Bending telescopic arm device and method suitable for fork loading of crops

Abstract

The invention discloses a bending telescopic arm device and method suitable for fork loading of crops. The bending telescopic arm device comprises a fixed arm, an inner wall, a telescopic oil cylinder and a lifting oil cylinder, the inner wall is arranged in the fixed arm, the telescopic oil cylinder is arranged at the rear end of the fixed arm, the other end of the telescopic oil cylinder is connected with the front end of the inner arm, the inner arm is driven to stretch forwards and retract, and the lifting oil cylinder is connected with the inner wall. A lifting oil cylinder is arranged at the lower end of the fixed arm, the other end of the lifting oil cylinder is fixed to a vehicle body and controls lifting and descending of the fixed arm, a tipping oil cylinder is arranged at the front end of the inner arm, and the other end of the tipping oil cylinder is connected to a tipping frame and drives the fork arm carrier to turn up and down. According to the bending telescopic arm device and method suitable for forking the crops, the forward stretching distance and the lifting height are large, the forking space of the crops is effectively increased, the operation efficiency is improved, a driver in a cab can obtain a larger visual field through the bending telescopic device, and the problem of potential safety hazards of operation is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery and equipment, and in particular to a bending telescopic arm device and method suitable for forking crops. Background Art

[0002] In the prior art, telescopic arm devices are widely used in construction sites, ports, docks and other working environments. However, when these telescopic arm devices are used for farm operations, they often face the following problems: due to the small size of forked cargo and the high working frequency, their operating efficiency is difficult to meet the demand. In addition, due to the complex working environment, when the telescopic arm device lifts the cargo to a higher position, the driver's field of vision is significantly limited, which puts higher requirements on the accuracy and safety of the operation.

[0003] Currently, the design characteristics of telescopic arm devices make it difficult for drivers to directly observe the specific status of goods at high altitudes during operation, especially when lifting or stacking goods. To solve this problem, traditional technology usually improves the driver's field of vision by increasing the installation height of the cab. However, this method faces many limitations in practical applications. For example, for equipment that needs to enter containers or low spaces for operation, the height of the entire vehicle is strictly restricted, making it difficult to adjust the height of the cab. In addition, increasing the height of the cab may also lead to a decrease in vehicle stability, further affecting operational safety. Summary of the invention

[0004] The purpose of the present invention is to provide a bending telescopic arm device and method suitable for forking crops, so as to solve the problems existing in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a bending telescopic arm device suitable for forking crops, comprising:

[0006] Fixed arm;

[0007] An inner wall, the inner wall being arranged inside the fixed arm;

[0008] A telescopic cylinder is provided at the rear end of the fixed arm, and the other end of the telescopic cylinder is connected to the front end of the inner arm to drive the inner arm to extend and retract;

[0009] A lifting cylinder is provided at the lower end of the fixed arm, and the other end of the lifting cylinder is fixed to the vehicle body to control the lifting and lowering of the fixed arm;

[0010] A tilting cylinder is provided at the front end of the inner arm, and the other end of the tilting cylinder is connected to the tilting frame to drive the fork frame to flip up and down.

[0011] Preferably, the inner wall is sleeved inside the fixed arm.

[0012] Preferably, the front end of the inner wall is connected to a tilting frame via a fixed pin, and the front end of the tilting frame is connected to a fork frame via a fixed pin.

[0013] Preferably, the tilting cylinder is connected in series with a compensating cylinder, and one end of the compensating cylinder is connected to the fixed arm.

[0014] Preferably, the fixed arm and the lifting cylinder are rotatably connected to the upper arm for rotation.

[0015] Preferably, the tilting cylinder and the tilting frame are rotatably connected to a tilting frame rotating shaft.

