Telescopic mechanism, telescopic device and overhead working truck

Abstract

The invention relates to the technical field of high-altitude machinery, and discloses a telescopic mechanism, a telescopic device and a high-altitude operation vehicle, the telescopic mechanism comprises knuckle arms including a first knuckle arm, a second knuckle arm and a third knuckle arm, and the first knuckle arm, the second knuckle arm and the third knuckle arm are sequentially connected in a sleeved mode from outside to inside; the first two-stage oil cylinder is arranged in the knuckle arm and comprises a first first-stage cylinder rod, a first second-stage cylinder rod and a first cylinder body, and the first first-stage cylinder rod is connected with the first knuckle arm; the first secondary cylinder rod is connected with the second knuckle arm; the first cylinder body is connected with the third section arm; and the first linkage assembly is used for driving the second section arm to be far away from the first section arm through the far-away movement between the third section arm and the second section arm. The telescopic device comprises the telescopic mechanism. The overhead working truck comprises the telescopic device. According to the telescopic mechanism, the telescopic device and the overhead working truck, the telescopic performance of the knuckle arm can be improved, and the production cost can be reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of aerial machinery, and specifically relates to a telescopic mechanism, a telescopic device and an aerial work vehicle. Background Art

[0002] The telescopic mechanism is one of the core components of the telescopic arm to realize the telescopic function. The telescopic mechanism generally realizes the telescopic movement of the arm section through the cooperation of the telescopic cylinder C and the rope assembly P.

[0003] However, for a five-section telescopic boom, Figure 1 As shown, it is generally necessary to arrange multiple rope assembly P inside, which makes the design more complicated. Due to the cumulative effect of load doubling caused by the increase in the number of boom sections, the requirements for the chain and pulley in the rope assembly P are also higher, which increases the production cost. In addition, since each boom section is driven by the same telescopic cylinder C, the load of the telescopic cylinder C is large, which is not only not conducive to the telescopic performance of the telescopic boom, but also poses certain safety hazards.

[0004] Even if a multi-stage cylinder is used to reduce the number of rope row components P, since the multi-stage cylinder can only be extended and retracted step by step, a large impact will be generated when the cylinder rod of each stage is in place, which is not conducive to the stability of the telescopic arm. In addition, the thrust of the low-stage cylinder rod of the multi-stage cylinder is generally greater, the cylinder is heavy and large in size, and it is difficult to ensure the synchronization of the extension and retraction between multiple cylinders when multiple multi-stage cylinders are used at the same time. Summary of the invention

[0005] The purpose of the present application is to provide a telescopic mechanism, a telescopic device and an aerial work vehicle to improve the telescopic performance of the joint arm.

[0006] In order to achieve the above objectives, the present application provides a telescopic mechanism, including:

[0007] The section arm comprises a first section arm, a second section arm and a third section arm which are nested in sequence from the outside to the inside;

[0008] The first two-stage oil cylinder comprises a first-stage cylinder rod, a first-stage cylinder rod and a first cylinder body. The first two-stage oil cylinder is arranged in the joint arm, the first-stage cylinder rod is connected to the first joint arm, the first-stage cylinder rod is connected to the second joint arm, and the first cylinder body is connected to the third joint arm;

[0009] The first linkage assembly is used for driving the second section arm away from the first section arm through the moving away movement between the third section arm and the second section arm.

[0010] In an optional implementation, the first linkage component includes:

[0011] A first pulley, the first pulley is movably mounted on the left end of the second boom;

[0012] The first chain, one end of the first chain is connected to the right end of the first section arm, and after the first chain goes around the left end of the first pulley, the other end of the first chain is connected to the left end of the third section arm.

[0013] In an optional implementation, the telescopic mechanism further includes a second linkage component, and the second linkage component includes:

[0014] A second pulley, the second pulley is movably mounted on the right end of the second arm;

[0015] A second chain, one end of the second chain is connected to the right end of the first arm, and after the second chain passes around the right end of the second pulley, the other end of the second chain is connected to the left end of the third arm.

[0016] In an optional implementation, the telescopic mechanism further includes:

[0017] The first distance sensor is used to obtain the relative distance between the first boom and the second boom.

