A steerable cross-over telescopic arm structure

Abstract

The present application relates to the technical field of telescopic arms, and more particularly to a steerable cross telescopic arm structure comprising a cross telescopic device and a steering telescopic control structure for driving the cross telescopic device to perform telescopic and steering movements; the steering telescopic control structure of the present application can not only drive the cross telescopic device to perform telescopic movement in a straight line, but also drive the cross telescopic device to rotate around a cross source power shaft at one end, and the telescopic movement is matched with fixed shaft rotation to realize that the cross telescopic device can move in a plane, so that the cross telescopic device with an additional movement dimension can flexibly reach objects at any angle in the plane, instead of being limited to telescopic movement in a single direction, thereby greatly improving the practicability of the telescopic arm and effectively solving the technical problem that the telescopic arm cannot be controlled to steer at will in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of telescopic arms, and more particularly to a steerable cross telescopic arm structure. BACKGROUND

[0002] Telescopic arms are widely used in various industrial machines, such as arm bodies of industrial robots, supports of lighting fixtures, arm bodies supporting platforms for placing objects, and the like, as well as life-related appliances, medical-related appliances, and the like.

[0003] The prior art discloses a telescopic mechanical arm for power distribution meter detection, comprising a sliding seat, the upper end of the sliding seat is provided with a sliding rail, the lower surface of the sliding seat is installed with an electric control box, the lower surface of the electric control box is provided with a mechanical arm mounting box, the front and rear sides of the mechanical arm mounting box are installed with cross arms, the lower end of the cross arm is installed with a mounting plate, the lower surface of the mounting plate is installed with a camera, the upper surface of the mounting plate is installed with a telescopic rail, the upper surface of the mounting plate is installed with a connecting line, the inner side of the cross arm is installed with a connecting rod, the inside of the electric control box is installed with a control module, a wireless transceiver module and a travel switch; the scheme utilizes the telescopic mechanical arm to fix the high-definition camera and can move up and down.

[0004] However, the control mechanism of the prior art can only control the telescopic arm to stretch and retract in a straight line to realize lifting movement, and cannot change the direction of telescopic arm stretching and retracting to realize the movement of the telescopic arm in a plane, resulting in that the telescopic arm cannot flexibly touch objects at any angle, and there is limitation in the practical aspect of the telescopic arm, and there is a technical problem that the telescopic arm cannot be controlled to turn randomly. SUMMARY

[0005] The present application aims to overcome the deficiency that the telescopic arm cannot be controlled to turn randomly in the prior art, and provides a steerable cross telescopic arm structure.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is:

[0007] The application discloses a steerable cross-telescopic arm structure which comprises a cross-telescopic device and a steering-telescopic control structure used for driving the cross-telescopic device to perform telescopic and steering movements; the cross-telescopic device comprises a plurality of X configurations, and each X configuration comprises two cross arms which are connected to each other at a cross shaft as a cross point; the cross arm is provided with a cross active end at an upper portion of the cross shaft and a cross passive end at a lower portion of the cross shaft; the cross passive ends of the plurality of X configurations are connected to another cross active end through a connecting shaft; the steering-telescopic control structure is provided with a steering-telescopic driving frame, two cross power arms which are connected to the steering-telescopic driving frame to form a cross power shaft, and a function driving frame arranged on the cross power arm; the upper end of the cross power arm is connected to an output end of the steering-telescopic control structure, and the function driving frame is arranged on the lower end of the cross power arm; and the function driving frame is provided with a transmission shaft and is rotatably connected to the cross active end of one end of the cross-telescopic device.

[0008] The application discloses a steerable cross-telescopic arm structure which comprises a cross-telescopic device and a steering-telescopic control structure used for driving the cross-telescopic device to perform telescopic and steering movements; the cross-telescopic device comprises a plurality of X configurations, and each X configuration comprises two cross arms which are connected to each other at a cross shaft as a cross point; the cross arm is provided with a cross active end at an upper portion of the cross shaft and a cross passive end at a lower portion of the cross shaft; the cross passive ends of the plurality of X configurations are connected to another cross active end through a connecting shaft; the steering-telescopic control structure is provided with a steering-telescopic driving frame, two cross power arms which are connected to the steering-telescopic driving frame to form a cross power shaft, and a function driving frame arranged on the cross power arm; the upper end of the cross power arm is connected to an output end of the steering-telescopic control structure, and the function driving frame is arranged on the lower end of the cross power arm; and the function driving frame is provided with a transmission shaft and is rotatably connected to the cross active end of one end of the cross-telescopic device.

