Lifting device and robot with the same

Abstract

The present invention provides a lifting device and a robot with the lifting device, the lifting device comprising: a base plate; at least two telescopic arms, the at least two telescopic arms are slidably nested from the outside to the inside in sequence, wherein the outermost telescopic arm is fixed on the base plate, and the innermost telescopic arm is provided with a top cover; an elastic component, the elastic component is inserted into the at least two telescopic arms, one end of the elastic component abuts the base plate, and the other end of the elastic component abuts the top cover; and a pull rope, one end of the pull rope is fixed to the top cover; wherein the lower end of each telescopic arm is provided with a bottom cover, and the inner diameter of the bottom cover is greater than the outer diameter of the elastic component. The lifting device and the robot with the lifting device of the present invention flexibly change the support range by setting a pivotable support unit, which can not only realize the automatic lifting function, but also have small size, light overall weight, simple structure, low cost, and are suitable for industrial mass production and use in multiple scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a lifting device and a robot with the lifting device. Background Art

[0002] Currently, light-load multi-stage lifting products are needed in many fields and scenarios. For example, when using a camera to complete automatic lifting and shooting, the camera needs to be lifted to a certain height. In such a scenario, since the object lifted is a light object such as a camera, the lifting speed requirement for the lifting column is not high, and the position reached by the lifting column does not need to be particularly precise. However, there is no lifting product that matches the requirements of the above scenarios in the market.

[0003] First, there are not many products with multi-stage lifting functions on the market; second, the products are mainly used in the industrial field, and the size and weight of such products and the lifting columns used are large; third, the existing multi-stage lifting products are mostly realized by multi-stage screw rods or chain drives, but such products have complex structures and high costs.

[0004] Therefore, it is necessary to provide a light-load lifting device with small size, light weight and low cost, which can realize flexible and automatic lifting of objects; the lifting device can also be applied to intelligent robots to provide an automated lifting function.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore it may contain information that does not constitute the prior art known to those skilled in the art. Summary of the invention

[0006] In order to solve the problems existing in the prior art, the present invention provides a lifting device and a robot with the lifting device, which realize automatic lifting through a simple and clever structural design, thereby overcoming the problems existing in the prior art.

[0007] The present invention provides a lifting device, which comprises: a base plate; at least two telescopic arms, which are slidably nested in sequence from the outside to the inside, wherein the outermost telescopic arm is fixed on the base plate, and the innermost telescopic arm is provided with a top cover; an elastic component, which is passed through the at least two telescopic arms, one end of the elastic component abuts the base plate, and the other end of the elastic component abuts the top cover; and a pull rope, one end of the pull rope is fixed to the top cover; wherein a bottom cover is provided at the lower end of each telescopic arm, and the inner diameter of the bottom cover is greater than the outer diameter of the elastic component.

[0008] According to one embodiment of the present invention, the elastic component is a spring, the other end of the pull rope passes through the interior of the spring and extends out from the opening on the base plate; and / or the top end cover is installed at the upper end of the innermost telescopic arm, and one end of the pull rope is fixed to the lower surface of the top end cover; and / or a limiting ring is provided on the lower end surface of the top end cover to limit the position of the elastic component; and / or the bottom end cover is nested on the inner wall of the lower end of each telescopic arm; and / or the outermost telescopic arm is fixed to the base plate by fixing the bottom end cover on the outermost telescopic arm to the base plate; and / or the outer wall of each telescopic arm is provided with a longitudinal groove adapted to the adjacent telescopic arm to avoid relative rotation between adjacent telescopic arms.

[0009] According to an embodiment of the present invention, the lifting device further comprises: a rope winding mechanism, wherein the rope winding mechanism is mounted on the bottom plate, and the other end of the pull rope extends out from an opening on the bottom plate and is accommodated in the rope winding mechanism.

[0010] According to an embodiment of the present invention, the lifting device further comprises: a pulley, wherein the pulley is arranged adjacent to the opening on the bottom plate, so that the pull rope extends out from the opening on the bottom plate and then passes through the pulley to be accommodated in the rope winding mechanism.

[0011] According to one embodiment of the present invention, the pulley and the rope winding mechanism are arranged in alignment; and / or the pulley and the rope winding mechanism are arranged so that the angle formed by the pull ropes on both sides of the pulley is greater than 90°; and / or the pulley is equipped with a tensioning device to adjust the tension of the pull rope.

[0012] According to an embodiment of the present invention, the lifting device further comprises: a motor, wherein an output shaft of the motor is connected to the rope winding mechanism to provide power for the rope winding mechanism to retract and release the pull rope.

[0013] According to an embodiment of the present invention, a locking mechanism is provided between adjacent telescopic arms to lock the at least one telescopic arm in different extension states.

