Lifting device and monitoring robot

Abstract

The invention relates to a lifting device which comprises a first lifting mechanism, a second lifting mechanism, a third lifting mechanism and a fourth lifting mechanism. The second-stage support is connected with the output end of the first driving assembly. The second lifting mechanism comprises a third-stage support movably connected into the second-stage support in the vertical direction and a second driving assembly used for driving the third-stage support to ascend and descend. The third lifting mechanism comprises a fourth-stage support movably connected to the third-stage support in the vertical direction, a third driving assembly used for driving the fourth-stage support to ascend and descend, and a floating assembly movably arranged on the fourth-stage support in the vertical direction. Through the arrangement, large-stroke lifting in the small-size lifting device is achieved, the lifting process is automatically carried out, and the lifting accuracy and the lifting efficiency can be improved.

Description

Technical Field

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

[0002] Temperature, pressure and other monitoring sensors and instruments are one of the most basic and important physical quantities in industrial production and daily life. Accurately measuring and monitoring the data of sensors and instruments is crucial to ensure the normal operation of equipment, product quality control, environmental monitoring, etc. With the continuous development of automation and intelligent technology, traditional inspection methods can no longer meet the needs of modern industrial production and living environment.

[0003] For monitoring the performance of various monitoring sensors and instruments such as temperature and pressure, the existing technical solutions usually adopt manual inspection or install various remote monitoring systems. However, the existing technical solutions have the following problems and shortcomings: first, the installation and maintenance costs of the remote monitoring system are high, which increases the operating costs of the enterprise; second, the workload of manual inspection is large, and the monitoring efficiency and accuracy are low. In addition, there are certain safety hazards in special operations, and it is difficult to monitor sensor / instrument data within different height ranges, especially for instruments and sensors at higher heights. It is difficult to observe and requires a larger lifting device to assist in raising the observation height. Therefore, it is urgent to develop an automatic monitoring system for temperature and instrument data based on intelligent robot technology. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a lifting device, comprising: The first lifting mechanism comprises: a primary support, a first driving assembly arranged on the primary support, and a secondary support movably connected to the primary support in a vertical direction; the secondary support is connected to an output end of the first driving assembly; The second lifting mechanism comprises: a second driving assembly movably connected to the third-level bracket in the second-level bracket in the vertical direction, and used to drive the third-level bracket to lift; the second driving assembly comprises: a first guide assembly arranged on the second-level bracket, and a first flexible transmission member whose two ends are respectively fixedly connected to the first-level bracket and the third-level bracket and movably wound around the first guide assembly; The third lifting mechanism includes: a fourth-level bracket movably connected to the third-level bracket in the vertical direction, a third driving component for driving the fourth-level bracket to lift and lower, and a floating component movably arranged on the fourth-level bracket in the vertical direction; the third driving component includes: a second guide component arranged on the third-level bracket, a second flexible transmission member whose two ends are respectively fixedly connected to the second-level bracket and the fourth-level bracket and movably wound around the second guide component.

[0005] In one embodiment of the present invention, the first guide assembly and the second guide assembly have the same structure and both include: an inner sprocket and an outer sprocket respectively arranged on the secondary bracket or the tertiary bracket along the first horizontal direction, the inner sprocket and the outer sprocket are rotatably assembled on the inner and outer sides of the secondary bracket and the tertiary bracket, and the first flexible transmission member or the second flexible transmission member is configured as a chain and is respectively adapted to the outer sprocket and the inner sprocket.

[0006] In one embodiment of the present invention, the first guide assembly and the second guide assembly also include a sprocket bracket respectively arranged at the upper end of the secondary bracket or the upper end of the tertiary bracket, and the sprocket bracket includes a first support member and a second support member that are arranged at intervals and form a chain channel, and the two ends of the first support member and the second support member are respectively located on the inner side and the outer side of the secondary bracket or the tertiary bracket; the first support member and the second support member are connected by a connecting part, and the chain passes through the chain channel between the first support member, the second support member and the connecting part and is downwardly wrapped around the inner sprocket and the outer sprocket.

[0007] In one embodiment of the present invention, the first-level bracket includes a base, a first side panel arranged on both sides of the base along a first horizontal direction, and a first top panel respectively connected to the first side panels on both sides; the second-level bracket includes: a second side panel arranged at intervals along the first horizontal direction, and a second top panel respectively connected to the second side panels on both sides, the first driving component is installed on the base and the output end is connected to the second top panel; the third-level bracket includes: a third side panel arranged at intervals along the first horizontal direction, and a third top panel respectively connected to the third side panels on both sides; the fourth-level bracket includes: a fourth side panel arranged at intervals along the first horizontal direction, and the floating component is arranged between the fourth side panels on both sides.

[0008] In one embodiment of the present invention, the first-level bracket is enclosed to form a first accommodating space, and the size of the first accommodating space is adapted to the size of the second-level bracket; the second-level bracket is enclosed to form a second accommodating space, and the size of the second accommodating space is adapted to the size of the tertiary bracket; the third-level bracket is enclosed to form a third accommodating space, and the size of the third accommodating space is adapted to the size of the fourth-level bracket; the first-level bracket, the second-level bracket, the third-level bracket and the fourth-level bracket can be nested in sequence from the outside to the inside.

[0009] In one embodiment of the present invention, the first-level bracket and the second-level bracket are connected via a first sliding pair, the second-level bracket and the third-level bracket are connected via a second sliding pair, and the third-level bracket and the fourth-level bracket are connected via a third sliding pair.

[0010] In one embodiment of the present invention, the floating assembly includes a rotary drive member, a screw pair drivingly connected to the rotary drive member, and a floating platform connected to the screw pair, wherein the floating platform protrudes from the four-stage bracket along the second horizontal direction.