[0009] Further, the cross power shaft is a fixed shaft, and the steering-telescopic control structure controls the cross-telescopic device to perform steering movements around the fixed shaft as a center shaft. The cross power shaft is arranged as a fixed shaft, so that the cross power shaft has higher stability and a more reasonable structure when serving as the center shaft of the steering-telescopic control structure for controlling the cross-telescopic device to perform steering movements.

[0010] Further, the turning telescopic drive frame is provided with a fixed large-diameter circular gear disc coaxially arranged with the cross power shaft, and the upper end of the cross power arm is provided with a controllable drive module, which can move along the edge of the fixed large-diameter circular gear disc. The controllable drive module moving along the edge of the fixed large-diameter circular gear disc drives two groups of cross power arms to rotate around the cross power shaft, realizing automatic rotation of the cross power arm and stable conversion and output of torque.

[0011] Further, the output end of the controllable drive module is provided with a small-diameter gear, and the edge of the fixed large-diameter circular gear disc is uniformly provided with a gear tooth, and the small-diameter gear is engaged with the gear tooth. The small-diameter gear arranged at the output end of the controllable drive module is engaged with the fixed large-diameter circular gear disc, which increases the stability of the controllable drive module moving along the edge of the fixed large-diameter circular gear disc.

[0012] Further, the cross telescopic device is provided with a carrying device at one end away from the cross power arm, and the functional drive frame is provided with an electrically controlled functional drive module for driving the carrying device to run. The carrying device is arranged at one end of the cross telescopic device away from the cross power arm, and the electrically controlled functional drive module is arranged on the functional drive frame for remotely driving the carrying device to run, thereby reducing the load at the end of the cross telescopic device.

[0013] Further, the cross telescopic device is provided with a transmission wheel coaxially rotating with the connecting shaft; a transmission belt is arranged between the output shaft of the electrically controlled functional drive module and the transmission wheel, adjacent transmission wheels are driven through the transmission belt, and the transmission belt is arranged in parallel with the cross arm. The transmission wheel is coaxially arranged on the connecting shaft, adjacent transmission wheels are driven through the transmission belt, and the transmission belt is arranged in parallel with the cross arm, which can perfectly integrate the power transmission with the cross telescopic device. The telescopic movement of the cross telescopic device and the power transmission between the transmission wheel and the transmission belt are independent of each other and do not interfere with each other. The power transmission between the transmission wheel and the transmission belt does not need to follow the telescopic movement of the cross telescopic device for adaptability adjustment, which maximizes the compactness of the structure of the cross telescopic device and has the advantage of saving space.

[0014] Further, the fixed large-diameter circular gear disc is provided with a self-holding mechanism for keeping the direction of the carrying device, the self-holding mechanism comprises a first connecting rod rotatably connected to the fixed large-diameter circular gear disc, and a second connecting rod rotatably connected to one end of the first connecting rod, and the other end of the second connecting rod is provided with a transmission wheel; the transmission wheel at the other end of the second connecting rod is rotatably arranged on the transmission shaft of the function driving frame; the carrying device is fixedly provided with a transmission wheel, and the transmission wheel rotatably arranged on the second connecting rod and the transmission wheel fixedly arranged on the carrying device are synchronously rotated through a transmission belt. Since the second connecting rod is rotatably arranged between the first connecting rod and the transmission shaft of the function driving frame, when the two groups of cross power arms rotate in the same direction around the cross source power shaft to drive the cross telescopic device to turn, the second connecting rod will make a swing rod movement, so that the rotation angle of the transmission wheel of the second connecting rod is consistent with the rotation angle of the cross power arm around the cross source power shaft, thereby the transmission wheel of the carrying device is driven to rotate by a corresponding angle, so that the carrying device is always kept in a set state and is not affected by the rotation of the cross telescopic device, and the use requirement that the carrying device needs to form different angles with the direction of gravity is met.

[0015] Further, the transmission wheel rotatably arranged on the second connecting rod and the transmission wheel fixedly arranged on the carrying device are sequentially transmitted through the transmission wheels on the cross arms, and the transmission belts are arranged between adjacent transmission wheels and parallel to the cross arms. The power transmission of the self-holding mechanism and the power transmission of the carrying device adopt the same structure, and the cross telescopic device is arranged symmetrically, so that the space utilization of the cross telescopic device is further improved.

