Movable telescopic mechanism and method thereof for penetrating through hole

Abstract

The invention discloses a movable telescopic mechanism and a method for the movable telescopic mechanism to penetrate through a hole. The robot comprises a movable chassis, a rotary table is installed on the movable chassis, a telescopic arm is connected to the rotary table and comprises a main arm, an auxiliary arm and a small arm, one end of the main arm is connected to the rotary table, the other end of the main arm is connected with the auxiliary arm, and the tail end of the auxiliary arm is connected with the small arm; a walking wheel assembly and a driven wheel assembly are installed at the bottom of the movable chassis and move on the track. According to the invention, the problem that complicated workpieces are difficult to operate in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, and in particular to a mobile telescopic mechanism and a method for passing through an opening. Background Technology

[0002] Currently, in various industrial operations, especially for workpieces with irregular shapes, internal cavities, or requiring operation at height or in confined spaces, fixed worktables, manual labor, or simple automated equipment are commonly used. Specifically, the existing technology overview is as follows:

[0003] Fixed workbench or production line: Traditional industrial operations are mostly carried out in fixed workstations, with workpieces entering via tracks or cranes, and automated equipment moving within a fixed trajectory or limited range. This method is suitable for batch production of workpieces with regular shapes.

[0004] Manual operation: For workpieces with complex shapes, internal cavities, or narrow spaces, manual hand tools are often used for operation.

[0005] Simple automated booms: Some automation solutions use simple robotic arms or telescopic booms, but their range of motion, flexibility, or load-bearing capacity is limited, making it difficult to cope with changing workpiece requirements. For example, some existing lifting platforms or boom trucks, while providing a certain working height and range, still fall short in overall movement, positioning accuracy, and the ability to penetrate complex structures.

[0006] In existing workpiece spraying scenarios, due to the complex shapes of the workpieces, which often have deep cavity structures, and the need for high-altitude or hazardous environments, existing technologies face the following challenges:

[0007] Limitations of traditional stationary work equipment: It cannot effectively reach all surfaces of the workpiece, especially the inner cavity, bottom or top areas, resulting in blind spots and inconsistent work quality.

[0008] Manual operation is inefficient and high-risk: Manual operation is inefficient, and the quality of work is greatly affected by the skill level of the operator. At the same time, working for a long time in harmful environments (such as paint mist and dust) poses serious health hazards to personnel; working at heights and in confined spaces poses safety risks such as falls and collisions.

[0009] Insufficient automation: Existing automated equipment often lacks flexibility and adaptability, making it difficult to handle complex, non-standardized workpieces. This results in low equipment utilization or requires significant time for programming and debugging. For example, some AGV-based robots lack sufficient vertical extension and multi-angle rotation capabilities, failing to meet the requirement of comprehensive coverage of complex workpieces; while fixed robots, although highly precise, have limited operating range and cannot cover the entire complex workpiece.

[0010] Space limitations: Existing equipment (such as telescopic booms or lifting platforms) is often large in size, requiring a large amount of space when moving and deploying, and it is difficult to go deep into the narrow interior of the workpiece to carry out operations.

[0011] In view of the limitations of existing devices in the above-mentioned background art, the present invention aims to solve the following technical problems:

[0012] 1. How to provide a flexible work platform that can move and accurately position itself over a wide range to meet the operational needs of various workpieces.

[0013] 2. How to achieve the multi-dimensional flexible extension and rotation capabilities of the mechanism so that it can adapt to workpieces of various complex shapes and can operate in cavities, narrow spaces or high-altitude areas that are difficult for existing equipment to reach.

[0014] 3. How to highly integrate the functions of movement, rotation, and extension, and achieve high-precision control, thereby improving the efficiency and quality of automated operations, reducing reliance on manual labor, and lowering personnel safety and health risks.

[0015] 4. In particular, how to solve the problems of large deviation in end-positioning accuracy, shaking, and interference with the internal structure of the workpiece caused by excessively extended equipment when working in internal cavities or confined spaces. Summary of the Invention

[0016] The purpose of this invention is to provide a mobile telescopic mechanism and a method for passing through openings, so as to solve the technical problem of difficult operation of complex workpieces in related technologies.

[0017] To achieve the above objectives, the present invention adopts the following technical solution:

[0018] A mobile telescopic mechanism includes a mobile chassis, a turntable mounted on the mobile chassis, a telescopic arm connected to the turntable, the telescopic arm including a main arm, a secondary arm and a forearm, one end of the main arm being connected to the turntable, the other end of the main arm being connected to the secondary arm, and the end of the secondary arm being connected to the forearm; a traveling wheel assembly and a driven wheel assembly are mounted on the bottom of the mobile chassis, and the traveling wheel assembly and the driven wheel assembly move on a track.

[0019] Further configuration: the walking wheel assembly includes a wheel box, and a guide wheel, an anti-tilt wheel assembly, a drive device, and a power supply device are mounted on the side of the wheel box; the driven wheel assembly includes a wheel box, and a guide wheel and an anti-tilt wheel assembly are mounted on the side of the wheel box; a floating assembly is mounted on the top of the driven wheel assembly, and the floating assembly is connected to the mobile chassis; a rotary bearing is mounted on the top of the wheel box, and the axis of the rotary bearing is perpendicular to the ground.

[0020] Further configuration: the wheel box is equipped with a walking wheel; each wheel box has at least two guide wheels installed on its side, and the guide wheels are arranged symmetrically relative to the wheel box.

[0021] Further configuration: Anti-tilt wheel assembly is installed on the side of the wheel box.

[0022] A further feature is provided: a drive unit is mounted on the side of the wheel box.

[0023] Further configuration: The power supply device is located below the guide wheel, and the power supply device maintains stable cooperation with the power supply device on the side of the track.

[0024] Further configuration: a first auxiliary support mechanism is installed at the head end of the auxiliary boom; a second auxiliary support mechanism is installed at the tail end of the auxiliary boom or the head end of the forearm; and a third auxiliary support mechanism is installed at the tail end of the forearm.