[0011] In one embodiment of the present invention, a first upper joint and a first lower joint are respectively installed on the upper side of the first-level bracket and the lower side of the third-level bracket, and the two ends of the first flexible transmission member are respectively fixedly connected to the first upper joint and the first lower joint; a second upper joint and a second lower joint are respectively installed on the upper side of the second-level bracket and the lower side of the fourth-level bracket, and the two ends of the second flexible transmission member are respectively fixedly connected to the second upper joint and the second lower joint.

[0012] In one embodiment of the present invention, a monitoring robot is disclosed, comprising: Moving subjects; The lifting device mentioned above is arranged on the mobile body; A monitoring unit, comprising a pan-tilt mounted on the floating assembly, and a camera mounted on the pan-tilt; The shell mechanism is surrounded by the lifting device.

[0013] In one embodiment of the present invention, the housing mechanism comprises a shell and a back plate, and the back plate is provided with a lifting slot adapted for the floating assembly.

[0014] The above technical solution of the present invention has the following advantages compared with the prior art: The present invention provides a lifting device and monitoring robot, wherein the second-stage bracket is driven to rise by the first driving component, and the first flexible transmission member is pushed by the first guiding component when the second-stage bracket rises, one end of the first flexible member is connected to the first-stage bracket, and the height remains unchanged, and the other end of the first flexible transmission member is lifted and drives the third-stage bracket to rise, and the third-stage bracket rises in the second accommodation space of the second-stage bracket, and the third-stage bracket is pushed by the second guiding component when it rises, so that the second flexible member lifts the fourth-stage bracket. Compared with the direct drive of the first driving component, the fourth-stage bracket can achieve a 3-fold stroke expansion, and realizes a large stroke lifting of multi-stage amplification and superposition in a small-sized lifting device, and at the same time, there is no need to fold the lifting device, which can ensure the structural strength, and the lifting process is automated, which can improve the accuracy and efficiency of lifting. At the same time, the lifting adjustment based on the floating component can realize the adjustment of the height of a lower position. Compared with the prior art, the monitoring robot provided by the present application can replace manual inspection, realize the problem of monitoring sensor / instrument data within different height ranges, and improve the monitoring efficiency; at the same time, it can effectively reduce the equipment cost problem caused by installing a remote monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1It is a schematic diagram of the structure of the monitoring robot; Figure 2 It is a structural schematic diagram of the lifting device; Figure 3 is a cross-sectional view of the front of the lifting device; Figure 4 It is a structural schematic diagram of the primary support and the first drive assembly; Figure 5 It is a schematic diagram of the structure of the secondary support and the first drive assembly; Figure 6 It is a schematic diagram of the structure of the three-stage bracket; Figure 7 It is a schematic diagram of the structure of the four-stage bracket and the monitoring unit; Figure 8 It is a structural schematic diagram of the first guide assembly or the second guide assembly and the chain; Fig. 9 It is a structural schematic diagram of the first guide component or the second guide component.

[0016] Description of the accompanying drawings: 1. Mobile body; 2. Shell mechanism; 21. Shell; 22. Back plate; 23. Lifting slot; 3. Monitoring unit; 31. PTZ; 32. Camera; 4. Lifting channel entrance; 51. lower joint; 52. chain; 53. inner sprocket; 54. outer sprocket; 55. sprocket bracket; 551. first support member; 5511. first support portion; 5512. second support portion; 552. second support member; 553. connecting portion; 554. chain channel; 56. upper joint; 6. primary bracket; 61. first driving assembly; 62. first top plate; 63. base; 64. first side plate; 65. first sliding pair; 651. first slider; 652. first slide rail; 66. first accommodating space; 67. first plate body; 68. first limit plate; 69. first opening; 7. Secondary bracket; 71. Second side plate; 72. First chain; 73. First inner sprocket; 74. First outer sprocket; 75. First sprocket bracket; 76. First upper joint; 77. First lower joint; 78. Second top plate; 79. Second sliding pair; 791. Second slider; 792. Second slide rail; 710. Second accommodating space; 711. First pad; 712. First connecting plate; 713. Second plate body; 714. Second limit plate; 715. Second opening; 8. three-stage bracket; 81. third side plate; 82. third top plate; 83. second sprocket bracket; 84. second inner sprocket; 85. second outer sprocket; 86. second lower joint; 87. second upper joint; 88. second chain; 89. third sliding pair; 891. third slider; 892. third slide rail; 810. third accommodating space; 811. second pad; 812. second connecting plate; 813. third plate body; 814. third limit plate; 815. third opening; 9. Four-stage bracket; 91. Fourth side plate; 92. Rotary drive member; 93. Coupling; 94. Lifting slot; 95. Screw pair; 96. Floating platform. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0018] For ease of understanding, Figure 1 As a reference, the direction of the X-axis is defined as the first horizontal direction, the direction of the Y-axis is defined as the second horizontal direction, and the direction of the Z-axis is defined as the vertical direction. Example

[0019] Reference Figure 1-Figure 9 As shown, a lifting device and a monitoring robot of this embodiment. The monitoring robot comprises a mobile body 1, the aforementioned lifting device, a monitoring unit 3 arranged on the lifting device, and a shell mechanism 2 surrounding the lifting device.

