Lifting device for patrol robot

Abstract

The invention discloses a lifting device for a patrol robot. The lifting device comprises a lifting rod mechanism, a speed reducer for providing power for the lifting rod mechanism and a controller connected with the speed reducer. The lifting rod mechanism comprises a plurality of pipe bodies, a transmission mechanism, a sequential locking mechanism, a locking connecting mechanism and a rod body base. A transmission mechanism is arranged in the pipe body and comprises a lead screw arranged on the central axis of the pipe body, a plurality of nuts arranged on the lead screw in a sleeving mode and connected with the bottom of the middle pipe and the bottom of the top pipe respectively, and a lead screw non-return device. When the robot platform provides a 28V direct-current voltage for the controller and serial communication receives a lifting instruction, the control module controls the driving module to start the motor, and the motor drives the speed reducer to drive the lead screw to rotate, so that the middle pipe and the top pipe are driven to ascend and descend. The lifting device with the multi-stage lifting function is simple in structure, few in equipment type, low in cost, good in maintainability, wide in application scene and low in failure rate.

Description

Technical Field

[0001] The invention relates to the technical field of lifting, and in particular to a lifting device for a patrol robot. Background Art

[0002] At present, there are many types of lifting devices on the market, including mobile, fixed, vehicle-mounted, aluminum alloy, self-propelled, etc. Driven by the huge social demand, the development pace and space of lifting devices are also expanding. At present, the lifting devices on the market include a large number of structures, but the application scenarios are single. The designed lifting devices have complex structures, many parts, and long lifting time, which will further lead to problems such as high cost and high failure rate. Summary of the invention

[0003] The object of the present invention is to provide a lifting device for a patrol robot, comprising a lifting rod mechanism, a speed reducing device for providing power to the lifting rod mechanism, and a controller connected to the speed reducing device.

[0004] The lifting rod mechanism comprises a plurality of pipe bodies, a transmission mechanism, a sequential locking mechanism, a locking connection mechanism and a rod body base.

[0005] The pipe body comprises a bottom pipe, a plurality of middle pipes and a top pipe in sequence from outside to inside.

[0006] The bottom tube is fixed on the rod body base.

[0007] The tube body is provided with a transmission mechanism, which comprises a lead screw arranged on the central axis of the tube body, a plurality of screw nuts sleeved on the lead screw and respectively connected to the bottom of the middle tube and the top tube, and a lead screw check device.

[0008] The bottom end of the lead screw passes through the inner hole of the rod body base and is connected to the cylindrical gear pair in the reduction device, and a lead screw check device is also sleeved on the lead screw, and the lead screw check device is installed inside the rod body base.

[0009] The tops of the bottom tube and the middle tube are both provided with annular aluminum sleeves.

[0010] A sequential locking mechanism is arranged in the annular aluminum sleeve of the bottom tube.

[0011] A sequential locking mechanism and a locking connection mechanism are arranged in the annular aluminum sleeve of the intermediate tube.

[0012] A locking column is arranged in the locking connection mechanism.

[0013] The inner side walls of the middle tube and the top tube are symmetrically provided with locking grooves which cooperate with the locking columns to lock the two tube bodies.

[0014] The outer wall of the top tube is provided with a stopper. The top and bottom of the inner wall of the intermediate tube are provided with fixed structural parts, and the outer wall is provided with a stopper. The top and bottom of the inner wall of the bottom tube are provided with fixed structural parts.

[0015] When the locking groove of a certain tube body rises to the same height as the locking column of the locking connection mechanism at the top of the adjacent tube body, the stopper on the outer wall of the certain tube body contacts the fixed structure on the top of the inner wall of the adjacent tube body.

[0016] The reduction gear comprises a motor, a reduction gear housing, a reducer arranged inside the reduction gear housing and connected to the motor, and a cylindrical gear pair connected to the reducer.

[0017] The controller includes serial communication, a control module and a drive module.

[0018] When the robot platform provides a 28V DC voltage to the controller and the serial communication receives the lifting command, the control module controls the drive module to start the motor, and the motor drives the reducer to drive the screw to rotate, thereby driving the middle pipe and the top pipe to rise and fall.

[0019] Furthermore, when there are n intermediate pipes, the intermediate pipe is denoted as L i , i = 1, 2, ..., n, where the middle tube close to the top tube is L1, and the middle tube close to the bottom tube is L n .

[0020] When the tube body of the lifting rod mechanism is in a closed state, only the nut connected to the bottom of the inner side wall of the top tube is screwed with the thread of the lead screw, and the rest of the tube body is locked by the sequential locking mechanism. After power is turned on, the motor transmits power to the lead screw through the cylindrical gear pair, and the lead screw rotates to drive the top tube to rise. When the lock groove of the top tube rises to the same height as the lock column of the locking connection mechanism at the top of the intermediate tube L1, the sequential locking mechanism between the intermediate tube L1 and the intermediate tube L2 is in an unlocked state, and the intermediate tube L1 and the top tube are locked by the locking connection mechanism. At the same time, the stopper of the top tube contacts the fixed structure at the top of the inner wall of the intermediate tube L1, thereby driving the intermediate tube L1 to rise. As the intermediate tube L1 rises, the nut connected to the intermediate tube L1 is screwed with the thread of the lead screw, and the nut connected to the top tube is separated from the thread of the lead screw. When the lock groove of the intermediate tube L1 rises to the same height as the lock column of the locking connection mechanism at the top of the intermediate tube L2, the above process is repeated until the lifting rod rises to the maximum height section by section from top to bottom.

[0021] When the tube body of the lifting rod mechanism is in the unfolded state, only the middle tube L n-1 The nut connected to the bottom of the inner wall is screwed into the thread of the lead screw, and the rest of the tube body is locked by a locking connection mechanism. n-1 It is driven downward by the reverse rotation of the screw and supports the intermediate tube L. n-1The other internal tubes are lowered, and when the middle tube L n-1 The annular aluminum sleeve and the intermediate tube L n When the annular aluminum sleeve is fitted, the middle tube L n-1 With intermediate tube L n The middle tube L is locked by a sequential locking mechanism. n-1 With intermediate tube L n-2 The locking connection mechanism between the two is in the unlocked state, and at the same time, the middle tube L n-1 The outer wall block and the middle tube L n The fixed structure at the bottom of the inner wall is in contact with the intermediate pipe L n-2 The connected nut is screwed into the screw thread and connected to the intermediate tube L n-1 The connected nut is separated from the thread of the screw, and when the intermediate tube L n-2 The annular aluminum sleeve is lowered to the intermediate tube L n-1 When the annular aluminum sleeve is at the same height, repeat the above process until the lifting rod descends to the retracted state.

