracy of the discharge position, and to provide a series-parallel hybrid electro-hydraulic hybrid boom system and concrete pump truck.

[0009] The objective of this invention can be achieved through the following technical solutions:

[0010] This solution provides a series-parallel hybrid electro-hydraulic boom system, including a boom, hose assembly, end effector assembly, multi-degree-of-freedom robotic arm, and adaptive assembly;

[0011] One end of the hose assembly is connected to the delivery pipe on the boom, and the other end is connected to the end-effector assembly; the adaptive assembly is mounted on the boom, the multi-degree-of-freedom robotic arm is mounted on the adaptive assembly, and the end joint is connected to the end-effector assembly. The adaptive assembly is used to monitor the end-effector posture and the multi-degree-of-freedom robotic arm posture in real time, and adjust the posture of the multi-degree-of-freedom robotic arm according to the monitoring results.

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

[0013] One end of the swing platform is rotatably mounted on the boom. The multi-degree-of-freedom robotic arm is fixed on the swing platform. The power structure is mounted on the boom and drives the swing platform to swing. The monitoring module is mounted on the swing platform to monitor the motion posture and force conditions at the end of the boom in real time.

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

[0015] One end of the hydraulic swing plate is provided with a cylindrical rotating section, and one side of the boom is provided with a mounting hole that mates with the cylindrical rotating section. The mounting hole is provided with a first snap ring, a second snap ring, a third snap ring, a first angular contact bearing, and a second angular contact bearing. The first angular contact bearing and the second angular contact bearing are respectively installed at both ends of the cylindrical rotating section.

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

[0017] Preferably, the power structure includes a first locking nut, a hydraulic cylinder, and a second locking nut. The hydraulic swing plate is provided with a swing linkage perpendicular to the cylindrical rotating section. One end of the hydraulic cylinder is fixed to the boom by the first locking nut, and the other end drives and connects to the swing linkage, and is locked by the second locking nut.

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

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

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

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

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

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

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

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

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

[0027] (1) The parallel connection between the multi-degree-of-freedom robotic arm and the boom is used to adjust the position of the hose assembly, achieving high-rigidity support for the main load and hose posture, ensuring high stability of the discharge port in complex construction environments. The existing hydraulic drive structure is connected in series at the front end of the boom. The series-parallel hybrid structure not only greatly improves the system rigidity, but also enables a wide range of displacement and fine control of the end discharge port position, effectively improving the stability and operability of the boom end. The adaptive component can compensate for the positioning or operation error of the multi-degree-of-freedom robotic arm due to vibration or swaying during boom movement, improve the adaptive adjustment capability of the multi-degree-of-freedom robotic arm, effectively suppress the interference of boom end swaying on the system, and improve construction efficiency and accuracy.

[0028] (2) This solution achieves real-time monitoring of the motion and force conditions at the end of the boom through data fusion of gyroscopes and force sensors. Based on the data fed back from the gyroscopes and pressure sensors, the multi-degree-of-freedom robotic arm can adjust its posture in real time, accurately compensate for the vibration and sway of the end of the boom, and ensure the stability of the discharge port position. At the same time, the hydraulic cylinder is responsible for the main lifting and rotating actions, ensuring the efficient operation of the system under high load conditions.

[0029] This adaptive component balances accuracy and load capacity: the hydraulic system provides powerful load-bearing capacity, while the multi-degree-of-freedom robotic arm achieves high-precision motion control of the discharge port, meeting the dual requirements of concrete pump trucks for heavy loads and precise end-effector positioning. The adaptive component boasts a fast response speed; the monitoring module monitors in real-time, working in conjunction with the rapid response capability of the multi-degree-of-freedom robotic arm and the rapid movement of the hydraulic cylinders, enabling the system to quickly correct its posture and effectively improve the motion accuracy of the boom in conjunction with the multi-degree-of-freedom robotic arm. By measuring the force differences at the four corners using three force sensors between the hydraulic swing plate and the robotic arm mounting plate, the swing direction and amplitude of the concrete pump truck boom end are calculated. This allows the multi-degree-of-freedom robotic arm to compensate for the swing at the boom end, ensuring the discharge port position remains constant.

