Camera assembly and inspection robot

Abstract

The application provides a camera assembly and an inspection robot. The camera assembly comprises a lifting device and a camera. The lifting device comprises a motor, a main arm, an auxiliary arm, a joint fixing seat, a lower fixing seat, a first gear and a second gear. The first end of the main arm is rotationally connected with the joint fixing seat, and the opposite third end and fourth end of the auxiliary arm are respectively rotationally connected with the joint fixing seat and the lower fixing seat. The first gear is fixed to the side of the first end away from the joint fixing seat, and the second gear is fixed to the side of the third end away from the joint fixing seat and is engaged with the first gear. The power output end of the motor is fixed with the second end of the main arm opposite to the first end. In the folded state, the first gear and the second gear are sequentially arranged along the length direction of the main arm, which can reduce the gap between the main arm and the auxiliary arm as much as possible, so as to reduce the height of the whole machine after folding, and at the same time, the lifting device is more stable to ensure the picture quality of the shooting picture.

Description

Technical Field

[0001] This application relates to the field of video surveillance, and more particularly to a camera assembly and an inspection robot. Background Technology

[0002] Inspection robots are robotic systems capable of autonomously performing patrol and inspection tasks. Equipped with various sensors and cameras, they collect and analyze environmental data to detect potential problems or anomalies. Inspection robots are widely used in industrial facilities, buildings, and public utilities, improving inspection efficiency and accuracy while reducing the costs and risks associated with manual inspections.

[0003] The inspection robot includes a telescopic arm that switches between extended and folded states to adjust the camera height. Existing inspection robots have a relatively high overall height when the telescopic arm is folded. Summary of the Invention

[0004] This application provides a camera assembly and an inspection robot that can reduce the overall height of the folded unit.

[0005] This application provides a camera assembly, including a lifting device and a camera. The lifting device includes a motor, a main arm, a secondary arm, a joint fixing seat, a lower fixing seat, a first gear, and a second gear. A first end of the main arm is rotatably connected to the joint fixing seat. The third and fourth ends of the secondary arm are rotatably connected to the joint fixing seat and the lower fixing seat, respectively. The first gear is fixed to the side of the first end facing away from the joint fixing seat, and the second gear is fixed to the side of the third end facing away from the joint fixing seat and meshes with the first gear. The power output end of the motor is fixed to the second end of the main arm facing away from the first end. The camera is fixed to the lower fixing seat. When the lifting device switches between an unfolded state and a folded state, the height of the camera is adjusted. In the folded state, the first gear and the second gear are arranged sequentially along the length direction of the main arm.

[0006] This application also provides an inspection robot, including a robot body and the camera assembly, wherein the lifting device is hoisted and fixed to the robot body.

[0007] The lifting device of this application includes a joint fixing seat, a lower fixing seat, a main arm, a secondary arm, a first gear, a second gear, and a motor. The first end of the main arm is rotatably connected to the joint fixing seat. The third and fourth ends of the secondary arm are rotatably connected to the joint fixing seat and the lower fixing seat, respectively. The first gear is fixed to the side of the first end facing away from the joint fixing seat, and the second gear is fixed to the side of the third end facing away from the joint fixing seat and meshes with the first gear. The power output end of the motor is fixed to the second end of the main arm facing away from the first end. In the folded state, the first gear and the second gear are arranged sequentially along the length direction of the main arm, which can minimize the gap between the main arm and the secondary arm to reduce the overall height of the folded device. At the same time, the lifting device is more stable to ensure the image quality of the camera footage. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of a camera assembly according to an embodiment of this application, wherein the telescopic device is in a folded state;

[0009] Figure 2 yes Figure 1 The diagram shown is of an image component, in which the telescopic device is in one of its deployed states;

[0010] Figure 3 yes Figure 1 The diagram shown is of an image component, in which the telescopic device is in one of its deployed states;

[0011] Figure 4 yes Figure 1 The diagram shows another perspective of the camera assembly, in which the hidden sealed box reveals the first gear and the second gear;

[0012] Figure 5 yes Figure 1 An exploded view of the camera assembly shown;

[0013] Figure 6 yes Figure 1 The diagram shows the main arm and auxiliary arm of the camera assembly after folding.