[0018] In an optional implementation, the first distance sensor is a pull-wire sensor, which is disposed at the left end of the first boom section, and the pull wire of the pull-wire sensor is connected to the left end of the second boom section.

[0019] A second aspect of the present application provides a telescopic device, which includes the above-mentioned telescopic mechanism.

[0020] In an optional implementation, the telescopic device further includes:

[0021] The fourth and fifth booms;

[0022] The second two-stage oil cylinder comprises a second first-stage cylinder rod, a second second-stage cylinder rod, and a second cylinder body. The second first-stage cylinder rod is connected to the third arm; the second second-stage cylinder rod is connected to the fourth arm; and the second cylinder body is connected to the fifth arm;

[0023] The third linkage assembly is used to drive the fourth section arm away from the third section arm through the moving away movement between the fifth section arm and the fourth section arm.

[0024] In an optional implementation, the third linkage component includes:

[0025] The third pulley is movably mounted on the left end of the fourth arm;

[0026] The third chain, one end of the third chain is connected to the right end of the third arm, and after the third chain passes around the left end of the third pulley, the other end of the third chain is connected to the left end of the fifth arm.

[0027] In an optional implementation, the telescopic device further includes a fourth linkage component, and the fourth linkage component includes:

[0028] The fourth pulley is movably mounted on the right end of the fourth arm;

[0029] The fourth chain, one end of the fourth chain is connected to the right end of the third arm, and after the fourth chain passes around the right end of the fourth pulley, the other end of the fourth chain is connected to the left end of the fifth arm.

[0030] In an optional implementation, the telescopic device further includes:

[0031] The second distance sensor is used to obtain the relative distance between the fifth boom and the fourth boom.

[0032] In an optional implementation, the second distance sensor is a pull-wire sensor, which is disposed at the left end of the third arm, and the pull wire of the pull-wire sensor is connected to the left end of the fourth arm.

[0033] In an optional implementation, the telescopic device further includes:

[0034] The controller is configured as:

[0035] According to the distance signals of the first distance sensor and the second distance sensor, the first two-stage oil cylinder and the second two-stage oil cylinder are controlled to push the third section boom and the fifth section boom out from the second section boom and the fourth section boom in equal proportion.

[0036] A third aspect of the present application provides an aerial work vehicle, the aerial work vehicle comprising the above-mentioned telescopic device.

[0037] Through the above technical solution, the first two-stage oil cylinder is introduced into the telescopic mechanism, and the first one-stage cylinder rod, the first two-stage cylinder rod, and the first cylinder body are respectively connected to the first section arm, the second section arm, and the third section arm, and the relative telescopic movement between the first one-stage cylinder rod and the first two-stage cylinder rod is used to realize the relative telescopic movement between the first section arm and the second section arm, and the relative telescopic movement between the first two-stage cylinder rod and the first cylinder body is used to realize the relative telescopic movement between the second section arm and the third section arm. On this basis, the first linkage assembly is further introduced so that the movement away from the third section arm and the second section arm can drive the second section arm away from the first section arm, thereby reducing the load of the relative telescopic movement between the first one-stage cylinder rod and the first two-stage cylinder rod. In addition, since the first two-stage cylinder rod of the first two-stage oil cylinder is larger in size and has a stronger load capacity than the first one-stage cylinder rod, the load on the first one-stage cylinder rod is distributed to the first two-stage cylinder rod, which can more effectively utilize the structural strength of the first two-stage oil cylinder, thereby reducing the overall size of the first two-stage oil cylinder.

[0038] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0040] Figure 1 It is a structural schematic diagram of a telescopic arm in the prior art;

[0041] Figure 2 It is a schematic structural diagram of a telescopic device according to a specific embodiment of the present application.

