WO2019100714A1

WO2019100714A1 - Lifting arm and lifting device

Info

Publication number: WO2019100714A1
Application number: PCT/CN2018/093061
Authority: WO
Inventors: 蔡昌荣
Original assignee: 深圳龙海特机器人科技有限公司
Priority date: 2017-11-27
Filing date: 2018-06-27
Publication date: 2019-05-31
Also published as: CN107758529A

Abstract

A lifting arm comprises: a straight arm (0100); a moving mechanism (0120), disposed on the straight arm (0100) and capable of linear movement, wherein an angle formed by the direction of linear movement and a vertical direction is not zero; a transmission pulley set (0130), comprising a first fixed pulley (0131) and a second fixed pulley (0132) and a moving pulley (0133), wherein the pulleys are parallel to each other in an axial direction, the first fixed pulley (0131) and the second fixed pulley (0132) are distributed, in a linear movement direction, on the moving mechanism (0120), and the moving pulley (0133) is configured to be connected to a load and to receive horizontal traction as input by a user; and a flexible member (0140), sequentially tensioned to the first fixed pulley (0131), the moving pulley (0133), and the second fixed pulley (0132), wherein one end of the flexible member (0140) is fixed to the straight arm (0100), and the other end is configured to receive a driving force to extend or retract. A lifting device comprising the lifting arm can lift a load vertically and move the load horizontally, has a low moment of inertia and a simple structure, and is highly responsive.

Description

Lifting arm and lifting device

Cross-reference to related applications

This application claims the priority of the Chinese Patent Application No. 201711203660.X, entitled "Lifting Arms and Lifting Devices", filed on November 27, 2017, the entire contents of which are hereby incorporated by reference. in.

Technical field

The present application belongs to the technical field of lifting equipment, and in particular, is a lifting arm and a lifting device.

Background technique

The boom is an important lifting mechanism. Conventional booms typically have electric hoists mounted on the straight arms for direct lifting. Since the electric hoist has a large weight, in order to ensure the stability of the structure, the electric hoist needs to be locked on the jib, so that the weight cannot be horizontally moved on the straight arm, and the use range of the jib is severely prohibited.

In order to achieve horizontal movement of heavy objects, the industry has proposed a folding arm structure. The folding arm structure is generally hinged by a multi-folding arm step by step, and the horizontal movement of the weight is realized by the rotational movement between the folding arms. Despite this, the folding arm structure has its drawbacks that are difficult to overcome. Under the multi-folding arm structure, the moment of inertia of the boom increases rapidly, the response sensitivity decreases correspondingly and the vibration is easily caused, which increases the difficulty of operation. At the same time, the number of parts of the folding arm structure is numerous, the mechanical cooperation relationship is complicated, the motion interference between the folding arms is easy to occur, and the failure rate is increased, so that the manufacturing and maintenance costs are high.

Summary of the invention

In order to overcome the deficiencies of the prior art, the present application provides a lifting arm and a lifting device, which can realize vertical lifting and horizontal movement of heavy objects and agile coupling motion between the two, and has small moment of inertia and motion. The advantages of responsiveness and simple structure.

The purpose of the application is achieved by the following technical solutions:

A boom comprising:

Straight arm

a moving mechanism that is linearly movable on the straight arm, the direction of the linear motion having a non-zero angle with the vertical direction;

a transmission wheel set comprising a first fixed wheel, a second fixed wheel and a moving wheel which are axially two-two parallel, wherein the first fixed wheel and the second fixed wheel are distributed in the direction of the linear motion to the moving mechanism Upper, the moving wheel is configured to connect the weight and receive the horizontal traction input by the user;

a flexure that is sequentially tensioned on the first fixed wheel, the moving wheel and the second fixed wheel, one end of the flexible member is fixed on the straight arm, and the other end is configured to receive a driving force Its own retraction.

As a modification of the above technical solution, the straight arm includes an integrally connected mounting end and a cantilever segment, the mounting end being configured to be coupled to an external support mechanism, the movement mechanism being linearly movable to the cantilever segment.

As a further improvement of the above technical solution, the straight arm is provided with a linear guide, and the moving mechanism includes a slider, and the slider is linearly movable on the linear guide.

As a further improvement of the above technical solution, the straight arm includes a sliding groove, and the moving mechanism is linearly movable in the sliding groove.