[0022] Another object of the present invention is to provide a lifting device for a patrol robot, comprising a lifting rod mechanism, a reduction device for providing power to the lifting rod mechanism, and a controller connected to the reduction device.

[0023] The lifting rod mechanism comprises a plurality of pipe bodies, a transmission mechanism, a sequential locking mechanism, a locking connection mechanism and a rod body base.

[0024] The pipe body includes a bottom pipe, an intermediate pipe II, an intermediate pipe I and a top pipe from the outside to the inside.

[0025] The bottom tube is fixed on the rod body base.

[0026] The tube body is provided with a transmission mechanism, which includes a lead screw arranged on the central axis of the tube body, a plurality of nuts sleeved on the lead screw and respectively connected to the intermediate tube II, the intermediate tube I and the bottom of the top tube, and a lead screw check device.

[0027] One end of the lead screw passes through the inner hole of the rod body base and is connected to the cylindrical gear pair in the reduction device, and a lead screw check device is also sleeved on the lead screw, and the lead screw check device is installed inside the rod body base.

[0028] The tops of the bottom tube, the middle tube II and the middle tube I are all provided with an annular aluminum sleeve.

[0029] A sequential locking mechanism is arranged in the annular aluminum sleeve of the bottom tube.

[0030] A sequential locking mechanism and a locking connection mechanism are arranged in the annular aluminum sleeves of the intermediate tubes II and I, and a locking column is arranged in the locking connection mechanism.

[0031] The inner side walls of the intermediate tube II, the intermediate tube I and the top tube are symmetrically provided with locking grooves that cooperate with the locking columns to lock the two tube bodies.

[0032] The outer wall of the top pipe is provided with a stopper. The top and bottom of the inner wall of the intermediate pipe I and the intermediate pipe II are provided with fixed structural parts, and the outer wall is provided with a stopper. The top and bottom of the inner wall of the bottom pipe are provided with fixed structural parts.

[0033] When the locking groove of a certain tube body rises to the same height as the locking column of the locking connection mechanism at the top of the adjacent tube body, the stopper on the outer wall of the certain tube body contacts the fixed structure on the top of the inner wall of the adjacent tube body.

[0034] The reduction gear comprises a motor, a reduction gear housing, a reducer arranged inside the reduction gear housing and connected to the motor, and a cylindrical gear pair connected to the reducer.

[0035] The controller includes serial communication, a control module and a drive module.

[0036] When the robot platform provides a 28V DC voltage to the controller and the serial communication receives the lifting command, the control module controls the drive module to start the motor, and the motor drives the reducer to drive the screw to rotate, thereby driving the intermediate tube II, intermediate tube I and top tube to lift.

[0037] Furthermore, before the top pipe of the intermediate pipe I rises to the same height as the locking groove of the intermediate pipe I and the locking column of the intermediate pipe I, the intermediate pipe I and the intermediate pipe II, and the intermediate pipe II and the bottom pipe are always locked by a sequential locking mechanism.

[0038] Furthermore, the tube body is made of aluminum alloy material, and the surface of the tube body is hard anodized.

[0039] Furthermore, the lead screw is a self-locking lead screw, and the helix angle of the lead screw is smaller than the equivalent friction angle.

[0040] Furthermore, the motor is a DC28V 60W permanent magnet DC reduction motor.

[0041] Furthermore, the driving module selects a DC24RT30BL direct current motor driver.

[0042] Furthermore, a manually-operated bevel gear pair is also provided in the reduction gear housing, and the manually-operated bevel gear pair is connected to the cylindrical gear pair.

[0043] The manually operated bevel gear pair is provided with a crank opening, and the crank opening is connected with a manual crank. When the electric lifting cannot be used, the manual crank drives the manual operated bevel gear pair and the cylindrical gear pair to rotate, thereby driving the rotation of the lead screw.

[0044] Furthermore, a fuse is provided inside the deceleration device as a circuit short circuit protection device. The control module collects the limit information and height information of the pipe body in real time, and activates the fuse to protect the circuit when an abnormal limit situation or a faulty height change occurs.

[0045] The technical effect of the present invention is unquestionable, and the beneficial effects of the present invention are as follows:

[0046] The present invention designs a lifting device with a multi-stage lifting function. Compared with other lifting devices in the current industry, the present invention comprises a lifting rod body, a reduction device, a cable assembly, a communication cable and a manual crank. Its core components include a lifting rod body and a reduction device. It has a simple structure, few types of equipment, low cost, good maintainability, wide application scenarios and low failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is the outline drawing of the lifting device;

[0048] Figure 2 is the control system diagram;

[0049] Figure 3 This is the rod transmission principle diagram;

[0050] In the figure: 1-antenna mounting flange; 2-middle tube I lock shaft; 3-middle tube II lock hook; 4-middle tube II lock shaft; 5-bottom tube lock hook; 6-screw; 7-top tube; 8-middle tube I; 9-middle tube II; 10-bottom tube; 11-nut; 12-screw check device; 13-rod body base; 14-cylindrical gear pair; 15-annular aluminum sleeve; 16-middle tube I lock column I; 17-middle tube II lock column II; 18-locking groove; 1801-middle tube I lock groove; 1802-top tube lock groove; 19-motor; 20-reduction device housing; 21-manually operated bevel gear pair; 22-lifting rod mechanism; 23-reduction device. DETAILED DESCRIPTION

[0051] The present invention is further described below in conjunction with the embodiments, but it should not be understood that the above subject matter of the present invention is limited to the following embodiments. Without departing from the above technical ideas of the present invention, various substitutions and changes are made according to the common technical knowledge and customary means in the art, which should all be included in the protection scope of the present invention.

[0052] Embodiment 1:

[0053] A lifting device for a patrol robot comprises a lifting rod mechanism 22, a speed reduction device 23 for providing power to the lifting rod mechanism 22, and a controller connected to the speed reduction device.

[0054] The lifting rod mechanism 22 includes a plurality of tubes, a transmission mechanism, a sequential locking mechanism, a locking connection mechanism and a rod body base 13 .

[0055] The pipe body includes a bottom pipe 10, a plurality of middle pipes and a top pipe 7 from outside to inside.

[0056] An antenna mounting flange 1 is provided at the pipe opening at the top of the top pipe 7 .

