A counterweight telescopic working arm

Abstract

The present invention relates to a counterweight telescopic working arm, which comprises a base. A folding telescopic arm and a counterweight box are arranged on the base. The folding telescopic arm includes a first arm rod, two second arm rods and a plurality of sections of arm rods. A first driving mechanism is arranged between the first arm rod and the base. A second driving mechanism is arranged between the two second arm rods and the first arm rod. A third driving mechanism is arranged between the section of arm rod and the two second arm rods. A fourth driving mechanism is arranged inside the plurality of sections of arm rods. A first hydraulic cylinder of the base is hinged with a connecting piece. A first connecting rod is arranged between the connecting piece and a sliding sleeve. A second connecting rod is arranged between the connecting piece and a sliding arm. A third connecting rod is arranged between the second connecting rod and the sliding sleeve. By changing the angle between the first arm rod and the base, the angle between the second arm rod and the first arm rod, the total length of the second arm rod and the plurality of sections of arm rods, the total length of the synchronous telescopic movement of adjacent sections of arm rods, and the telescopic movement of the counterweight box, the load capacity, working flexibility and working range of the working arm during operation are improved, losses are reduced, and the operation requirements are met.

Description

Technical Field

[0001] The present invention relates to a counterweight telescopic working arm, belonging to the technical field of robotic arms. Background Art

[0002] The telescopic working arm can cooperate with a lifting tool, a fixture, etc. to extend according to the program specified, replacing heavy labor to achieve mechanization and automation. It can be assembled with a mobile vehicle or a fixed area, and is widely used in processing, installation and maintenance, hoisting, feeding, material selection and other working conditions in the fields of machinery manufacturing, metallurgy, electronics, light industry, petroleum, shipbuilding, etc. The telescopic working arm in the prior art generally includes an articulated or cable boom, a base, a column, a hydraulic system, a counterweight box, etc. The counterweight box is assembled with the base in a fixed or mobile manner to improve the load weighing of the working arm. The mobile counterweight box generally uses a hydraulic cylinder parallel to the base for direct drive to increase the torque and improve the stability of the working arm, especially when transferring heavy objects. However, during the telescopic process of the hydraulic rod of the hydraulic cylinder, the gravity component it bears increases, the telescopic distance is limited, which has a greater impact on the wear of the internal components of the hydraulic cylinder and the connection deflection. At the same time, the telescopic working arm adopts a single-arm multi-section telescopic structure with poor strength in hydraulic step-by-step drive, thus limiting the load capacity of the working arm and making it difficult to meet the application requirements. Summary of the Invention

[0003] The purpose of the present invention is to address the deficiencies of the prior art and provide a counterweight telescopic working arm. By changing the angle between the first arm rod and the base, the angle between the second arm rod and the first arm rod, the total length of the second arm rod and several arm segments, the total length of the synchronous telescopic movement of adjacent arm segments, and the telescopic movement of the counterweight box, the load capacity, working flexibility and operation range of the working arm during operation are improved, losses are reduced, and operation requirements are met.

[0004] The present invention is realized by the following technical solutions:

[0005] A counterweight telescopic working arm includes a base, on which a folding telescopic arm and a counterweight box are provided. Among them, the folding telescopic arm includes a first arm rod hinged to the base, two second arm rods connected to the first arm rod, and several arm segments nested in the second arm rods. A first driving mechanism is provided between the first arm rod and the base for driving the first arm rod to reciprocally deflect around the hinge position with the base;

[0006] A second driving mechanism is provided between the two second arm rods and the first arm rod for driving the second arm rods to reciprocally deflect around the hinge position with the first arm rod. A third driving mechanism is provided between the arm segment close to the second arm rod among the several arm segments and the two second arm rods. The third driving mechanism is used for driving the arm segments to synchronously reciprocally move in the corresponding second arm rods. A fourth driving mechanism is provided inside the several arm segments for driving adjacent arm segments to synchronously telescopically move. Connecting seats are provided at the ends of the several arm segments of the two second arm rods;

