A four-stage combined folding boom with an upright arch

Abstract

This utility model discloses a four-stage combined folding boom for erecting an arch. A rotary support plate has a rotary table, on which a telescopic folding assembly is rotatably mounted. The telescopic folding assembly includes a folding arm, a connecting rod combined arm, a triangular support platform, and a telescopic combined arm. The folding arm is rotatably mounted on the rotary table, with a connecting rod combined arm at its upper end. A triangular support platform is located at the upper end of the connecting rod combined arm, and the telescopic combined arm is driven onto the triangular support platform. The front end of the telescopic combined arm is connected to a boom head luffing platform, which has a rotating swing gripper at its front end. This utility model, through the forward and backward translation of the connecting rod combined arm, ensures that the telescopic combined arm's gripping range on the arch is expanded, improving gripping efficiency. The combined connecting rod combined arm and the telescopic combined arm, through multi-dimensional precise control, can more effectively erect the arch to the designated position.

Description

Technical Field

[0001] This utility model relates to the field of multi-arm engineering equipment technology, specifically to a four-stage combined folding boom with an upright arch. Background Technology

[0002] In fields such as building construction, bridge erection, and tunnel engineering, arch erection is a crucial construction step, placing high demands on the flexibility, precision, and stability of construction equipment. Traditional arch erection equipment often employs a single telescopic boom or a simple folding boom structure, limiting its operating range and making it difficult to achieve efficient and precise arch frame installation under complex conditions. With increasingly complex engineering needs, existing technologies are gradually revealing the following bottlenecks: Limited operating range: Due to structural limitations, traditional telescopic booms have a small grasping radius and pitch angle adjustment range, especially in narrow or complex terrain, making it difficult to meet the rapid grasping requirements of large-span arch frames. While some equipment expands the operating radius by increasing the number of boom sections, the increased number of layers leads to a decrease in overall rigidity, making it prone to vibration and deformation, affecting construction accuracy. Low dynamic adjustment efficiency: During arch erection, existing equipment often relies on repeated extension and retraction of the telescopic boom for fine-tuning, resulting in extended work cycles. Especially under load conditions, the telescopic boom slider experiences accelerated wear due to frequent friction, not only reducing equipment lifespan but also requiring frequent downtime for maintenance, significantly increasing construction costs. Stability and uneven stress distribution issues: During the boom-starting or luffing process, the hydraulic cylinder experiences variable stress states (such as switching from tension to thrust), requiring additional redundant structures to balance the load, thus increasing the equipment's weight. Furthermore, insufficient coordinated control between the folding and telescopic booms easily leads to end-effector deviations, necessitating manual intervention and hindering automation improvements. Insufficient space adaptability: Existing folding booms occupy significant space when not in operation, resulting in low transportation and relocation efficiency. While some equipment employs a folding design, the folding angle is fixed, preventing flexible adjustments to the posture based on the construction site environment and limiting the equipment's applicable scenarios.

[0003] Therefore, designing a four-stage combined folding boom for vertical arches that can expand the operating coverage, improve grabbing efficiency, optimize the stress state through multi-dimensional collaborative control, and reduce maintenance costs has become a direction for further improvement. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a four-stage combined folding boom with an arch, including a slewing support plate, a slewing platform, a telescopic folding assembly, a boom head luffing platform, and a rotating swing gripper. The slewing support plate is provided with a slewing platform, and the telescopic folding assembly is rotatably mounted on the slewing platform. The telescopic folding assembly includes a folding arm, a connecting rod assembly arm, a triangular support platform, and a telescopic assembly arm. The folding arm is rotatably mounted on the slewing platform, and the upper end of the folding arm is provided with a connecting rod assembly arm. The upper end of the connecting rod assembly arm is provided with a triangular support platform, and the telescopic assembly arm is drivenly mounted on the triangular support platform. The front end of the telescopic assembly arm is connected to the boom head luffing platform, and the front end of the boom head luffing platform is provided with a rotating swing gripper.

