Lifting device and robot

Abstract

The present invention belongs to the technical field of robots and discloses a lifting device and a robot, which include a first telescopic joint, a second telescopic joint, a third telescopic joint and a fourth telescopic joint, a telescopic rod, a pulley assembly and a pull rope assembly that are nested in layers. The telescopic rod is penetrated by the telescopic joint assembly, the lower end of which is fixed to the lower end of the first telescopic joint, and the upper end extends into the fourth telescopic joint, the second pulley is arranged at the lower end of the second telescopic joint, the third upper pulley and the third lower pulley are respectively arranged at the upper end and the lower end of the third telescopic joint, and the fifth pulley is arranged at the upper end of the telescopic rod; the first pull rope is wrapped around the second pulley, and its two ends are connected to the upper end of the first telescopic joint and the lower end of the third telescopic joint, the second pull rope is wrapped around the fifth pulley, and its two ends are connected to the lower end of the first telescopic joint and the lower end of the third telescopic joint, the third pull rope is wrapped around the third lower pulley, and its two ends are connected to the fixed seat of the fifth pulley and the lower end of the fourth telescopic joint, the fourth pull rope is wrapped around the third upper pulley, and its two ends are connected to the lower end of the fourth telescopic joint and the lower end of the second telescopic joint, thereby increasing the lifting ratio.

Description

Technical Field

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

[0002] The robot carries a lifting mechanism, which raises and lowers onboard actuators and sensors, such as cameras, depth sensors, and robotic arms, to meet a wide range of vertical operations. A key metric for evaluating a lifting mechanism is the lift ratio: the ratio of fully extended height to fully retracted height. A larger ratio indicates better scalability. A larger height of the fully retracted lifting mechanism increases the overall height of the robot, compromising its maneuverability and stability.

[0003] Currently, there are two types of lifting devices: two-section lifting and three-section lifting. The lifting ratio of the two-section lifting is about 1.6:1, and the lifting ratio of the three-section lifting is about 2:1. In addition, the greater the number of sections, the worse the reliability and the more complex the structure. As a result, lifting with three sections or more is very rare. Therefore, it is difficult to simultaneously meet the robot's requirements for strong passability and a large vertical operating range. Summary of the Invention

[0004] The object of the present invention is to provide a lifting device and a robot, which increase the lifting ratio and meet the use requirements of the robot with strong passability and a large vertical operating range.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In one aspect, a lifting device is provided, comprising:

[0007] The telescopic joint assembly comprises a first telescopic joint, a second telescopic joint, a third telescopic joint and a fourth telescopic joint which are nested in order from bottom to top, wherein the lower end of the first telescopic joint is used for fixing to an external structure, and the upper end of the fourth telescopic joint is used for installing a load;

[0008] a telescopic rod, which is provided through the telescopic joint assembly, with its lower end fixed to the lower end of the first telescopic joint and its upper end extending into the fourth telescopic joint;

[0009] A pulley assembly, wherein the second pulley is provided at the lower end of the second telescopic section, the third upper pulley and the third lower pulley are provided at the upper end and the lower end of the third telescopic section respectively, and the fifth pulley is provided at the upper end of the telescopic rod;

[0010] A pull rope assembly, the first pull rope is wrapped around the second pulley, with both ends connected to the upper end of the first telescopic section and the lower end of the third telescopic section, the second pull rope is wrapped around the fifth pulley, with both ends connected to the lower end of the first telescopic section and the lower end of the third telescopic section, the third pull rope is wrapped around the third lower pulley, with both ends connected to the fixed seat of the fifth pulley and the lower end of the fourth telescopic section, the fourth pull rope is wrapped around the third upper pulley, with both ends connected to the lower end of the fourth telescopic section and the lower end of the second telescopic section.