[0014] Figure 7 yes Figure 5 The diagram shown is a schematic diagram of the first shaft, second shaft, adapter ring, part of the main boom, and part of the auxiliary boom before assembly.

[0015] Figure 8 yes Figure 5 The diagram shows the first shaft, second shaft, adapter ring, first oil seal, second oil seal, first gear, and second gear before assembly.

[0016] Figure 9 yes Figure 5The diagram shows a cross-sectional view of the adapter ring, second shaft, second oil seal, second gear, and second bearing after assembly.

[0017] Figure 10 yes Figure 1 Another exploded view of the camera assembly shown;

[0018] Figure 11 yes Figure 10 The diagram shows the joint fixation seat, third axis, fourth axis, third bearing, fourth bearing, seventh axis, seventh bearing, eighth axis, eighth bearing, a part of the first tie rod, and a part of the second tie rod before assembly.

[0019] Figure 12 yes Figure 10 The diagram shown is a schematic diagram of the fifth bearing, sixth shaft, sixth bearing, connecting seat, a part of the first tie rod, and a part of the main arm before assembly;

[0020] Figure 13 yes Figure 10 The diagram shown is a schematic diagram of the first adapter, second adapter, third adapter, ninth shaft, ninth bearing, tenth bearing, tenth shaft, eleventh bearing, part of the auxiliary arm, and part of the second tie rod before assembly.

[0021] Figure 14 yes Figure 5 A schematic diagram of another perspective of the exploded view shown;

[0022] Figure 15 yes Figure 14 An enlarged view of the circled area at point A in the schematic diagram shown;

[0023] Figure 16 yes Figure 14 An enlarged view of the circled area at point B in the schematic diagram shown;

[0024] Figure 17 yes Figure 14 An enlarged view of the circled area at point C in the schematic diagram shown. Detailed Implementation

[0025] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0026] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0027] See Figures 1 to 5 The camera assembly of this application includes a lifting device 100 and a camera 200. The camera 200 is fixed to the lifting device 100. The lifting device 100 can be fixed to the robot body (not shown) of an inspection robot (not shown). The inspection robot moves with the lifting device 100 and the camera 200. The lifting device 100 can switch between an unfolded state and a folded state to adjust the height of the camera 200 for inspection purposes.

[0028] In some embodiments, the lifting device 100 is suspended below the robot body, and the camera 200 is suspended below the lifting device 100.

[0029] The lifting device 100 includes a motor 1, a main arm 21, a secondary arm 22, a joint fixing seat 31, a lower fixing seat 32, a first gear 41, and a second gear 42. The camera 200 is fixed to the lower fixing seat 32.

[0030] The main arm 21 includes a first end 211 and a second end 212. The first end 211 is rotatably connected to the joint fixing seat 31. The power output end of the motor 1 is fixed to the second end 212 of the main arm 21 to drive the main arm 21 to rotate relative to the joint fixing seat 31.

[0031] Both the main arm 21 and the auxiliary arm 22 are rotatably connected to the joint fixing seat 31, making the lifting device 100 more stable and ensuring the image quality of the captured images.

[0032] The auxiliary arm 22 includes a third end 221 and a fourth end 222. The third end 221 is rotatably connected to the joint fixing seat 31, and the fourth end 222 is rotatably connected to the lower fixing seat 32.

[0033] The first gear 41 is fixed to a side of the first end 211 facing away from the joint fixing seat 31, and the second gear 42 is fixed to a side of the third end 221 facing away from the joint fixing seat 31 and meshes with the first gear 41. The first end 211 is located between the joint fixing seat 31 and the first gear 41, and the third end 221 is located between the joint fixing seat 31 and the second gear 42.