As a further improvement of the above technical solution, the moving mechanism includes a moving body and a rolling body configured to support the moving body, and the moving body is linearly movable in the sliding groove by the rolling body. The first fixed wheel and the second fixed wheel are disposed on the moving body.

As a further improvement of the above technical solution, the moving mechanism further includes a guiding member configured to guide the positioning of the moving body, the guiding member is axially perpendicular to the rolling body, and the moving body passes through the guiding member The sliding grooves remain in interaction.

As a further improvement of the above technical solution, the boom further includes a winding mechanism disposed on the straight arm, the winding mechanism being coupled to the movable end of the flexure, configured to achieve the flexibility Retraction of pieces.

As a further improvement of the above technical solution, the winding mechanism is disposed on the mounting end or the end of the cantilever segment is close to the mounting end.

As a further improvement of the above technical solution, the winding mechanism is disposed on the mounting end, and the winding mechanism and the cantilever segment are separated from two sides of the external support mechanism.

A lifting apparatus comprising a carrying shaft and the lifting arm according to any of the above, the lifting arm being rotatably held on the carrying shaft in a horizontal plane.

The beneficial effects of the application are:

A linearly movable moving mechanism is disposed on the straight arm, and the moving mechanism is provided with an axially parallel first fixed wheel and a second fixed wheel, and the first fixed wheel and the second fixed wheel are disposed to be connected with the weight The movable wheel, the first fixed wheel, the moving wheel and the second fixed wheel are sequentially tensioned and connected by the flexure to form a flexible transmission relationship, the flexible member is fixed at one end and the end is movably retracted and driven, and the moving wheel can be in the flexible member. Under the driving and vertical lifting, it can also move horizontally under the horizontal traction force input by the user, so that the weight can be vertically lifted and horizontally moved and the agile coupling movement between the two, while avoiding the inertia of the folding arm structure. The increase has the advantages of small moment of inertia, sensitive motion response and simple structure.

The above described objects, features, and advantages of the present invention will become more apparent from the following description.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments will be briefly described below. It should be understood that the following drawings show only certain embodiments of the present application, and therefore It should be seen as a limitation on the scope, and those skilled in the art can obtain other related drawings according to these drawings without any creative work.

1 is a schematic axial view of a first distribution structure of a boom provided in Embodiment 1 of the present application;

Figure 2 is an enlarged schematic view of the A of the boom of Figure 1;

Figure 3 is an enlarged schematic view of the B of the boom of Figure 1;

4 is a schematic structural view of a movement mechanism of a boom provided in Embodiment 1 of the present application;

5 is a front view showing the structure of a boom provided in Embodiment 1 of the present application;

Figure 6 is a partial cross-sectional view showing the C-C of the boom of Figure 5;

Figure 7 is a partial cross-sectional view of the D-D of the boom of Figure 5;

8 is a schematic axial view of a second distribution structure of a boom provided in Embodiment 1 of the present application;

9 is a schematic axial view of a third distribution structure of a boom provided in Embodiment 1 of the present application;

FIG. 10 is a schematic view showing the axial structure of the lifting apparatus provided in Embodiment 2 of the present application.

The main component symbol description:

1000-lifting device, 0100-boom, 0110-straight arm, 0111-mounting end, 0112-cantilever segment, 0113-fastener, 0114-sliding groove, 0120-motion mechanism, 0121-moving body, 0124- Rolling body, 0123-guide, 0130-drive wheel set, 0131-first fixed wheel, 0132-second fixed wheel, 0013-moving wheel, 0140-flexible, 0141-fixed end, 0142-active end, 0150- Winding mechanism, 0160-hook, 0200-bearing shaft, 0300-inductive handle.

Detailed ways

For ease of understanding of the present application, the boom and lifting apparatus will be described more fully hereinafter with reference to the associated drawings. A preferred embodiment of the boom and lifting apparatus is given in the drawings. However, the boom and lifting apparatus can be implemented in many different forms and are not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the boom and the lifting device more thorough and comprehensive.

