A variable four-bar swing mechanism

Abstract

The present invention provides a variable four-link swing mechanism, wherein one end of the column is hinged to the base, one end of the swing rod is hinged to one end of the swing rod seat; one end of the lifting arm is adjustable and slidably connected to one side of the column, and the other end of the lifting arm is hinged to one end of the connecting rod; one end of the upper slide seat of the swing rod is adjustable and slidably connected to one side of the swing rod, and the other end of the upper slide seat of the swing rod is hinged to the other end of the connecting rod; one end of the lower slide seat of the swing rod is adjustable and slidably connected to the other side of the swing rod, and the other end of the lower slide seat of the swing rod is hinged to the output end of the swing power mechanism. This mechanism can convert the reciprocating linear motion of the power unit into periodic rotational motion and then transmit it to the column, so that the column swings back and forth around the fixed hinge point, and at the same time, the regular change of its own motion trajectory is realized by local adjustment of the relative positions between its internal adjustable components, so as to meet the process requirements of synchronous linear adjustment of the column tilting angle.

Description

Technical Field

[0001] The invention relates to the technical field of steel rolling, and in particular to a variable four-bar linkage swing mechanism. Background Art

[0002] In the process of industrial production and manufacturing, we often use four-bar linkages. Currently, most of the existing four-bar linkages are fixed planar linkage structures. The lengths of the components and the connection positions between them in the existing four-bar linkages are fixed, and the regularity of their own motion trajectories cannot be changed, which cannot meet the differentiated process requirements on site. Summary of the invention

[0003] The purpose of the present invention is to provide a variable four-bar linkage swing mechanism, which can convert the reciprocating linear motion of the power unit into periodic rotational motion and then transmit it to the column in the variable four-bar linkage swing mechanism, so that the column can swing back and forth around a fixed hinge point. At the same time, the regular change of its own motion trajectory is achieved by partially adjusting the relative positions between the adjustable components inside the variable four-bar linkage swing mechanism, meeting the process requirements of synchronous linear adjustment of the column tilt angle.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A variable four-bar swing mechanism comprises a column, a connecting rod, a rocker arm, a rocker arm seat, a base, a rocker arm upper slide seat, a rocker arm lower slide seat, a lifting arm and a swing power mechanism; one end of the column is hinged to the base, and one end of the rocker arm is hinged to one end of the rocker arm seat; one end of the lifting arm is adjustably slidably connected to one side of the column, and the other end of the lifting arm is hinged to one end of the connecting rod; one end of the rocker arm upper slide seat is adjustably slidably connected to one side of the rocker arm, and the other end of the rocker arm upper slide seat is hinged to the other end of the connecting rod; one end of the rocker arm lower slide seat is adjustably slidably connected to the other side of the rocker arm, and the other end of the rocker arm lower slide seat is hinged to the output end of the swing power mechanism.

[0006] Further, in the above-mentioned variable four-bar linkage swing mechanism, the connecting rod includes a connecting rod sleeve, two connecting rod beams and a fixing bolt; the connecting rod sleeve is a hollow box-shaped structure, and the other ends of the two connecting rod beams are symmetrically inserted from the two ends of the connecting rod sleeve; two groups of threaded holes are respectively arranged on both sides of the connecting rod sleeve in a mirror-symmetrical manner, and the fixing bolts are screwed into the threaded holes and contact the connecting rod beams to fix the connecting rod beams and the connecting rod sleeves; the other end of the lifting arm is hinged to one end of one of the connecting rod beams, and the other end of the rocker arm upper slide is hinged to one end of the other connecting rod beam; preferably, one end of the two connecting rod beams is embedded with a third shaft sleeve made of tin-phosphor bronze ZCuSn10P1 or tin bronze CuPb5Sn5Zn5 to be respectively hinged to the other end of the lifting arm and the other end of the rocker arm upper slide; preferably, the connecting rod sleeve is a hollow box-shaped structure formed by welding steel plates; preferably, the threaded hole is an internal thread with a model of M20.

[0007] Furthermore, in the above-mentioned variable four-bar linkage swing mechanism, the connecting rod also includes a support, an adjusting rod and a fixing nut; the support is fixedly arranged on the connecting rod beam, the fixing nut is fixedly arranged on the connecting rod sleeve, one end of the adjusting rod is rotationally matched with the support, and the other end of the adjusting rod is matched with the fixing nut; preferably, the fixing nut is a nut with model M36.

[0008] Furthermore, in the above-mentioned variable four-bar swing mechanism, two sets of rocker arm and pull rod mechanisms are also included, and each set of the rocker arm and pull rod mechanisms includes a rocker arm pull rod, two rocker arm earrings and a rocker arm; one end of the rocker arm is hinged to the rocker arm, and the other end of the rocker arm is hinged to one end of one of the rocker arm earrings; one end of another rocker arm earring in one set of the rocker arm and pull rod mechanisms is hinged to the upper sliding seat of the rocker arm, and one end of another rocker arm earring in the other set of the rocker arm and pull rod mechanisms is hinged to the lower sliding seat of the rocker arm; the rocker arm pull rod is a synchronously rotating double helix structure, and the two ends of the rocker arm pull rod adopt positive and negative fine-pitch external threads to cooperate with the other ends of the two rocker arm earrings respectively; preferably, the other end of the rocker arm is externally connected with an extended handle.

[0009] Furthermore, in the above-mentioned variable four-bar linkage swing mechanism, the rocker arm has a symmetrically arranged T-shaped slide; one end of the upper slide seat of the rocker arm and one end of the lower slide seat of the rocker arm are both provided with T-shaped grooves, and one end of the upper slide seat of the rocker arm and one end of the lower slide seat of the rocker arm are respectively slidably connected with the T-shaped slides on both sides of the rocker arm through the T-shaped grooves; preferably, the rocker arm is a symmetrical integral plate-type special-shaped component, and the rocker arm is formed by wire cutting of a steel plate with a thickness of 55 mm, and the bottom end of the rocker arm is embedded with a first shaft sleeve made of bronze and hinged to the rocker arm seat.