[0034] Since the first gear 41 is fixed to the main arm 21, the second gear 42 is fixed to the auxiliary arm 22, and the first gear 41 meshes with the second gear 42, when the motor 1 drives the main arm 21 to rotate relative to the joint fixing seat 31, the main arm 21 drives the first gear 41 to rotate, the first gear 41 drives the second gear 42 to rotate, and the second gear 42 drives the auxiliary arm 22 to rotate.

[0035] The rotation direction of the main arm 21 is the same as that of the first gear 41, the rotation direction of the first gear 41 is opposite to that of the second gear 42, and the rotation direction of the second gear 42 is the same as that of the auxiliary arm 22. Therefore, during the unfolding process of the lifting device 100, the main arm 21 and the auxiliary arm 22 rotate in directions away from each other; during the folding process of the lifting device 100, the main arm 21 and the auxiliary arm 22 rotate in directions toward each other. Figures 1 to 3 Three states in which the lifting device 100 switches from a folded state to an unfolded state are shown.

[0036] Reference Figure 4 , in the folded state, the first gear 41 and the second gear 42 are sequentially arranged along the length direction of the main arm 21, which can minimize the gap between the main arm 21 and the auxiliary arm 22, so as to reduce the overall height of the lifting device 100 after folding.

[0037] Reference Figure 1 and Figure 3 , in some embodiments, in both the folded state and the unfolded state, the connecting line between the center of the first gear 41 and the center of the second gear 42 is in a horizontal direction; in the folded state, the central axis of the main arm 21 and the central axis of the auxiliary arm 22 are both in the horizontal direction. The overall height of the lifting device 100 after folding is relatively low.

[0038] Reference Figure 3 , in some embodiments, in the unfolded state, the central axis of the main arm 21 and the central axis of the auxiliary arm 22 are both in a vertical direction, so that the adjustable height of the camera 200 is relatively high.

[0039] Reference Figure 6 , in some embodiments, the main arm 21 comprises a top wall 213 and a pair of side walls 214 extending from the top wall 213. The top wall 213 and the pair of side walls 214 enclose an accommodating cavity 215. In the folded state, the auxiliary arm 22 is located in the accommodating cavity 215, no shaking occurs between the main arm 21 and the auxiliary arm 22, so that the lifting device 100 has good stability. The main arm 21 has favorable strength, and the auxiliary arm 22 can be hidden in the folded state.

[0040] In other embodiments, the side walls 214 may not be provided. The main arm 21 only needs to be respectively fixed to the joint fixing base 31 and the first gear 41 through a pair of ear portions.

[0041] In some embodiments, the top wall 213 and the pair of side walls 214 are each provided with weight-reducing holes 216 respectively, so as to reduce the weight of the main arm 21.

[0042] In some embodiments, the plurality of weight-reducing holes 216 on the top wall 213 are sequentially arranged along the length direction of the top wall 213 respectively. The plurality of weight-reducing holes 216 on the side walls 214 are sequentially arranged along the length direction of the side walls 214 respectively.

[0043] In some embodiments, the auxiliary arm 22 comprises an upper wall 223, a lower wall 224 arranged opposite to the upper wall 223, and a plurality of connecting columns 225 connecting the upper wall 223 and the lower wall 224. The plurality of connecting columns 225 are sequentially arranged along the length direction of the auxiliary arm 22. The weight of the auxiliary arm 22 is reduced while ensuring the strength of the auxiliary arm 22.

[0044] An opening 226 is formed between adjacent connecting columns 225, and the size of the opening 226 is the same as that of the weight-reducing hole 216. In the folded state, viewed from the side of the main arm 21, the opening 226 overlaps with the weight-reducing hole 216.

[0045] In some embodiments, during the unfolding and folding processes of the lifting device 100, the camera 200 moves linearly in a vertical direction, so as to prevent the camera 200 from deviating from the vertical direction and being unable to shoot normally.

[0046] In some embodiments, the length of the main arm 21 is the same as the length of the auxiliary arm 22, and in the folded state, the third end 221 of the auxiliary arm 22 extends beyond the first end 211 of the main arm 21.