[0014] According to one embodiment of the present invention, the locking mechanism includes: an elastic locking piece, the side walls of the inner telescopic arm and the bottom end cover of each pair of adjacent telescopic arms are respectively provided with aligned through holes and mounting holes, one end of the elastic locking piece is fixed in the mounting hole, and the other end of the elastic locking piece includes a locking head extending radially outward through the through hole; and a locking hole, the locking hole is provided on the upper end side wall of the outer telescopic arm of each pair of adjacent telescopic arms, the inner diameter of the locking hole is smaller than the outer diameter of the locking head, wherein, when the two adjacent telescopic arms are fully extended, the locking head extends out of the mounting hole and passes through the through hole under the action of elastic force, thereby abutting against the locking hole.

[0015] According to another aspect of the present invention, there is further provided a robot with a lifting device, characterized in that the lifting device is the lifting device described above.

[0016] According to an embodiment of the present invention, the robot with a lifting device comprises: a movable chassis, the lifting device is supported on the movable base; and a controller, the controller is used to control the movement of the movable chassis and / or the lifting and lowering of the lifting device.

[0017] The lifting device and the robot with the lifting device provided by the present invention can not only realize the automatic lifting function, but also have small size, light overall weight, simple structure and low cost, and are suitable for industrial mass production and use in multiple scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other features of the present invention will be described in detail below with reference to specific exemplary embodiments shown in the accompanying drawings, which are given below only by way of illustration and therefore do not limit the present invention, in which:

[0019] Figure 1 A front view showing a lifting device according to an embodiment of the present invention.

[0020] Figure 2 A right side view of a lifting device according to an embodiment of the present invention is shown.

[0021] Figure 3 A bottom view of a lifting device according to an embodiment of the present invention is shown.

[0022] Figure 4 A top view of a lifting device according to an embodiment of the present invention is shown.

[0023] Figure 5 A side cross-sectional view of a lifting device in a compressed state according to an embodiment of the present invention is shown.

[0024] Figure 6 A front cross-sectional view showing a lifting device in a compressed state according to an embodiment of the present invention.

[0025] Figure 7 A front cross-sectional view showing a lifting device according to an embodiment of the present invention in an extended state.

[0026] Figure 8 A three-dimensional structural schematic diagram of a top end cover 50 according to an embodiment of the present invention is shown.

[0027] Fig. 9 A cross-sectional view of the assembled top cover 50 and the four-stage telescopic arm 5 according to an embodiment of the present invention is shown.

[0028] Fig.10 FIG. 5 is a schematic three-dimensional structural diagram of a bottom end cover 51 according to an embodiment of the present invention.

[0029] Fig.11 A bottom cross-sectional view of a four-stage telescopic arm 5 and a three-stage telescopic arm 4 in a locked state according to an embodiment of the present invention is shown.

[0030] Fig.12 A schematic three-dimensional structure diagram of a bottom end cover 21 according to another embodiment of the present invention is shown.

[0031] Fig.13 A bottom cross-sectional view of the assembled primary telescopic arm 2 and the bottom end cover 21 according to another embodiment of the present invention is shown.

[0032] Fig.14 A schematic three-dimensional structure diagram of a four-stage telescopic cylinder 5 according to an embodiment of the present invention is shown.

[0033] Fig.15 A schematic three-dimensional structure diagram of a three-stage telescopic cylinder 4 according to an embodiment of the present invention is shown.

[0034] Fig.16 A schematic three-dimensional structure diagram of a primary telescopic cylinder 2 according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0035] The present invention is described in detail below through specific embodiments so that those skilled in the art can easily implement the present invention according to the contents disclosed in this specification. The embodiments described below are only some embodiments of the present invention, not all. Based on the embodiments described in this specification, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present invention. It should be noted that the embodiments in this specification and the features in the embodiments can be combined with each other without conflict.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] Figures 1 to 4The lifting device according to an embodiment of the present invention is schematically shown, and comprises a base plate 1, four telescopic arms, namely, a primary telescopic arm 2, a secondary telescopic arm 3, a tertiary telescopic arm 4, a quaternary telescopic arm 5, a pull rope 7, a rope winding mechanism 8, a pulley 9 and a motor 10.

[0038] Specifically, refer to Figures 14 to 16 , which respectively show the three-dimensional structural diagrams of the four-stage telescopic arm 5, the three-stage telescopic arm 4 and the first-stage telescopic arm 2 according to an embodiment of the present invention. It should be noted that, in this embodiment, since the three-stage telescopic arm 4 has the same structure as the second-stage telescopic arm 3, the three-dimensional structural diagram of the second-stage telescopic arm 3 is omitted in the accompanying drawings of the present invention. Figures 14 to 16 As shown, the four telescopic arms, i.e., the primary telescopic arm 2, the secondary telescopic arm 3, the tertiary telescopic arm 4 and the quaternary telescopic arm 5, are all designed as hollow cylindrical parts, and their sizes are set so that they can be slidably nested from the outside to the inside in sequence, that is, the primary telescopic arm 2 is located at the outermost side, followed by the secondary telescopic arm 3, the tertiary telescopic arm 4, and the quaternary telescopic arm 5 is located at the innermost side. In addition, the outer wall of each telescopic arm is provided with a longitudinal groove adapted to the adjacent telescopic arm to prevent relative rotation between adjacent telescopic arms.