[0011] In some possible implementations, the first telescopic section includes a first sleeve, a first upper seat and a first lower seat connected to both ends of the first sleeve; the second telescopic section includes a second sleeve, a second upper seat and a second lower seat connected to both ends of the second sleeve; the third telescopic section includes a third sleeve, a third upper seat and a third lower seat connected to both ends of the third sleeve; and the fourth telescopic section includes a fourth sleeve, a fourth upper seat and a fourth lower seat connected to both ends of the fourth sleeve.

[0012] The first upper seat, the second upper seat, the third upper seat, the second lower seat, the third lower seat and the fourth lower seat are all provided with through holes.

[0013] In some possible implementations, the first lower seat, the second lower seat, and the third lower seat are all provided with a blocking portion, which is used to limit the adjacent telescopic joints when in a retracted state.

[0014] In some possible implementations, a connecting ear extends from a side surface of the first lower seat; and / or

[0015] The fourth upper seat is sealed on the fourth sleeve.

[0016] In some possible implementations, a pull ring assembly is further included, wherein the pull ring assembly includes:

[0017] A first upper pull ring and a first lower pull ring are connected to the upper end and the lower end of the first telescopic joint respectively;

[0018] a second lower pull ring connected to the lower end of the second telescopic joint;

[0019] A third upper pull ring and a third lower pull ring are respectively connected to the inner side and the outer side of the lower end of the third telescopic joint;

[0020] a fourth upper pull ring and a fourth lower pull ring, connected to the inner side and the outer side of the lower end of the fourth telescopic joint respectively;

[0021] The fifth lower pull ring is connected to the fixing seat of the fifth pulley.

[0022] In some possible implementations, the first upper pull ring is connected to the inner side of the first upper seat, and the first lower pull ring is connected to the inner side of the first lower seat;

[0023] The second lower pull ring is connected to the inner side of the second lower seat, and the second pulley is connected to the outer side of the second lower seat;

[0024] The third lower pulley and the third upper pull ring are both arranged on the inner side of the third lower seat, the third lower pull ring is arranged on the outer side of the third lower seat, and the third upper pulley is arranged on the inner side of the third upper seat;

[0025] The fourth upper pull ring and the fourth lower pull ring are respectively connected to the inner side and the outer side of the fourth lower seat.

[0026] In some possible implementations, the telescopic rod includes a motor, a screw connected to an output end of the motor, a nut transmission-connected to the screw, and a main body connected to the nut, wherein the screw and the nut are both disposed inside the main body.

[0027] In some possible implementations, a guide unit is further included, and the guide unit is provided between two adjacent telescopic joints.

[0028] In some possible implementations, the guide unit includes a guide rail and a slider slidably connected to the guide rail, the guide rail is provided on an inner wall of the telescopic joint, and the slider is provided on an outer wall adjacent to the telescopic joint.

[0029] On the other hand, a robot is provided, comprising a main body and the above-mentioned lifting device, wherein the lower end of the first telescopic section is fixed to the main body.

[0030] Beneficial effects of the present invention:

[0031] The present invention provides a lifting device and a robot, wherein a pull rope assembly and a pulley assembly constitute a movable pulley system. When the telescopic rod extends a distance of L, the third telescopic section extends a distance of 2L, the second telescopic section extends a distance of L, and the fourth telescopic section extends 3L. The lifting ratio reaches about 3:1, which increases the lifting ratio and is conducive to further compressing the size of the robot body, such as inspection robots, so that the robot can meet the requirements of strong passability and a large vertical operating range at the same time. Connecting the fourth telescopic rod through the third pull rope is equivalent to using the third pull rope to pull the fourth telescopic rod to prevent the fourth telescopic rod from jumping upward, avoiding the risk of the fourth telescopic rod jumping up and suddenly jumping, and improving the stability and reliability of the structure. The lifting device is used for vertical lifting conditions, and a load is provided on the top. It can fall back by itself under the action of gravity, avoiding the driving of adjacent telescopic sections by a downward driving force, simplifying the complexity of the structure, and reducing the difficulty of its manufacture, assembly, and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the extended state of the telescopic joint assembly provided by a specific embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the interior of the telescopic joint assembly without the pull rope assembly provided by a specific embodiment of the present invention;