[0005] Preferably, the linkage assembly arm includes a drive cylinder, a first link, and a second link. The upper end of the folding arm is rotatably connected to the lower ends of the first and second links via link pins A and B, respectively. The first and second links have the same structure and are two sets arranged in parallel, forming a quadrilateral between them. A drive cylinder is movably disposed between the second links, and the output end of the drive cylinder is located between the first links and is connected to the link pin B.

[0006] Preferably, the telescopic boom includes a first luffing cylinder, a main boom, a second boom section, a third boom section, and a multi-stage telescopic cylinder. The front end of the triangular support platform is movably connected to the rear end of the main boom via a boom tail hinge pin. The lower end of the main boom is hinged to the first luffing cylinder, and the output end of the first luffing cylinder is hinged to the lower end of the triangular support platform via a connecting rod pin D. Two sets of multi-stage telescopic cylinders are fixedly arranged in parallel inside the main boom. The output ends of the two sets of multi-stage telescopic cylinders are respectively adapted and connected to the inner sides of the second boom section and the third boom section. The front end of the main boom is provided with a first inner sliding assembly, and the outer periphery of the rear end of the second boom section is provided with a first outer sliding assembly. The first outer sliding assembly and the first inner sliding assembly can slide relative to each other, allowing the second boom section to slide synchronously within the main boom. The front end of the second boom section is provided with a second inner sliding assembly, and the outer periphery of the rear end of the third boom section is provided with a second outer sliding assembly. The second outer sliding assembly and the second inner sliding assembly can slide relative to each other, allowing the third boom section to slide synchronously within the second boom section.

[0007] Preferably, the first inner sliding assembly and the second inner sliding assembly have the same structure. Both the first inner sliding assembly and the second inner sliding assembly include an inner slider one, a lower slider pad, a lower slider baffle, an upper slider baffle, an inner slider two, and an adjusting screw. The inner slider one and the inner slider two are respectively radially provided on the inner side of the front end of the main arm and the front end of the second arm. The outer side of the inner slider one is fixedly connected to the lower slider baffle through the lower slider pad; the outer side of the inner slider two is adjustablely connected to the upper slider baffle through the adjusting screw.

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

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

[0010] Preferably, one end of the rotary table is rotatably connected to the lower end of the folding arm via a lower hinge pin, and the other end of the rotary table is movably connected to the middle of the lower end of the boom-starting cylinder via an upper hinge pin. The output end of the boom-starting cylinder is connected to the middle of the folding pin, and both ends of the folding pin pass through and are connected to the upper end of the folding arm.

[0011] Preferably, the boom luffing platform includes a second luffing cylinder, a first slewing reducer, a connecting rod cylinder, a small four-bar linkage, and a platform swivel base. The front end of the three-section boom is movably connected to the platform swivel base, and the lower middle part of the platform swivel base is movably connected to the output end of the second luffing cylinder. The other end of the second luffing cylinder is fixedly connected to the inner side of the three-section boom. An inclination sensor is provided on the outer side of the platform swivel base, which is used to sense and adjust the second luffing cylinder so that the platform swivel base is parallel to the horizontal plane. The output end of the second luffing cylinder is rotatably connected to the first slewing reducer. A small four-bar linkage is sleeved on the first slewing reducer, and a connecting rod cylinder is provided inside the small four-bar linkage. The connecting rod cylinder drives the small four-bar linkage to swing up and down.

[0012] Preferably, the rotary swing gripper includes a second rotary reducer and an arched gripper, the front end of the small four-bar linkage is adapted to be connected to the second rotary reducer, and the upper end of the second rotary reducer is provided with an arched gripper.

[0013] Preferably, the boom-starting cylinders are arranged in two parallel sets.