[0039] More specifically, further reference is made to Fig.14 and 15 A pair of longitudinal grooves 52 ( Fig.14 Only one of them is marked in the figure), a pair of longitudinal grooves 42 ( Fig.15 Only one of them is marked in the figure), when the four-stage telescopic arm 5 is nested in the three-stage telescopic arm 4, the longitudinal grooves 52 and 42 of the two are aligned, and the sizes of the longitudinal grooves 52 and 42 are set so that the relative sliding between the four-stage telescopic arm 5 and the three-stage telescopic arm 4 can only be along the length direction of the telescopic arm, that is, longitudinal sliding, so as to avoid relative rotation between the two during the telescopic process. Fig.16 The outer wall of the first telescopic arm 2 is also symmetrically provided with a pair of longitudinal grooves 22 ( Fig.16 Only one of them is marked in the figure). Similar to the sliding fit between the fourth-stage telescopic arm 5 and the third-stage telescopic arm 4, the third-stage telescopic arm 4 and the second-stage telescopic arm 3, and the second-stage telescopic arm 3 and the first-stage telescopic arm 2 can also use their own longitudinal grooves to avoid relative rotation, and the specific details are not repeated here.

[0040] In another embodiment of the present invention, the number of telescopic arms can be set to other numbers as needed, such as 2, 3, 6, 10, etc.; alternatively, the number of longitudinal grooves on the telescopic arms can also be set to other numbers as needed, and the arrangement of the longitudinal grooves can be set to symmetrical or asymmetrical according to needs and actual conditions; additionally, the shape of the longitudinal grooves can be set to Figures 14 to 16 The arc-shaped recess shown in the figure may also be set to a recess of other shapes such as a rectangle, a triangle, a wave, etc., and the present invention is not limited to this.

[0041] refer to Figures 5 to 7 , which respectively show cross-sectional views of a lifting device according to an embodiment of the present invention at different angles and in different telescopic states. Figures 5 to 7 As shown, the lifting device of the present invention further includes a spring 6, which is inserted into the four telescopic arms, that is, the spring 6 is inserted into the cavity formed by the four telescopic arms nested in sequence, that is, the inner diameter of the innermost four-stage telescopic arm 5 is larger than the outer diameter of the spring 6 to allow the spring 6 to pass through. Figures 1 to 4 The first-stage telescopic arm 2 is fixed on the bottom plate 1 , a top cover 50 is nested on the inner wall of the upper end of the fourth-stage telescopic arm 5 , one end of the spring 6 abuts against the bottom plate 1 , and the other end of the spring 6 abuts against the top cover 50 .

[0042] Further references Figures 5 to 7 The lifting device of the present invention further comprises a pull rope 7, the end 7a of the pull rope 7 is fixed to the top cover 50, and the pull rope 7 extends downward from the end 7a thereof through the interior of the spring 6 and extends downward from the opening 11 on the bottom plate 1, that is, the other end of the pull rope 7 opposite to 7a extends downward from the opening 11 on the bottom plate 1. In other embodiments of the present invention, the spring 6 may also be replaced by other elastic components known to those skilled in the art, and the present invention is not limited thereto.

[0043] Further references Figure 8 , which schematically shows a three-dimensional structural diagram of the top cover 50 according to an embodiment of the present invention. It should be noted that, Figure 8 The placement position of the top cover 50 shown in FIG. Figures 5 to 7 The position direction of the top cover 50 shown in FIG is upside down, that is, Figures 5 to 7 The lower surface of the top cover 50 shown in FIG. Figure 8 For the convenience of description, the following is combined Figure 8 In the descriptions made, the words “up” and “down” indicating directions or positional relationships are still used as Figures 5 to 7 The position direction of the top cover 50 shown in FIG. Figure 8 As shown, a pair of lugs 504 ( Figure 8Only one of them is marked in the figure), a cylindrical pin 505 can be fixedly inserted through the pair of lugs 504 (in Fig.11 and 13 ), to tie the end 7a of the pull rope 7 to the cylindrical pin 505, thereby fixing the end 7a of the pull rope 7 to the middle of the lower surface of the top cover 50. Figure 8 As shown, the lower end surface of the top cover 50 is also provided with a circumferential stop ring 503 protruding downward, and the inner diameter of the stop ring 503 is larger than the outer diameter of the spring 6, so that one end of the spring 6 can be restrained and maintained in its position while abutting against the lower surface of the top cover 50, so as to prevent the upper end of the spring 6 from being deflected. Figure 8 As shown, a pair of grooves 501 ( Figure 8 Only one of them is marked in the figure), the shape and size of the groove 501 are adapted to the longitudinal groove 52 on the four-stage telescopic arm 5, so that the top cover 50 is fixed to the inner wall of the upper end of the four-stage telescopic arm 5 in a snug manner. Fig. 9 , which schematically shows a cross-sectional view of a top cover 50 and a four-stage telescopic arm 5 according to an embodiment of the present invention, and four pin holes 502a ( Figure 8 and 9 Only one of them is marked in the figure), which is used to fix the top cover 50 to the upper end of the four-stage telescopic arm 5 using a pin 502b.

