An inspection robot and its multi-stage telescopic device

Abstract

This invention discloses a multi-stage telescopic device, comprising a primary segment arm, N secondary segments arms, a drive assembly, and a transmission mechanism; wherein N is an integer and N≥2; the primary segment arm and each level of secondary segments arm are nested sequentially; the drive assembly is disposed on the primary segment arm and its output end is connected to the first level of secondary segments arm, used to drive the first level of secondary segments arm to perform telescopic movement; the transmission mechanism is used to transmit the telescopic movement of any level of secondary segments arm to the next level of secondary segments arm. Thus, this invention, through the sequential nesting structure of the primary segment arm and each level of secondary segments arm, can significantly extend the telescopic stroke when each level of secondary segments arm extends, and retract into the interior of the primary segment arm when retracted, avoiding an increase in retracted volume; simultaneously, through the power transmission effect of each transmission mechanism on the drive assembly, each level of secondary segments arm can be driven to perform telescopic movement simultaneously, greatly improving the telescopic speed. This invention also discloses an inspection robot, whose beneficial effects are as described above.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a multi-stage telescopic device. This invention also relates to an inspection robot. Background Technology

[0002] With economic development, artificial intelligence (AI) devices are gradually appearing in people's lives, and the construction of smart parks and intelligent communities has brought a series of conveniences. Artificial intelligence will become a new competitive hotspot, with inspection robots being a key component. Traditional security patrol work is moving towards intelligent and three-dimensional inspections based on artificial intelligence technology, using inspection robots to replace security personnel.

[0003] In the actual operation of inspection robots, in order to obtain information about objects at higher positions, the inspection robot needs to use a telescopic mechanism that can raise and lower the camera or gimbal. In most cases, the inspection robot itself cannot be too tall, but it is necessary to raise the camera or gimbal to a high position. At the same time, in order to reduce the time of a single inspection and improve inspection efficiency, the faster the raising and lowering speed of the telescopic mechanism, the better.

[0004] Currently, the telescopic mechanisms configured on inspection robots are mainly divided into three types: hydraulic lifting mechanisms, pneumatic lifting mechanisms, and mechanical pushing mechanisms. Hydraulic and pneumatic lifting mechanisms require additional hydraulic stations or air pumps, resulting in numerous auxiliary components, cumbersome configurations, and lower lifting height accuracy, making them unsuitable for rapid inspection requirements. Mechanical pushing mechanisms have a simpler structure and higher lifting height accuracy compared to the former two, but they have fewer telescopic sections, typically only two stages, leading to a shorter telescopic stroke. Increasing the telescopic stroke requires a significant increase in the retracted volume, and the second telescopic section can only extend after the first stage is fully extended, resulting in a slower lifting speed.

[0005] Therefore, how to minimize the retraction volume while increasing the extension speed and optimizing inspection efficiency, based on extending the extension stroke, is a technical problem faced by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-stage telescopic device that can minimize the retracted volume while increasing the telescopic stroke and improving inspection efficiency. Another purpose of this invention is to provide an inspection robot.

[0007] To solve the above-mentioned technical problems, the present invention provides a multi-stage telescopic device, including a primary telescopic arm, N secondary telescopic arms, a drive assembly, and a transmission mechanism; wherein, N is an integer and N≥2;

[0008] The primary segment arm and the secondary segment arms at each level are nested and connected in sequence.

[0009] The drive component is disposed on the primary segment arm and its output end is connected to the first-stage secondary segment arm, and is used to drive the first-stage secondary segment arm to perform telescopic movement;

[0010] The transmission mechanism is used to transmit the telescopic movement of any one level of the secondary arm to the next level of the secondary arm.

[0011] Preferably, the primary segment arm and each of the secondary segments arm are mounted vertically on the body of the inspection robot, and the extension and retraction direction of each of the secondary segments arm is vertical.

[0012] Preferably, the drive assembly includes a drive motor mounted on the primary segment arm, a lead screw connected to the output shaft of the drive motor, and a slider threadedly connected to the lead screw, the slider being connected to the first-stage secondary segment arm.