[0010] Furthermore, in the above-mentioned variable four-bar swing mechanism, the column is a steel riveted welded part of an integral frame structure, and the main frame of the column is formed by welding two channel steels; each of the side wings of the channel steel has a group of L-shaped slide rails, and the two groups of L-shaped slide rails are mirror-symmetrically arranged about the geometric symmetry center line of the column, and the grooves on both sides of one end of the lifting arm are respectively slidably connected to the L-shaped slide rails; preferably, the main frame of the column is formed by welding ordinary hot-rolled channel steels.

[0011] Furthermore, in the above-mentioned variable four-bar swing mechanism, it also includes a lifting arm drum, a lifting arm drum support, a fixed pulley, a fixed pulley support, a second reduction motor and a steel wire rope; the fixed pulley is fixedly arranged at the top of one side of the column through the fixed pulley support, the lifting arm drum is fixedly arranged at the bottom of one side of the column through the lifting arm drum support, the output end of the second reduction motor is fixedly connected to the lifting arm drum, and the lifting arm is slidably connected to one side of the column; one end of the steel wire rope is fixedly connected to the lifting arm, and the steel wire rope is fixedly connected to the lifting arm. The other end bypasses the fixed pulley and is fixedly connected to the lifting arm drum; preferably, the lifting arm drum is a double-flange structure with a large axial width, one end of the lifting arm drum is fixedly connected to the output end of the second reduction motor, and the two ends of the lifting arm drum are rotatably connected to the lifting arm drum support through the bronze sliding bearing sleeve in the lifting arm drum support, and the fixed pulley is rotatably connected to the fixed pulley support through the bronze sliding bearing sleeve in the fixed pulley support, and a groove is provided on the fixed pulley; preferably, the diameter of the wire rope is 6 mm.

[0012] Furthermore, in the above-mentioned variable four-bar linkage swing mechanism, there are two sets of steel wire ropes; the two sets of steel wire ropes are mirror-symmetrically fixed on both sides of the geometric symmetry axis of the lifting arm, and the two sets of steel wire ropes are respectively wound and fixed on both ends of the lifting arm drum after passing around the fixed pulley.

[0013] Furthermore, in the above-mentioned variable four-bar linkage swing mechanism, a set screw is also included; the set screw passes through one end of the lifting arm and one side of the column to fix the lifting arm and the column.

[0014] Furthermore, in the above-mentioned variable four-bar swing mechanism, it also includes a third hinge seat, which is fixedly arranged on the base, and one end of the column is hinged to the third hinge seat; the output end of the swing power mechanism is hinged to the other end of the lower sliding seat of the swing rod through the swing cylinder earring, and the bottom end of the swing power mechanism is hinged to the base; preferably, the swing power mechanism adopts single-cylinder and single-air circuit independent control.

[0015] It can be seen from the analysis that the embodiment of the variable four-bar swing mechanism disclosed in the present invention achieves the following technical effects:

[0016] The variable four-link swing mechanism is composed of a rocker, a connecting rod and a column, etc. It can convert the reciprocating linear motion of the power unit into a periodic rotational motion and then transmit it to the column, so that it can swing back and forth around a fixed hinge point. That is, the entire variable four-link swing mechanism can drive the connecting rod and the column to move in a regular fixed trajectory under the premise that the rocker driven by the swing cylinder is the active component, thereby changing the vertical inclination angle of the column in real time. At the same time, the regular change of its own motion trajectory is achieved by partially adjusting the relative positions between the adjustable components inside the variable four-link swing mechanism, meeting the process requirements of synchronous linear adjustment of the column tilt swing angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0018] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0019] Figure 2 It is a structural schematic diagram of a swing rod in one embodiment of the present invention;

[0020] Figure 3 for Figure 2 Sectional view along AA direction;

[0021] Figure 4 for Figure 2 The cross-sectional view along the BB direction;

[0022] Figure 5 for Figure 2 Cross-sectional view along CC direction;

[0023] Figure 6 for Figure 2 The cross-sectional view along the DD direction;

[0024] Figure 7 It is a structural schematic diagram of a connecting rod in one embodiment of the present invention;

[0025] Figure 8 for Figure 7 Sectional view along AA direction;

[0026] Fig. 9 It is a structural schematic diagram of a column in one embodiment of the present invention;

[0027] Fig.10 A motion diagram of an embodiment of the present invention;

[0028] Fig.11 A motion diagram of a rocker arm pull rod mechanism in one embodiment of the present invention;

[0029] Fig.12 It is a schematic structural diagram of a connecting rod sleeve in one embodiment of the present invention;

[0030] Fig.13 It is a structural schematic diagram of an adjusting rod in one embodiment of the present invention;

[0031] Fig.14 It is a front view of a swing rod in one embodiment of the present invention;

[0032] Fig.15 A top view of a swing rod according to an embodiment of the present invention;

[0033] Fig.16 It is a schematic diagram of the structure of a rocker arm in one embodiment of the present invention;

[0034] Fig.17 It is a schematic diagram of the structure of a rocker earring in one embodiment of the present invention;

[0035] Fig.18 It is a schematic diagram of the structure of a rocker arm pull rod in one embodiment of the present invention;

[0036] Fig.19 It is a structural schematic diagram of a fixed pulley zero in one embodiment of the present invention;

[0037] Fig. 20 It is a front view of the upper slide seat of the swing rod in one embodiment of the present invention;

[0038] Fig.21 A top view of a slide seat on a swing rod in one embodiment of the present invention;

[0039] Fig. 22 It is a left side view of the upper slide seat of the swing rod in one embodiment of the present invention;

[0040] Fig.23 It is a front view of the lower slide seat of the swing rod in one embodiment of the present invention;

[0041] Fig.24 A top view of a lower slide seat under a swing rod in one embodiment of the present invention;

[0042] Fig.25 It is a left view of the lower slide seat of the swing rod in one embodiment of the present invention;

[0043] Fig.26 It is a front view of a column in one embodiment of the present invention;

[0044] Fig. 27 It is a left side view of a column in one embodiment of the present invention;

[0045] Fig.28 A top view of a column in one embodiment of the present invention;

[0046] Fig.29 It is a front view of a lifting arm in one embodiment of the present invention;

[0047] Fig.30 A top view of a lifting arm in one embodiment of the present invention;