[0057] When there are n intermediate tubes, the intermediate tube is denoted as L i , i = 1, 2, ..., n, where the middle tube close to the top tube 7 is L1, and the middle tube close to the bottom tube 10 is L n .

[0058] The bottom tube 10 is fixed on the rod body base 13 .

[0059] The tube body is provided with a transmission mechanism, which includes a lead screw 6 arranged on the central axis of the tube body, a plurality of nuts 11 sleeved on the lead screw 6 and connected to the bottom of the middle tube and the top tube 7 respectively, and a lead screw check device 12.

[0060] The bottom end of the lead screw 6 passes through the inner hole of the rod base 13 and is connected to the cylindrical gear pair 14 in the reduction device 23 , and a lead screw check device 12 is also sleeved on the lead screw 6 , and the lead screw check device 12 is installed inside the rod base 13 .

[0061] The tops of the bottom tube 10 and the middle tube are both provided with an annular aluminum sleeve 15 .

[0062] A sequential locking mechanism is arranged in the annular aluminum sleeve of the bottom tube 10 .

[0063] A sequential locking mechanism and a locking connection mechanism are arranged in the annular aluminum sleeve of the intermediate tube.

[0064] A locking column is arranged in the locking connection mechanism.

[0065] The inner side walls of the intermediate tube and the top tube 7 are symmetrically provided with locking grooves 18 that cooperate with the locking column to lock the two tube bodies. The locking grooves 18 are arranged at the middle position of the corresponding tube body.

[0066] The outer wall of the top pipe 7 is provided with a stopper. The top and bottom of the inner wall of the intermediate pipe are provided with fixed structural members, and the outer wall is provided with a stopper. The top and bottom of the inner wall of the bottom pipe 10 are provided with fixed structural members.

[0067] When the locking groove 18 of a certain tube body rises to the same height as the locking column of the locking connection mechanism at the top of the adjacent tube body, the stopper on the outer wall of the certain tube body contacts the fixed structure on the top of the inner wall of the adjacent tube body.

[0068] When the locking groove 18 of the top pipe 7 rises to the same height as the locking column of the locking connection mechanism at the top of the middle pipe L1, the stopper on the outer wall of the top pipe 7 contacts the fixed structure at the top of the inner wall of the middle pipe L1, thereby driving the middle pipe L1 to rise.

[0069] When the locking groove 18 of the middle tube L1 rises to the same height as the locking column of the locking connection mechanism at the top of the middle tube L2, the stopper on the outer wall of the middle tube L1 contacts the fixed structure at the top of the inner wall of the middle tube L2, thereby driving the middle tube L2 to rise.

[0070] When the intermediate tube L n-1 The locking groove 18 rises to the middle tube L n When the locking pins of the locking connection mechanism at the top are at the same height, the intermediate tube L n-1 The outer wall block and the middle tube L n The fixed structure contacts the top of the inner wall.

[0071] The reduction gear 23 includes a motor 19, a reduction gear housing 20, a reducer disposed inside the reduction gear housing 20 and connected to the motor 19, and a cylindrical gear pair 14 connected to the reducer.

[0072] The controller includes serial communication, a control module and a drive module.

[0073] When the robot platform provides a 28V DC voltage to the controller and the serial communication receives the lifting command, the control module controls the drive module to start the motor, and the motor 19 drives the reducer to drive the screw 6 to rotate, thereby driving the middle pipe and the top pipe 7 to rise and fall.

[0074] Embodiment 2:

[0075] The main structure of this embodiment is the same as that of Embodiment 1. Furthermore, during the rising or falling process of a certain tube body, the stopper on the outer wall will be restricted by the fixed structural member on the inner wall of the adjacent tube body.

[0076] The stopper on the outer wall of the top pipe 7 will be restricted by the fixed structural member on the top of the inner wall of L1 during the ascending process, and will be restricted by the fixed structural member on the bottom of the inner wall of L1 during the descending process.

[0077] For any two intermediate tubes, the stopper on the outer wall of the first intermediate tube will be restricted by the fixed structural member on the top of the inner wall of the second intermediate tube during the ascending process, and will be restricted by the fixed structural member on the bottom of the inner wall of the second intermediate tube during the descending process.

[0078] The intermediate tube L n The stopper on the outer wall will be restricted by the fixed structural member on the top of the inner wall of the bottom tube 10 during the ascending process, and will be restricted by the fixed structural member on the bottom of the inner wall of the bottom tube 10 during the descending process.

[0079] Embodiment 3:

[0080] The main structure of this embodiment is the same as any one of the embodiments 1 to 2. Further, when there are n intermediate tubes, the intermediate tube is denoted as L. i , i = 1, 2, ..., n, where the middle tube close to the top tube is L1, and the middle tube close to the bottom tube is L n .

[0081] When the tube body of the lifting rod mechanism 22 is in a closed state, only the nut connected to the bottom of the inner side wall of the top tube 7 is screwed with the thread of the lead screw 6, and the rest of the tube body is locked by the sequential locking mechanism. After power is turned on, the motor 19 transmits power to the lead screw 6 through the cylindrical gear pair 14, and the lead screw 6 rotates to drive the top tube 7 to rise. When the lock groove 18 of the top tube 7 rises to the same height as the lock column of the locking connection mechanism at the top of the intermediate tube L1, the sequential locking mechanism between the intermediate tube L1 and the intermediate tube L2 is in an unlocked state, and the intermediate tube L1 and the top tube 7 are locked by the locking connection mechanism. At the same time, the stopper of the top tube 7 contacts the fixed structure at the top of the inner wall of the intermediate tube L1, thereby driving the intermediate tube L1 to rise. As the intermediate tube L1 rises, the nut connected to the intermediate tube L1 is screwed into the thread of the lead screw 6, and the nut connected to the top tube 7 is disengaged from the thread of the lead screw 6. When the locking groove 18 of the intermediate tube L1 rises to the same height as the locking column of the locking connection mechanism at the top of the intermediate tube L2, the above process is repeated until the lifting rod rises from top to bottom step by step to the maximum height.