[0044] In another embodiment of the present invention, the lug 504 and the cylindrical pin 505 may not be used, but other connection methods may be used or the end 7a of the pull rope 7 may be directly fixed to the middle of the lower surface of the top cover 50; alternatively, the top cover 50 may not be provided with a limit ring 503; alternatively, the top cover 50 may also be fixed on the upper end surface of the four-stage telescopic arm 5, that is, the upper end surface of the four-stage telescopic arm 5 is fixedly connected to the lower surface of the top cover 50; alternatively, the top cover 50 may also be designed to have a circumferential groove on the lower surface to embed the upper end of the four-stage telescopic arm 5 into the top cover 50; alternatively, the top cover 50 may also be set at different axial (longitudinal) positions in the four-stage telescopic arm 5, rather than at its upper end, and the present invention does not limit the specific setting method of the top cover 50 on the four-stage telescopic arm 5. It is worth noting that when the top cover 50 is set in a manner different from that shown in the drawings of this specification, its structure, shape and connection method with other components will also be adaptively changed in a manner that should be known to those skilled in the art.

[0045] Further references Figures 5 to 7The first telescopic arm 2 has a bottom cover 21 nested on the inner wall of the lower end, the second telescopic arm 3 has a bottom cover 31 nested on the inner wall of the lower end, the third telescopic arm 4 has a bottom cover 41 nested on the inner wall of the lower end, and the fourth telescopic arm 5 has a bottom cover 51 nested on the inner wall of the lower end. The bottom cover 21, the bottom cover 31, the bottom cover 41, and the bottom cover 51 can be set to have an inner diameter greater than the outer diameter of the spring 6, so as to allow the spring 6 to pass through these bottom covers smoothly without affecting its extension, and the size of these bottom covers can be set to have the same inner diameter and slightly larger than the outer diameter of the spring, which makes up for the defect that the telescopic arms nested in sequence cannot keep the spring 6 from deflection and bending when the telescopic arms are unfolded due to the different distances between each of them and the spring 6. That is to say, the bottom cover 21, the bottom cover 31, the bottom cover 41, and the bottom cover 51 can keep the spring 6 basically in the center position in the cavity formed by the four telescopic arms, especially in the case of Figure 7 When the four telescopic arms are fully extended, the bottom end covers can limit the position of the spring 6 at different longitudinal positions, thereby keeping the spring 6 from deflection and bending.

[0046] In another embodiment of the present invention, the inner diameters of the bottom end cover 21, the bottom end cover 31, the bottom end cover 41 and the bottom end cover 51 can also be set to different values ​​as needed; alternatively, one or more of the bottom end cover 51, the bottom end cover 41, the bottom end cover 31 and the bottom end cover 21 can also be set at the lower end of their respective telescopic arms in other ways. Taking the bottom end cover 51 as an example, the bottom end cover 51 can be fixed on the lower end surface of the four-stage telescopic arm 5, that is, the upper surface of the bottom end cover 51 is fixedly connected to the lower end surface of the four-stage telescopic arm 5; or the bottom end cover 51 can be designed to have a circumferential groove on the upper surface to embed the lower end of the four-stage telescopic arm 5 into the circumferential groove, etc. The present invention does not limit the specific setting method of the bottom end cover at the lower end of the telescopic arm. It is worth noting that when the bottom end cover 21, the bottom end cover 31, the bottom end cover 41 and the bottom end cover 51 are set in a manner different from that shown in the drawings of this specification, their structure, shape and connection method with other components will also be adaptively changed in a manner that should be known to those skilled in the art.

