Vertical arch four-stage combined folding cantilever crane

Abstract

The invention discloses a vertical arch four-stage combined folding boom which is characterized in that a rotary table is arranged on a rotary supporting disc, a telescopic folding assembly is rotatably arranged on the rotary table, the telescopic folding assembly comprises a folding arm, a connecting rod combined arm, a triangular supporting table and a telescopic combined arm, the folding arm is rotatably arranged on the rotary table, and the connecting rod combined arm is arranged at the upper end of the folding arm; a triangular supporting table is arranged at the upper end of the connecting rod combined arm, a telescopic combined arm is installed on the triangular supporting table in a transmission mode, the front end of the telescopic combined arm is connected with an arm head variable-amplitude platform, and a rotary swing gripper is arranged at the front end of the arm head variable-amplitude platform. Through front-back translation of the connecting rod combined arm, it is guaranteed that the grabbing range of the telescopic combined arm to the arch frame is enlarged, the grabbing efficiency is improved, the connecting rod combined arm and the telescopic combined arm are combined, and through multi-dimensional accurate control, the arch frame can be erected to the designated position more effectively.

Description

Technical Field

[0001] The invention relates to the technical field of multi-arm engineering equipment, in particular to a vertical arch four-level combined folding arm. Background Art

[0002] Arch erection, a critical step in building construction, bridge construction, and tunnel engineering, places high demands on the flexibility, precision, and stability of construction equipment. Traditional arch erection equipment often utilizes a single telescopic arm or a simple folding arm structure, which limits its operating range and makes efficient and accurate arch installation difficult under complex working conditions. With the increasing complexity of engineering requirements, existing technologies are gradually exposing the following technical bottlenecks: Limited operating range: Due to structural limitations, traditional telescopic booms have a limited gripping radius and pitch angle adjustment range. This makes it difficult to quickly grasp large-span arches, especially in narrow or complex terrain. While some equipment has expanded its operating radius by increasing the number of boom sections, the increased number of sections reduces overall rigidity, causing vibration and deformation, which affects construction accuracy. Low dynamic adjustment efficiency: Existing equipment often relies on repeated extension and retraction of the telescopic arm to achieve fine-tuning during the arch erection process, resulting in extended operation cycles. Especially under load, the frequent friction and wear of the telescopic arm slider increases, shortening equipment life and requiring frequent maintenance, significantly increasing construction costs. Stability and uneven force issues: When traditional booms are raising or lowering their length, the force state of the cylinder changes frequently (such as switching from tension to thrust), and additional redundant structures need to be designed to balance the load, which increases the weight of the equipment. In addition, the coordinated control of the folding arm and the telescopic arm is insufficient, which can easily cause the posture of the end gripper to deviate, requiring manual intervention and correction, restricting the improvement of the automation level. Insufficient spatial adaptability: Existing folding booms take up a large space when not in operation, and have low transportation and transfer efficiency. Although some equipment adopts a folding design, the folding angle is fixed, and the posture cannot be flexibly adjusted according to the construction site environment, which limits the applicable scenarios of the equipment.

[0003] Therefore, designing a vertical arch four-stage combined folding boom that can not only expand the operating coverage and improve the grasping efficiency, but also optimize the stress state through multi-dimensional collaborative control and reduce the maintenance cost of the vertical arch equipment has become a direction for further improvement. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a vertical arch four-level combination folding arm frame, including a slewing support plate, a turntable, a telescopic folding assembly, an arm head amplitude change platform and a rotating swinging gripper. The slewing support plate is provided with a turntable, and the turntable is rotatably provided with a telescopic folding assembly. The telescopic folding assembly includes a folding arm, a connecting rod combination arm, a triangular support platform and a telescopic combination arm. The turntable is rotatably provided with a folding arm, the upper end of the folding arm is provided with a connecting rod combination arm, the upper end of the connecting rod combination arm is provided with a triangular support platform, and the telescopic combination arm is transmission-installed on the triangular support platform. The front end of the telescopic combination arm is connected to the arm head amplitude change platform, and the front end of the arm head amplitude change platform is provided with a rotating swinging gripper.

[0005] Preferably, the connecting rod combination arm includes a driving cylinder, a first connecting rod and a second connecting rod. The upper end of the folding arm is rotatably connected to the lower ends of the first connecting rod and the second connecting rod through a connecting rod pin A and a connecting rod pin B respectively. The first connecting rod and the second connecting rod have the same structure. The first connecting rod and the second connecting rod are two groups arranged in parallel, and a quadrilateral is formed between the first connecting rod and the second connecting rod; a driving cylinder is movably provided between the second connecting rods, and the output end of the driving cylinder is provided between the first connecting rods and is transmission-connected to the connecting rod pin B.