[0047] Refer Figures 5 to 9The lifting device 100 further includes a first shaft 51, a second shaft 52, and a transition ring 53. The first shaft 51 is fixed to the first end 211 of the main arm 21, and the first gear 41 is fixed to the first shaft 51. The transition ring 53 is fixed to the third end 221 of the auxiliary arm 22, the second shaft 52 is fixed to the transition ring 53, and the second gear 42 is fixed to the second shaft 52.

[0048] The first end 211 of the main arm 21 is provided with a first limiting hole 2111, a first positioning hole 2112, and a plurality of first assembly holes 2113. The first shaft 51 includes a first assembly part 511, a first stepped part 512 connected to the first assembly part 511, a first limiting protrusion 513 and a first positioning post 514, and a second stepped part 515 connected to the first stepped part 512. The first limiting protrusion 513 and the first positioning post 514 are located on one side of the first assembly part 511, and the first stepped part 512 is located on the opposite side of the first assembly part 511.

[0049] The diameters of the first assembly portion 511, the first stepped portion 512, and the second stepped portion 515 decrease sequentially. The first assembly portion 511 is provided with a second assembly hole 5111.

[0050] The first assembly part 511 is attached to the outer side of the first side wall 214, the first limiting protrusion ring 513 is assembled into the first limiting hole 2111, the first positioning post 514 is assembled into the first positioning hole 2112, and the first fixing member 61 is sequentially assembled into the second assembly hole 5111 and the first assembly hole 2113 to fix the first shaft 51 on the main arm 21.

[0051] The first fastener 61 may be a screw, bolt, or pin, etc.

[0052] The first gear 41 is provided with a first through hole 411 and a plurality of third assembly holes 412. The first stepped portion 512 is provided with a fourth assembly hole 5121. The second stepped portion 515 is assembled into the first through hole 411, and the first gear 41 abuts against the outer side of the first stepped portion 512. The first gear 41 is fixed to the first stepped portion 512 by means of a second fixing member 62 sequentially being assembled into the third assembly holes 412 and the fourth assembly holes 5121.

[0053] In some embodiments, the second fixing member 62 is a pin, which includes a first rod-shaped portion 621 and a second rod-shaped portion 622. The diameter of the second rod-shaped portion 622 is smaller than the diameter of the first rod-shaped portion 621. The fourth assembly hole 5121 is stepped, and the second rod-shaped portion 622 and part of the first rod-shaped portion 621 are located within the fourth assembly hole 5121. The second rod-shaped portion 622 and the first stepped portion 512 interfere with each other to fix the second fixing member 62 to the first shaft 51, ensuring relative displacement between the first gear 41 and the first shaft 51. At the same time, the second rod-shaped portion 622 is subjected to force in the radial direction, which can prevent the second fixing member 62 from being subjected to shear force.

[0054] The second fastener 62 may also be a screw or a bolt.

[0055] The third end 221 of the auxiliary arm 22 is provided with a second through hole 2211, a second positioning hole 2212, and a plurality of fifth assembly holes 2213. The adapter ring 53 includes a second assembly part 531, a third assembly part 532 connected to the second assembly part 531, and a second limiting protrusion ring 533 and a second positioning post 534 connected to the third assembly part 532. The third assembly part 532 is provided with a plurality of sixth assembly holes 5321. The second assembly part 531 is provided with a plurality of seventh assembly holes 5311. The diameters of the second assembly part 531, the third assembly part 532, and the second limiting protrusion ring 533 decrease sequentially.

[0056] The third assembly part 532 is fitted to the outer side of the auxiliary arm 22. The second limiting protrusion ring 533 is assembled into the second through hole 2211. The second positioning post 534 is assembled into the second positioning hole 2212. The third fixing member 63 is sequentially assembled into the sixth assembly hole 5321 and the fifth assembly hole 2213 to fix the adapter ring 53 on the auxiliary arm 22.

[0057] The third fastener 63 can be a screw, bolt, or pin, etc.

[0058] The third assembly part 532 is provided with a recessed groove 5322. The second assembly part 531 is provided with a third positioning hole 5312. The recessed groove 5322 is used to receive the head of the third fixing member 63.

