A telescopic foldable multi-section working arm

Abstract

The present invention provides a telescopic and foldable multi-section working arm, comprising a base, a primary arm, a secondary arm, a tertiary arm, a quaternary arm, a quintuple arm, a primary telescopic driving component, a secondary telescopic driving component, a tertiary telescopic driving component, a quaternary telescopic driving component, an end rotating arm, a connecting rod, a pulling rod, an articulated sliding sleeve and a sliding sleeve locking pin. The lower end of the primary arm is hinged on the base, and a connecting interface of a task execution module is arranged at the front end of the quintuple arm; the primary arm, the secondary arm and the tertiary arm are hinged end to end in sequence, the quaternary arm is embedded in an inner cavity of the tertiary arm and can be telescoped therein, and the quintuple arm is hinged at the protruding end of the quaternary arm; the working arm of the present invention has certain versatility, and different task execution modules are added to the front end of the quintuple arm, and the base is installed on different carriers, so as to realize different task functions, and through multiple folding and nesting of components and making full use of the space between the components, the overall configuration can be greatly condensed to form a compact and regular storage form.

Description

Technical Field

[0001] The invention relates to the technical field of aerial work machinery, and in particular to a telescopic and foldable multi-section working arm. Background Art

[0002] The telescopic and foldable multi-section working arm is a kind of arm structure commonly used in high-altitude working machinery, such as the lifting arm of automobile crane, the lifting arm of fire ladder and the conveying arm of cement pump truck. These multi-section foldable telescopic working arms have their own structural characteristics due to different uses and working environments, but most of them are single-branch structures, with weak lateral rigidity during work and occupying large space when shrunk and stored. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a telescopic and foldable multi-section working arm.

[0004] The object of the present invention is achieved in the following manner:

[0005] A telescopic and foldable multi-section working arm comprises a base, a primary arm, a secondary arm, a tertiary arm, a quaternary arm, a quintuple arm, a primary telescopic drive component, a secondary telescopic drive component, a tertiary telescopic drive component, a quaternary telescopic drive component, an end rotating arm, a connecting rod, a pulling rod, an articulated sliding sleeve and a sliding sleeve locking pin, wherein the lower end of the primary arm is hinged on the base, and a connection interface of a task execution module is arranged at the front end of the quintuple arm;

[0006] The first-stage arm, the second-stage arm and the third-stage arm are hinged end to end in sequence, the fourth-stage arm is embedded in the inner cavity of the third-stage arm and can be extended and retracted therein, and the fifth-stage arm is hinged at the extended end of the fourth-stage arm;

[0007] There are two primary arms, secondary arms, tertiary arms and quaternary arms, which are arranged symmetrically in the horizontal direction. Two primary arms form a primary boom frame through transverse connecting axis IA and transverse connecting axis IB. Two secondary arms form a secondary boom frame through transverse connecting axis IIA, transverse connecting axis IB, transverse connecting axis IIB and transverse connecting axis IIC. Two tertiary arms form a tertiary boom frame through transverse connecting axis III‍A and transverse connecting axis IIC. Two quaternary arms form a quaternary boom frame through transverse connecting axis IVA and embedded in two or three arms. The inner side spacing of the two arms of the primary boom frame is 1. The size is larger than the distance between the two arms of the secondary boom, the distance between the two arms of the secondary boom is larger than the distance between the two arms of the tertiary boom, the secondary boom is embedded in the primary boom and is hinged to the primary boom through the transverse connecting shaft ⅠB, the tertiary boom is embedded in the secondary boom and is hinged to the secondary boom through the transverse connecting shaft ⅡC, the fifth boom is embedded between the two arms of the fourth boom and is hinged to the fourth boom through the transverse connecting shaft ⅣA, and the transverse symmetry planes of the primary boom, the secondary boom, the tertiary boom, the fourth boom and the fifth boom are coplanar;