[0007] A sliding sleeve is provided on one side of the base. A sliding arm that is in sliding fit and connected to the counterweight box is provided inside the sliding sleeve. A first hydraulic cylinder is hinged to the base. The end of the hydraulic rod of the first hydraulic cylinder is hinged to a connecting member. A first connecting rod that is hinged is provided between the connecting member and the sliding sleeve. A second connecting rod that is hinged is provided between the connecting member and the sliding arm. A third connecting rod that is hinged is provided between the second connecting rod and the sliding sleeve;

[0008] The first driving mechanism is a second hydraulic cylinder located at the bottom side of the first arm rod and hinged to the base. The end of the hydraulic rod of the second hydraulic cylinder is hinged to the side wall of the first arm rod;

[0009] The second driving mechanism is a third hydraulic cylinder located at the bottom of the second arm rod and hinged to the end of the first arm rod. The end of the hydraulic rod of the third hydraulic cylinder is hinged to the bottom of the second arm rod;

[0010] The third driving mechanism is a fourth hydraulic cylinder arranged in parallel between the two second arm rods. The end of the hydraulic rod of the fourth hydraulic cylinder is provided with a hinge seat. A fourth connecting rod that is hinged is provided between the hinge seat and the side wall of the arm section close to the second arm rod among several arm sections;

[0011] The several arm sections include a first arm section, a second arm section, a third arm section, and a fourth arm section that are nested in sequence. The fourth driving mechanism is a fifth hydraulic cylinder arranged inside the several arm sections. The end of the hydraulic rod of the fifth hydraulic cylinder is fixedly connected to the first arm section. A support frame is provided between the end of the fifth hydraulic cylinder and the second arm section. A first pulley is provided at the tail end of the fifth hydraulic cylinder. A first belt that is in sliding fit and whose two ends are respectively connected to the first arm section and the third arm section is provided outside the first pulley. A second pulley is provided on the second arm section. A second belt that is in sliding fit and whose two ends are respectively connected to the first arm section and the third arm section is provided outside the second pulley. Third pulleys and fourth pulleys are respectively provided at both ends inside the third arm section. A third belt that is in sliding fit and whose two ends are respectively connected to the first belt and the fourth arm section is provided outside the third pulley. A fourth belt that is in sliding fit and whose two ends are respectively connected to the second arm section and the fourth arm section is provided outside the fourth pulley;

[0012] An inner sleeve and an outer sleeve that are nested with each other are provided at the bottom of the base. A worm gear is provided on the inner sleeve. A worm that meshes with the worm gear and a servo motor coaxially connected to the worm are provided on the outer sleeve. A base is provided at the bottom of the outer sleeve.

[0013] The beneficial effects of the present invention are:

[0014] (1) The base is connected to a transport vehicle or other fixed area, and the connecting seat is connected to mechanical structures such as a lifting tool and a fixture. During operation, the hydraulic rod of the second hydraulic cylinder, which is the first driving mechanism, extends and retracts to push or pull the hinged first arm rod, changing the angle between the first arm rod and the base to achieve adjustment of the working height and angle;

[0015] (2) The hydraulic rod of the second driving mechanism, i.e., the third hydraulic cylinder, expands and contracts to push or pull the articulated second arm rod, changing the angle between the second arm rod and the first arm rod to achieve the adjustment of the working height and angle.

[0016] (3) The hydraulic rod of the third driving mechanism, i.e., the fourth hydraulic cylinder, expands and contracts to push or pull the articulated seat. Through the articulated fourth connecting rod, it pushes or pulls the side wall of the boom section close to the second arm rod within the second arm rod. The boom reciprocates within the second arm rod to adjust the total length of the second arm rod and several boom sections, providing stable support and synchronous adjustment for the double arms to achieve the adjustment of the working position.