[0013] Preferably, the drive motor is mounted on the inner bottom surface of the primary segment arm, the lead screw passes through the bottom surface of the first-stage secondary segment arm, and the slider is connected to the bottom surface of the first-stage secondary segment arm.

[0014] Preferably, the drive assembly further includes a limiting member disposed on the end of the lead screw away from the drive motor, for abutting against the slider or against the bottom surface of the first-stage secondary arm, so as to limit the maximum extension range of each stage of the secondary arm.

[0015] Preferably, the drive assembly includes a drive cylinder mounted on the primary segment arm and a piston rod connected to the drive cylinder, the piston rod being connected to the first-stage secondary segment arm.

[0016] Preferably, the transmission mechanism includes a driving gear and a driven gear disposed on the i-th stage secondary arm, a driving rack disposed on the (i-1)-th stage secondary arm or the primary arm, a driven rack disposed on the (i+1)-th stage secondary arm, and an intermediate transmission assembly connecting the driving gear and the driven gear. The driving gear meshes with the driving rack, and the driven gear meshes with the driven rack. The intermediate transmission assembly is used to transmit the motion of the driving gear to the driven gear. Wherein, i is an integer, and 2≤i≤N-1.

[0017] Preferably, the intermediate transmission assembly includes a driving pulley connected to the driving gear, a driven pulley connected to the driven gear, and a transmission belt that cooperates with the driving pulley and the driven pulley.

[0018] Preferably, the driving pulley is coaxially arranged with the shaft of the driving gear, and the driven pulley is coaxially arranged with the shaft of the driven gear.

[0019] The present invention also provides an inspection robot, including a body and a multi-stage telescopic device disposed on the body, wherein the multi-stage telescopic device is specifically the multi-stage telescopic device described in any of the above claims.

[0020] The multi-stage telescopic device provided by this invention mainly includes a primary segment arm, secondary segments arms, a drive assembly, and a transmission mechanism. The primary segment arm is mounted on the body of the inspection robot and is a fixed segment arm that does not perform telescopic movement. The secondary segments arm has N levels, where N is an integer and N≥2, meaning there are at least two levels of secondary segments arm, for a total of at least three levels including the primary segment arm. In each level of secondary segment arm, the secondary segment arm adjacent to the primary segment arm is designated as the first-level secondary segment arm, and subsequent secondary segments arm levels are designated as the second-level, third-level, ..., Nth-level secondary segment arms. Each level of secondary segment arm is capable of telescopic movement, and the secondary segments are nested sequentially. The first-level secondary segment arm at the head end is nested with the primary segment arm, allowing each secondary segment arm to extend from or retract into the previous level's secondary or primary segment arm during telescopic movement, thus changing the telescopic stroke. The drive assembly is mounted on the primary arm, and its output is connected to the first-stage secondary arm, transmitting power to it to drive its extension and retraction within the primary arm. The transmission mechanism is primarily located on each stage of the secondary arm, acting as a "connector" for power transmission. It transmits the extension and retraction of any stage of the secondary arm, driven by the primary or previous stage, to the next stage. Thus, while the drive assembly drives the first stage of the secondary arm, the successive transmission through each mechanism simultaneously drives the extension and retraction of all subsequent stages of the secondary arm. Thus, the multi-stage telescopic device provided by this invention, through the sequential nested connection structure formed by the primary segment arm and each subsequent secondary segment arm, can significantly extend the telescopic stroke when each secondary segment arm extends, and can retract into the interior of the primary segment arm when each secondary segment arm retracts. The nesting of each secondary segment arm within the primary segment arm avoids increasing the retracted volume. Simultaneously, through the power transmission of each transmission mechanism to the drive assembly, when the drive assembly drives the first secondary segment arm to telescopic movement, it simultaneously drives the subsequent secondary segment arms to telescopic movement. Therefore, each secondary segment arm can achieve simultaneous telescopic movement, significantly improving the telescopic speed. In summary, the multi-stage telescopic device provided by this invention can extend the telescopic stroke while minimizing the retracted volume, simultaneously increasing the telescopic speed and optimizing inspection efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the first specific embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the overall structure of the second specific embodiment of the present invention.

