Lifting device

Abstract

The lifting device comprises a lead screw, the end of the lead screw is connected with a driving mechanism, a separation block is arranged in the middle of the lead screw, the rotating directions of the lead screw at the two ends of the separation block are opposite, an upper sliding block a and an upper sliding block b are installed at the two ends of the lead screw correspondingly, and cross arms are arranged at the lower ends of the upper sliding block a and the lower sliding block b; a lower sliding block a and a lower sliding block b are arranged at the lower end of the cross arm and are both slidably installed on the bottom plate, a hinge seat is further installed on the bottom plate, a stabilizing arm a and a stabilizing arm b are hinged to the two ends of the hinge seat respectively, the other end of the stabilizing arm a is installed on the outer side of the cross arm in a hinged mode, and the other end of the stabilizing arm b is installed on the inner side of the cross arm in a hinged mode. A holder is installed on the lower surface of the bottom plate. The stabilizing arm a and the stabilizing arm b are arranged at the lower end of the cross arm, and the stabilizing arm a, the stabilizing arm b and the cross arm form a parallelogram all the time in the lifting process of the cross arm, so that the gravity center is kept unchanged all the time, and the lifting stability of the holder is guaranteed.

Description

Technical Field

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

[0002] At present, in the inspection of coal mines, petrochemicals, electric power, etc., in order to improve the efficiency, safety and stability of operations, inspection robots are gradually replacing manual inspections. They mainly rely on the camera device on the pan-tilt to obtain high-definition video of the inspection environment, and can realize unmanned operation in the inspection environment. The main structure of the inspection robot includes: pan-tilt and pan-tilt lifting mechanism. The pan-tilt has built-in infrared, ultrasonic and other sensor components. During the inspection, it is necessary to constantly adjust the observation angle to obtain a good observation field of view. The pan-tilt lifting mechanism needs to be lifted and lowered reciprocatingly. In order to ensure the efficiency and quality of the inspection, the stability and reliability of the pan-tilt lifting mechanism are crucial.

[0003] The existing pan-tilt lifting mechanism is mainly divided into the following structures: rack and pinion structure, lead screw structure, multi-link structure and cross-arm structure. The mechanical power transmission efficiency of the rack and pinion structure is low and it is not suitable for the underground environment with a lot of dust; the lifting reliability of the lead screw structure is low when the load volume or weight is large; the multi-link structure is relatively stable and efficient, but the existing multi-link structure is not suitable for continuous reciprocating motion. Continuous operation and reciprocating operation usually affect the stability of its structure, making the transmission unstable and the vibration larger, which eventually leads to shaking of the pan-tilt signal transmission; the cross-arm lifting structure has a compact structure and a long extension stroke. Therefore, the cross-arm structure is the main structure for the pan-tilt lifting of the inspection robot.

[0004] However, the existing cross-arm lifting structure is implemented by fixing one fulcrum and translating another fulcrum to realize the conversion of horizontal movement into vertical movement. During operation, the center of gravity of the structure is constantly changing, that is, the gimbal moves left and right during the ascent and descent process and is not always on the same vertical line, which affects the stability of the gimbal lifting. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a lifting device.

[0006] The objective of the present invention is achieved through the following technical scheme: a lifting device, comprising a lead screw, the end of which is connected to a driving mechanism, and a dividing block is arranged in the middle of the lead screw, the lead screws at both ends of the dividing block rotate in opposite directions, an upper slider a and an upper slider b are respectively installed at both ends of the lead screw, a cross arm is arranged at the lower end of the upper slider a and the lower slider b, a lower slider a and a lower slider b are arranged at the lower end of the cross arm, the lower slider a and the lower slider b are both slidably installed on a base plate, an articulated seat is also installed on the base plate, a stabilizing arm a and a stabilizing arm b are respectively articulated at both ends of the articulated seat, the other end of the stabilizing arm a is articulatedly installed on the outside of the cross arm, the other end of the stabilizing arm b is articulatedly installed on the inside of the cross arm, and a pan head is installed on the lower surface of the base plate.

[0007] Preferably, the cross arm includes a left fork arm and a right fork arm, the two ends of the left fork arm are respectively hingedly mounted on the upper slider a and the lower slider a, the two ends of the right fork arm are respectively hingedly mounted on the upper slider b and the lower slider b, one end of the stabilizing arm a is hingedly mounted at the outer quarter of the left fork arm, and the other end is located at one-half of the left fork arm, and the stabilizing arm a is parallel to the left fork arm, one end of the stabilizing arm b is hingedly mounted at the inner quarter of the right fork arm, and the other end is located at the inner quarter of the right fork arm, the other end is located at one-half of the right fork arm, and the stabilizing arm b is parallel to the right fork arm.