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

[0015] (1) This utility model features a rotary support plate with a rotary table. A telescopic folding assembly is rotatably mounted on the rotary table. The telescopic folding assembly includes a folding arm, a connecting rod assembly arm, a triangular support platform, and a telescopic assembly arm. The folding arm is rotatably mounted on the rotary table. A connecting rod assembly arm is mounted at the upper end of the folding arm. A triangular support platform is mounted at the upper end of the connecting rod assembly arm. A telescopic assembly arm is driven onto the triangular support platform. The front end of the telescopic assembly arm is connected to the boom head luffing platform. A rotating swing gripper is mounted at the front end of the boom head luffing platform. This utility model ensures that the telescopic assembly arm can expand its gripping range on the arch frame by translating the connecting rod assembly arm forward and backward, thereby improving gripping efficiency and stability. The connecting rod assembly arm and the telescopic assembly arm work together to achieve more effective arch erection to the designated position through multi-dimensional precise control. By innovatively designing a four-level combined folding boom structure and combining the linkage mechanism of the connecting rod assembly arm and the telescopic assembly arm, the high efficiency, precision, and intelligence of arch erection operations are effectively realized.

[0016] (2) The boom lifting cylinders of this utility model are arranged in two parallel sets, symmetrically to ensure overall stability. At the same time, during the boom lifting process, the boom lifting cylinders are subjected to corresponding tension. When the four-stage combined folding boom is working, the force state of the boom lifting cylinders changes to corresponding thrust. This state can effectively optimize the cylinder size and reduce the overall vehicle weight and cost. The folded state arrangement of the connecting rod combined boom is at a certain angle to the load-bearing chassis. The angle formed allows the telescopic combined boom to form a certain angle in the folded state, which can effectively control the overall vehicle height.

[0017] (3) The layout of the boom lifting cylinder and the drive cylinder of the linkage combination boom of this utility model are both in a thrust state during operation, which allows for better optimization of the cylinders and reduces costs. The translation of the linkage combination boom in the arch state can more accurately bring the arch frame to the designated position, thereby reducing the need for extension and retraction adjustment of the telescopic combination boom, thus reducing the sliding friction of the telescopic combination boom on the slider under load, improving the slider life, and also reducing the vibration caused by the rigidity change of the telescopic combination boom during the boom extension and retraction process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the working structure of this utility model.

[0019] Figure 2 This is a schematic diagram of the grabbing arch frame of this utility model.

[0020] Figure 3 This is a schematic diagram of the upright arch of this utility model.

[0021] Figure 4 This is a schematic diagram showing the state of the connecting rod assembly arm of this utility model when it is a parallelogram.

[0022] Figure 5aThis is one of the working state diagrams of the linkage assembly arm of this utility model.

[0023] Figure 5b This is the second working state diagram of the linkage assembly arm of this utility model.

[0024] Figure 6 This is a schematic diagram of the structure of the first inner sliding component of this utility model.

[0025] Figure 7 This is a schematic diagram of the structure of the first external sliding component of this utility model.

[0026] Figure 8 This is a cross-sectional view of the connecting rod assembly arm of this utility model.

[0027] Figure 9 This is a partial schematic diagram of the boom head luffing platform of this utility model. Detailed Implementation

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

[0029] like Figures 1 to 9 As shown, a four-stage combined folding boom includes a slewing support plate 1, a slewing table 2, an upper hinge pin 21, a lower hinge pin 22, a folding boom 3, a boom lifting cylinder 31, a connecting rod pin A 32, a folding pin 33, a connecting rod pin B 34, a connecting rod combined boom 4, a drive cylinder 41, a first connecting rod 42, a second connecting rod 43, a triangular support platform 5, a connecting rod pin C 51, a connecting rod pin D 52, a boom tail hinge pin 53, a telescopic combined boom 6, a first luffing cylinder 61, a main boom 62, a second boom section 63, a third boom section 64, a multi-stage telescopic cylinder 65, and a third... The system includes an inner sliding assembly 66, a first outer sliding assembly 67, an inner slider 1 621, a lower slider pad 622, a lower slider baffle 623, an upper slider baffle 624, an inner slider 2 625, an adjusting screw 626, an upper slider at the boom tail 631, an adjusting plate 632, a side slider at the boom tail 633, a boom head luffing platform 7, a second luffing cylinder 71, a first slewing reducer 72, a connecting rod cylinder 73, a small four-bar linkage 74, a platform swivel seat 75, an inclination sensor 76, a rotating swing gripper 8, a second slewing reducer 81, an arch frame gripper 82, and a load-bearing chassis 10.