[0006] Preferably, the telescopic combination arm includes a first luffing cylinder, a main arm, a second-section arm, a third-section arm and a multi-stage telescopic oil cylinder, the front end of the triangular support platform is movably connected to the rear end of the main arm through an arm tail hinge pin, the lower end of the main arm is relatively hinged with the first luffing cylinder, and the output end of the first luffing cylinder is hinged to the lower end of the triangular support platform through a connecting rod pin D; two groups of telescopic oil cylinders are fixed in parallel in the main arm, and the output ends of the two groups of telescopic oil cylinders are respectively adaptively connected to the inner sides of the second-section arm and the three-section arm. The front end of the main arm is provided with a first inner sliding assembly, and the outer periphery of the rear end of the two-section arm is provided with a first outer sliding assembly, the first outer sliding assembly and the first inner sliding assembly can slide relative to each other so that the two-section arm slides synchronously in the main arm; the front end of the two-section arm is provided with a second inner sliding assembly, and the rear periphery of the three-section arm is provided with a second outer sliding assembly, the second outer sliding assembly and the second inner sliding assembly can slide relative to each other so that the three-section arm slides synchronously in the two-section arm.

[0007] Preferably, the first inner sliding assembly and the second inner sliding assembly have the same structure, and both the first inner sliding assembly and the second inner sliding assembly include an inner slider 1, a lower slider pad, a lower slider baffle, an upper slider baffle, an inner slider 2 and an adjusting screw. The front end of the main arm and the inner side of the front end of the second-section arm are radially provided with an inner slider 1 and an inner slider 2 respectively. The outer side of the inner slider 1 is fixedly connected to the lower slider baffle through the lower slider pad; the outer side of the inner slider 2 is adjustably connected to the upper slider baffle through the adjusting screw.

[0008] Preferably, the first outer sliding assembly and the second outer sliding assembly have the same structure, and both the first outer sliding assembly and the second outer sliding assembly include an upper slider at the end of the arm, an adjustment plate and a side slider at the end of the arm, and the outer periphery of the rear end of the two-section arm and the rear end of the three-section arm are respectively provided with an upper slider at the end of the arm and a side slider at the end of the arm, and an adjustment plate is provided on one side of the upper slider at the end of the arm.

[0009] Preferably, the upper end of the first connecting rod and the output end of the first variable amplitude cylinder are hinged to the lower end of the triangular support platform through the connecting rod pin D; the upper end of the second connecting rod is movably connected to the lower end of the triangular support platform through the connecting rod pin C, and the bottom of the driving cylinder is sleeved on the connecting rod pin C.

[0010] Preferably, one end of the turntable is rotatably connected to the lower end of the folding arm through a lower hinge pin, and the other end of the turntable is movably connected to the middle part of the lower end of the lifting cylinder through an upper hinge pin, the output end of the lifting cylinder is connected to the middle part of the folding pin, and both ends of the folding pin pass through the upper end of the folding arm and are connected thereto.

[0011] Preferably, the arm head luffing platform includes a second luffing cylinder, a first rotary reducer, a connecting rod cylinder, a small four-link and a platform rotating seat. The front end of the three-section arm is movably connected to the platform rotating seat, the middle part of the lower end of the platform rotating seat is movably connected to the output end of the second luffing cylinder, and the other end of the second luffing cylinder is fixedly connected to the inner side of the three-section arm; an inclination sensor is provided on the outer side of the platform rotating seat, and the inclination sensor is used to sense and adjust the second luffing cylinder so that the platform rotating seat is parallel to the horizontal plane; the output end of the second luffing cylinder is rotatably connected to the first rotary reducer, and a small four-link is provided on the first rotary reducer, and a connecting rod cylinder is provided inside the small four-link, and the connecting rod cylinder drives the small four-link to swing up and down.

[0012] Preferably, the rotary swing gripper includes a second rotary reducer and an arch gripper, the front end of the small four-link is adaptively connected to the second rotary reducer, and the upper end of the second rotary reducer is provided with an arch gripper.

