Telescopic arm with state feedback and sequence control mechanism

Abstract

The invention discloses a telescopic arm with a state feedback and sequence control mechanism, and the telescopic arm with the state feedback and sequence control mechanism comprises an arm body, a sequence control mechanism and a jacking mechanism, the arm body comprises a plurality of knuckle arms which are connected step by step, and a hook is arranged on the knuckle arm located at the bottom end. The sequence control mechanism comprises a plurality of locking and state feedback modules and a guide plate, the locking and state feedback modules are arranged on the knuckle arms in a one-to-one correspondence mode, the guide plate is arranged on the knuckle arms at the bottom end, and when each knuckle arm is folded, the locking and state feedback modules are sequentially inserted into the guide plate; and the jacking mechanism is used for lifting the arm body. A plurality of locking and state feedback modules and a guide plate are arranged, and further, the locking and state feedback modules are sequentially inserted into the guide plate to realize state feedback and sequence control functions.

Description

Technical Field

[0001] The invention relates to a telescopic arm, in particular to a telescopic arm with a state feedback and sequence control mechanism. Background Art

[0002] With the rapid development of science and technology, telescopic arms, as an important component of automation equipment, have been applied to various sub-fields such as civil, military, and dual-use. The invention patent with publication number CN106930694B discloses a telescopic arm, which realizes a freely retractable basic structure by setting an outer arm, an inner arm, and a telescopic cylinder. However, due to the small number of sections of the telescopic arm, the use scenario of this structure is extremely limited, and the state feedback and sequential control of the telescopic arm cannot be realized.

[0003] For example, when the telescopic arm is applied to the radar of my country's military industry, its radar antenna array needs to have a large radiation area. In order to meet the requirements of road and rail transportation, the antenna array must be folded from a larger size in the working state to a smaller transportation size. The array is usually composed of multiple rows, and the expansion and folding between the rows are realized by the telescopic arm. The sequential expansion and status feedback of the telescopic arm are very critical for the radar. First, if the telescopic arm cannot be expanded sequentially, the extension process will cause the multiple arms to not separate. At this time, it is very easy for a certain arm to fall suddenly. The violent impact will cause damage to the equipment and affect the safety of the equipment. Secondly, the sequential expansion and status feedback of the telescopic arm can enable the system to grasp the expansion status of the array in real time. On the one hand, it can carry out other work synchronously according to the array status. On the other hand, it can ensure that the unit is expanded sequentially following the telescopic arm, so as to facilitate the control of the unit. At present, the extension sequence control of multi-section telescopic arms mainly relies on active actuators, such as multi-stage hydraulic cylinders and drive motors. However, the actively driven telescopic arms have a complex structure, and are not suitable especially when there are many sections. The passively extended telescopic arms have no power source, so their structure is simple, reliability is higher, and service life is longer. However, they usually do not have the functions of sequential deployment and state feedback. In actual applications, there are safety hazards and the disadvantages of uncontrollable state of array units. Summary of the invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and to provide a telescopic arm with a state feedback and sequence control mechanism, so as to solve the technical problem that the state feedback and sequence control of the telescopic arm cannot be realized in the prior art.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a telescopic arm with a state feedback and sequential control mechanism, comprising an arm body, a sequential control mechanism and a lifting mechanism; the arm body comprises a plurality of segment arms connected step by step, and a hook is provided on the segment arm at the bottom; the sequential control mechanism comprises a plurality of locking and state feedback modules and a guide plate, the locking and state feedback modules are arranged on the segment arms and correspond one to one, the guide plate is arranged on the segment arm at the bottom, and when each segment arm is folded, the locking and state feedback modules are inserted into the guide plate in sequence; the lifting mechanism is used to lift the arm body.

[0006] In some embodiments, a flange is installed on each of the arm sections, the locking and state feedback module is installed on the flange, and the locking and state feedback module corresponds to the flange one by one.

[0007] In some embodiments, the locking and status feedback module includes a base, a distance sensor, a locking head, a spring, an adjustment nut and a cotter pin. The base is connected to the flange, and the top of the base has a clearance groove opening upward. The distance sensor and the locking head are arranged on opposite inner walls of the clearance groove. The two ends of the spring are respectively connected to the locking head and the adjustment nut. One end of the adjustment nut away from the spring extends out of the base, and the cotter pin is arranged in the adjustment nut.