[0008] There are two first-stage telescopic drive members, two-stage telescopic drive members, three-stage telescopic drive members and four-stage telescopic drive members respectively; wherein, two ends of the first-stage telescopic drive member are respectively hinged on the base and the transverse connecting shaft IA, two ends of the second-stage telescopic drive member are respectively hinged on the transverse connecting shaft IA and the transverse connecting shaft II A, two ends of the three-stage telescopic drive member are respectively hinged on the transverse connecting shaft IIB and the transverse connecting shaft IIIA, and two ends of the four-stage telescopic drive member are respectively hinged under the tail of the three-stage arm and under the front end of the four-stage arm; two first-stage telescopic drive members, two second-stage telescopic drive members, two third-stage telescopic drive members and two fourth-stage telescopic drive members are respectively arranged symmetrically with respect to the transverse symmetric planes of the first-stage boom, the second-stage boom, the third-stage boom and the fourth-stage boom; the transverse positions of the second-stage telescopic drive member and the third-stage telescopic drive member on each side are both between the second-stage arm and the third-stage arm on the same side; the transverse position of the first-stage telescopic drive member on each side is on the outside of the second-stage telescopic drive member on the same side;

[0009] There is a pair of end rotating arms, and the two end rotating arms are respectively hinged on the transverse connecting shaft IVA, and the transverse positions are respectively located in the two assembly gaps formed by the five-stage arm and the two four-stage arms. The left and right end rotating arms are also connected by the transverse connecting shaft VIA and the transverse connecting shaft VIB; the two ends of the connecting rod are respectively hinged on the transverse connecting shaft VIA between the two end rotating arms and above the root of the five-stage arm; the front end of the pull rod is hinged on the transverse connecting shaft VIB between the two end rotating arms, and the rod body of the pull rod and the through hole of the articulated sliding sleeve form a sliding pair; the articulated sliding sleeve is hinged on the two The upper part of the front end of the three-stage arm is supported; the transverse symmetry planes of the two end rotating arms, the axis of the connecting rod, the axis of the pull rod, and the axis of the sliding sleeve through hole are all coplanar with the transverse symmetry planes of each arm frame; a pull rod stopper is provided at the rear end of the pull rod, and a pull rod lock pin hole is provided on the pull rod near the front end, and the axis of the pull rod lock pin hole is perpendicular to the longitudinal axis direction of the pull rod and the left and right lateral directions; a slide sleeve lock pin hole is provided on the articulated slide sleeve, and when the pull rod lock pin hole is aligned with the slide sleeve lock pin hole, the relative sliding of the pull rod and the articulated slide sleeve can be locked by inserting the slide sleeve lock pin;

[0010] When the tertiary arm is in a storage folded state relative to the secondary arm, the fifth arm is in a storage folded state relative to the fourth arm, and the fourth arm is in a storage contracted state relative to the tertiary arm, the maximum distance from the axis centerline of the transverse connecting axis IB to the outer contour line of the end rotating arm is less than the minimum distance from the axis centerline of the transverse connecting axis IB to the surface of the transverse connecting axis IA.

[0011] The first-stage arm, the second-stage arm, the third-stage arm, the fourth-stage arm and the fifth-stage arm all adopt a hollow arm beam structure with a rectangular cross-section. The vertical dimension of the rectangular cross-section of the first-stage arm, the second-stage arm, the third-stage arm, the fourth-stage arm and the fifth-stage arm is not less than the horizontal dimension.

[0012] The five-level arm is composed of a five-level pitching arm and a five-level telescopic arm. The tail end of the five-level pitching arm is hinged with the front end of the four-level arm. A hollow sliding cavity is arranged inside the five-level pitching arm. The five-level telescopic arm is embedded in the sliding cavity of the five-level pitching arm. The five-level telescopic arm and the five-level pitching arm form a telescopic sliding pair. Locking pin holes are provided on the five-level telescopic arm and the five-level pitching arm. The extended position of the five-level telescopic arm relative to the five-level pitching arm can be locked by aligning the locking pin holes of the two and then inserting the locking pin of the telescopic arm.

[0013] Two upward limit bosses are symmetrically arranged on the outer sides of the two end rotating arms, and two upward limit blocks are symmetrically arranged above the front ends of the two four-stage arms. When the end rotating arms rotate upward until the upward limit bosses contact the working surfaces on the upward limit blocks, the rotation of the end rotating arms is prevented.

[0014] The upward limiting boss is cylindrical.

[0015] The upper working surface of the upward limit stopper is an inclined surface, and the inclined surface is arranged along the longitudinal direction of the quadruple arm.