[0020] Among them, the mobile body 1, as the basic bearing platform of the entire device, has a mobile function, and its movement mode includes but is not limited to wheeled movement, crawler movement or foot movement according to the terrain application scenario and needs. The lifting device is arranged on the mobile body 1. The monitoring unit 3 includes a pan-tilt head 31 and a camera 32 installed on the pan-tilt head 31. Through the lifting device, the monitoring unit 3 can be adjusted to different heights, so that the camera 32 can monitor the sensor or instrument data at different heights. The camera 32 is responsible for collecting image or video information of target instruments or sensors at various heights and angles to provide image or video information analysis data. The pan-tilt head 31 is a device with multiple rotational degrees of freedom, which can realize a large range of angle rotation within a spatial range to maintain the stability of the camera 32 during data collection and improve the monitoring accuracy and inspection efficiency of the monitoring robot.

[0021] In this embodiment, the lifting device includes a first lifting mechanism, a second lifting mechanism, and a third lifting mechanism.

[0022] Among them, the first lifting mechanism includes a first-level bracket 6 and a second-level bracket 7 movably connected to the first-level bracket 6 in the vertical direction. Specifically, the first-level bracket 6 includes a base 63, and first side plates 64 are installed on both sides of the base 63 along the first horizontal direction. A first top plate 62 is connected between the two first side plates 64. Among them, the first top plate 62 is arranged at the upper end between the first side plates 64. The upper and lower ends of the two groups of first side plates 64 are connected by the first top plate 62 and the base 63 respectively. The first-level bracket 6 encloses a first accommodating space 66. Specifically, the first accommodating space 66 is formed between the first side plates 64 of the first-level bracket 6. The size of the first accommodating space 66 is adapted to the size of the second-level bracket 7. Its size along the first horizontal direction is slightly larger than the size of the second-level bracket 7 along the first horizontal direction. And the first top plate 62 retreats outward along the second horizontal direction at the upper end of the first side plate 64 to form a lifting channel opening 4 to avoid blocking the up and down movement of the second-level bracket 7. Both groups of first side plates 64 include first plate bodies 67 arranged in the vertical direction and first limiting plates 68 arranged on both sides of the first plate bodies 67, and are generally U-shaped or 冂-shaped. One side where the two groups of first side plates 64 are close to each other has a first opening 69. The first-level bracket 6 and the second-level bracket 7 are connected by a first sliding pair 65. The first sliding pair 65 includes a first slide rail 652 and a first slider 651. The first slide rail 652 is arranged vertically on the inner side of the first side plate 64. The first slider 651 is installed on the outer side of the second-level bracket 7 and is adapted to the first slide rail 652. The first slider 651 is installed at a lower position on the outer side of the second-level bracket 7, so that when the second-level bracket 7 is in the retracted state or the deployed state, the first slider 651 can be located at the lower end and the upper end of the first slide rail 652 respectively, thereby ensuring the stroke of the second-level bracket 7.

[0023] Refer to Figure 2-Figure 5As shown, the first lifting mechanism further includes a first driving assembly 61 disposed on the first-level bracket 6. Among them, at least a part of the first top plate 62 and the base 63 of the first-level bracket 6 protrude from the first side plate 64 in the second horizontal direction, further enabling the first driving assembly 61 to be installed outside the first side plate 64 so as to avoid the second-level bracket 7. Among them, the first driving assembly 61 is installed between the first top plate 62 and the base 63. And, the output end of the first driving member is connected to the second-level bracket 7 to drive the second-level bracket 7 to lift. The second-level bracket 7 includes: two sets of oppositely arranged second side plates 71. These two sets of second side plates 71 both include a second plate body 713 arranged in the vertical direction and second limiting plates 714 arranged on both sides of the second plate body 713, and are generally U-shaped or 冂-shaped. A second opening 715 is formed on the side where the two sets of second side plates 71 are close to each other. The first slider 651 is installed on the outside of the second plate body 713 of the second side plate 71. The second side plates 71 are two sets and are arranged at intervals in the first horizontal direction. The two sets of second side plates 71 are connected by a second top plate 78, and the second top plate 78 is connected at the top of the second side plates 71. The size of the second top plate 78 is slightly smaller than that of the first top plate 62, so that when the second-level bracket 7 is in a contracted state, the first top plate 62 and the second top plate 78 can also form a nested structure. The first driving assembly 61 is installed on the base 63 and its output end is connected to the second top plate 78. In this embodiment, the first driving assembly 61 is configured to include, but is not limited to, a cylinder, an electric push rod, and a hydraulic cylinder. In this embodiment, the bottom of the cylinder barrel is installed on the base 63 and the end is fixed to the first top plate 62, and its piston rod passes through the first top plate 62 and then is fixedly connected or at least abutted upward to the second top plate 78, so that when the piston rod extends, it can push the second-level bracket 7 to rise. The second-level bracket 7 encloses a second accommodation space 710, specifically, the second accommodation space 710 is formed between the two second side plates 71 of the second-level bracket 7. First pads 711 are installed on both sides of the second side plate 71 in the second horizontal direction, and the two first pads 711 are connected by a first connecting plate 712. The structural rigidity of the second-level bracket 7 is improved by the provided first connecting plate 712, and the size of the second accommodation space 710 in the second horizontal direction is enlarged by the first pads 711. At the same time, the projections of the first pads 711 and the first connecting plate 712 in the second horizontal direction are both located in the first accommodation space 66. That is, the perspectives of the first pads 711 and the first connecting plate 712 in the second horizontal direction are between the first plate bodies 67 of the two first side plates 64, and in terms of the perspective in the first horizontal direction, the projections of the first pads 711 and the first connecting plate 712 are between the first limiting plates 68 of the first side plate 64, so that the second-level bracket 7 does not occupy extra dimensions, so as to nest a larger second accommodation space 710 in the limited first accommodation space 66, thereby increasing the space utilization rate of the second-level bracket 7 within the first-level bracket 6.