[0025] Further configured as follows: the first auxiliary support mechanism, the second auxiliary support mechanism, and the third auxiliary support mechanism each include a support drive device, a support plate, and a support wheel; one end of the support drive device is hinged to the telescopic arm, and the support drive device can rotate around the hinge point; the other end of the support drive device is connected to the support plate; one end of the support plate is hinged to the telescopic arm, and the support plate can rotate around the hinge point; the other end of the support plate is hinged to the support drive device; the support wheel is installed at the end of the support plate.

[0026] Further configured as follows: the first auxiliary support mechanism, the second auxiliary support mechanism, and the third auxiliary support mechanism each include an actuator, a first outrigger arm, a second outrigger arm, and a gear-crank assembly. The gear-crank assembly includes a first gear, a rotating shaft, and a crank arm. One end of the actuator is hinged to the telescopic arm, and the other end is hinged to the first outrigger arm. The first outrigger arm is hinged to the fixed shaft via a first bearing. The fixed shaft is fixedly connected to the telescopic arm. The second outrigger arm is hinged to the first outrigger arm via a fourth bearing and a rotating shaft. A second gear is fixedly connected to the fixed shaft, and the first outrigger arm is hinged to the first outrigger arm via a fourth bearing and a rotating shaft. A third gear is hinged to two bearings, the second gear meshes with the third gear, and the third gear meshes with the first gear; the gear crank assembly is hinged to the first support arm via the third bearing; the gear crank assembly is hinged to one end of a connecting rod, and the other end of the connecting rod is hinged to the rotating shaft; the connecting rod, the gear crank assembly, the first support arm, and the second support arm form a parallelogram structure; the rotating shaft is fixedly connected to the second support arm, the first pulley is fixedly connected to the rotating shaft, and a second pulley is fixedly connected to the gear crank assembly; the second pulley and the first pulley form a belt drive structure via a synchronous belt.

[0027] Further configuration: the main boom is equipped with a main boom telescopic device and a main boom luffing device at its front end; the auxiliary boom is equipped with an auxiliary boom luffing device at its front end, and an auxiliary boom telescopic device is installed inside the auxiliary boom; the forearm is equipped with a forearm luffing device inside its interior.

[0028] Further configuration: A counterweight is installed on the turntable, and the position of the counterweight and the position of the telescopic arm are symmetrical with respect to the center of the turntable.

[0029] To achieve the above objectives, the present invention also employs the following technical solution: a method for a movable telescopic mechanism to pass through an opening, comprising:

[0030] Before passing through the opening, the third auxiliary support is in the open support state. When the telescopic arm reaches the opening, the second auxiliary support opens and the third auxiliary support retracts. After the third support has completely passed through the opening, the third auxiliary support opens and the second auxiliary support retracts, and the process continues to pass through the opening.

[0031] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0032] This invention discloses a multifunctional flexible work mechanism integrating track movement (including a circular track and a wheel spacing floating mechanism), large-angle rotation, switchable power supply methods (contactless sensing, sliding contact line, or cable drag chain power supply), multi-stage telescopic movement, multi-angle amplitude variation, and auxiliary support for internal cavity / confined space operations. It employs floating wheels in conjunction with a circular track to achieve precise and stable operation of the mobile chassis on curved tracks, and enables collaborative operation of multiple mechanisms on the same track. High-precision mechanical control and positioning of movement, rotation, and telescopic movements are achieved through frequency conversion / servo motors, absolute encoders, angle sensors, and displacement sensors. The turntable uses a servo indexing table, achieving arcsecond-level positioning accuracy to ensure precision in remote operations. The telescopic boom is driven by hydraulic / electric / pneumatic cylinders and uses rope / chain transmission to achieve deep penetration into confined spaces and multi-angle operations. The cable bundle uses an automatic cable reel drive and is arranged inside the boom body, supported by a guide pulley system, reducing the external profile, resisting environmental pollution, and facilitating passage through holes. In particular, multiple sets of auxiliary supports driven by hydraulic cylinders / electric cylinders / pneumatic cylinders are installed on the telescopic arm. Through alternating "crawling" movements, the arm body is suppressed from deflection and swaying when working in internal cavities / narrow spaces, preventing interference with workpiece holes. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a front view of the invention in its contracted state;

[0035] Figure 2 This is an isometric view of the contracted state of the present invention;

[0036] Figure 3 This is an isometric view of the invention in its open state;

[0037] Figure 4 This is the main view of the invention in its open state;

[0038] Figure 5 This is an enlarged schematic diagram of the driven wheel assembly in a mobile chassis;

[0039] Figure 6 This is an enlarged schematic diagram of the floating mechanism of the traveling wheels in the mobile chassis;

[0040] Figure 7 This is an isometric view of the driven wheel assembly;

[0041] Figure 8 This is an isometric view of the bottom of the driven wheel assembly;

[0042] Figure 9 This is a schematic diagram of the guide wheel;

[0043] Figure 10 This is a schematic diagram of the guide wheel and anti-roll wheel;

[0044] Figure 11 This is a schematic diagram of the first crawling state of the auxiliary support mechanism;

[0045] Figure 12 This is a schematic diagram of the second crawling state of the auxiliary support mechanism;

[0046] Figure 13 A schematic diagram of the third crawling state of the auxiliary support mechanism;

[0047] Figure 14 An enlarged schematic diagram of the auxiliary support mechanism;

[0048] Figure 15 This is a schematic diagram showing the opening of another auxiliary support mechanism;

[0049] Figure 16 for Figure 15 The left view;

[0050] Figure 17 A schematic diagram of a partially opened auxiliary support mechanism;

[0051] Figure 18 This is a schematic diagram showing the retraction of another auxiliary support mechanism;

[0052] Figure 19 An enlarged schematic diagram of the main arm;

[0053] Figure 20 This is an enlarged schematic diagram of the auxiliary arm;

[0054] Figure 21 This is an enlarged diagram of the forearm;

[0055] Figure 22 This is a schematic diagram of the retracted state of the present invention, excluding the main arm;

[0056] Figure 23 This is a schematic diagram of the open state of the present invention without the main arm;

[0057] Figure 24 This is a schematic diagram of the invention used on a circular track;

[0058] Figure 25 This is a schematic diagram of the first passage posture;

[0059] Figure 26 This is a schematic diagram of the second passage posture;

[0060] Figure 27 This is a schematic diagram of the third passage posture.