[0024] Figure 3 This is a partial structural diagram of the transmission mechanism.

[0025] Figure 4 A schematic diagram showing the structure in which the driving gear and the driving pulley are arranged coaxially.

[0026] in, Figure 1 — Figure 4 middle:

[0027] Primary articulated arm—1, secondary articulated arm—2, drive assembly—3, transmission mechanism—4;

[0028] Drive motor—31a, lead screw—32a, slider—33a, limit component—34a;

[0029] Drive cylinder—31b, piston rod—32b;

[0030] Driven gear—41, driven gear—42, drive rack—43, driven rack—44, intermediate transmission assembly—45;

[0031] Driven pulley—451, driven pulley—452, transmission belt—453. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the present invention.

[0034] In one specific embodiment provided by the present invention, the multi-stage telescopic device mainly includes a primary segment arm 1, a secondary segment arm 2, a drive assembly 3, and a transmission mechanism 4.

[0035] The primary arm 1 is mounted on the body of the inspection robot and is a fixed arm that does not extend or retract.

[0036] The secondary arm 2 has N levels, where N is an integer and N≥2, meaning the secondary arm 2 has at least two levels, and together with the primary arm 1, there are at least three levels of arms, such as 3 to 5 levels. In each level of the secondary arm 2, the secondary arm 2 adjacent to the primary arm 1 is the first level, and subsequent secondary arms 2 are sequentially designated as the second, third, ..., Nth level. Each level of the secondary arm 2 is capable of telescopic movement, and they are nested sequentially. The first level of the secondary arm 2 at the head end is nested with the primary arm 1. Therefore, during telescopic movement, each level of the secondary arm 2 can extend from or retract into the previous level of the secondary arm 2 or primary arm 1, thus changing its telescopic stroke.

[0037] The drive assembly 3 is mounted on the primary arm 1, and the output end of the drive assembly 3 is connected to the first secondary arm 2, which can transmit power to the first secondary arm 2, thereby driving the first secondary arm 2 to perform telescopic movement within the primary arm 1.

[0038] The transmission mechanism 4 is mainly installed on each level of secondary arm 2, playing the role of "connecting the upper and lower" power transmission. It is mainly used to transmit the extension and retraction movement of any level of secondary arm 2 to the next level of secondary arm 2 under the drive of the primary arm 1 or the previous level of secondary arm 2. Thus, when the drive assembly 3 drives the first level of secondary arm 2 to perform extension and retraction movement, through the step-by-step transmission of each transmission mechanism 4, it can simultaneously drive the subsequent levels of secondary arm 2 to perform extension and retraction movement.

[0039] Thus, the multi-stage telescopic device provided in this embodiment, through the sequential nested connection structure formed by the primary segment arm 1 and each level of secondary segment arms 2, can significantly extend the telescopic stroke when each level of secondary segment arm 2 extends, and can retract into the interior of the primary segment arm 1 when each level of secondary segment arm 2 retracts. The secondary segment arms 2 are nested layer by layer within the primary segment arm 1, avoiding an increase in the retracted volume. At the same time, through the power transmission effect of each transmission mechanism 4 on the drive component 3, when the drive component 3 drives the first level of secondary segment arm 2 to perform telescopic movement, it can simultaneously drive the other levels of secondary segment arms 2 to perform telescopic movement. Therefore, each level of secondary segment arm 2 can achieve simultaneous telescopic movement, and the telescopic speed is greatly improved.

[0040] In summary, the multi-stage telescopic device provided in this embodiment can minimize the retracted volume while extending the telescopic stroke, and simultaneously improve the telescopic speed and optimize inspection efficiency.

[0041] Considering that the multi-stage telescopic device is mainly used to realize the lifting and lowering movement of the camera or gimbal on the inspection robot, in this embodiment, the primary arm 1 and each level of secondary arm 2 are all installed vertically on the body of the inspection robot, and the extension and retraction direction of each level of secondary arm 2 is vertical. With this configuration, when each level of secondary arm 2 extends, the total length of the multi-stage telescopic device is extended, thereby realizing the vertical upward movement or vertical upward extension movement of the multi-stage telescopic device, ultimately raising the camera or gimbal to a higher position; conversely, when each level of secondary arm 2 retracts, the total length of the multi-stage telescopic device is shortened, thereby realizing the vertical downward movement or vertical downward retraction movement of the multi-stage telescopic device, ultimately lowering the camera or gimbal to a lower position.