[0016] A method for bending telescopic arms for forking crops, using the bending telescopic arm device for forking crops, the method comprising:

[0017] S1. The inner arm is driven to slide inside the fixed arm by the telescopic cylinder. When the piston rod of the telescopic cylinder extends, the inner arm is pushed forward and the fork frame moves forward. When the piston rod of the telescopic cylinder retracts, the inner arm is driven to retract and the fork frame moves backward.

[0018] S2, the lifting cylinder drives the fixed arm to rotate around the rotation axis to lift or lower the arm body. When the lifting cylinder piston rod extends, it pushes the fixed arm to lift up with the large arm rotation axis as the rotation point, and the arm body is lifted. When the lifting cylinder piston rod retracts, it pulls the fixed arm to lower with the large pin shaft at the vehicle body connection as the rotation point, and the arm body is lowered;

[0019] S3, the fork frame is driven to flip up and down by the tilting cylinder. When the piston rod of the tilting cylinder is extended, the rotating shaft of the tilting frame is driven to rotate, and the fork frame flips upward. When the piston rod of the tilting cylinder is retracted, the rotating shaft of the tilting frame is driven to rotate in the opposite direction, and the fork frame flips downward.

[0020] S4. The angle of the fork frame is dynamically compensated by interlacing the compensation cylinder and the tilting cylinder cavity. When the arm is lifted or lowered, the piston rod of the compensation cylinder is driven to extend or retract, and the oil in the compensation cylinder cavity is introduced into the tilting cylinder cavity. The piston rod of the tilting cylinder produces a reverse action according to the oil compensation of the compensation cylinder, driving the fork frame to rotate in the opposite direction, compensating for the angle change caused by the lifting or lowering of the arm, and keeping the fork frame in a horizontal state during the movement of the arm.

[0021] The connection between the tilting oil cylinder and the rotating shaft of the tilting frame adopts a self-lubricating bearing or a spherical hinge.

[0022] The cavities of the compensation oil cylinder and the tilting oil cylinder are connected in a staggered manner, and a regulating valve is arranged in the hydraulic system to accurately control the oil flow.

[0023] The connection between the tilting oil cylinder and the rotating shaft of the tilting frame adopts a self-lubricating bearing or a spherical hinge.

[0024] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0025] The bending telescopic arm device and method suitable for fork loading of crops realizes large-range extension and retraction of the fork frame through the design of the inner arm and the driving function of the telescopic oil cylinder, thereby increasing the coverage of the fork loading operation. The tilting function of the fork frame is realized by the tilting oil cylinder, which can quickly complete the shoveling and placing operation of the goods and improve the operation efficiency. The bending structure at the front end of the inner arm is combined with the lifting function of the fixed arm, so that the driver can still maintain a good operating field of vision when the goods are lifted to a higher position, and overcomes the problem of insufficient operating safety caused by limited field of vision in traditional telescopic arm devices. The tilting oil cylinder is connected in series with the compensation oil cylinder, and the oil flow of the tilting oil cylinder is automatically adjusted by the compensation oil cylinder, so that the fork frame can always maintain a horizontal state during the lifting or lowering process. Thereby, the cargo is effectively prevented from tipping over and the safety of the operation process is ensured. The rotating connection design of the fixed arm, lifting cylinder and boom rotating shaft allows the arm to be flexibly rotated and raised and lowered to meet the operation requirements in different scenarios, such as fork loading operations in the narrow space of the farm. The tilting frame and the tilting cylinder are rotatably connected through the tilting frame rotating shaft, which provides greater flexibility and adapts to the stacking of cargo at various angles. The device has a large forward reach and lifting height, which can not only load and unload cargo to high places, but also cross obstacles in front to pick up and place items. The bending structure at the front end of the inner arm effectively increases the fork loading space of crops and improves operation efficiency. The bending and telescopic device can enable the driver in the cab to obtain a wider field of vision, thus solving the problem of hidden safety hazards in operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure assembly of the present invention;

[0027] Figure 2 This is a schematic diagram of the crop fork loading area of ​​the present invention;

[0028] Figure 3 The figure is a flow chart of the method of the present invention.