[0061] Reference numerals: 1. Mobile chassis; 2. Turntable; 3. Counterweight; 4. Main boom; 5. Auxiliary boom; 6. Boom; 71. Main boom luffing device; 72. Main boom telescopic device; 73. Auxiliary boom luffing device; 74. Auxiliary boom telescopic device; 75. Boom luffing device; 8. Wheel box; 81. Rotary bearing; 9. Guide wheel; 10. Anti-tilt wheel assembly; 11. Drive unit; 12. Power supply device; 13. Track; 14. Driven wheel assembly; 140. Traveling wheel assembly; 15. Floating assembly; 20. First auxiliary support mechanism; 21. Second auxiliary support mechanism; 22. Third auxiliary support mechanism; 100. Support drive Device; 101, Support plate; 1001, Telescopic arm; 1002, Actuator; 1003, First outrigger arm; 1004, Second outrigger arm; 1006, Fixed shaft; 1007, Connecting rod; 1008, First gear; 1009, Second gear; 1010, Third gear; 1011, Synchronous belt; 1012, First pulley; 1013, Second pulley; 1014, First bearing; 1015, Second bearing; 1016, Third bearing; 1017, Fourth bearing; 1018, Rotating shaft; 102, Support wheel; 30, Moving telescopic mechanism; 31, Circular track; 32, Workpiece. Detailed Implementation

[0062] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0064] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] Example

[0066] Reference Figures 1-4 This invention discloses a mobile telescopic mechanism, which includes: a mobile chassis 1, a turntable 2 mounted on the mobile chassis 1, a telescopic arm 1001 connected to the turntable 2, the telescopic arm 1001 including a main arm 4, a secondary arm 5 and a forearm 6, one end of the main arm 4 being connected to the turntable 2, the other end of the main arm 4 being connected to the secondary arm 5, and the end of the secondary arm 5 being connected to the forearm 6; a traveling wheel assembly 140 and a driven wheel assembly 14 are mounted on the bottom of the mobile chassis 1, and the traveling wheel assembly 140 and the driven wheel assembly 14 move on a track 13.

[0067] Specifically, this invention highly integrates the functions of large-range track 13 movement, large-angle rotation, multi-stage high-precision extension and retraction, and multi-angle amplitude variation into a compact mechanical mechanism. By employing a transmission scheme combining hydraulic cylinders and rope / chain systems, and a contactless inductive power supply method, it solves the technical challenges of long stroke, high precision, heavy load, and explosion-proof environments. In particular, this invention adds auxiliary support driven by multiple sets of hydraulic cylinders. Through alternating "crawling" movements, it effectively solves the problems of arm deflection, swaying, and interference with internal cavity openings during operations in internal cavities or confined spaces, significantly improving the quality and efficiency of internal cavity operations.

[0068] Mobile chassis 1: The mobile chassis 1 is equipped with wheels that run along tracks 13 pre-embedded in the ground. Tracks 13 can be arranged around the workpiece 32, or arbitrarily as needed. The upper surface of tracks 13 is flush with the ground, ensuring unimpeded movement of the workpiece 32 and proper site layout. The mobile chassis 1 is driven by a motor and equipped with an absolute encoder (such as an internal encoder, steel barcode, QR code strip, or laser rangefinder, etc.) for precise position feedback and control, enabling wide-range, high-precision movement and path tracking. The mobile chassis 1 is powered by contactless inductive power supply. This method involves laying an inductive cable along the track 13, and the power collector on the mobile chassis 1 obtains power through electromagnetic induction. For general applications, the power supply can be changed to a sliding contact line power supply, replacing the inductive cable along the track 13 with a conductive rail and the power collector on the mobile chassis 1 with a current collector, facilitating easy replacement. This design balances safety in hazardous environments with ease of maintenance in general environments. Considering the change in wheel spacing between the inner and outer traveling wheels as the mobile chassis 1 runs along the circular track 13, the traveling wheels of the mobile chassis 1 are equipped with a floating mechanism that can automatically adapt and adjust, ensuring smooth and precise operation of the mobile chassis 1 on the curved track. The mobile chassis 1 is equipped with guide wheel 9 assemblies, which contact both sides of the track 13 to ensure the mobile chassis 1 runs along the track 13 and prevent it from falling off. The mobile chassis 1 is equipped with anti-tilting wheel assemblies 10, which contact the inner side of the track 13. During the extension or movement of the mechanism, these assemblies effectively prevent the entire mechanism from tipping over due to a shift in the center of gravity or external forces, ensuring operational safety and equipment stability. The track 13 is modularly composed of several straight and curved rails, which can be arbitrarily combined and laid out according to different production sites and workpiece flow requirements, greatly increasing the applicability and flexibility of the system. In some application scenarios, several mobile telescopic mechanisms 30 can be arranged at intervals on the track 13. Each mechanism coordinates its movement and operation through the upper control system to meet the fast and efficient operation requirements of the ultra-large workpiece 32, realize parallel operation, and greatly shorten the operation cycle.

[0069] In particular, if the track 13 is not arranged in the direction of entry and exit of the workpiece 32, such as arranging the straight track 13 only on both sides of the workpiece 32, and the other sides are the entry and exit channels of the workpiece 32, the track 13 can be installed on the surface of the floor, and the power supply method can also be changed to cable drag chain, making installation and maintenance more convenient.