[0017] (3) The hydraulic rod of the fourth driving mechanism, i.e., the fifth hydraulic cylinder, expands and contracts. The second boom moves relative to the first boom along with the support frame as the fifth hydraulic cylinder moves; the first pulley moves with the fifth hydraulic cylinder to pull the third boom with the first belt, or the second pulley moves with the second boom to pull the third boom with the second belt, making the third boom move relative to the second boom; the fourth pulley moves with the third boom to pull the fourth boom with the fourth belt, or the third pulley moves with the third boom to pull the fourth boom with the third belt, making the fourth boom move relative to the third boom. This realizes the synchronous telescopic movement of adjacent booms, improves the working efficiency and support strength, and changes the total length of several boom sections to achieve the adjustment of the working position.

[0018] (4) The hydraulic rod of the first hydraulic cylinder expands and contracts to push or pull the articulated connecting piece. Under the limiting action of the first connecting rod, the connecting piece moves and pushes or pulls the sliding arm articulated through the second connecting rod, making the sliding arm telescopically move within the sliding sleeve, changing the moment from the counterweight box to the base, improving the load capacity when the working arm is working, reducing the loss of the first hydraulic cylinder, and increasing its service life.

[0019] (5) The servo motor drives the worm to rotate, causing the base on the inner sleeve to deflect relative to the outer sleeve under the reduction drive of the worm and worm gear, changing the working orientation. Thus, overall, it improves the working flexibility and working range to meet the working requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a top perspective view of the present invention.

[0021] Figure 2 This is a bottom perspective view of the present invention.

[0022] Figure 3 This is a front structural view of the present invention.

[0023] Figure 4 This is a top structural view of the present invention.

[0024] Figure 5 is Figure 4 a partial cross-sectional view in the AA direction of

[0025] Markings in the figure: base 1, folding telescopic arm 2 and counterweight box 3, first arm rod 21, second arm rod 22, connecting seat 4, sliding sleeve 5, sliding arm 6, first hydraulic cylinder 7, connecting piece 8, first connecting rod 9, second connecting rod 10, third connecting rod 11, second hydraulic cylinder 12, third hydraulic cylinder 13, first side plate 14, second side plate 15, fourth hydraulic cylinder 16, hinge seat 17, fourth connecting rod 18, first section of arm 23, second section of arm 24, third section of arm 25 and fourth section of arm 26, fifth hydraulic cylinder 19, support frame 20, first pulley 27, first belt 28, second pulley 29, second belt 30, third pulley 31 and fourth pulley 32, third belt 33, fourth belt 34, first slide rail 35, second slide rail 36, inner sleeve 37 and outer sleeve 38, worm gear 39, worm 40, servo motor 41, base 42. Detailed implementation manner

[0026] The following further describes the detailed implementation manner of the present invention in conjunction with the accompanying drawings.

[0027] A counterweight telescopic working arm includes a base 1, and a folding telescopic arm 2 and a counterweight box 3 are provided on the base 1. Among them, the folding telescopic arm 2 includes a first arm rod 21 hinged to the base 1, two second arm rods 22 connected to the first arm rod 21, and several sections of arms nested in the second arm rods 22. A first driving mechanism for driving the first arm rod 21 to reciprocally deflect around the hinge position with the base 1 is provided between the first arm rod 21 and the base 1;

[0028] A second driving mechanism for driving the second arm rods 22 to reciprocally deflect around the hinge position with the first arm rod 21 is provided between the two second arm rods 22 and the first arm rod 21. A third driving mechanism is provided between the section of the arm close to the second arm rod 22 among several sections of arms and the two second arm rods 22. The third driving mechanism is used to drive the section of the arm to synchronously reciprocally move in the corresponding second arm rod 22. A fourth driving mechanism is provided in several sections of arms. The fourth driving mechanism is used to drive adjacent sections of arms to synchronously expand and contract. Connecting seats 4 are provided at the ends of several sections of arms of the two second arm rods 22;

