Joint synchronizing extension device

Abstract

The application relates to a joint synchronous stretching device which comprises a mounting base, a stretching mechanism, a driving mechanism, a mounting platform and a first synchronous transmission mechanism; the stretching mechanism comprises a plurality of stretching joints which are hingedly connected in sequence, and the first-stage stretching joint in the stretching mechanism is also hingedly connected with the mounting base; one end of the driving mechanism is hingedly connected with the mounting base, and the other end is hingedly connected with the first-stage stretching joint in the stretching mechanism; the mounting platform is hingedly connected with the stretching joints in the stretching mechanism; the first synchronous transmission mechanism is connected between the mounting base and the stretching mechanism, and is used for transmitting the power of the movement of the first-stage stretching joint in the stretching mechanism to other stretching joints in the stretching mechanism, so as to keep the synchronous stretching of the stretching joints. Compared with the prior art, the overall size of the joint synchronous stretching device is smaller, more compact, and has a faster speed response capability.

Description

Technical Field

[0001] This invention relates to the field of telescopic structure technology, and in particular to a joint synchronous telescopic device. Background Technology

[0002] In the field of mechanics, telescopic structures refer to a class of mechanisms or combinations of components capable of reversibly changing length or height along a certain direction. Their core function is to extend outwards during operation to cover a greater distance or height range; and to retract inwards when closed, saving storage space, facilitating storage and transportation, or adapting to variable working conditions. Due to this characteristic, telescopic mechanisms have been widely used in industrial equipment, medical devices, robotics, and aerospace.

[0003] However, existing telescopic structures still face the following technical bottlenecks in practical applications: 1. The contradiction between space efficiency and travel distance For single-stage telescopic structures, the stroke length is limited. When the application scenario requires a long stroke, the drive mechanism itself needs to have a long stroke, which will result in a large device size that cannot be adapted to installation in narrow spaces.

[0004] For multi-stage telescopic structures, when the application scenario requires a long stroke, the drive mechanism itself also needs to have a long stroke or multiple drive mechanisms need to be set up, which will also result in a large device size that cannot be adapted to installation in narrow spaces.

[0005] 2. Weak dynamic response capability Traditional telescopic structures primarily operate on a "uniform linear expansion and contraction" model, generally lacking the ability to rapidly switch states and respond at varying speeds. In scenarios requiring rapid attitude changes, such as emergency obstacle avoidance, dynamic task switching, and high-frequency reciprocating operations, traditional telescopic structures exhibit sluggish response and poor flexibility, failing to meet the demands of highly dynamic and rapidly changing operational requirements.

[0006] Therefore, how to provide a new telescopic structure is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] To address the problems of existing telescopic structures, this invention provides a joint synchronous telescopic device. It connects a drive mechanism to the first-stage telescopic joint of the telescopic mechanism and also includes a first synchronous transmission mechanism hinged to both the first-stage and last-stage telescopic joints. During telescopic movement, the drive mechanism only needs to rotate the first-stage telescopic joint to transmit power to the last-stage telescopic joint, causing it to rotate synchronously. The drive mechanism achieves a large-scale telescopic drive with only a small stroke, reducing its own space requirements and thus the overall device size, making it suitable for installation in confined spaces. Furthermore, because a large-scale telescopic drive requires only a small stroke, the joint synchronous telescopic device can switch states more quickly during telescopic movement, providing a faster speed response capability.

[0008] A joint synchronous telescopic device includes a mounting base, a telescopic mechanism, a drive mechanism, a mounting platform, and a first synchronous transmission mechanism. The telescopic mechanism includes multiple telescopic joints that are hinged sequentially, and the primary telescopic joint in the telescopic mechanism is also hinged to the mounting base. One end of the drive mechanism is hinged to the mounting base, and the other end is hinged to the first telescopic joint in the telescopic mechanism, which is used to provide power to drive the telescopic mechanism to operate. The installation platform is hinged to the telescopic joint in the telescopic mechanism, and the telescopic mechanism is used to drive the installation platform to move; The first synchronous transmission mechanism is connected between the mounting base and the telescopic mechanism to transmit the power of the first telescopic joint in the telescopic mechanism to the other telescopic joints in the telescopic mechanism, so as to keep the telescopic joints telescopically extending and retracting.