[0008] In some embodiments, the locking head and the guide plate are matched with each other in an inclined manner.

[0009] In some embodiments, the base is detachably connected to the flange.

[0010] In some embodiments, fastening bolts are provided between the base and the flange, and each group of fastening bolts between the base and the flange is provided with at least four bolts.

[0011] In some embodiments, the guide plate includes a plate body and a locking hole, the locking hole is opened on the plate body, and the locking hole corresponds to the locking and state feedback module one by one.

[0012] In some embodiments, each of the locking holes is staggered.

[0013] In some embodiments, the guide plate is detachably connected to the section arm.

[0014] In some embodiments, the lifting mechanism is configured as a lifting tower, and the top end of the lifting tower is detachably connected to the top end of the arm body.

[0015] Compared with the prior art, the present invention provides a telescopic arm with a state feedback and sequential control mechanism, which constructs a state feedback and sequential control structure by setting up multiple locking and state feedback modules and a guide plate; specifically, the guide plate is arranged on the arm section at the bottom, and when each arm section is folded, the locking and state feedback modules can be inserted into the guide plate in sequence, which can not only realize orderly position control, but also understand the state of each arm section through sequential insertion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a telescopic arm with a state feedback and sequence control mechanism in a folded state provided by an embodiment of the present invention (excluding a lifting mechanism); Figure 2 yes Figure 1 Structural diagram of the locking and state feedback module; Figure 3 yes Figure 2 Front view of Figure 4 yes Figure 3 Sectional view of AA in the middle; Figure 5 yes Figure 1 A schematic diagram of the structure of the middle guide plate; Figure 6 It is a structural schematic diagram of a telescopic arm with a state feedback and sequence control mechanism in an extended state provided by an embodiment of the present invention (excluding a lifting mechanism); Figure 7 It is a structural schematic diagram of a telescopic arm with a state feedback and sequence control mechanism (including a lifting mechanism) provided by an embodiment of the present invention; Description of reference numerals: 100, arm body; 110, section arm; 120, hook; 130, flange; 200, sequential control mechanism; 210, locking and status feedback module; 211, base; 212, distance sensor; 213, locking head; 214, spring; 215, adjusting nut; 216, cotter pin; 217, clearance groove; 220, guide plate; 221, plate body; 222, lock hole; 300, lifting mechanism; 310, lifting tower; 400, fastening bolts. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In order to solve the technical problem that the state feedback and sequential control of the telescopic arm cannot be realized, the present invention provides a telescopic arm with a state feedback and sequential control mechanism, which can realize the state feedback and sequential control of the telescopic arm.

[0019] It should be noted that the telescopic arm with state feedback and sequential control mechanism described in the present invention is used for but not limited to radar antenna array surface, etc. For the convenience of explanation, in the present invention, only an example of a telescopic arm with state feedback and sequential control mechanism applied to radar antenna array surface equipment is used for explanation. The principle of a telescopic arm with state feedback and sequential control mechanism applied to other types of equipment is substantially the same as the principle applied to radar antenna array surface equipment, which will not be elaborated here.

[0020] See also Figure 1 - Figure 7 , Figure 1 The present invention is a schematic structural diagram of a telescopic arm with a state feedback and sequential control mechanism in one embodiment of the present invention. The telescopic arm with a state feedback and sequential control mechanism comprises an arm body 100, a sequential control mechanism 200 and a lifting mechanism 300; the arm body 100 comprises a plurality of segment arms 110 connected step by step, and a hook 120 is provided on the segment arm 110 at the bottom; the sequential control mechanism 200 comprises a plurality of locking and state feedback modules 210 and a guide plate 220, the locking and state feedback modules 210 are arranged on the segment arms 110 and correspond one to one, the guide plate 220 is arranged on the segment arm 110 at the bottom, and when each segment arm 110 is folded, the locking and state feedback modules 210 are inserted into the guide plate 220 in sequence; the lifting mechanism 300 is used to lift the arm body 100.