It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or the element can be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or the central element. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention applies, unless otherwise defined. The terminology used herein in the description of the boom and the lifting device is for the purpose of describing the specific embodiments and is not intended to limit the application. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to FIG. 1 , the embodiment provides a boom 0100. The boom 0100 includes a straight arm 0110 , a motion mechanism 0120 , a transmission wheel set 0130 , and a flexure 0140 , and is configured by a flexible transmission and an integrated arm structure. The horizontal movement of the weight with low inertia condition, while simplifying the mechanical coordination relationship, finally realizes the coupling movement of horizontal movement and vertical lifting, and has outstanding sports agility.

Straight arm 0110 is the primary load bearing structure that withstands loads from heavy objects and other components. It should be noted that the straight arm 0110 is a concept opposite to the folding arm. With respect to the hinged rotating structure of the folding arm, the straight arm 0110 has an integrated rigid structure with no relative rotation inside and a small moment of inertia. Straight arm 0110 has a wide variety of structural forms, including solid structures or hollow structures. In an exemplary embodiment, the straight arm 0110 has a truss structure that saves material, reduces self-weight, and simultaneously increases stiffness for better load carrying capacity.

The straight arm 0110 is also configured to be coupled to an external support mechanism to form a cantilever structure. Preferably, the straight arm 0110 includes an integrally connected mounting end 0111 and a cantilever segment 0112, and the mounting end 0111 is configured to be coupled to an external support mechanism. Wherein, the mounting end 0111 and the external supporting mechanism may be fixedly connected, or may have relative motion (including a circular motion or a linear motion or the like). In the application of the coupling movement of the weight with the horizontal movement and the vertical lifting, the mounting end 0111 and the external supporting mechanism have a circumferential relative movement in the horizontal plane, thereby driving the straight arm 0110 to rotate around the external supporting mechanism to realize the weight. Rotate horizontally.

It should be understood that the mounting end 0111 may be disposed at one end of the straight arm 0110 or may be disposed at the middle of the straight arm 0110 according to the connection mode. In an exemplary embodiment, the mounting end 0111 is disposed at one end of the straight arm 0110, so that the cantilever section 0112 has the largest range of action, and is suitable for various types of column type balance cranes or crane type balance cranes. In another embodiment, the mounting end 0111 can also be located in the middle of the straight arm 0110, and the cantilever section 0112 is separated from the two ends of the mounting end 0111, and has a balanced rotating structure.

The moving mechanism 0120 is linearly movable on the straight arm 0110, and the direction of the linear motion has a non-zero angle with the vertical direction. In other words, the linear motion has at least a component in the horizontal direction, thereby achieving horizontal movement of the weight. In an exemplary embodiment, the kinematic mechanism 0120 performs a reciprocating linear motion in a horizontal direction. Preferably, the motion mechanism 0120 is linearly movable to the cantilever segment 0112 and maintains a safe distance from the mounting end 0111 to avoid motion interference with the external support mechanism.

Among them, the linear motion is very rich in implementation, including the combination of a cylindrical shaft and a linear bearing, a telescopic cylinder (a single-shaft cylinder or a double-shaft cylinder, etc.) or an electric cylinder. In an exemplary embodiment, the straight arm 0110 is provided with a linear guide, and the moving mechanism 0120 includes a slider that is linearly movable on the linear guide.

Referring to FIGS. 4-7 together, preferably, the straight arm 0110 includes a sliding slot 0114, and the motion mechanism 0120 is linearly movable within the sliding slot 0114. The shape of the sliding groove 0114 is determined according to actual needs, and is opened along the linear motion direction of the moving mechanism 0120 to ensure the stroke of the moving mechanism 0120. In an exemplary embodiment, the sliding groove 0114 is a groove formed by the channel in the middle of the bottom wall thereof, having a C-shaped cross section and the opening of the C-shaped section is kept downward.

Further preferably, the moving mechanism 0120 includes a moving body 0121 and a rolling body 0122 configured to support the moving body 0121, and the moving body 0121 is linearly movable in the sliding groove 0114 by the rolling body 0122. The rolling body 0122 is pressed against the bottom wall of the sliding groove 0114 by gravity, and has rolling contact therebetween, the friction damping is small and the movement is smooth, and the required horizontal traction force is reduced. In an exemplary embodiment, one end of the moving body 0121 is embedded in the sliding slot 0114, and the other end extends from the bottom wall opening of the sliding slot 0114 to the outside of the sliding slot 0114; the number of rolling bodies 0122 is plural and evenly distributed On the moving body 0121.