[0009] Preferably, the telescopic mechanism includes a primary telescopic joint and a secondary telescopic joint; One end of the primary telescopic joint is hinged to the mounting base, and the other end is hinged to the secondary telescopic joint; The other end of the secondary telescopic joint is hinged to the mounting platform.

[0010] Preferably, the first synchronous transmission mechanism includes a first synchronous transmission unit, a second synchronous transmission unit, and a third synchronous transmission unit; One end of the first synchronous transmission unit is hinged to the mounting base; One end of the second synchronous transmission unit is hinged to the other end of the first synchronous transmission unit, and the other end is hinged to the first-stage telescopic joint; One end of the third synchronous transmission unit is hinged to the other end of the first synchronous transmission unit, and the other end is hinged to the secondary telescopic joint.

[0011] Preferably, the hinge point between the primary telescopic joint and the secondary telescopic joint is the first hinge point; The hinge point between the second synchronous transmission unit and the first-stage telescopic joint is located on the first-stage telescopic joint near the first hinge point.

[0012] Preferably, the hinge point between the third synchronous transmission unit and the secondary telescopic joint is located on the secondary telescopic joint near the first hinge point.

[0013] Preferably, the telescopic mechanism is provided in two sets, and the two sets of telescopic mechanisms are arranged in parallel and spaced apart; The mounting platform is hinged to the telescopic joints at the ends of the two telescopic mechanisms.

[0014] Preferably, only one drive mechanism is provided, and it is hinged to the first telescopic joint in one of the telescopic mechanisms; It also includes a second synchronous transmission mechanism, the two ends of which are respectively hinged to the telescopic joints of the two telescopic mechanisms, for transmitting power from one set of the telescopic mechanisms connected to the drive mechanism to the other set.

[0015] Preferably, the two ends of the second synchronous transmission mechanism are respectively hinged to the hinge points between two adjacent telescopic joints in each group of telescopic mechanisms.

[0016] Preferably, it also includes a track base, wherein the mounting base is slidably disposed on the track base.

[0017] Preferably, the telescopic direction of the telescopic mechanism is different from the sliding direction of the mounting base.

[0018] Compared with existing technologies, the joint synchronous telescopic device provided by this invention places the drive mechanism between the mounting base and the first-stage telescopic joint in the telescopic mechanism, and provides a first synchronous transmission mechanism. Since the first synchronous transmission mechanism can drive the various telescopic joints in the telescopic mechanism to move in tandem, the drive mechanism only needs to rotate the first-stage telescopic joint in the telescopic mechanism during operation to complete the overall telescopic drive through the transmission of the first synchronous transmission mechanism. The drive mechanism itself does not require a long stroke to complete the large-stroke telescopic movement of the telescopic mechanism. The drive mechanism is smaller and more compact, thereby reducing the overall volume of the device and better adapting to installation in confined spaces. Simultaneously, during the driving process, only a small stroke of the drive mechanism is needed to achieve the large-stroke telescopic drive of the telescopic mechanism, allowing the telescopic mechanism to switch states more quickly, giving the joint synchronous telescopic device a faster speed change response capability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A top view (extended state) of a joint synchronous telescopic device provided in one embodiment. Figure 2 for Figure 1 Side view of the joint synchronous telescopic device shown; Figure 3 A top view (retracted state) of a joint synchronous telescopic device provided in one embodiment. Figure 4 for Figure 3 Side view of the joint synchronous telescopic device shown; Explanation of reference numerals in the attached figures: The components include: a joint synchronous telescopic device 100, a mounting base 10, a first hinge base 11, a second hinge base 12, a telescopic mechanism 20, a telescopic joint 21, a first-stage telescopic joint 211, a third hinge base 2111, a second-stage telescopic joint 212, a first hinge point 201, a drive mechanism 30, a mounting platform 40, a first synchronous transmission mechanism 50, a first synchronous transmission unit 51, a second synchronous transmission unit 52, a third synchronous transmission unit 53, a second synchronous transmission mechanism 60, and a track base 70. 200 tipper. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] It should be noted that when a component is referred to as "mounted on", "fixed on", or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0023] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0024] This invention provides a joint synchronous telescopic device, comprising a mounting base, a telescopic mechanism, a drive mechanism, a mounting platform, and a first synchronous transmission mechanism. The telescopic mechanism includes multiple telescopic joints hinged sequentially, with the primary telescopic joint of the telescopic mechanism also hinged to the mounting base. One end of the drive mechanism is hinged to the mounting base, and the other end is hinged to the primary telescopic joint of the telescopic mechanism, providing power to drive the telescopic mechanism. The mounting platform is hinged to the telescopic joints of the telescopic mechanism, and the telescopic mechanism drives the mounting platform to move. The first synchronous transmission mechanism connects the mounting base and the telescopic mechanism to transmit the power of the primary telescopic joint's movement to the other telescopic joints in the telescopic mechanism, maintaining synchronous telescopic extension and retraction of all telescopic joints. This joint synchronous telescopic device occupies less space, making it suitable for installation in confined spaces, and has a faster speed change response capability.