[0034] Figure 3 It is a schematic diagram of the interior of the telescopic joint assembly with the pull rope assembly provided in a specific embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of a first telescopic joint provided in a specific embodiment of the present invention;

[0036] Figure 5 is an exploded view of a first telescopic joint provided in a specific embodiment of the present invention;

[0037] Figure 6 is a schematic diagram of a second telescopic section provided in a specific embodiment of the present invention;

[0038] Figure 7 is an exploded view of a second telescopic section provided in a specific embodiment of the present invention;

[0039] Figure 8 is a schematic diagram of a third telescopic joint provided in a specific embodiment of the present invention;

[0040] Figure 9 is an exploded view of a third telescopic joint provided in a specific embodiment of the present invention;

[0041] Figure 10 is a schematic diagram of a fourth telescopic section provided in a specific embodiment of the present invention;

[0042] Figure 11 is an exploded view of a fourth telescopic section provided in a specific embodiment of the present invention;

[0043] Figure 12 It is a schematic diagram of a telescopic rod provided in a specific embodiment of the present invention.

[0044] In the picture:

[0045] 1. Telescopic joint assembly; 11. First telescopic joint; 111. First sleeve; 112. First upper seat; 113. First lower seat; 1131. Connecting ear; 12. Second telescopic joint; 121. Second sleeve; 122. Second upper seat; 123. Second lower seat; 13. Third telescopic joint; 131. Third sleeve; 132. Third upper seat; 133. Third lower seat; 1331. Through hole; 1332. Blocking portion; 14. Fourth telescopic joint; 141. Fourth sleeve; 142. Fourth upper seat; 143. Fourth lower seat;

[0046] 2. Telescopic rod; 21. Motor; 22. Main body;

[0047] 3. Pulley assembly; 31. Second pulley; 32. Third upper pulley; 33. Third lower pulley; 34. Fifth pulley; 341. Fixed seat;

[0048] 4. Draw rope assembly; 41. First draw rope; 42. Second draw rope; 43. Third draw rope; 44. Fourth draw rope;

[0049] 5. Pull ring assembly; 51. First upper pull ring; 52. First lower pull ring; 53. Second lower pull ring; 54. Third upper pull ring; 55. Third lower pull ring; 56. Fourth upper pull ring; 57. Fourth lower pull ring; 58. Fifth lower pull ring;

[0050] 6. Guide unit; 61. Guide rail; 62. Slider. DETAILED DESCRIPTION

[0051] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work shall fall within the scope of protection of the present invention.

[0052] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0053] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0054] This embodiment provides a robot, which includes a body and a lifting device. This embodiment also provides a lifting device, such as Figures 1-12As shown, it includes a telescopic section assembly 1, a telescopic rod 2, a pulley assembly 3 and a pull rope assembly 4. The telescopic section assembly 1 includes four telescopic sections, a first telescopic section 11, a second telescopic section 12, a third telescopic section 13 and a fourth telescopic section 14 which are nested in layers from bottom to top. The telescopic rod 2 is arranged in the telescopic joint assembly 1, the lower end is fixed to the lower end of the first telescopic joint 11, and the upper end extends into the fourth telescopic joint 14; the pulley assembly 3 includes four pulleys, the second pulley 31 is arranged at the lower end of the second telescopic joint 12, the third upper pulley 32 and the third lower pulley 33 are respectively arranged at the upper and lower ends of the third telescopic joint 13, and the fifth pulley 34 is arranged at the upper end of the telescopic rod 2; the pull rope assembly 4 includes four pull ropes, the first pull rope 41 is wrapped around the second pulley 31, and its two ends are connected to the upper end of the first telescopic joint 11 and the lower end of the third telescopic joint 13, the second pull rope 42 is wrapped around the fifth pulley 34, and its two ends are connected to the lower end of the first telescopic joint 11 and the lower end of the third telescopic joint 13, the third pull rope 43 is wrapped around the third lower pulley 33, and its two ends are connected to the fixed seat 341 of the fifth pulley 34 and the lower end of the fourth telescopic joint 14, the fourth pull rope 44 is wrapped around the third upper pulley 32, and its two ends are connected to the lower end of the fourth telescopic joint 14 and the lower end of the second telescopic joint 12. The lower end of the first telescopic section 11 is fixed to the main body, and the upper end of the fourth telescopic section 14 is used to install a load.