[0029] In the figure: 1. Fixed arm; 2. Inner arm; 3. Tilt frame; 4. Fork frame; 5. Telescopic cylinder; 6. Tilt cylinder; 7. Lifting cylinder; 8. Compensating cylinder; 9. Big arm rotation axis; 10. Tilt frame rotation axis. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1-Figure 2 As shown, a bending telescopic arm device suitable for forking crops includes a fixed arm 1; an inner wall 2, which is arranged inside the fixed arm 1. A telescopic cylinder 5 is arranged at the rear end of the fixed arm 1, and the other end of the telescopic cylinder 5 is connected to the front end of the inner arm 2, which is used to drive the inner arm 2 to extend and retract; a lifting cylinder 7 is arranged at the lower end of the fixed arm 1, and the other end of the lifting cylinder 7 is fixed to the vehicle body, which is used to control the lifting and lowering of the fixed arm 1; a tilting cylinder 6 is arranged at the front end of the inner arm 2, and the other end of the tilting cylinder 6 is connected to the tilting frame 3, which is used to drive the fork frame 4 to flip up and down.

[0032] The device realizes the extension and retraction of the inner arm 2 through the telescopic cylinder 5, so that the loading and unloading range of crops can be flexibly adjusted. The lifting cylinder 7 is installed at the lower end of the fixed arm 1 and connected to the vehicle body. Through the drive of the lifting cylinder 7, the overall lifting and lowering of the fixed arm 1 can be realized to meet the needs of operations at different heights. The tipping cylinder 6 is installed at the front end of the inner arm 2, and its other end is connected to the tipping frame 3. Through the push of the tipping cylinder 6, the up and down flipping function of the fork frame 4 is realized, further optimizing the adjustment of the loading angle and direction. The bending telescopic arm device has a compact structure and diverse functions. Through the cooperation of the telescopic cylinder 5 and the tipping cylinder 6, the arm length and the fork flipping angle can be flexibly adjusted; at the same time, the setting of the lifting cylinder 7 enables the entire device to adapt to the needs of operations at different heights, improving loading efficiency and operating convenience.

[0033] In the above solution, the material of the inner wall 2 can be selected from high-strength alloy steel, carbon fiber composite materials or other high-strength lightweight materials to enhance the durability of the device and reduce the weight. The connection between the fixed arm 1 and the vehicle body can be bolted, welded or quickly disassembled to meet the installation requirements of different vehicles.

[0034] In a possible implementation, the inner wall 2 is sleeved inside the fixed arm 1. The inner wall 2 and the fixed arm 1 are connected by sleeved, and the inner wall 2 slides along the guide groove inside the fixed arm 1 to ensure that the telescopic movement of the inner arm 2 is smooth and reliable. This design simplifies the assembly process of the inner arm and the fixed arm, while improving the guiding accuracy of the inner arm 2, effectively reducing friction and wear during the operation of the device, and extending the service life of the device.

[0035] The connection method between the inner wall 2 and the fixed arm 1 can be a rolling guide rail, a slider guide mechanism or other forms of sliding mechanisms to further improve the guiding effect and adapt to different working conditions.

[0036] In a possible embodiment, the front end of the inner wall 2 is connected to the tilting frame 3 through a fixed pin, and the front end of the tilting frame 3 is connected to the fork frame 4 through a fixed pin. The inner wall 2 and the tilting frame 3 are connected by a pin to form a rotatable fulcrum. The tilting frame 3 and the fork frame 4 are also connected by a pin. After the action of the tilting cylinder 6 is transmitted to the tilting frame 3, the fork frame 4 is driven to flip to achieve the dumping or fixing of the goods. This design connects the tilting frame 3 and the fork frame 4 through a pin, which not only simplifies the structure, but also improves the stability and reliability of the device, and the flipping of the fork during operation is smoother. The pin connection can be replaced by a spherical hinge or a high-strength bolt connection to adapt to different load requirements and working conditions.