[0008] Preferably, it also includes a top plate, the lower surface of which is provided with an upper slide rail, and the upper slider a and the upper slider b are slidably installed on the upper slide rail. A bearing seat is also installed on the top plate, and both ends of the screw are installed in the bearings of the bearing seat. A connecting block is installed on the screw, and the connecting block is fixedly connected to the upper slider a and the upper slider b respectively.

[0009] Preferably, a limiting groove is provided on the side surface of the upper slide rail, and limiting blocks corresponding to the limiting groove are provided on the upper slide block a and the upper slide block b.

[0010] Preferably, a lower slide rail is installed on the upper surface of the base plate, and the lower slider a and the lower slider b are slidably installed on the lower slide rail, and the lower slide rail is located between the stabilizing arm a and the stabilizing arm b.

[0011] Preferably, the driving mechanism includes a reducer and a motor, and the power output end of the motor is connected to the end of the lead screw through the reducer.

[0012] Preferably, the surface of the lead screw is provided with a right-handed thread segment and a left-handed thread segment, the right-handed thread segment and the left-handed thread segment are respectively located on both sides of the partition block, and the lead angles of the right-handed thread segment and the left-handed thread segment are equal.

[0013] The present invention has the following advantages: when the driving motor drives the lead screw to rotate, the lead screws at both ends rotate in opposite directions, which will cause the upper slider a and the upper slider b to move closer or farther away synchronously, thereby driving the cross arm to extend or contract in the vertical direction, and then the lower slider a and the lower slider b to move closer or farther away synchronously, causing the pan head to descend or ascend; by arranging a stabilizing arm a and a stabilizing arm b at the lower end of the cross arm, during the lifting and lowering process of the cross arm, the stabilizing arm a, the stabilizing arm b and the cross arm always form a parallelogram, so that the center of gravity remains unchanged, thereby ensuring the stability of the pan head lifting and descending. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the lifting device; Figure 2 It is a structural schematic diagram of the lifting device from the side; Figure 3 It is the structural diagram of the lead screw; Figure 4 It is a schematic diagram of the structure of the pan-tilt head connected with a coiled rope; In the figure, 1-motor, 2-reducer, 3-upper slider a, 4-top plate, 5-upper slide rail, 6-connecting block, 7-screw, 8-cross arm, 9-lower slide rail, 10-lower slider a, 11-stabilizing arm a, 12-hinge seat, 13-pan head, 14-stabilizing arm b, 15-bottom plate, 16-lower slider b, 17-limiting groove, 18-bearing seat, 19-bearing, 20-left-handed thread segment, 21-right-handed thread segment, 22-separator, 23-rope winding, 24-right fork arm, 25-left fork arm, 26-upper slider b, 27-driving mechanism. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0018] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0019] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In this embodiment, if Figure 1As shown, a lifting device includes a screw 7, the end of which is connected to a driving mechanism 27, and a partition block 22 is provided in the middle of the screw 7, the screws 7 at both ends of the partition block 22 rotate in opposite directions, an upper slider a3 and an upper slider b26 are respectively installed at both ends of the screw 7, a cross arm 8 is provided at the lower ends of the upper slider a3 and the lower slider b26, a lower slider a10 and a lower slider b16 are provided at the lower end of the cross arm 8, the lower slider a10 and the lower slider b16 are both slidably installed on a base plate 15, an articulated seat 12 is also installed on the base plate 15, a stabilizing arm a11 and a stabilizing arm b14 are respectively hinged at both ends of the articulated seat 12, the other end of the stabilizing arm a11 is hingedly installed on the outside of the cross arm 8, the other end of the stabilizing arm b14 is hingedly installed on the inside of the cross arm 8, and a pan head 13 is installed on the lower surface of the base plate 15. When the driving motor 27 drives the screw 7 to rotate, since the screws 7 at both ends rotate in opposite directions, the upper slider a3 and the upper slider b26 will move closer or farther away synchronously, thereby driving the cross arm 8 to extend or contract in the vertical direction, and then the lower slider a10 and the lower slider b16 will move closer or farther away synchronously, causing the pan-tilt head 13 to descend or rise. By setting a stabilizing arm a11 and a stabilizing arm b14 at the lower end of the cross arm 8, during the lifting and lowering process of the cross arm 8, the stabilizing arm a11, the stabilizing arm b14 and the cross arm 8 always form a parallelogram, so that the center of gravity remains unchanged, thereby ensuring the stability of the lifting and lowering of the pan-tilt head 13.