[0025] Please refer to the following: Figures 1 to 4 In one embodiment, a joint synchronous telescopic device 100 is provided, which is mainly used to solve the problem that there is a contradiction between space utilization efficiency and telescopic stroke in the existing telescopic structure, and that it cannot achieve rapid state switching.

[0026] The joint synchronous telescopic device 100 is equipped with a synchronous transmission mechanism. This mechanism transmits power to the telescopic joint located at the rear of the telescopic mechanism. This allows the drive mechanism to provide power only to the primary telescopic joint when powering the telescopic mechanism to extend or retract. A small-stroke drive mechanism can achieve a large-stroke extension or retraction, allowing for the use of a smaller drive mechanism and thus a smaller overall device footprint. This better resolves the conflict between space utilization efficiency and telescopic stroke. Furthermore, because a small-stroke drive mechanism can achieve a large-stroke extension or retraction, the telescopic mechanism exhibits stronger rapid state switching and speed change response capabilities, better meeting the needs of scenarios requiring rapid posture changes, such as emergency obstacle avoidance, dynamic operation switching, and high-frequency reciprocating operations. The joint synchronous telescopic device 100 is applicable to various scenarios including relocation and transportation, and obstacle avoidance. It achieves planar spatial movement through a multi-stage synchronous linkage mechanism. The mechanical structure linkage reduces the use of electrical sensing components, improving anti-interference capabilities under harsh conditions and greatly enhancing the stability of the device's operation, making it more adaptable to complex and changing working conditions.

[0027] The joint synchronous telescopic device 100 includes a mounting base 10, a telescopic mechanism 20, a drive mechanism 30, a mounting platform 40, and a first synchronous transmission mechanism 50. The telescopic mechanism 20 includes a plurality of telescopic joints 21 that are hinged sequentially, and the primary telescopic joint in the telescopic mechanism 20 is also hinged to the mounting base 10. The primary telescopic joint in the telescopic mechanism 20 refers to the joint located at the first end of each telescopic joint 21 (the telescopic joint 21 closest to the mounting base 10 in the direction extending from the mounting base 10 to the mounting platform 40 when the telescopic mechanism 20 is extended). For example, as... Figure 1 As shown, one end of the first-stage telescopic joint is rotatably connected to the mounting base 10 via a hinge shaft, and the other end is hinged to the next-stage telescopic joint. In other words, the telescopic mechanism 20 is mounted on the mounting base 10, and the mounting base 10 supports the telescopic mechanism 20.

[0028] One end of the drive mechanism 30 is hinged to the mounting base 10, and the other end is hinged to the first telescopic joint in the telescopic mechanism 20, which is used to provide power to drive the telescopic mechanism 20 to run.

[0029] The mounting platform 40 is hinged to the telescopic joint 21 in the telescopic mechanism 20, which is used to move the mounting platform 40. The mounting platform 40 is mainly used to mount other structures (such as cleaning components or other mounting structures), serving as a support platform for these structures. Power is provided by the drive mechanism 30 to move the telescopic mechanism 20, thereby adjusting the position of the mounting platform 40 and adjusting other structures to the required area to achieve the corresponding functional purpose.

[0030] The first synchronous transmission mechanism 50 is connected between the mounting base 10 and the telescopic mechanism 20 to transmit the power of the movement of the first telescopic joint in the telescopic mechanism 20 to the other telescopic joints in the telescopic mechanism 20, so as to keep the telescopic joints 21 telescopically extending and retracting. That is, the first synchronous transmission mechanism 50 is mainly used to transmit power between the telescopic joints 21, ensuring that the power provided by the drive mechanism 30 can be transmitted to the telescopic joints 21, so that the telescopic joints 21 in the telescopic mechanism 20 can telescopically extend and retract, thereby completing the state change of the telescopic mechanism 20.