[0042] Description of Reference Numerals

[0043] 10 First boom 80 Fourth boom

[0044] 20 Second boom 90 Fifth boom

[0045] 30 Third boom 100 Second two-stage cylinder

[0046] 40 First two-stage oil cylinder 101 Second first-stage cylinder rod

[0047] 41 1st level cylinder rod 102 2nd level cylinder rod

[0048] 42 First and second cylinder rod 103 Second cylinder body

[0049] 43 First cylinder 110 Third linkage assembly

[0050] 50 first linkage assembly 111 third pulley

[0051] 51 first pulley 112 third chain

[0052] 52 first chain 120 fourth linkage assembly

[0053] 60 second linkage assembly 121 fourth pulley

[0054] 61 second pulley 122 fourth chain

[0055] 62 Second chain 130 Second distance sensor

[0056] 70 First distance sensor P Rope assembly

[0057] C Telescopic Cylinder DETAILED DESCRIPTION

[0058] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0059] The telescopic mechanism, telescopic device and aerial work vehicle according to the present application are described below with reference to the accompanying drawings.

[0060] The present application discloses a novel telescopic mechanism, such as Figure 2 As shown, the telescopic mechanism includes:

[0061] The joint arm comprises a first joint arm 10, a second joint arm 20, and a third joint arm 30 which are nested in sequence from the outside to the inside;

[0062] The first two-stage oil cylinder 40 is arranged in the boom, and includes a first-stage cylinder rod 41, a first-stage cylinder rod 42, and a first cylinder body 43. The first-stage cylinder rod 41 is connected to the first boom 10, the first-stage cylinder rod 42 is connected to the second boom 20, and the first cylinder body 43 is connected to the third boom 30;

[0063] The first linkage assembly 50 is used to drive the second joint arm 20 to move away from the first joint arm 10 through the moving away movement between the third joint arm 30 and the second joint arm 20 .

[0064] Specifically, compared with the single-stage oil cylinder in the prior art that drives the adjacent booms to move relative to each other, and the rope row assembly transmits the movement to other booms, the present application introduces a first two-stage oil cylinder 40, and the first first-stage cylinder rod 41, the first second-stage cylinder rod 42, and the first cylinder body 43 of the first two-stage oil cylinder 40 are respectively connected to the first boom 10, the second boom 20, and the third boom 30, and the relative movement between the adjacent booms can be directly realized by the first two-stage oil cylinder 40. Therefore, the load is more reasonable and the telescopic performance is better. In addition, the present application also introduces the introduction of the first linkage assembly 50, which can drive the second boom 20 away from the first boom 10 through the movement away from the third boom 30 and the second boom 20, that is, the first two-stage cylinder rod 42 can bear part of the load on the first one-stage cylinder rod 41. Since the first two-stage cylinder rod 42 of the first two-stage oil cylinder 40 is larger in size and has a stronger load capacity than the first one-stage cylinder rod 41, such a setting can more effectively utilize the structural strength of the first two-stage oil cylinder 40, thereby reducing the overall size of the first two-stage oil cylinder 40. Among them, those skilled in the art can understand that the first linkage assembly 50 can be in various forms, for example, corresponding rack and pinion mechanisms are respectively provided on the first arm 10, the second arm 20, and the third arm 30, or a rope row assembly including a fixed pulley and / or a movable pulley, etc.

[0065] In this embodiment, if Figure 2 As shown, the first linkage assembly 50 includes:

[0066] A first pulley 51, the first pulley 51 is movably mounted on the left end of the second section arm 20;

[0067] First chain 52( Figure 2 Only the portion of the first chain 52 between the first pulley 51 and the third arm 30 is shown in the figure, one end of the first chain 52 is connected to the right end of the first arm 10, and after the first chain 52 passes around the left end of the first pulley 51, the other end of the first chain 52 is connected to the left end of the third arm 30.

[0068] Specifically, when the first and second cylinder rods 42 extend from the first cylinder body 43, they can push the third arm 30 to extend from the second arm 20. At this time, the length of the first chain 52 between the first pulley 51 and the third arm 30 increases, and the length of the first chain 52 between the first pulley 51 and the first arm 10 decreases and pulls the second arm section, so that the first chain 52 can assist the second arm 20 to extend from the first arm 10, reducing the push-out load of the first and first cylinder rods 41.