[0037] In a possible embodiment, the tilting cylinder 6 is connected in series with a compensating cylinder 8, and one end of the compensating cylinder 8 is connected to the fixed arm 1. The compensating cylinder 8 provides auxiliary hydraulic compensation capability by being connected in series with the tilting cylinder 6. When the fork frame 4 is subjected to different loads, the compensating cylinder 8 can balance the pressure fluctuations of the hydraulic system to ensure the stability of the tilting action. The provision of the compensating cylinder 8 greatly improves the movement smoothness and control accuracy of the tilting cylinder 6 under heavy load conditions, extends the service life of the cylinder, and improves operational safety. The compensating cylinder 8 can be replaced with a pneumatic buffer device or a spring buffer mechanism to achieve a similar pressure compensation effect while reducing the complexity of the system.

[0038] In a possible embodiment, the fixed arm 1 and the lifting cylinder 7 are rotatably connected with a boom rotating shaft 9. Through the boom rotating shaft 9, the fixed arm 1 and the lifting cylinder 7 form a rotatable connection point. When the lifting cylinder 7 is actuated, the boom rotating shaft 9 provides a fulcrum to drive the fixed arm 1 to complete the corresponding lifting or lowering action. The setting of the boom rotating shaft 9 improves the rotation flexibility of the fixed arm 1, ensures the stability of the lifting action, reduces the shear force borne by the cylinder, and prolongs the service life. The boom rotating shaft 9 can adopt a self-lubricating bearing or a double bearing structure to improve the durability and stability of the rotating parts.

[0039] In a possible implementation, the tilting cylinder 6 and the tilting frame 3 are rotatably connected with a tilting frame rotating shaft 10. The tilting cylinder 6 is connected to the tilting frame 3 through the tilting frame rotating shaft 10, and the tilting frame 3 is flexibly flipped through the action of the rotating shaft under the drive of the hydraulic system. The design of the tilting frame rotating shaft 10 makes the movement of the tilting frame 3 more precise and stable, while reducing the direct force on the tilting cylinder 6, and improving the stability and durability of the system. The tilting frame rotating shaft 10 can be replaced with a rotating mechanism supported by a bidirectional bearing to further improve its service life and load-bearing capacity.

[0040] A method for bending and telescopic arms for crop fork loading is also provided, using a bending and telescopic arm device for crop fork loading, the method comprising:

[0041] S1. The inner arm is driven to slide inside the fixed arm by the telescopic cylinder. When the piston rod of the telescopic cylinder extends, the inner arm is pushed forward and the fork frame moves forward. When the piston rod of the telescopic cylinder retracts, the inner arm is driven to retract and the fork frame moves backward.

[0042] S2, the lifting cylinder drives the fixed arm to rotate around the rotation axis to lift or lower the arm body. When the lifting cylinder piston rod extends, it pushes the fixed arm to lift up with the large arm rotation axis as the rotation point, and the arm body is lifted. When the lifting cylinder piston rod retracts, it pulls the fixed arm to lower with the large pin shaft at the vehicle body connection as the rotation point, and the arm body is lowered;

[0043] S3, the fork frame is driven to flip up and down by the tilting cylinder. When the piston rod of the tilting cylinder is extended, the rotating shaft of the tilting frame is driven to rotate, and the fork frame flips upward. When the piston rod of the tilting cylinder is retracted, the rotating shaft of the tilting frame is driven to rotate in the opposite direction, and the fork frame flips downward.

[0044] S4. The angle of the fork frame is dynamically compensated by interlacing the compensation cylinder and the tilting cylinder cavity. When the arm is lifted or lowered, the piston rod of the compensation cylinder is driven to extend or retract, and the oil in the compensation cylinder cavity is introduced into the tilting cylinder cavity. The piston rod of the tilting cylinder produces a reverse action according to the oil compensation of the compensation cylinder, driving the fork frame to rotate in the opposite direction, compensating for the angle change caused by the lifting or lowering of the arm, and keeping the fork frame in a horizontal state during the movement of the arm.