[0024] Refer to Figure 2 、 Figure 3 、 Figure 6 As shown in Figure 6 , the second lifting mechanism includes a third-level bracket 8 movably connected to the second-level bracket 7 in the vertical direction, and a second driving assembly for driving the lifting of the third-level bracket 8. Among them, the third-level bracket 8 includes two sets of third side plates 81 arranged oppositely. These two sets of third side plates 81 are arranged at intervals in the first horizontal direction. Both sets of third side plates 81 include a third plate body 813 arranged in the vertical direction and third limiting plates 814 arranged on both sides of the plate body, and are generally U-shaped or 冂-shaped. One side of the two sets of third side plates 81 close to each other has a third opening 815. The two sets of third side plates 81 are connected by a third top plate 82, and the two sets of third side plates 81 are connected by the third top plate 82 at the top position. As mentioned above, the second-level bracket 7 encloses a second accommodation space 710. The size of the second accommodation space 710 is adapted to the size of the third-level bracket 8 to accommodate the third-level bracket 8. And the second top plate 78 is fixedly connected to the third limiting plate 814 of the third side plate 81 on one side along the second horizontal direction at the upper end of the second side plate 71. The third-level bracket 8 encloses a third accommodation space 810, specifically, a third accommodation space 810 is formed between the two third side plates 81 of the third-level bracket 8.

[0025] The third-level bracket 8 is driven by the second driving assembly to realize lifting in the second accommodation space 710. Among them, the second driving assembly includes a first guiding assembly and a first flexible transmission member. The first guiding assembly is arranged on the second-level bracket 7. The first flexible transmission member is wound around the first guiding assembly. And, both ends of the first flexible transmission member are respectively fixedly connected to the first-level bracket 6 and the third-level bracket 8.

[0026] The first guiding assembly includes an inner sprocket 53 and an outer sprocket 54 arranged on the top of the second-level bracket 7 in the first horizontal direction. The inner sprocket 53 and the outer sprocket 54 are rotatably assembled on the inner and outer sides of the second-level bracket 7. The first flexible transmission member is configured as a chain 52 to be传动适配 with the inner sprocket 53 and the outer sprocket 54. In addition, upper connectors 56 and lower connectors 51 are respectively connected to both ends of the first flexible transmission member to be connected to the first-level bracket 6 and the third-level bracket 8.

[0027] It should be noted that there is an unclear expression "传动适配" in the original text, and it may need to be further clarified according to the specific context to ensure more accurate translation.The first guide assembly also includes a sprocket bracket 55 respectively arranged at the upper end of the secondary bracket 7, and the sprocket bracket 55 includes a first support member 551 and a second support member 552 which are arranged at intervals and formed with a chain channel 554. Among them, the two ends of the first support member 551 and the second support member 552 are respectively located on the inner side and the outer side of the secondary bracket 7. Specifically, the first support member 551 includes a first support portion 5511 and a second support portion 5512 arranged along the first horizontal direction. The first support portion 5511 is located on the outer side of the second side plate 71, and the second support portion 5512 is located on the inner side of the second side plate 71. The first support portion 5511 and the second support portion 5512 are integrally formed to form the first support member 551. The second support member 552 is also composed of the first support portion 5511 and the second support portion 5512 and is arranged at intervals from the first support member 551. The first support member 551 and the second support member 552 are connected by a connecting portion 553. The chain 52 passes through the chain channel 554 between the first support member 551, the second support member 552 and the connecting portion 553 and is wound around the inner sprocket 53 and the outer sprocket 54 downwardly. The connecting portion 553 is bent upwardly to provide space required by the chain channel 554. At the same time, the connecting portion 553 is located above the chain 52 to prevent the chain 52 from moving away from the sprocket. In some embodiments, the number of the connecting portions 553 can also be multiple, and they are respectively arranged on the peripheral sides of the outer sprocket 54 and the inner sprocket 53.

[0028] Specifically, refer to Figure 5 As shown, the first guide assembly is defined to include a first inner sprocket 73, a first outer sprocket 74 and a first sprocket bracket 75. The first inner sprocket 73 and the first outer sprocket 74 are respectively arranged on the inner and outer sides of the secondary bracket 7 along the first horizontal direction. The first inner sprocket 73 and the first outer sprocket 74 are rotatably mounted on the inner and outer sides of the secondary bracket 7, and are specifically rotatably connected to the inner and outer sides of the first sprocket bracket 75. The first flexible transmission member is configured as a first chain 72 and is respectively adapted to the first outer sprocket 74 and the first inner sprocket 73. By setting the first outer sprocket 74 and the first inner sprocket 73, the two sides of the first chain 72 are respectively extended to the inner and outer sides and protrude from the inner and outer sides of the second side plate 71, so as to avoid friction between the first chain 72 and the second side plate 71.

[0029] The first upper joint 76 and the first lower joint 77 are respectively installed on the upper side of the first bracket 6 and the lower side of the tertiary bracket 8. Among them, the first upper joint 76 is installed on the inner side of the first plate body 67 of the first bracket 6 near the top. The first lower joint 77 is installed on the outer side of the third side plate 81 of the tertiary bracket 8 near the bottom. The two ends of the first flexible transmission member are respectively fixedly connected to the first upper joint 76 and the first lower joint 77. Specifically, according to the foregoing content, it can be known that the first flexible transmission member in this embodiment is configured as a first chain 72. The first chain 72 passes through the chain channel 554 of the first guide assembly, and then the two ends are downwardly wound around the first inner sprocket 73 and the first outer sprocket 74. The two ends of the first chain 72 are respectively connected to the first upper joint 76 and the first lower joint 77 on the corresponding side.