[0082] When the tube body of the lifting rod mechanism 22 is in the unfolded state, only the middle tube L n-1 The nut connected to the bottom of the inner wall is screwed with the thread of the lead screw 6, and the rest of the tube body is locked by a locking connection mechanism. n-1 It is driven downward by the reverse rotation of the lead screw 6 and supports the intermediate tube L. n-1 The other internal tubes are lowered, and when the middle tube L n-1 The annular aluminum sleeve and the intermediate tube L n When the annular aluminum sleeve is fitted, the middle tube L n-1 With intermediate tube L n The middle tube L is locked by a sequential locking mechanism. n-1 With intermediate tube L n-2 The locking connection mechanism between the two is in the unlocked state, and at the same time, the middle tube L n-1 The outer wall block and the middle tube L n The fixed structure at the bottom of the inner wall is in contact with the intermediate pipe L n-2 The connected nut is screwed into the screw 6 and the intermediate tube L n-1 The connected nut is separated from the thread of the screw 6, and when the intermediate tube L n-2The annular aluminum sleeve is lowered to the intermediate tube L n-1 When the annular aluminum sleeve is at the same height, repeat the above process until the lifting rod descends to the retracted state.

[0083] Embodiment 4:

[0084] The main structure of this embodiment is the same as any one of Embodiments 1 to 3. Furthermore, the tube body includes a bottom tube 10, an intermediate tube II9, an intermediate tube I8 and a top tube 7 from the outside to the inside.

[0085] An antenna mounting flange 1 is provided at the pipe opening at the top of the top pipe 7 .

[0086] The bottom tube 10 is fixed on the rod body base 13 .

[0087] A transmission mechanism is arranged in the tube body, and the transmission mechanism includes a lead screw 6 arranged on the central axis of the tube body, a plurality of nuts 11 sleeved on the lead screw 6 and respectively connected to the intermediate tube II9, the intermediate tube I8 and the bottom of the top tube 7, and a lead screw check device 12.

[0088] One end of the lead screw 6 passes through the inner hole of the rod base 13 and is connected to the cylindrical gear pair 14 in the reduction device 23 , and a lead screw check device 12 is also sleeved on the lead screw 6 , and the lead screw check device 12 is installed inside the rod base 13 .

[0089] The tops of the bottom tube 10, the intermediate tube II9 and the intermediate tube I8 are all provided with an annular aluminum sleeve 15.

[0090] A sequential locking mechanism is arranged in the annular aluminum sleeve of the bottom tube 10 .

[0091] A sequential locking mechanism and a locking connection mechanism are arranged in the annular aluminum sleeves of the intermediate tubes II9 and I8, and a locking column is arranged in the locking connection mechanism.

[0092] The inner side walls of the intermediate tube II9, the intermediate tube I8 and the top tube 7 are symmetrically provided with locking grooves 18 that cooperate with the locking columns to lock the two tube bodies.

[0093] The outer wall of the top pipe 7 is provided with a stopper. The top and bottom of the inner wall of the intermediate pipes I8 and II9 are provided with fixed structural members, and the outer wall is provided with a stopper. The top and bottom of the inner wall of the bottom pipe 10 are provided with fixed structural members.

[0094] When the locking groove 18 of a certain tube body rises to the same height as the locking column of the locking connection mechanism at the top of the adjacent tube body, the stopper on the outer wall of the certain tube body contacts the fixed structure on the top of the inner wall of the adjacent tube body.

[0095] When the locking groove 18 of the top pipe 7 rises to the same height as the locking column of the locking connection mechanism at the top of the intermediate pipe I8, the block on the outer wall of the top pipe 7 contacts the fixed structure at the top of the inner wall of the intermediate pipe I8, thereby driving the intermediate pipe I8 to rise.

[0096] When the locking groove 18 of the intermediate tube I8 rises to the same height as the locking column of the locking connection mechanism at the top of the intermediate tube II9, the stopper on the outer wall of the intermediate tube I8 contacts the fixed structural member at the top of the inner wall of the intermediate tube II9.

[0097] The reduction gear 23 includes a motor 19, a reduction gear housing 20, a reducer disposed inside the reduction gear housing 20 and connected to the motor 19, and a cylindrical gear pair 14 connected to the reducer.

[0098] The controller includes serial communication, a control module and a drive module.

[0099] When the robot platform provides a 28V DC voltage to the controller and the serial communication receives the lifting command, the control module controls the drive module to start the motor, and the motor 19 drives the reducer to drive the screw 6 to rotate, thereby driving the intermediate tube II9, the intermediate tube I8 and the top tube 7 to rise and fall.

[0100] Embodiment 5:

[0101] The main structure of this embodiment is the same as that of Embodiment 4. Furthermore, during the rising or falling process of a certain tube body, the stopper on the outer wall will be restricted by the fixed structural member on the inner wall of the adjacent tube body.

[0102] The stopper on the outer wall of the top pipe 7 will be restricted by the fixed structural member on the top of the inner wall of the intermediate pipe 18 during the ascending process, and will be restricted by the fixed structural member on the bottom of the inner wall of the intermediate pipe 18 during the descending process.

[0103] The stopper on the outer wall of the intermediate tube I8 is restricted by the fixed structural member on the top of the inner wall of the intermediate tube II9 during the ascending process, and is restricted by the fixed structural member on the bottom of the inner wall of the intermediate tube II9 during the descending process.

[0104] The stopper on the outer wall of the intermediate tube II9 will be restricted by the fixed structural member on the top of the inner wall of the bottom tube 10 during the ascending process, and will be restricted by the fixed structural member on the bottom of the inner wall of the bottom tube 10 during the descending process.

[0105] Embodiment 6:

[0106] The main structure of this embodiment is the same as that of embodiments 4-5. Furthermore, when the tube body of the lifting rod mechanism 22 is in a closed state, only the nut connected to the bottom of the inner side wall of the top tube 7 is screwed with the thread of the lead screw 6, and the rest of the tube body is locked by the sequential locking mechanism. When the power is turned on, the motor 19 transmits the power to the lead screw 6 through the cylindrical gear pair 14, and the rotation of the lead screw 6 drives the top tube 7 to rise. When the locking groove 18 of the top tube 7 rises to the same height as the locking column of the locking connection mechanism at the top of the intermediate tube I8, the sequential locking mechanism between the intermediate tube I8 and the intermediate tube II9 is ​​in an unlocked state, and the intermediate tube I8 and the top tube 7 are locked by the locking connection mechanism. At the same time, the stopper of the top tube 7 contacts the fixed structure at the top of the inner wall of the intermediate tube I8, thereby driving the intermediate tube I8 to rise. As the intermediate tube I8 rises, the nut connected to the intermediate tube I8 is screwed into the thread of the lead screw 6, and the nut connected to the top tube 7 is disengaged from the thread of the lead screw 6. When the locking groove 18 of the intermediate tube I8 rises to the same height as the locking column of the locking connection mechanism at the top of the intermediate tube II9, the above process is repeated until the lifting rod rises from top to bottom step by step to the maximum height.