[0031] It is understandable that existing telescopic structures face the following technical bottlenecks in practical applications: 1. The contradiction between space efficiency and travel distance For single-stage telescopic structures, the stroke length is limited. When the application scenario requires a long stroke, the drive mechanism itself needs to have a long stroke, which will result in a large device size that cannot be adapted to installation in narrow spaces.

[0032] For multi-stage telescopic structures, when the application scenario requires a long stroke, the drive mechanism itself also needs to have a long stroke (taking a telescopic structure that uses an arm-type structure for transmission as an example, this type of structure includes a drive mechanism (usually a hydraulic cylinder) and a transmission arm assembly. The transmission arm assembly is equipped with multiple transmission arms for transmission. The transmission arms are installed in a hinged manner, and the drive mechanism is usually connected to the transmission arm at the end of the transmission arm assembly. When a long stroke extension is required, the drive mechanism also needs to use a long-stroke hydraulic cylinder), which will also result in a large equipment size that cannot be adapted to installation in narrow spaces.

[0033] Some multi-stage telescopic structures also include multiple drive mechanisms. These mechanisms need to be positioned at different locations within the transmission arm assembly. Since the drive mechanisms typically use hydraulic cylinders, this leads to complex piping layouts and further increases the size of the equipment. Additionally, such structures increase the number of electrical components, which can increase structural instability and lead to a higher failure rate.

[0034] 2. Weak dynamic response capability Traditional telescopic structures are driven by hydraulic cylinders, primarily employing a "uniform linear telescopic" mechanism. The telescopic efficiency of these structures is limited by the operating efficiency of the hydraulic cylinders, and they generally lack the ability to quickly switch states and respond to changes in speed. In scenarios requiring rapid attitude changes, such as emergency obstacle avoidance, dynamic task switching, and high-frequency reciprocating operations, traditional telescopic structures exhibit sluggish response and poor flexibility, making it difficult to meet the demands of highly dynamic and rapidly changing operational requirements.

[0035] The joint synchronous telescopic device 100 provided in this embodiment is equipped with a first synchronous transmission mechanism 50. The drive mechanism 30 only needs to output power to the first-stage telescopic joint of the telescopic mechanism 20 to drive the telescopic mechanism 20 to telescopically extend and retract via the transmission of the first synchronous transmission mechanism 50. The drive mechanism 30 can drive the telescopic mechanism 20 to perform large-stroke telescopic changes with its own small-stroke power output, effectively resolving the contradiction between space efficiency and stroke. This makes the joint synchronous telescopic device 100 simpler and more compact, resulting in a smaller overall footprint, making it suitable for installation in confined spaces. Furthermore, it can drive the installation platform 40 to move long distances, meeting the needs of special scenarios. Furthermore, since the small-stroke power output of the drive mechanism 30 can drive the telescopic mechanism 20 to perform large-stroke telescopic transformations, the efficiency of the telescopic mechanism 20 during telescopic deformation is higher. This allows for rapid state switching of the telescopic mechanism 20 and faster speed change response. In scenarios requiring rapid posture changes, such as emergency obstacle avoidance, dynamic operation switching, and high-frequency reciprocating operations, the joint synchronous telescopic device 100 can better meet the operational requirements of high dynamics and rapid change response. Moreover, the joint synchronous telescopic device 100 uses the first synchronous transmission mechanism 50 for power transmission, achieving synchronization of the telescopic joints 21 in the telescopic mechanism 20 through a mechanical structure. This results in a simpler, more stable, and more coordinated structure.

[0036] Preferably, in one embodiment, the telescopic mechanism 20 includes a primary telescopic joint 211 and a secondary telescopic joint 212. One end of the primary telescopic joint 211 is hinged to the mounting base 10, and the other end of the primary telescopic joint 211 is hinged to the secondary telescopic joint 212. The other end of the secondary telescopic joint 212 is hinged to the mounting platform 40. The primary telescopic joint 211 is the first-stage telescopic joint in the telescopic mechanism 20. Specifically, in one embodiment, the telescopic mechanism 20 only includes the primary telescopic joint 211 and the secondary telescopic joint 212; that is, in this embodiment, the telescopic mechanism 20 is a secondary telescopic mechanism.