[0030] The secondary bracket 7 and the tertiary bracket 8 are connected by a second sliding pair 79. The second sliding pair 79 includes a second slide rail 792 and a second slider 791. The second slide rail 792 is installed on the inner side of the second plate 713 of the secondary bracket 7 in the vertical direction. The second slider 791 is installed on the lower part of the outer side of the third plate 813 of the tertiary bracket 8, so that when the tertiary bracket 8 is in a retracted state or an expanded state, the second slider 791 can be located at the lower end and the upper end of the second slide rail 792 respectively, thereby ensuring the travel of the tertiary bracket 8. Correspondingly, for the tertiary bracket 8, the second pads 811 are installed on both sides of the third side plate 81 along the second horizontal direction, and the two second pads 811 are connected by a second connecting plate 812, and the structural rigidity of the tertiary bracket 8 is improved by the second connecting plate 812. The size of the third accommodating space 810 along the second horizontal direction is enlarged by the second pad 811, and at the same time, the projections of the second pad 811 and the second connecting plate 812 along the second horizontal direction are both located in the second accommodating space 710. That is, the second pad 811 and the second connecting plate 812 are between the second plate bodies 713 of the second side plates 71 on both sides from the perspective of the second horizontal direction, while from the perspective of the first horizontal direction, the projections of the first pad 711 and the first connecting plate 712 are both located between the second limiting plates 714 of the second side plates 71, and do not occupy additional dimensions, so as to nest a larger third accommodating space 810 in the limited second accommodating space 710, thereby increasing the space utilization rate of the tertiary bracket 8 on the secondary bracket 7, miniaturizing the lifting device while providing sufficient structural main body space to ensure structural strength.

[0031] Reference Figure 6 , Figure 7As shown, the third lifting mechanism includes a fourth-stage bracket 9 movably connected to the third-stage bracket 8 in the vertical direction, and a third driving assembly for driving the fourth-stage bracket 9 to rise and fall. Among them, the fourth-stage bracket 9 includes two sets of fourth side plates 91 arranged opposite to each other. The two sets of fourth side plates 91 are arranged at intervals along the first horizontal direction. As mentioned above, the third-stage bracket 8 is enclosed to form a third accommodating space 810. The size of the third accommodating space 810 is adapted to the size of the fourth-stage bracket 9. The fourth-stage bracket 9 is driven by the third driving assembly to rise and fall in the third accommodating space 810. The third-stage bracket 8 and the fourth-stage bracket 9 are connected by a third sliding pair 89. The third sliding pair 89 includes a third slider 891 and a third slide rail 892. The third slide rail 892 is installed on the inner side of the third plate body 813 of the third side plate 81 in the vertical direction. The third slider 891 is installed on the outer side of the fourth side plate 91 of the fourth bracket 9 near the bottom, so that when the fourth bracket 9 is in the retracted state or the expanded state, the third slider 891 can be located at the lower end and the upper end of the third rail, respectively, thereby ensuring the travel of the fourth bracket 9. Since the first slide rail 652, the second slide rail 792 and the third slide rail 892 are respectively arranged on both sides of the inner side of the first bracket 6, the second bracket 7 and the third bracket 8, the first slider 651, the second slider 791 and the third slider 891 are respectively provided with openings adapted to the first slide rail 652, the second slide rail 792 and the third slide rail 892, so that the corresponding sliders are slidably connected with the corresponding slide rails through the openings, and are limited by the inner walls of the slider openings. In order to limit the maximum stroke of the secondary bracket 7, the tertiary bracket 8 and the fourth bracket 9 and prevent the secondary bracket 7, the tertiary bracket 8 and the fourth bracket 9 from hitting the top and falling off, stoppers are respectively provided at the upper ends of the first slide rail 652, the second slide rail 792 and the third slide rail 892 to limit the movable range of each level of the bracket. In order to further improve the protection of the chain 52, the thickness of each sliding pair along the first horizontal direction is greater than the thickness of the chain 52 along the first horizontal direction. The support of the sliding pair is used to provide a movable gap space between the adjacent side plates of the brackets at each level. The chain 52 moves in the gap space in the vertical direction. The sliding pair is used to protect the support to prevent the adjacent brackets from squeezing the chain 52 therein.

[0032] Reference Figure 6As shown, the third drive assembly includes a second guide assembly and a second flexible transmission member. The second guide assembly is arranged at the top of the third bracket 8. The second flexible transmission member is movably arranged around the second guide assembly, and the two ends of the second flexible transmission member are respectively fixedly connected to the second bracket 7 and the fourth bracket 9. The two ends of the second flexible transmission member are respectively fixedly connected to the second upper joint 87 and the second lower joint 86. In addition, the second upper joint 87 is installed on the upper side of the second bracket 7. That is, the second upper joint 87 is installed on the inner side of the second side plate 71 of the second bracket 7 near the top. The second lower joint 86 is installed on the lower side of the fourth bracket 9. That is, the second lower joint 86 is installed on the inner side of the fourth side plate 91 of the fourth bracket 9 near the bottom. In this embodiment, the second flexible transmission member is configured as a second chain 88. Among them, the structure of the second guide assembly is the same as that of the first guide assembly, including an inner sprocket 53 and an outer sprocket 54 arranged on the third bracket 8 along the first horizontal direction. The inner sprocket 53 and the outer sprocket 54 are rotatably assembled on the inner and outer sides of the third bracket 8. The second flexible transmission member is adapted to the inner sprocket 53 and the outer sprocket 54. In addition, the second guide assembly also includes a sprocket bracket 55 provided on the three-stage bracket 8. The sprocket bracket 55 of the second guide assembly has the same structure as the sprocket bracket 55 of the first guide assembly, and also includes a first support member 551 and a second support member 552 which are arranged at intervals and formed with a chain channel 554. Among them, the two ends of the first support member 551 and the second support member 552 are respectively located on the inner side and the outer side of the three-stage bracket 8. Specifically, the first support member 551 includes a first support portion 5511 and a second support portion 5512 arranged along the first horizontal direction. The first support portion 5511 is located on the outer side of the third side plate 81, and the second support portion 5512 is located on the inner side of the third side plate 81. The first support portion 5511 and the second support portion 5512 are integrally formed to form the first support member 551. The second support member 552 is also composed of the first support portion 5511 and the second support portion 5512 and is arranged at intervals from the first support member 551. The first support member 551 and the second support member 552 are connected by a connecting portion 553. For the second guide assembly, the second chain 88 passes through the chain channel 554 between the first support member 551, the second support member 552 and the connecting portion 553 and is wound around the inner sprocket 53 and the outer sprocket 54 downwardly, and the connecting portion 553 is bent upwardly to provide the space required for the chain channel 554. At the same time, the connecting portion 553 is located above the second chain 88, which can prevent the second chain 88 from moving away from the sprocket. In some embodiments, the number of the connecting portions 553 can also be multiple, and they are respectively arranged on the peripheral sides of the outer sprocket 54 and the inner sprocket 53.