[0107] When the tube body of the lifting rod mechanism 22 is in the unfolded state, only the nut connected to the bottom of the inner wall of the intermediate tube I8 is screwed with the thread of the lead screw 6, and the rest of the tube bodies are locked by the locking connection mechanism. After power is turned on, the intermediate tube I8 is driven downward by the reverse rotation of the lead screw 6 and supports the top tube 7 to descend. When the annular aluminum sleeve of the intermediate tube I8 fits with the circular annular aluminum sleeve of the intermediate tube II9, the intermediate tube I8 and the intermediate tube II9 are locked by the sequential locking mechanism, and the locking connection mechanism between the intermediate tube I8 and the top tube 7 is in the unlocked state, and the nut connected to the top tube 7 is screwed with the thread of the lead screw 6, and the nut connected to the intermediate tube I8 is separated from the thread of the lead screw 6, until the top tube 7 descends to the top set antenna mounting flange 1 and is close to the circular annular aluminum sleeve of the intermediate tube I8, at which time the lifting rod descends to the retracted state.

[0108] Embodiment 7:

[0109] The main structure of this embodiment is the same as any one of Embodiments 1 to 6. Furthermore, the sequential locking mechanism includes a lock shaft and a lock hook, and the locking connection mechanism includes a lock column and a lock groove.

[0110] When there are only two intermediate tubes, the tube body includes a bottom tube 10, an intermediate tube II9, an intermediate tube I8 and a top tube 7 from the outside to the inside.

[0111] A bottom tube locking hook 5 is arranged inside the annular aluminum sleeve of the bottom tube 10 .

[0112] The intermediate tube II lock shaft 4, the intermediate tube II lock hook 3 and the intermediate tube II lock column II17 are arranged in the annular aluminum sleeve of the intermediate tube II9.

[0113] The intermediate tube I8 has an intermediate tube I lock shaft 2 and an intermediate tube I lock column I16 disposed in the annular aluminum sleeve.

[0114] The bottom tube locking hook 5 and the middle tube II locking shaft 4 constitute a sequential locking mechanism for the bottom tube 10 and the middle tube II9.

[0115] The intermediate tube II locking hook 3 and the intermediate tube I locking shaft 2 constitute a sequential locking mechanism for the intermediate tube II9 and the intermediate tube I8.

[0116] The locking column II17 of the intermediate tube II and the locking groove 1801 of the intermediate tube I constitute a locking connection mechanism.

[0117] The intermediate tube I locking column I16 and the top tube locking groove 1802 constitute a locking connection mechanism.

[0118] Embodiment 8:

[0119] The main structure of this embodiment is the same as any one of Embodiments 4 to 7. Furthermore, before the top pipe 7 rises to the same height as the locking column of the middle pipe I8 and the locking groove of the middle pipe I, the middle pipe I8 and the middle pipe II9, and the middle pipe II9 and the bottom pipe 10 are always locked by a sequential locking mechanism.

[0120] Embodiment 9:

[0121] The main structure of this embodiment is the same as any one of Embodiments 1 to 8. Furthermore, the tube body is made of aluminum alloy material, and the surface of the tube body is hard anodized.

[0122] Embodiment 10:

[0123] The main structure of this embodiment is the same as any one of Embodiments 1 to 9. Furthermore, the screw 6 is a self-locking screw, and the helix angle of the screw is smaller than the equivalent friction angle.

[0124] Embodiment 11:

[0125] The main structure of this embodiment is the same as any one of Embodiments 1 to 10. Furthermore, the motor 19 is a DC28V60W permanent magnet DC reduction motor.

[0126] Embodiment 12:

[0127] The main structure of this embodiment is the same as any one of Embodiments 1 to 11. Furthermore, the driving module selects a DC24RT30BL DC motor driver.

[0128] Embodiment 13:

[0129] The main structure of this embodiment is the same as any one of Embodiments 1 to 13. Furthermore, a manually operated bevel gear pair 21 is provided in the reduction gear housing 20 , and the manually operated bevel gear pair 21 is connected to the cylindrical gear pair 14 .

[0130] The manual operation bevel gear pair 21 is provided with a crank opening, and a manual crank is connected to the crank opening. When the electric lifting cannot be used, the manual operation bevel gear pair 21 and the cylindrical gear pair 14 are driven to rotate by the manual crank, thereby driving the rotation of the lead screw 6.

[0131] Embodiment 14:

[0132] The main structure of this embodiment is the same as any one of Embodiments 1 to 3. Furthermore, a fuse is provided inside the deceleration device 23 as a circuit short-circuit protection device.

[0133] The control module collects the limit information and height information of the pipe body in real time, and when an abnormal limit situation or a faulty height change situation occurs, the fuse is activated to protect the circuit.

[0134] Embodiment 15:

[0135] The main structure of this embodiment is the same as any one of Embodiments 1 to 14. Further, the technical solution of the present invention is described in detail:

[0136] 1. System composition, functions and basic principles

[0137] 1.1 System composition

[0138] The lifting rod is mainly composed of the lifting rod body, deceleration device, cable assembly, communication cable and manual crank. Figure 1 .

[0139] 1.2 Function

[0140] a) Rod body: This solution consists of 4 sections of aluminum alloy tubes plus a lead screw to form the rod body. The user equipment is lifted and retracted by sequentially rising and falling of each section of the tube;

[0141] b) Speed ​​reducer: It is composed of a DC motor and a speed reducer. After power is turned on, the speed reducer drives the lead screw in the rod body to rotate, completing the opening and closing of the rod body.

[0142] c) Cable assembly part: mainly used for power supply connection and control signal transmission;

[0143] f) Manual crank part: mainly used for raising and lowering the lifting rod in emergency situations.

[0144] 1.3 Working Principle

[0145] The lifting rod is controlled by the electrical components in the control box through the program to control the rotation of the reduction device, drive the rotation of the rod body lead screw, and complete the extension and retraction process of the rod body.

[0146] a) Principle block diagram of control part

[0147] Figure 2 The control system shown in the figure is composed of a 28V DC voltage provided by the robot platform to the lifting rod. When the serial port receives the lifting command, the control box controls the drive module to control the rotation movement of the motor to complete the extension and closing of the rod.