[0021] In this embodiment, a state feedback and sequential control structure is constructed by setting up multiple locking and state feedback modules 210 and a guide plate 220; specifically, the guide plate 220 is set on the bottom arm 110, and when each arm 110 is folded, the locking and state feedback module 210 can be inserted into the guide plate 220 in sequence, so that orderly position control can be achieved and the state of each arm 110 can be understood through sequential insertion.

[0022] In one embodiment, see Figure 1 A flange 130 is installed on each arm section 110 , and the locking and state feedback module 210 is installed on the flange 130 , and the locking and state feedback module 210 corresponds to the flange 130 one by one.

[0023] In this embodiment, the locking and state feedback module 210 is installed on the flange 130, and the locking and state feedback module 210 corresponds to the flange 130 one by one, so that each section arm 110 can be judged by whether the corresponding locking and state feedback module 210 and the guide plate 220 have an insertion relationship when folding or extending, and then the state can be grasped, and finally feedback can be obtained through the locking and state feedback module 210. It should be pointed out that the locking and state feedback module 210 has a built-in signal transceiver and code, and the feedback of the state can be transmitted to the corresponding control unit or an external host through the signal transceiver. Since the signal transceiver is built-in and is a prior art, the principle of signal transmission is not described in detail.

[0024] In one embodiment, see Figure 2 , Figure 3 , Figure 4 , Figure 6 The locking and state feedback module 210 includes a base 211, a distance sensor 212, a locking head 213, a spring 214, an adjusting nut 215 and a cotter pin 216. The base 211 is connected to the flange 130. The top of the base 211 has a paving groove 217 with an opening facing upward. The distance sensor 212 and the locking head 213 are arranged on opposite inner walls of the paving groove 217. Both ends of the spring 214 are respectively connected to the locking head 213 and the adjusting nut 215. One end of the adjusting nut 215 away from the spring 214 extends out of the base 211. The cotter pin 216 is arranged in the adjusting nut 215.

[0025] In this embodiment, when each arm section 110 is folded, each arm section 110 is folded in turn under the action of its own weight, and the guide plate 220 is inserted into each locking and state feedback module 210. After reaching the corresponding position, the locking head 213 of the locking and state feedback module 210 is inserted into the guide plate 220, and the distance sensor 212 monitors the guide plate 220 and feeds back the state information to the signal transceiver or the control system.

[0026] In one embodiment, see Figure 4 , Figure 5 The locking head 213 and the guide plate 220 are matched with each other in an inclined plane.

[0027] In this embodiment, the locking head 213 and the guide plate 220 are matched with each other in an inclined plane, so that the locking head 213 and the guide plate 220 are easily locked and released.

[0028] In one embodiment, see Figure 1 , Figure 2 The base 211 is detachably connected to the flange 130 .

[0029] In one embodiment, see Figure 1 , Figure 2A fastening bolt 400 is provided between the base 211 and the flange 130 , and each group of fastening bolts 400 between the base 211 and the flange 130 is provided with at least four.

[0030] In one embodiment, see Figure 1 , Figure 5 , Figure 6 The guide plate 220 includes a plate body 221 and a locking hole 222 . The locking hole 222 is opened on the plate body 221 , and the locking hole 222 corresponds to the locking and state feedback module 210 one by one.

[0031] In one embodiment, see Figure 5 , each locking hole 222 is staggered.

[0032] In this embodiment, each locking hole 222 is staggered, so as to facilitate the linear contraction and extension of the segment arm 110 and avoid interference between them.

[0033] In one embodiment, see Figure 1 The guide plate 220 is detachably connected to the joint arm 110.

[0034] In one embodiment, see Figure 1 The lifting mechanism 300 is configured as a lifting tower 310 , and the top of the lifting tower 310 is detachably connected to the top of the arm body 100 .

[0035] In this embodiment, the top of the lifting tower 310 is detachably connected to the top of the arm body 100, which is convenient for maintenance and replacement of other lifting mechanisms.