[0070] Turntable 2: Turntable 2 adopts a servo indexing table, mounted above the mobile chassis 1, and driven by a motor, enabling large-angle rotation. Turntable 2 is driven by an independent frequency conversion / servo motor and equipped with an absolute encoder (such as a motor encoder or an external code tape encoder), enabling large-angle forward and reverse rotation with positioning accuracy at the arcsecond level. This provides the telescopic boom with all-round rotation adjustment capabilities, greatly expanding the flexibility of working angle and direction, and ensuring the high-precision positioning requirements of the telescopic boom when operating at a remote location.

[0071] Telescopic boom: The telescopic boom is mounted above the turntable 2 and mainly consists of three sections: the main boom 4, the auxiliary boom 5, and the forearm 6. The main boom 4 and auxiliary boom 5, as well as the auxiliary boom 5 and forearm 6, are connected by hydraulic / electric / pneumatic cylinder hinges to achieve variable-amplitude folding functionality. The main boom 4 and auxiliary boom 5 are multi-stage structures, driven by hydraulic / electric / pneumatic cylinders to achieve telescopic movement. Telescopic movement of main boom 4 and auxiliary boom 5: Both the main boom 4 and auxiliary boom 5 can telescopically move independently or collaboratively. The telescopic movement uses a hydraulic / electric / pneumatic cylinder drive system, equipped with high-precision angle and displacement sensors to ensure precise control and position feedback. The internal transmission of the boom uses a rope / chain system, which is compact, has good synchronization, provides strong driving force, and improves the smoothness of telescopic movement while ensuring transmission efficiency. The forearm 6 is mounted at the end of the auxiliary arm 5. The connections between the mobile chassis 1 and the main arm 4, the main arm 4 and the auxiliary arm 5, and the auxiliary arm 5 and the forearm 6 all have independent hydraulic / electric / pneumatic cylinder drive systems, allowing for variable-amplitude folding within a certain angle range. This provides more flexible posture adjustment capabilities for the end-effector, especially facilitating access to confined spaces or side operations. The telescopic arm's end is designed with a standard interface for mounting work equipment (such as spray guns / painting robots, welding robots, inspection devices, etc.). The main arm 4 provides basic horizontal or vertical extension through telescoping, while the auxiliary arm 5 extends and retracts in conjunction with the main arm 4 to further expand the working range. The forearm 6 can achieve variable-amplitude folding for precise end-effector posture adjustment and access to confined spaces.

[0072] Floating component 15: Installed on top of driven wheel assembly 14 and connected to mobile chassis 1. When the moving mechanism travels on curved track, the chord length of inner and outer track 13 changes, and driven wheel assembly 14 can slide on mobile chassis 1 to automatically adapt to the distance between inner and outer wheels.

[0073] Pipeline Integration: Layout: All pipelines required for the operating equipment, including power lines, compressed air pipes, paint delivery pipes, etc., as well as the telescopic boom's own power lines, air pipes, oil pipes, signal lines, etc., are integrated into a compact pipeline bundle. This pipeline bundle is transported using an automatic cable reel, which automatically releases or retracts the bundle as the telescopic boom extends and retracts. The pipeline bundle is located inside the boom body, supported and guided by a pulley system. Advantages: The pipeline bundle is entirely inside the boom body, effectively protecting the pipelines from external physical damage and environmental pollution such as paint mist and dust; the automatic cable reel and pulley system can adapt to long-stroke telescopic movements; simultaneously, integrating the pipeline bundle internally reduces the external dimensions of the boom body, allowing it to pass smoothly through narrow openings inside the workpiece 32; effectively avoiding pipeline tangling and interference problems, improving system reliability and overall aesthetics.

[0074] Reference Figure 5 as well as Figure 6 The walking wheel assembly 14 includes a wheel box 8, and guide wheels 9, anti-tilt wheel assembly 10, drive device 11 and power supply device 12 are installed on the side of the wheel box 8; the driven wheel assembly 14 includes a wheel box 8, and guide wheels 9 and anti-tilt wheel assembly 10 are installed on the side of the wheel box 8; a floating assembly 15 is installed on the top of the driven wheel assembly 14, and the floating assembly 15 is connected to the mobile chassis 1; a rotary bearing 81 is installed on the top of the wheel box 8, and the axis of the rotary bearing 81 is perpendicular to the ground.

[0075] Specifically, the top of the wheel housings of the traveling wheel assembly 140 and the driven wheel assembly 14 have rotary bearings 81, allowing the traveling wheel assembly 140 and the driven wheel assembly 14 to automatically steer when the moving mechanism travels on a curved track. A floating component 15 is installed only on one side of the driven wheel assembly 14, with the other two sides located on opposite sides of the track. The side without the floating component 15 is used for limiting movement. The floating component 15 is used to adjust the position of the driven wheel assembly 14.

[0076] Reference Figures 7-10 The wheel box 8 is equipped with a walking wheel; each wheel box 8 has at least two guide wheels 9 installed on its side, and the guide wheels 9 are arranged symmetrically relative to the wheel box 8.

[0077] Specifically, the wheel box 8 has wheels inside that move on the track 13 to move the mechanism; the top has a supporting slewing bearing, which allows the wheel box 8 to automatically steer when the moving mechanism travels on curved tracks. Guide wheels 9 are installed on both sides of the wheel box 8, with a total of 4 guide wheels 9 in each wheel box 8, symmetrically arranged relative to the wheel box 8. The guide wheels 9 cooperate with the sides of the track 13 to ensure that the moving chassis 1 runs along the track 13 and to prevent the moving chassis 1 from falling off the track 13.

[0078] In one alternative embodiment, an anti-roll wheel assembly 10 is mounted on the side of the wheel box 8, with the anti-roll wheel and the center of the wheel box 8 aligned.

[0079] Specifically, when the mechanism is extended or moved, it is prone to swaying, and if the center of gravity exceeds the range of the chassis, it will overturn. The anti-tilt wheel installed on the side of the wheel box 8 provides support to the chassis when the chassis is swaying or overturning, ensuring the stability of the chassis and the safe operation of the equipment. The anti-tilt wheel and the center of the wheel box 8 are aligned to ensure that the anti-tilt wheel can also maintain contact with the track 13 when the mobile chassis 1 is running on the curved track, and there is no deviation in chord length.