[0055] The cable assembly 4 and pulley assembly 3 form a movable pulley system. When the telescopic rod 2 is extended by a distance L, the fifth pulley 34 moves upward by a distance L. Since the second cable 42 is of a fixed length, the length of the second cable 42 between the fifth pulley 34 and the lower end of the first telescopic section 11 increases, while the length of the second cable 42 between the fifth pulley 34 and the lower end of the third telescopic section 13 decreases, causing the third telescopic section 13 to extend by a distance of 2L. When the third telescopic section 13 extends by a distance of 2L, the second pulley 31 moves by 2L, thereby extending the second telescopic section 12 by a distance of L. When the second telescopic section 12 extends by a distance L, the relative position between the second and third telescopic sections 12, 13 increases by L, because the total length of the fourth cable 44 remains unchanged. The length of the fourth pull rope 44 between the third upper pulley 32 and the lower end of the second telescopic joint 12 becomes longer by L, which in turn causes the distance between the third upper pulley 32 and the lower end of the fourth telescopic joint 14 to become shorter by L, that is, the relative position of the fourth telescopic joint 14 and the third telescopic joint 13 increases by L; in summary, after driving the telescopic rod 2 to extend by L, the fourth telescopic joint 14 extends by 3L, and the lifting ratio reaches about 3:1, which increases the lifting ratio, which is conducive to further compressing the size of the robot body such as inspection robots, so that it can simultaneously meet the use requirements of the robot with strong passability and a large vertical operating range.

[0056] Since the ends of the third pull rope 43 are connected to the fixed base 341 of the fifth pulley 34 and the lower end of the fourth telescopic section 14, the following analysis shows that when the telescopic rod 2 is driven to move L, the third telescopic section 13 moves 2L, and the fourth telescopic section 14 moves 3L. Taking the telescopic rod 2 as the relative coordinate, the third pull rope 43 and the third lower pulley 33 form a standard movable pulley. As long as the fourth lower pull ring 57 moves twice the distance of the third lower pulley 33 in the same time, the presence of the third pull rope 43 is reasonable and does not interfere with the system. The third and fourth telescopic sections 13 and 14 move L and 2L, respectively, relative to the telescopic rod 2, meeting the requirements. That is, the third pull rope 43 does not restrict the movement of the other telescopic sections. Furthermore, the second, third, and fourth telescopic sections 12, 13, and 14 extend by distances L, 2L, and 3L, respectively, and the ratio of their extension speeds is 1:2:3. Since the fourth telescopic section 14 has the fastest speed and the greatest acceleration, and is used to secure loads such as camera sensors, it is the most efficient. Connecting the fourth telescopic section 14 through the third pull rope 43 is equivalent to using the third pull rope 43 to pull the fourth telescopic section 14 to prevent the fourth telescopic section 14 from jumping upward, thereby avoiding the risk of the fourth telescopic section 14 jumping upward and improving the structural stability and reliability.

[0057] The lifting device is used for vertical lifting conditions. A load is set on the top and it can fall back by itself under the action of gravity, avoiding the need for downward driving force between adjacent expansion joints, simplifying the complexity of the structure and reducing the difficulty of manufacturing, assembly and maintenance.

[0058] In some embodiments, the expansion joint includes a sleeve, an upper seat, and a lower seat connected to each end of the sleeve. By configuring the expansion joint as a split structure, installation is facilitated. The sleeve, upper seat, and lower seat of the four expansion joints are similar in structure, with increasing sizes. The sleeves are all made of square aluminum profiles.