[0013] Preferably, the lifting cylinders are in two groups arranged in parallel.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) The present invention is provided with a turntable on the turntable support plate, and a telescopic folding assembly is rotatably provided on the turntable. The telescopic folding assembly includes a folding arm, a connecting rod combination arm, a triangular support platform and a telescopic combination arm. The turntable is provided with a folding arm that can be rotatably provided. The upper end of the folding arm is provided with a connecting rod combination arm, and the upper end of the connecting rod combination arm is provided with a triangular support platform. The telescopic combination arm is transmission-mounted on the triangular support platform. The front end of the telescopic combination arm is connected to the arm head variable amplitude platform, and the front end of the arm head variable amplitude platform is provided with a rotating swing gripper. The present invention ensures that the telescopic combination arm can expand the range of grabbing the arch frame through the forward and backward translation of the connecting rod combination arm, thereby improving the grabbing efficiency and stability. The connecting rod combination arm is combined with the telescopic combination arm, and through multi-dimensional precise control, it can more effectively erect the arch to the specified position. By innovatively designing a four-level combined folding arm frame structure and combining the linkage mechanism of the connecting rod combination arm and the telescopic combination arm, the efficiency, precision and intelligence of the arch erection operation are effectively achieved.

[0016] (2) The present invention provides two parallel groups of lifting cylinders, which are symmetrically arranged to ensure overall stability. At the same time, during the lifting process, the lifting cylinders are subjected to corresponding tension. When the four-stage combined folding boom is in operation, the lifting cylinder force state changes to corresponding thrust. This state can well optimize the cylinder size and reduce the weight and cost of the entire vehicle. The folded state of the connecting rod combination arm is arranged at a certain angle to the supporting chassis. The angle formed causes the telescopic combination arm to form a certain angle in the folded state, which can well control the height of the entire vehicle.

[0017] (3) The layout of the folding arm's lifting cylinder and the driving cylinder of the connecting rod combination arm of the present invention are both in a thrust state in the working state, which can better optimize the cylinder and reduce costs. The translation of the connecting rod combination arm can more accurately make the arch reach the specified position in the upright arch state, which correspondingly reduces the telescopic adjustment of the telescopic combination arm, thereby reducing the sliding friction of the telescopic combination arm on the slider in the loaded state, improving the life of the slider, and also reducing the vibration of the telescopic combination arm caused by the change in rigidity during the telescopic process of the arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the working structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the grabbing arch state of the present invention.

[0020] Figure 3 It is a schematic diagram of the arch standing state of the present invention.

[0021] Figure 4 This is a schematic diagram of the connecting rod assembly arm of the present invention when it is a parallelogram.

[0022] Figure 5a This is one of the working state diagrams of the connecting rod assembly arm of the present invention.

[0023] Figure 5b This is the second working state diagram of the connecting rod combination arm of the present invention.

[0024] Figure 6 It is a schematic structural diagram of the first inner sliding assembly of the present invention.

[0025] Figure 7 It is a schematic structural diagram of the first outer sliding component of the present invention.

[0026] Figure 8 It is a cross-sectional view of the connecting rod assembly arm of the present invention.

[0027] Figure 9 It is a partial schematic diagram of the boom head luffing platform of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0029] like Figures 1 to 9 As shown, a vertical arch four-stage combined folding boom frame includes a slewing support plate 1, a slewing platform 2, an upper hinge pin 21, a lower hinge pin 22, a folding arm 3, a lifting cylinder 31, a connecting rod pin A32, a folding pin 33, a connecting rod pin B34, a connecting rod combined arm 4, a driving cylinder 41, a first connecting rod 42, a second connecting rod 43, a triangular support platform 5, a connecting rod pin C51, a connecting rod pin D52, an arm tail hinge pin 53, a telescopic combined arm 6, a first luffing cylinder 61, a main arm 62, a second arm 63, a third arm 64, a telescopic cylinder 65, a first Inner sliding assembly 66, first outer sliding assembly 67, inner slider 1 621, lower slider pad 622, lower slider baffle 623, upper slider baffle 624, inner slider 2 625, adjusting screw 626, arm tail upper slider 631, adjustment plate 632, arm tail side slider 633, arm head boom adjustment platform 7, second boom adjustment cylinder 71, first rotary reducer 72, connecting rod cylinder 73, small four-link 74, platform rotating seat 75, inclination sensor 76, rotary swing gripper 8, second rotary reducer 81, arch frame gripper 82 and carrying chassis 10.