[0030] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and 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, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] like Figures 1 to 9 As shown, the slewing bearing 1 is connected to the chassis 10 using high-strength bolts, and the drive is achieved through a corresponding hydraulic device. A slewing platform 2 is mounted on the slewing bearing 1, and a telescopic folding assembly is rotatably mounted on the slewing platform 2. The telescopic folding assembly includes a folding arm 3, a connecting rod assembly arm 4, a triangular support platform 5, and a telescopic assembly arm 6. The folding arm 3 is rotatably mounted on the slewing platform 2, and the connecting rod assembly arm 4 is mounted on the upper end of the folding arm 3. The triangular support platform 5 is mounted on the upper end of the connecting rod assembly arm 4, and the telescopic assembly arm 6 is driven onto the triangular support platform 5. The front end of the telescopic assembly arm 6 is connected to the boom head luffing platform 7, and a rotating swing gripper 8 is mounted on the front end of the boom head luffing platform 7.

[0033] The rotary table 2, as the carrier of the folding arm 3, must meet the overall strength and rigidity requirements. The folding arm 3 is hinged to the rotary table 2 via the lower hinge pin 22, and its folding pin 33 is connected to the rotary table 2 via the upper hinge pin 21. A boom-starting cylinder 31 is provided in the middle, and the travel of the boom-starting cylinder 31 determines the travel angle of the folding arm 3. This utility model uses two symmetrical boom-starting cylinders 31 to enhance its overall stability and optimize the cylinders. The operation of the connecting rod assembly arm 4 is achieved by rotating around the hinged pins. The drive cylinder 41 is arranged between the first connecting rod 42 and the second connecting rod 43, and the hinge is a diagonal pin connection, including connecting rod pins A32, B34, C51, and D52. The operation of the connecting rod assembly arm 4 is achieved by driving the hydraulic cylinder 41, one end of which is hinged to the connecting rod pin B34 and the other end is hinged to the connecting rod pin C51. The angle of its operation depends on the stroke of the hydraulic cylinder and the overall layout.

[0034] The linkage assembly arm 4 includes a drive cylinder 41, a first connecting rod 42, and a second connecting rod 43. The upper end of the folding arm 3 is rotatably connected to the lower ends of the first connecting rod 42 and the second connecting rod 43 via connecting rod pins A32 and B34, respectively. The first connecting rod 42 and the second connecting rod 43 have the same structure and are arranged in two parallel sets, forming a quadrilateral between them. The drive cylinder 41 is movably mounted between the second connecting rods 43, and the output end of the drive cylinder 41 is located between the first connecting rods 42 and is connected to the connecting rod pin B34. By extending and retracting the drive cylinder 41, the linkage assembly arm 4 swings back and forth. Within the swing range of the four-link linkage, the line connecting the lower pin hinge point of the triangular support platform 5 and the line connecting the upper pin hinge point of the folding arm 3 always remain parallel, so that when the folding arm 3 is not moving, the base posture of the telescopic assembly arm 6 always remains at the same horizontal state.

[0035] The forward and backward translation of the linkage assembly arm 4 ensures that the telescopic assembly arm 6 expands the gripping range of the arch frame, improving gripping efficiency. The linkage assembly arm 4 and the telescopic assembly arm 6 work together, enabling more effective arch erection to the designated position through multi-dimensional precise control. The layout of the folding arm 3's boom-starting cylinder 31 and the linkage assembly arm 4's drive cylinder 41 both operate under thrust, allowing for better optimization of the working state of each cylinder and reducing costs. The translation of the linkage assembly arm 4, during arch erection, allows for more precise positioning of the arch frame, correspondingly reducing the need for extension and retraction adjustments to the telescopic assembly arm 6. This reduces sliding friction on the slider under load, improving slider lifespan and also reducing vibration caused by rigidity changes during boom extension and retraction.