[0042] Of course, the multi-stage telescopic device provided in this embodiment can not only be used to realize vertical lifting and lowering movements, but also to realize horizontal linear movements or linear movements in other directions.

[0043] In one optional embodiment of the drive assembly 3, the drive assembly 3 mainly includes a drive motor 31a, a lead screw 32a, and a slider 33a. The drive motor 31a is mounted on the primary segment arm 1, and the lead screw 32a is powered by the output shaft of the drive motor 31a, enabling it to rotate under the power of the drive motor 31a. The extension direction or axial direction of the lead screw 32a is parallel or collinear with the extension and retraction directions of each primary segment arm 1. The slider 33a is sleeved on the lead screw 32a and forms a threaded connection or threaded transmission with the lead screw 32a. Simultaneously, the slider 33a is also connected to the first-stage secondary segment arm 2. With this configuration, when the drive motor 31a is running, it drives the lead screw 32a to rotate. The lead screw 32a then converts the rotational motion into axial linear motion via a helical transmission and transmits it to the slider 33a. Since the slider 33a is connected to the first-stage secondary segment arm 2, it can drive the first-stage secondary segment arm 2 and the slider 33a to perform synchronous linear motion, thereby driving each stage of the secondary segment arm 2 to simultaneously extend and retract.

[0044] Generally, to facilitate the power connection between the drive motor 31a and the lead screw 32a, the output shaft of the drive motor 31a is connected to one end of the lead screw 32a via a coupling. Simultaneously, to achieve a concealed design of the drive assembly 3 or to allow for its storage, the drive motor 31a is specifically installed on the inner bottom surface of the primary segment arm 1, such as in the central area of ​​the inner bottom surface of the primary segment arm 1, to avoid interfering with the retraction movement of each stage of the secondary segment arm 2. Correspondingly, the outer end of the lead screw 32a penetrates the bottom surface of the first-stage secondary segment arm 2, i.e., it passes through the first-stage secondary segment arm 2. Of course, in the fully retracted state of the multi-stage telescopic device, the outer end of the lead screw 32a actually penetrates the bottom surface of all secondary segment arms 2—or, each stage of the secondary segment arm 2 has a through-type structure. The slider 33a is specifically connected to the bottom surface of the first-stage secondary segment arm 2. For example, the top surface of the slider 33a is connected to the bottom surface of the first-stage secondary segment arm 2 as a whole, or the slider 33a is indirectly connected to the first-stage secondary segment arm 2 through connecting rods or other connecting parts.

[0045] Furthermore, to prevent the slider 33a from moving too far axially on the lead screw 32a, which could cause the first-stage secondary arm 2 to disengage from the primary arm 1, a limiting member 34a is added in this embodiment. Specifically, the limiting member 34a is located at the outer end of the lead screw 32a, i.e., the end away from the drive motor 31a. It is mainly used to abut against the top surface of the slider 33a or the bottom surface of the first-stage secondary arm 2 when the slider 33a moves linearly outward along the axial direction of the lead screw 32a, thereby preventing the slider 33a or the first-stage secondary arm 2 from continuing to move outward, and thus preventing each stage of the secondary arm 2 from extending further outward, limiting the maximum extension range of each stage of the secondary arm 2 to a specific position. Generally, the limiting member 34a can be a limiting block, a limiting plate, etc.

[0046] like Figure 2 As shown, Figure 2 This is a schematic diagram of the overall structure of the second specific embodiment of the present invention.