[0148] b) Structural working principle

[0149] This solution achieves the customized solution required by the project through overall design improvement and strengthening design of some structural technical requirements. Its working principle is that the lead screw and nut convert the rotary motion into linear motion, that is, the rotary power of the motor is converted into the linear up and down motion of the rod. The specific lifting principle, such as Figure 3 shown.

[0150] Working principle of rise: When the lifting rod is in the closed state, only the nut of the first section of the tube is screwed with the screw thread, and the other tubes are locked through the sequential locking mechanism. After power is turned on, the reduction motor transmits power to the screw through the gear pair, and the screw rotates to drive the first section of the tube to rise. When the first section of the tube rises to the same height as the lock slot of the second section of the tube and the lock column of the second section of the tube, the block of the first section of the tube drives the second section of the tube to rise, and at the same time, the sequential locking mechanism composed of the lock shaft of the second section of the tube and the lock hook of the third section of the tube is unlocked, and the locking connection mechanism composed of the lock slot of the first section of the tube and the lock column of the second section of the tube from the top is in a mechanical connection state. Before the nut of the first section of the tube is separated from the screw thread, the nut of the second section of the tube has been screwed with the screw thread. Therefore, when the nut of the first section of the tube is separated from the screw thread, the second section of the tube supports the first section of the tube to rise together through the connection locking mechanism. When the second tube section rises to the same height as the locking groove of the third tube section, the above-described process is repeated until the lifting rod rises section by section from top to bottom to the maximum height.

[0151] Working principle of descent: When the lifting rod is in the unfolded state, only the nut on the third section of the tube is screwed with the screw thread, and the other tubes are connected and locked by the connecting locking mechanism. After power is turned on, the third section of the tube is brought down by the reverse rotation of the screw and supports the first and second tubes to descend. When the annular aluminum sleeve of the third section of the tube fits with the annular aluminum sleeve of the fourth section of the tube, the connecting locking mechanism between the third section of the tube and the second section of the tube is unlocked, and the sequential locking mechanism between the third section of the tube and the fourth section of the tube is locked. Before the nut of the third section of the tube is separated from the screw thread, the nut of the second section of the tube is screwed with the screw thread, and the second section of the tube supports the first tube to descend. When the annular aluminum sleeve of the second section of the tube fits with the annular aluminum sleeve of the third section of the tube, the above-described process is repeated until the lifting rod descends to the retracted state.

[0152] 2 Technical Solution

[0153] The main function of the lifting rod is to quickly lift the equipment to the specified height and lock it; the rod can be accurately reset after rising and falling, and has an emergency manual descent function, so the main components are the lifting rod body and the deceleration device.

[0154] 2.1 Rod body design

[0155] (1) Overall design

[0156] The lifting rod body is the main body for lifting, lowering and carrying. It has 4 sections of aluminum alloy tubes. The bottom section is fixed. The equipment is quickly lifted to the specified height and locked by sequentially opening and closing the upper 3 sections. The rod body also needs to be locked when withdrawing. Therefore, the rod body needs to have a tube body, a transmission mechanism, and a sequential locking mechanism.

[0157] (2) Tube body design

[0158] This scheme designs a total of 4 sections of aluminum alloy steel pipes, numbered from top to bottom as sections 1 to 4. Each section of the pipe body is a round pipe, and in order to meet the torsion accuracy requirements, the outer circle of the round pipe is designed with an anti-twist rectangular key. The pipe body material is a one-time formed aluminum alloy round pipe, and the fastener is used to fix the key to ensure the integrity and strength of the pipe section key.

[0159] The surface of the aluminum alloy pipe section is hard anodized to improve the surface hardness and wear resistance of the aluminum alloy pipe, and it has the characteristics of salt spray resistance, moisture resistance, mildew resistance and corrosion resistance, etc. It ensures the overall performance and safety of the lifting rod, improves the bending strength and tensile strength of the pipe body, and increases the directional anti-torsion characteristics.

[0160] (3) Transmission mechanism design

[0161] When designing this solution, a transmission mechanism of a lead screw and a nut is selected. The advantages of this transmission system are stable transmission and large load-bearing capacity.

[0162] In this solution, there are 4 tube bodies, 1 lead screw, and 3 nuts. In this solution, at most one lead screw and 10 nuts can be used. The transmission system structure of this solution is more compact and reliable, and has high stability.

[0163] During the process of the tube rising, due to the influence of the gravity of the tube and the load, the screw can only rotate by the reduction device. However, when descending, the gravity of the tube and the load will affect the stability of the screw rotation, so the screw is designed as a self-locking screw, which can stop and self-lock at any height position within the travel range.

[0164] (4) Sequential locking mechanism

[0165] During the process of the lifting rod rising and falling, a sequential locking mechanism is designed to ensure that each section of the tube is strictly opened and closed in a fixed order to prevent the tube from moving disorderly during movement, and to ensure orderly and smooth lifting. The sequential locking mechanism will only be unlocked when each section of the tube moves to a specific position, and bear the weight of the equipment and other tubes, thereby ensuring the order and stability of the tube movement process and ensuring a certain life of the locking mechanism.

[0166] 2.2 Speed ​​reduction device design

[0167] (1) Overall design

[0168] The lifting rod's rising and falling power comes from the reduction gear, which is a system that converts electrical energy into mechanical energy. The control components are designed in other spaces inside the reduction gear. Electronic components that meet the requirements are selected, and the environmental adaptability requirements are met through sealing treatment and box material properties. The reduction gear as a whole is composed of a motor, a reducer, a transmission box and a mounting base. The output torque of the motor after power is turned on should be able to be amplified by the reducer and transmitted to the lead screw of the rod body, and it must be greater than the friction caused by the gravity of the rod body and the load to drive the rod body to lift the equipment to an appropriate height.

[0169] (2) Motor selection

[0170] By calculating the motor, we choose a DC28V 60W permanent magnet DC reduction motor, which has the following characteristics:

[0171] 1) Operating temperature -40℃~+55℃, storage temperature -55℃~+70℃;

[0172] 2) The motor speed is 2000r / min and the rated torque reaches 0.2865Nm;

[0173] 3) Rated power consumption is 200W, peak power consumption is 500W.

[0174] (3) Drive module design

[0175] According to the characteristics of this project, the drive module uses the DC24RT30BL DC motor driver, which has a wide operating temperature range, a wide power supply adaptability, simple circuit characteristics, high working stability, and strong general interchangeability. It is also equipped with a variety of control input and output interfaces, and can reliably realize the forward and reverse control of the motor through appropriate electrical connections.