[0037] Preferably, in one embodiment, the first synchronous transmission mechanism 50 includes a first synchronous transmission unit 51, a second synchronous transmission unit 52, and a third synchronous transmission unit 53. One end of the first synchronous transmission unit 51 is hinged to the mounting base 10. One end of the second synchronous transmission unit 52 is hinged to the other end of the first synchronous transmission unit 51, and the other end of the second synchronous transmission unit 52 is hinged to the primary telescopic joint 211. One end of the third synchronous transmission unit 53 is hinged to the other end of the first synchronous transmission unit 51, and the other end of the third synchronous transmission unit 53 is hinged to the secondary telescopic joint 212. This structure enables the first synchronous transmission mechanism 50 to synchronously connect the secondary telescopic joint 212 with the primary telescopic joint 211. When the drive mechanism 30 outputs power to drive the primary telescopic joint 211 to rotate, the primary telescopic joint 211 will drive the second synchronous transmission unit 52 to rotate accordingly. Then, the power is transmitted to the secondary telescopic joint 212 through the first synchronous transmission unit 51 and the third synchronous transmission unit 53, causing the secondary telescopic joint 212 to rotate accordingly, thereby achieving the synchronous extension or retraction of the primary telescopic joint 211 and the secondary telescopic joint 212.

[0038] Preferably, in one embodiment, the hinge point between the second synchronous transmission unit 52 and the first synchronous transmission unit 51, and the hinge point between the third synchronous transmission unit 53 and the first synchronous transmission unit 51, are at the same position.

[0039] Preferably, in one embodiment, the hinge point between the primary telescopic joint 211 and the secondary telescopic joint 212 is the first hinge point 201, and the hinge point between the second synchronous transmission unit 52 and the primary telescopic joint 211 is located on the primary telescopic joint 211 near the first hinge point 201. This structure facilitates the reduction of the size of the second synchronous transmission unit 52, thereby improving the stability of the second synchronous transmission unit 52, and consequently improving the transmission stability of the first synchronous transmission mechanism 50.

[0040] Preferably, in one embodiment, the hinge point between the third synchronous transmission unit 53 and the secondary telescopic joint 212 is located on the secondary telescopic joint 212 near the first hinge point 201. This structure facilitates the reduction of the size of the third synchronous transmission unit 53, thereby improving the stability of the third synchronous transmission unit 53, and further improving the transmission stability of the first synchronous transmission mechanism 50.

[0041] Preferably, in one embodiment, among the first synchronous transmission unit 51, the second synchronous transmission unit 52, and the third synchronous transmission unit 53, the first synchronous transmission unit 51 has the longest length, and the lengths of the second synchronous transmission unit 52 and the third synchronous transmission unit 53 are equal or similar. Furthermore, the length of the first synchronous transmission unit 51 is close to the length of the first-stage telescopic joint 211, thereby making the hinge point of the first synchronous transmission unit 51 and the second synchronous transmission unit 52 (and the third synchronous transmission unit 53) closer to the first hinge point 201. This facilitates the reduction of the size of the second synchronous transmission unit 52 and the third synchronous transmission unit 53, and also improves the operational stability of the first synchronous transmission mechanism 50.

[0042] Preferably, in one embodiment, the telescopic mechanism 20 is provided in two sets, which are arranged in parallel and spaced apart. The mounting platform 40 is hinged to the telescopic joint 21 at the end of each of the two telescopic mechanisms 20. That is, in this embodiment, the mounting platform 40 is supported by the two sets of telescopic mechanisms 20, thereby improving its rigidity and load-bearing capacity.

[0043] In one embodiment, the mounting platform 40 is hinged to the end of the secondary telescopic joint 212 in each of the two telescopic mechanisms 20.