[0029] A sliding sleeve 5 is provided on one side of the base 1. A sliding arm 6 that is slidably matched and connected to the counterweight box 3 is provided in the sliding sleeve 5. A first hydraulic cylinder 7 is hinged on the base 1. The end of the hydraulic rod of the first hydraulic cylinder 7 is hinged with a connecting piece 8. A first connecting rod 9 that is hinged is provided between the connecting piece 8 and the sliding sleeve 5. A second connecting rod 10 that is hinged is provided between the connecting piece 8 and the sliding arm 6. A third connecting rod 11 that is hinged is provided between the second connecting rod 10 and the sliding sleeve 5;

[0030] The first driving mechanism is a second hydraulic cylinder 12 located at the bottom side of the first arm rod 21 and hinged to the base 1. The end of the hydraulic rod of the second hydraulic cylinder 12 is hinged to the side wall of the first arm rod 21;

[0031] The second driving mechanism is a third hydraulic cylinder 13 located at the bottom of the second arm rod 22 and hinged to the end of the first arm rod 21. The end of the hydraulic rod of the third hydraulic cylinder 13 is hinged to the bottom of the second arm rod 22;

[0032] The first arm rod 21 has a T-shaped structure and a number of first side plates 14 that protrude obliquely at the end. A number of second side plates 15 are provided on both sides and the bottom of the second arm rod 22. The second side plates 15 and the third hydraulic cylinder 13 are hinged between adjacent first side plates 14;

[0033] The third driving mechanism is a fourth hydraulic cylinder 16 arranged in parallel between the two second arm rods 22. The end of the hydraulic rod of the fourth hydraulic cylinder 16 is provided with a hinge seat 17. A fourth connecting rod 18 that is hinged is provided between the hinge seat 17 and the side wall of the arm section close to the second arm rod 22 among a number of arm sections;

[0034] A number of arm sections include a first arm section 23, a second arm section 24, a third arm section 25, and a fourth arm section 26 that are nested in sequence. The fourth driving mechanism is a fifth hydraulic cylinder 19 arranged inside the number of arm sections. The end of the hydraulic rod of the fifth hydraulic cylinder 19 is fixedly connected to the first arm section 23. A support frame 20 is provided between the end of the fifth hydraulic cylinder 19 and the second arm section 24. A first pulley 27 is provided at the tail end of the fifth hydraulic cylinder 19. A first belt 28 that is in sliding fit and whose two ends are respectively connected to the first arm section 23 and the third arm section 25 is provided outside the first pulley 27. A second pulley 29 is provided on the second arm section 24. A second belt 30 that is in sliding fit and whose two ends are respectively connected to the first arm section 23 and the third arm section 25 is provided outside the second pulley 29. Third pulleys 31 and fourth pulleys 32 are respectively provided at both ends inside the third arm section 25. A third belt 33 that is in sliding fit and whose two ends are respectively connected to the first belt 28 and the fourth arm section 26 is provided outside the third pulley 31. A fourth belt 34 that is in sliding fit and whose two ends are respectively connected to the second arm section 24 and the fourth arm section 26 is provided outside the fourth pulley 32;

[0035] A number of parallel and sliding-fit first slide rails 35 are provided between the outer wall of the first arm section 23 and the end of the second arm rod 22, between the outer wall of the second arm section 24 and the end of the first arm section 23, between the outer wall of the third arm section 25 and the end of the second arm section 24, and between both sides of the fourth arm section 26 and the end of the third arm section 25. Second slide rails 36 that are in sliding fit with the end of the sliding sleeve 5 are provided on both sides of the sliding arm 6;

[0036] An inner sleeve 37 and an outer sleeve 38 that are nested with each other are provided at the bottom of the base 1. A worm gear 39 is provided on the inner sleeve 37. A worm 40 that meshes with the worm gear 39 and a servo motor 41 that is coaxially connected to the worm 40 are provided on the outer sleeve 38. A base 42 is provided at the bottom of the outer sleeve 38.