[0030] In the description of the present invention, unless otherwise specified, "plurality" means two or more; terms such as "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0032] like Figures 1 to 9 As shown, the slewing support 1 is connected to the carrying chassis 10 with high-strength screws, and the drive is carried out by a corresponding hydraulic device. A slewing support plate 1 is provided with a slewing platform 2, on which a telescopic folding assembly is rotatably mounted. The telescopic folding assembly includes a folding arm 3, a connecting rod combination arm 4, a triangular support platform 5, and a telescopic combination arm 6. The folding arm 3 is rotatably mounted on the slewing platform 2, and the upper end of the folding arm 3 is provided with a connecting rod combination arm 4, and the upper end of the connecting rod combination arm 4 is provided with a triangular support platform 5. The telescopic combination arm 6 is transmission-mounted on the triangular support platform 5. The front end of the telescopic combination arm 6 is connected to the boom head luffing platform 7, and the front end of the boom head luffing platform 7 is provided with a rotating swing gripper 8.

[0033] The turntable 2 serves as the carrier of the folding arm 3 and must meet the overall strength and rigidity requirements. The folding arm 3 is hinged to the turntable 2 through the lower hinge pin 22, and its folding pin 33 is connected to the turntable 2 through the upper hinge pin 21. A lifting cylinder 31 is provided in the middle, and the operating stroke of the lifting cylinder 31 determines the operating angle of the folding arm 3. The present invention adopts two symmetrical lifting cylinders 31 in order to enhance its overall stability and optimize the cylinder at the same time. The operation of the connecting rod combination arm 4 is carried out around the hinged pin. The driving cylinder 41 is arranged between the first connecting rod 42 and the second connecting rod 43, and the hinge is a diagonal pin connection. The pins included are connecting rod pin A32, connecting rod pin B34, connecting rod pin C51, and connecting rod pin D52. The operation of the connecting rod combination arm 4 is carried out by driving the oil cylinder 41, one end of which is hinged to the connecting rod pin shaft B34, and the other end is hinged to the connecting rod pin shaft C51. The angle of its operation depends on the stroke of the oil cylinder and the overall layout.

[0034] The linkage arm assembly 4 includes a drive cylinder 41, a first link 42, and a second link 43. The upper end of the folding arm 3 is rotatably connected to the lower ends of the first link 42 and the second link 43 via a link pin A32 and a link pin B34, respectively. The first link 42 and the second link 43 have the same structure and are arranged in two parallel groups, forming a quadrilateral between the first link 42 and the second link 43. A drive cylinder 41 is movably installed between the second link 43. The output end of the drive cylinder 41 is located between the first link 42 and is transmission-connected to the link pin B34. The telescopic movement of the drive cylinder 41 causes the linkage arm 4 to swing forward and backward. Within the four-link swing range, the line connecting the lower pin hinge of the triangular support platform 5 and the line connecting the upper pin hinge of the folding arm 3 always remain parallel, so that when the folding arm 3 is not moving, the base posture of the telescopic arm assembly 6 always remains in the same horizontal state.

[0035] The forward and backward translation of the connecting rod combination arm 4 ensures that the telescopic combination arm 6 can expand the range of the arch frame and improve the grasping efficiency. The connecting rod combination arm 4 is combined with the telescopic combination arm 6, and through multi-dimensional precise control, the arch can be erected to the specified position more effectively. The layout of the lifting cylinder 31 of the folding arm 3 and the driving cylinder 41 of the connecting rod combination arm 4 are both in a thrust state in the working state, so that the working state of each cylinder can be better optimized and the cost can be reduced. The translation of the connecting rod combination arm 4 in the arch state can make the arch reach the specified position more accurately, and correspondingly reduce the telescopic adjustment of the telescopic combination arm 6, thereby reducing the sliding friction of the telescopic combination arm 6 on the slider under the load state, improving the life of the slider, and also reducing the vibration caused by the rigidity change of the telescopic combination arm 6 during the extension and retraction of the arm.