[0059] The second shaft 52 includes a fourth assembly portion 521, a third stepped portion 522 connected to the fourth assembly portion 521, a third limiting protrusion 523 and a third positioning post 524, and a fourth stepped portion 525 connected to the third stepped portion 522. The third limiting protrusion 523 and the third positioning post 524 are located on one side of the fourth assembly portion 521, and the third stepped portion 522 is located on the opposite side of the fourth assembly portion 521.

[0060] The diameters of the fourth assembly part 521, the third step part 522, and the fourth step part 525 decrease sequentially. The fourth assembly part 521 is provided with an eighth assembly hole 5211.

[0061] The fourth assembly part 521 is fitted to the outer side of the second assembly part 531, the third limiting protrusion ring 523 is assembled into the recessed groove 5322, the third positioning post 524 is assembled into the third positioning hole 5312, and the fourth fixing member 64 is sequentially assembled into the eighth assembly hole 5211 and the seventh assembly hole 5311 to fix the second shaft 52 on the adapter ring 53.

[0062] The fourth fastener 64 can be a screw, bolt, or pin, etc.

[0063] The second gear 42 is provided with a second through hole 421 and a plurality of ninth assembly holes 422. The third step portion 522 is provided with a tenth assembly hole 5221. The fourth step portion 525 is assembled into the second through hole 421, and the second gear 42 abuts against the outer side of the third step portion 522. The fifth fixing member 65 is sequentially assembled into the ninth assembly hole 422 and the tenth assembly hole 5221 to fix the second gear 42 onto the third step portion 522.

[0064] In some embodiments, the fifth fixing member 65 is a pin, which includes a third rod-shaped portion 651 and a fourth rod-shaped portion 652. The diameter of the fourth rod-shaped portion 652 is smaller than the diameter of the third rod-shaped portion 651. The tenth assembly hole 5221 is stepped, and the fourth rod-shaped portion 652 and part of the third rod-shaped portion 651 are located within the tenth assembly hole 5221. The fourth rod-shaped portion 652 and the third stepped portion 522 interfere with each other to fix the fifth fixing member 65 to the second shaft 52, ensuring relative displacement between the second gear 42 and the second shaft 52. At the same time, the fourth rod-shaped portion 652 is subjected to force in the radial direction, which can prevent the fifth fixing member 65 from being subjected to shear force.

[0065] The fourth fastener 64 can also be a screw or a bolt.

[0066] The lifting device 100 also includes a sealing box 54, in which the first gear 41 and the second gear 42 are located to protect the first gear 41 and the second gear 42.

[0067] A first hole 541 and a second hole 542 are provided on one side of the sealing box 54, for the first shaft 51 and the second shaft 52 to pass through respectively. The lifting device 100 includes a first oil seal 55 and a second oil seal 56. The first oil seal 55 is located in the first hole 541 and sleeved on the first stepped portion 512, and the second oil seal 56 is located in the second hole 542 and sleeved on the third stepped portion 522, so as to realize sealing at the first hole 541 and the second hole 542.

[0068] The distance between the first oil seal 55 and the first assembling portion 511 is greater than or equal to 5 mm, so as to prevent the first oil seal 55 from interfering with the first fixing member 61.

[0069] The distance between the second oil seal 56 and the fourth assembling portion 521 is greater than or equal to 5 mm, so as to prevent the second oil seal 56 from interfering with the fourth fixing member 64.

[0070] The lifting device 100 further includes a first bearing 57. The second stepped portion 515 of the first shaft 51 passes through the first through hole 411 of the first gear 41 and is then fixed to the inner ring of the first bearing 57, and the outer ring of the first bearing 57 is fixed to the sealing box 54. The arrangement of the first bearing 57 ensures the smooth rotation of the main arm 21.

[0071] The lifting device 100 further includes a second bearing 58. The fourth stepped portion 525 of the second shaft 52 passes through the second through hole 421 of the second gear 42 and is then fixed to the inner ring of the second bearing 58, and the outer ring of the second bearing 58 is fixed to the sealing box 54. The arrangement of the second bearing 58 ensures the smooth rotation of the auxiliary arm 22.