[0036] The telescopic boom 6 includes a first luffing cylinder 61, a main boom 62, a second boom 63, a third boom 64, and multi-stage telescopic cylinders 65. The front end of the triangular support platform 5 is movably connected to the rear end of the main boom 62 via a boom tail hinge pin 53. The first luffing cylinder 61 is hinged to the lower end of the main boom 62, and the output end of the first luffing cylinder 61 is hinged to the lower end of the triangular support platform 5 via a connecting rod pin D52. Two sets of multi-stage telescopic cylinders 65 are fixedly arranged in parallel inside the main boom 62, and the output ends of the two sets of multi-stage telescopic cylinders 65 are respectively connected to the second boom 63. The telescopic boom 63 is adapted to the inner side of the three-section boom 64. The front end of the main boom 62 is provided with a first inner sliding component 66, and the rear end of the second-section boom 63 is provided with a first outer sliding component 67. The first outer sliding component 67 and the first inner sliding component 66 can slide relative to each other, allowing the second-section boom 63 to slide synchronously within the main boom 62. The front end of the second-section boom 63 is provided with a second inner sliding component, and the rear end of the third-section boom 64 is provided with a second outer sliding component. The second outer sliding component and the second inner sliding component can slide relative to each other, allowing the third-section boom 64 to slide synchronously within the second-section boom 63. The telescopic boom 6 rotates through the extension and retraction of the first luffing cylinder 61. The triangular support platform 5 serves as the support for the telescopic boom 6, connected to the telescopic boom 6 via a hinge pin 53 at the boom tail. It is equipped with a first luffing cylinder 61, one end of which is hinged to the connecting rod pin C52, and the other end is hinged to the middle hinge point of the telescopic boom 6, forming a triangular stable structure.

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

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

[0039] The second-section boom 63 is assembled inside the main boom 62. When the second-section boom 63 needs to extend or retract, the multi-stage telescopic cylinder 65 connected to the second-section boom 63 works, causing the upper slider 631 and the side slider 633 of the first outer sliding assembly 67 on the second-section boom 63 to slide relative to each other along the surfaces of the inner slider 621 and the inner slider 625 of the first inner sliding assembly 66 on the main boom 62. This adjusts the extension and retraction process of the second-section boom 63, allowing the second-section boom 63 to slide relative to each other within the main boom 62.

[0040] When the three-section boom 64 needs to extend or retract, the multi-stage telescopic cylinder 65 connected to the three-section boom 64 operates, causing the upper slider 631 and the side slider 633 of the second outer sliding assembly on the three-section boom 64 to slide relative to each other along the surfaces of the inner slider 621 and the inner slider 625 of the second inner sliding assembly on the two-section boom 63, so that the relative sliding adjustment of the three-section boom 64 within the two-section boom 63 is achieved.

[0041] The adjusting screw 626 and adjusting plate 632 are designed to slightly correct dimensional deviations caused during manufacturing. The connecting rod assembly arm 4 in this invention effectively reduces wear on the inner slider 1 621, inner slider 2 625, upper slider 631 at the arm tail, and side slider 633 at the arm tail, and its nylon material effectively improves its service life.

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

[0043] One end of the turntable 2 is rotatably connected to the lower end of the folding arm 3 via a lower hinge pin 22, and the other end of the turntable 2 is movably connected to the lower middle part of the boom-starting cylinder 31 via an upper hinge pin 21. The output end of the boom-starting cylinder 31 is connected to the middle part of the folding pin 33, and both ends of the folding pin 33 pass through and connect to the upper end of the folding arm 3. There are two sets of boom-starting cylinders 31 arranged in parallel. The symmetrical arrangement ensures the overall stability. At the same time, during the boom-starting process, the boom-starting cylinder 31 is subjected to a corresponding tensile force. When the four-stage combined folding boom is working, the force state of the boom-starting cylinder 31 changes to a corresponding thrust. This state can effectively optimize the cylinder size and reduce the overall vehicle weight and cost. The folded state arrangement of the connecting rod combined arm 4 forms a certain angle with the load-bearing chassis 10. The angle formed allows the telescopic combined arm 6 to form a certain angle in the folded state, which can effectively control the overall vehicle height.