[0047] In another optional embodiment of the drive assembly 3, the drive assembly 3 mainly includes a drive cylinder 31b and a piston rod 32b. The drive cylinder 31b is mounted on the primary segment arm 1, and the piston rod 32b is connected to the drive cylinder 31b, enabling it to reciprocate linearly along its axial direction under the drive of the drive cylinder 31b. Simultaneously, the end of the piston rod 32b is connected to the first-stage secondary segment arm 2. With this configuration, when the piston rod 32b extends, it directly drives the first-stage secondary segment arm 2 to extend synchronously, thereby driving all subsequent stages of the secondary segment arm 2 to extend simultaneously; conversely, when the piston rod 32b retracts, it directly drives the first-stage secondary segment arm 2 to retract synchronously, thereby driving all subsequent stages of the secondary segment arm 2 to retract simultaneously.

[0048] Generally, to ensure that the first-stage secondary arm 2 has the maximum extension stroke within the primary arm 1, the drive cylinder 31b is specifically installed outside the bottom surface of the primary arm 1, with the piston rod 32b penetrating through the bottom surface of the primary arm 1. Furthermore, the drive cylinder 31b can be a hydraulic cylinder, a pneumatic cylinder, or similar type.

[0049] like Figure 3 As shown, Figure 3 This is a partial structural diagram of the transmission mechanism 4.

[0050] In one alternative embodiment of the transmission mechanism 4, the transmission mechanism 4 mainly includes a driving gear 41, a driven gear 42, a driving rack 43, a driven rack 44, and an intermediate transmission assembly 45.

[0051] The drive gear 41 is located on the i-th secondary arm 2, where i is an integer and 2 ≤ i ≤ N-1. Obviously, since the last secondary arm 2 is the last secondary arm 2, it does not need to continue transmitting power to subsequent secondary arms 2, so there is no need to set the drive gear 41 on the last secondary arm 2.

[0052] The driven gear 42 is also mounted on the i-th stage secondary arm 2. Similarly, the driving gear 41 does not need to be installed on the final stage secondary arm 2, and therefore the driven gear 42 does not need to be installed either. It can be seen that a pair of corresponding driving gears 41 and driven gears 42 are mounted on the same stage secondary arm 2.

[0053] Generally, the driving gear 41 is installed at the bottom or inner end of the corresponding secondary arm 2, while the driven gear 42 is installed at the top or outer end of the corresponding secondary arm 2. The specific installation method can be embedding it in a side wall of the corresponding secondary arm 2 or installing it on a side wall surface of the corresponding secondary arm 2, while maintaining rotational freedom. Of course, the specific installation positions and spacing of the driving gear 41 and driven gear 42 on the same level of secondary arm 2 are not fixed and can be flexibly adjusted according to parameters such as the length of each level of secondary arm 2.

[0054] As described above, the driving rack 43 and driven rack 44 are not located on the same secondary pitch arm 2 as the driving gear 41 and driven gear 42. Specifically, the driving rack 43 is located on the next higher level secondary pitch arm 2 than the one containing the driving gear 41 and driven gear 42, i.e., on the (i-1)th level secondary pitch arm 2. Of course, if the secondary pitch arm 2 containing the driving gear 41 and driven gear 42 is the first level secondary pitch arm 2, then the driving rack 43 is correspondingly located on the primary pitch arm 1. The driven rack 44 is located on the next lower level secondary pitch arm 2 than the one containing the driving gear 41 and driven gear 42, i.e., on the (i+1)th level secondary pitch arm 2. Furthermore, the driving gear 41 meshes with the driving rack 43, and the driven gear 42 meshes with the driven rack 44.

[0055] Generally, the driving rack 43 is located on the inner wall of the primary segment arm 1 or the inner wall of the corresponding secondary segment arm 2, while the driven rack 44 is located on the outer wall of the corresponding secondary segment arm 2. Furthermore, the driving gear 41, driving rack 43, driven gear 42, and driven rack 44 are usually located on the same side of the multi-stage telescopic device, which facilitates power transmission.