[0044] Preferably, in one embodiment, only one drive mechanism 30 is provided, and it is hinged to the primary telescopic joint of one set of telescopic mechanisms 20. For example, as Figure 1 As shown, the drive mechanism 30 is hinged to the first-stage telescopic joint 211 in the telescopic mechanism 20 on the left. The joint synchronous telescopic device 100 also includes a second synchronous transmission mechanism 60, the two ends of which are respectively hinged to the telescopic joints 21 in the two telescopic mechanisms 20, for transmitting power from one set of telescopic mechanisms 20 connected to the drive mechanism 30 to the other set. The second synchronous transmission mechanism 60 is mainly used to transmit power between the two sets of telescopic mechanisms 20, ensuring that the two sets of telescopic mechanisms 20 can telescopically extend and retract synchronously, while the first synchronous transmission mechanism 50 is mainly used to transmit power between the telescopic joints 21 in the same set of telescopic mechanisms 20, ensuring that each telescopic joint 21 in the telescopic mechanism 20 can telescopically extend and retract synchronously. For example, as Figure 1As shown, the first synchronous transmission mechanism 50 is mainly used to transmit power between the first-stage telescopic joint 211 and the second-stage telescopic joint 212 on the left side, while the second synchronous transmission mechanism 60 is mainly used to transmit power between the two telescopic mechanisms 20, thereby realizing the synchronous telescopic drive of the two sets of telescopic mechanisms 20 through one drive mechanism 30.

[0045] Preferably, in one embodiment, the two ends of the second synchronous transmission mechanism 60 are respectively hinged to the hinge points between two adjacent telescopic joints 21 in each group of telescopic mechanisms 20. Specifically, in one embodiment, the two ends of the second synchronous transmission mechanism 60 are respectively hinged to the first hinge point 201 in each group of telescopic mechanisms 20. With this structure, the transmission structure in the joint synchronous telescopic device 100 can be better simplified, and only one second synchronous transmission mechanism 60 is needed to realize the synchronous driving of the first-level telescopic joint 211 and the second-level telescopic joint 212 in the two groups of telescopic mechanisms 20.

[0046] Specifically, in one embodiment, the first synchronous transmission unit 51, the second synchronous transmission unit 52, the third synchronous transmission unit 53, and the second synchronous transmission mechanism 60 all adopt a rod-like structure, and the first synchronous transmission unit 51, the second synchronous transmission unit 52, the third synchronous transmission unit 53, and the second synchronous transmission mechanism 60 are all connecting rods. More specifically, in one embodiment, the telescopic joint 21 is an arm-type rod-like structure, and the telescopic joints 21 in the telescopic mechanism 20 are all arm-type connecting rod structures.

[0047] Preferably, in one embodiment, the joint synchronous telescopic device 100 further includes a track seat 70, on which the mounting base 10 is slidably disposed. By slidably disposing the mounting base 10 on the track seat 70, the position of the mounting base 10 can be adjusted according to actual needs, thereby synchronously adjusting the position of the mounting platform 40, allowing the joint synchronous telescopic device 100 to have a larger operating range.

[0048] Preferably, in one embodiment, the telescopic direction of the telescopic mechanism 20 is different from the sliding direction of the mounting base 10. Specifically, in one embodiment, the telescopic direction of the telescopic mechanism 20 is perpendicular to the sliding direction of the mounting base 10. For example, as... Figure 1 As shown, the telescopic mechanism 20 is telescopic in the longitudinal direction, while the mounting base 10 is slidable in the transverse direction.

[0049] The mounting base 10 can be connected to a sliding drive mechanism, which is mainly used to drive the mounting base 10 to slide on the track seat 70. The specific structure of the sliding drive mechanism can be selected according to actual needs. For example, it can adopt a motor and pulley structure or a chain drive structure, as long as it can provide power to drive the mounting base 10 to slide.

[0050] Specifically, in one embodiment, the mounting base 10 is provided with a first hinge seat 11 and a second hinge seat 12. The first synchronous transmission unit 51 is hinged to the mounting base 10 specifically as follows: the first synchronous transmission unit 51 is hinged to the first hinge seat 11 on the mounting base 10. The drive mechanism 30 is hinged to the mounting base 10 specifically as follows: the drive mechanism 30 is hinged to the second hinge seat 12 on the mounting base 10. A third hinge seat 2111 is provided on the side of the primary telescopic joint 211. The drive mechanism 30 is hinged to the primary telescopic joint 211 specifically as follows: the drive mechanism 30 is hinged to the third hinge seat 2111 on the primary telescopic joint 211.

[0051] Specifically, in one embodiment, the drive mechanism 30 is a hydraulic cylinder, which has good operational stability and higher power density (high force and small size). The extension and retraction of the extension mechanism 20 is achieved by extending and retracting the hydraulic cylinder.