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

[0045] The rotary swing gripper 8 includes a second rotary reducer 81 and an arched gripper 82. The front end of the small four-bar linkage 74 is adapted and connected to the second rotary reducer 81, and the arched gripper 82 is provided at the upper end of the second rotary reducer 81. The arched gripper 8 is equipped with a corresponding hydraulic cylinder (a common feature on the market, not marked in this attached figure), which allows it to swing back and forth and left and right; at the same time, the second rotary reducer 81 rotates in the opposite direction to the first rotary reducer 72, so that the rotary swing gripper 8 is aligned with the arched posture.

[0046] like Figure 2 As shown, the linkage combination arm 4, through the drive cylinder 41, in conjunction with the swing of the folding arm 3 and the luffing and telescopic combination arm 6, can quickly grasp the arch frame over a large area on the ground. When the folding arm 3 is not swinging, its effective grasping range is A; if the weight of the grasped arch frame is relatively small, by combining the starting angle of the folding arm 3 with the luffing angle of the telescopic arm 6, its grasping range is much greater than A.

[0047] like Figure 3 As shown, the linkage assembly arm 4, through the drive cylinder 41, coordinates the swing of the folding arm 3 with the luffing of the telescopic assembly arm 6 to raise the arch to a specified approximate range. Finally, the specified position can be precisely achieved by directly manipulating the forward and backward swing of the linkage assembly arm 4, thus completing the arch raising. During this final precise adjustment, the extension and retraction of the telescopic assembly arm 6 can be reduced, thereby decreasing wear and tear on the inner slider 1 621, inner slider 2 625, upper slider 631 at the arm tail, and side slider 633 at the arm tail during loading, improving slider life. When adjusting the precise arch raising point, the swing of the linkage assembly arm 4 can be achieved without boom extension and retraction, with the distance B achieved by the lower linkage assembly arm 4 far exceeding the precise position requirements of the arch raising.

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

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

[0050] like Figure 5a and Figure 5b As shown, when angles W1, W2, and W3 remain unchanged, i.e., when the strokes of the boom cylinder 31, drive cylinder 41, and first luffing cylinder 61 remain unchanged, the difference in lengths b1 and b2 results in a difference in the posture of the telescopic boom 6. The appropriate values ​​for this invention can be selected and determined according to the overall machine requirements.

[0051] When b1 > b2, the arch-grabbing posture of the telescopic boom 6 will be better; when b1 < b2, the arch-erecting posture of the telescopic boom 6 will be better. The specific choice will be implemented based on the project requirements, and then a reasonable verification will be conducted.

[0052] This invention utilizes the movement of the linkage combination arm 4 to expand the range and improve the efficiency of the arch frame's gripping action. Simultaneously, when the arch is erected, the forward and backward translational fine-tuning of the arch frame at the designated position is greatly improved. Since traditional adjustments are made through the loaded extension and retraction of the telescopic combination arm 6, this invention largely eliminates the need for loaded extension and retraction of the telescopic combination arm 6 after fine-tuning at the designated position, and also eliminates the need for additional manual intervention. This improves the service life of its internal inner slider 1 621, inner slider 2 625, upper slider at the arm tail 631, and side slider at the arm tail 633.

[0053] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of this utility model. Therefore, any modifications, equivalent changes, or improvements made in accordance with the claims of this utility model shall still fall within the scope of this utility model.