[0045] In this method, the telescopic cylinder controls the telescopic movement of the inner arm to realize the forward and backward movement of the fork frame; the lifting cylinder drives the fixed arm with the rotating shaft as the fulcrum to realize the up and down lifting movement of the arm body; the tipping cylinder controls the flipping angle of the fork frame through the rotating shaft to meet the tipping requirements of the fork load. At the same time, through the hydraulic interaction between the compensation cylinder and the tipping cylinder, the horizontal angle of the fork frame is dynamically compensated during the lifting or lowering process to ensure the stability of material transportation or loading and unloading. Through this method, the telescopic movement of the inner arm, the lifting or lowering of the arm body, and the flipping movement of the fork frame can be accurately controlled to realize efficient fork loading operations for crops or other loads. The dynamic adjustment function of the compensation cylinder significantly improves the safety of the operation and the stability of the fork frame, avoiding the tilting of the load due to the movement of the arm body.

[0046] In one possible implementation, the connection between the tilting cylinder and the rotating shaft of the tilting frame adopts a self-lubricating bearing or a spherical hinge. The tilting cylinder and the rotating shaft of the tilting frame are connected by a self-lubricating bearing or a spherical hinge. Through the low friction performance of the self-lubricating bearing and the multi-directional flexibility of the spherical hinge, the driving force of the tilting cylinder can be more efficiently transmitted to the rotating shaft of the tilting frame, thereby realizing the smooth flipping of the fork frame. This design can meet the needs of multi-angle and large-range flipping movements, while reducing the wear caused by frequent movements and increasing the service life of the connecting parts. The use of self-lubricating bearings can eliminate additional lubrication maintenance work and reduce daily maintenance costs; the spherical hinge provides multi-directional rotation freedom, which effectively copes with the needs of complex working conditions and multi-angle operations. This design significantly improves the reliability, durability and operation stability of the fork frame flipping system, and is particularly suitable for frequent use and heavy-load scenarios.

[0047] In one possible implementation, the cavities of the compensating cylinder and the tilting cylinder are connected in an interlaced manner, and a regulating valve is provided in the hydraulic system to precisely control the oil flow. The interlaced connection design of the compensating cylinder and the tilting cylinder cavities utilizes the piston action of the compensating cylinder to dynamically transfer the hydraulic oil between the two cylinders. The regulating valve is used to precisely control the oil flow to ensure that the compensating cylinder makes precise angle adjustment compensation for the tilting cylinder. When the arm is raised or lowered, the oil flow of the compensating cylinder is dynamically coordinated with the action amplitude of the tilting cylinder, thereby achieving real-time correction of the fork frame angle and ensuring that the horizontal state of the fork frame is not affected by the movement of the arm. By adding the regulating valve, the oil flow matching between the compensating cylinder and the tilting cylinder can be precisely adjusted, further improving the accuracy of the angle compensation. The interlaced hydraulic structure design can reduce the complexity and additional power consumption of the hydraulic system, and enhance the efficiency and reliability of the entire system.

[0048] The tilting cylinder is connected to the rotating shaft of the tilting frame through a self-lubricating bearing or a spherical hinge, so that the driving force of the tilting cylinder can be efficiently transmitted to the tilting frame, while allowing the connecting parts to rotate flexibly in multiple directions. The self-lubricating bearing ensures high efficiency and stability under long-term operation with its low friction characteristics, while the multi-degree-of-freedom characteristics of the spherical hinge further meet the high flexibility required for the tilting action, avoiding the jamming phenomenon caused by axial deviation or distortion, thereby ensuring the smooth movement of the fork frame during the flipping process. The self-lubricating bearing does not require additional lubrication, which significantly reduces the maintenance workload and operating costs of the system. The spherical hinge allows multi-directional rotation, which can better adapt to the needs of complex working conditions and reduce the wear of the device's force concentration points. The use of high-performance self-lubricating materials or precision-designed spherical hinges can ensure reliability in high-load and high-frequency operations, extend the life of the equipment, and significantly improve the movement accuracy and flexibility of the tilting system. The fork frame is more stable during the flipping process, reducing the risk of the load slipping or tilting.