[0033] For this embodiment, the inner sprocket of the second guide assembly is defined as the second inner sprocket 84, the outer sprocket of the second guide assembly is defined as the second outer sprocket 85, and the sprocket bracket is defined as the second sprocket bracket 83. The second inner sprocket 84 and the second outer sprocket 85 are rotatably mounted on the inner and outer sides of the third-level bracket 8, specifically, the inner and outer sides of the second sprocket bracket 83. By setting the second outer sprocket 85 and the second inner sprocket 84, the two sides of the second chain 88 are respectively extended along the first horizontal direction to the inner and outer sides of the third side plate 81 and protrude from the inner and outer sides of the third side plate 81, thereby avoiding friction between the second chain 88 and the third side plate 81. During the lifting process, the inner side of the second chain 88 increases or decreases the overlap length with the fourth side plate 91 by gradually fitting close to or away from the fourth side plate 91, so that the second chain 88 and the outer wall of the fourth side plate 91 of the fourth-level bracket 9 do not slide relative to each other to avoid wear. The second flexible transmission member is respectively adapted to the second outer sprocket 85 and the second inner sprocket 84, and is driven by the second chain 88 gear meshing to avoid slipping, and can carry a larger weight. Since the driving stroke of the first driving component 61 of the present application is amplified by a multi-stage pulley drive through a multi-stage bracket, a more precise control of the lifting height is required, and the lifting height can be accurately adjusted by the sprocket and chain 52. In addition, in the application scenario where the four-stage bracket 9, the three-stage bracket 8, or the two-stage bracket 7 is required to hover at a specific height, the first flexible transmission member and the second flexible transmission member are both configured as chains 52, so that they are not easily stretched and elongated when the load is heavy, and the meshing of the chain 52 and the sprocket can provide a better height positioning accuracy.

[0034] Reference Figure 5 , Figure 8As shown, the upper side of the secondary bracket 7 and the lower side of the fourth bracket 9 are respectively installed with a second upper joint 87 and a second lower joint 86, and the two ends of the second flexible transmission member are respectively fixedly connected to the second upper joint 87 and the second lower joint 86. Taking the secondary bracket 7 as a height reference, in the retracted state, the secondary bracket 7 is nested in the fourth bracket 9 at intervals and the heights are basically the same, the second upper joint 87 is located at the upper end of the secondary bracket 7, the second lower joint 86 is located at the lower end of the fourth bracket 9, and the outer end of the second flexible transmission member extends downward over the sprocket on the third bracket 8, so that the inner end of the second flexible transmission member is connected to the lower end of the fourth bracket 9; when the fourth bracket 9 is driven to rise, the second flexible transmission member is pushed up by the third bracket 8, and the fourth bracket 9 is pulled up relative to the secondary bracket 7 through the inner end, and the second lower joint 86 is also raised relative to the secondary bracket 7, so that the fourth bracket 9 rises to the top of the secondary bracket 7, and the height difference between the fourth bracket 9 and the secondary bracket 7 is limited by the third bracket 8 , and use the second flexible transmission member and the second upper joint 87 to provide an upward pulling force to the fourth-level bracket 9. At this time, the inner end of the second flexible transmission member passes over the sprocket on the third-level bracket 8 and extends downward, so that the inner end of the second flexible transmission member is connected to the upper end of the secondary bracket 7, which can reduce the length of the second flexible transmission member, so that the length of the second flexible transmission member is slightly larger than the height difference before and after the fourth-level bracket 9 is lifted. The slightly larger size is the length required for winding the second guide assembly and the length required for fixed installation on the fourth-level bracket 9 after winding the second guide assembly. In this embodiment, the first guide assembly and the second guide assembly are staggered along the second horizontal direction, so that when the third-level bracket 8 is retracted into the second-level bracket 7, the first guide assembly and the second guide assembly can be arranged with a gap along the second horizontal direction.

[0035] Through the above arrangement, the first-level bracket 6, the second-level bracket 7, the third-level bracket 8 and the fourth-level bracket 9 can be nested layer by layer from the outside to the inside. Specifically, the second-level bracket 7 can be accommodated in the first accommodation space 66, and the first pad 711 and the first connecting plate 712 protrude from the first side plate 64 along the second horizontal direction. The third-level bracket 8 can be accommodated in the second accommodation space 710, and the second pad 811 and the second connecting plate 812 protrude from the second side plate 71 along the second horizontal direction. The fourth-level bracket 9 can be accommodated in the third accommodation space 810.

