Rope lifting device and work robot

Abstract

The utility model relates to the technical field of lifting devices, in particular to a rope lifting device and an operation robot. The rope lifting device comprises a seat body, a rotating disc, a guide assembly and a rotating driving piece. The rotating disc is rotatably arranged on the base body, a meshing groove extending in the circumferential direction of the rotating disc is formed in the circumferential wall of the rotating disc, and the rope is suitable for being embedded in the meshing groove. The guide assembly is movably connected with the seat body, the distance between a part of structure of the guide assembly and the bottom wall of the meshing groove is smaller than the diameter of the rope, and the guide assembly is attached to the rope. The guide assembly is arranged, and the distance between part of the structure of the guide assembly and the bottom wall of the meshing groove is smaller than the diameter of the rope, so that the rope is attached to the meshing groove in the rotating process of the rotating disc, and the friction force between the rope and the meshing groove is increased. When the rope penetrates into the rope lifting device, the structure in the rope lifting device occludes and guides the rope, automation of rope penetrating is achieved, potential safety hazards of rope penetrating are reduced, and the smoothness of the rope lifting device climbing along the rope is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of lifting devices, in particular to a rope lifting device and an operating robot. Background Art

[0002] The rope lifting device can be used as a power device or a safety protection device in many fields, for example, in cranes, aerial work robots, and outdoor sports. In the rope lifting device currently used by the working robot, a flexible rope is passed through a mechanism with an engaging turntable, and the rotation of the engaging turntable drives the rope to move, thereby achieving the rise and fall of the module. However, in the related art, the rope threading process of the rope lifting device is relatively complicated and cumbersome to operate. The rope needs to pass through multiple wheel sets in sequence, and in this process, it may also be necessary to cooperate with manual rope pulling and the rotation of the engaging turntable. The operation is cumbersome and the risk factor is high. In addition, the rope cannot fit well on the engaging turntable and is prone to slipping, resulting in low safety. Utility Model Content

[0003] The utility model provides a rope hoisting device and an operating robot, which are used to solve the defects of the hoisting device in the prior art that the operation is cumbersome and the safety is low, and realizes the simplification of the operating steps of the hoisting device and the improvement of safety.

[0004] The utility model provides a rope lifting device, comprising:

[0005] seat body;

[0006] a turntable rotatably mounted on the base, wherein a peripheral wall of the turntable is provided with an engagement groove extending along the circumferential direction of the turntable, and a rope is adapted to be embedded in the engagement groove;

[0007] a guide assembly movably connected to the base, the guide assembly and the engagement groove jointly defining a rope threading channel, the rope being arranged in the rope threading channel, the distance between a portion of the guide assembly and the bottom wall of the engagement groove being smaller than a diameter of the rope, and the guide assembly being in close contact with the rope;

[0008] A rotation driving member is connected to the turntable.

[0009] According to the rope lifting device provided by the utility model, the guide components are divided into multiple groups, and the multiple groups of guide components are distributed at intervals along the circumferential direction of the turntable.

[0010] According to the rope lifting device provided by the present invention, the guide assembly includes a swinging member having a first end and a second end opposite to each other, the first end being rotatably connected to the seat body, and the second end being in contact with the rope.

[0011] According to the rope lifting device provided by the utility model, the swinging member is a spring.

[0012] According to the rope lifting device provided by the present invention, the guide assembly further includes a reset member, and the reset member is connected to the swing member to drive the swing member to fit with the rope.

[0013] According to the rope lifting device provided by the utility model, the second end is rotatably provided with a guide wheel, and the peripheral wall of the guide wheel is in contact with the rope.

[0014] According to the rope lifting device provided by the present invention, the rope threading channel has an inlet and an outlet, and in the circumferential direction of the turntable, the first end is closer to the inlet of the rope threading channel than the second end.

[0015] According to the rope lifting device provided by the utility model, the guide assembly includes a movable part and a linear drive part, the movable part is connected to the linear drive assembly, one side of the movable part is in contact with the rope, and the linear drive part drives the movable part to move linearly to move away from or approach the engagement groove, and the driving direction of the linear drive part is along the radial direction of the turntable.