[0049] Working process: During the lifting of the telescopic arm, the piston rod of the telescopic cylinder 5 extends, pushing the inner arm 2 to slide along the inside of the fixed arm 1, gradually extending forward, and realizing the forward movement of the fork frame 4. When the telescopic arm needs to be retracted, the piston rod of the telescopic cylinder 5 retracts, driving the inner arm 2 to retract relative to the fixed arm 1, and completing the retreat of the fork frame 4. The telescopic cylinder 5 ensures the smooth movement of the inner arm 2 through precise hydraulic control to avoid shaking or damage caused by inertia.

[0050] When the angle of the fork frame 4 needs to be adjusted, the tilting cylinder 6 starts to work. When its piston rod is extended, it pushes the tilting frame rotation shaft 10 to rotate, driving the fork frame 4 to flip upward to meet the needs of stacking or loading and unloading; when the piston rod of the tilting cylinder 6 is retracted, it pulls the tilting frame rotation shaft 10 to rotate in the opposite direction, and the fork frame 4 flips downward and returns to the horizontal or other specified angles. The extension and retraction of the tilting cylinder 6 is precisely controlled by the hydraulic system to achieve the diversity and flexible adjustment of the angle of the fork frame 4.

[0051] The action of the lifting cylinder 7 controls the lifting and lowering of the fixed arm 1. When the piston rod of the lifting cylinder 7 is extended, the fixed arm 1 is lifted upward with the large arm rotation axis 9 as the rotation center, thereby achieving the overall lifting of the arm body to meet the requirements of different working heights. When the piston rod of the lifting cylinder 7 is retracted, the fixed arm 1 falls back downward with the large pin shaft connected to the vehicle body as the rotation center, completing the lowering action of the arm body. During the entire lifting and lowering process, the cooperation between the cylinder and the rotation axis ensures the stability of the device and the safety of operation.

[0052] The tilting cylinder 6 and the compensation cylinder 8 are connected through the staggered cavities to form a dynamic compensation system. When the arm is raised or lowered, the piston rod of the compensation cylinder 8 extends or retracts accordingly, and the oil in its cylinder is guided to the corresponding cavity of the tilting cylinder 6. This design causes the piston rod of the tilting cylinder 6 to produce a reverse action, thereby driving the tilting frame 3 and the fork frame 4 to rotate in the opposite direction to compensate for the angle change caused by the rotation of the arm. Through this compensation mechanism, the fork frame 4 always remains in a horizontal state during the lifting and lowering of the arm, which greatly improves the accuracy and safety of the operation and avoids accidents caused by the tilting of the cargo.

[0053] During the whole working process, the actions of each cylinder are precisely linked through the unified control of the hydraulic system. The telescopic cylinder 5, the lifting cylinder 7, the tilting cylinder 6 and the compensation cylinder 8 work together to ensure that the telescopic movement of the inner arm 2, the lifting and lowering of the fixed arm 1 and the flipping of the fork frame 4 can all maintain balance in dynamic changes to meet complex operating requirements.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bending telescopic arm device suitable for forking crops, characterized in that: include: Fixed arm (1); An inner wall (2), wherein the inner wall (2) is arranged inside the fixed arm (1); A telescopic oil cylinder (5), wherein the rear end of the fixed arm (1) is provided with a telescopic oil cylinder (5), and the other end of the telescopic oil cylinder (5) is connected to the front end of the inner arm (2) to drive the inner arm (2) to extend and retract; A lifting cylinder (7), wherein the lower end of the fixed arm (1) is provided with a lifting cylinder (7), and the other end of the lifting cylinder (7) is fixed to the vehicle body to control the lifting and lowering of the fixed arm (1); A tilting cylinder (6) is provided at the front end of the inner arm (2), and the other end of the tilting cylinder (6) is connected to the tilting frame (3) to drive the fork frame (4) to flip up and down.