[0022] In this embodiment, the cross arm 8 is an existing cross arm, which is not improved here, that is, the cross arm 8 includes a left fork arm 25 and a right fork arm 24, the two ends of the left fork arm 25 are respectively hingedly mounted on the upper slider a3 and the lower slider a10, the two ends of the right fork arm 24 are respectively hingedly mounted on the upper slider b26 and the lower slider b16, one end of the stabilizing arm a11 is hingedly mounted at the outer quarter of the left fork arm 25, and the other end is located at one-half of the left fork arm 25, and the stabilizing arm a11 is parallel to the left fork arm 25, one end of the stabilizing arm b14 is hingedly mounted at the inner quarter of the right fork arm 24, and the other end is located at the inner quarter of the right fork arm 24, and the other end is located at one-half of the right fork arm 24, and the stabilizing arm b14 is parallel to the right fork arm 24. Preferably, the cross arm 8 here can be multi-layered, such as Figure 1 As shown, when the cross arm 8 is multi-layered, the stabilizing arm a11 and the stabilizing arm b14 are hinged to the left fork arm 25 and the right fork arm 24 of the lowest layer. Specifically, by arranging the stabilizing arm a11 and the stabilizing arm b14 at the lower ends of the left fork arm 25 and the right fork arm 24, during the lifting process of the cross arm 8, the stabilizing arm a11, the stabilizing arm b14, the left fork arm 25 and the right fork arm 24 always form a parallelogram, so that the center of gravity remains unchanged, ensuring the stability of the lifting of the pan / tilt head 13. In this embodiment, whether the left fork arm 25 and the right fork arm 24 are single-layered or multi-layered, they are installed in the existing manner, which is not improved here and will not be described in detail.

[0023] In this embodiment, if Figure 2 As shown, it also includes a top plate 4, the lower surface of the top plate 4 is provided with an upper slide rail 5, the upper slider a3 and the upper slider b26 are slidably mounted on the upper slide rail 5, the top plate 4 is also installed with a bearing seat 18, both ends of the lead screw 7 are installed in the bearing 19 of the bearing seat 18, a connecting block 6 is installed on the lead screw 7, and the connecting block 6 is fixedly connected to the upper slider a3 and the upper slider b26 respectively. Further, a lower slide rail 9 is installed on the upper surface of the bottom plate 15, and the lower slider a10 and the lower slider b16 are slidably mounted on the lower slide rail 9, and the lower slide rail 9 is located between the stabilizing arm a11 and the stabilizing arm b14. Further, the driving mechanism 27 includes a reducer 2 and a motor 1, and the power output end of the motor 1 is connected to the end of the lead screw 7 through the reducer 2. Specifically, when the motor 1 drives the lead screw 7 to rotate after being decelerated by the reducer 2, since the lead screws 7 at both ends rotate in opposite directions, the upper slider a3 and the upper slider b26 will slide along the upper slide rail 5, so that the two will approach or move away synchronously, thereby driving the cross arm 8 to extend or contract in the vertical direction, and then the lower slider a10 and the lower slider b16 will slide along the lower slide rail 9, so that they will approach or move away synchronously, thereby driving the pan / tilt head 13 to descend or ascend.

[0024] In this embodiment, a limiting groove 17 is provided on the side of the upper slide rail 5, and a limiting block corresponding to the limiting groove 17 is provided on the upper slider a3 and the upper slider b26. Specifically, since the pan-tilt platform 13 is in the air, that is, the driving system of the inspection robot is provided on the top plate 4, the limiting groove 17 and the limiting block are mutually limited, thereby preventing the upper slider a3 and the upper slider b26 from falling off the upper slide rail 5, causing the pan-tilt platform 13 to fall off.