[0052] In one embodiment, in the joint synchronous telescopic device 100: the mounting base 10 is a bearing base, serving as the base point of the cantilever (the telescopic mechanism 20), and can drive the telescopic mechanism 20 to slide on the track seat 70. The primary telescopic joint 211 and the secondary telescopic joint 212 are the main force-bearing members of the cantilever. The drive mechanism 30 is the sole power actuator for telescopic movement. The mounting platform 40 is a platform for cleaning components or other mounting bodies. The first synchronous transmission unit 51, the second synchronous transmission unit 52, the third synchronous transmission unit 53, and the second synchronous transmission mechanism 60 are components of a synchronous linkage system, used to drive the telescopic joints 21 in each of the telescopic mechanisms 20 to telescopically extend and retract synchronously. The track seat 70 is the sliding track of the entire structure, supporting the movement of the entire structure in the X-axis direction.

[0053] In one embodiment, the operation flow of the joint synchronous telescopic device 100 is as follows: After the mounting base 10 reaches the designated position on the track base 70, the drive mechanism 30 extends, driving the primary telescopic joint 211 and the secondary telescopic joint 212 to move synchronously under the combined action of the first synchronous transmission mechanism 50 and the second synchronous transmission mechanism 60. The device extends and unfolds, and the jumping action of the end mounting platform 40 is achieved through the swing of the linkage hinge structure, that is, the planar displacement of the X / Y axis. The working position can be reached through a single drive mechanism. After the work is completed, the drive mechanism 30 retracts, driving the entire device to retract. Similarly, the device can be retracted into place with a single drive mechanism.

[0054] Understandably, existing telescopic structures still face the following technical bottlenecks in practical applications: 1. The conflict between space efficiency and travel distance Single-stage telescopic mechanism: stroke ≤ structural length. Long stroke requirements result in a large equipment size, which cannot be adapted to narrow spaces.

[0055] Multi-stage telescopic mechanism: Traditional designs suffer from problems such as low telescopic ratio and insufficient stiffness, which limit load capacity.

[0056] 2. Weak dynamic response capability Traditional mechanisms are mainly based on "uniform linear expansion and contraction" and lack the ability to quickly switch states, making them unable to cope with scenarios such as emergency obstacle avoidance and dynamic operations.

[0057] The joints and their extension and contraction are difficult to coordinate, and interference and jamming are prone to occur during multi-degree-of-freedom movements, affecting the stability of the equipment.

[0058] 3. Limited application scenarios Special operations: In extreme environments (high temperature, high pressure, radiation), traditional mechanisms are not reliable enough and have high maintenance costs.

[0059] The joint synchronous telescopic device 100 provided in this embodiment achieves synchronous movement through a special mechanical structure, enabling complex actions to be performed in conjunction, reducing the number of action execution units and electrical components, and increasing system stability. It is also adaptable to different working conditions and features high efficiency. Furthermore, it has a simple structure, is economical and practical, and offers high coverage and low energy consumption. Because the first synchronous transmission mechanism 50 has a specific rod length ratio, the small telescopic movement of the drive mechanism 30 is amplified and transformed into a large displacement at the end of the telescopic mechanism 20, creating an amplification effect of motion speed / stroke, thereby significantly improving the dynamic response speed of the device.

[0060] The following describes the application of the joint synchronous telescopic device 100 in a specific scenario: Specifically, in one embodiment, the joint synchronous telescopic device 100 is applied in the field of tippler 200, and the mounting platform 40 serves as a platform for the cleaning components. The track seat 70 is located on the side of the bottom of the tippler 200, so that when the joint synchronous telescopic device 100 is retracted, it will not occupy the space at the bottom of the tippler 200 and will not affect the normal operation of the tippler 200; while when the joint synchronous telescopic device 100 is extended, it can move the mounting platform 40 to the required position to meet the cleaning needs of the cleaning components.

[0061] Understandably, after each unloading operation of containers by a tippler, residual material remains inside the container, requiring further cleaning. Currently, after containers are unloaded by tipplers, the traditional bulk materials (coal, ore, etc.) are typically cleaned manually. This method suffers from significant problems such as high safety risks, low efficiency, high cost, failure to meet environmental standards, and high residue rates, becoming a key bottleneck restricting the conversion of bulk to containerized transport and the upgrading of port automation. Therefore, it is necessary to design a corresponding mechanical cleaning structure to meet these needs.

