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CN-121973273-A - Telescopic long cantilever structure suitable for working in long and narrow space

CN121973273ACN 121973273 ACN121973273 ACN 121973273ACN-121973273-A

Abstract

The invention discloses a telescopic long cantilever structure suitable for working in a long and narrow space, which comprises a fixed arm, wherein a movable arm is coaxially arranged in the fixed arm in a sliding manner, a supporting guide assembly is arranged between the inside of the fixed arm and the movable arm, a driving assembly for driving the movable arm to axially move is arranged at the end part of one end of the movable arm, which is positioned in the fixed arm, the supporting guide assembly comprises a guide part and a sliding support part, the guide part is arranged on the inner wall of the fixed arm, the sliding support part is axially movably arranged on the side wall of the movable arm, the sliding support part is axially connected with the guide part in a sliding fit manner, the matching width between the sliding support part and the guide part is adjustable, and the axial relative position between the sliding support part and the movable arm is adjustable.

Inventors

  • LUO LINGLING
  • CHEN ZHIMOU
  • LV ZHIYUAN
  • RAO ZERONG
  • WANG FEI
  • CHEN YAHUI
  • TANG KAI
  • TU FUQUAN
  • HUANG JINGJIN
  • LIU FAMING
  • JIANG WEI
  • CHEN LINYUAN

Assignees

  • 成都飞机工业（集团）有限责任公司

Dates

Publication Date
20260505
Application Date
20260407

Claims (9)

  1. 1. The telescopic long cantilever structure suitable for working in a long and narrow space comprises a fixed arm (200), wherein a movable arm (100) is coaxially arranged in the fixed arm (200) in a sliding manner, the telescopic long cantilever structure is characterized in that a supporting guide assembly (300) is arranged between the inside of the fixed arm (200) and the movable arm (100), a driving assembly (400) for driving the movable arm (100) to axially move is arranged at the end part of one end of the movable arm (100) positioned in the fixed arm (200), the supporting guide assembly (300) comprises a guide part and a sliding support part, the guide part is arranged on the inner wall of the fixed arm (200), the sliding support part is axially movably arranged on the side wall of the movable arm (100), the sliding support part is connected with the guide part in an axially sliding fit manner, the fit width between the sliding support part and the guide part is adjustable, and the axial relative position between the sliding support part and the movable arm (100) is adjustable.
  2. 2. The telescopic long cantilever structure suitable for working in a long and narrow space according to claim 1, wherein the guiding part comprises a V-shaped guide rail (303), a plane guide rail (304) and a distance adjusting device, the sliding supporting part comprises a V-shaped groove guide wheel (301) and a plane guide wheel (302), the two groups of V-shaped guide rails (303) are arranged on the first inner wall of the fixed arm (200) in parallel, the V-shaped guide rail (303) and the first inner wall are connected in a sliding fit mode along the vertical direction perpendicular to the axial direction, the two groups of plane guide rails (304) are arranged on the second inner wall of the fixed arm (200) in parallel, the plane guide rail (304) and the second inner wall are connected in a sliding fit mode along the vertical direction perpendicular to the axial direction, the distance adjusting device is arranged between the two groups of V-shaped guide rails (303), the two groups of V-shaped groove guide wheels (301) are arranged on the first outer wall of the movable arm (100) in an axial moving mode, the two groups of V-shaped guide wheels (301) are respectively connected with the two groups of V-shaped guide wheels (303) in a sliding fit mode, and the two groups of plane guide wheels (302) are respectively arranged on the second outer wall of the movable arm (100) in a sliding fit mode along the axial direction.
  3. 3. The telescopic long cantilever structure suitable for working in a long and narrow space according to claim 2, wherein the sliding support part further comprises an adapter seat and an axial driving part, the adapter seat is sleeved on the outer side of the movable arm (100) in an axial sliding manner, one end of the fixed arm (200) is provided with an axial driving part for driving the adapter seat to axially slide and axially stop positioning, and one side of the adapter seat far away from the movable arm (100) is provided with a V-shaped groove guide wheel (301) or a plane guide wheel (302).
  4. 4. A telescopic long cantilever structure adapted to work in an elongated space according to claim 3, characterized in that between two sets of said V-groove guide wheels (301) elastic tensioning means are arranged, between two sets of planar guide wheels (302).
  5. 5. The telescopic long cantilever structure suitable for working in an elongated space according to claim 4, wherein a guide rail supporting plate (305) is arranged on one side of the V-shaped guide rail (303) or the plane guide rail (304), a supporting groove is arranged on the guide rail supporting plate (305), a positioning pin (501) extending to the supporting groove and vertically sliding along the supporting groove is arranged on one side of the V-shaped guide rail (303) or the plane guide rail (304), an adjusting bolt (502) is arranged in the supporting groove in a threaded fit manner along the vertical direction, and one end of the adjusting bolt (502) is abutted against the side face of the positioning pin (501).
  6. 6. A telescopic long cantilever structure adapted to work in an elongated space according to claim 5, wherein the spacing adjustment means comprises a double-screw threaded mating connection with the side of the rail support plate (305) facing away from the V-shaped rail (303) or the planar rail (304), said double-screw being rotatably mounted on the fixed arm (200).
  7. 7. The telescopic long cantilever structure suitable for working in a long and narrow space according to claim 5, wherein a vertical chute is arranged on the first inner wall and the second inner wall of the fixed arm (200), one side of the guide rail supporting plate (305) is connected with the vertical chute in a sliding fit manner, a plurality of elastic locking pieces with different heights are arranged on the inner wall of the vertical chute, and locking holes are arranged on the side walls of the guide rail supporting plate (305) corresponding to the elastic locking pieces.
  8. 8. The telescopic long cantilever structure suitable for working in a long and narrow space according to claim 4, wherein the driving assembly (400) comprises a driving gear (401), a rack (402), a speed reduction motor unit and a speed reduction mounting frame, the speed reduction motor unit is fixedly mounted on the outer side of the movable arm (100) through the speed reduction mounting frame, the rack (402) is mounted on one side of a V-shaped guide rail (303) and/or a plane guide rail (304), and the driving gear (401) in meshed connection with the rack (402) is sleeved on an output shaft of the speed reduction motor unit.
  9. 9. The telescopic long cantilever structure suitable for working in a long and narrow space according to claim 4, wherein the movable arm (100) is provided with a process hole (101) and a process groove (102), and a process hole end cover (103) is arranged at the process hole (101).