[0072] In some embodiments, the lifting device 100 includes a connecting plate 33 fixed to the joint fixing base 31, and the sealing box 54 is fixed to the connecting plate 33. The joint fixing base 31, the connecting plate 33 and the sealing box 54 enclose a U-shaped space. The first end 211 of the main arm 21, the third end 221 of the auxiliary arm 22, the adapter ring 53, a part of the first shaft 51 and a part of the second shaft 52 are located in the U-shaped space.

[0073] Refer Figures 10 to 17 , the lifting device 100 includes a third shaft 591, a fourth shaft 592, a third bearing 593 and a fourth bearing 594.

[0074] The third shaft 591 includes a fifth assembly portion 5911 and a fifth step portion 5912 connected to the fifth assembly portion 5911. The joint fixing seat 31 is provided with a third hole 311 and a fourth hole 312. The fourth shaft 592 includes a sixth assembly portion 5921 and a sixth step portion 5922 connected to the sixth assembly portion 5921.

[0075] The fifth assembly part 5911 is fixed to the outer side of the first end 211 of the main arm 21, for example, by screws. The third shaft 591 and the first shaft 51 are located on opposite sides of the first end 211. The fifth step portion 5912 of the third shaft 591 passes through the third hole 311 and is fixed to the inner ring of the third bearing 593. The outer ring of the third bearing 593 is fixed to the joint fixing seat 31.

[0076] The sixth assembly part 5921 is fixed to the outer side of the third end 221 of the auxiliary arm 22, for example, by screws. The fourth shaft 592 and the second shaft 52 are located on opposite sides of the third end 221. The sixth step part 5922 passes through the fourth hole 312 and is fixed to the inner ring of the fourth bearing 594, and the outer ring of the fourth bearing 594 is fixed to the joint fixing seat 31.

[0077] The lifting device 100 includes a fixed plate 71, and the motor 1 is fixed to the fixed plate 71. The lifting device 100 includes a connecting seat 72 fixed to the fixed plate 71, and the second end 212 of the main arm 21 is rotatably connected to the connecting seat 72.

[0078] The lifting device 100 includes a fifth bearing 595. The fifth bearing 595 is located between the first end 211 of the main arm 21 and the connecting seat 72. Its inner ring is fixed to the connecting seat 72, for example, by screws, and its outer ring is fixed to the first end 211 of the main arm 21, for example, by screws.

[0079] The lifting device 100 includes a first pull rod 81. The first pull rod 81 includes a first end 811 and a second end 812 disposed opposite to each other. The first end 811 is rotatably connected to the connecting seat 72, and the second end 812 is rotatably connected to the joint fixing seat 31. The joint fixing seat 31 is located between the first end 211 and the second end 812 of the main arm 21, and the connecting seat 72 is located between the second end 212 and the first end 811 of the main arm 21. The first pull rod 81 is parallel to the main arm 21.

[0080] The main arm 21, the connecting seat 72, the first tie rod 81, and the joint fixing seat 31 form a four-bar linkage mechanism, which increases the stability of the lifting device 100.

[0081] A four-bar linkage is a planar mechanism consisting of four rigid links hinged together. It can achieve various motion conversions, such as converting rotational motion into linear motion.

[0082] The lifting device 100 includes a sixth shaft 596 and a sixth bearing 597. The sixth shaft 596 includes a seventh assembly part 5961 and a seventh step part 5962 connected to the seventh assembly part 5961. The seventh assembly part 5961 is fixed to the connecting seat 72, for example, by screws. The connecting seat 72 has a fifth hole 721. The first end 811 of the first pull rod 81 has a sixth hole 8111. The sixth bearing 597 is located in the sixth hole 8111, and the outer ring of the sixth bearing 597 is fixed to the first end 811 of the first pull rod 81. The seventh step part 5962 passes through the fifth hole 721 and is fixed to the inner ring of the sixth bearing 597.