[0176] The specific indicators of this module are as follows:

[0177] 1) Operating temperature -40℃~+55℃, storage temperature -55℃~+70℃;

[0178] 2) With automatic current overload protection function;

[0179] 3) It has multiple switch outputs.

[0180] (4) Protection module design

[0181] The protection module is mainly divided into hardware protection and software protection; the equipment uses fuses as circuit short-circuit protection devices. The control module collects the limit information and height information of the lifting rod in real time, combines the movement of the rod, and qualitatively faults the abnormal limit situation and height change situation, and immediately performs protection.

[0182] 3. Key points of the present invention

[0183] The key points of the present invention are as follows:

[0184] (1) With electric and manual functions

[0185] Electric function:

[0186] This solution uses a 28V power supply to drive the motor through the drive module, converting electrical energy into mechanical energy, so that the rod rises and lifts the equipment to a specified height. In the electric control, the communication function is used to operate the lifting rod to rise, fall and stop.

[0187] Manual function:

[0188] A manually operated bevel gear pair is designed in the lifting transmission system, which is the transmission part for emergency manual operation. When the electric lifting cannot be used, the lifting rod can be lifted and lowered by shaking the driving gear of the bevel gear pair (with a crank opening) by a manual crank.

[0189] (2) With self-locking function

[0190] The lead screw helix angle in the transmission system of this scheme is smaller than the equivalent friction angle, so that the lead screw has a self-locking function. Within the travel range, the rod body has a nut engaged with the lead screw at any time, and combined with the sequential locking structure, the rise and fall of the rod body are completed by the rotation of the lead screw. When the lead screw does not rotate, the self-locking characteristic of the lead screw is used to achieve self-locking, and the height remains unchanged.

[0191] (3) With limit limit function

[0192] In order to ensure that the lifting rod does not continue to move and damage the rod body after rising and falling to the limit position, there are mechanical and electrical limits at the upper and lower limit positions of the rod body. The limit block is riveted on the outer wall of the second tube section. When the lifting rod rises or falls to the limit position, a proximity switch transmits a signal, and the electrical limit function of the control module stops the lifting rod from rising. If the electrical limit fails, the limit block hits the fixed structure in the inner wall of the 3-section tube, and the lifting rod is mechanically forced to stop rising. When the lifting rod falls to the limit position, the electrical limit first stops the lifting rod from falling. If the electrical limit fails, the lower end face of the outer sleeve of the second tube section hits the upper end face of the outer sleeve of the third tube section, and the lifting rod is mechanically forced to stop falling.

[0193] (4) With multi-level lifting function

[0194] This scheme designs a total of 4 sections of aluminum alloy round tubes, of which the outermost tube is fixed, and the other sections of the tubes are raised and lowered in sequence and can stop at any height position within the travel range, achieving a multi-level lifting function design.

Claims

1. A lifting device for a patrol robot, characterized in that: It comprises a lifting rod mechanism (22), a speed reducing device (23) for providing power to the lifting rod mechanism (22), and a controller connected to the speed reducing device; The lifting rod mechanism (22) comprises a plurality of tubes, a transmission mechanism, a sequential locking mechanism, a locking connection mechanism and a rod body base (13); The pipe body comprises, from outside to inside, a bottom pipe (10), a plurality of middle pipes and a top pipe (7); The bottom tube (10) is fixed on the rod body base (13); A transmission mechanism is arranged in the tube body, and the transmission mechanism comprises a lead screw (6) arranged on the central axis of the tube body, a plurality of screw nuts (11) sleeved on the lead screw (6) and respectively connected to the bottom of the middle tube and the top tube (7), and a lead screw check device (12); The bottom end of the lead screw (6) passes through the inner hole of the rod base (13) and is connected to the cylindrical gear pair (14) in the reduction device (23), and a lead screw check device (12) is also sleeved on the lead screw (6), and the check device (12) is installed inside the rod base (13); The tops of the bottom tube (10) and the middle tube are both provided with an annular aluminum sleeve (15); A sequential locking mechanism is provided in the annular aluminum sleeve of the bottom tube (10); A sequential locking mechanism and a locking connection mechanism are provided in the annular aluminum sleeve of the intermediate tube; A locking column is provided in the locking connection mechanism; The inner side walls of the intermediate tube and the top tube (7) are symmetrically provided with locking grooves (18) that cooperate with the locking columns to lock the two tube bodies; The outer wall of the top tube (7) is provided with a stopper; the top and bottom of the inner wall of the intermediate tube are provided with fixed structural members, and the outer wall is provided with a stopper; the top and bottom of the inner wall of the bottom tube (10) are provided with fixed structural members; When the locking groove (18) of a certain tube body rises to the same height as the locking column of the locking connection mechanism at the top of the adjacent tube body, the stopper on the outer wall of the certain tube body contacts the fixed structural member on the top of the inner wall of the adjacent tube body; The reduction gear (23) comprises a motor (19), a reduction gear housing (20), a reducer arranged inside the reduction gear housing (20) and connected to the motor (19), and a cylindrical gear pair (14) connected to the reducer; The controller includes serial communication, control module and drive module; When the robot platform provides a 28V DC voltage to the controller and the serial communication receives a lifting instruction, the control module controls the drive module to start the motor, and the motor (19) drives the reducer to drive the lead screw (6) to rotate, thereby driving the middle pipe and the top pipe (7) to rise and fall.