[0069] In this embodiment, if Figure 2 As shown, the telescopic mechanism further includes a second linkage assembly 60, and the second linkage assembly 60 includes:

[0070] A second pulley 61, which is movably mounted on the right end of the second section arm 20;

[0071] The second chain 62 ( Figure 2 Only the portion of the second chain 62 between the second pulley 61 and the first arm 10 is shown in the figure, one end of the second chain 62 is connected to the right end of the first arm 10, and after the second chain 62 passes around the right end of the second pulley 61, the other end of the second chain 62 is connected to the left end of the third arm 30.

[0072] Specifically, when the first and second cylinder rods 42 are retracted, the third arm 30 can be driven to be retracted from the second arm 20. At this time, the length of the second chain 62 between the second pulley 61 and the third arm 30 is reduced, so that the second chain 62 will push the second pulley 61 to the left, thereby driving the second arm 20 to be retracted into the first arm 10. In this way, the retraction load of the first and second cylinder rods 41 can be reduced.

[0073] In this embodiment, if Figure 2 As shown, the telescopic mechanism also includes:

[0074] The first distance sensor 70 is used to obtain the relative distance between the first boom 10 and the second boom 20 .

[0075] Specifically, after the relative distance between the first boom 10 and the second boom 20 is obtained, the relative positions of the first boom 10 , the second boom 20 and the third boom 30 can be known according to the relative distance.

[0076] In this embodiment, if Figure 2 As shown, the first distance sensor 70 is a pull-wire sensor, which is disposed at the left end of the first boom 10 , and the pull wire of the pull-wire sensor is connected to the left end of the second boom 20 .

[0077] There are many options for distance sensors. Wire sensors are low cost and easy to maintain and repair. Figure 2 The left end of the first section arm 10 and the left end of the second section arm 20 are connected by a cable, and the whole is compact. The relative positions of the first section arm 10, the second section arm 20 and the third section arm 30 can be known according to the length of the cable.

[0078] The present application also discloses a telescopic device, which includes the telescopic mechanism mentioned above.

[0079] Obviously, the telescopic device has all the technical effects brought by the above-mentioned telescopic mechanism, so it will not be described here.

[0080] In this embodiment, if Figure 2 As shown, the telescopic device also includes:

[0081] A fourth boom 80 and a fifth boom 90;

[0082] The second two-stage oil cylinder 100 includes a second first-stage cylinder rod 101, a second second-stage cylinder rod 102, and a second cylinder body 103. The second first-stage cylinder rod 101 is connected to the third section arm 30; the second second-stage cylinder rod 102 is connected to the fourth section arm 80; and the second cylinder body 103 is connected to the fifth section arm 90;

[0083] The third linkage assembly 110 is used to drive the fourth section arm 80 away from the third section arm 30 through the moving away movement between the fifth section arm 90 and the fourth section arm 80 .

[0084] Specifically, the third arm 30, the fourth arm 80 and the fifth arm 90 of the telescopic mechanism are connected in sequence from the outside to the inside, the second first-stage cylinder rod 101, the second second-stage cylinder rod 102 and the second cylinder body 103 are connected to the third arm 30, the fourth arm 80 and the fifth arm 90 respectively, and the relative movement between adjacent arms can be directly realized by the second two-stage oil cylinder 100, thereby further improving the telescopicity between each arm and the balance of the load of each cylinder rod. Similarly, the third linkage assembly 110 is introduced into the telescopic device, and the third linkage assembly 110 can drive the fourth arm 80 away from the third arm 30 through the movement away from the fourth arm 80 and the fifth arm 90, that is, the second second-stage cylinder rod 102 can bear part of the load on the second first-stage cylinder rod 101. Since the second second-stage cylinder rod 102 of the second two-stage oil cylinder 100 is larger in size and has a stronger load capacity than the second first-stage cylinder rod 101, such a setting can more effectively utilize the structural strength of the second two-stage oil cylinder 100, thereby reducing the overall size of the second two-stage oil cylinder 100. Among them, those skilled in the art can understand that the third linkage assembly 110 can be in various forms, for example, corresponding rack and pinion mechanisms are respectively provided on the third arm 30, the fourth arm 80, and the fifth arm 90, or a rope row assembly including a fixed pulley and / or a movable pulley, etc.