Description

Telescopic long cantilever structure suitable for working in long and narrow space Technical Field The invention belongs to the technical field of cantilever telescopic structures, and particularly relates to a telescopic long cantilever structure suitable for working in a long and narrow space. Background When long-stroke spraying, paint removal, polishing and other operations in a long and narrow space are performed, the working range of the related robot cannot meet the working requirement of the long stroke, and in the prior art, a cantilever telescopic mechanism is generally adopted to drive the working robot to carry out cantilever telescopic operation, so that the working robot is driven to extend into the long and narrow space for operation. However, the existing cantilever telescopic structure has the following defects: 1. For long-stroke expansion, for example, expansion operation with a stroke of more than 5m, a multi-stage expansion arm structure is needed, the expansion speed is low, the control load of the multi-stage expansion arm is low, the terminal positioning precision is low, and the requirement of accurate positioning operation in a long and narrow space is difficult to meet; 2. The fulcrum position of the movable arm is fixed, the position of the fulcrum is difficult to adapt to different extension strokes, and particularly under the condition that the extension stroke is larger than 5m, the fulcrum at the fixed position is difficult to effectively support the movable arm, so that the movable arm bends and deforms under the actions of dead weight and end load, and the positioning accuracy of the end working robot is affected. Therefore, in order to overcome the above-mentioned shortcomings of the existing large-stroke cantilever telescopic structure, the invention discloses a telescopic long cantilever structure suitable for working in a long and narrow space. Disclosure of Invention The invention discloses a telescopic long cantilever structure suitable for working in a long and narrow space, which adopts a two-stage telescopic structure to carry out cantilever extension, is simple to control and stable to operate, can adjust the position of a fulcrum in real time according to the extension stroke, effectively avoids the deformation of a movable arm, and ensures the positioning precision of a robot for executing tail end work. The invention is realized by the following technical scheme: The telescopic long cantilever structure suitable for working in a long and narrow space comprises a fixed arm, wherein a movable arm is coaxially arranged in the fixed arm in a sliding manner, a supporting guide assembly is arranged between the inside of the fixed arm and the movable arm, a driving assembly for driving the movable arm to axially move is arranged at the end part of one end of the movable arm, which is positioned in the fixed arm, the supporting guide assembly comprises a guide part and a sliding support part, the guide part is arranged on the inner wall of the fixed arm, the sliding support part is axially movably arranged on the side wall of the movable arm, the sliding support part is axially connected with the guide part in a sliding fit manner, the matching width between the sliding support part and the guide part is adjustable, and the axial relative position between the sliding support part and the movable arm is adjustable. When the telescopic movement is needed, the driving assembly drives the movable arm to axially stretch and retract relative to the fixed arm, and in the axial telescopic movement process of the movable arm relative to the fixed arm, the accurate guide to the axial telescopic movement of the movable arm is realized through the sliding fit between the guide part and the sliding support part. Compared with the mode that the fulcrum of the movable arm can not be adjusted in the traditional telescopic cantilever structure, the sliding support part is equivalent to the fulcrum of the movable arm, and the sliding support part can adjust the axial position relative to the movable arm, so that the fulcrum position of the movable arm is adjusted, the support with adjustable fulcrum positions can be adapted to different extension lengths of the movable arm, and the fulcrum position of the movable arm is always ensured to be positioned in the fixed arm. In order to better realize the invention, the guide part further comprises V-shaped guide rails, plane guide rails and a distance adjusting device, the sliding support part comprises V-shaped groove guide wheels and plane guide wheels, the two V-shaped guide rails are arranged on the first inner wall of the fixed arm in parallel, the V-shaped guide rails are connected with the first inner wall in a sliding fit manner along the vertical direction perpendicular to the axial direction, the two plane guide rails are arranged on the second inner wall of the fixed arm in parallel, the plane guide rails are connected with the se