2. A lifting device for a patrol robot according to claim 1, characterized in that: When there are n intermediate tubes, the intermediate tube is denoted as L i , i = 1, 2, ..., n, the middle tube close to the top tube (7) is L1, the middle tube close to the bottom tube (10) is L n ; When the tube body of the lifting rod mechanism (22) is in a closed state, only the nut connected to the bottom of the inner side wall of the top tube (7) is screwed into the thread of the lead screw (6), and the rest of the tube body is locked by the sequential locking mechanism; after power is turned on, the motor (19) transmits power to the lead screw (6) through the cylindrical gear pair (14), and the lead screw (6) rotates to drive the top tube (7) to rise, and when the lock groove (18) of the top tube (7) rises to the same height as the lock column of the locking connection mechanism at the top of the intermediate tube L1, the sequential locking mechanism between the intermediate tube L1 and the intermediate tube L2 is in an unlocked state, and the intermediate tube L1 is locked. The tube L1 and the top tube (7) are locked by a locking connection mechanism. At the same time, the stopper of the top tube (7) contacts the fixed structure at the top of the inner wall of the intermediate tube L1, thereby driving the intermediate tube L1 to rise. As the intermediate tube L1 rises, the nut connected to the intermediate tube L1 is screwed into the thread of the lead screw (6), and the nut connected to the top tube (7) is disengaged from the thread of the lead screw (6). When the locking groove (18) of the intermediate tube L1 rises to the same height as the locking column of the locking connection mechanism at the top of the intermediate tube L2, the above process is repeated until the lifting rod rises section by section from top to bottom to the maximum height. When the tube body of the lifting rod mechanism (22) is in the unfolded state, only the middle tube L n-1 The nut connected to the bottom of the inner wall is screwed into the thread of the lead screw (6), and the rest of the tube bodies are locked by a locking connection mechanism; after power is turned on, the middle tube L n-1 The screw (6) is driven downward by the reverse rotation and supports the intermediate tube L. n-1 The other internal tubes are lowered, and when the middle tube L n-1 The annular aluminum sleeve and the intermediate tube L n When the annular aluminum sleeve is fitted, the middle tube L n-1 With intermediate tube L n The middle tube L is locked by a sequential locking mechanism. n-1 With intermediate tube L n-2 The locking connection mechanism between the two is in the unlocked state, and at the same time, the middle tube L n-1 The outer wall block and the middle tube L n The fixed structure at the bottom of the inner wall is in contact with the intermediate pipe L n-2 The connected nut is screwed into the screw (6) and connected to the intermediate tube L. n-1 The connected nut is then disengaged from the thread of the lead screw (6), and when the intermediate tube L n-2 The annular aluminum sleeve is lowered to the intermediate tube L n-1 When the annular aluminum sleeve is at the same height, repeat the above process until the lifting rod descends to the retracted state.

3. A lifting device for a patrol robot, characterized in that: It comprises a lifting rod mechanism (22), a speed reducing device (23) for providing power to the lifting rod mechanism (22), and a controller connected to the speed reducing device (23); The lifting rod mechanism (22) comprises a plurality of tubes, a transmission mechanism, a sequential locking mechanism, a locking connection mechanism and a rod body base (13); The tube body comprises, from outside to inside, a bottom tube (10), an intermediate tube II (9), an intermediate tube I (8) and a top tube (7); The bottom tube (10) is fixed on the rod body base (13); A transmission mechanism is arranged in the tube body, and the transmission mechanism comprises a lead screw (6) arranged on the central axis of the tube body, a plurality of screw nuts (11) sleeved on the lead screw (6) and respectively connected to the intermediate tube II (9), the intermediate tube I (8) and the bottom of the top tube (7), and a lead screw check device (12); One end of the lead screw (6) passes through the inner hole of the rod body base (13) and is connected to the cylindrical gear pair (14) in the reduction device (23), and a lead screw check device (12) is also sleeved on the lead screw (6), and the lead screw check device (12) is installed inside the rod body base (13); The tops of the bottom tube (10), the intermediate tube II (9) and the intermediate tube I (8) are all provided with an annular aluminum sleeve (15); A sequential locking mechanism is provided in the annular aluminum sleeve of the bottom tube (10); The annular aluminum sleeves of the intermediate tubes II (9) and I (8) are provided with a sequential locking mechanism and a locking connection mechanism, and the locking connection mechanism is provided with a locking column; The inner side walls of the intermediate tube II (9), the intermediate tube I (8) and the top tube (7) are symmetrically provided with locking grooves (18) that cooperate with the locking column to lock the two tube bodies; The outer wall of the top tube (7) is provided with a stopper; the top and bottom of the inner walls of the intermediate tubes I (8) and II (9) are provided with fixed structural members, and the outer walls are provided with stoppers; the top and bottom of the inner wall of the bottom tube (10) are provided with fixed structural members; When the locking groove (18) of a certain tube body rises to the same height as the locking column of the locking connection mechanism at the top of the adjacent tube body, the stopper on the outer wall of the certain tube body contacts the fixed structural member on the top of the inner wall of the adjacent tube body; The reduction gear (23) comprises a motor (19), a reduction gear housing (20), a reducer arranged inside the reduction gear housing (20) and connected to the motor (19), and a cylindrical gear pair (14) connected to the reducer. The controller includes serial communication, control module and drive module; When the robot platform provides a 28V DC voltage to the controller and the serial port communication receives a lifting instruction, the control module controls the drive module to start the motor, and the motor (19) drives the reducer to drive the lead screw (6) to rotate, thereby driving the intermediate tube II (9), the intermediate tube I (8) and the top tube (7) to rise and fall.

4. A lifting device for a patrol robot according to claim 3, characterized in that: Before the top tube (7) rises to the same height as the locking groove of the middle tube I (8) and the locking column of the middle tube I, the middle tube I (8) and the middle tube II (9), and the middle tube II (9) and the bottom tube (10) are always locked by a sequential locking mechanism.

5. A lifting device for a patrol robot according to claim 1 or 3, characterized in that: The tube body is made of aluminum alloy material, and the surface of the tube body is hard anodized.

6. A lifting device for a patrol robot according to claim 1 or 3, characterized in that: The lead screw (6) is a self-locking lead screw, and the helix angle of the lead screw is smaller than the equivalent friction angle.

7. A lifting device for a patrol robot according to claim 1 or 3, characterized in that: The motor (19) is a DC28V 60W permanent magnet direct current reduction motor.

8. A lifting device for a patrol robot according to claim 1 or 2, characterized in that: The driving module selects DC24RT30BL DC motor driver.

9. A lifting device for a patrol robot according to claim 1 or 3, characterized in that: A manually operated bevel gear pair (21) is arranged in the reduction gear housing (20), and the manually operated bevel gear pair (21) is connected to the cylindrical gear pair (14); The manually operated bevel gear pair (21) is provided with a crank opening, and a manual crank is connected to the crank opening. When the electric lifting cannot be used, the manual crank drives the manually operated bevel gear pair (21) and the cylindrical gear pair (14) to rotate, thereby driving the lead screw (6) to rotate.

10. A lifting device for a patrol robot according to claim 1 or 3, characterized in that: The deceleration device (21) is internally provided with a fuse as a circuit short-circuit protection device; the control module collects the limit information and height information of the pipe body in real time, and when an abnormal limit situation or a faulty height change situation occurs, the fuse is activated to protect the circuit.

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