[0047] Further references Fig.10 , which schematically shows a three-dimensional structural diagram of a bottom end cover 51 according to an embodiment of the present invention; Fig.11 The figure schematically shows a bottom cross-sectional view of a four-stage telescopic arm 5 and a three-stage telescopic arm 4 in a locked state according to an embodiment of the present invention. Fig.10 and 11 As shown, four pin holes 512a ( Fig.10 and 11 Only one of them is marked in Fig.11 Combined with Fig.14As shown, four through holes 54 ( Fig.11 and 14 Only one of them is marked in the figure) for utilizing pin 512b ( Fig.11 (only one of them is marked) fix the bottom cover 51 to the lower end of the four-stage telescopic arm 5. Figures 10-11 As shown, a pair of grooves 511 ( Figures 10-11 Only one of them is marked in the figure), the shape and size of the groove 511 are adapted to the longitudinal groove 52 on the four-stage telescopic arm 5, so that the bottom cover 51 is snugly fixed on the inner wall of the lower end of the four-stage telescopic arm 5. Since the structures of the bottom cover 41, the bottom cover 31 and the bottom cover 51 are the same, the three-dimensional structure diagrams of the bottom cover 41 and the bottom cover 31 are omitted in the drawings of the specification of the present invention. In addition, refer to Fig.15 The lower end of the third-stage telescopic arm 4 shown therein is provided with four through holes 44 similar to the through holes 54 of the fourth-stage telescopic arm 5, and the bottom end cover 41 and the bottom end cover 31 are installed in the same manner as the bottom end cover 51, so the details of the bottom end cover 41 and the bottom end cover 31 being respectively installed to the third-stage telescopic arm 4 and the second-stage telescopic arm 3 will not be repeated here.

[0048] Further references Figures 10-11 A pair of mounting holes 513 ( Figures 10-11 Only one of them is marked), an elastic locking member 514 is installed in the mounting hole 513, Fig.11 It can be clearly seen that the elastic locking member 514 is composed of a compression spring portion 514a and a locking head 514b connected to the compression spring portion 514a, wherein the top of the locking head 514b is spherical, one end of the elastic locking member 514, namely the compression spring portion 514a, is fixed in the mounting hole 513, and one end of the elastic locking member 514, namely the locking head 514b, can extend out of the mounting hole 513 based on the elastic force of the compression spring portion 514a. Fig.11 Combined with Fig.14 As shown, a pair of through holes 55 ( Fig.11 and 14 Only one of them is marked in the figure), and the size of the through hole 55 is set to allow the locking head 514b to pass through. Fig.11 Combined with Fig.15 As shown, a pair of locking holes 43 ( Fig.11 and 15Only one of them is marked in the figure), the inner diameter of the locking hole 43 is set to be smaller than the outer diameter of the locking head 514b, so as to allow the locking head 514b to abut against the locking hole 43 without passing through the locking hole 43. When the four-stage telescopic arm 5 moves up and down in the three-stage telescopic arm 4, the locking head 514b is restricted in the three-stage telescopic arm 4; when the four-stage telescopic arm 5 rises to a corresponding position relative to the three-stage telescopic arm 4, the locking head 514b is pushed out and abuts against the locking hole 43 under the elastic force of the compression spring part 514a, thereby keeping the three-stage telescopic arm 4 and the four-stage telescopic arm 5 in a relatively fixed extended position; when the four-stage telescopic arm 5 descends relative to the three-stage telescopic arm 4 to the bottom end cover 51 and contacts the bottom end cover 41, the four-stage telescopic arm 5 cannot continue to descend. The components and their arrangement in this embodiment constitute a pair of locking mechanisms between the third-stage telescopic arm 4 and the fourth-stage telescopic arm 5, which allow the telescopic arm of the lifting device to bear a load of a certain weight of objects in a fully extended state without causing the locking head 514b to fall out of the locking hole 43. Fig.15 The lower end of the third telescopic arm 4 shown therein is provided with a pair of through holes 45 similar to the through holes 55 of the fourth telescopic arm 5, referring to Fig.16 The upper end of the first telescopic arm 2 is provided with a pair of locking holes 23 (similar to the locking holes 43 of the third telescopic arm 4) Fig.16 Only one of them is marked in the figure), because the locking method between the other telescopic arms is the same as the locking method between the fourth-level telescopic arm 5 and the third-level telescopic arm 4, the details of the locking mechanism between the third-level telescopic arm 4 and the second-level telescopic arm 3, and between the second-level telescopic arm 3 and the first-level telescopic arm 2 will not be repeated here.

[0049] In another embodiment of the present invention, the locking head may also be set to other shapes such as an ellipsoidal sphere; alternatively, the elastic locking member 514 may also be set to an elastic member of other structures or shapes; alternatively, the locking mechanism may also be set to other numbers according to actual needs, and the position of the locking mechanism may also be changed as needed, which is not limited by the present invention.

[0050] In another embodiment of the present invention, mutually cooperating buckles or other methods commonly used or known to those skilled in the art may be provided on adjacent telescopic arms to achieve locking between adjacent telescopic arms; additionally, a plurality of locking mechanisms may be provided on the telescopic arms along their length direction to achieve locking when the telescopic arms are extended to different degrees, that is, two or more telescopic arms of the lifting device may be locked in different extension states or heights.