[0056] It should be noted that some secondary segment arms 2 simultaneously possess both a driving rack 43 and a driven rack 44, for example... Figure 1 The second-stage secondary segment arm 2 is shown. At this time, the specific installation positions of the driving rack 43 and the driven rack 44 on the corresponding secondary segment arm 2 can be located on the same side wall, but the driving rack 43 is located on the inner side and the driven rack 44 is located on the outer side to avoid interference; or the driving rack 43 and the driven rack 44 can be integrated into a single design and embedded in the side wall of the corresponding secondary segment arm 2, thereby forming a special rack with teeth on both sides, so that the special rack can mesh with both the driving gear 41 and the driven gear 42 at the same time.

[0057] The intermediate transmission assembly 45 is connected between the driving gear 41 and the driven gear 42. It is mainly used to realize the power transmission between the two, so as to transmit the rotational motion of the driving gear 41 to the driven gear 42, so that when the driving gear 41 rotates, the driven gear 42 can also rotate at the same time. Thus, when the driving gear 41 and the driving rack 43 form a meshing transmission, the driven gear 42 and the driven rack 44 can also form a meshing transmission at the same time.

[0058] In one optional embodiment of the intermediate transmission assembly 45, the intermediate transmission assembly 45 mainly includes a driving pulley 451, a driven pulley 452, and a transmission belt 453. The driving pulley 451 is connected to the driving gear 41, specifically to the shaft of the driving gear 41, enabling the driving gear 41 to transmit power to the driving pulley 451 when rotating, thus driving the driving pulley 451 to rotate. The driven pulley 452 is connected to the driven gear 42, specifically to the shaft of the driven gear 42, enabling the driven pulley 452 to transmit power to the driven gear 42 when rotating, thus driving the driven gear 42 to rotate. The transmission belt 453 is wound around the driving pulley 451 and the driven pulley 452 to form a belt drive engagement, enabling power transmission between the driving pulley 451 and the driven pulley 452, and consequently, between the driving gear 41 and the driven gear 42.

[0059] Generally, the transmission belt 453 can be a synchronous belt or the like, so that the driving pulley 451 and the driven pulley 452 can rotate at a high synchronization rate, thereby improving the power transmission efficiency.

[0060] like Figure 4 As shown, Figure 4 A schematic diagram showing the structure in which the driving gear 41 and the driving pulley 451 are arranged coaxially.

[0061] Furthermore, to improve the power transmission efficiency between the driving pulley 451 and the driving gear 41, and between the driven pulley 452 and the driven gear 42, in this embodiment, the shafts of the driving pulley 451 and the driving gear 41 are coaxial, and the shafts of the driven pulley 452 and the driven gear 42 are also coaxial. With this configuration, when the driving gear 41 rotates, the driving pulley 451 will rotate synchronously with it; when the driven pulley 452 rotates, the driven gear 42 will rotate synchronously with it.

[0062] In summary, the complete extension process of the multi-stage telescopic device provided in this embodiment is as follows (taking a device with four secondary arm sections 2 as an example):

[0063] First, the drive assembly 3 drives the first-stage secondary arm 2 to extend outward (or upward). During the outward extension of the first-stage secondary arm 2, the drive gear 41 installed on the first-stage secondary arm 2 meshes with the drive rack 43 on the inner wall of the primary arm 1, causing the drive gear 41 to rotate, thereby driving the drive pulley 451, which is coaxially arranged with it, to rotate synchronously. Then, the driven pulley 452 installed on the first-stage secondary arm 2 is driven to rotate through the transmission belt 453. When the driven pulley 452 rotates, it drives the driven gear 42, which is coaxially arranged with it, to rotate synchronously. This causes the driven gear 42 to mesh with the driven rack 44 on the outer wall of the second-stage secondary arm 2, ultimately driving the second-stage secondary arm 2 and the first-stage secondary arm 2 to extend outward simultaneously.

[0064] As for the power transmission between the second-stage secondary arm 2 and the third-stage secondary arm 2, and the subsequent power transmission between the third-stage secondary arm 2 and the fourth-stage (final-stage) secondary arm 2, it is similar to the power transmission between the first-stage secondary arm 2 and the second-stage secondary arm 2. The power transmission is achieved sequentially through another set of driving rack 43, driving gear 41, driving pulley 451, transmission belt 453, driven pulley 452, driven gear 42, and driven rack 44. It will not be described in detail here.