[0016] The base includes a primary arm support rod, a secondary arm support rod and a fourth arm support frame, each of which has a pair of primary arm support rods, secondary arm support rods and fourth arm support frames, and the two primary arm support rods, two secondary arm support rods and two fourth arm support frames are symmetrically arranged on the left and right; one end of the primary arm support rod and the secondary arm support rod are hinged to the base, and the root of the fourth arm support frame is fixedly connected to the base; a fifth arm support rod is hinged to the root of each of the two third arms, and in the storage state, the other ends of the primary arm support rod and the secondary arm support rod are respectively hinged to the front end of the primary arm and the front end of the secondary arm, the end of the fourth arm support frame supports the front end of the fourth arm, and the other end of the fifth arm support rod is hinged in the earrings symmetrically arranged at the front end of the fifth arm.

[0017] The primary arm is a bent shape with two straight sections.

[0018] The first-stage telescopic driving component, the second-stage telescopic driving component, the third-stage telescopic driving component and the fourth-stage telescopic driving component are all hydraulic cylinders.

[0019] Compared with the prior art, the working arm of the present invention has a certain versatility. Different task functions can be achieved by adding different task execution modules to the front end of the five-stage arm and installing the base on different carriers. The present invention adopts an overall arm structure of a symmetrical double-branch arm beam plus a transverse connecting shaft, which has a large transverse rigidity and can withstand a certain transverse force generated by the working load or environmental load. When the present invention is shrunk for storage, the space between the components is fully utilized through multiple folding and nesting of the components, so that the overall configuration can be greatly shrunk to form a compact and regular storage form. The pitch of the five-stage arm in the present invention can be automatically achieved by the gravity of the five-stage arm and the task execution module it carries, as well as the telescopic movement of the four-stage arm, making full use of the four-stage telescopic drive. Power output, there is no need to configure a separate power drive for the pitch of the five-stage arm, which simplifies the structure, saves costs, and improves the stability of the entire arm in the working unfolded state; the five-stage arm adopts a nested telescopic structure, which takes into account the extension of the working space of the working arm and the contraction of the storage space; the storage support can ensure the long-term maintenance of the storage state configuration of the first-stage arm, the second-stage arm, the third-stage arm, the fourth-stage arm and the fifth-stage arm, and avoids the ideal storage position of each component from changing adversely due to its own stiffness, environmental load and unloading of the telescopic drive parts, which leads to extrusion or accumulation; the maximum upward position of the five-stage arm is mechanically locked by the upward limit stop block stopping the upward limit boss, so that the five-stage arm can withstand the upward working load from the task execution module under specific working conditions to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a front side stereoscopic view of a working unfolded state.

[0021] Figure 2 for Figure 1 A rear side perspective view of the same operating unfolded state is shown.

[0022] Figure 3 It is a front view of the storage state of the present invention.

[0023] Figure 4 It is a front side stereoscopic view of the storage state of the present invention.

[0024] Figure 5 It is a rear side perspective view of the storage state of the present invention.

[0025] Figure 6 It is a partial stereoscopic view of the upper part of the present invention in an operational unfolded state.

[0026] Figure 7 It is a partial stereoscopic view of the lower part of the present invention during the unfolding process.

[0027] Figure 8 It is a schematic diagram of the configuration change process from a storage polycondensation state to an operation expansion state of the present invention.

[0028] Among them, 1. primary arm, 2. secondary arm, 3. tertiary arm, 4. quaternary arm, 5. fifth arm, 6. end rotating arm, 7. connecting rod, 8. pull rod, 9. hinged sleeve, 10. base, 11. primary telescopic drive member, 12. secondary telescopic drive member, 13. tertiary telescopic drive member, 14. quaternary telescopic drive member, 41. upper tilt limit block, 61. upper tilt limit boss, 51. fifth-level pitch arm, 52. fifth-level telescopic arm, 53. telescopic arm locking pin, 54. lifting ring, 55. earring, 81. pull rod stopper, 82. pull rod locking pin hole, 91. sleeve locking pin, 92. sleeve locking pin hole, 1511. Transverse connecting axis IA, 1512. Transverse connecting axis IB, 1521. Transverse connecting axis IIA, 1522. Transverse connecting axis IIB, 1523. Transverse connecting axis IIC, 1531. Transverse connecting axis IIIA, 1541. Transverse connecting axis IVA, 1561. Transverse connecting axis VIA, 1562. Transverse connecting axis VIB, 1601. Primary arm support rod, 1602. Secondary arm support rod, 1604. Fourth-level arm support frame, 1605. Fifth-level arm support rod, 1701. Storage hinge support I, 1702. Storage hinge support II, 1703. Storage hinge support III. DETAILED DESCRIPTION

[0029] The technical solution proposed by the present invention is further described in detail below with reference to the accompanying drawings and an embodiment, but it is not intended to limit the present invention.