[0059] In some embodiments, as Figure 2 and Figure 3 As shown, the lifting device also includes a pull ring assembly 5, which includes multiple pull rings. The pull rings are connected to the telescopic joint, and the pull ropes are tied to the pull rings, thereby realizing the connection between the pull ropes and the telescopic joint, which is convenient for disassembly and assembly.

[0060] Specifically, if Figure 4 and Figure 5As shown, the first telescopic section 11 includes a first sleeve 111, a first upper seat 112 and a first lower seat 113 connected to both ends of the first sleeve 111, and a first upper pull ring 51 and a first lower pull ring 52 are respectively connected to the upper and lower ends of the first telescopic section 11. In some embodiments, a connecting ear 1131 extends from the side of the first lower seat 113 for connecting to the robot body structure. Specifically, the connecting ear 1131 is provided with a mounting hole. A fastener is inserted into the mounting hole and connected to the robot body, thereby achieving the connection between the first lower seat 113 and the robot body, facilitating assembly and disassembly. The first upper seat 112 is provided with a through hole 1331 for the entry and exit of the second telescopic section 12. The specific through hole 1331 is set according to the shape and size of the second telescopic section 12 and is not limited thereto.

[0061] Similarly, if Figure 6 and Figure 7 As shown, the second telescopic section 12 includes a second sleeve 121, a second upper seat 122 and a second lower seat 123 connected to both ends of the second sleeve 121, and a second lower pull ring 53 is connected to the lower end of the second telescopic section 12. The second upper seat 122 and the second lower seat 123 are both provided with a through hole 1331, and the telescopic rod 2 is passed through the through hole 1331 of the second lower seat 123. The through hole 1331 of the first upper seat 112 is used for the entry and exit of the third telescopic section 13. The size of the through hole 1331 is set according to actual needs and is not limited.

[0062] Similarly, if Figure 8 and Figure 9 As shown, the third telescopic section 13 includes a third sleeve 131, a third upper seat 132 and a third lower seat 133 connected to both ends of the third sleeve 131, and a third upper pull ring 54 and a third lower pull ring 55 connected to the inner and outer sides of the lower end of the third telescopic section 13, respectively. The third upper seat 132 and the third lower seat 133 are each provided with a through hole 1331, through which the telescopic rod 2 is inserted. The through hole 1331 of the third lower seat 133 is used to allow the fourth telescopic section 14 to enter and exit.

[0063] Similarly, if Figure 10 and Figure 11 As shown, the fourth telescopic section 14 includes a fourth sleeve 141, a fourth upper seat 142 and a fourth lower seat 143 connected to both ends of the fourth sleeve 141; a fourth upper pull ring 56 and a fourth lower pull ring 57 are connected to the inner and outer sides of the lower end of the fourth telescopic section 14, respectively; and the fourth lower seat 143 has a through hole 1331 for allowing the telescopic rod 2 to enter and exit. In some embodiments, the fourth upper seat 142 seals against the fourth sleeve 141, preventing the fourth sleeve 141 from being exposed and exposing the telescopic rod 2 to the outside, thus achieving a protective effect.

[0064] Further, if Figure 2 and Figure 3As shown, the first upper pull ring 51 is connected to the inner side of the first upper seat 112, and the first lower pull ring 52 is connected to the inner side of the first lower seat 113; the second lower pull ring 53 is connected to the inner side of the second lower seat 123, and the second pulley 31 is connected to the outer side of the second lower seat 123; the third lower pulley 33 and the third upper pull ring 54 are both located on the inner side of the third lower seat 133, the third lower pull ring 55 is located on the outer side of the third lower seat 133, and the third upper pulley 32 is located on the inner side of the third upper seat 132; the fourth upper pull ring 56 and the fourth lower pull ring 57 are respectively connected to the inner side and outer side of the fourth lower seat 143. The arrangement of the pull rings, telescopic joints, and pulleys in this manner facilitates the connection of the draw rope and facilitates overall assembly.