[0037] The working principle of the present invention is as follows:

[0038] Referring to the attached drawings, connect the base 42 to a carrier vehicle or other fixed area, connect the first hydraulic cylinder 7, the second hydraulic cylinder 12, the third hydraulic cylinder 13, the fourth hydraulic cylinder 16, and the fifth hydraulic cylinder 19 to the oil circuit of the hydraulic system, connect the servo motor 41 to the electric control system for connection control, and connect the connecting seat 4 to mechanical structures such as a lifting appliance and a fixture;

[0039] During operation, the hydraulic rod of the first driving mechanism, i.e., the second hydraulic cylinder 12, expands and contracts to push or pull the side wall of the articulated first arm 21, causing the first arm 21 to deflect upward or downward around the articulated position with the base 1. The second hydraulic cylinder 12 and the hydraulic rod of the second hydraulic cylinder 12 respectively deflect around the articulated positions with the base 1 and the first arm 21, changing the angle between the first arm 21 and the base 1 to achieve adjustment of the working height and angle;

[0040] The hydraulic rod of the second driving mechanism, i.e., the third hydraulic cylinder 13, expands and contracts to push or pull the articulated second arm 22, causing the second arm 22 to deflect upward or downward around the articulated position with the first arm 21 for folding. The third hydraulic cylinder 13 and the hydraulic rod of the third hydraulic cylinder 13 respectively deflect around the articulated positions with the first arm 21 and the second arm 22, changing the angle between the second arm 22 and the first arm 21 to achieve adjustment of the working height and angle;

[0041] The first arm 21 has a T-shaped structure and is provided with a plurality of first side plates 14 that protrude obliquely at the end for making way for the second side plate 15 connecting the second arm 22 and the third hydraulic cylinder 13 for a compact hinge connection, improving the supporting force and working stability;

[0042] The hydraulic rod of the third driving mechanism, i.e., the fourth hydraulic cylinder 16, expands and contracts to push or pull the hinge seat 17. The hinge seat 17 pushes or pulls the side wall of the boom section close to the second arm 22 through the articulated fourth link 18, realizing the reciprocating movement of the boom section within the second arm 22 for adjusting the total length of the second arm 22 and several boom sections, achieving adjustment of the working position. Two second arms 22 perform double-arm support and synchronous adjustment, improving the structural strength and stability;

[0043] The hydraulic rod of the fifth hydraulic cylinder 19, which is the fourth driving mechanism, extends, causing the second boom 24 to move with the fifth hydraulic cylinder 19 through the support frame 20 and move relative to the first boom 23 under the guidance of the first slide rail 35. When the first pulley 27 moves with the fifth hydraulic cylinder 19, one end of the first belt 28 in sliding fit pulls the third boom 25, causing the third boom 25 to move stably relative to the second boom 24 under the guidance of the first slide rail 35. When the fourth pulley 32 moves with the third boom 25, it pulls the fourth boom 26 through the fourth belt 34 in sliding fit, causing the fourth boom 26 to move relative to the third boom 25 under the guidance of the first slide rail 35. The second belt 30 outside the second pulley 29 and the third belt 33 outside the third pulley 31 move accordingly, causing the first boom 23, the second boom 24, the third boom 25, and the fourth boom 26 nested in sequence to extend and move synchronously, changing the total length of several booms to adjust the working position;

[0044] The hydraulic rod of the fifth hydraulic rod, which is the fourth driving mechanism, contracts, causing the second boom 24 to move relative to the fifth hydraulic cylinder 19 through the support frame 20 and move relative to the first boom 23 under the guidance of the first slide rail 35. When the second pulley 29 moves with the second boom 24, one end of the second belt 30 in sliding fit pulls the third boom 25, causing the third boom 25 to move stably relative to the second boom 24 under the guidance of the first slide rail 35. When the third pulley 31 moves with the third boom 25, one end of the third belt 33 in sliding fit pulls the fourth boom 26, causing the fourth boom 26 to move relative to the third boom 25 under the guidance of the first slide rail 35. The first belt 28 outside the first pulley 27 and the fourth belt 34 outside the fourth pulley 32 move accordingly, causing the first boom 23, the second boom 24, the third boom 25, and the fourth boom 26 nested in sequence to contract and move synchronously, changing the total length of several booms to adjust the working position. In summary, the fourth driving mechanism realizes the synchronous telescopic movement of adjacent booms, improves the working efficiency and support strength;