[0030] As attached Figures 1 to 8 As shown, the root of the primary arm 1 is hinged on the base 10, the primary arm 1, the secondary arm 2 and the tertiary arm 3 are hinged end to end in sequence, the quaternary arm 4 is embedded in the working cavity of the tertiary arm 3 and can be telescopic therein, the fifth arm 5 is hinged at the front end of the fourth arm 4, the primary arm 1, the secondary arm 2, the tertiary arm 3, the fourth arm 4 and the fifth arm 5 are all of a rectangular cross-section hollow arm beam structure, except for the fifth arm 5, which has a square cross-section, the other primary arms 1, the secondary arm 2, the tertiary arm 3 and the fourth arm 4 are all rectangular cross-sections with a vertical dimension greater than a horizontal dimension. The primary arm 1 is a two straight section bending shape with a bending angle of 135°, and the secondary arm 2, the tertiary arm 3, the fourth arm 4 and the fifth arm 5 are all straight arms.

[0031] The paired primary arms 1, secondary arms 2, tertiary arms 3 and quaternary arms 4 are all arranged laterally symmetrically. The two primary arms 1 form a primary boom frame through a transverse connecting shaft IA1511 and a transverse connecting shaft IB1512; the two secondary arms 2 form a secondary boom frame through a transverse connecting shaft IIA1521, a transverse connecting shaft IB1512, a transverse connecting shaft IIB1522 and a transverse connecting shaft IIC1523; the two tertiary arms 3 form a tertiary boom frame through a transverse connecting shaft IIIA1531 and a transverse connecting shaft IIC1523; the two quaternary arms 4 form a quaternary boom frame through a transverse connecting shaft IVA1541 and are embedded in the tertiary arm 3. The primary boom frame The spacing dimension of the inner side surfaces of the two arms is greater than the spacing dimension of the outer side surfaces of the two arms of the secondary boom, the spacing dimension of the inner side surfaces of the two arms of the secondary boom is greater than the spacing dimension of the outer side surfaces of the two arms of the tertiary boom, the secondary boom is embedded in the primary boom and is hinged to the primary boom through the transverse connecting shaft ⅠB1512, the tertiary boom is embedded in the secondary boom and is hinged to the secondary boom through the transverse connecting shaft ⅡC1523, the fifth-level boom 5 is embedded between the two arms of the fourth-level boom and is hinged to the fourth-level boom through the transverse connecting shaft ⅣA1541, the transverse symmetry planes of the primary boom, the secondary boom, the tertiary boom, the fourth boom and the fifth boom 5 are coplanar, and the two arms of each level of boom remain synchronized during movement.

[0032] There are two first-stage telescopic drive members 11, second-stage telescopic drive members 12, third-stage telescopic drive members 13 and fourth-stage telescopic drive members 14, respectively. The first-stage telescopic drive member 11 is hinged at both ends to the base 10 and the transverse connecting shaft IA1511, the second-stage telescopic drive member 12 is hinged at both ends to the transverse connecting shaft IA1511 and the transverse connecting shaft IA1521, the third-stage telescopic drive member 13 is hinged at both ends to the transverse connecting shaft IA1522 and the transverse connecting shaft ⅢA1531, and the fourth-stage telescopic drive member 14 is hinged at both ends to the transverse connecting shaft IA1522 and the transverse connecting shaft ⅢA1531. The two ends of 14 are respectively hinged at the lower end of the tail of the tertiary arm 3 and the lower end of the front end of the quaternary arm 4, and each pair of telescopic drive members is symmetrically arranged relative to the transverse symmetric plane of each arm frame; the transverse positions of the secondary telescopic drive member 12 and the tertiary telescopic drive member 13 on each side are consistent, both are between the secondary arm 2 and the tertiary arm 3 on the same side, and a gap is maintained between the side surfaces of the arms, and the transverse position of the primary telescopic drive member 11 on each side is between the secondary telescopic drive member 12 and the primary arm 1 on the same side, and each pair of telescopic drive members keeps synchronization during movement. In this embodiment, all telescopic drive members are hydraulic cylinders.