[0048] Fig.31 It is a left side view of the lifting arm in one embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 11-swing cylinder, 111-swing cylinder earring, 1111-second pin, 12-first hinge seat, 13-second hinge seat, 14-first pin, 15-base, 31-first reduction motor, 33-lateral adjustment screw rod, 34-lateral adjustment nut, 35-swing frame, 36-longitudinal adjustment nut, 37-longitudinal adjustment screw rod, 39-top rod, 392-inclined slide, 393-top rod frame, 394-L slide, 41-swing rod, 411-first shaft sleeve, 412-swing rod seat, 413-sixth pin, 414-swing rod upper slide seat, 4141-seventh pin, 4142-second shaft sleeve, 415-swing rod lower slide seat , 4151-sliding seat bolt, 42-rocker arm, 421-eighth pin, 422-rocker arm earring, 423-rocker arm pull rod, 424-ninth pin, 43-connecting rod, 431-connecting rod beam, 432-support, 433-adjusting rod, 434-connecting rod sleeve, 4341-fastening bolt, 435-third shaft sleeve, 4351-tenth pin, 44-column, 441-eleventh pin, 442-third hinge seat, 45-lifting arm, 452-wire rope, 453-fastening screw, 454-second reduction motor, 455-lifting arm drum, 456-lifting arm drum support, 457-fixed pulley support, 458-fixed pulley. DETAILED DESCRIPTION

[0051] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0052] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0053] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numbers and letter labels to refer to features in the drawings. Like or similar labels in the drawings and description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first", "second", "third", and "fourth", etc. are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0054] like Figures 1 to 31 As shown, according to an embodiment of the present invention, a variable four-bar swing mechanism is provided, including a column 44, a connecting rod 43, a rocker arm 41, a rocker arm seat 412, a base 15, a rocker arm upper slide 414, a rocker arm lower slide 415, a lifting arm 45 and a swing power mechanism; one end of the column 44 is hinged to the base 15, and one end of the rocker arm 41 is hinged to one end of the rocker arm seat 412; one end of the lifting arm 45 is adjustably slidably connected to one side of the column 44, and the other end of the lifting arm 45 is hinged to one end of the connecting rod 43; one end of the rocker arm upper slide 414 is adjustably slidably connected to one side of the rocker arm 41, and the other end of the rocker arm upper slide 414 is hinged to the other end of the connecting rod 43; one end of the rocker arm lower slide 415 is adjustably slidably connected to the other side of the rocker arm 41, and the other end of the rocker arm lower slide 415 is hinged to the output end of the swing power mechanism.

[0055] In the above embodiment, the variable four-bar linkage swing mechanism is a typical planar four-bar linkage in mechanical design, which is mainly composed of a column 44, a third hinge seat 442, a connecting rod 43, a rocker 41 and a rocker seat 412, wherein the third hinge seat 442 is fixedly arranged on the base 15, one end of the column 44 is rotatably hinged with the third hinge seat 442, and the horizontal coordinate and the vertical coordinate of the hinge pair are both fixed in both directions and cannot be adjusted, and a set of rotating pairs are designed at each end of the connecting rod 43, which are rotatably hinged with the column 44 and the rocker 41 respectively. Significantly different from the ordinary planar four-bar linkage, the rocker seat 412 to which the variable four-bar linkage swing mechanism is hinged with the rocker 41 can be connected to an external mechanism to change its own vertical coordinate and horizontal coordinate in real time, thereby changing the geometric motion trajectory of the rocker 41 and ultimately affecting the vertical tilt angle of the column 44. This variable four-bar swing mechanism can convert the reciprocating linear motion of the swing power mechanism into periodic rotational motion and then transmit it to the column 44, causing it to swing back and forth around a fixed hinge point. That is, the entire variable four-bar swing mechanism can drive the connecting rod 43 and the column 44 to move in a regular fixed trajectory under the premise that the swing rod 41 driven by the swing power mechanism is an active component, thereby changing the vertical inclination angle of the column 44 in real time. At the same time, one end of the lifting arm 45 is adjustably slidably connected to one side of the column 44, the other end of the lifting arm 45 is hinged to one end of the connecting rod 43, one end of the upper slide seat 414 of the rocker arm is adjustably slidably connected to one side of the rocker arm 41, the other end of the upper slide seat 414 of the rocker arm is hinged to the other end of the connecting rod 43, and one end of the lower slide seat 415 of the rocker arm is adjustably slidably connected to the other side of the rocker arm 41. In this way, the relative positions of the column 44, the connecting rod 43 and the rocker arm 41 can be adjusted. By locally adjusting the relative positions of the adjustable components inside the variable four-bar swing mechanism, the regular change of its own motion trajectory can be achieved, thereby meeting the process requirements of synchronous linear adjustment of the tilt swing angle of the column 44.

[0056] Among them, Figure 1 and Fig.10As shown, the variable four-bar linkage swing mechanism is a typical planar four-bar linkage in mechanics. The column 44 is fixedly hinged to the third hinge seat 442 fixed on the base 15 through the eleventh pin 441, forming a Class I mechanism with a spatial freedom of 1 and capable of swinging left and right; the connecting rod 43 and the rocker arm 41 are movably hinged through the inner pair (the seventh pin 4141), and together form a Class II rod group including 2 groups of outer pairs, 1 group of inner pairs, and a spatial freedom of 0. Among the 2 groups of outer pairs included in this Class II rod group, one of them is movably hinged to the rocker arm seat 412 through the sixth pin 413, and the other group of outer pairs is movably hinged to the next Class I mechanism, namely the column 44, through the tenth pin 4351, and together they are combined into a Class II mechanism component consisting of 1 Class I mechanism and 1 Class II rod group that are flexibly hinged and move regularly. The variable four-bar swing mechanism includes three freely movable components (column 44, connecting rod 43 and rocker arm 41) and four sets of rotating lower pairs (sixth pin 413, seventh pin 4141, tenth pin 4351, eleventh pin 441). The number of spatial degrees of freedom is F=3n-2PL-PH=3*3-2*4-0=1, which fully complies with the restriction requirements on the number of spatial degrees of freedom of the prime mover in mechanical design. Therefore, the entire variable four-bar swing mechanism can drive the connecting rod 43 and the column 44 to move in a regular fixed trajectory under the premise that the rocker arm 41 driven by the swing power mechanism is the active component, thereby changing the vertical inclination angle of the column 44 in real time.