[0085] In this embodiment, if Figure 2 As shown, the third linkage component 110 includes:

[0086] A third pulley 111, the third pulley 111 is movably mounted on the left end of the fourth arm 80;

[0087] The third chain 112 ( Figure 2 Only the portion of the third chain 112 between the third pulley 111 and the fifth arm 90 is shown in the figure, one end of the third chain 112 is connected to the right end of the third arm 30, and after the third chain 112 passes around the left end of the third pulley 111, the other end of the third chain 112 is connected to the left end of the fifth arm 90.

[0088] Specifically, when the second-stage cylinder rod 102 extends from the second cylinder body 103, it can push the fifth arm 90 to extend from the fourth arm 80. At this time, the length of the third chain 112 between the third pulley 111 and the fifth arm 90 increases, and the length of the third chain 112 between the third pulley 111 and the third arm 30 decreases and pulls the fourth arm section, so that the third chain 112 can assist the fourth arm 80 to extend from the third arm 30, reducing the push-out load of the second-stage cylinder rod 101.

[0089] In this embodiment, if Figure 2 As shown, the telescopic device further includes a fourth linkage assembly 120, and the fourth linkage assembly 120 includes:

[0090] The fourth pulley 121 is movably mounted on the right end of the fourth arm 80;

[0091] Fourth chain 122( Figure 2 Only the portion of the fourth chain 122 between the fourth pulley 121 and the third arm 30 is shown in the figure, one end of the fourth chain 122 is connected to the right end of the third arm 30, and after the fourth chain 122 passes around the right end of the fourth pulley 121, the other end of the fourth chain 122 is connected to the left end of the fifth arm 90.

[0092] Specifically, when the second-stage cylinder rod 102 is recovered, the fifth arm 90 can be driven to be recovered from the fourth arm 80. At this time, the length of the fourth chain 122 between the fourth pulley 121 and the fifth arm 90 is reduced, so that the fourth chain 122 will push the fourth pulley 121 to the left, thereby driving the fourth arm 80 to be recovered into the third arm 30. In this way, the recovery load of the second-stage cylinder rod 101 can be reduced.

[0093] In this embodiment, if Figure 2 As shown, the telescopic device also includes:

[0094] The second distance sensor 130 is used to obtain the relative distance between the fifth boom 90 and the fourth boom 80 .

[0095] Specifically, after the relative distance between the third boom 30 and the fourth boom 80 is obtained, the relative positions of the third boom 30 , the fourth boom 80 and the fifth boom 90 can be known according to the relative distance.

[0096] In this embodiment, if Figure 2 As shown, the second distance sensor 130 is a pull-wire sensor, which is disposed at the left end of the third boom 30 , and the pull wire of the pull-wire sensor is connected to the left end of the fourth boom 80 .

[0097] like Figure 2 As shown, the left end of the third arm 30 and the left end of the fourth arm 80 are connected by a cable, and the whole is compact. The relative positions of the third arm 30, the fourth arm 80 and the fifth arm 90 can be known according to the length of the cable. Of course, those skilled in the art can understand that the distance sensor can also be other TOF sensors.

[0098] In this embodiment, the telescopic device also includes:

[0099] The controller (not shown) is configured to:

[0100] According to the distance signals of the first distance sensor 70 and the second distance sensor 130 , the first two-stage cylinder 40 and the second two-stage cylinder 100 are controlled to push the third boom 30 and the fifth boom 90 out from the second boom 20 and the fourth boom 80 in equal proportion.

[0101] Specifically, after the controller obtains the distance signal of the first distance sensor 70 and the second distance sensor 130, the relative position of the first section arm 10 to the fifth section arm 90 can be obtained, and the oil pressure of the first two-stage oil cylinder 40 and the second two-stage oil cylinder 100 can be adjusted according to the relative position, so as to realize that the third section arm 30 and the fifth section arm 90 are pushed out from the second section arm 20 and the fourth section arm 80 in equal proportion, and under the auxiliary action of the first linkage assembly 50 and the third linkage assembly 110, the extension action of the second section arm 20 to the fifth section arm 90 can be ensured to be smooth without causing impact. Similarly, when the controller controls the third section arm 30 and the fifth section arm 90 to be recovered from the second section arm 20 and the fourth section arm 80 in equal proportion according to the relative position, under the auxiliary action of the second linkage assembly 60 and the fourth linkage assembly 120, the recovery action of the second section arm 20 to the fifth section arm 90 can be ensured to be smooth without causing impact.