Claims

1. A four-stage combined folding boom with an upright arch, characterized in that: The assembly includes a slewing support plate (1), a slewing table (2), a telescopic folding assembly, a boom head luffing platform (7), and a rotating swing gripper (8). The slewing support plate (1) is equipped with a slewing table (2), and the slewing table (2) is rotatably equipped with a telescopic folding assembly. The telescopic folding assembly includes a folding arm (3), a connecting rod combination arm (4), a triangular support platform (5), and a telescopic combination arm (6). The slewing table (2) is rotatably equipped with a folding arm (3), and the upper end of the folding arm (3) is equipped with a connecting rod combination arm (4). The upper end of the connecting rod combination arm (4) is equipped with a triangular support platform (5). The telescopic combination arm (6) is driven and installed on the triangular support platform (5). The front end of the telescopic combination arm (6) is connected to the boom head luffing platform (7), and the front end of the boom head luffing platform (7) is equipped with a rotating swing gripper (8).

2. The four-stage combined folding boom with vertical arch as described in claim 1, characterized in that: The linkage assembly arm (4) includes a drive cylinder (41), a first link (42), and a second link (43). The upper end of the folding arm (3) is rotatably connected to the lower ends of the first link (42) and the second link (43) respectively through the link pin A (32) and the link pin B (34). The first link (42) and the second link (43) have the same structure. The first link (42) and the second link (43) are two sets arranged in parallel. The first link (42) and the second link (43) form a quadrilateral. The drive cylinder (41) is movably provided between the second link (43). The output end of the drive cylinder (41) is located between the first link (42) and is connected to the link pin B (34) for transmission.

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

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

5. A four-stage combined folding boom with an upright arch as described in claim 4, characterized in that: The first outer sliding assembly (67) and the second outer sliding assembly have the same structure. Both the first outer sliding assembly (67) and the second outer sliding assembly include an upper slider (631) at the end of the arm, an adjustment plate (632) and a side slider (633) at the end of the arm. The rear end of the two-section arm (63) and the rear end of the three-section arm (64) are respectively provided with an upper slider (631) at the end of the arm and a side slider (633) at the end of the arm. An adjustment plate (632) is provided on one side of the upper slider (631) at the end of the arm.

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

7. A four-stage combined folding boom with an upright arch as described in claim 6, characterized in that: One end of the rotary table (2) is rotatably connected to the lower end of the folding arm (3) via a lower hinge pin (22). The other end of the rotary table (2) is movably connected to the middle of the lower end of the boom-starting cylinder (31) via an upper hinge pin (21). The output end of the boom-starting cylinder (31) is connected to the middle of the folding pin (33). Both ends of the folding pin (33) pass through the upper end of the folding arm (3) and are connected to it.

8. A four-stage combined folding boom with an upright arch as described in claim 7, characterized in that: The boom luffing platform (7) includes a second luffing cylinder (71), a first slewing reducer (72), a connecting rod cylinder (73), a small four-bar linkage (74), and a platform swivel base (75). The front end of the three-section boom (64) is movably connected to the platform swivel base (75), and the lower middle part of the platform swivel base (75) is movably connected to the output end of the second luffing cylinder (71). The other end of the second luffing cylinder (71) is fixedly connected to the inner side of the three-section boom (64); the outer side of the platform swivel base (75) An inclination sensor (76) is provided to sense and adjust the second luffing cylinder (71) so that the platform swivel seat (75) is parallel to the horizontal plane; the output end of the second luffing cylinder (71) is rotatably connected to the first slewing reducer (72), and the first slewing reducer (72) is provided with a small four-link (74) sleeved on it. The small four-link (74) is provided with a connecting rod cylinder (73), and the connecting rod cylinder (73) drives the small four-link (74) to swing up and down.

9. A four-stage combined folding boom with an upright arch as described in claim 8, characterized in that: The rotating swing gripper (8) includes a second rotary reducer (81) and an arched gripper (82). The front end of the small four-bar linkage (74) is adapted to be connected to the second rotary reducer (81), and the upper end of the second rotary reducer (81) is provided with an arched gripper (82).

10. A four-stage combined folding boom with an upright arch as described in claim 8, characterized in that: The boom-starting cylinders (31) are two sets arranged in parallel.

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