[0016] Further, the cross telescopic device is provided with a wire pipe structure for accommodating wires or pipes, and the end of the wire pipe structure is arranged on the carrying device, and the wire pipe structure is wound around and arranged parallel to the cross arms. The end of the wire pipe structure for accommodating wires or pipes is arranged on the carrying device, so that the pipes or wires can be led to the carrying device, and the wire pipe structure is wound around and arranged parallel to the cross arms, so that the wire pipe structure is integrated with the telescopic mechanism and does not interfere with the movement.

[0017] Further, the function driving frame is arranged with a plurality of adjusting holes, the cross power arm is arranged with a plurality of fixing holes, and the spacing between the plurality of adjusting holes and the plurality of fixing holes is the same. Since the spacing between the plurality of adjusting holes and the plurality of fixing holes is the same, the function driving frame can be connected to the fixing holes of the cross power arm through different adjusting holes, so that the length of the force arm can be changed at will, thereby the cross telescopic device of different sizes can be adapted, and the cross telescopic device has the advantages of good flexibility and high universality.

[0018] Compared with the prior art, the cross telescopic device has the following beneficial effects:

[0019] The turning telescopic control structure of the present application can not only drive the cross telescopic device to make telescopic movement in a straight line, but also drive the cross telescopic device to rotate around the cross source power shaft at one end, and the telescopic movement is matched with the fixed shaft rotation to realize that the cross telescopic device can move in a plane, and the cross telescopic device with an additional movement dimension can flexibly reach objects at any angle in the plane, instead of being limited to telescopic movement in a single direction, thereby greatly improving the practicability of the telescopic arm and effectively solving the technical problem that the telescopic arm cannot be controlled to turn at will in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic view of a turnable cross telescopic arm structure.

[0021] Figure 2 It is a structural schematic view of a turning telescopic control structure.

[0022] Figure 3 It is a transmission layout schematic view of an electric control function driving module on the cross telescopic device.

[0023] Figure 4 It is a transmission layout schematic view of a self-holding mechanism on the cross telescopic device.

[0024] In the drawings: 1, cross telescopic device; 11, X configuration; 12, cross shaft; 13, cross arm; 14, connecting shaft; 2, turning telescopic control structure; 21, turning telescopic driving frame; 22, cross source power shaft; 23, cross power arm; 231, fixed hole; 24, function driving frame; 241, adjusting hole; 25, transmission shaft; 3, fixed large-diameter circular toothed disc; 4, controllable driving module; 41, small-diameter gear; 6, electric control function driving module; 7, transmission wheel; 8, transmission belt; 9, self-holding mechanism; 91, first connecting rod; 92, second connecting rod. DETAILED DESCRIPTION

[0025] The present application will be further described below in conjunction with specific embodiments. Among them, the drawings are only used for exemplary description, and the representation is only a schematic view, not a physical drawing, and cannot be understood as a limitation on the present patent; in order to better illustrate the embodiments of the present application, some components of the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it can be understood that some well-known structures in the drawings and their descriptions can be omitted.

[0026] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it is understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present patent, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0027] Embodiment one

[0028] As Figures 1 to 2 shown is a first embodiment of a steerable cross telescopic arm structure of the present application.

[0029] A steerable cross telescopic arm structure, comprising a cross telescopic device 1 and a steering telescopic control structure 2 for driving the cross telescopic device 1 to perform telescopic and steering movements; the cross telescopic device 1 comprises a plurality of X configurations 11, and the X configuration 11 comprises two groups of cross arms 13 intersecting at a cross shaft 12; the cross arm 13 is a cross active end at the upper part of the cross shaft 12 and a cross passive end at the lower part of the cross shaft 12, and the cross passive ends of the plurality of X configurations 11 are connected to another cross active end through a connecting shaft 14; the steering telescopic control structure 2 is provided with a steering telescopic drive frame 21, two groups of cross power arms 23 connected to the steering telescopic drive frame 21 to form a cross source power shaft 22, and a function drive frame 24 arranged on the cross power arm 23; the upper end of the cross power arm 23 is connected to the output end of the steering telescopic control structure 2, and the function drive frame 24 is arranged at the lower end of the cross power arm 23; the function drive frame 24 is provided with a transmission shaft 25 and is rotatably connected to the cross active end at one end of the cross telescopic device 1. Among them, the cross source power shaft 22 is a fixed shaft, and the steering telescopic control structure 2 controls the cross telescopic device 1 to perform steering movement with the fixed shaft as the center shaft. Among them, the function drive frame 24 is arranged with a plurality of adjusting holes 241, the cross power arm 23 is arranged with a plurality of fixed holes 231, and the spacing between the plurality of adjusting holes 241 and the plurality of fixed holes 231 is the same.