[0030] (3) Due to the limited degrees of freedom of a multi-degree-of-freedom robotic arm, the end effector hose may experience significant torsion when it is in certain positions and orientations. In this solution, the multi-degree-of-freedom robotic arm and the end effector hose can rotate relative to each other. Based on meshing gears, the torque borne by the end effector hose is transmitted to a damper. When the torque on the hose assembly exceeds a threshold, the multi-degree-of-freedom robotic arm and the end effector hose rotate relative to each other, releasing the torque on the hose assembly. This not only avoids frequent rotation of the end effector hose, preventing interference with position adjustment and improving adjustment accuracy, but also ensures the safety and service life of the hose assembly.

[0031] (4) In this scheme, the concrete pump truck based on a series-parallel hybrid and electro-hydraulic hybrid boom system introduces a six-degree-of-freedom robotic arm installed at the end of the concrete pump truck boom, replacing the traditional manual control of the end hose operation. This design not only effectively avoids the safety risks faced by operators when working in close contact with the end hose, but also significantly reduces manual labor input. The six-degree-of-freedom robotic arm can quickly and accurately adjust the position of the end discharge port, achieving efficient and precise pouring, avoiding the additional manual leveling operation required for concrete accumulation, and improving construction efficiency and safety. Attached Figure Description

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

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

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

[0035] Figure 4 for Figure 3 Enlarged view of the structure at point B;

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

[0037] Figure 6 for Figure 5 Enlarged view of the structure at point A in the middle;

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

[0039] Figure 8 for Figure 6 Enlarged view of the structure at point C;

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

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

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

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

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

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Example 1

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

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

[0054] Working principle: The multi-degree-of-freedom robotic arm 4 is mounted on the adaptive component 5 at the end of the boom 1, and the end joint is connected to the end-degree-of-freedom component 3, which is connected to the discharge port of the hose assembly 2. The robotic arm 4 and the hose assembly 2 are connected in parallel. The hydraulically driven boom 1, in conjunction with the electrically driven multi-degree-of-freedom robotic arm 4, supports the hose assembly 2 and adjusts the position of the discharge port. The posture of the multi-degree-of-freedom robotic arm 4 is adjusted by the adaptive component 5 to compensate for the vibration and sway of the end of the boom 1.

[0055] The parallel connection between the multi-degree-of-freedom robotic arm 4 and the boom 1 is used to adjust the position of the hose assembly 2, achieving high-rigidity support for the main load and hose posture, ensuring high stability of the discharge port in complex construction environments. An existing hydraulic drive structure is connected in series at the boom's front end; this series-parallel hybrid structure significantly improves system rigidity, enabling both wide-range transfer and precise control of the discharge port position, effectively enhancing the stability and operability of the boom's end effector. The adaptive component 5 compensates for vibrations or swaying during boom movement that cause positioning or operational errors in the multi-degree-of-freedom robotic arm 4, improving its adaptive adjustment capability, effectively suppressing the interference of boom end effector swaying on the system, and improving construction efficiency and accuracy.

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

[0057] One end of the swing platform is rotatably mounted on the boom 1. The multi-degree-of-freedom robotic arm 4 is fixed on the swing platform. The power structure is mounted on the boom 1 and drives the swing platform to swing. The monitoring module is mounted on the swing platform to monitor the motion posture and force conditions at the end of the boom 1 in real time.

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

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

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

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

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

[0063] By fusing data from gyroscopes and force sensors, real-time monitoring of the motion and force conditions at the end of boom 1 is achieved. Based on data from gyroscope 509 and pressure sensor 510, the multi-degree-of-freedom robotic arm 4 can instantly adjust its posture, accurately compensating for vibrations and swaying at the end of boom 1, ensuring the stability of the discharge port position. Simultaneously, hydraulic cylinders are responsible for the main lifting and rotation movements, ensuring efficient system operation under high load conditions.