Preferably, the moving mechanism 0120 further includes a guiding member 0123 configured to position and guide the moving body 0121. The guiding member 0123 is axially perpendicular to the rolling body 0122, and the moving body 0121 maintains interaction with the sliding groove 0114 through the guiding member 0123. In other words, the guiding member 0123 acts on the side wall of the sliding groove 0114 to exert a positioning guiding action to ensure linear movement of the moving body 0121 in a predetermined direction. In an exemplary embodiment, the guide member 0123 has a cylindrical structure and is rotatably held on the moving body 0121. The number of the guide members 0123 may be one to plural. Preferably, the motion mechanism 0120 has a plurality of uniformly distributed guide members 0123.

Referring to FIGS. 1 to 3, the transmission wheel set 0130 includes a first fixed wheel 0131, a second fixed wheel 0132 and a moving wheel 0133 which are axially parallel, and the flexure 0140 is sequentially tensioned on the first fixed wheel 0131 and the moving wheel 0133. With the second fixed wheel 0132, a flexible transmission relationship is formed, and the force is transmitted.

The fixed end 0141 and the movable end 0142 are respectively formed at two ends of the flexible member 0140. The fixed end 0141 is fixed to the straight arm 0110 to remain stationary, and the movable end 0142 is configured to receive the driving force to realize the retraction of the flexure 0140. Exemplarily, the fixed end 0141 and the movable end 0142 are separated from the two ends of the transmission wheel set 0130 to ensure the uniformity of the transmission of the flexure 0140.

Preferably, one end of the cantilever section 0112 away from the mounting end 0111 is provided with a fastener 0113, and the fastener 0113 is configured to fix the fixed end 0141 of the flexure 0140. The fastener 0113 may be of a type such as a lifting ring or a fastening bolt, and the fastening of the flexure 0140 is achieved by splicing or pressing.

Referring to FIG. 8, another preferred embodiment, the fixed end 0141 of the flexure 0140 is fastened to the mounting end 0111 or the end of the cantilever section 0112 is close to the mounting end 0111, and the movable end 0142 of the flexure 0140 is bypassed by the cantilever section 0112. One end of the mounting end 0111 is used for flexible retraction. It should be understood that when the flexure is subjected to tensioning and turning, for example, from a horizontal direction to a vertical direction, the bending portion is correspondingly provided with a transmission wheel fastened to the straight arm 0110 to ensure the stability of the flexible transmission.

Among them, the flexible transmission relationship is a common mechanical transmission, usually composed of two or more transmission wheels 0133 and flexures 0140, and transmits motion and power between the transmission wheels 0133 through the flexures 0140. According to the type of the flexible member 0140, the flexible transmission mainly has a belt drive, a chain drive and a rope drive, the drive wheels 0133 are respectively a pulley, a sprocket and a sheave, and the flexures 0140 are a drive belt, a drive chain and a drive rope, respectively. The first fixed wheel 0131, the second fixed wheel 0132 and the moving wheel 0133 belong to the transmission wheel 0133. In an exemplary embodiment, the flexure 0140 is a wire rope having better structural strength.

The first fixed wheel 0131 and the second fixed wheel 0132 are distributed on the moving mechanism 0120 in a direction of linear motion. In other words, the mandrel line of the first fixed wheel 0131 and the second fixed wheel 0132 is parallel to the direction of the linear motion. At the same time, both the first fixed wheel 0131 and the second fixed wheel 0132 have a self-rotating capability. In an exemplary embodiment, the axial directions of the first fixed wheel 0131 and the second fixed wheel 0132 are both horizontal, and no relative movement occurs between the first fixed wheel 0131 and the second fixed wheel 0132.

Wherein, the moving wheel 0133 is configured to connect the weight and receive the horizontal traction input by the user. The moving wheel 0133 is respectively connected to the first fixed wheel 0131 and the second fixed wheel 0132 through the flexure 0140. Under the action of the moving wheel 0133 and/or the weight of the weight, the flexure 0140 naturally maintains tension and is pressed tightly. The upper surface of the first fixed wheel 0131 and the second fixed wheel 0132. During the retracting process of the flexure 0140, the relative positions of the movable wheel 0133 and the first fixed wheel 0131 and the second fixed wheel 0132 are changed, and the moving wheel 0133 is vertically raised and lowered to realize the lifting and lowering of the moving wheel 0133 and the heavy object. In an exemplary embodiment, the moving wheel 0133 is coupled to a hook 0160 configured to hang a weight.