[0036] The telescopic combined arm 6 includes a first luffing cylinder 61, a main arm 62, a second arm 63, a third arm 64 and a multi-stage telescopic cylinder 65. The front end of the triangular support platform 5 is movably connected to the rear end of the main arm 62 through the arm tail hinge pin 53. The lower end of the main arm 62 is relatively hinged with the first luffing cylinder 61. The output end of the first luffing cylinder 61 is hinged to the lower end of the triangular support platform 5 through the connecting rod pin D52. Two groups of telescopic cylinders 65 are fixed in parallel in the main arm 62. The output ends of the two groups of telescopic cylinders 65 are connected to the second arm 63 and the third arm 64 respectively. The inner side of the boom 64 is adapted for connection. A first inner sliding assembly 66 is provided at the front end of the main boom 62, and a first outer sliding assembly 67 is provided on the outer periphery of the rear end of the second boom 63. The first outer sliding assembly 67 and the first inner sliding assembly 66 can slide relative to each other, allowing the second boom 63 to slide synchronously within the main boom 62. A second inner sliding assembly is provided at the front end of the second boom 63, and a second outer sliding assembly is provided on the outer periphery of the rear end of the third boom 64. The second outer sliding assembly and the second inner sliding assembly can slide relative to each other, allowing the third boom 64 to slide synchronously within the second boom 63. The telescopic combination boom 6 rotates by the extension and retraction of the first variable-length oil cylinder 61. The triangular support platform 5 is the support body of the telescopic combination boom 6 and is connected to the telescopic combination boom 6 via the arm tail hinge pin 53. It is provided with a first variable-length oil cylinder 61. One end of the first variable-length oil cylinder 61 is hinged to the connecting rod pin C52, and the other end is hinged to the middle hinge of the telescopic combination boom 6, forming a triangular stable structure as a whole.

[0037] The first inner sliding assembly 66 and the second inner sliding assembly have the same structure. The first inner sliding assembly 66 and the second inner sliding assembly both include an inner slider 1 621, a lower slider pad 622, a lower slider baffle 623, an upper slider baffle 624, an inner slider 2 625 and an adjusting screw 626. The front end of the main arm 62 and the inner side of the front end of the second-section arm 63 are radially provided with an inner slider 1 621 and an inner slider 2 625 respectively. The outer side of the inner slider 1 621 is fixedly connected to the lower slider baffle 623 through the lower slider pad 622; the outer side of the inner slider 2 625 is adjustably connected to the upper slider baffle 624 through the adjusting screw 626. The first outer sliding assembly 67 and the second outer sliding assembly have the same structure. The first outer sliding assembly 67 and the second outer sliding assembly both include an upper slider 631 on the arm tail, an adjustment plate 632 and a side slider 633 on the arm tail. The outer periphery of the rear end of the two-section arm 63 and the rear end of the three-section arm 64 are respectively provided with an upper slider 631 on the arm tail and a side slider 633 on the arm tail, and an adjustment plate 632 is provided on one side of the upper slider 631 on the arm tail.

[0038] Since the first inner sliding assembly 66 and the second inner sliding assembly have the same structure, and the first outer sliding assembly 67 and the second outer sliding assembly have the same structure, the drawings of this embodiment only show one set of structures of each as an example.

[0039] The second-section arm 63 is assembled in the main arm 62. When the second-section arm 63 needs to be extended or retracted, the telescopic cylinder 65 connected to the second-section arm 63 works, driving the arm tail upper slider 631 and the arm tail side slider 633 of the first outer sliding assembly 67 on the second-section arm 63 to slide relative to each other along the surface of the inner slider 1 621 and the inner slider 2 625 of the first inner sliding assembly 66 on the main arm 62 in the main arm 62, thereby adjusting the telescopic process of the second-section arm 63, so that the second-section arm 63 can slide relatively in the main arm 62.

[0040] When the three-section arm 64 needs to be extended or retracted, the telescopic cylinder 65 connected to the three-section arm 64 works, driving the arm tail upper slider 631 and the arm tail side slider 633 of the second outer sliding assembly on the three-section arm 64 to slide relative to each other along the surfaces of the inner slider 621 and the second inner slider 625 of the second inner sliding assembly on the second-section arm 63, so that the relative sliding of the three-section arm 64 in the second-section arm 63 is adjusted.

[0041] The adjustment screw 626 and adjustment plate 632 are provided to slightly correct dimensional deviations caused by the manufacturing process. The configuration of the connecting rod assembly arm 4 in the present invention effectively reduces wear on the inner slider 1 621, inner slider 2 625, arm tail upper slider 631, and arm tail side slider 633. The nylon material effectively increases their service life.

[0042] The upper end of the first connecting rod 42 and the output end of the first variable amplitude cylinder 61 are hinged to the lower end of the triangular support platform 5 through the connecting rod pin D52; the upper end of the second connecting rod 43 is movably connected to the lower end of the triangular support platform 5 through the connecting rod pin C51, and the bottom of the driving cylinder 41 is sleeved on the connecting rod pin C51.