[0051] Further references Fig.12 , which schematically shows a three-dimensional structural diagram of a bottom end cover 21 according to an embodiment of the present invention; Fig.13 The bottom cross-sectional view of the primary telescopic arm 2 and its bottom end cover 21 according to an embodiment of the present invention is schematically shown. Fig.12 and 13 As shown, four pin holes 212a are evenly arranged on the side of the bottom cover 21; Fig.16 As shown, four pin holes 24 are correspondingly provided on the lower end side wall of the first telescopic arm 2, so as to use the pins 212b to fix the bottom end cover 21 and the first telescopic arm 2 together. Figures 12-13 Combined with Figures 5-6 The bottom cover 21 is evenly provided with four axial through holes 213a along its circumference, so that the bottom cover 21 can be fixed to the bottom plate 1 through the pins 213b, thereby fixing the first telescopic arm 2 to the bottom plate 1. Figures 12-13 As shown, a pair of grooves 211 ( Figures 12-13 Only one of them is marked in the figure), the shape and size of the groove 211 are adapted to the longitudinal groove 22 on the primary telescopic arm 2, so that the bottom end cover 21 is fixed to the lower end inner wall of the primary telescopic arm 2 in a snug manner.

[0052] In another embodiment of the present invention, the pins used to fix the bottom end cover 21, 31, 41, 51 and the top end cover 50 to each telescopic arm can also be set to a greater or lesser number as needed; alternatively, the bottom end cover 21, 31, 41, 51 and the top end cover 50 can be connected to the telescopic arm together, and the first-stage telescopic arm 2 and / or the bottom end cover 21 can be fixed to the base plate 1 by other connection methods such as bonding and welding, and the present invention is not limited to this.

[0053] Further references Figures 1 to 4 5-7, the lifting device of the present invention further comprises a rope winding mechanism 8, a motor 10 and a pulley 9. Specifically, Figure 5 As shown, an opening 11 is provided at the center of the position where the bottom plate 1 abuts against the spring 6, and the opening 11 extends downward along the opposite sides to form a pair of lugs 12 ( Figure 5 Only one of them is marked), and a rotating shaft 13 is passed through the pair of lugs 12 to form a pulley 9, wherein the rotating shaft 13 and the lug 12 can be fixedly connected or rotatably connected through a sleeve or a bearing. That is to say, the pulley 9 is arranged directly below the opening 11 on the base plate 1, and the pull rope 7 can extend downward from the opening 11 and then pass through the pulley 9 and be accommodated in the rope winding mechanism 8, which is installed on the base plate 1, wherein the rope winding mechanism 8 can be constructed as various forms of wire-winding and releasing devices known to those skilled in the art. In other embodiments of the present invention, the pulley 9 can be set to other structures known to those skilled in the art, for example, the lug 12 of the pulley 9 is not formed by the downward extension of the base plate 1, but is connected to the base plate 1 as a separate component, or other pulley structures that allow the pull rope 7 to pass through can be used; the pulley 9 can also be set in the opening 11 or at a position adjacent to the opening 11, and the present invention does not specifically limit this.

[0054] like Figures 1 to 4 As shown in Figures 5 to 7, the motor 10 is installed on the base plate 1 through the mounting bracket 101, and the output shaft of the motor 10 is connected to the rope winding mechanism 8 to provide the rope winding mechanism 8 with power to retract and release the pull rope 7. Preferably, the motor 10 is a motor with a brake or a self-locking mechanism to ensure that the position of the telescopic arm remains unchanged when it is not moving. In addition, a tensioning device may be provided on the pulley 9. For example, the pulley 9 may be arranged to be movable relative to the base plate 1, and a spring or other elastic member may be used to give the pulley 9 elasticity within a certain range, or the pulley 9 may be arranged to be fixed at different positions and / or angles relative to the base plate 1 to adjust the tension of the pull rope.

[0055] like Figures 2-3 As shown in Figures 5 and 6, in the embodiment of the present invention, the pulley 9 and the rope winding mechanism 8 are aligned so that the pull rope 7 at its 7a end and the portion passing through the pulley 9 and the rope winding mechanism 8 are in the same plane, thereby saving effort and more smoothly controlling the lifting of the lifting device through the pull rope 7. More preferably, the pulley 9 and the rope winding mechanism 8 are arranged so that the angle formed by the pull ropes on both sides of the pulley 9 is greater than 90°. Under this arrangement, the force required for the pull rope 7 to pull the lifting device down will be smaller, which is conducive to the pull rope 7 pulling the lifting device down smoothly. At the same time, it should be noted that the angle should not be too large to ensure a compact structure and size.