[0045] When the load on the working arm increases, the hydraulic rod of the first hydraulic cylinder 7 extends, pushing the articulated connecting piece 8. The connecting piece 8 moves under the limiting action of the first connecting rod 9 and pushes the sliding arm 6 articulated through the second connecting rod 10, causing the sliding arm 6 to extend and move along the guiding action of the second slide rail 36 in the sliding sleeve 5. The first hydraulic cylinder 7 and the hydraulic rod of the first hydraulic cylinder 7 respectively deflect around the articulated positions with the base 1 and the connecting piece 8, the second connecting rod 10 deflects around the articulated positions with the connecting piece 8 and the sliding sleeve 5, and the third connecting rod 11 deflects around the articulated positions with the second connecting rod 10 and the sliding sleeve 5, increasing the moment of the counterweight box 3 to the base 1, thereby improving the load capacity of the working arm during operation;

[0046] Similarly, when the hydraulic rod of the first hydraulic cylinder 7 contracts, it pulls the articulated connecting member 8. The connecting member 8 pulls the sliding arm 6 articulated to the second connecting rod 10, causing the sliding sleeve 5 to contract and move relative to the sliding arm 6. The first hydraulic rod, the second connecting rod 10, and the third connecting rod 11 deflect accordingly, reducing the moment from the counterweight box 3 to the base 1, preventing it from affecting the overall movement when not working. The overall structure has reliable supporting actions, which is beneficial for increasing the moving distance of the counterweight box 3 to improve the load capacity, reducing the force exerted on the first hydraulic cylinder 7 by the counterweight box 3 to reduce losses, and extending the service life.

[0047] The servo motor 41 on the outer sleeve 38 drives the worm 40 to rotate, causing the worm 40 and the worm gear 39 to drive the base 1 on the inner sleeve 37 to deflect relative to the outer sleeve 38, changing the working orientation, thereby improving the working flexibility and working range to meet the working requirements.

[0048] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "several" is two or more.

[0049] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0050] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A counterweight telescopic working arm, comprising a base (1), wherein a folding telescopic arm (2) and a counterweight box (3) are arranged on the base (1). Among them, The folding telescopic arm (2) includes a first arm rod (21) hinged to the base (1), two second arm rods (22) connected to the first arm rod (21), and several sections of arms nested in the second arm rods (22). A first driving mechanism for driving the first arm rod (21) to reciprocally deflect around the hinge position with the base (1) is arranged between the first arm rod (21) and the base (1). A second driving mechanism for driving the second arm rods (22) to reciprocally deflect around the hinge position with the first arm rod (21) is arranged between the two second arm rods (22) and the first arm rod (21). A third driving mechanism is arranged between the section of the arm close to the second arm rod (22) among the several sections of arms and the two second arm rods (22). The third driving mechanism is used to drive the section of the arm to reciprocally move synchronously within the corresponding second arm rod (22). A fourth driving mechanism is arranged within the several sections of arms. The fourth driving mechanism is used to drive the adjacent sections of arms to telescopically move synchronously. Connecting seats (4) are arranged at the ends of the several sections of arms of the two second arm rods (22). A sliding sleeve (5) is arranged on one side of the base (1). A sliding arm (6) that is in sliding fit and connected to the counterweight box (3) is arranged within the sliding sleeve (5). A first hydraulic cylinder (7) is hinged to the base (1). The end of the hydraulic rod of the first hydraulic cylinder (7) is hinged to a connecting piece (8). A first connecting rod (9) that is hinged is arranged between the connecting piece (8) and the sliding sleeve (5). A second connecting rod (10) that is hinged is arranged between the connecting piece (8) and the sliding arm (6). A third connecting rod (11) that is hinged is arranged between the second connecting rod (10) and the sliding sleeve (5). The first driving mechanism is a second hydraulic cylinder (12) located at the bottom side of the first arm rod (21) and hinged to the base (1). The end of the hydraulic rod of the second hydraulic cylinder (12) is hinged to the side wall of the first arm rod (21). The second driving mechanism is a third hydraulic cylinder (13) located at the bottom of the second arm rod (22) and hinged to the end of the first arm rod (21). The end of the hydraulic rod of the third hydraulic cylinder (13) is hinged to the bottom of the second arm rod (22).