[0080] In an alternative embodiment, a drive unit 11 is mounted on the side of the wheel box 8.

[0081] In an alternative embodiment, the power taking device 12 is located below the guide wheel 9, and the power taking device 12 maintains a stable cooperation with the power supply device on the side of the track 13.

[0082] Specifically, the power taking device 12 is installed on the side of the wheel box 8 and maintains stable cooperation with the induction cable on the track 13 to achieve stable power supply to the entire mechanism; the power taking device 12 and the center of the wheel box 8 are aligned to ensure that the power taking device 12 can also cooperate stably with the induction cable on the track 13 when the mobile chassis 1 is running on the curved track, and there is no deviation in chord length.

[0083] Reference Figures 11-13 The first auxiliary support mechanism 20 is installed at the head end of the auxiliary boom 5; the second auxiliary support mechanism 21 is installed at the tail end of the auxiliary boom 5 or the head end of the forearm 6; and the third auxiliary support mechanism 22 is installed at the tail end of the forearm 6.

[0084] Specifically, multiple sets of auxiliary support mechanisms are added to the telescopic boom, driven by hydraulic / electric / pneumatic cylinders. During internal cavity operations, as the boom passes through the holes in the ribs, the auxiliary supports alternately perform a "crawling" motion. When the boom passes through a hole, two adjacent sets of auxiliary supports alternately open and retract, similar to a "crawling" motion, ensuring that at all times one set of supports is open and resting on the inner surface of the workpiece 32. This reduces the cantilever length of the boom 6, as well as deflection and sway. This design ensures that a set of auxiliary supports is always in effect throughout the entire internal cavity operation, effectively reducing the cantilever length of the boom, suppressing deflection and sway, improving the positioning accuracy of the end effector, and fundamentally preventing interference between the boom and the inner cavity holes of the workpiece 32, significantly improving the quality and safety of internal cavity operations.

[0085] The first auxiliary support mechanism 20 is installed on the secondary arm 5 and is driven by a hydraulic / electric / pneumatic cylinder. It can be opened during the extension and retraction of the telescopic arm. Since this section of the arm does not need to extend or retract, this support mechanism does not need to move or pass through holes. The end support wheel 102 supports the surface of the workpiece 32, which reduces the cantilever length of the secondary arm 5 and the forearm 6, and reduces deflection and sway. The second auxiliary support mechanism 21 is installed on the secondary arm 5 or the forearm 6, and the third auxiliary support mechanism 22 is installed on the forearm 6. Both are driven by a hydraulic / electric / pneumatic cylinder and can be opened during the extension and retraction of the telescopic arm. Since this section of the arm needs to extend or retract, this support mechanism needs to move or pass through holes, so they are arranged in pairs. When the arm passes through a hole, the paired auxiliary supports alternately open and retract, similar to a "crawling" motion, to pass through the hole, ensuring that there is always one set of supports open and supporting the inner surface of the workpiece 32, which reduces the cantilever length of the arm 6, and reduces deflection and sway.

[0086] Reference Figure 14 The first auxiliary support mechanism 20, the second auxiliary support mechanism 21, and the third auxiliary support mechanism 22 each include a support drive device 100, a support plate 101, and a support wheel 102. One end of the support drive device 100 is hinged to the telescopic arm, and the support drive device 100 can rotate around the hinge point. The other end of the support drive device 100 is hinged to the support plate 101. One end of the support plate 101 is hinged to the telescopic arm, and the support plate 101 can rotate around the hinge point. The other end of the support plate 101 is hinged to the support drive device 100. The support wheel 102 is installed at the end of the support plate 101.

[0087] Specifically, the support drive device 100 is powered by a hydraulic cylinder / electric cylinder / pneumatic cylinder, which can drive the support plate 101 to extend / retract. The support plate 101 is the main frame of the auxiliary support device. One end is hinged to the telescopic arm and can rotate around the hinge point. The other end is connected to the drive device 11 of the auxiliary support device and can be driven by it. The support wheel 102 is installed at the end of the support plate 101. When the support plate 101 is extended, the support wheel 102 can support the surface of the workpiece 32.

[0088] like Figures 15-18Referring to another auxiliary support mechanism, the first auxiliary support mechanism 20, the second auxiliary support mechanism 21, and the third auxiliary support mechanism 22 all include an actuator 1002, a first support arm 1003, a second support arm 1004, and a gear-crank assembly. The gear-crank assembly includes a first gear 1008, a rotating shaft 1018, and a crank arm. One end of the actuator 1002 is hinged to the telescopic arm 1001, and the other end is hinged to the first support arm 1003. The first support arm 1003 is hinged to the fixed shaft 1006 via a first bearing 1014. The fixed shaft 1006 is fixedly connected to the telescopic arm 1001. The second support arm 1004 is hinged to the first support arm 1003 via a fourth bearing 1017 and a rotating shaft 1018. A second gear 1009 is fixedly connected to the fixed shaft 1006. Arm 1003 is hinged to a third gear 1010 via a second bearing 1015. The second gear 1009 meshes with the third gear 1010, and the third gear 1010 meshes with the first gear 1008. A gear crank assembly is hinged to a first support arm via a third bearing 1016. The gear crank assembly is hinged to one end of a connecting rod 1007, and the other end of the connecting rod 1007 is hinged to a rotating shaft 1018. The connecting rod 1007, the gear crank assembly, the first support arm 1003, and the second support arm 1004 form a parallelogram structure. The rotating shaft 1018 is fixedly connected to the second support arm 1004, and the first pulley 1012 is fixedly connected to the rotating shaft 1018. A second pulley 1013 is fixedly connected to the gear crank assembly, and the second pulley 1013 forms a belt drive structure with the first pulley 1012 via a synchronous belt 1011. In an optional embodiment, refer to... Figure 19-21 The main boom 4 is equipped with a main boom telescopic device 72 and a main boom luffing device 71 at its leading end; the auxiliary boom 5 is equipped with an auxiliary boom luffing device 73 at its leading end, and an auxiliary boom telescopic device 74 is installed inside the auxiliary boom 5; the forearm 6 is equipped with a forearm luffing device 75 inside the forearm. The auxiliary boom telescopic device 74 and the forearm luffing device 75 are shown as dashed lines in the figure.