[0083] The lifting device 100 includes a seventh shaft 598 and a seventh bearing 599. The seventh shaft 598 includes an eighth assembly part 5981 and an eighth step part 5982 connected to the eighth assembly part 5981. The eighth assembly part 5981 is fixed to the joint fixing seat 31, for example, by means of screws.

[0084] The joint fixing seat 31 is provided with a seventh hole 313. The second end 812 of the first pull rod 81 is provided with an eighth hole 8121. The seventh bearing 599 is located in the eighth hole 8121, and the outer ring of the seventh bearing 599 is fixed to the second end 812 of the first pull rod 81. The eighth step portion 5982 passes through the seventh hole 313 and is fixed to the inner ring of the seventh bearing 599.

[0085] The lifting device 100 includes a second pull rod 82. The second pull rod 82 includes a third end 821 and a fourth end 822 disposed opposite to each other. The third end 821 is rotatably connected to the joint fixing seat 31, and the fourth end 822 is rotatably connected to the lower fixing seat 32. The joint fixing seat 31 is located between the third end 221 of the auxiliary arm 22 and the third end 821. The second pull rod 82 is parallel to the auxiliary arm 22.

[0086] The auxiliary arm 22, the joint fixing seat 31, the second pull rod 82, and the lower fixing seat 32 form a four-bar linkage mechanism, which increases the stability of the lifting device 100. At the same time, during the folding and unfolding process of the lifting device 100, the lower fixing seat 32 can be prevented from swinging, so as to ensure that the camera 200 moves in a straight line in the vertical direction.

[0087] The lifting device 100 includes an eighth shaft 601 and an eighth bearing 602. The eighth shaft 601 includes a ninth assembly part 6011 and a ninth step part 6012 connected to the ninth assembly part 6011. The ninth assembly part 6011 is fixed to the joint fixing seat 31, for example, by means of screws.

[0088] The joint fixing seat 31 is provided with a ninth hole 314. The third end 821 of the second tie rod 82 is provided with a tenth hole 8211. The eighth bearing 602 is located in the tenth hole 8211, and the outer ring of the eighth bearing 602 is fixed to the third end 821 of the second tie rod 82. The ninth step portion 6012 passes through the ninth hole 314 and is fixed to the inner ring of the eighth bearing 602.

[0089] The lower fixed base 32 includes a first adapter base 321 and a second adapter base 322. The fourth end 222 of the auxiliary arm 22 is located between the first adapter base 321 and the second adapter base 322, and is rotatably connected to both the first adapter base 321 and the second adapter base 322. The first adapter base 321 has an eleventh hole 3211. The second adapter base 322 has a twelfth hole 3221. The fourth end 222 of the auxiliary arm 22 has a thirteenth hole 2221.

[0090] The lifting device 100 includes a ninth shaft 603, a ninth bearing 604, and a tenth bearing 605. The ninth bearing 604 is located in the eleventh hole 3211, and its outer ring is fixed to the first adapter 321. The tenth bearing 605 is located in the twelfth hole 3221, and its outer ring is fixed to the second adapter 322.

[0091] The ninth shaft 603 extends out from the thirteenth hole 2221, and its two ends are fixed to the inner ring of the ninth bearing 604 and the inner ring of the tenth bearing 605, respectively.

[0092] The lower fixed base 32 includes a third adapter base 323. The fourth end 822 of the second pull rod 82 is located outside the third adapter base 323 and is rotatably connected to the third adapter base 323. The third adapter base 323 is provided with a fourteenth hole 3231. The fourth end 822 of the second pull rod 82 is provided with a fifteenth hole 8221.

[0093] The lifting device 100 includes a tenth shaft 606 and an eleventh bearing 607. The tenth shaft 606 includes a tenth assembly part 6061 and a tenth step part 6062 connected to the tenth assembly part 6061. The tenth assembly part 6061 is fixed to the third adapter 323, for example, by means of screws.

[0094] The eleventh bearing 607 is located inside the fifteenth hole 8221, and its outer ring is fixed to the fourth end 822 of the second tie rod 82. The tenth step portion 6062 passes through the fourteenth hole 3231 and is fixed to the inner ring of the eleventh bearing 607.