[0043] One end of the turntable 2 is rotatably connected to the lower end of the folding arm 3 via the lower hinge pin 22. The other end of the turntable 2 is movably connected to the middle of the lower end of the lifting cylinder 31 via the upper hinge pin 21. The output end of the lifting cylinder 31 is connected to the middle of the folding pin 33, and the two ends of the folding pin 33 pass through the upper end of the folding arm 3 and are connected thereto. The lifting cylinder 31 is arranged in two parallel groups. The symmetrical arrangement ensures overall stability. At the same time, the lifting cylinder 31 is subjected to a corresponding tensile force during the lifting process. When the four-stage combined folding arm frame is in operation, the force state of the lifting cylinder 31 changes to a corresponding thrust. This state can effectively optimize the cylinder size and reduce the weight and cost of the entire vehicle. The folded state of the connecting rod combination arm 4 is arranged at a certain angle to the supporting chassis 10. The angle formed causes the telescopic combination arm 6 to form a certain angle when folded, which can effectively control the height of the entire vehicle.

[0044] The arm head luffing platform 7 includes a second luffing cylinder 71, a first rotary reducer 72, a connecting rod cylinder 73, a small four-link 74 and a platform rotating seat 75. The front end of the three-section arm 64 is movably connected to the platform rotating seat 75, and the middle part of the lower end of the platform rotating seat 75 is movably connected to the output end of the second luffing cylinder 71. The other end of the second luffing cylinder 71 is fixedly connected to the inner side of the three-section arm 64; an inclination sensor 76 is provided on the outer side of the platform rotating seat 75, and the inclination sensor 76 is used to sense and adjust the second luffing cylinder 71 so that the platform rotating seat 75 is parallel to the horizontal plane; the output end of the second luffing cylinder 71 is rotatably connected to the first rotary reducer 72, and a small four-link 74 is provided on the first rotary reducer 72, and a connecting rod cylinder 73 is provided inside the small four-link 74. The connecting rod cylinder 73 drives the small four-link 74 to swing up and down.

[0045] The rotating and swinging gripper 8 comprises a second rotary reducer 81 and an arching gripper 82. The front end of the small four-link 74 is adapted to connect to the second rotary reducer 81, and the arching gripper 82 is located at the upper end of the second rotary reducer 81. The arching gripper 8 is equipped with a corresponding oil cylinder (a common device on the market, not labeled in this figure) to enable it to swing forward, backward, left, and right. Simultaneously, the second rotary reducer 81 rotates in the opposite direction to the first rotary reducer 72, allowing the rotating and swinging gripper 8 to adjust its arching posture.

[0046] like Figure 2 As shown, the connecting rod assembly arm 4, by driving the oil cylinder 41 in conjunction with the swing of the folding arm 3 and the luffing and extension of the telescopic assembly arm 6, can quickly grasp arch structures over a wide range on the ground. Without the swing of the folding arm 3, its effective grasping range is distance A. If the weight of the grasped arch structure is relatively light, the grasping range can be far greater than A by adjusting the lifting angle of the folding arm 3 in combination with the luffing angle of the telescopic arm 6.

[0047] like Figure 3 As shown, the connecting rod combination arm 4 drives the oil cylinder 41 to coordinate the swing amplitude of the folding arm 3 and the amplitude variation of the telescopic combination arm 6 to form an arch to a specified approximate range. Finally, the specified position can be precisely adjusted to the specified position by directly moving the front and rear swing amplitude of the connecting rod combination arm 4 to complete the arch. In the final precise adjustment process, the telescopic combination arm 6 can be stretched and retracted to reduce the wear and friction of the inner slider 1 621, the inner slider 2 625, the upper slider 631 of the arm tail, and the side slider 633 of the arm tail during the loading process, thereby improving the life of the slider. When adjusting the exact arch point, the swing amplitude of the connecting rod combination arm 4 can be achieved without telescoping the arm frame. The distance B achieved by the connecting rod combination arm 4 at the lower end far exceeds the requirement for the precise position of the arch.

[0048] like Figure 4 、 Figure 5a and Figure 5bAs shown, the distance between the connecting rod pin A32 and the connecting rod pin B34 is recorded as a2, the distance between the connecting rod pin C51 and the connecting rod pin D52 is recorded as a1, the length of the second connecting rod 43 is recorded as b1, and the length of the first connecting rod 42 is recorded as b2.