[0064] The adaptive component 5 balances accuracy and load capacity: the hydraulic system provides powerful load capacity, and the multi-degree-of-freedom robotic arm 4 achieves high-precision motion control of the discharge port, meeting the dual requirements of the concrete pump truck for heavy loads and precise end-effector positioning. The adaptive component 5 has a fast response speed; the monitoring module monitors in real time, working in conjunction with the rapid response capability of the multi-degree-of-freedom robotic arm 4 and the rapid movement of the hydraulic cylinders, enabling the system to quickly correct its posture and effectively improve the motion accuracy of the boom 1 in conjunction with the multi-degree-of-freedom robotic arm 4. By measuring the force differences at the four corners through three force sensors between the hydraulic swing plate 504 and the robotic arm mounting plate 507, the swing direction and amplitude of the concrete pump truck boom end are calculated. This allows the multi-degree-of-freedom robotic arm to compensate for the swing at the boom end, ensuring that the position of the discharge port remains unchanged.

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

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

[0067] Because the degrees of freedom of a multi-degree-of-freedom robotic arm are limited, when the end effector assembly 3 is in certain positions and postures, it can cause significant torsion in the end effector hose. In this solution, the multi-degree-of-freedom robotic arm 4 and the end effector steel pipe 301 can rotate relative to each other. Based on meshing gears, the torque borne by the end effector steel pipe 301 is transmitted to the damper 303. When the torque on the hose assembly exceeds a threshold, the multi-degree-of-freedom robotic arm 4 and the end effector steel pipe 301 rotate relative to each other, releasing the torque on the hose assembly. This not only avoids frequent rotation of the end effector assembly 3, preventing interference with position adjustment and improving adjustment accuracy, but also ensures the safety and service life of the hose assembly.

[0068] The end-degree-of-freedom support shell 306 has an upper cover plate 304 and a lower cover plate 305 installed at both ends. The upper cover plate 304 and the lower cover plate 305 are both fitted onto the end steel pipe 301. A first waterproof sealing ring 302 is provided between the upper cover plate 304 and the end steel pipe 301, and a second waterproof sealing ring 313 is provided between the lower cover plate 305 and the end steel pipe 301. The damper 303 is fixed on the upper cover plate 304, and the damper 303 is connected to the shaft of the first gear 307.

[0069] Specifically, the end-effector assembly 3 also includes a first bearing 305, a second bearing 308, a third bearing 309, and a fourth bearing 311;

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

[0071] The hose assembly 2 includes a bend 201, a first clamp 202, an end hose 203, and a second clamp 204. The bend 201 is connected to the delivery pipe on the boom 1. One end of the end hose 203 is sleeved on the bend 201 and fixed by the first clamp 202. The other end of the end hose 203 is sleeved on the end freedom assembly 3 and fixed by the second clamp 204.

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

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

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

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

[0076] Furthermore, in the end-effector assembly 3, the upper end of the end steel pipe 301 is connected to the flexible hose 203, and a second gear 310 is installed in the middle of the end steel pipe 301. The two are connected by a key to achieve torque transmission. The first gear 307 and the second gear 310 are engaged by gear meshing, and the damper 303 is connected to the first gear 307 by a shaped hole shaft engagement, thereby realizing the torque transmission from the end steel pipe 301 to the damper 303.

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

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

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

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

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

[0082] Adaptive compensation for boom end-effector sway enables precise control of the discharge port position: In this solution, the end-effector hose control device of the concrete pump truck with its boom-and-daughter assembly incorporates a six-degree-of-freedom (DOF) robotic arm introduced below the hydraulically driven sway sensor assembly. Based on the known joint angles of the six-DOF robotic arm, its moment of inertia can be easily calculated. Combined with the measurement data from the four force sensors in the hydraulically driven sway sensor assembly, the sway direction and amplitude of the concrete pump truck boom end-effector can be calculated in real time. The six-DOF robotic arm can quickly compensate for the sway, ensuring that the position of the concrete discharge port remains stable regardless of how the boom end-effector sways, achieving precise control of the discharge port position and thus ensuring the accuracy of the pouring process.

[0083] The six-DOF robotic arm 4 is fixedly mounted under the robotic arm mounting plate 507 in the adaptive assembly 5 by screws. The end joint of the six-DOF robotic arm 4 is connected and fixed to the end-degree-of-freedom support shell 306 of the end-degree-of-freedom assembly 3 by screws.