[0065] In some embodiments, as Figure 9 As shown, the first lower seat 113, the second lower seat 123, and the third lower seat 133 are each provided with a blocking portion 1332. When in the retracted state, the blocking portion 1332 of the first lower seat 113 can limit the displacement of the second lower seat 123, thereby limiting the position of the second telescopic section 12. Therefore, the blocking portion 1332 of each lower seat is used to limit the position of adjacent telescopic sections. By providing the blocking portion 1332, the telescopic section is prevented from being stuck when retracted to the extreme position, making it difficult to extend.

[0066] In some embodiments, as Figure 12 As shown, the telescopic rod 2 includes a motor 21, a screw connected to the output end of the motor 21, a nut connected to the screw, and a main body 22 connected to the nut. The screw and nut are both located inside the main body 22. When the motor 21 drives the screw to rotate, the nut moves along the screw, thereby achieving the lifting and lowering of the main body 22. A fifth pulley 34 is connected to the top of the main body 22, and a fifth lower pull ring 58 is connected to the fixed seat 341 of the fifth pulley 34. The telescopic rod 2 also includes a base, to which the motor 21 is fixed, and the base is fixed to the first lower seat 113. The aperture size of the through holes 1331 of the second lower seat 123, the third lower seat 133, and the fourth lower seat 143 is not less than the overall dimensions of the main body 22, the fifth pulley 34, and the fifth lower pull ring 58, so as to facilitate smooth passage and allow the telescopic joints to retract and extend smoothly without obstruction.

[0067] In some embodiments, as Figure 4-11As shown, the lifting device also includes a guide unit 6, which is provided between two adjacent telescopic sections. The guide unit 6 enables linear sliding cooperation between the telescopic sections in a preset direction, thereby achieving telescopic expansion and contraction, and improving the structural accuracy between the telescopic sections. Specifically, the second telescopic section 12 slides up and down within the first telescopic section 11. Similarly, the third telescopic section 13 slides up and down within the second telescopic section 12, and the fourth telescopic section 14 slides up and down within the third telescopic section 13. In some embodiments, the guide unit 6 includes a guide rail 61 and a slider 62 slidably connected to the guide rail 61. The guide rail 61 is provided on the inner wall of the telescopic section, and the slider 62 is provided on the outer wall of the adjacent telescopic section for easy assembly. Generally, the guide rail 61 and the slider 62 are installed by fasteners, and the slider 62 is provided in the lower position of the sleeve. In some embodiments, two guide units 6 are provided between two adjacent telescopic sections to improve the guiding reliability. In some embodiments, a guide unit 6 is provided between each two adjacent telescopic sections to improve the telescopic accuracy between adjacent telescopic sections, thereby improving the telescopic accuracy of the entire lifting device.

[0068] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A lifting device, characterized in that: include: A telescopic joint assembly (1), wherein a first telescopic joint (11), a second telescopic joint (12), a third telescopic joint (13) and a fourth telescopic joint (14) are nested in layers from bottom to top, the lower end of the first telescopic joint (11) is used for fixing to an external structure, and the upper end of the fourth telescopic joint (14) is used for installing a load; A telescopic rod (2) is provided through the telescopic joint assembly (1), with its lower end fixed to the lower end of the first telescopic joint (11) and its upper end extending into the fourth telescopic joint (14); A pulley assembly (3), wherein the second pulley (31) is provided at the lower end of the second telescopic joint (12), the third upper pulley (32) and the third lower pulley (33) are provided at the upper end and the lower end of the third telescopic joint (13), respectively, and the fifth pulley (34) is provided at the upper end of the telescopic rod (2); A pull rope assembly (4), wherein the first pull rope (41) is wound around the second pulley (31), with both ends connected to the upper end of the first telescopic section (11) and the lower end of the third telescopic section (13); the second pull rope (42) is wound around the fifth pulley (34), with both ends connected to the lower end of the first telescopic section (11) and the lower end of the third telescopic section (13); the third pull rope (43) is wound around the third lower pulley (33), with both ends connected to the fixed seat (341) of the fifth pulley (34) and the lower end of the fourth telescopic section (14); the fourth pull rope (44) is wound around the third upper pulley (32), with both ends connected to the lower end of the fourth telescopic section (14) and the lower end of the second telescopic section (12).