2. A bending and telescopic arm device suitable for forking crops according to claim 1, characterized in that: The inner wall (2) is sleeved inside the fixed arm (1).

3. The bending and telescopic arm device suitable for forking crops according to claim 1, characterized in that: The front end of the inner wall (2) is connected to a tilting frame (3) via a fixed pin shaft, and the front end of the tilting frame (3) is connected to a fork frame (4) via a fixed pin shaft.

4. The bending and telescopic arm device suitable for forking crops according to claim 1, characterized in that: The tilting cylinder (6) is connected in series with a compensating cylinder (8), and one end of the compensating cylinder (8) is connected to the fixed arm (1).

5. The bending and telescopic arm device suitable for forking crops according to claim 1, characterized in that: The fixed arm (1) and the lifting cylinder (7) are rotatably connected to a large arm rotating shaft (9).

6. The bending and telescopic arm device suitable for forking crops according to claim 1, characterized in that: The tilting cylinder (6) and the tilting frame (3) are rotatably connected to a tilting frame rotating shaft (10).

7. A method for bending telescopic arms for forking crops, using the bending telescopic arm device for forking crops as claimed in any one of claims 1 to 6, characterized in that: The method comprises: S1. The inner arm is driven to slide inside the fixed arm by the telescopic cylinder. When the piston rod of the telescopic cylinder extends, the inner arm is pushed forward and the fork frame moves forward. When the piston rod of the telescopic cylinder retracts, the inner arm is driven to retract and the fork frame moves backward. S2, the lifting cylinder drives the fixed arm to rotate around the rotation axis to lift or lower the arm body. When the lifting cylinder piston rod extends, it pushes the fixed arm to lift up with the large arm rotation axis as the rotation point, and the arm body is lifted. When the lifting cylinder piston rod retracts, it pulls the fixed arm to lower with the large pin shaft at the vehicle body connection as the rotation point, and the arm body is lowered; S3, the fork frame is driven to flip up and down by the tilting cylinder. When the piston rod of the tilting cylinder is extended, the rotating shaft of the tilting frame is driven to rotate, and the fork frame flips upward. When the piston rod of the tilting cylinder is retracted, the rotating shaft of the tilting frame is driven to rotate in the opposite direction, and the fork frame flips downward. S4. The angle of the fork frame is dynamically compensated by interlacing the compensation cylinder and the tilting cylinder cavity. When the arm is lifted or lowered, the piston rod of the compensation cylinder is driven to extend or retract, and the oil in the compensation cylinder cavity is introduced into the tilting cylinder cavity. The piston rod of the tilting cylinder produces a reverse action according to the oil compensation of the compensation cylinder, driving the fork frame to rotate in the opposite direction, compensating for the angle change caused by the lifting or lowering of the arm, and keeping the fork frame in a horizontal state during the movement of the arm.

8. A method for bending a telescopic arm for forking crops according to claim 7, characterized in that: The connection between the tilting oil cylinder and the rotating shaft of the tilting frame adopts a self-lubricating bearing or a spherical hinge.

9. A method for bending a telescopic arm for forking crops according to claim 7, characterized in that: The cavities of the compensation oil cylinder and the tilting oil cylinder are connected in a staggered manner, and a regulating valve is arranged in the hydraulic system to accurately control the oil flow.

10. A method for bending a telescopic arm for forking crops according to claim 7, characterized in that: The connection between the tilting oil cylinder and the rotating shaft of the tilting frame adopts a self-lubricating bearing or a spherical hinge.

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