[0056] In the embodiment described in the present invention, when the lifting device needs to be raised, the motor 10 rotates, thereby driving the rope winding mechanism 8 to rotate. At this time, the pull rope 7 is released. Under the elastic force of the spring 6, the top cover 50 rises. As the pull rope 7 continues to extend, the secondary telescopic arm 3, the tertiary telescopic arm 4, and the quaternary telescopic arm 5 slowly extend. When each locking head reaches the position of the locking hole, the elastic force of the spring 6 will not allow the three telescopic arms to continue to extend. At this time, the lifting device reaches the highest position; when the lifting device needs to be lowered, the motor 10 rotates in the opposite direction, thereby driving the rope winding mechanism 8 to rotate in the opposite direction to slowly retract the pull rope 7 into the rope winding mechanism 8. At this time, the tension of the pull rope 7 is greater than the elastic force of the spring 6, and the secondary telescopic arm 3, the tertiary telescopic arm 4, and the quaternary telescopic arm 5 slowly descend until the bottom cover 51, the bottom cover 41, the bottom cover 31 and the bottom cover 21 contact in sequence, and the three telescopic arms are compressed to the maximum limit, and the lifting device is lowered to the lowest position. It should be noted that the spring 6 has a certain amount of compression L1 when the three telescopic arms are extended to the highest position, so that it has enough elastic force F1 to keep the equipment carried by the lifting device from falling. At the same time, the elastic force F1 provided by the compression amount L1 of the spring 6 also needs to ensure that the three telescopic arms will not rush through the locking head and continue to extend, resulting in disjointness. In addition, the elastic force F2 provided by the compression amount L2 of the spring 6 when the three telescopic arms are compressed to the lowest position is less than the tension F3 provided by the pull rope 7 driven by the motor 10, ensuring that the three telescopic arms will not be bounced open and extended by the elastic force F2 of the spring 6 after being compressed.

[0057] In another embodiment of the present invention, the rope winding mechanism 8, the motor 10 and the pulley 9 may not be provided, and the lifting and lowering of the lifting mechanism may be controlled by manually pulling the pull rope 7. Moreover, the pull rope 7 may not be provided inside the spring 6 or inside the cavity formed by the four telescopic arms, but may be provided outside the four telescopic arms, that is, the end 7a of the pull rope 7 extends from the top cover 51 to the outside of the four telescopic arms, so that the extension and retraction of the telescopic arms can also be controlled by pulling the other end of the pull rope 7.

[0058] The lifting device described in the present invention can be applied to a variety of scenarios, especially to situations where the items carried are lightweight items. Among them, the length of each telescopic arm can be designed according to demand, and the size of the motor 10 and the size of the spring 6 can be designed according to the weight of the lifting items to be carried. When the weight of the lifting items is light, the size of the spring 6 and the cross-sectional size of the telescopic arm can be very small. In addition, the use of the spring 6 as an elastic component in the above-mentioned embodiment of the present invention greatly reduces the cost of the lifting device, and the structure is simple. Therefore, the lifting device described in the present invention can not only achieve multi-stage lifting, but also has a simple structure, small size, and light weight. The manufacturing cost of the lifting device is low, and it has great advantages in industrial mass production.

[0059] The present invention also provides a robot with a lifting device, the lifting device is configured according to the embodiment described above. Furthermore, the robot with the lifting device also includes: a movable chassis, the lifting device is supported on the movable chassis; and a controller, the controller is used to control the movement of the movable chassis and / or the lifting of the lifting device. In this embodiment, the controller can be electrically connected to the motor 10 and the driving device of the movable chassis.

[0060] Taking the field of smart real estate as an example, most of the three-dimensional scenes used for online house viewing currently need to be generated based on photos of different angles and heights in the house, and taking these photos of different angles and heights using traditional methods will take more time and manpower and material resources. Using the robot with a lifting device described in the present invention, the user can input the house type, area and other information of the house into the robot in advance, and the robot can automatically generate shooting points and walking routes according to the input information. Alternatively, the user can also directly input the shooting points and the predetermined route into the robot. When the robot is shooting in the house, the controller can control the robot's walking according to the pre-generated shooting points and the predetermined route, and stop at the predetermined shooting point, adjust the height of the lifting device to the predetermined shooting point for shooting, and then shoot all the shooting points in turn. In this embodiment, intelligent shooting can be fully realized, without manual operation throughout the process, with low error rate and high work efficiency.

[0061] It should be noted that the lifting device described in the present invention can also be used for various robots to provide intelligent and automated support for various operations of the robots.

[0062] It is understood that the structures shown in the drawings are for illustration only, and may include more or fewer modules or components than those shown in the drawings, or have different configurations than those shown in the drawings. It is worth noting that when the present invention is implemented by using embodiments that are not exhaustively listed in this specification, those skilled in the art may make adaptive adjustments to the structures, positions or functional settings of the relevant components.

[0063] It should be noted that the fixed connection described in the present invention may refer to connection methods known to those skilled in the art, such as bonding, welding, and mechanical connection.