[0033] like Figure 6As shown, a pair of end rotating arms 6 are respectively hinged on the transverse connecting shaft IVA1541, and the transverse positions are respectively located in two assembly gaps formed by the five-stage arm 5 and the two four-stage arms 4. The left and right end rotating arms 6 are also connected by the transverse connecting shaft VIA1561 and the transverse connecting shaft VIB1562, and rotate synchronously during operation; the two ends of the connecting rod 7 are respectively hinged on the transverse connecting shaft VIA1561 between the two end rotating arms 6 and above the root of the five-stage arm 5; the front end of the pull rod 8 is hinged on the transverse connecting shaft VIB1562 between the two end rotating arms 6. The rod body of the pull rod 8 and the through hole of the articulated sleeve 9 form a sliding pair. The articulated sleeve 9 is connected above the front ends of the two three-stage arms 3. The transverse symmetry planes of the two end rotating arms 6, the axis of the connecting rod 7, the axis of the pull rod 8, and the axis of the through hole of the sliding sleeve are all coplanar with the transverse symmetry planes of each arm frame. A pull rod stopper 81 is provided at the rear end of the pull rod 8, and a pull rod lock pin hole 82 is opened near the front end. The axis of the pull rod lock pin hole 82 is perpendicular to the longitudinal axis direction of the pull rod 8 and the left and right lateral directions. A sleeve lock pin hole 92 is opened on the articulated sleeve 9. Figure 7 As shown, when the pull rod 8 slides to a certain position relative to the articulated sliding sleeve 9, the pull rod locking pin hole 82 is aligned with the sliding sleeve locking pin hole 92, and the insertion of the sliding sleeve locking pin 91 can lock the relative sliding of the pull rod 8 and the articulated sliding sleeve 9.

[0034] like Figure 6 and Figure 7 As shown, two replaceable cylindrical upward limit bosses 61 are symmetrically arranged on the outer sides of the two end rotating arms 6, and two upward limit blocks 41 are symmetrically arranged above the front ends of the two quadruple arms 4. The upper working surface of the upward limit block 41 has a certain slope along the longitudinal direction of the quadruple arm 4, and its installation position can be adjusted within a certain range along the longitudinal and vertical directions of the quadruple arm 4. When the end rotating arm 6 rotates upward until the upward limit boss 61 contacts the upper working surface of the upward limit block 41, the rotation is blocked, and the upward elevation angle of the five-stage arm 5 relative to the quadruple arm 4 reaches the maximum value. By replacing the upward limit boss 61 with different outer diameters or adjusting the longitudinal or vertical position of the upward limit block 41 at the front end of the quadruple arm 4, the maximum upward elevation angle of the five-stage arm 5 relative to the quadruple arm 4 can be adjusted.

[0035] The five-stage arm 5 is composed of a five-stage pitching arm 51 and a five-stage telescopic arm 52. The tail end of the five-stage pitching arm 51 is hinged with the front end of the four-stage arm 4. The five-stage telescopic arm 52 is embedded in the sliding cavity of the five-stage pitching arm 51 and can be telescopically slid in the five-stage pitching arm 51. Locking pin holes are opened on the five-stage telescopic arm 52 and the five-stage pitching arm 51, wherein the locking pin holes of the five-stage telescopic arm 52 are at least two in the longitudinal direction, namely, the front and rear locking pin holes. By manually adjusting the extended position of the five-stage telescopic arm 52, when the rear locking pin hole of the five-stage telescopic arm 52 is aligned with the five-stage telescopic arm 51, the five-stage telescopic arm 52 is in the sliding cavity of the five-stage pitching arm 51. When the locking pin holes of the five-stage pitch arm 51 are aligned, inserting the telescopic arm locking pin 53 can lock the five-stage telescopic arm 52 in the extended state; when the front locking pin holes of the five-stage telescopic arm 52 are aligned with the locking pin holes of the five-stage pitch arm 51, inserting the telescopic arm locking pin 53 can lock the five-stage telescopic arm 52 in the retracted state; a lifting ring 54 for connecting the task execution module is arranged at the lower part of the front end of the five-stage telescopic arm 52, and a pair of earrings 55 for connecting the five-stage arm support rod 1605 are symmetrically arranged on both sides of the front end of the five-stage pitch arm 51.