[0095] In some embodiments, the central axis of the first pull rod 81 in the length direction is coplanar with the central axis of the second pull rod 82 in the length direction to improve the stability of the lifting device 100.

[0096] In some embodiments, the inner side of the first pull rod 81 near the main arm 21 is coplanar with the inner side of the second pull rod 82 near the auxiliary arm 22; the outer side of the first pull rod 81 facing away from the main arm 21 is coplanar with the outer side of the second pull rod 82 facing away from the auxiliary arm 22.

[0097] The lifting device 100 includes a nitrogen spring 9. The two opposite ends of the nitrogen spring 9 are fixed to the fixed plate 71 and the main arm 21, respectively. During the process of switching the lifting device 100 to the unfolded state, the nitrogen spring 9 gradually lengthens; during the process of switching the lifting device 100 to the folded state, the nitrogen spring 9 gradually shortens. The tension of the nitrogen spring 9 can compensate for the torque of the motor 1, enhancing the stability of the lifting device 100.

[0098] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A camera assembly, characterized in that, include: The lifting device includes a motor, a main arm, a secondary arm, a joint fixing seat, a lower fixing seat, a first gear, and a second gear. The first end of the main arm is rotatably connected to the joint fixing seat. The opposite third and fourth ends of the secondary arm are rotatably connected to the joint fixing seat and the lower fixing seat, respectively. The first gear is fixed to the side of the first end facing away from the joint fixing seat. The second gear is fixed to the side of the third end facing away from the joint fixing seat and meshes with the first gear. The power output end of the motor is fixed to the second end of the main arm opposite to the first end. The camera is fixed to the lower fixed base. When the lifting device switches between the unfolded state and the folded state, it adjusts the height of the camera. In the folded state, the first gear and the second gear are arranged sequentially along the length direction of the main arm.

2. The camera assembly according to claim 1, characterized in that, In the folded state and the unfolded state, the line connecting the center of the first gear and the center of the second gear is in the horizontal direction; in the folded state, the central axis of the main arm and the central axis of the auxiliary arm are both in the horizontal direction.

3. The camera assembly according to claim 2, wherein in the unfolded state, the central axis of the main arm and the central axis of the auxiliary arm are both in a vertical state.

4. The camera assembly according to claim 2, characterized in that, The main arm includes a top wall and a pair of side walls extending from the top wall, the top wall and the pair of side walls forming a receiving cavity, and in the folded state, the auxiliary arm is located within the receiving cavity.

5. The camera assembly according to claim 1, characterized in that, During the unfolding and folding process of the lifting device, the camera moves in a straight line in the vertical direction.

6. The camera assembly according to claim 5, characterized in that, The length of the main arm is the same as the length of the auxiliary arm, and in the folded state, the third end extends beyond the first end.

7. The camera assembly according to any one of claims 1 to 6, characterized in that, The lifting device includes a fixed plate, the motor is fixed to the fixed plate, the lifting device includes a connecting seat fixed to the fixed plate, the second end is rotatably connected to the connecting seat, the lifting device includes a first pull rod, the first pull rod includes a first end and a second end disposed opposite to each other, the first end is rotatably connected to the connecting seat, the second end is rotatably connected to the joint fixing seat, the joint fixing seat is located between the first end and the second end, the connecting seat is located between the second end and the first end, and the first pull rod is parallel to the main arm.

8. The camera assembly according to claim 7, characterized in that, The lifting device includes a second pull rod, which includes a third end and a fourth end that are disposed opposite to each other. The third end is rotatably connected to the joint fixing seat, and the fourth end is rotatably connected to the lower fixing seat. The joint fixing seat is located between the third end and the fourth end. The second pull rod is parallel to the auxiliary arm.

9. The camera assembly according to claim 8, characterized in that, The central axis of the first pull rod along its length is coplanar with the central axis of the second pull rod along its length.

10. An inspection robot, characterized in that, It includes a robot body and a camera assembly as described in any one of claims 1 to 9, wherein the lifting device is hoisted and fixed to the robot body.

Images