[0036] Reference Figure 7As shown, the four-stage bracket 9 is also provided with a floating assembly movably arranged in the vertical direction. The floating assembly is arranged between the fourth side plates 91 on both sides. The aforementioned pan / tilt head 31 is mounted on the floating assembly. In this embodiment, the floating assembly includes a rotating drive member 92, which is a driving motor, and the rotating drive member 92 is driven and connected with a lead screw pair 95. The lead screw pair 95 is vertically installed between the two fourth side plates 91 of the four-stage bracket 9 and is fixedly connected to the fourth side plate 91. Generally, the lead screw pair 95 can adopt a screw slide that can realize linear drive. A coupling 93 is also connected between the driving motor and the lead screw pair 95, and the relative displacement between the driving motor and the lead screw pair 95 is compensated by the provided coupling 93. In the case of frequent load starting or working load changes, the coupling 93 has an elastic element that plays a buffering and vibration reduction role, which can protect the prime mover and the working machine from being damaged or not damaged. The lead screw pair 95 is connected to the floating platform 96, the driving motor is connected to the driving lead screw, the driving lead screw sleeve is provided with an adapted lead screw sleeve to form the lead screw pair 95, the floating platform 96 is connected to the lead screw sleeve, and since the lead screw sleeve is connected to the floating platform 96, the rotation of the lead screw is converted into the linear motion of the lead screw sleeve, thereby driving the floating platform 96 to rise or fall in the vertical direction. The floating platform 96 protrudes from the four-stage bracket 9 in the second horizontal direction, so as to be used for installing the pan / tilt platform 31 without interfering with the telescopic process of the lifting device.

[0037] In addition, in order to protect the lifting device, the lifting device is surrounded by a shell mechanism 2. The shell mechanism 2 includes a shell 21 and a back plate 22. The back plate 22 is provided with a lifting slot 23 adapted to the floating assembly. The four-stage bracket 9 is provided with a lifting slot 94 corresponding to the lifting slot 23, so that the floating platform 96 can protrude from the shell mechanism 2 and move up and down.

[0038] Working principle: The monitoring robot adjusts its position by moving the main body 1 to reach the position where data needs to be collected. Then the height of the monitoring unit 3 is adjusted by the lifting device so that the camera 32 can shoot and collect relevant information. If the position of the sensor or instrument is higher, the secondary bracket 7 is driven to rise by the first driving component 61, and the secondary bracket 7 rises in the first accommodating space 66 of the primary bracket 6 in the vertical direction. When the secondary bracket 7 rises, the first flexible transmission member is pushed by the first guide component. Since the primary bracket 6 is a load-bearing bracket and will not rise or fall, one end of the first flexible transmission member is locked in height, so that the other end of the first flexible transmission member is lifted and drives the tertiary bracket 8 to rise. The tertiary bracket 8 rises in the second accommodating space 710 of the secondary bracket 7. The first flexible transmission member is connected to the first bracket 6 at one end with a fixed height. Therefore, the end connected to the tertiary bracket 8 is pulled up and moved. The height of the first flexible transmission member pulled up on both sides of the secondary bracket 7 is equal to the rising height of the first guide component. Therefore, the rising height of the tertiary bracket 8 is twice the lifting height of the first guide component, that is, the driving stroke of the first driving component 61, thereby doubling the stroke of the first driving component 61. During the rising process of the third-level bracket 8, the second guide component pushes the second flexible transmission member, so that the rising height of the fourth-level bracket 9 relative to the second-level bracket 7 is also twice the driving stroke of the first driving component 61. Therefore, the rising height of the fourth-level bracket 9 is superimposed to 3 times the driving stroke of the first driving component 61. At the same time, the monitoring unit 3 is raised to a position close to the top of the fourth-level bracket 9 through the floating component, thereby raising the height of the camera 32 to capture images of sensors or instruments at higher positions. If the position of the sensor or instrument is lower, the monitoring unit 3 is directly lowered to a position close to the bottom of the fourth-level bracket 9 through the floating component, thereby lowering the height of the camera 32 to capture images of sensors or instruments at lower positions. At this time, the first-level bracket 6, the second-level bracket 7, the third-level bracket 8 and the fourth-level bracket 9 in the lifting device are in an unfolded state.

[0039] In some embodiments, more intermediate-level brackets are stacked between the primary bracket 6 and the fourth-level bracket 9 in addition to the secondary bracket 7 and the tertiary bracket 8, and each intermediate-level bracket is equipped with a guide assembly and a flexible driving member, and the flexible driving member is respectively connected to the intermediate-level bracket, the primary bracket 6 or the fourth-level bracket 9 on the adjacent two sides, thereby enabling the expansion of the driving stroke of the first driving assembly 61, thereby greatly increasing the height of the monitoring unit 3 to collect image information of sensors or instruments at higher positions.

[0040] Compared with the prior art, the monitoring robot provided in this embodiment can achieve multi-level expansion of the lifting stroke of the monitoring unit 3 while ensuring structural compression by designing a nested lifting device, which can meet the monitoring needs of both higher and lower positions. It can not only effectively replace manual inspections, but also realize the problem of monitoring sensor / instrument data within different height ranges and improve monitoring efficiency; at the same time, it can also effectively reduce the equipment cost problem caused by installing a remote monitoring system. In addition, unlike the existing lifting devices, the specific structure of the lifting device provided in this embodiment avoids folding the lifting device, and while ensuring the structural strength, it can avoid the power loss of the upward drive and improve the driving efficiency of the lifting.

