A portable lifting support suitable for performance verification of a track robot

Abstract

The present application relates to the technical field of track robot, and especially relates to a portable lifting support suitable for track robot performance verification, which comprises a movable support base, a lifting assembly arranged on the support base, and a driving device for driving the lifting assembly to ascend or descend along the vertical direction; a load support for loading a robot track is arranged on the top of the lifting assembly, the robot track is arranged on the bottom of the load support, and a robot for performance verification can walk along the robot track. By arranging the lifting assembly on the support base, the height of the robot track is adjusted, the height and position of the track can be changed according to actual needs, and the demand of track robot performance verification is met.

Description

Technical Field

[0001] This invention relates to the field of track robot technology, and in particular to a portable lifting support suitable for performance verification of track robots. Background Technology

[0002] Due to factors such as construction quality, surrounding rock load, operational load, material deterioration, and the surrounding environment, structural defects in the tunnel are unavoidable during the operational period, which greatly affects the safety of the tunnel structure and the normal passage of traffic routes.

[0003] With the upgrading of monitoring methods and the support of artificial intelligence and other technologies, intelligent monitoring solutions that use robots as mobile platforms and are equipped with various sensors are increasingly being applied to the monitoring (inspection) of tunnel structural defects. This has greatly improved the efficiency and accuracy of detection, expanded the scope of detection, and ensured the safe operation of tunnel structures.

[0004] Based on their mode of locomotion, robots can be classified into track-mounted, wheeled, tracked, biomimetic crawling, and flying / crawling robots. Except for track-mounted robots that travel along pre-fabricated tracks on predetermined routes, all other types of robots can move freely using their own mechanisms.

[0005] After the robot is developed, it needs to undergo extensive verification in the actual working environment inside the tunnel, focusing on aspects such as robot performance, sensor performance, predetermined design effects, monitoring schemes, and testing conditions. For track-mounted robots, the longer the track, the more comprehensive the testing conditions can be, and the more reliable the product's performance will be after mass production.

[0006] Investing significant manpower, resources, and capital in track installation before the product is finalized can easily lead to substantial waste. Furthermore, setting up a fixed track during the experimental verification phase is detrimental to verifying the performance of the track-based robot. Therefore, it is necessary to design and invent a portable, movable support for laying the track, which allows for adjustments to the track's height and position as needed, to meet the performance verification requirements of track-based robots. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a portable lifting support suitable for the performance verification of track robots, which solves the technical problem that setting a track at a fixed position during the experimental verification stage is not conducive to the performance verification of track robot products.

[0009] (II) Technical Solution

[0010] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0011] A portable lifting stand suitable for performance verification of track robots.

[0012] It includes a movable support base, a lifting assembly disposed on the support base, and a drive device for driving the lifting assembly to rise or fall vertically.

[0013] The lifting assembly is equipped with a load-bearing bracket at the top for mounting a robot track. The robot track is located at the bottom of the load-bearing bracket, and the robot used for performance verification can walk along the robot track.

[0014] The support base includes a first support base and a second support base arranged opposite to each other. A first fixed support seat and a second fixed support seat are respectively fixedly provided at both ends of the first support base, and a third fixed support seat and a fourth fixed support seat are respectively fixedly provided at both ends of the second support base.

[0015] The bottom of the first bracket base and the second bracket base are equipped with casters.

[0016] The driving device includes a first ball screw rotatably disposed between a first fixed support and a second fixed support, a first slide bar fixedly disposed between a third fixed support and a fourth fixed support, a second ball screw rotatably disposed between the first ball screw and the first slide bar, and a second slide bar slidably disposed between the first ball screw and the first slide bar.

[0017] The end of the first ball screw connected to the first fixed support is provided with a hand crank for driving the first ball screw to rotate.

[0018] The first ball screw is provided with a crown gear at one end near the hand crank, and the crown gear meshes with the spur gear of the second ball screw so that when the hand crank drives the first ball screw to rotate, it also drives the second ball screw to rotate.