[0036] In order to better understand the present invention, the following Figures 1 to 7 The technical solution of the present invention is described in detail: First, when the telescopic arm in the folded state needs to be extended, the section arm 110 at the top can be driven to move upward through the lifting mechanism 300; then, the remaining section arms 110 will overcome their own gravity, friction force and locking force in turn, and make the corresponding locking head 213 move out of the corresponding locking hole 222; before the section arm 110 at the bottom is extended, the section arm 110 at the bottom will be hooked with the corresponding equipment through the hook 120, so as to better ensure the linear and orderly extension of each section arm 110.

[0037] It should be pointed out that when the first section arm 110 at the top is extended, the adjacent second section arm 110 will bear the upward friction reaction force of the section arm 110, the downward deadweight and the downward friction resistance of the third section arm 110, and the locking force. Since the locking force is adjustable, it can be guaranteed to be less than the downward resistance, that is, the second section arm 110 will not extend during the extension of the first section arm 110. If there is no locking and state feedback module 210, since the friction resistance is uncontrollable, there may be a force greater than the sum of the downward forces, that is, when the first section arm 110 is extended, the second section arm 110 is extended together. At this time, the first and second sections of the arm 110 are not pulled out. During the extension of the remaining section arm 110, the shaking of the equipment will cause a force less than the downward force, and the section arm 110 will fall instantly, causing damage to the equipment. The locking and state feedback module 210 can provide an adjustable locking force to ensure that the second section arm 110 will not extend synchronously with the first section arm 110. Next, when the fully extended arm 110 needs to be folded, it can be folded in sequence under the action of its own weight and connected to each locking hole 222. Since the distance sensor 212, the locking head 213 and the guide plate 220 are provided in the above structure, the position state of each arm 110 can be monitored and fed back, and the sequence control of each arm 110 can be achieved through the locking holes 222 at different positions, which can effectively eliminate the safety hazards and the disadvantages of uncontrollable array unit states.

[0038] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A telescopic arm with a state feedback and sequence control mechanism, characterized in that: include: An arm body, the arm body comprising a plurality of segment arms connected step by step, and a hook is provided on the segment arm at the bottom; A sequential control mechanism, the sequential control mechanism comprising a plurality of locking and state feedback modules and a guide plate, the locking and state feedback modules are arranged on the section arms and correspond one to one, the guide plate is arranged on the section arms at the bottom, and when each section arm is folded, the locking and state feedback modules are inserted into the guide plate in sequence; and A lifting mechanism is used to lift the arm body.

2. A telescopic arm with a state feedback and sequence control mechanism according to claim 1, characterized in that: A flange is installed on each of the arm sections, and the locking and state feedback module is installed on the flange, and the locking and state feedback module corresponds to the flange one by one.

3. A telescopic arm with a state feedback and sequence control mechanism according to claim 2, characterized in that: The locking and status feedback module includes a base, a distance sensor, a locking head, a spring, an adjusting nut and a cotter pin. The base is connected to the flange. The top of the base has a clearance groove opening upward. The distance sensor and the locking head are arranged on opposite inner walls of the clearance groove. The two ends of the spring are respectively connected to the locking head and the adjusting nut. One end of the adjusting nut away from the spring extends out of the base, and the cotter pin is arranged in the adjusting nut.

4. A telescopic arm with a state feedback and sequence control mechanism according to claim 3, characterized in that: The locking head and the guide plate are matched with each other in an inclined plane.

5. The telescopic arm with state feedback and sequence control mechanism according to claim 3, characterized in that: The base is detachably connected to the flange.

6. A telescopic arm with a state feedback and sequence control mechanism according to claim 5, characterized in that: Fastening bolts are provided between the base and the flange, and each group of fastening bolts between the base and the flange is provided with at least four.

7. The telescopic arm with state feedback and sequence control mechanism according to claim 1, characterized in that: The guide plate includes a plate body and a locking hole, wherein the locking hole is provided on the plate body, and the locking hole corresponds to the locking and state feedback module one by one.

8. The telescopic arm with state feedback and sequence control mechanism according to claim 7, characterized in that: Each of the lock holes is staggered.

9. The telescopic arm with state feedback and sequence control mechanism according to claim 1, characterized in that: The guide plate is detachably connected to the section arm.

10. The telescopic arm with state feedback and sequence control mechanism according to claim 1, characterized in that: The lifting mechanism is configured as a lifting tower, and the top end of the lifting tower is detachably connected to the top end of the arm body.

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