[0102] The present application further discloses an aerial work vehicle, which includes the telescopic device mentioned above.

[0103] Obviously, the aerial work vehicle has all the technical effects brought by the above-mentioned telescopic device, so they will not be described here.

[0104] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A telescopic mechanism, characterized in that: The telescopic mechanism comprises: The joint arm comprises a first joint arm (10), a second joint arm (20), and a third joint arm (30) which are nested in sequence from the outside to the inside; a first two-stage oil cylinder (40), the first two-stage oil cylinder (40) being arranged in the boom, comprising a first-stage cylinder rod (41), a first-stage cylinder rod (42), and a first cylinder body (43), the first-stage cylinder rod (41) being connected to the first boom (10), the first-stage cylinder rod (42) being connected to the second boom (20), and the first cylinder body (43) being connected to the third boom (30); A first linkage assembly (50), wherein the first linkage assembly (50) is used to drive the second section arm (20) to move away from the first section arm (10) through the moving away movement between the third section arm (30) and the second section arm (20).

2. The telescopic mechanism according to claim 1, characterized in that: The first linkage component (50) comprises: A first pulley (51), the first pulley (51) being movably mounted on the left end of the second boom (20); A first chain (52), one end of the first chain (52) is connected to the right end of the first section arm (10), and after the first chain (52) passes around the left end of the first pulley (51), the other end of the first chain (52) is connected to the left end of the third section arm (30).

3. The telescopic mechanism according to claim 1, characterized in that: The telescopic mechanism further comprises a second linkage assembly (60), wherein the second linkage assembly (60) comprises: A second pulley (61), the second pulley (61) being movably mounted on the right end of the second boom (20); A second chain (62), one end of the second chain (62) is connected to the right end of the first section arm (10), and after the second chain (62) passes around the right end of the second pulley (61), the other end of the second chain (62) is connected to the left end of the third section arm (30).

4. The telescopic mechanism according to claim 1, characterized in that: The telescopic mechanism also includes: A first distance sensor (70), wherein the first distance sensor (70) is used to obtain a relative distance between the first boom section (10) and the second boom section (20).

5. The telescopic mechanism according to claim 4, characterized in that: The first distance sensor (70) is a pull-wire sensor, which is arranged at the left end of the first boom (10), and the pull wire of the pull-wire sensor is connected to the left end of the second boom (20).

6. A telescopic device, characterized in that: The telescopic device comprises a telescopic mechanism according to any one of claims 1 to 5.

7. The telescopic device according to claim 6, characterized in that: The telescopic device also includes: A fourth boom (80) and a fifth boom (90); The second two-stage oil cylinder (100) comprises a second first-stage cylinder rod (101), a second second-stage cylinder rod (102), and a second cylinder body (103); the second first-stage cylinder rod (101) is connected to the third boom (30); the second second-stage cylinder rod (102) is connected to the fourth boom (80); and the second cylinder body (103) is connected to the fifth boom (90); A third linkage assembly (110), the third linkage assembly (110) is used to drive the fourth arm (80) to move away from the third arm (30) through the moving away movement between the fifth arm (90) and the fourth arm (80).

8. The telescopic device according to claim 7, characterized in that: The telescopic device also includes: A second distance sensor (130), wherein the second distance sensor (130) is used to obtain a relative distance between the fifth boom (90) and the fourth boom (80).

9. The telescopic device according to any one of claims 8, characterized in that: The telescopic device also includes: The controller is configured as: According to distance signals from a first distance sensor (70) and a second distance sensor (130), the first two-stage oil cylinder (40) and the second two-stage oil cylinder (100) are controlled to push the third boom (30) and the fifth boom (90) out from the second boom (20) and the fourth boom (80) in equal proportion.

10. An aerial work vehicle, characterized in that: The aerial work vehicle comprises a telescopic device according to any one of claims 6 to 9.

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