[0036] When the tertiary arm 3 is in the most compact folded state relative to the secondary arm 2, the fifth arm 5 is in the most compact folded state relative to the fourth arm 4, and the fourth arm 4 is in the most compact contracted state relative to the tertiary arm 3, the maximum distance from the axis line of the transverse connecting axis ⅠB1512 to the outer contour line of the end rotating arm 6 is less than the minimum distance from the axis line of the transverse connecting axis ⅠB1512 to the surface of the transverse connecting axis IA1511.

[0037] There is a pair of primary arm support rods 1601, secondary arm support rods 1602, fourth arm support frames 1604 and fifth arm support rods 1605, and each pair of support members is symmetrically arranged on the left and right; one end of the primary arm support rod 1601 and the secondary arm support rod 1602 are hinged to the base 10 through a hinge support, and the root of the fourth arm support frame 1604 is fixedly connected to the base 10. When this embodiment is in the storage state, the other ends of the primary arm support rod 1601 and the secondary arm support rod 1602 are respectively hinged to the storage hinge support Ⅰ1701 below the front end of the primary arm 1 and the storage hinge support Ⅱ1702 below the front end of the secondary arm 2, the end of the fourth arm support frame 1604 supports the front end of the fourth arm 4, one end of the fifth arm support rod 1605 is hinged in the storage hinge support Ⅲ1703 at the root of the tertiary arm 3, and the other end is hinged in the earrings 55 symmetrically arranged at the front end of the fifth pitch arm 51.

[0038] Figure 8Steps A to L are schematic diagrams of the configuration change process from the storage condensed state to an operational expanded state of this embodiment. First, the connection between the primary arm support rod 1601, the secondary arm support rod 1602, and the fifth arm support rod 1605 and the storage hinge support I1701, the storage hinge support II1702, and the earring 55 is released respectively, and then the primary telescopic drive member 11 is started to extend and push the primary arm 1 to stand upright. After the primary arm 1 is erected in place, the retracted state of the fifth telescopic arm 52 is released, and it is pulled out to the extended state and then locked by the telescopic arm locking pin 53. After that, the secondary telescopic drive member 12 is started to retract, and the secondary arm 2 is pulled to rotate upward around the horizontal connecting shaft IB1512 to a vertical state, and then as shown in FIG. Figure 7 As shown, the sliding sleeve lock pin 91 is pulled out to release the sliding lock between the pull rod 8 and the hinged sliding sleeve 9. The five-stage arm 5 leans on the transverse connecting shaft IIB1522 under the action of gravity, and then the three-stage telescopic drive member 13 is started to retract, pulling the three-stage arm 3 to rotate upward around the transverse connecting shaft IIC1523 to an upward tilt state of about 70°. During this process, the front end of the five-stage arm 5 slides over the transverse connecting shaft IIB1522 and becomes a suspended state under the action of gravity. The four-stage telescopic drive member 14 is started to extend, pushing The fourth-stage arm 4 extends from the third-stage arm 3, and the pull rod 8 slides upward relative to the articulated sliding sleeve 9, and the fifth-stage arm 5 remains suspended. When the pull rod stopper 81 at the rear end of the pull rod 8 contacts the articulated sliding sleeve 9, so that the pull rod 8 cannot continue to slide upward, as the fourth-stage telescopic drive member 14 and the fourth-stage arm 4 continue to extend upward, the end rotating arm 6 rotates around the transverse connecting axis IVA1541, and pulls the fifth-stage pitching arm 51 of the fifth-stage arm 5 to rotate upward around the transverse connecting axis IVA1541 through the connecting rod 7 until Figure 6 When the upward limit boss 61 contacts the upper working surface of the upward limit stopper 41, the four-stage telescopic drive member 14 stops extending, the five-stage arm 5 is raised to its position, and the entire operation unfolding process is completed. Figure 8 The reverse process of the process shown and described above.