[0089] In one alternative embodiment, a counterweight 3 is installed on the turntable 2, and the position of the counterweight 3 is symmetrical with respect to the position of the telescopic arm relative to the center of the turntable 2.

[0090] Specifically, the counterweight 3 frame is mounted on the turntable 2, and the counterweight 3 is placed within the frame. The counterweight 3 is installed in the opposite direction to the extension direction of the telescopic boom. During the extension or movement of the mechanism, it can counteract a portion of the overturning moment caused by the shift of the entire mechanism's center of gravity or external forces, ensuring operational safety and equipment stability. The remaining uncountered overturning moment is counteracted by the anti-tilt wheel assembly 10 of the moving chassis 1. The counterweight 3 is used to counteract the overturning moment caused by the shift of the entire mechanism's center of gravity or external forces, ensuring operational safety and equipment stability.

[0091] Reference Figure 22 as well as Figure 23 In an optional embodiment, where the requirements for working at height are not high or the workpiece 32 is operated from the bottom or side, the main boom 4 may not be included.

[0092] In one alternative embodiment, taking the interior spraying of a large ship cabin as an example:

[0093] 1. The mobile chassis 1, carrying the telescopic mechanism, moves along the circular track 13 of the cabin floor to the initial position of the area to be painted.

[0094] 2. Based on the ship model, cabin internal structure, and spraying area requirements, the intelligent control system plans the optimal spraying path and attitude.

[0095] 3. Rotate turntable 2 to the preset angle and point the telescopic arm toward the target area.

[0096] 4. The main arm 4 and auxiliary arm 5 of the telescopic boom extend and retract, while the forearm 6 folds, precisely delivering the end-of-arm spraying equipment into the narrow space inside the cabin, or to the high / bottom surface.

[0097] 5. The spraying equipment starts working and sprays according to the preset trajectory. During the spraying process, the movable chassis 1, turntable 2, and telescopic arm move in coordination according to the instructions of the control system, adjusting their posture and position in real time to ensure the uniformity and coverage of the spray.

[0098] 6. After the spraying is completed, the mechanism retracts and moves to the next spraying area or returns to the standby position.

[0099] Reference Figure 24 Taking the state of the present invention working on the annular track 31 as an example: the mobile chassis 1 moves on the track 13, and the telescopic arms at each level can be folded and extended to reach the corresponding position of the workpiece 32 to be processed. The annular track 31 is embedded in the ground, providing the running path of the mobile chassis 1, which can be arranged around the workpiece 32, supporting the collaborative work of multiple mechanisms, and realizing large-area surrounding spraying.

[0100] This invention also has other alternatives:

[0101] 1. Alternative to mobile chassis 1

[0102] Rail-guided movement: In addition to the loop rail 13, linear rails can also be used in sections, which increases safety and ease of maintenance, but sacrifices some flexibility.

[0103] AGV / AMR Alternative: The mobile chassis 1 can move autonomously without relying on the pre-embedded track 13, using AGV or AMR technology through laser navigation, visual navigation, inertial navigation, etc. This solution can further improve the flexibility of movement, but may require more complex navigation algorithms and more accurate environmental perception systems to ensure positioning accuracy, and its load-bearing capacity may be limited.

[0104] Wheel drive alternatives: Tracked drive can be used to adapt to more complex or uneven terrain.

[0105] Alternative power supply methods: Battery power can be used, but it is more suitable for small workpieces 32, simple operation, low cycle time and low power consumption. Otherwise, frequent charging or battery replacement is required.

[0106] 2. Alternative to turntable 2

[0107] Rotary platform alternatives: In addition to servo indexing tables, hydraulically driven indexing tables or rotary reducers can also be used, but servo indexing tables have a great advantage in positioning accuracy, reaching arcsecond-level precision.

[0108] 3. Alternatives to telescopic booms

[0109] Telescopic transmission methods: In addition to hydraulic cylinder / electric cylinder / pneumatic cylinder drive combined with rope / chain drive, telescopic booms can also be driven by hydraulic cylinders directly, electric lead screws, gear racks or scissor structures to achieve telescopic extension, but there may be trade-offs in terms of extension speed, load-bearing capacity or compactness.

[0110] Joint type alternatives: The variable amplitude folding of the telescopic arm can be achieved through multi-degree-of-freedom robot joints, but this may increase the complexity of the structure and the difficulty of control, and it is difficult to achieve a large load-bearing capacity and reach.

[0111] 4. Alternatives to pipeline packages

[0112] Alternatives to automatic cable reel drives: Cables can also be laid out using cable chains, flexible conduits, or articulated rigid cables, but integrated layouts are not compact or aesthetically pleasing, and it is difficult to achieve long-stroke telescopic movements.

[0113] Pipeline package placement: Pipelines can also be placed on the outside of the boom, but this will increase the overall boom's clearance dimensions, making it impossible for the boom to pass through smaller holes, ultimately affecting the mechanism's reachability.

[0114] 5. Alternative solutions for the control system

[0115] Sensor replacement: In addition to absolute encoders, angle sensors and displacement sensors, laser rangefinders, vision systems, force sensors and other sensors can be used to assist in positioning and attitude control, further improving accuracy and intelligence. However, long-distance operation and loop operation will increase the difficulty of deploying the above systems.

[0116] Explanation of relevant terms:

[0117] Contactless inductive power supply: Utilizing electromagnetic induction, a high-frequency alternating current is passed through the primary coil (transmitter) to generate an alternating magnetic field. The secondary coil (receiver) cuts the magnetic field lines to generate an induced electromotive force, thereby wirelessly transmitting electrical energy to mobile devices without physical contact.