[0030] In this embodiment, as Figure 1As shown, the two groups of cross arms 13 are rotatably connected with each other at the cross shaft 12, so that the two groups of cross arms 13 can rotate relative to the cross shaft 12, and the cross active end of the cross arm 13 is at the upper part of the cross shaft 12, and the cross passive end is at the lower part of the cross shaft 12, the cross passive end and the cross active end of the plurality of X structures 11 are rotatably connected in sequence to form the connecting shaft 14, so that the two end cross arms 13 of the adjacent X structure 11 can rotate around the connecting shaft 14, and the power is transmitted from the cross active end to the cross passive end, so that the plurality of X structures 11 can move simultaneously, thereby realizing the telescopic movement of the cross telescopic device 1; the two groups of cross power arms 23 are rotatably connected to the steering telescopic drive frame 21 to form the cross source power shaft 22, and the two groups of cross power arms 23 can rotate around the cross source power shaft 22, so that the upper ends of the two groups of cross power arms 23 are connected to the output end of the steering telescopic control structure 2, and the function drive frame 24 at the lower end of the two groups of cross power arms 23 is rotatably connected to the connecting shaft 14 at one end of the cross telescopic device 1 through the transmission shaft 25, and the steering telescopic control structure 2 controls the two groups of cross power arms 23 to rotate in the same direction or in the opposite direction around the cross source power shaft 22 to realize the steering and telescopic movement of the cross telescopic device 1, and the steering and telescopic control of the cross telescopic device 1 is integrated, thereby effectively solving the technical problem that the telescopic arm cannot be controlled to steer randomly in the prior art.

[0031] In this embodiment, as shown in Figure 2 The cross source power shaft 22 is a fixed shaft, so that the cross source power shaft 22 has more stability as the central shaft for the steering movement of the cross telescopic device 1 controlled by the steering telescopic control structure 2, and the structure is more reasonable.

[0032] In this embodiment, as shown in Figure 2 The spacing between the plurality of adjustment holes 241 and the plurality of fixed holes 231 is the same, so that the function drive frame 24 can be connected to the fixed hole 231 of the cross power arm 23 through different adjustment holes 241, thereby achieving the effect of arbitrarily changing the length of the force arm, thereby adapting to cross telescopic devices 1 of different sizes, and having the advantages of good flexibility and high universality.

[0033] Embodiment two

[0034] As shown in Figures 3 to 4 The second embodiment of the steerable cross telescopic arm structure of the present application.

[0035] The embodiment is similar to embodiment one, except that the cross stretching device 1 is provided with a carrying device at the end away from the cross power arm 23, and the functional driving frame 24 is provided with an electrically controlled functional driving module 6 for driving the carrying device to run. Among them, the cross stretching device 1 is provided with a transmission wheel 7 coaxially rotating on the connecting shaft 14; the output shaft of the electrically controlled functional driving module 6 and the transmission wheel 7 are provided with a transmission belt 8, the adjacent transmission wheels 7 are driven by the transmission belt 8, and the transmission belt 8 is arranged parallel to the cross arm 13. Among them, the fixed large-diameter circular tooth disc 3 is provided with a self-holding mechanism 9 for keeping the direction of the carrying device, the self-holding mechanism 9 includes a first connecting rod 91 rotatably connected to the fixed large-diameter circular tooth disc 3, and a second connecting rod 92 rotatably connected to one end of the first connecting rod 91, and the other end of the second connecting rod 92 is provided with a transmission wheel 7; the transmission wheel 7 at the other end of the second connecting rod 92 is rotatably arranged on the transmission shaft 25 of the functional driving frame 24; the carrying device is fixedly provided with a transmission wheel 7, and the transmission wheel 7 rotatably arranged on the second connecting rod 92 and the transmission wheel 7 fixedly arranged on the carrying device are synchronously rotated through the transmission belt 8. Among them, the transmission wheel 7 rotatably arranged on the second connecting rod 92 and the transmission wheel 7 fixedly arranged on the carrying device are sequentially transmitted through the transmission wheel 7 on the cross arm 13, the adjacent transmission wheels 7 are driven by the transmission belt 8, and the transmission belt 8 is arranged parallel to the cross arm 13. Among them, the cross stretching device 1 is provided with a wire pipe structure for accommodating wires or pipes, and the end of the wire pipe structure is arranged on the carrying device, and the wire pipe structure is wound around the cross arms 13 and arranged parallel to the cross arms 13.