[0049] like Figure 4 As shown, when a1=a2, b1=b2, the connecting rod assembly arm 4 is a parallelogram mechanism. The advantage of this mechanism is that when the telescopic assembly arm 6 is parallel to the horizontal plane and its angle W3 remains unchanged, the operation of the connecting rod assembly arm 4 does not affect the parallelism of the telescopic assembly arm 6 with the horizontal plane, that is, the angle W4 remains unchanged.

[0050] like Figure 5a and Figure 5b As shown, when the angles W1, W2, and W3 remain unchanged, that is, when the strokes of the boom lift cylinder 31, the drive cylinder 41, and the first boom adjustment cylinder 61 remain unchanged, the difference in lengths b1 and b2 results in a difference in the posture of the telescopic combined arm 6. The present invention can be selected and determined according to the requirements of the entire machine state.

[0051] When b1>b2, the arch grasping posture of the telescopic combined arm 6 will be better, and when b1<b2, the arch standing posture of the telescopic combined arm 6 will be better. The specific selection is implemented according to the project requirements, and then reasonable verification is carried out.

[0052] The present invention utilizes the action of the connecting rod combination arm 4 to expand the range of the arch frame's grasping and improve its efficiency. At the same time, when the arch is in the upright state, the front and rear translation fine-tuning of the arch frame when it reaches the designated position is greatly improved. Since traditional adjustments are all performed by the load-bearing extension and retraction of the telescopic combination arm 6, the present invention does not require the load-bearing extension and retraction of the telescopic combination arm 6 after the fine-tuning reaches the designated position to a large extent, and does not require additional manual intervention, thereby increasing the service life of the inner slider 1 621, inner slider 2 625, arm tail upper slider 631 and arm tail side slider 633.

[0053] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of rights of the present invention. Therefore, modifications, equivalent changes, improvements, etc. made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A four-stage vertical arch folding boom, characterized by: The invention comprises a rotary support plate (1), a rotary table (2), a telescopic folding assembly, an arm head variable amplitude platform (7) and a rotating swing gripper (8); the rotary support plate (1) is provided with a rotary table (2); the telescopic folding assembly is rotatably provided on the rotary table (2); the telescopic folding assembly comprises a folding arm (3), a connecting rod combination arm (4), a triangular support platform (5) and a telescopic combination arm (6); the folding arm (3) is rotatably provided on the rotary table (2); the upper end of the folding arm (3) is provided with a connecting rod combination arm (4); the upper end of the connecting rod combination arm (4) is provided with a triangular support platform (5); the telescopic combination arm (6) is transmission-mounted on the triangular support platform (5); the front end of the telescopic combination arm (6) is connected to the arm head variable amplitude platform (7); the front end of the arm head variable amplitude platform (7) is provided with a rotating swing gripper (8).

2. The vertical arch four-stage combined folding arm frame according to claim 1, characterized in that: The connecting rod combination arm (4) comprises a driving oil cylinder (41), a first connecting rod (42) and a second connecting rod (43); the upper end of the folding arm (3) is rotatably connected to the lower ends of the first connecting rod (42) and the second connecting rod (43) through a connecting rod pin shaft A (32) and a connecting rod pin shaft B (34), respectively; the first connecting rod (42) and the second connecting rod (43) have the same structure; the first connecting rod (42) and the second connecting rod (43) are two groups arranged in parallel, and a quadrilateral is formed between the first connecting rod (42) and the second connecting rod (43); a driving oil cylinder (41) is movably arranged between the second connecting rod (43); the output end of the driving oil cylinder (41) is arranged between the first connecting rods (42) and is transmission-connected to the connecting rod pin shaft B (34).

3. The four-stage vertical arch folding arm according to claim 2, characterized in that: The telescopic combined arm (6) comprises a first luffing oil cylinder (61), a main arm (62), a second-section arm (63), a third-section arm (64) and a multi-stage telescopic oil cylinder (65). The front end of the triangular support platform (5) is movably connected to the rear end of the main arm (62) through an arm tail hinge pin (53). The lower end of the main arm (62) is relatively hinged with the first luffing oil cylinder (61). The output end of the first luffing oil cylinder (61) is hinged to the lower end of the triangular support platform (5) through a connecting rod pin D (52). Two groups of telescopic oil cylinders (65) are fixed in parallel in the main arm (62). The output ends of the two groups of telescopic oil cylinders (65) are respectively connected to the second-section arm (63). The main arm (62) is adapted to be connected to the inner side of the three-section arm (64); the front end of the main arm (62) is provided with a first inner sliding component (66); the outer periphery of the rear end of the two-section arm (63) is provided with a first outer sliding component (67); the first outer sliding component (67) and the first inner sliding component (66) can slide relative to each other so that the two-section arm (63) slides synchronously in the main arm (62); the front end of the two-section arm (63) is provided with a second inner sliding component; the outer periphery of the rear end of the three-section arm (64) is provided with a second outer sliding component; the second outer sliding component and the second inner sliding component can slide relative to each other so that the three-section arm (64) slides synchronously in the two-section arm (63).