2. The lifting device according to claim 1, characterized in that: The first telescopic section (11) comprises a first sleeve (111), a first upper seat (112) and a first lower seat (113) connected to both ends of the first sleeve (111); the second telescopic section (12) comprises a second sleeve (121), a second upper seat (122) and a second lower seat (123) connected to both ends of the second sleeve (121); the third telescopic section (13) comprises a third sleeve (131), a third upper seat (132) and a third lower seat (133) connected to both ends of the third sleeve (131); the fourth telescopic section (14) comprises a fourth sleeve (141), a fourth upper seat (142) and a fourth lower seat (143) connected to both ends of the fourth sleeve (141); The first upper seat (112), the second upper seat (122), the third upper seat (132), the second lower seat (123), the third lower seat (133) and the fourth lower seat (143) are all provided with a through hole (1331).

3. The lifting device according to claim 2, characterized in that: The first lower seat (113), the second lower seat (123) and the third lower seat (133) are all provided with a blocking portion (1332) for limiting adjacent telescopic joints when in a retracted state.

4. The lifting device according to claim 2, characterized in that: A connecting ear (1131) extends from the side of the first lower seat (113); and / or The fourth upper seat (142) is sealed to the fourth sleeve (141).

5. The lifting device according to any one of claims 2 to 4, characterized in that: Also included is a pull ring assembly (5), the pull ring assembly (5) comprising: A first upper pull ring (51) and a first lower pull ring (52) are respectively connected to the upper end and the lower end of the first telescopic joint (11); A second lower pull ring (53) connected to the lower end of the second telescopic section (12); A third upper pull ring (54) and a third lower pull ring (55) are respectively connected to the inner side and the outer side of the lower end of the third telescopic section (13); A fourth upper pull ring (56) and a fourth lower pull ring (57) are respectively connected to the inner side and the outer side of the lower end of the fourth telescopic joint (14); The fifth lower pull ring (58) is connected to the fixing seat (341) of the fifth pulley (34).

6. The lifting device according to claim 5, characterized in that: The first upper pull ring (51) is connected to the inner side of the first upper seat (112), and the first lower pull ring (52) is connected to the inner side of the first lower seat (113); The second lower pull ring (53) is connected to the inner side of the second lower seat (123), and the second pulley (31) is connected to the outer side of the second lower seat (123); The third lower pulley (33) and the third upper pull ring (54) are both arranged on the inner side of the third lower seat (133), the third lower pull ring (55) is arranged on the outer side of the third lower seat (133), and the third upper pulley (32) is arranged on the inner side of the third upper seat (132); The fourth upper pull ring (56) and the fourth lower pull ring (57) are respectively connected to the inner side and the outer side of the fourth lower seat (143).

7. The lifting device according to any one of claims 1 to 4, characterized in that: The telescopic rod (2) comprises a motor (21), a screw connected to the output end of the motor (21), a nut transmission-connected to the screw, and a main body (22) connected to the nut, wherein the screw and the nut are both arranged inside the main body (22).

8. The lifting device according to any one of claims 1 to 4, characterized in that: It also includes a guide unit (6), which is arranged between two adjacent telescopic joints.

9. The lifting device according to claim 8, characterized in that: The guide unit (6) comprises a guide rail (61) and a slider (62) slidably connected to the guide rail (61); the guide rail (61) is arranged on the inner wall of the telescopic joint; and the slider (62) is arranged on the outer wall adjacent to the telescopic joint.

10. A robot, characterized in that: It comprises a main body and a lifting device as claimed in any one of claims 1 to 9, wherein the lower end of the first telescopic section (11) is fixed to the main body.

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