[0036] In this embodiment, as shown in Figure 3 , a carrying device (not shown in the figure) is arranged at the end of the cross stretching device 1 away from the cross power arm 23, and the electrically controlled functional driving module 6 is arranged on the functional driving frame 24 for remotely driving the carrying device to run, reducing the load at the end of the cross stretching device 1.

[0037] In this embodiment, as shown in Figure 3 , the transmission wheel 7 is coaxially rotatable on the connecting shaft 14, the adjacent transmission wheels 7 are driven by the transmission belt 8, and the transmission belt 8 is arranged parallel to the cross arm 13, which can perfectly integrate the power transmission with the cross stretching device 1, the stretching movement of the cross stretching device 1 and the power transmission between the transmission wheel 7 and the transmission belt 8 are independent of each other and do not interfere with each other, the power transmission between the transmission wheel 7 and the transmission belt 8 does not need to follow the stretching movement of the cross stretching device 1 for adaptability adjustment, which maximizes the compactness of the structure of the cross stretching device 1, and has the advantage of saving space.

[0038] In this embodiment, as shown in Figure 4As shown, since the second connecting rod 92 is rotatably arranged between the first connecting rod 91 and the transmission shaft 25 of the functional driving frame 24, when the two groups of cross power arms 23 drive the cross telescopic device 1 to turn around the cross source power shaft 22 in the same direction, the second connecting rod 92 will do a swing rod movement, so that the transmission wheel 7 of the second connecting rod 92 rotates at an angle consistent with the angle of the cross power arm 23 rotating around the cross source power shaft 22, thereby driving the transmission wheel 7 of the carrier device to rotate at a corresponding angle, ensuring that the carrier device always remains in a set state and is not affected by the rotation of the cross telescopic device 1, and meeting the use requirement that the carrier device needs to form different angles with the direction of gravity.

[0039] In addition, in the present embodiment, as shown in Figure 4 The transmission wheel 7 of the second connecting rod 92 passes through and is arranged in the functional driving frame 24, and the transmission wheel 7 of the second connecting rod 92 and the transmission wheel 7 on the cross arm 13 transmit torque through the transmission belt 8.

[0040] In the present embodiment, the power transmission of the self-holding mechanism 9 and the power transmission of the carrier device adopt the same set of structures, forming a symmetrical arrangement on the cross telescopic device 1, further improving the space utilization of the cross telescopic device 1.

[0041] In the present embodiment, the end of the wire tube structure for accommodating the wire or pipe is arranged on the carrier device, the pipe or wire can be led to the carrier device, and the wire tube structure is wound around several cross arms 13 arranged in parallel with the cross arms 13, so that the wire tube structure is integrated with the telescopic mechanism and no motion interference is caused.

[0042] Embodiment Three

[0043] As shown in Figure 2 This is a third embodiment of a steerable cross telescopic arm structure of the present application.

[0044] The present embodiment is similar to embodiment one or embodiment two, and the difference lies in that the turning telescopic driving frame 21 is provided with a fixed large-diameter circular gear plate 3 coaxially arranged with the cross source power shaft 22, and the upper end of the cross power arm 23 is provided with a controllable driving module 4 which can move along the edge of the fixed large-diameter circular gear plate 3. The output end of the controllable driving module 4 is provided with a small-diameter gear 41, and the edge of the fixed large-diameter circular gear plate 3 is uniformly provided with gear teeth, and the small-diameter gear 41 is engaged with the gear teeth.

[0045] In the present embodiment, as shown in Figure 2 The controllable driving module 4 which can move along the edge of the fixed large-diameter circular gear plate 3 is used to drive the two groups of cross power arms 23 to rotate around the cross source power shaft 22 respectively, so as to realize the automatic rotation of the cross power arm 23 and stabilize the torque conversion output.

[0046] In the present embodiment, as shown inFigure 2 As shown, the small gear 41 arranged at the output end of the controllable driving module 4 meshes with the fixed large-diameter round gear disc 3, and the stability of the controllable driving module 4 moving along the edge of the fixed large-diameter round gear disc 3 is increased.

[0047] In the specific contents of the above specific embodiments, each technical feature can be combined arbitrarily without contradiction, and in order to make the description simple, all possible combinations of the above technical features are not described, however, as long as the combination of the technical features does not exist contradiction, it should be considered as the scope of the present application.