[0057] Preferably, if Figure 1 , Figure 7 , Figure 8 and Fig.12 As shown, in one embodiment of the present invention, the connecting rod 43 includes a connecting rod sleeve 434, two connecting rod beams 431 and a fixing bolt 4341; the connecting rod sleeve 434 is a hollow box-shaped structure, and the other ends of the two connecting rod beams 431 are symmetrically inserted from the two ends of the connecting rod sleeve 434; two groups of threaded holes are respectively arranged on both sides of the connecting rod sleeve 434 in a mirror-symmetrical manner, and the fixing bolts 4341 are screwed into the threaded holes and contact the connecting rod beams 431 to fix the connecting rod beams 431 and the connecting rod sleeve 434; the other end of the lifting arm 45 and the other end of the swing arm upper slide 414 are respectively hinged to one end of the two connecting rod beams 431; preferably, one end of the two connecting rod beams 431 are embedded and installed with a third shaft sleeve 435 made of tin-zinc-lead bronze to be respectively hinged to the other end of the lifting arm 45 and the other end of the swing arm upper slide 414; preferably, the connecting rod sleeve 434 is a hollow box-shaped structure formed by welding steel plates; preferably, the threaded hole is an internal thread of model M20.

[0058] In the above embodiment, the connecting rod 43 adopts a combined set of split structure design scheme. The main structure of the connecting rod 43 is assembled by inserting two sets of connecting rod beams 431 with completely identical structures and symmetrical arrangement into the connecting rod sleeve 434 from both ends. The connecting rod sleeve 434 is welded with steel plates into a hollow box-shaped structure. Two sets of M20 internal threads are designed on the two side steel plates of the connecting rod sleeve 434 in a mirror-symmetrical manner. Through the clamping force of the two sets of fastening bolts 4341 screwed together, the connecting rod beam 431 and the connecting rod sleeve 434 are fixedly connected to form a three-in-one integral rigid component. The third shaft sleeve 435 made of tin-zinc-lead-bronze material is embedded and installed on the connecting rod beam 431, and is respectively hinged with the lifting arm 45 and the upper slide seat 414 of the swing arm. The upper slide seat 414 of the swing arm and the lifting arm 45 are adjustable sliding rotation pairs on the swing arm 41 and the column 44.

[0059] Preferably, if Fig.13 As shown, in one embodiment of the present invention, the connecting rod also includes a support 432, an adjusting rod 433 and a fixing nut; the support 432 is fixedly arranged on the connecting rod beam 431, the fixing nut is fixed on the connecting rod sleeve 434, one end of the adjusting rod 433 is rotationally matched with the support 432, and the other end of the adjusting rod 433 is matched with the fixing nut; preferably, the fixing nut is a nut of model M36. In order to facilitate the adjustment of the coordinated telescopic length of the two sets of connecting rod beams 431 in the connecting rod sleeves 434, change the longitudinal length geometric parameters of the connecting rod 43, thereby adjusting its movement trajectory and ultimately affecting the vertical inclination angle of the column 44, the present invention specially installs two sets of adjustment mechanisms on the connecting rod 43, and the support 432 adopts a split upper and lower split structure design scheme, and the lower half is fixedly welded to the connecting rod beam 431. The support 432 and one end of the adjusting rod 433 are rotationally matched through the convex and concave platforms inside them, and bear axial push or pull forces. Here, the axial cross-section of one end of the adjusting rod 433 is concave, that is, a groove is provided at a certain distance from the end face of one end of the adjusting rod 433. Correspondingly, a protrusion is provided in the through hole formed between the upper and lower parts of the support 432, that is, a convex and concave platform is formed, and the protrusion cooperates with the groove at one end of the adjusting rod 433 to realize the rotational cooperation between one end of the adjusting rod 433 and the support 432. The other end of the adjusting rod 433 is screwed with the M36 nut fixed on the connecting rod sleeve 434. Through the axial push or pull force transmitted by the rotation of the adjusting rod 433, the connecting rod beam 431 can be easily and quickly extended and retracted in the connecting rod sleeve 434, and then locked and positioned with the fixing bolt 4341 after reaching the expected adjustment position. The two sets of adjusting rods 433 are manually driven and can act independently or be adjusted simultaneously. They should be operated flexibly according to the actual needs on site. It can be seen that compared with other traditional fixed planar connecting rod structure designs, the above-mentioned retractable split plug-in connecting rod scheme is one of the outstanding invention highlights of the variable four-bar swing mechanism in the present invention.

[0060] Preferably, if Figures 16 to 25As shown, in one embodiment of the present invention, two sets of rocker arm pull rod mechanisms are further included, each set of rocker arm pull rod mechanisms includes a rocker arm pull rod 423, two rocker arm earrings 422 and a rocker arm 42; one end of the rocker arm 42 is hinged to the rocker arm 41, and the other end of the rocker arm 42 is hinged to one end of a rocker arm earring 422, one end of another rocker arm earring 422 in one set of rocker arm pull rod mechanisms is hinged to the rocker arm upper slide 414, and one end of another rocker arm earring 422 in the other set of rocker arm pull rod mechanisms is hinged to the rocker arm lower slide seat 415, the rocker arm pull rod 423 is a synchronously rotating double helix structure, and both ends of the rocker arm pull rod 423 adopt positive and negative fine-pitch external threads to cooperate with the other ends of the two rocker arm earrings 422 respectively; preferably, the other end of the rocker arm 42 is externally connected with an extended handle. One end of the rocker arm 42 in the rocker arm pull rod assembly is hinged to the rocker rod 41, and the other end is hinged to the rocker arm earring 422, and an extended handle is designed on the top of the other end, which is equivalent to a labor-saving lever for easy manual operation. The rocker arm pull rod 423 adopts a synchronously rotating double helix structure design, and the two ends respectively adopt positive and negative fine-tooth external threads to be screwed with two sets of rocker arm earrings 422 hinged on the rocker arm 42 and the rocker arm upper slide 414. When the rocker arm pull rod 423 is rotated forward or reversely, the plane straight line distance between the two hinged rotation sub-center points on the rocker arm 42 and the rocker arm upper slide 414 will be correspondingly extended or shortened, thereby compensating for the problem of short adjustment sliding stroke distance of the rocker arm upper slide 414 caused by the limitation of the swing inclination angle of the rocker arm 42, and expanding its adjustment range. Preferably, in one embodiment of the present invention, it also includes a swing cylinder earring 111, and the output end of the swing power mechanism is hinged to the other end of the swing arm lower slide 415 through the swing cylinder earring 111. The lower sliding seat 415 of the rocker arm adopts the above-mentioned identical rocker arm pull rod assembly structure to manually adjust the spatial coordinates of the swing cylinder earring 111, which is used to compensate for the stroke of the swing cylinder 11 in the swing power mechanism and meet the process design requirements of the swing inclination angle of the rocker arm 41.