[0019] The second slide bar has a first slider and a second slider at its two ends, and the first slider and the second slider are slidably connected to the first ball screw and the first slide bar, respectively.

[0020] A base scissor brace is provided between the second ball screw and the second slide, and the base scissor brace includes a first connecting rod and a second connecting rod arranged in a cross manner;

[0021] One end of the first connecting rod is rotatably connected to the second slider, and the other end of the first connecting rod is slidably connected to the second ball screw via a third slider.

[0022] One end of the second connecting rod is rotatably connected to the third fixed support, and the other end of the second connecting rod is slidably connected to the second slide bar via four sliders.

[0023] The second ball screw and the second slide bar include a fixed section and a telescopic section. The telescopic section includes a sleeve with an embedded telescopic spring. The fixed section and the telescopic section are telescopically connected by the telescopic spring.

[0024] The lifting assembly includes a first lifting assembly and a second lifting assembly respectively disposed on the first support base and the second support base. The first lifting assembly and the second lifting assembly each include a plurality of outer and inner supports connected end to end, and the inner supports are arranged crosswise between adjacent outer supports.

[0025] The outer and inner supports of each layer are cross-connected at their midpoints by a second connector. The inner supports that are joined end to end are rotatably connected by a third connector, and the outer supports that are joined end to end are rotatably connected by a fourth connector, to form a lifting assembly that is continuously arranged along the vertical direction.

[0026] The first lifting component is hinged to the first fixed support base at the bottom of the outer support of the bottom layer via the first connector, and the bottom of the inner support is hinged to the first slider via the seventh connector;

[0027] The second lifting component is located at the bottom of the outer support of the bottom layer and is hinged to the third fixed support seat through the first connector; the bottom of the inner support is hinged to the second slider through the seventh connector.

[0028] The first slider and the second slider simultaneously drive the first lifting component and the second lifting component to rise or fall in the vertical direction.

[0029] The bottom of the load-bearing bracket is provided with a connecting groove, and the outer support and inner support are inserted into the connecting groove and hinged to the load-bearing bracket.

[0030] The robot track is fixedly connected to the load-bearing support via a track connector.

[0031] (III) Beneficial Effects

[0032] The beneficial effects of this invention are as follows: This invention provides a portable lifting support suitable for performance verification of track-mounted robots. The height and position of the track can be changed according to actual needs, meeting the requirements of track-mounted robot performance verification. By setting a lifting component on the support base, the height of the robot track can be adjusted; by setting omnidirectional wheels, the position of the robot track can be adjusted, allowing the lifting support to move longitudinally along the tunnel, thereby changing the longitudinal position of the track within the tunnel, thus achieving the purpose of "extending" the track length and increasing the number of verification conditions along the tunnel's longitudinal direction.

[0033] By setting a load-bearing bracket on the lifting component, a platform is provided for the robot track, enabling the track robot to walk on the robot track and complete performance verification at different track heights.

[0034] By combining the drive unit with the support base, stable support and drive of the lifting components are achieved.

[0035] By setting a crown gear at one end of the first ball screw, the spur gear of the second ball screw meshes with the crown gear, so that the first ball screw and the second ball screw can rotate simultaneously, thereby realizing the opening and closing of the base scissor brace and the raising or lowering of the first and second lifting components.

[0036] By combining the first ball screw, the second ball screw, and the base scissor brace, a quadrilateral drive structure with relative motion can be formed between the first ball screw, the first slide bar, the second ball screw, and the second slide bar, making the movement of the drive structure more stable and facilitating stable changes in track height. Attached Figure Description

[0037] Figure 1 This is a front view of the lifting bracket of the present invention;

[0038] Figure 2 This is a partial enlarged view of the top of the lifting bracket of the present invention;

[0039] Figure 3 This is a partial enlarged view of the bottom of the lifting bracket of the present invention;

[0040] Figure 4 This is a schematic diagram of the connection structure between the load-bearing bracket and the inner support of the present invention;

[0041] Figure 5 This is a schematic diagram of the connection structure between the load-bearing bracket and the outer support of the present invention;

[0042] Figure 6 This is a schematic diagram of the connection structure between the first slider and the inner support of the present invention;

[0043] Figure 7 This is a schematic diagram of the connection structure between the first fixed support and the outer support of the present invention;

[0044] Figure 8 This is a schematic diagram of the connection structure of the inner support of the second slider of the present invention;

[0045] Figure 9 This is a schematic diagram of the connection structure between the third fixed support and the outer support of the present invention;

[0046] Figure 10 This is a schematic diagram of the connection structure between the first fixed support, the first ball screw, the first slider, and the inner and outer supports of the present invention.