[0048] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation manners of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the implementation manners. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A steerable, cross-arm telescopic structure, characterized in that: The system includes a cross telescopic device (1) and a steering telescopic control structure (2) for driving the cross telescopic device (1) to perform telescopic and steering movements. The cross telescopic device (1) includes several sets of X-configurations (11), each X-configuration (11) including two sets of cross arms (13) with a cross axis (12) as the intersection point. The cross arms (13) have a cross active end at the upper part of the cross axis (12) and a cross passive end at the lower part of the cross axis (12). The cross passive ends of several X-configurations (11) are connected to another cross active end through a connecting shaft (14). The steering telescopic control structure (2) is provided with a steering telescopic drive frame (21), and two sets of cross-connected drive frames (21) form a cross power shaft (22). The cross power arm (23) and the functional drive frame (24) provided on the cross power arm (23); the upper end of the cross power arm (23) is connected to the output end of the steering telescopic control structure (2), and the functional drive frame (24) is provided on the lower end of the cross power arm (23); the functional drive frame (24) is provided with a transmission shaft (25) and is rotatably connected to the cross active end of one end of the cross telescopic device (1); the steering telescopic drive frame (21) is provided with a fixed large-diameter circular gear disk (3) coaxially arranged with the cross power source shaft (22), and the upper end of the cross power arm (23) is provided with a controllable drive module (4), which can move along the edge of the fixed large-diameter circular gear disk (3).

2. The steerable cross telescopic boom structure according to claim 1, characterized in that: The cross-source power shaft (22) is a fixed shaft, and the steering telescopic control structure (2) controls the cross telescopic device (1) to perform steering motion with the fixed shaft as the central axis.

3. The steerable cross telescopic boom structure according to claim 1, characterized in that: The output end of the controllable drive module (4) is provided with a small diameter gear (41), and the fixed large diameter circular toothed disk (3) is provided with teeth evenly on its edge. The small diameter gear (41) meshes with the teeth.

4. The steerable cross telescopic boom structure according to claim 1, characterized in that: The cross telescopic device (1) has a transport device at one end away from the cross power arm (23), and the functional drive frame (24) has an electronically controlled functional drive module (6) for driving the transport device.

5. The steerable cross telescopic boom structure according to claim 4, characterized in that: The cross telescopic device (1) has a transmission wheel (7) that rotates coaxially with the connecting shaft (14); a transmission belt (8) is provided between the output shaft of the electronic control function drive module (6) and the transmission wheel (7), and adjacent transmission wheels (7) are driven by the transmission belt (8), and the transmission belt (8) is arranged parallel to the cross arm (13).

6. The steerable cross telescopic boom structure according to claim 4, characterized in that: The fixed large-diameter circular gear disc (3) is provided with a self-holding mechanism (9) for maintaining the direction of the transport device. The self-holding mechanism (9) includes a first connecting rod (91) rotatably connected to the fixed large-diameter circular gear disc (3) at one end and a second connecting rod (92) rotatably connected to the other end of the first connecting rod (91) at one end. The other end of the second connecting rod (92) is provided with a transmission wheel (7). The transmission wheel (7) located at the other end of the second connecting rod (92) is rotatably disposed on the transmission shaft (25) of the functional drive frame (24). The transport device is fixedly provided with the transmission wheel (7). The transmission wheel (7) rotatably disposed on the second connecting rod (92) and the transmission wheel (7) fixedly disposed between the transport devices rotate synchronously through a transmission belt (8).

7. The steerable cross telescopic boom structure according to claim 6, characterized in that: The transmission wheel (7) rotatably mounted on the second connecting rod (92) and the transmission wheel (7) fixed on the carrying device are sequentially driven by the transmission wheel (7) on the cross arm (13). Adjacent transmission wheels (7) are driven by a transmission belt (8), which is arranged parallel to the cross arm (13).

8. The steerable cross telescopic boom structure according to claim 4, characterized in that: The cross telescopic device (1) is provided with a conduit structure for accommodating wires or pipes. The end of the conduit structure is located on the transport device. The conduit structure is wrapped around several cross arms (13) and arranged parallel to the cross arms (13).

9. The steerable cross telescopic boom structure according to claim 1, characterized in that: The functional drive frame (24) is provided with a plurality of adjustment holes (241), and the cross power arm (23) is provided with a plurality of fixing holes (231). The spacing between the plurality of adjustment holes (241) and the spacing between the plurality of fixing holes (231) are the same.

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