[0061] Among them, Fig.11As shown, two sets of longitudinally adjustable revolving pairs, namely the second pin 1111 and the seventh pin 4141, are designed on the body of the swing rod 41. They are arranged on the lower slide seat 415 of the swing rod and the upper slide seat 414 of the swing rod respectively, and the positions are slightly adjusted through the swing rod rocker arm pull rod mechanism to change their own horizontal and vertical coordinates, thereby changing the trajectory parameters of the connecting rod 43 and the swing cylinder 11, and further affecting the overall motion trajectory of the entire variable four-bar swing mechanism. In terms of structure, the upper and lower sets of swing rod rocker arm pull rod mechanisms matched with the upper slide seat 414 of the swing rod and the lower slide seat 415 of the swing rod adopt the same structural design, and the only difference is that the length of the rocker arm pull rod 423 is slightly different. The rocker arm and pull rod mechanism also adopts a planar multi-rod mechanism design scheme that combines a Class I mechanism with a Class II rod group in mechanical principle design. The rocker arm 42 is hinged to the rocker arm 41 body through the eighth pin 421, and can swing left and right to form a Class I mechanism. The rocker arm earring 422 and the rocker arm pull rod assembly are connected to the rocker arm upper slide 414 or the rocker arm lower slide 415 through the ninth pin 424 (the inner pair of the Class II rod group) to form a Class II rod group that includes two movable components (the rocker arm upper slide 414 or the rocker arm lower slide 415 and the rocker arm earring 422 and the rocker arm pull rod assembly), and three low pairs (two rotating low pairs formed by the eighth pin 421 and the ninth pin 424 + one moving low pair formed by the rocker arm 41 and the rocker arm upper slide 414 or the rocker arm lower slide 415). The above-mentioned level I mechanism and level II rod group are connected through the eighth pin 421 to form a rocker arm pull rod mechanism, and the design calculation of its internal degree of freedom is F=3n-2PL-PH=3*3-2*4-0=1, which meets the degree of freedom requirement of planar connecting rod motion design. When the rocker arm 42 swings, the upper slide 414 of the rocker arm or the lower slide 415 of the rocker arm can slide regularly in a straight line, thereby changing the planar position parameter coordinates of the seventh pin 4141 and the second pin 1111.

[0062] Preferably, if Figures 2 to 6 , Fig.14 and Fig.15As shown, in one embodiment of the present invention, the swing rod 41 has a symmetrically arranged T-shaped slideway; one end of the swing rod upper slide 414 and one end of the swing rod lower slide 415 are both provided with a T-shaped groove, and one end of the swing rod upper slide 414 and one end of the swing rod lower slide 415 are respectively connected to the T-shaped slideways on both sides of the swing rod 41 through the T-shaped groove; preferably, the swing rod 41 is a symmetrical integral plate-shaped special-shaped component, and the swing rod 41 is formed by wire cutting of a steel plate with a thickness of 55 mm, and the bottom end of the swing rod 41 is embedded with a bronze first shaft sleeve 411 and hinged with the swing rod seat 412. The swing rod 41 assembly is an adjustable three-pair component with T-shaped slideways symmetrically arranged up and down, mainly composed of the swing rod 41, the swing rod upper slide 414, the swing rod lower slide 415 and two sets of relatively independent rocker arm pull rods 423, which itself includes two sets of manual sliding adjustment coordinate rotation pairs and one set of automatic linear mechanical adjustment coordinate parameter rotation pairs. The swing rod 41 is a symmetrically structured integral plate-shaped component, which is made of 55mm thick steel plate wire cutting. The first shaft sleeve 411 made of bronze is embedded at the bottom and fixedly hinged with the swing rod seat 412. The swing rod seat 412 can change the coordinates of the swing rod 41 and adjust its own motion trajectory by connecting with an external mechanism. The bottom of the swing rod upper slide 414 is designed with a T-shaped groove, which can be mounted on the swing rod 41 and slide back and forth freely on the T-shaped slide of the swing rod 41. The top of the swing rod upper slide 414 is designed with two sets of rotating hinge pairs, one set is used to hinge the connecting rod 43 to transmit the power of the swing rod 41, and the other set is hinged to the rocker arm earring 422, and is connected to the rocker arm 42 through the rocker arm pull rod 423 that is screwed with it, forming a complete set of four-link adjustment mechanism, which is used to adjust the spatial coordinate parameters of the hinge pair at the end of the connecting rod 43 and change the motion trajectory of the connecting rod 43.