[0062] However, the narrow space of the tipper station makes it difficult for a fixed robotic arm to flexibly cover the entire truck bed; while folding mechanisms can be stored away, traditional hydraulic arms lack rigidity when unfolded, making them prone to shaking during loaded operations. Furthermore, this application scenario involves high levels of dust, requiring frequent start-stop operations. In high-dust environments, sensors on robotic arms with vision recognition are prone to failure, and the power system is not optimized for frequent start-stop conditions, resulting in a high failure rate and poor adaptability.

[0063] The joint synchronous telescopic device 100 provided in this embodiment can assist in the migration of cleaning components and obstacle avoidance and return to their original positions during the tipper unloading process. The use of synchronous mechanical structure reduces the use of electrical components, greatly increasing its applicability and better meeting the cleaning needs after containers and other containers are tipped over and unloaded.

[0064] The above description is merely an embodiment of the present invention. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of the present invention, but these improvements all fall within the protection scope of the present invention.

Claims

1. A joint synchronous telescopic device, characterized in that, It includes a mounting base, a telescopic mechanism, a drive mechanism, a mounting platform, and a first synchronous transmission mechanism; The telescopic mechanism includes multiple telescopic joints that are hinged sequentially, and the primary telescopic joint in the telescopic mechanism is also hinged to the mounting base. One end of the drive mechanism is hinged to the mounting base, and the other end is hinged to the first telescopic joint in the telescopic mechanism, which is used to provide power to drive the telescopic mechanism to operate. The installation platform is hinged to the telescopic joint in the telescopic mechanism, and the telescopic mechanism is used to drive the installation platform to move; The first synchronous transmission mechanism is connected between the mounting base and the telescopic mechanism to transmit the power of the first telescopic joint in the telescopic mechanism to the other telescopic joints in the telescopic mechanism, so as to keep the telescopic joints telescopically extending and retracting.

2. The joint synchronous telescopic device according to claim 1, characterized in that, The telescopic mechanism includes a primary telescopic joint and a secondary telescopic joint; One end of the primary telescopic joint is hinged to the mounting base, and the other end is hinged to the secondary telescopic joint; The other end of the secondary telescopic joint is hinged to the mounting platform.

3. The joint synchronous telescopic device according to claim 2, characterized in that, The first synchronous transmission mechanism includes a first synchronous transmission unit, a second synchronous transmission unit, and a third synchronous transmission unit; One end of the first synchronous transmission unit is hinged to the mounting base; One end of the second synchronous transmission unit is hinged to the other end of the first synchronous transmission unit, and the other end is hinged to the first-stage telescopic joint; One end of the third synchronous transmission unit is hinged to the other end of the first synchronous transmission unit, and the other end is hinged to the secondary telescopic joint.

4. The joint synchronous telescopic device according to claim 3, characterized in that, The hinge point between the primary telescopic joint and the secondary telescopic joint is the first hinge point; The hinge point between the second synchronous transmission unit and the first-stage telescopic joint is located on the first-stage telescopic joint near the first hinge point.

5. The joint synchronous telescopic device according to claim 4, characterized in that, The hinge point between the third synchronous transmission unit and the secondary telescopic joint is located on the secondary telescopic joint near the first hinge point.

6. The joint synchronous telescopic device according to claim 1, characterized in that, The telescopic mechanism is provided in two sets, and the two sets of telescopic mechanisms are arranged in parallel and spaced apart. The mounting platform is hinged to the telescopic joints at the ends of the two telescopic mechanisms.

7. The joint synchronous telescopic device according to claim 6, characterized in that, Only one drive mechanism is provided, and it is hinged to the first telescopic joint in one of the telescopic mechanisms. It also includes a second synchronous transmission mechanism, the two ends of which are respectively hinged to the telescopic joints of the two telescopic mechanisms, for transmitting power from one set of the telescopic mechanisms connected to the drive mechanism to the other set.

8. The joint synchronous telescopic device according to claim 7, characterized in that, The two ends of the second synchronous transmission mechanism are respectively hinged to the hinge points between two adjacent telescopic joints in each group of telescopic mechanisms.

9. The joint synchronous telescopic device according to claim 1, characterized in that, It also includes a track base, on which the mounting base is slidably disposed.

10. The joint synchronous telescopic device according to claim 9, characterized in that, The telescopic mechanism has a telescopic direction that is different from the sliding direction of the mounting base.

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