[0047] Figure 11 This is a schematic diagram of the connection structure between the third fixed support, the first slide bar, the second slider, and the inner and outer supports of the present invention.

[0048] Figure 12 This is a first side view of the lifting bracket of the present invention;

[0049] Figure 13 This is a second side view of the lifting bracket of the present invention;

[0050] Figure 14 This is a top view of the support base of the present invention;

[0051] Figure 15 This is a top view of the lifting assembly of the present invention;

[0052] Figure 16 This is a side view of the load-bearing support and I-beam rail of the present invention;

[0053] Figure 17 This is a schematic diagram of the base scissor brace structure of the present invention;

[0054] Figure 18 This is a schematic diagram of the structure of the first connector of the present invention;

[0055] Figure 19 This is a schematic diagram of the structure of the second connector of the present invention;

[0056] Figure 20 for Figure 19 A magnified view of a portion of the frame A in the centerline;

[0057] Figure 21 This is a schematic diagram of the structure of the third connector of the present invention;

[0058] Figure 22 for Figure 21 A magnified view of a section at point B within the center frame;

[0059] Figure 23 This is a schematic diagram of the structure of the fourth connector of the present invention;

[0060] Figure 24 for Figure 23 A magnified view of a section at point C within the center frame;

[0061] Figure 25 This is a schematic diagram of the structure of the fifth connector of the present invention;

[0062] Figure 26 This is a schematic diagram of the structure of the sixth connector of the present invention;

[0063] Figure 27 This is a schematic diagram of the structure of the seventh connector of the present invention.

[0064] [Explanation of Labels in the Attached Images]

[0065] 1: First bracket base; 2: First fixed support seat; 3: Second fixed support seat; 4: First ball screw; 5: First slider; 6: Second ball screw; 7: Crown gear; 8: Flat gear; 9: Hand crank; 10: Universal wheel; 11: Third fixed support seat; 12: Fourth fixed support seat; 13: First slide bar; 14: Second slider; 15: Third slider; 16: Second slide bar; 17: Fourth slider; 18: First connector; 19: Seventh connector; 20: Base scissor brace; 201: First 202: Second connecting rod; 21: Outer support; 22: Inner support; 23: Second connecting piece; 24: Third connecting piece; 25: Fourth connecting piece; 26: Telescopic rod; 27: Fixed rod; 28: Bolt; 29: Fifth connecting piece; 30: Sixth connecting piece; 31: Load-bearing bracket; 32: Fastening screw; 33: Track connecting piece; 34: Track; 35: Robot; 36: Second bracket base; 37: First lifting assembly; 38: Second lifting assembly; 39: Rubber gasket; 40: Limiting part. Detailed Implementation

[0066] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," etc., are used interchangeably with other directional terms. Figure 1 The orientation is used as a reference.

[0067] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0068] See Figure 1-16 As shown, this invention provides a portable lifting support suitable for performance verification of track-based robots. It includes a movable support base, a lifting assembly mounted on the base, a drive device for driving the lifting assembly to rise or fall vertically, and a load-bearing support 31 mounted on top of the lifting assembly. A robot track 34 is located at the bottom of the load-bearing support 31, and a robot 35 is connected to the robot track 34 and can move along it. The lifting assembly allows for height adjustment of the robot track 34, enabling the robot 35 to change the height and position of the robot track 34 according to actual needs, thus meeting the requirements for performance verification of track-based robots.