[0118] Sliding contact line power supply: In the traditional contact conductivity method, the mobile device obtains electrical energy by continuously sliding contact between the conductive slipper on the current collector and the exposed or insulated conductive rail fixed on the track 13 or bracket.

[0119] Servo indexing table: A highly integrated, closed-loop controlled precision rotary motion platform, driven by a servo motor, with a built-in precision mechanical structure (or direct drive), equipped with a high-resolution angle encoder, and controlled in a closed loop through a servo driver and controller.

[0120] Variable frequency / servo motors: Motors that can precisely control speed, torque, and position.

[0121] Absolute encoder: A type of sensor used to measure rotational angle or linear displacement. Its output signal represents the absolute position and does not require a reference point reset after each power-on.

[0122] Angle sensor: A sensor used to measure the angle of an object.

[0123] Displacement sensor: A sensor used to measure the displacement of an object.

[0124] Slewing bearings: a special type of bearing that can simultaneously withstand combined loads such as radial, axial, and overturning moments, and is commonly used in rotating machinery.

[0125] Rope / chain drive: A telescopic transmission method that uses steel wire ropes or chains in conjunction with pulley blocks, commonly used in telescopic booms.

[0126] Automatic cable reel: Driven by a built-in pre-tensioned spiral spring, the reel with a spiral groove works. When the cable is pulled out, the spring stores energy and releases it, causing the cable to automatically and neatly reel in the cable, while continuously providing appropriate tension to prevent it from loosening.

[0127] Floating mechanism: A mechanism that allows components to move freely or adjust their posture within a certain range, often used to adapt to changes in terrain or trajectory.

[0128] The present invention discloses a mobile telescopic mechanism and a method for passing through a hole. The invention includes: before passing through the hole, a third auxiliary support 22 is in an open support state; when the telescopic arm reaches the hole, a second auxiliary support 21 opens support and the third auxiliary support 22 retracts support; after the third support 22 has completely passed through the hole, the third auxiliary support 22 is opened and the second auxiliary support 21 is retracted, and the process continues to pass through the hole.

[0129] Reference Figure 25 , Figure 25 This is a schematic diagram of the first passage posture. The second auxiliary support mechanism 21 is retracted, and the third auxiliary support mechanism 22 is extended. (Refer to...) Figure 26 , Figure 26 This is a schematic diagram of the second passage posture, preparing to pass through the opening. The second auxiliary support mechanism 21 opens, and the third auxiliary support mechanism 22 retracts. (Refer to...) Figure 27 , Figure 27 This is a schematic diagram of the third passage posture. The third auxiliary support mechanism 22 opens after passing through the opening, and the second auxiliary support mechanism 21 retracts, ready to pass through the opening.

[0130] As the arm passes through the hole, the paired auxiliary support mechanisms alternately open and retract, moving through the hole in a "crawling" motion.

[0131] The support wheel 102 of the auxiliary support mechanism can be supported on a plane to support the movement of the telescopic boom. Under the action of support, the downward deflection of the telescopic boom end caused by long-distance telescopic extension and contraction can be reduced, and the lateral swaying of the telescopic boom end can be effectively avoided, ensuring the stability of the telescopic boom end when crossing the opening. The second and third auxiliary support mechanisms provide support alternately and in a cycle, ensuring that at least one support is always in operation during the long-distance telescopic boom crossing the opening, so as to achieve stable crossing of the telescopic boom across the opening.

[0132] This invention solves the problems of poor operational flexibility and limited operating range in existing technologies: by moving the mobile chassis 1 along the circular track 13 over a wide range, combined with the large-angle rotation of the turntable 2, and the multi-section extension and retraction of the telescopic arm and the joint amplitude-changing folding, it achieves ultra-wide, full-coverage, and blind-angle-free flexible operation on workpieces 32 of various sizes and complex shapes (including internal cavities, high altitudes, bottoms, sides, and confined spaces). This allows the mechanism to reach areas that existing fixed or simply mobile equipment cannot reach, greatly expanding the operating range. The floating wheel mechanism effectively solves the wheel spacing problem when traveling on curves, ensuring the smoothness and accuracy of the mechanism's movement on the complex track 13, thereby ensuring operational stability. The turntable 2 adopts a servo indexing table, providing ultra-high rotational positioning accuracy at the arcsecond level. This minimizes accumulated errors during long-range operations, significantly improving the positioning and operational accuracy of the end tool. Multiple sets of alternating auxiliary support mechanisms, through a "crawling" motion, ensure that one set of supports is always in effect during the internal cavity operation, effectively reducing the cantilever length of the boom, suppressing deflection and sway, fundamentally improving the positioning accuracy and quality of internal cavity operations, and ensuring the safety of the equipment.

[0133] This invention improves the overall performance and reliability of the system: the switchable power supply mode solves the spark risk of the sliding contact line in the explosion-proof environment and realizes maintenance-free and continuous power supply; the hydraulic cylinder / electric cylinder / pneumatic cylinder drive + rope / chain drive achieves high-precision synchronous extension and retraction while ensuring large thrust and long stroke; the internal pipeline arrangement solves the problem of pipeline being easily contaminated and worn, and reduces the outer contour of the arm, allowing it to pass through smaller holes.

[0134] This invention significantly improves the automation rate, efficiency, and quality of operations: The mechanism integrates feedback components such as frequency converters / servo drives (servo motors, servo valves), absolute encoders, angle sensors, and displacement sensors, achieving high-precision control and positioning of movement, rotation, and extension / retraction. This makes the work trajectory more accurate, thereby significantly improving work quality. Through high automation and precise control, reliance on manual operation is reduced, avoiding the instability, inefficiency, and human error associated with manual work, thus greatly improving production efficiency.