[0039] It should be noted that the solution proposed in the present invention has a certain degree of versatility. By setting different connection interfaces at the front end of the five-level arm 5, task execution modules with different functions can be installed. The installation interface of the task execution module in the above embodiment is a hanging ring 54, which can be used to hang an operating basket, pulleys, etc., and can also be used to hang or tension ropes. If the installation interface of the task execution module is changed to a threaded connection flange, it can be used to install functional terminals such as cleaning, spraying, crushing and monitoring to achieve different operational requirements. In addition, the present invention can be loaded on different functional bases, such as a chassis with rotation, movement and mooring functions, making it a practical mechanical equipment.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several changes and improvements can be made without departing from the overall concept of the present invention, which should also be regarded as the scope of protection of the present invention.

Claims

1. A telescopic and foldable multi-section working arm, comprising a base, a primary arm, a secondary arm, a tertiary arm, a quaternary arm, a quintuple arm, a primary telescopic drive component, a secondary telescopic drive component, a tertiary telescopic drive component, a quaternary telescopic drive component, an end rotating arm, a connecting rod, a pulling rod, an articulated sliding sleeve and a sliding sleeve locking pin, wherein the lower end of the primary arm is hinged on the base, and a connection interface of a task execution module is provided at the front end of the quintuple arm; The first-stage arm, the second-stage arm and the third-stage arm are hinged end to end in sequence, the fourth-stage arm is embedded in the inner cavity of the third-stage arm and can be extended and retracted therein, and the fifth-stage arm is hinged at the extended end of the fourth-stage arm; There are two primary arms, secondary arms, tertiary arms and quaternary arms, which are arranged symmetrically in the horizontal direction. Two primary arms form a primary boom frame through transverse connecting axis IA and transverse connecting axis IB. Two secondary arms form a secondary boom frame through transverse connecting axis IIA, transverse connecting axis IB, transverse connecting axis IIB and transverse connecting axis IIC. Two tertiary arms form a tertiary boom frame through transverse connecting axis III‍A and transverse connecting axis IIC. Two quaternary arms form a quaternary boom frame through transverse connecting axis IVA and embedded in two or three arms. The inner side spacing of the two arms of the primary boom frame is 1. The size is larger than the distance between the two arms of the secondary boom, the distance between the two arms of the secondary boom is larger than the distance between the two arms of the tertiary boom, the secondary boom is embedded in the primary boom and is hinged to the primary boom through the transverse connecting shaft ⅠB, the tertiary boom is embedded in the secondary boom and is hinged to the secondary boom through the transverse connecting shaft ⅡC, the fifth boom is embedded between the two arms of the fourth boom and is hinged to the fourth boom through the transverse connecting shaft ⅣA, and the transverse symmetry planes of the primary boom, the secondary boom, the tertiary boom, the fourth boom and the fifth boom are coplanar; There are two first-stage telescopic drive components, two second-stage telescopic drive components, two third-stage telescopic drive components and two fourth-stage telescopic drive components respectively; The two ends of the first-stage telescopic drive member are respectively hinged on the base and the transverse connecting shaft IA, the two ends of the second-stage telescopic drive member are respectively hinged on the transverse connecting shaft IA and the transverse connecting shaft IIA, the two ends of the third-stage telescopic drive member are respectively hinged on the transverse connecting shaft IIB and the transverse connecting shaft IIIA, and the two ends of the fourth-stage telescopic drive member are respectively hinged under the tail of the third-stage arm and under the front end of the fourth-stage arm; the two first-stage telescopic drive members, the two second-stage telescopic drive members, the two third-stage telescopic drive members and the two fourth-stage telescopic drive members are respectively arranged symmetrically with respect to the transverse symmetric planes of the first-stage boom, the second-stage boom, the third-stage boom and the fourth-stage boom; the transverse positions of the second-stage telescopic drive member and the third-stage telescopic drive member on each side are both between the second-stage arm and the third-stage arm on the same side; the transverse position of the first-stage telescopic drive member on each side is on the outside of the second-stage telescopic drive member on the same side; There is a pair of end rotating arms, and the two end rotating arms are respectively hinged on the transverse connecting shaft IVA, and the transverse positions are respectively located in the two assembly gaps formed by the five-stage arm and the two four-stage arms. The left and right end rotating arms are also connected by the transverse connecting shaft VIA and the transverse connecting shaft VIB; the two ends of the connecting rod are respectively hinged on the transverse connecting shaft VIA between the two end rotating arms and above the root of the five-stage arm; the front end of the pull rod is hinged on the transverse connecting shaft VIB between the two end rotating arms, and the rod body of the pull rod and the through hole of the articulated sliding sleeve form a sliding pair; the articulated sliding sleeve is hinged on the two The upper part of the front end of the three-stage arm is supported; the transverse symmetry planes of the two end rotating arms, the axis of the connecting rod, the axis of the pull rod, and the axis of the sliding sleeve through hole are all coplanar with the transverse symmetry planes of each arm frame; a pull rod stopper is provided at the rear end of the pull rod, and a pull rod lock pin hole is provided on the pull rod near the front end, and the axis of the pull rod lock pin hole is perpendicular to the longitudinal axis direction of the pull rod and the left and right lateral directions; a slide sleeve lock pin hole is provided on the articulated slide sleeve, and when the pull rod lock pin hole is aligned with the slide sleeve lock pin hole, the relative sliding of the pull rod and the articulated slide sleeve can be locked by inserting the slide sleeve lock pin; When the tertiary arm is in a storage folding state relative to the secondary arm, the fifth arm is in a storage folding state relative to the fourth arm, and the fourth arm is in a storage contraction state relative to the tertiary arm, the maximum distance from the axis centerline of the transverse connecting axis IB to the outer contour line of the end rotating arm is less than the minimum distance from the axis centerline of the transverse connecting axis IB to the surface of the transverse connecting axis IA; The first-stage arm, the second-stage arm, the third-stage arm, the fourth-stage arm and the fifth-stage arm all adopt a hollow arm beam structure with a rectangular cross-section, and the vertical dimension of the rectangular cross-section of the first-stage arm, the second-stage arm, the third-stage arm, the fourth-stage arm and the fifth-stage arm is not less than the horizontal dimension; Two upward limit bosses are symmetrically arranged on the outer sides of the two end rotating arms, and two upward limit blocks are symmetrically arranged above the front ends of the two four-stage arms. When the end rotating arms rotate upward until the upward limit bosses contact the working surfaces on the upward limit blocks, the rotation of the end rotating arms is prevented.