[0064] It should be understood that, where technically feasible, the technical features listed above for different embodiments can be combined with each other to form other embodiments within the scope of the present invention. In addition, the specific examples and embodiments described herein are non-limiting, and the structures, dimensions, and materials described above can be modified accordingly without departing from the scope of protection of the present invention.

[0065] In this application, the use of disjunctive conjunctions is intended to include conjunctions. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, reference to "the" object or "a" and "an" objects is intended to represent a possible one of a plurality of such objects. In addition, the conjunction "or" may be used to convey simultaneous features, rather than mutually exclusive solutions. In other words, the conjunction "or" should be understood to include "and / or". The term "include" is inclusive and has the same scope as "comprise".

[0066] The above-described embodiments, particularly any "preferred" embodiments, are possible examples of implementations and are presented only for a clear understanding of the principles of the present invention. Many changes and modifications may be made to the above-described embodiments without substantially departing from the spirit and principles of the technology described herein. All modifications are intended to be included within the scope of the present disclosure.

[0067] All documents mentioned in this specification are cited in this application as references, just as if each document was fully cited in this specification as references.

[0068] In addition, it should be understood that after reading the above description of the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the protection scope of the present invention.

Claims

1. A lifting device, characterized in that: include: Base plate; At least two telescopic arms, the at least two telescopic arms are slidably nested in sequence from outside to inside, wherein the outermost telescopic arm is fixed on the bottom plate, and the innermost telescopic arm is provided with a top cover; An elastic component, wherein the elastic component is inserted into the at least two telescopic arms, one end of the elastic component abuts against the bottom plate, and the other end of the elastic component abuts against the top cover; as well as a drawstring, one end of which is fixed to the top end cover; Wherein, a bottom cover is provided at the lower end of each telescopic arm, and the inner diameter of the bottom cover is the same as and larger than the outer diameter of the elastic component. Wherein, a locking mechanism is provided between adjacent telescopic arms to lock at least one telescopic arm in different extension states, and the locking mechanism comprises: An elastic locking member, wherein the inner telescopic arm of each pair of adjacent telescopic arms and the side wall of the bottom end cover thereof are respectively provided with an aligned through hole and a mounting hole, one end of the elastic locking member is fixed in the mounting hole, and the other end of the elastic locking member includes a locking head extending radially outward through the through hole; and A locking hole is provided on the upper side wall of the outer telescopic arm of each pair of two adjacent telescopic arms, and the inner diameter of the locking hole is smaller than the outer diameter of the locking head. When the two adjacent telescopic arms are fully extended, the locking head extends out of the mounting hole and passes through the through hole under the action of elastic force, thereby abutting against the locking hole.

2. The lifting device according to claim 1, characterized in that: The elastic component is a spring, and the other end of the pull rope passes through the interior of the spring and extends out from the opening on the bottom plate; and / or The top cover is mounted on the upper end of the innermost telescopic arm, and one end of the pull rope is fixed to the lower surface of the top cover; and / or A limiting ring is provided on the lower end surface of the top cover to limit the position of the elastic component; and / or The bottom end cover is nested on the inner wall of the lower end of each telescopic arm; and / or The outermost telescopic arm is secured to the base plate by securing a bottom end cap on the outermost telescopic arm to the base plate; and / or The outer wall of each telescopic arm is provided with a longitudinal groove adapted to the adjacent telescopic arm to avoid relative rotation between adjacent telescopic arms.

3. The lifting device according to claim 2, characterized in that: Also includes: A rope winding mechanism is installed on the bottom plate, and the other end of the pull rope extends out from the opening on the bottom plate and is accommodated in the rope winding mechanism.

4. The lifting device according to claim 3, characterized in that: Also includes: The pulley is arranged adjacent to the opening on the bottom plate, so that the pull rope extends from the opening on the bottom plate and then passes through the pulley to be accommodated in the rope winding mechanism.

5. The lifting device according to claim 4, characterized in that: The pulley and the rope winding mechanism are arranged in alignment; and / or The pulley and the rope winding mechanism are arranged so that the angle formed by the pull ropes on both sides of the pulley is greater than 90°; and / or The pulley is equipped with a tensioning device to adjust the tension of the pull rope.

6. The lifting device according to any one of claims 3 to 5, characterized in that: Also includes: A motor, wherein the output shaft of the motor is connected to the rope winding mechanism to provide the rope winding mechanism with power for retracting and releasing the pull rope.

7. A robot with a lifting device, characterized in that: The lifting device is the lifting device according to any one of claims 1 to 6.

8. The robot with a lifting device according to claim 7, characterized in that: include: a movable chassis, the lifting device being supported on the movable chassis; as well as A controller is used to control the movement of the movable chassis and / or the lifting of the lifting device.

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