[0025] In this embodiment, if Figure 3 As shown, the surface of the lead screw 7 is provided with a right-handed thread segment 21 and a left-handed thread segment 20, which are respectively located on both sides of the partition block 22, and the lead angles of the right-handed thread segment 21 and the left-handed thread segment 20 are equal. Specifically, when the pan / tilt head 13 is raised and lowered by using a winding rope 23 instead of a cross arm 8, as shown in FIG. Figure 4 As shown, when the winding rope 23 is used to drive the pan-tilt platform 13 to rise or fall, the motor 1 drives the reducer 2 to drive the lead screw 7 to rotate, so that the winding rope 23 embedded in the groove of the lead screw 7 is released or retracted, driving the pan-tilt platform 13 to rise or fall, wherein the angle between the winding rope 23 and the vertical line is Lead Angle The length of the rope 23 released or retracted by the lead screw 7 is equal, so that the length of the rope 23 released or retracted by each turn of the lead screw 7 is consistent. The rope reel system of the present invention uses only one rotational motion to make the rope 23 orderly wound, which can be automatically controlled, and improves the controllability of the rope reel system. Compared with the traditional rope reel system, the horizontal sorting motor of the conventional rope reel system is cancelled, that is, the horizontal sorting motion is cancelled, and the disordered winding of the rope 23 caused by the inconsistency between the horizontal moving speed and the rotation speed is avoided. In this embodiment, the rope 23 is released by forward rotation, and the rope 23 is retracted by reverse rotation.

[0026] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lifting device, characterized in that: The invention comprises a lead screw (7), the end of the lead screw (7) is connected to a driving mechanism (27), a partition block (22) is arranged in the middle of the lead screw (7), the lead screws (7) at the two ends of the partition block (22) rotate in opposite directions, an upper slider a (3) and an upper slider b (26) are respectively installed at the two ends of the lead screw (7), a cross arm (8) is arranged at the lower end of the upper slider a (3) and the lower slider b (26), and a lower slider a (10) and a lower slider b (16) are arranged at the lower end of the cross arm (8). ), the lower slider a (10) and the lower slider b (16) are both slidably mounted on a base plate (15), a hinge seat (12) is also mounted on the base plate (15), and two ends of the hinge seat (12) are respectively hinged with a stabilizing arm a (11) and a stabilizing arm b (14), the other end of the stabilizing arm a (11) is hingedly mounted on the outside of the cross arm (8), and the other end of the stabilizing arm b (14) is hingedly mounted on the inside of the cross arm (8), and a pan / tilt head (13) is mounted on the lower surface of the base plate (15).

2. The lifting device according to claim 1, characterized in that: The cross arm (8) comprises a left fork arm (25) and a right fork arm (24), the two ends of the left fork arm (25) being hingedly mounted on the upper slider a (3) and the lower slider a (10), respectively, the two ends of the right fork arm (24) being hingedly mounted on the upper slider b (26) and the lower slider b (16), respectively, one end of the stabilizing arm a (11) being hingedly mounted at one fourth of the outer side of the left fork arm (25), the other end being located at one half of the left fork arm (25), and the stabilizing arm a (11) being parallel to the left fork arm (25), one end of the stabilizing arm b (14) being hingedly mounted at one fourth of the inner side of the right fork arm (24), the other end being located at one fourth of the inner side of the right fork arm (24), the other end being located at one half of the right fork arm (24), and the stabilizing arm b (14) being parallel to the right fork arm (24).

3. The lifting device according to claim 2, characterized in that: It also includes a top plate (4), the lower surface of which is provided with an upper slide rail (5), the upper slider a (3) and the upper slider b (26) are slidably mounted on the upper slide rail (5), the top plate (4) is also provided with a bearing seat (18), both ends of the lead screw (7) are mounted in bearings (19) of the bearing seat (18), the lead screw (7) is provided with a connecting block (6), and the connecting block (6) is fixedly connected to the upper slider a (3) and the upper slider b (26), respectively.

4. The lifting device according to claim 3, characterized in that: A limiting groove (17) is provided on the side surface of the upper slide rail (5), and limiting blocks corresponding to the limiting groove (17) are provided on the upper slide block a (3) and the upper slide block b (26).

5. The lifting device according to claim 4, characterized in that: A lower sliding rail (9) is installed on the upper surface of the base plate (15), and the lower sliding block a (10) and the lower sliding block b (16) are slidably installed on the lower sliding rail (9), and the lower sliding rail (9) is located between the stabilizing arm a (11) and the stabilizing arm b (14).

6. The lifting device according to claim 5, characterized in that: The driving mechanism (27) comprises a reducer (2) and a motor (1), and a power output end of the motor (1) is connected to the end of the lead screw (7) via the reducer (2).

7. The lifting device according to claim 6, characterized in that: A right-handed thread segment (21) and a left-handed thread segment (20) are provided on the surface of the lead screw (7); the right-handed thread segment (21) and the left-handed thread segment (20) are respectively located on both sides of the partition block (22); and the lead angles of the right-handed thread segment (21) and the left-handed thread segment (20) are equal.

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