[0063] The swing rod seat 412 in the variable four-link swing mechanism can be connected to an external mechanism to change its own ordinate and abscissa in real time, thereby changing the geometric motion trajectory of the swing rod 41 and ultimately affecting the vertical tilt angle of the column 44. Preferably, as Figure 1As shown, in one embodiment of the present invention, a sliding screw adjustment mechanism is hinged at the bottom of the rocker seat 412, and the sliding screw adjustment mechanism includes a sliding screw mechanism, an inclined wedge sliding mechanism, a push rod frame 393, and a locking bolt. The sliding screw mechanism includes a first reduction motor 31, a transverse adjustment nut 34 and a transverse adjustment screw rod 33. The inclined wedge sliding mechanism includes a rocker frame 35, a longitudinal adjustment nut 36, a longitudinal adjustment screw rod 37, an inclined slide 392 and a push rod 39. The output end of the first reduction motor 31 is fixedly connected to one end of the transverse adjustment screw rod 33, the transverse adjustment nut 34 is threadedly connected to the transverse adjustment screw rod 33, the bottom of the rocker frame 35 is hinged to the upper plane of the transverse adjustment nut 34, and the longitudinal adjustment screw rod 37 is rotatably arranged on the inner side of the rocker frame 35. The whole nut 36 is threadedly connected to the longitudinal adjustment screw rod 37, the bottom of the longitudinal adjustment screw rod 37 is hinged to the upper plane of the transverse adjustment nut 34, one end of the inclined slide 392 is hinged to the longitudinal adjustment nut 36, the other end of the inclined slide 392 is hinged to the upper plane of the transverse adjustment nut 34, one end of the push rod 39 is hinged to the inclined slide 392, the other end of the push rod 39 is fixedly connected to the rocker rod seat 412, a sleeve is provided at the top of the push rod frame 393, the bottom of the L slide 394 is fixedly provided, the bottom of the push rod frame 393 is slidably connected to the top of the L slide 394, the locking bolt is provided between the bottom of the push rod frame 393 and the top of the L slide 394, the locking bolt is used to fix the bottom of the push rod frame 393 to the top of the L slide 394, and the push rod 39 is provided in the sleeve. The first reduction motor 31 drives the lateral adjustment screw rod 33 to rotate circumferentially, so that the lateral adjustment nut 34 synchronously moves axially, so that the inclined slide 392 synchronously slides axially, and then the push rod 39 synchronously moves vertically and lifts, so as to adjust the longitudinal coordinate of the swing rod seat 412; when the push rod frame 393 slides on the L slide 394, the push rod 39 can be moved left and right to change the transverse coordinate of the push rod 39, so that the transverse coordinate of the swing rod seat 412 can be adjusted. After the adjustment is completed, the bottom of the push rod frame 393 can be fixedly connected to the top of the L slide 394 by locking bolts. This sliding screw adjustment mechanism can adjust the transverse coordinate and longitudinal coordinate of the swing rod seat 412 online and in real time, and finally adjust the inclination angle of the column 44 in real time to meet the differentiated process requirements on site. In actual application, the first reduction motor 31 and the swing cylinder 11 can adjust the action separately, or they can achieve online real-time fine-tuning by coordinating the actions according to a certain rule after the logic programming of the electronic control system.

[0064] Preferably, if Fig. 9 , Figure 26 to Figure 31As shown, in one embodiment of the present invention, the column 44 is a steel riveted welded part of an integral frame structure, and the main frame of the column 44 is welded from two channel steels; each channel steel wing has a set of L-shaped slide rails, and the two sets of L-shaped slide rails are mirror-symmetrically arranged with the geometric symmetry center line of the column 44, and the grooves on both sides of one end of the lifting arm 45 are respectively slidably connected with the L-shaped slide rails; preferably, the main frame of the column 44 is welded from ordinary hot-rolled channel steel; preferably, the main frame of the column 44 is welded from 180 hot-rolled channel steel. The column 44 is the core component of the entire variable four-bar swing mechanism. The column 44 is a steel riveted welded part of an integral frame structure, and the main body of the column 44 is welded from ordinary hot-rolled channel steel. A set of rotating hinge pairs are designed at the bottom, which can swing left and right around the third hinge seat 442 fixed on the base 15. A set of L-shaped slide rails are welded and fixed to the side wings of the main frame channel steel of the column 44, which are arranged in mirror symmetry with the geometric symmetry center line of the column 44 and matched with the base groove of the lifting arm 45, so that the lifting arm 45 can slide up and down along the side wing edge of the column 44 in a straight line, changing the longitudinal coordinate of the tenth pin shaft 4351 on the lifting arm 45, thereby affecting the movement trajectory of the connecting rod 43 hinged to the lifting arm 45 and other components in the variable four-bar swing mechanism, and finally affecting the tilting and swinging angle of the column 44. Lubricating grease is applied to the mating surface between the L-shaped slide rail and the grooves on both sides of one end of the lifting arm 45 to reduce friction, so as to facilitate the lifting arm 45 to slide up and down along the L-shaped slide rail.

[0065] Preferably, if Figures 3 to 5 , Fig. 9 and Fig.19 As shown, in one embodiment of the present invention, it also includes a lifting arm drum 455, a fixed pulley 458, a lifting arm drum support 456, a fixed pulley support 457, a second reduction motor 454 and a wire rope 452; the fixed pulley 458 is fixedly arranged at the top of one side of the column 44 through the fixed pulley support 457, the lifting arm drum 455 is fixedly arranged at the bottom of one side of the column 44 through the lifting arm drum support 456, the output end of the second reduction motor 454 is fixedly connected to the lifting arm drum 455, and the lifting arm 45 is slidably arranged on one side of the column 44; one end of the wire rope 452 is fixedly connected to the lifting arm 45, and the wire rope 454 is fixedly connected to the lifting arm 45. The other end of 52 passes around the fixed pulley 458 and is fixedly connected to the lifting arm drum 455; preferably, the lifting arm drum 455 is a double-flange structure with a large axial width, one end of the lifting arm drum 455 is fixedly connected to the output end of the second reduction motor 454, and the two ends of the lifting arm drum 455 are rotatably connected to the lifting arm drum support 456 through the bronze sliding bearing sleeve in the lifting arm drum support 456, and the fixed pulley 458 is rotatably connected to the fixed pulley support 457 through the bronze sliding bearing sleeve in the fixed pulley support 457, and a groove is provided on the fixed pulley 458; preferably, the diameter of the wire rope 452 is 6 mm.