[0069] The support base includes a first support base 1 and a second support base 36 arranged opposite to each other. The first support base 1 is provided with a first fixed support seat 2 and a second fixed support seat 3 at both ends, and the second support base 36 is provided with a third fixed support seat 11 and a fourth fixed support seat 12 at both ends.

[0070] The bottoms of the first fixed support base 2, the second fixed support base 3, the third fixed support base 11, and the fourth fixed support base 12 are equipped with screws, which are respectively inserted into the bolt holes of the first bracket base 1 and the second bracket base 36. The bottoms of the first bracket base 1 and the second bracket base 36 are equipped with four casters 10 corresponding to the first fixed support base 2, the second fixed support base 3, the third fixed support base 11, and the fourth fixed support base 12, allowing the bracket base to move freely. The casters 10 are equipped with positioning devices to ensure stable parking when the bracket is raised.

[0071] The drive unit includes a first ball screw 4 disposed between the first fixed support 2 and the second fixed support 3, a first slide bar 13 disposed between the third fixed support 11 and the fourth fixed support 12, a second ball screw 6 and a second slide bar 16 disposed between the first ball screw 4 and the first slide bar 13, and a base scissor brace 20 disposed between the second ball screw 6 and the second slide bar 16. By simultaneously rotating the first ball screw 4 and the second ball screw 6, and by controlling the opening and closing of the base scissor brace 20, the second slide bar 16 is moved relative to the second ball screw 6, forming a quadrilateral drive structure capable of relative movement between the first ball screw 4, the first slide bar 13, the second ball screw 6, and the second slide bar 16. The arrangement of the first ball screw 4 and the second ball screw 6, combined with the base scissor brace 20, makes the operation of the drive structure more stable, which is beneficial for the stable change of the height of the robot track 34.

[0072] The two ends of the first ball screw 4 are respectively nested in bearings and connected to the first fixed support 2 and the second fixed support 3 via the bearings. The two ends of the first slide bar 13 are respectively fixedly connected to the third fixed support 11 and the fourth fixed support 12 by welding. The two ends of the second ball screw 6 are respectively nested in bearings and rotatably connected to the third fixed support 11 and the first fixed support 2 via the bearings.

[0073] The two ends of the second slide bar 16 are respectively fixedly provided with a first slider 5 and a second slider 14. The two ends of the second slide bar 16 are connected to the first ball screw 4 and the first slide bar 13 respectively through the first slider 5 and the second slider 14. The first slider 5 and the second slider 14 are fixedly connected to the second slide bar 16 by welding.

[0074] The first slider 5 has a threaded hole in its middle for the first ball screw 4 to pass through, and the threaded hole engages with the threaded area on the first ball screw 4. The second slider 14 has a through hole in its middle for the first slide bar 13 to pass through, so that the second slider 14 can be slidably connected to the first slide bar 13.

[0075] A hand crank 9 is provided at one end of the first ball screw 4 that is connected to the first fixed support 2. The operator can rotate the hand crank 9 to drive the first ball screw 4 to rotate. The hand crank 9 serves as the power source of the drive device, and the form of motor drive can also be selected to replace it according to actual needs.

[0076] A crown gear 7 is also provided at the end where the first ball screw 4 is connected to the first fixed support 2. The crown gear 7 is located inside the hand crank 9 and is used to connect to the spur gear 8 of the second ball screw 6. The spur gear 8 is located at the end where the second ball screw 6 is connected to the first bracket base 1, and the spur gear 8 meshes with the crown gear 7. When the operator rotates the hand crank 9, the crown gear 7 rotates coaxially with the hand crank 9, the crown gear 7 drives the spur gear 8 to rotate simultaneously, and the spur gear 8 drives the second ball screw 6 to rotate, so as to realize the simultaneous rotation of the first ball screw 4 and the second ball screw 6.