4. The vertical arch four-stage combined folding arm frame according to claim 3, characterized in that: The first inner sliding assembly (66) and the second inner sliding assembly have the same structure. The first inner sliding assembly (66) and the second inner sliding assembly both include an inner slider (621), a lower slider pad (622), a lower slider baffle (623), an upper slider baffle (624), an inner slider (625) and an adjusting screw (626). The front end of the main arm (62) and the inner side of the front end of the second section arm (63) are radially provided with an inner slider (621) and an inner slider (625) respectively. The outer side of the inner slider (621) is fixedly connected to the lower slider baffle (623) through the lower slider pad (622); the outer side of the inner slider (625) is adjustably connected to the upper slider baffle (624) through the adjusting screw (626).

5. The vertical arch four-stage combined folding arm frame according to claim 4, characterized in that: The first outer sliding assembly (67) and the second outer sliding assembly have the same structure. The first outer sliding assembly (67) and the second outer sliding assembly both include an arm tail upper slider (631), an adjustment plate (632) and an arm tail side slider (633). The rear end of the two-section arm (63) and the rear end of the three-section arm (64) are both provided with an arm tail upper slider (631) and an arm tail side slider (633) on their outer peripheries. The adjustment plate (632) is provided on one side of the arm tail upper slider (631).

6. The vertical arch four-stage combined folding arm frame according to claim 4 or 5, characterized in that: The upper end of the first connecting rod (42) and the output end of the first variable amplitude oil cylinder (61) are both hinged to the lower end of the triangular support platform (5) through a connecting rod pin shaft D (52); the upper end of the second connecting rod (43) is movably connected to the lower end of the triangular support platform (5) through a connecting rod pin shaft C (51), and the bottom of the driving oil cylinder (41) is sleeved on the connecting rod pin shaft C (51).

7. The vertical arch four-stage combined folding arm frame according to claim 6, characterized in that: One end of the turntable (2) is rotatably connected to the lower end of the folding arm (3) via a lower hinge pin (22); the other end of the turntable (2) is movably connected to the middle of the lower end of the lifting cylinder (31) via an upper hinge pin (21); the output end of the lifting cylinder (31) is connected to the middle of the folding pin (33); and both ends of the folding pin (33) pass through the upper end of the folding arm (3) and are connected thereto.

8. The four-stage vertical arch folding arm according to claim 7, characterized in that: The arm head luffing platform (7) comprises a second luffing oil cylinder (71), a first rotary reducer (72), a connecting rod oil cylinder (73), a small four-link (74) and a platform rotating seat (75); the front end of the three-section arm (64) is movably connected to the platform rotating seat (75); the middle part of the lower end of the platform rotating seat (75) is movably connected to the output end of the second luffing oil cylinder (71); the other end of the second luffing oil cylinder (71) is fixedly connected to the inner side of the three-section arm (64); the outer side of the platform rotating seat (75) is fixedly connected to the inner side of the three-section arm (64); An inclination sensor (76) is provided, and the inclination sensor (76) is used to sense and adjust the second luffing oil cylinder (71) so that the platform rotating seat (75) is parallel to the horizontal plane; the output end of the second luffing oil cylinder (71) is rotatably connected to the first rotary reducer (72), and the first rotary reducer (72) is provided with a small four-link (74) sleeved thereon, and a connecting rod oil cylinder (73) is provided in the small four-link (74), and the connecting rod oil cylinder (73) drives the small four-link (74) to swing up and down.

9. The vertical arch four-stage combined folding arm frame according to claim 8, characterized in that: The rotary swing gripper (8) comprises a second rotary reducer (81) and an arch gripper (82); the front end of the small four-link (74) is adaptively connected to the second rotary reducer (81); and the upper end of the second rotary reducer (81) is provided with an arch gripper (82).

10. The vertical arch four-stage combined folding arm support according to claim 8, characterized in that: The lifting oil cylinders (31) are two groups arranged in parallel.

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