It should be understood that the flexure 0140 between the first fixed wheel 0131 and the moving wheel 0133, the moving wheel 0133 and the second fixed wheel 0132 remains vertically tensioned. The flexure 0140 is tensioned on the side of the first fixed wheel 0131 near the second fixed wheel 0132, the second fixed wheel 0132 is close to the side of the first fixed wheel 0131 and the lower surface of the fixed wheel, forming an ideal flexible transmission relationship. .

In the embodiment of the moving body 0121, the first fixed wheel 0131 and the second fixed wheel 0132 are disposed on the moving body 0121, and then linearly reciprocate integrally. In the embodiment of the sliding groove 0114, the first fixed wheel 0131 and the second fixed wheel 0132 are disposed on the moving body 0121 and are located outside the straight arm 0110, ensuring that the movements do not interfere with each other and are flexible.

In practical applications, the user inputs the horizontal traction force to the moving wheel 0133, so that the moving wheel 0133 has a tendency of horizontal linear motion. The moving wheel 0133 compresses the flexure 0140 such that the flexure 0140 applies a horizontal force to the first fixed wheel 0131 or the second fixed wheel 0132. The horizontally driven first fixed wheel 0131 or the second fixed wheel 0132 drives the moving mechanism 0120 to linearly move, thereby achieving synchronous horizontal movement of the moving mechanism 0120 and the transmission wheel set 0130, and finally achieving horizontal movement of the weight.

As previously mentioned, the movable end 0142 of the flexure 0140 is configured to receive a driving force that may originate from the drive device or may be manually pulled. Among them, the drive device includes a drive motor or a hydraulic motor. Preferably, the boom 0100 includes a winding mechanism 0150 disposed on the straight arm 0110. The winding mechanism 0150 is coupled to the movable end 0142 of the flexure 0140 and configured to retract the flexure 0140.

In other words, the winding mechanism 0150 applies traction to the flexure 0140 to change the length of the flexure 0140 between the movable end 0142 and the fixed end 0141, thereby changing the first fixed wheel 0131, the second fixed wheel 0132 and the moving wheel. Position, to achieve the lifting or horizontal movement of the weight. In an exemplary embodiment, the flexure 0140 is wrapped around the reel of the take-up mechanism 0150 and retracted by the reel of the take-up mechanism 0150.

Preferably, the winding mechanism 0150 is disposed on the mounting end 0111 or at one end of the cantilever segment 0112 near the mounting end 0111. In other words, the winding mechanism 0150 and the fixed end 0141 of the flexure 0140 are separated from each other at both ends of the transmission. Thereby, the winding mechanism 0150 can be directly connected with the movable end 0142 of the flexure 0140 to avoid transmission interference, and at the same time reduce the bending moment caused by the self-weight of the winding mechanism 0150, and ensure a small horizontal rotational force, achieving an ideal Movement pattern.

Referring to FIG. 9 , it is further preferred that when the winding mechanism 0150 is mounted on the mounting end 0111, the winding mechanism 0150 and the cantilever segment 0112 are separated from the two sides of the external supporting mechanism, so that the winding mechanism 0150 plays a certain weight. The bending moment caused by the weight of the cantilever segment 0112 and the moving mechanism 0120 is reduced, and the required horizontal rotational force is further reduced.

Example 2

Referring to FIG. 10, the embodiment provides a lifting device 1000. The lifting device 1000 includes a bearing shaft 0200 and the aforementioned lifting arm 0100. The lifting arm 0100 can be rotatably held on the bearing shaft 0200 in a horizontal plane. It is configured to provide a low inertia weight lifting handling method.

The carrier shaft 0200, that is, the external support mechanism, is configured to provide support for the boom 0100. The load bearing shaft 0200 includes a structural type such as a column or a crane, the column is configured to be grounded, and the crane is configured to be suspended to form a structure of the required lifting device 1000.

The boom 0100 is rotatably held on the carrier shaft 0200 such that the moving wheel 0133 has a plurality of degrees of freedom of movement that are vertically raised and lowered, horizontally moved along the straight arm 0110, and horizontally rotated about the carrier shaft 0200. The boom 0100 has a desired range of action so that the weight can be freely transported to any position.