[0065] Of course, the complete retraction process of the multi-stage telescopic device provided in this embodiment is the same as the extension process, and will not be described again here.

[0066] In another alternative embodiment of the intermediate transmission assembly 45, the intermediate transmission assembly 45 may also adopt a sprocket transmission structure of a driving sprocket, a driven sprocket and a chain, and the transmission is the same as the aforementioned pulley transmission structure.

[0067] This embodiment also provides an inspection robot, which mainly includes a body and a multi-stage telescopic device installed on the body. The specific contents of the multi-stage telescopic device are the same as those described above, and will not be repeated here.

[0068] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-stage telescopic device, characterized in that, It includes a primary spar (1), an N-stage secondary spar (2), a drive assembly (3), and a transmission mechanism (4); where N is an integer and N≥2; The primary segment arm (1) and the secondary segment arms (2) of each level are nested together in sequence, and each secondary segment arm (2) of each level is retracted and stored inside the primary segment arm (1). The drive component (3) is disposed on the primary segment arm (1) and its output end is connected to the first-stage secondary segment arm (2) for driving the first-stage secondary segment arm (2) to perform telescopic movement; The drive assembly (3) includes a drive motor (31a) mounted on the primary arm (1), a lead screw (32a) connected to the output shaft of the drive motor (31a), and a slider (33a) threadedly connected to the lead screw (32a). The slider (33a) is connected to the first-stage secondary arm (2). The drive assembly (3) also includes a limiting member (34a) disposed on the end of the lead screw (32a) away from the drive motor (31a), for abutting against the slider (33a) or against the bottom surface of the first-stage secondary arm (2) to limit the maximum extension range of each stage of the secondary arm (2). The transmission mechanism (4) is used to transmit the telescopic movement of any one level of the secondary arm (2) to the next level of the secondary arm (2); The transmission mechanism (4) includes a driving gear (41) and a driven gear (42) disposed on the i-th stage secondary arm (2), a driving rack (43) disposed on the (i-1)-th stage secondary arm (2) or the primary arm (1), a driven rack (44) disposed on the (i+1)-th stage secondary arm (2), and an intermediate transmission assembly (45) connected between the driving gear (41) and the driven gear (42). The driving gear (41) meshes with the driving rack (43), and the driven gear (42) meshes with the driven rack (44). The intermediate transmission assembly (45) is used to transmit the motion of the driving gear (41) to the driven gear (42). Wherein, i is an integer, and 2≤i≤N-1. The intermediate transmission assembly (45) includes a drive pulley (451) connected to the drive gear (41), a driven pulley (452) connected to the driven gear (42), and a transmission belt (453) cooperating with the drive pulley (451) and the driven pulley (452); the drive pulley (451) and the drive gear (41) are coaxially arranged; the driven pulley (452) and the driven gear (42) are coaxially arranged. The driving gear (41), driven gear (42), driving rack (43), driven rack (44) and intermediate transmission assembly (45) are all located on the same side of the primary segment arm (1) and each level of secondary segment arm (2).

2. The multi-stage telescopic device according to claim 1, characterized in that, The primary segment arm (1) and the secondary segment arms (2) at each level are all mounted vertically on the body of the inspection robot, and the extension and retraction direction of the secondary segment arms (2) at each level is vertical.

3. The multi-stage telescopic device according to claim 1, characterized in that, The drive motor (31a) is mounted on the inner bottom surface of the primary segment arm (1), the lead screw (32a) passes through the bottom surface of the first-stage secondary segment arm (2), and the slider (33a) is connected to the bottom surface of the first-stage secondary segment arm (2).

4. The multi-stage telescopic device according to claim 1, characterized in that, The drive assembly (3) includes a drive cylinder (31b) mounted on the primary segment arm (1) and a piston rod (32b) connected to the drive cylinder (31b), the piston rod (32b) being connected to the first-stage secondary segment arm (2).

5. An inspection robot, comprising a body and a multi-stage telescopic device disposed on the body, characterized in that, The multi-stage telescopic device is specifically the multi-stage telescopic device described in any one of claims 1-4.

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