[0077] See Figure 14 , Figure 17 As shown, the base scissor brace 20 includes a first connecting rod 201 and a second connecting rod 202 arranged in a cross configuration. One end of the first connecting rod 201, connected to the second ball screw 6, is provided with a third slider 15. The middle of the third slider 15 has a threaded hole for passing through the second ball screw 6. The third slider 15 engages with the threaded area on the second ball screw 6 through the threaded hole. When the second ball screw 6 rotates, it drives the third slider 15 to move along the threaded area. The other end of the first connecting rod 201 is rotatably connected to the second slider 14.

[0078] The second connecting rod 202 is connected to the second slide bar 16 at one end, and a fourth slider 17 is provided at the middle of the fourth slider 17 for passing through the second slide bar 16, so that the fourth slider 17 can be slidably connected to the second slide bar 16. The other end of the second connecting rod 202 is rotatably connected to the third fixed support 11.

[0079] The rotation of the second ball screw 6 drives the third slider 15 to move along the axial direction of the second ball screw 6, which in turn drives the first connecting rod 201 to rotate. At the same time, the second connecting rod 202 rotates relative to the first connecting rod 201, thereby realizing the opening and closing of the base scissor brace 20.

[0080] The second ball screw 6 and the second slide 16 include a fixed section and a telescopic section. The telescopic section uses a steel sleeve with an embedded telescopic spring, and the fixed section uses a solid steel rod with a protrusion at one end. The fixed section and the telescopic section are connected telescopically by the spring, and the threaded area is located on the fixed section. When the base scissor brace 20 opens and closes, it simultaneously drives the extension and retraction of the second ball screw 6 and the second slide 16, thereby driving the extension and retraction of the entire support base.

[0081] When the operator turns the hand crank 9, the first ball screw 4 rotates, and with the cooperation of the crown gear 7 and the flat gear 8, the second ball screw 6 rotates simultaneously; the first slider 5 moves along the thread of the first ball screw 4, and the third slider 15 moves along the thread of the second ball screw 6, driving the base scissor brace 20 to open and close, thereby realizing the relative movement between the second ball screw 6 and the second slider 16.

[0082] The function of the lifting assembly is to raise and lower the entire mechanism. It mainly consists of the outer support 21, the inner support 22, and the connecting parts at each node. The lifting assembly includes a first lifting assembly 37 and a second lifting assembly 38 respectively set on the first support base 1 and the second support base 36. Both the first lifting assembly 37 and the second lifting assembly 38 include several outer supports 21 and inner supports 22 connected end to end, with the inner supports 22 intersecting between the two outer supports 21.

[0083] See Figure 6 , Figure 7 , Figure 10 As shown, the first lifting assembly 37 is hinged to the first fixed support 2 at the bottom of the outer support 21 via the first connector 18, and the bottom of the inner support 22 is hinged to the first slider 5 via the seventh connector 19. See also Figure 8 , Figure 9 , Figure 11 As shown, the second lifting assembly 38 is hinged to the bottom of the outer support 21 at the bottom layer via the first connector 18 and the bottom of the inner support 22 via the seventh connector 19 and the second slider 14. The middle parts of the outer support 21 and the inner support 22 of each layer are cross-connected via the second connector 23. The ends of adjacent inner supports 22 are connected via the third connector 24, and the ends of adjacent outer supports 21 are connected via the fourth connector 25, thus forming a lifting assembly continuously arranged along the vertical direction. By controlling the first slider 5 to move along the thread of the first ball screw 4 and the third slider 15 to move along the thread of the second ball screw 6, the base scissor brace 20 is driven to open and close, thereby realizing the lifting of the lifting assembly.

[0084] In this embodiment, each layer of the first lifting assembly 37 and / or the second lifting assembly 38 is composed of two intersecting outer supports 21 and one intersecting inner support 22, and each layer of the lifting assembly is composed of four parallel outer supports 21 and two parallel intersecting inner supports 22. Both the outer supports 21 and the inner supports 22 are made of steel bars with a width of 30 mm, a thickness of 5 mm, and a length of 820 mm. Since the lifting assembly has multiple outer supports 21, considering the structural stability of the outer supports 21, the first connecting member 18 is provided with a limiting part 40 to restrict the inward movement of the outer supports 21, allowing the outer supports 21 to be clamped between the nut of the first connecting member 18 and the limiting part 40. Similarly, the connecting ends of the second connecting member 23, the third connecting member 24, and the fourth connecting member 25 that connect to the outer supports 21 or the inner supports 22 are also provided with limiting parts 40 to restrict the inward movement of the outer supports 21 or the inner supports 22.