[0066] In the above embodiment, the vertical linear sliding of the lifting arm 45 is realized by the lifting arm drum 455 and the fixed pulley 458 arranged on the side of the channel steel of the main frame of the column 44. Through the programming of the electric control system PLC and the control of the electromagnetic induction switch, the whole process can be synchronized and automatically adjusted linearly, and the tilting angle of the column 44 can be automatically adjusted during the operation of the equipment. The lifting arm drum 455 is designed as a double-flange structure with a large axial width, one end of which is supported by the second reduction motor 454, and the other end is reduced by the bronze sliding bearing sleeve on the lifting arm drum support 456. Similarly, the fixed pulley 458 also uses a bronze sliding bearing sleeve of the same material to reduce friction, and a groove is designed on the pulley to prevent the wire rope 452 from falling off. The fixed pulley 458 is welded and fixed to the top of the channel steel wing of the main frame of the column 44 through the fixed pulley support 457, and the lifting arm drum 455 is welded and fixed to the bottom of the channel steel wing of the main frame of the column 44 through the lifting arm drum support 456. The lifting arm 45 that can slide up and down is placed in the middle of the channel steel wing of the main frame of the column 44. When the lifting arm drum 455 rotates forward and reversely under the drive of the second reduction motor 454, the steel wire rope 452 fixed on its surface will be extended or shortened accordingly, and the load transmission of the fixed pulley 458 and the change of the force direction make the lifting arm 455 connected to the steel wire rope 452 slide up and down linearly, thereby changing its longitudinal coordinate in real time and realizing online synchronous fine adjustment. The descending action of the lifting arm 45 is mainly by gravity, and the ascending action mainly depends on the lifting force of the lifting arm drum 455. Preferably, in one embodiment of the present invention, a set screw 453 is further included; the set screw 453 passes through one end of the lifting arm 45 and one side of the column 44 to fix the lifting arm 45 and the column 44. In addition to being able to achieve online linear fine-tuning, the lifting arm 45 can also be fixed on the L-shaped slide rail of the column 44 by means of the tightening force of its own set screw 453, forming a set of fixed rotating hinges, and the specific adjustment method can be selected according to the actual working conditions on site. Among them, the first reduction motor 31 and the second reduction motor 454 can adjust the action separately, or they can cooperate according to a certain rule after relying on the electric control PLC logic programming, so as to achieve online real-time fine-tuning of the parameters of the two local key points.

[0067] Preferably, if Fig. 9As shown, in one embodiment of the present invention, there are two sets of steel wire ropes 452; the two sets of steel wire ropes 452 are fixedly arranged on both sides of the geometric symmetry axis of the lifting arm 45 in a mirror-symmetrical manner, and the two sets of steel wire ropes 452 are respectively wound and fixed on both ends of the lifting arm drum 455 after passing through the fixed pulley 458. In order to facilitate the winding of the steel wire ropes 452 and prevent the lifting arm 45 from sliding up and down due to unbalanced load, the present invention adopts a dual-wire rope synchronous lifting scheme, and accordingly, the number of fixed pulleys 458 and fixed pulley supports 457 are both two. The use of two fixed pulleys 458 can improve the force environment of the lifting arm 45 and prevent unbalanced load from affecting its flexibility of sliding up and down. Two sets of steel wire ropes 452 with exactly the same structure are arranged in mirror-symmetrical manner on both sides of the geometric symmetry axis of the lifting arm 45 and are firmly connected to it. After both of them pass around the fixed pulley 458, they are uniformly wound around the two ends of the lifting arm drum 455. Relying on the rotation of the lifting arm drum 455, they are synchronously extended or shortened to drive the lifting arm 45 to rise and fall.

[0068] Among them, the swing power mechanism adopts single cylinder single air circuit independent control, which is controlled by the independent pneumatic electromagnetic reversing valve, flow control valve and remote electronic control system PLC of the operation table on site, and supplemented by multiple sets of electromagnetic sensors installed on site, so that the swing cylinder 11 moves to complete the action decomposition process requirements of the complex motion trajectory process. The swing cylinder 11 adopts a convenient and quick disassembly and assembly structure design scheme. The tail of the swing cylinder 11 is connected to the first hinge seat 12 by bolts. The swing cylinder 11 adopts bolt connection or welding to fix the second hinge seat 13 and the base 15 in space, and the first hinge seat 12 and the second hinge seat 13 form a fully fixed articulated pair through the cooperation of the first pin shaft 14 of the intermediate component and the radial spherical bearing, which completely limits the freedom of movement of the swing cylinder 11 in the horizontal plane in the horizontal and longitudinal directions, and only retains its spatial rotation freedom. The Y-shaped earring on the head of the piston rod is hinged with the swing rod 41 through the second pin shaft 1111, forming a swing power mechanism power unit, driving the swing rod 41 to swing left and right around the swing rod seat 412.

[0069] In addition, the sliding friction parts involved in the present invention are all made of bronze materials with sufficient rigidity, strength, wear resistance and anti-friction properties and coated with extreme pressure lithium-based lubricating grease to reduce friction resistance, reduce system friction power loss, and improve operational flexibility. Considering the actual working conditions of high temperature, low speed, and intermittent transmission on site and the good machining process performance of the material, tin-phosphor bronze ZCuSn10P1 and tin bronze CuPb5Sn5Zn5 with good anti-friction properties are preferred. Their notable characteristics are low hardness, high plasticity, small elastic modulus, good running-in, compliance and embedding properties, and high fatigue strength against compression and impact loads. If limited by market supply and manufacturing costs, aluminum bronze material ZCuAl10Fe3 with high mechanical strength and wear resistance can also be used as a substitute. The specific bronze spare parts involved are as follows: the first shaft sleeve 411 in the swing rod seat 412, the second shaft sleeve 4142 in the swing rod upper slide seat 414, and the third shaft sleeve 435 in the connecting rod beam 431.

[0070] From the above description, it can be seen that the above-mentioned embodiment of the present invention achieves the following technical effects: the variable four-bar linkage swing mechanism is composed of a rocker 41, a connecting rod 43 and a column 44, etc., which can convert the reciprocating linear motion of the power unit into a periodic rotational motion and then transmit it to the column, so that it can swing back and forth around the fixed hinge point, that is, the entire variable four-bar linkage swing mechanism can drive the connecting rod 43 and the column 44 to move in a regular fixed trajectory under the premise that the rocker 41 driven by the swing cylinder 11 is an active component, thereby changing the vertical inclination angle of the column 44 in real time. At the same time, the regular change of its own motion trajectory is achieved by partially adjusting the relative positions between the adjustable components inside the variable four-bar linkage swing mechanism, meeting the process requirements of synchronous linear adjustment of the inclination angle of the column 44.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A variable four-bar swing mechanism, characterized in that: It includes a column, a connecting rod, a swing rod, a swing rod seat, a base, a swing rod upper slide seat, a swing rod lower slide seat, a lifting arm and a cylinder; One end of the column is hinged to the base, and one end of the swing rod is hinged to one end of the swing rod seat; One end of the lifting arm is adjustably slidably connected to one side of the column, and the other end of the lifting arm is hinged to one end of the connecting rod; One end of the upper slide of the swing rod is adjustably slidably connected to one side of the swing rod, and the other end of the upper slide of the swing rod is hinged to the other end of the connecting rod; One end of the lower seat of the swing rod is adjustable and slidably connected to the other side of the swing rod, the other end of the lower seat of the swing rod is hinged to the output end of the cylinder, and the input end of the cylinder is hinged to the base. The upper slide seat of the rocker rod and the lower slide seat of the rocker rod are respectively fixed to the rocker rod by slide seat bolts. Also included are two sets of rocker arm pull rod mechanisms, each set of the rocker arm pull rod mechanism comprising a rocker arm pull rod, two rocker arm earrings and a rocker arm; One end of the rocker arm is hinged to the rocker rod, and the other end of the rocker arm is hinged to one end of one of the rocker arm earrings; One end of another rocker arm earring in one set of the rocker arm and pull rod mechanism is hinged to the upper slide seat of the rocker arm, and one end of another rocker arm earring in another set of the rocker arm and pull rod mechanism is hinged to the lower slide seat of the rocker arm; The rocker arm pull rod is a synchronously rotating double helix structure, and both ends of the rocker arm pull rod adopt positive and negative fine-pitch external threads to respectively cooperate with the other ends of the two rocker arm earrings; Also included are set screws; The set screw passes through one end of the lifting arm and one side of the column to fix the lifting arm and the column.