2. The telescopic and foldable multi-section working arm according to claim 1, characterized in that: The five-level arm is composed of a five-level pitching arm and a five-level telescopic arm. The tail end of the five-level pitching arm is hinged with the front end of the four-level arm. A hollow sliding cavity is arranged inside the five-level pitching arm. The five-level telescopic arm is embedded in the sliding cavity of the five-level pitching arm. The five-level telescopic arm and the five-level pitching arm form a telescopic sliding pair. Locking pin holes are provided on the five-level telescopic arm and the five-level pitching arm. The extended position of the five-level telescopic arm relative to the five-level pitching arm can be locked by aligning the locking pin holes of the two and then inserting the locking pin of the telescopic arm.

3. The telescopic and foldable multi-section working arm according to claim 1, characterized in that: The upward limiting boss is cylindrical.

4. The telescopic and foldable multi-section working arm according to claim 1, characterized in that: The upper working surface of the upward limit stopper is an inclined surface, and the inclined surface is arranged along the longitudinal direction of the quadruple arm.

5. The telescopic and foldable multi-section working arm according to claim 1, characterized in that: The base includes a primary arm support rod, a secondary arm support rod and a fourth arm support frame, each of which has a pair of primary arm support rods, secondary arm support rods and fourth arm support frames, and the two primary arm support rods, two secondary arm support rods and two fourth arm support frames are symmetrically arranged on the left and right; one end of the primary arm support rod and the secondary arm support rod are hinged to the base, and the root of the fourth arm support frame is fixedly connected to the base; a fifth arm support rod is hinged to the root of each of the two third arms, and in the storage state, the other ends of the primary arm support rod and the secondary arm support rod are respectively hinged to the front end of the primary arm and the front end of the secondary arm, the end of the fourth arm support frame supports the front end of the fourth arm, and the other end of the fifth arm support rod is hinged in the earrings symmetrically arranged at the front end of the fifth arm.

6. The telescopic and foldable multi-section working arm according to claim 1, characterized in that: The primary arm is a bent shape with two straight sections.

7. The telescopic and foldable multi-section working arm according to claim 1, characterized in that: The first-stage telescopic driving component, the second-stage telescopic driving component, the third-stage telescopic driving component and the fourth-stage telescopic driving component are all hydraulic cylinders.

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