[0085] The second connecting member 23, the third connecting member 24, and the fourth connecting member 25 each include a telescopic rod 26, a fixing rod 27, and bolts 28. The telescopic rod 26 is a steel sleeve with an embedded telescopic spring, and the fixing rod 27 is a solid steel rod with a protrusion at one end. The fixing rod 27 and the telescopic rod 26 are connected telescopically via the spring. Bolts 28 are respectively located at both ends of the second connecting member 23, the third connecting member 24, and the fourth connecting member 25, and are used to connect the outer support 21 and / or the inner support 22. To ensure the spacing between the supports of the lifting assembly, limiting components are set on the bolts 28 according to the number of outer supports 21 and / or inner supports 22 to limit the outer supports 21 and inner supports 22 and prevent them from sliding.

[0086] The limiting component in this embodiment uses a rubber washer 39, and the size of the rubber washer 39 can be selected according to actual needs.

[0087] See Figures 19-20 As shown, the second connector 23 serves as a hinge at the intersection of the outer support 21 and the inner support 22. Each end needs to limit the distance between the outer support 21 and the inner support 22 simultaneously. In this embodiment, five rubber washers 39 are set on the bolt 28 to limit the distance between the outer support 21 and the inner support 22. Alternatively, the appropriate option can be selected based on actual needs.

[0088] See Figure 21-22 As shown, the third connector 24 serves as a hinge for the inner support 22 connected end to end. Each end needs to limit the inner support 22. In this embodiment, a rubber washer 39 is set on the bolt 28 to limit the inner support 22. Alternatively, it can be selected according to actual needs.

[0089] See Figure 23-24As shown, the fourth connector 25 serves as a hinge for the outer supports 21 connected end to end. Each end needs to limit the two outer supports 21. In this embodiment, two rubber washers 39 and two limiting parts 40 are set on the bolts 28 to limit the outer supports 21. Alternatively, it can be selected according to actual needs.

[0090] The first lifting assembly 37 and the second lifting assembly 38 are effectively connected by the second connecting member 23, the third connecting member 24, and the fourth connecting member 25, increasing the stability of the overall structure. The connecting member design with telescopic rods facilitates the movement of the first lifting assembly 37 and the second lifting assembly 38, enabling the overall deployment and closure of the mechanism.

[0091] The working principle of the lifting bracket is as follows: the hand crank 9 drives the rotation of the first ball screw 4, and the crown gear 7 on the first ball screw 4 meshes with the flat gear 8 to drive the rotation of the second ball screw 6; at the same time, the first slider 5 and the third slider 15 slide along the first ball screw 4 and the second ball screw 6 respectively, which in turn causes the base scissor brace 20 to open and close, which in turn causes the second slider 14 and the fourth slider 17 to slide along the first slide bar 13 and the second slide bar 16 respectively.

[0092] The sliding of the first slider 5 causes the first lifting component 37 to rise and fall; the sliding of the second slider 14 causes the second lifting component 38 to rise and fall; the opening and closing of the base scissor brace 20 occurs simultaneously with the rising or falling of the lifting component.

[0093] The load-bearing support 31 is used to provide a connection point for the I-beam track of the robot 35, so that the robot 35 can move on the robot track 34 and carry out relevant performance tests.