[0084] In summary, the six-degree-of-freedom robotic arm 4 can adjust its posture within a certain range to bring the discharge port at the lower end of the end effector to different positions. However, due to the limited degrees of freedom of the six-degree-of-freedom robotic arm 4, when the end effector is in certain specific positions and postures, it can cause significant torsion in the end hose 203. To address this issue, the end effector provides a passive rotational degree of freedom, allowing the torsion of the end hose 203 to be released. Simultaneously, through the meshing of the first gear 307 and the second gear 310, the damper 303 restricts excessively frequent free rotation of the end effector. The torsion generated by the end hose 203 is only released when the torque of the end hose 203 exceeds the damping value set by the damper 303.

[0085] The hydraulically driven swing sensor assembly controls the extension and retraction of the hydraulic cylinder 512 via data from the gyroscope 509, thereby rotating the hydraulic swing plate 504 and the robotic arm mounting plate 507. This ensures that the mounting surface of the robotic arm mounting plate 507, on which the six-degree-of-freedom robotic arm 4 is mounted, remains parallel to the ground. The hydraulic swing plate 504 and the robotic arm mounting plate 507 are fixedly connected by a universal joint 508, which provides vertical tension to the robotic arm mounting plate 507. The six-degree-of-freedom robotic arm 4, located below the hydraulically driven swing sensor assembly, calculates the swing direction and amplitude of the concrete pump truck boom end by measuring the force differences at the four corners using three pressure sensors 510 between the hydraulic swing plate 504 and the robotic arm mounting plate 507, given the joint angles, the mass distribution of each connecting rod, and the position and mass of the end-effector. This allows the six-degree-of-freedom robotic arm 4 to compensate for the swing at the boom end, ensuring the discharge port position remains constant.

[0086] This embodiment creatively introduces a hybrid series-parallel structure into the hose control and motion compensation system at the boom end. Traditional concrete pump truck booms employ a purely series motion, which presents a challenge in balancing workspace and motion stiffness: while a purely series structure offers a large workspace, it suffers from low overall stiffness and significant end-effector sway. This embodiment connects the six-degree-of-freedom robotic arm and the end-effector hose in parallel, achieving high-stiffness support for the main load and posture, and precisely controlling the position of the end-effector discharge port. Simultaneously, it retains a portion of the conventional series-connected concrete pump truck boom to allow for flexible movement over a wide range. This hybrid series-parallel structure significantly improves system stiffness and expands the end-effector motion space, effectively enhancing the stability and operability of the boom end. It improves the boom end's anti-sway capability, ensuring high stability of the discharge port in complex construction environments; meets the needs of construction sites for multi-angle and wide-range pouring positions, improving construction efficiency and accuracy; and reduces the impact of the end-effector robotic arm on the overall boom stiffness, lowering the additional sway risk of long booms operating at heights.

[0087] In terms of the driving method of concrete pump truck boom, an innovative approach is taken by adding an electric six-degree-of-freedom robotic arm to the end of the traditional pump truck boom, forming an electro-hydraulic hybrid boom system. Traditional pump truck booms primarily rely on hydraulic systems for driving. While hydraulic systems offer advantages such as high output force and compact structure, their motion control precision is relatively low. Although using an electric six-degree-of-freedom robotic arm alone can provide high control precision, its motor servo control output torque has certain limitations when dealing with high load demands.

[0088] This embodiment combines an electric six-degree-of-freedom robotic arm with a traditional hydraulic boom system, achieving complementary advantages of electro-hydraulic hybrid drive. Specifically, the electric robotic arm is responsible for precise and rapid attitude control, enabling high-precision adjustment of the end effector hose position; the hydraulic system provides the main power output, handling the large loads and wide-range movements during concrete pumping. This combination not only improves the control precision of the boom end effector but also enhances the overall power performance of the system.