[0135] This invention improves the working environment and reduces safety and health risks: This device can autonomously complete operations at heights, in confined spaces, and in hazardous environments, completely avoiding direct human contact in high-risk areas, greatly protecting the lives and health of operators, and reducing the incidence of work-related accidents and occupational diseases. Integrated pipeline layout reduces the entanglement and exposure of external pipelines, making equipment operation safer and maintenance simpler.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A movable telescopic mechanism, characterized in that, include: A mobile chassis (1) is equipped with a turntable (2), and a telescopic arm is connected to the turntable (2). The telescopic arm includes a main arm (4), a secondary arm (5), and a forearm (6). One end of the main arm (4) is connected to the turntable (2), the other end of the main arm (4) is connected to the secondary arm (5), and the end of the secondary arm (5) is connected to the forearm (6). The bottom of the mobile chassis (1) is equipped with a traveling wheel assembly (140) and a driven wheel assembly (14), which move on the track (13).

2. The movable telescopic mechanism according to claim 1, characterized in that, include: The walking wheel assembly (140) includes a wheel box (8), and a guide wheel (9), an anti-tilt wheel assembly (10), a drive device (11), and a power supply device (12) are mounted on the side of the wheel box (8). The driven wheel assembly (14) includes a wheel box (8), and a guide wheel (9) and an anti-roll wheel assembly (10) are mounted on the side of the wheel box (8). A floating assembly (15) is mounted on the top of the driven wheel assembly (14), and the floating assembly (15) is connected to the mobile chassis (1); A rotary bearing (81) is mounted on the top of the wheel box (8), and the axis of the rotary bearing (81) is perpendicular to the ground.

3. A movable telescopic mechanism according to claim 2, characterized in that, include: The wheel box (8) is equipped with wheels; Each of the wheel boxes (8) has at least two guide wheels (9) mounted on its side, the guide wheels (9) being arranged symmetrically relative to the wheel box (8).

4. A movable telescopic mechanism according to claim 2, characterized in that, include: The anti-roll wheel assembly (10) is installed on the side of the wheel box (8).

5. A movable telescopic mechanism according to claim 2, characterized in that, include: A drive unit (11) is mounted on the side of the wheel box (8).

6. A mobile telescopic mechanism according to claim 2, characterized in that, include: The power taking device (12) is located below the guide wheel (9), and the power taking device (12) and the power supply device on the side of the track (13) maintain stable cooperation.

7. A movable telescopic mechanism according to claim 1, characterized in that, include: The first auxiliary support mechanism (20) is installed at the head end of the auxiliary arm (5). A second auxiliary support mechanism (21) is installed at the end of the auxiliary arm (5) or the beginning of the forearm (6). The end of the forearm (6) is equipped with a third auxiliary support mechanism (22).

8. A movable telescopic mechanism according to claim 7, characterized in that, include: The first auxiliary support mechanism (20), the second auxiliary support mechanism (21) and the third auxiliary support mechanism (22) each include a support drive device (100), a support plate (101) and a support wheel (102). One end of the support drive device (100) is hinged to the telescopic arm, the support drive device (100) can rotate around the hinge point, and the other end of the support drive device (100) is connected to the support plate (101). One end of the support plate (101) is hinged to the telescopic arm, the support plate (101) can rotate around the hinge point, and the other end of the support plate (101) is hinged to the support drive device (100). The support wheel (102) is installed at the end of the support plate (101).

9. A movable telescopic mechanism according to claim 7, characterized in that, include: The first auxiliary support mechanism (20), the second auxiliary support mechanism (21) and the third auxiliary support mechanism (22) each include an actuator (1002), a first leg arm (1003), a second leg arm (1004) and a gear crank assembly, wherein the gear crank assembly includes a first gear (1008), a rotating shaft (1018) and a crank arm; One end of the actuator (1002) is hinged to the telescopic arm (1001), and the other end is hinged to the first outrigger arm (1003). The first outrigger arm (1003) is hinged to the fixed shaft (1006) through the first bearing (1014). The fixed shaft (1006) is fixedly connected to the telescopic arm (1001). The second outrigger arm (1004) is hinged to the first outrigger arm (1003) through the fourth bearing (1017) and the rotating shaft (1018). A second gear (1009) is fixedly connected to the fixed shaft (1006), and a third gear (1010) is hinged to the first support arm (1003) through a second bearing (1015). The second gear (1009) meshes with the third gear (1010), and the third gear (1010) meshes with the first gear (1008). The gear crank assembly is hinged to the first support arm via a third bearing (1016); The gear crank assembly is hinged to one end of the connecting rod (1007), and the other end of the connecting rod (1007) is hinged to the rotating shaft (1018). The connecting rod (1007), the gear crank assembly, the first support arm (1003), and the second support arm (1004) form a parallelogram structure. The rotating shaft (1018) is fixedly connected to the second support arm (1004), the first pulley (1012) is fixedly connected to the rotating shaft (1018), and the second pulley (1013) is fixedly connected to the gear crank assembly. The second pulley (1013) and the first pulley (1012) form a belt drive structure through the synchronous belt (1011).

10. A movable telescopic mechanism according to claim 1, characterized in that, include: The main boom (4) is equipped with a main boom telescopic device (72) and a main boom luffing device (71) at its head end. The first end of the auxiliary boom (5) is equipped with an auxiliary boom luffing device (73), and the inside of the auxiliary boom (5) is equipped with an auxiliary boom telescopic device (74). The forearm (6) is equipped with a forearm amplitude device (75).

11. A movable telescopic mechanism according to claim 1, characterized in that, include: A counterweight (3) is installed on the turntable (2), and the position of the counterweight (3) is symmetrical with respect to the position of the telescopic arm relative to the center of the turntable (2).

12. A method for a movable telescopic mechanism to pass through an opening, applied to a movable telescopic mechanism as described in any one of claims 1-11, characterized in that, include: Before passing through the opening, the third auxiliary support (22) is in the open support state. When the telescopic arm reaches the opening, the second auxiliary support (21) opens the support and the third auxiliary support (22) retracts the support. After the third support (22) has completely passed through the opening, the third auxiliary support (22) is opened and the second auxiliary support (21) is retracted to continue passing through the opening.

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