2. A counterweight telescopic working arm according to claim 1, characterized in that, The first arm rod (21) has a T-shaped structure and several first side plates (14) that protrude obliquely at the end. Several second side plates (15) are arranged on both sides and the bottom of the second arm rod (22). The second side plates (15) and the third hydraulic cylinder (13) are hinged between adjacent first side plates (14).

3. A counterweight telescopic working arm according to claim 1, characterized in that, The third driving mechanism is a fourth hydraulic cylinder (16) arranged in parallel between the two second arm rods (22). The end of the hydraulic rod of the fourth hydraulic cylinder (16) is provided with a hinge seat (17). A fourth connecting rod (18) that is hinged is arranged between the hinge seat (17) and the side wall of the section of the arm close to the second arm rod (22) among the several sections of arms.

4. A counterweight telescopic working arm according to claim 1, characterized in that, several arms include a first arm (23), a second arm (24), a third arm (25) and a fourth arm (26) nested in sequence. The fourth driving mechanism is a fifth hydraulic cylinder (19) arranged inside the several arms. The end of the hydraulic rod of the fifth hydraulic cylinder (19) is fixedly connected to the first arm (23). A support frame (20) is provided between the end of the fifth hydraulic cylinder (19) and the second arm (24). A first pulley (27) is provided at the tail end of the fifth hydraulic cylinder (19). A first belt (28) that is in sliding fit with the outside of the first pulley (27) and is connected to the first arm (23) and the third arm (25) at both ends is provided. A second pulley (29) is provided on the second arm (24). A second belt (30) that is in sliding fit with the outside of the second pulley (29) and is connected to the first arm (23) and the third arm (25) at both ends is provided. At both ends inside the third arm (25), a third pulley (31) and a fourth pulley (32) are respectively provided. A third belt (33) that is in sliding fit with the outside of the third pulley (31) and is connected to the first belt (28) and the fourth arm (26) at both ends is provided. A fourth belt (34) that is in sliding fit with the outside of the fourth pulley (32) and is connected to the second arm (24) and the fourth arm (26) at both ends is provided.

5. A counterweight telescopic working arm according to claim 4, characterized in that, a number of parallel and slidingly fitted first slide rails (35) are provided between the outer wall of the first arm (23) and the end of the second arm rod (22), between the outer wall of the second arm (24) and the end of the first arm (23), between the outer wall of the third arm (25) and the end of the second arm (24), and between both sides of the fourth arm (26) and the end of the third arm (25).

6. A counterweight telescopic working arm according to claim 1, characterized in that, second slide rails (36) that are in sliding fit with the ends of the sliding sleeves (5) are provided on both sides of the sliding arm (6).

7. A counterweight telescopic working arm according to claim 1, characterized in that, an inner sleeve (37) and an outer sleeve (38) that are nested with each other are provided at the bottom of the base (1). A worm gear (39) is provided on the inner sleeve (37). A worm (40) that meshes with the worm gear (39) and a servo motor (41) that is coaxially connected to the worm (40) are provided on the outer sleeve (38). A base (42) is provided at the bottom of the outer sleeve (38).

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