2. The variable four-bar linkage swing mechanism according to claim 1, characterized in that: The connecting rod comprises a connecting rod sleeve, two connecting rod beams and a fixing bolt; The connecting rod sleeve is a hollow box-shaped structure, and the other ends of the two connecting rod beams are symmetrically inserted from the two ends of the connecting rod sleeve; Two groups of threaded holes are respectively arranged in mirror symmetry on both sides of the connecting rod sleeve, and the fixing bolts are screwed into the threaded holes and contact the connecting rod beam to fix the connecting rod beam and the connecting rod sleeve; The other end of the lifting arm is hinged to one end of one of the connecting rod beams, and the other end of the swing arm upper slide is hinged to one end of another connecting rod beam.

3. The variable four-bar linkage swing mechanism according to claim 2, characterized in that: One end of the two connecting rod beams is embedded with a third shaft sleeve made of tin-phosphor bronze ZCuSn10P1 or tin bronze CuPb5Sn5Zn5 to be hinged to the other end of the lifting arm and the other end of the swing arm upper slide seat respectively.

4. The variable four-bar linkage swing mechanism according to claim 2, characterized in that: The connecting rod sleeve is a hollow box-shaped structure formed by welding steel plates.

5. The variable four-bar linkage swing mechanism according to claim 2, characterized in that: The threaded hole is an internal thread of model M20.

6. The variable four-bar linkage swing mechanism according to claim 2, characterized in that: The connecting rod also includes a support, an adjusting rod and a fixing nut; The support is fixedly arranged on the connecting rod beam, the fixing nut is fixedly arranged on the connecting rod sleeve, one end of the adjusting rod is rotationally matched with the support, and the other end of the adjusting rod is matched with the fixing nut.

7. The variable four-bar linkage swing mechanism according to claim 6, characterized in that: The fixing nut is a nut of model M36.

8. The variable four-bar linkage swing mechanism according to claim 1, characterized in that: The other end of the rocker arm is externally connected with an extended handle.

9. The variable four-bar linkage swing mechanism according to claim 1, characterized in that: The swing rod is provided with symmetrically arranged T-shaped slideways; One end of the upper slide seat of the swing rod and one end of the lower slide seat of the swing rod are both provided with T-shaped grooves, and one end of the upper slide seat of the swing rod and one end of the lower slide seat of the swing rod are respectively slidably connected with the T-shaped slideways on both sides of the swing rod through the T-shaped grooves.

10. The variable four-bar linkage swing mechanism according to claim 9, characterized in that: The swing rod is a symmetrical integral plate-shaped component, which is formed by wire cutting of a steel plate with a thickness of 55 mm. A first shaft sleeve made of bronze is embedded in the bottom end of the swing rod and is hinged to the swing rod seat.

11. The variable four-bar linkage swing mechanism according to claim 1, characterized in that: The column is a steel riveted welded part of an integral frame structure, and the main frame of the column is formed by welding two channel steels; Each of the channel steel side wings has a set of L-shaped slide rails, and the two sets of L-shaped slide rails are arranged in mirror symmetry with the geometric symmetry center line of the column. The grooves on both sides of one end of the lifting arm are slidably connected to the L-shaped slide rails respectively.

12. The variable four-bar linkage swing mechanism according to claim 11, characterized in that: The main frame of the column is welded by ordinary hot-rolled channel steel.

13. The variable four-bar linkage swing mechanism according to claim 1, characterized in that: It also includes a lifting arm drum, a lifting arm drum support, a fixed pulley, a fixed pulley support, a second reduction motor and a steel wire rope; The fixed pulley is fixedly arranged at the top of one side of the column through the fixed pulley support, the lifting arm drum is fixedly arranged at the bottom of one side of the column through the lifting arm drum support, the output end of the second reduction motor is fixedly connected to the lifting arm drum, and the lifting arm is slidably connected to one side of the column; One end of the steel wire rope is fixedly connected to the lifting arm, and the other end of the steel wire rope passes over the fixed pulley and is fixedly connected to the lifting arm drum.

14. The variable four-bar linkage swing mechanism according to claim 13, characterized in that: The lifting arm drum is a double-flange structure with a large axial width. One end of the lifting arm drum is fixedly connected to the output end of the second reduction motor. The two ends of the lifting arm drum are rotatably connected to the lifting arm drum support via a bronze sliding bearing sleeve in the lifting arm drum support. The fixed pulley is rotatably connected to the fixed pulley support via a bronze sliding bearing sleeve in the fixed pulley support, and a groove is provided on the fixed pulley.

15. The variable four-bar linkage swing mechanism according to claim 13, characterized in that: The diameter of the steel wire rope is 6 mm.

16. The variable four-bar linkage swing mechanism according to claim 13, characterized in that: The number of the steel wire ropes is two sets; The two sets of steel wire ropes are fixedly arranged at both sides of the geometric symmetry axis of the lifting arm in a mirror-symmetrical manner. After passing around the fixed pulley, the two sets of steel wire ropes are respectively wound and fixed at the two ends of the lifting arm drum.

17. The variable four-bar linkage swing mechanism according to claim 1, characterized in that: It also includes a third hinge seat, which is fixedly arranged on the base, and one end of the column is hinged to the third hinge seat.

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