[0041] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A lifting device, characterized in that: include, The first lifting mechanism comprises: a primary support (6), a first driving assembly (61) arranged on the primary support (6), and a secondary support (7) movably connected to the primary support (6) in a vertical direction; the secondary support (7) is connected to an output end of the first driving assembly (61); The second lifting mechanism comprises: a third-stage bracket (8) movably connected to the second-stage bracket (7) in a vertical direction, and a second driving component for driving the third-stage bracket (8) to lift and lower; the second driving component comprises: a first guide component arranged on the second-stage bracket (7), and a first flexible transmission member having two ends respectively fixedly connected to the first-stage bracket (6) and the third-stage bracket (8) and movably arranged around the first guide component; The third lifting mechanism comprises: a fourth-level support (9) movably connected to the third-level support (8) in a vertical direction, a third driving component for driving the fourth-level support (9) to lift and lower, and a floating component movably arranged on the fourth-level support (9) in a vertical direction; the third driving component comprises: a second guide component arranged on the third-level support (8), a second flexible transmission member having two ends respectively fixedly connected to the second-level support (7) and the fourth-level support (9) and movably arranged around the second guide component.

2. The lifting device according to claim 1, characterized in that: The first guide assembly and the second guide assembly have the same structure and both comprise: an inner sprocket (53) and an outer sprocket (54) respectively arranged on the secondary bracket (7) or the tertiary bracket (8) along a first horizontal direction, the inner sprocket (53) and the outer sprocket (54) being rotatably mounted on the inner and outer sides of the secondary bracket (7) and the tertiary bracket (8), and the first flexible transmission member or the second flexible transmission member being configured as a chain (52) and respectively adapted to the outer sprocket (54) and the inner sprocket (53).

3. The lifting device according to claim 2, characterized in that: The first guide assembly and the second guide assembly further include a sprocket bracket (55) respectively arranged at the upper end of the secondary bracket (7) or the upper end of the tertiary bracket (8), the sprocket bracket (55) comprising a first support member (551) and a second support member (552) arranged at intervals and forming a chain channel (554), the two ends of the first support member (551) and the second support member (552) being respectively located at the inner side and the outer side of the secondary bracket (7) or the tertiary bracket (8); the first support member (551) and the second support member (552) are connected via a connecting portion (553), the chain (52) is passed through the first support member (551), the second support member (552) and the chain channel (554) between the connecting portion (553) and is wound downwardly around the inner sprocket (53) and the outer sprocket (54).

4. The lifting device according to claim 1, characterized in that: The first-stage bracket (6) comprises a base (63), first side plates (64) arranged on both sides of the base (63) along a first horizontal direction, and a first top plate (62) respectively connected to the first side plates (64) on both sides; the second-stage bracket (7) comprises: second side plates (71) arranged at intervals along the first horizontal direction, and second top plates (78) respectively connected to the second side plates (71) on both sides, the first driving component (61) is installed on the base and the output end is connected to the second top plate (78); the third-stage bracket (8) comprises: third side plates (81) arranged at intervals along the first horizontal direction, and third top plates (82) respectively connected to the third side plates (81) on both sides; the fourth-stage bracket (9) comprises: fourth side plates (91) arranged at intervals along the first horizontal direction, and the floating component is arranged between the fourth side plates (91) on both sides.

5. The lifting device according to claim 1, characterized in that: The first-level bracket (6) is enclosed to form a first accommodating space (66), and the size of the first accommodating space (66) is adapted to the size of the second-level bracket (7); the second-level bracket (7) is enclosed to form a second accommodating space (710), and the size of the second accommodating space (710) is adapted to the size of the third-level bracket (8); the third-level bracket (8) is enclosed to form a third accommodating space (810), and the size of the third accommodating space (810) is adapted to the size of the fourth-level bracket (9); the first-level bracket (6), the second-level bracket (7), the third-level bracket (8) and the fourth-level bracket (9) can be nested in layers from the outside to the inside.

6. The lifting device according to claim 1 or 5, characterized in that: The first-level support (6) and the second-level support (7) are connected via a first sliding pair (65), the second-level support (7) and the third-level support (8) are connected via a second sliding pair (79), and the third-level support (8) and the fourth-level support (9) are connected via a third sliding pair (89).

7. The lifting device according to claim 1, characterized in that: The floating assembly comprises a rotating driving member (92), a screw pair (95) drivingly connected to the rotating driving member (92), and a floating platform (96) connected to the screw pair (95), wherein the floating platform (96) protrudes from the fourth-level bracket (9) along a second horizontal direction.

8. The lifting device according to claim 1, characterized in that: The upper side of the first-stage bracket (6) and the lower side of the third-stage bracket (8) are respectively installed with a first upper joint (76) and a first lower joint (77), and the two ends of the first flexible transmission member are respectively fixedly connected to the first upper joint (76) and the first lower joint (77); the upper side of the second-stage bracket (7) and the lower side of the fourth-stage bracket (9) are respectively installed with a second upper joint (87) and a second lower joint (86), and the two ends of the second flexible transmission member are respectively fixedly connected to the second upper joint (87) and the second lower joint (86).

9. A monitoring robot, characterized in that: include: Mobile subject (1); The lifting device according to any one of claims 1 to 8, wherein the lifting device is arranged on the mobile body (1); A monitoring unit, comprising a pan-tilt platform (31) mounted on the floating assembly, and a camera (32) mounted on the pan-tilt platform (31); The outer shell mechanism (2) surrounds the lifting device.

10. The monitoring robot according to claim 9, characterized in that: The housing mechanism (2) comprises a shell (21) and a back plate (22), wherein the back plate (22) is provided with a lifting groove (23) adapted for a floating assembly.

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