[0089] 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. A series-parallel hybrid electro-hydraulic boom system, characterized in that, It includes a boom (1), a hose assembly (2), an end effector assembly (3), a multi-degree-of-freedom robotic arm (4), and an adaptive assembly (5); One end of the hose assembly (2) is connected to the delivery pipe on the boom (1), and the other end is connected to the end-effector assembly (3); the adaptive assembly (5) is mounted on the boom (1), the multi-degree-of-freedom robotic arm (4) is mounted on the adaptive assembly (5), and the end joint is connected to the end-effector assembly (3). The adaptive assembly (5) is used to monitor the end posture of the boom (1) and the posture of the multi-degree-of-freedom robotic arm (4) in real time, and adjust the posture of the multi-degree-of-freedom robotic arm (4) according to the monitoring results. The adaptive component (5) includes a power structure, a swing platform, and a monitoring module; One end of the swing platform is rotatably mounted on the boom (1), the multi-degree-of-freedom robotic arm (4) is fixed on the swing platform, the power structure is mounted on the boom (1) and drives the swing platform to swing, and the monitoring module is mounted on the swing platform to monitor the motion posture and force status of the end of the boom (1) in real time. The swing platform includes a hydraulic swing plate (504), a robotic arm mounting plate (507), and a universal joint (508). One end of the universal joint (508) is fixed to the hydraulic swing plate (504), and the other end is fixed to one side of the robotic arm mounting plate (507). The multi-degree-of-freedom robotic arm (4) is fixed to the other side of the robotic arm mounting plate (507). One end of the hydraulic swing plate (504) is provided with a cylindrical rotating section, and one side of the boom (1) is provided with a mounting hole that cooperates with the cylindrical rotating section. The mounting hole is provided with a first snap ring (501), a second snap ring (502), a third snap ring (506), a first angular contact bearing (503), and a second angular contact bearing (505). The first angular contact bearing (503) and the second angular contact bearing (505) are respectively installed at both ends of the cylindrical rotating section. The first snap ring (501) is used for axial positioning of the first angular contact bearing (503), the third snap ring (506) is used for axial positioning of the second angular contact bearing (505), and the second snap ring (502) is used for axial positioning of the cylindrical rotating section.

2. The series-parallel hybrid electro-hydraulic hybrid boom system according to claim 1, characterized in that, The power structure includes a first locking nut (511), a hydraulic cylinder (512), and a second locking nut (513). The hydraulic swing plate (504) is provided with a swing linkage perpendicular to the cylindrical rotating section. One end of the hydraulic cylinder (512) is fixed to the boom (1) by the first locking nut (511), and the other end drives the swing linkage and is locked by the second locking nut (513).

3. The series-parallel hybrid electro-hydraulic hybrid boom system according to claim 1, characterized in that, The monitoring module includes a gyroscope (509) and multiple pressure sensors (510). The gyroscope (509) is fixed on the side of the hydraulic swing plate (504) near the robotic arm mounting plate (507) to monitor the posture of the end of the boom (1). One end of the pressure sensor (510) is connected to the hydraulic swing plate (504) and the other end is connected to the robotic arm mounting plate (507) to monitor the pressure between the hydraulic swing plate (504) and the robotic arm mounting plate (507). A dust cover (514) is provided between the hydraulic swing plate (504) and the robotic arm mounting plate (507).

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

5. The series-parallel hybrid electro-hydraulic hybrid boom system according to claim 4, characterized in that, The end-degree-of-freedom support shell (306) is equipped with an upper cover plate (304) and a lower cover plate (312) at its two ends respectively. The upper cover plate (304) and the lower cover plate (312) are both sleeved on the end steel pipe (301). A first waterproof sealing ring (302) is provided between the upper cover plate (304) and the end steel pipe (301). A second waterproof sealing ring (313) is provided between the lower cover plate (312) and the end steel pipe (301). The damper (303) is fixed on the upper cover plate (304). The damper (303) is connected to the shaft of the first gear (307) in a forming connection.

6. The series-parallel hybrid electro-hydraulic hybrid boom system according to claim 4, characterized in that, The end-degree-of-freedom assembly (3) also includes a first bearing (305), a second bearing (308), a third bearing (309), and a fourth bearing (311). The second gear (310) is keyed to the end steel pipe (301). The second bearing (308) and the fourth bearing (311) are mounted on the end steel pipe (301) and located on both sides of the second gear (310) for axial positioning of the second gear (310). The first bearing (305) and the third bearing (309) are mounted in the end degree-of-freedom support shell (306) and connected to the first gear (307) for supporting the first gear (307) to drive the damper (303) to rotate.

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

8. A concrete pump truck, characterized in that, It includes at least one series-parallel hybrid electro-hydraulic hybrid boom system as described in any one of claims 1-7.

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