[0094] See Figure 4 , Figure 5 , Figure 25 , Figure 26 As shown, the load-bearing bracket 31 is located on top of the lifting assembly. A connecting groove is provided at the bottom of the load-bearing bracket 31. The outer support 21 and inner support 22 are inserted into the connecting groove and are connected to the load-bearing bracket 31 in a hinged manner via the fifth connector 29 and the sixth connector 30, respectively. Since the lifting assembly has multiple outer supports 21, considering the structural stability of the outer supports 21, the fifth connector 29 is provided with a limiting part 40 to restrict the movement of the outer supports 21, which, in conjunction with the rubber gasket 39, limits the movement of the inner outer supports 21. Because the number of inner supports 22 is less than that of outer supports 21, rubber gaskets 39 are also provided on both sides of the inner supports 22 on the sixth connector 30. The rubber gaskets 39 fill the gap between the inner wall of the connecting groove and the inner support 22, allowing the inner support 22 to be stably connected to the load-bearing bracket 31.

[0095] The bottom of the load-bearing support 31 is provided with a track connector 33, which is used to connect to the robot track 34. The track connector 33 and the load-bearing support 31 are fixedly connected by fastening screws 32, and the robot 35 can walk on the robot track 34. The part of the robot 35 in the figure is shown in a schematic form and is not the core content of the present invention.

[0096] When the lifting support is retracted, the robot track 34 is installed on the load-bearing support 31 via the track connector 33. After the lifting assembly is raised to a certain height, the robot 35 is installed. The rotation of the hand crank 9 drives the rotation of the crown gear 7 and the first ball screw 4. Simultaneously, the crown gear 7 meshes with the spur gear 8, driving the rotation of the spur gear 8 and the second ball screw 6. This, in turn, drives the first slider 5 to move horizontally along the first ball screw 4, and the third slider 15 to move horizontally along the second ball screw 6. This achieves the extension and retraction of the support base and the raising and lowering of the lifting assembly. After the lifting assembly reaches the predetermined height, the performance verification of the robot 35 can be carried out.

[0097] This invention provides a portable lifting bracket suitable for performance verification of track robots. By setting a lifting component on the base of the bracket, the height of the robot track 34 can be adjusted. The height and position of the robot track 34 can be changed according to actual needs to meet the requirements of performance verification of track robots.

[0098] By setting a load-bearing bracket 31 on the lifting component, a platform is provided for the robot track 34, enabling the robot 35 to walk on the robot track 34 and complete performance verification at different track heights.

[0099] By combining the drive unit with the support base, stable support and drive of the lifting components are achieved.

[0100] By setting a crown gear 7 at one end of the first ball screw 4, the flat gear 8 of the second ball screw 6 is meshed with the crown gear 7, so that the first ball screw 4 and the second ball screw 6 can rotate simultaneously, thereby realizing the opening and closing of the base scissor brace 20.

[0101] By combining the first ball screw 4, the second ball screw 6, and the base scissor brace 20, a quadrilateral drive structure with relative motion can be formed between the first ball screw 4, the first slide bar 13, the second ball screw 6, and the second slide bar 16, making the motion of the drive structure more stable and facilitating the stable change of the height of the robot track 34.

[0102] The portable lifting bracket of the present invention is suitable for performance verification of track-mounted robots. The height and position of the robot track 34 can be changed as needed to meet the requirements of track-mounted robot performance verification.

[0103] The dimensions of the components in the accompanying drawings of this invention may be adjusted appropriately based on the lifting height of the device, manufacturing process, manufacturing level, and other conditions, and are not specifically specified here. The thickness of the rubber gasket 39 is related to the spacing of the steel bars in the lifting assembly, and is not distinguished here. The hand crank 9 used to realize the opening and closing of the support base and the raising and lowering of the support can also be replaced by a motor-driven form.