Preferably, the lifting apparatus 1000 further includes an input unit configured to receive a user's motion intention. The input unit has various forms, including a touch screen or an operation panel, and is configured to receive an operation instruction of the user to drive the boom 0100 to implement a corresponding action.

Further preferably, the input unit is an inductive handle 0300 connected to the moving wheel 0133, configured for the user to hold and sense the user's motion intention. The sensing handle 0300 is provided with a sensor configured to sense the force of the user. In practical applications, the user holds the sensing handle 0300 and applies a force, and the sensing handle 0300 senses the user's motion intention and receives the force. Correspondingly, the hook 0160 is disposed on the sensing handle 0300.

For example, when the user pulls up the inductive handle 0300, the inductive handle 0300 can know that the user has the intention of lifting the weight. The sensing handle 0300 further inductively measures the force to know the lifting distance required by the user, so that the winding mechanism 0150 drives the flexure 0140 to be correspondingly retracted, thereby realizing the lifting and lowering of the moving wheel 0133 and the weight.

For another example, when the user pushes the inductive handle 0300 horizontally, the inductive handle 0300 can know that the user has the intention of moving the weight horizontally. The sensing handle 0300 further senses the horizontal traction of the user and transmits the force to the moving wheel 0133 to move the transmission wheel set 0130 and the moving mechanism 0120 to achieve horizontal movement of the weight.

In all of the examples shown and described herein, any specific values should be construed as merely exemplary, and not as a limitation, and thus, other examples of the exemplary embodiments may have different values.

It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in a drawing, it is not necessary to further define and explain it in the subsequent drawings.

The above-mentioned embodiments are merely illustrative of several embodiments of the present application, and the description thereof is not to be construed as limiting the scope of the application. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the present application. Therefore, the scope of protection of the application should be determined by the appended claims.

Claims

A lifting arm characterized by comprising:

Straight arm

a moving mechanism that is linearly movable on the straight arm, the direction of the linear motion having a non-zero angle with the vertical direction;

a transmission wheel set comprising a first fixed wheel, a second fixed wheel and a moving wheel which are axially two-two parallel, wherein the first fixed wheel and the second fixed wheel are distributed in the direction of the linear motion to the moving mechanism Upper, the moving wheel is configured to connect the weight and receive the horizontal traction input by the user;

a flexure that is sequentially tensioned on the first fixed wheel, the moving wheel and the second fixed wheel, one end of the flexible member is fixed on the straight arm, and the other end is configured to receive a driving force Its own retraction.
The boom according to claim 1, wherein said straight arm includes an integrally coupled mounting end and a cantilever segment, said mounting end being configured to be coupled to an external support mechanism, said kinematic mechanism being linearly movable In the cantilever segment.
The boom according to claim 1, wherein said straight arm is provided with a linear guide, and said moving mechanism comprises a slider, said slider being linearly movable on said linear guide.
The boom according to claim 1, wherein said straight arm includes a sliding groove, and said moving mechanism is held in said sliding groove in a linear motion.
The boom according to claim 4, wherein the moving mechanism includes a moving body and a rolling body configured to support the moving body, and the moving body is linearly movable by the rolling body In the sliding groove, the first fixed wheel and the second fixed wheel are disposed on the moving body.
A boom according to claim 5, wherein said movement mechanism further comprises a guide member configured to position said moving body, said guide member being axially perpendicular to said rolling body, said movement The body remains in interaction with the sliding groove by the guide.
The boom according to claim 1, wherein said boom further comprises a winding mechanism provided on said straight arm, said winding mechanism being coupled to a movable end of said flexure, It is configured to achieve the retraction of the flexure.
The boom according to claim 7, wherein the straight arm comprises an integrally connected mounting end and a cantilever segment, the mounting end being configured to be coupled to an external support mechanism, the winding mechanism being disposed on the The mounting end or the cantilever section is near one end of the mounting end.
The boom according to claim 8, wherein said winding mechanism is provided on said mounting end, and said winding mechanism and said cantilever section are separated from both sides of said external support mechanism.
A lifting apparatus comprising a carrying shaft and the lifting arm according to any one of claims 1-9, the lifting arm being rotatably held on the carrying shaft in a horizontal plane.