[0104] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0105] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0106] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0107] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0108] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A portable lifting support suitable for performance verification of track robots, characterized in that, It includes a movable support base, a lifting assembly disposed on the support base, and a drive device for driving the lifting assembly to rise or fall vertically. The top of the lifting assembly is provided with a load-bearing bracket (31) for mounting the robot track (34), and the robot track (34) is located at the bottom of the load-bearing bracket (31). The robot (35) used for performance verification can walk along the robot track (34). The support base includes a first support base (1) and a second support base (36) arranged opposite to each other. The first support base (1) is fixedly provided with a first fixed support seat (2) and a second fixed support seat (3) at both ends, and the second support base (36) is fixedly provided with a third fixed support seat (11) and a fourth fixed support seat (12) at both ends. The drive device includes a first ball screw (4) rotatably disposed between a first fixed support (2) and a second fixed support (3), a first slide bar (13) fixedly disposed between a third fixed support (11) and a fourth fixed support (12), a second ball screw (6) rotatably disposed between the first ball screw (4) and the first slide bar (13), and a second slide bar (16) slidably disposed between the first ball screw (4) and the first slide bar (13). The second ball screw (6) and the second slide (16) include a fixed section and a telescopic section. The telescopic section includes a sleeve with an embedded telescopic spring. The fixed section and the telescopic section are telescopically connected by the telescopic spring.

2. The portable lifting support for performance verification of a track robot according to claim 1, characterized in that, The bottom of the first bracket base (1) and the second bracket base (36) are provided with casters (10).

3. The portable lifting support for performance verification of a track robot according to claim 1, characterized in that, The first ball screw (4) is connected to the first fixed support (2) at one end and is provided with a hand crank (9) for driving the first ball screw (4) to rotate. The first ball screw (4) is provided with a crown gear (7) at one end near the hand crank (9). The crown gear (7) meshes with the flat gear (8) of the second ball screw (6) so that when the hand crank (9) drives the first ball screw (4) to rotate, it also drives the second ball screw (6) to rotate.

4. The portable lifting support for performance verification of track robots according to claim 2, characterized in that, The second slide bar (16) is provided with a first slider (5) and a second slider (14) at both ends, and the first slider (5) and the second slider (14) are respectively connected to the first ball screw (4) and the first slide bar (13).

5. The portable lifting support for performance verification of a track robot according to claim 4, characterized in that, A base scissor brace (20) is provided between the second ball screw (6) and the second slide (16), and the base scissor brace (20) includes a first connecting rod (201) and a second connecting rod (202) arranged in a cross configuration. One end of the first connecting rod (201) is rotatably connected to the second slider (14), and the other end of the first connecting rod (201) is slidably connected to the second ball screw (6) through the third slider (15); One end of the second connecting rod (202) is rotatably connected to the third fixed support (11), and the other end of the second connecting rod (202) is slidably connected to the second slide bar (16) through the fourth slider (17).

6. The portable lifting support for performance verification of a track robot according to claim 4, characterized in that, The lifting assembly includes a first lifting assembly (37) and a second lifting assembly (38) respectively disposed on the first support base (1) and the second support base (36). The first lifting assembly (37) and the second lifting assembly (38) each include a plurality of outer branches (21) and inner branches (22) connected end to end. The inner branches (22) are intersected between adjacent outer branches (21). The middle parts of the outer support (21) and inner support (22) of each layer are cross-connected by a second connector (23); the inner support (22) connected end to end is rotatably connected by a third connector (24), and the outer support (21) connected end to end is rotatably connected by a fourth connector (25) to form a lifting assembly continuously arranged along the vertical direction.

7. The portable lifting support for performance verification of a track robot according to claim 6, characterized in that, The first lifting component (37) is hinged to the first fixed support (2) at the bottom of the outer support (21) of the bottom layer through the first connector (18), and the bottom of the inner support (22) is hinged to the first slider (5) through the seventh connector (19). The second lifting component (38) is hinged to the third fixed support (11) at the bottom of the outer support (21) of the bottom layer through the first connector (18), and the bottom of the inner support (22) is hinged to the second slider (14) through the seventh connector (19). The first slider (5) and the second slider (14) simultaneously drive the first lifting component (37) and the second lifting component (38) to rise or fall in the vertical direction.

8. The portable lifting support for performance verification of a track robot according to claim 6, characterized in that, The bottom of the load-bearing bracket (31) is provided with a connecting groove, and the outer support (21) and inner support (22) are inserted into the connecting groove and hinged to the load-bearing bracket (31); The robot track (34) is fixedly connected to the load-bearing bracket (31) via a track connector (33).

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