[0016] The rope lifting device provided by the present invention further includes a pressure member and a locking member, wherein the pressure member is connected to the base body, the distance between the pressure member and the engagement groove is adjustable, the pressure member is suitable for abutting against the rope, and the pressure member exerts pressure on the rope toward the engagement groove;

[0017] The locking member connects the pressing member and the seat body to fix the relative position of the pressing member and the engaging groove.

[0018] According to the rope lifting device provided by the utility model, it also includes a protective cover, which is arranged on the turntable, and the peripheral wall of the protective cover is provided with a mounting hole, and the guide assembly is passed through the mounting hole, and the distance between the inner wall of the protective cover and the bottom wall of the engaging groove is greater than the diameter of the rope.

[0019] According to the rope lifting device provided by the utility model, it also includes a first guide tube and a second guide tube. The rope threading channel has an inlet and an outlet. The first guide tube is connected to the inlet of the rope threading channel. The extension direction of the first guide tube is tangent to the turntable. The second guide tube is connected to the outlet of the rope threading channel.

[0020] According to the rope lifting device provided by the present invention, a first guide piece is provided at the inlet of the first guide pipe, and the rope is wound around the first guide piece, and / or a second guide piece is provided at the outlet of the second guide pipe, and the rope is wound around the second guide piece.

[0021] According to the rope lifting device provided by the present invention, the first guide tube and the second guide tube are integrally formed parts.

[0022] According to the rope lifting device provided by the utility model, the rotating drive member is a motor, and a first control switch and a second control switch are provided on the base body. One of the first control switch and the second control switch is connected to the forward rotation circuit of the motor, and the other is connected to the reverse rotation circuit of the motor.

[0023] The utility model also provides a working robot, comprising:

[0024] body;

[0025] The rope hoist device as described above is connected to the fuselage.

[0026] The rope hoist device and operating robot provided in this application utilize a guide assembly, wherein the distance between a portion of the guide assembly and the bottom wall of the engagement groove is smaller than the diameter of the rope, thereby limiting the position of the rope. This ensures that the rope and the engagement groove remain in contact during the rotation of the turntable, thus guiding the rope. Consequently, when threading the rope into the rope hoist device, only one end of the rope needs to be inserted into the device, and the internal structure of the rope hoist device engages and guides the rope. This automates the threading process, reduces safety hazards associated with threading, and improves the smoothness of the rope hoist device's movement along the rope. Furthermore, the friction between the rope and the engagement groove is increased, reducing the probability of slippage and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is one of the three-dimensional views of the rope lifting device provided in this application.

[0029] Figure 2 This is one of the front views of the rope lifting device provided by this application.

[0030] Figure 3 yes Figure 2 Cross-sectional view of the rope hoist at AA.

[0031] Figure 4 yes Figure 3 Enlarged view of point Ⅰ in the middle.

[0032] Figure 5 This is the second stereoscopic view of the rope lifting device provided by the present application, in which the protective cover is not shown.

[0033] Figure 6 This is the second front view of the rope lifting device provided by the present application, in which the protective cover is not shown.

[0034] Figure 7 It is a rear view of the rope lifting device provided by the present application.

[0035] Figure 8 This is one of the structural schematic diagrams of the rope lifting device provided in this application.

[0036] Figure 9 This is the second structural schematic diagram of the rope lifting device provided in this application.

[0037] Figure 10 This is the third stereoscopic view of the rope lifting device provided in this application.

[0038] Reference numerals:

[0039] 100. Rope lifting device; 101. Rope; 110. Base; 111. Turntable; 112. Engaging groove; 113. Locking block; 114. Positioning hole; 120. Rotating drive member; 121. First control switch; 122. Second control switch.

[0040] 130. Guide assembly; 131. Swinging member; 133. Guide wheel; 134. Connecting column; 135. Movable member; 136. Linear drive member; 140. Pressurizing member; 141. Locking member; 142. Connecting hole; 143. Pressing wheel; 144. Adjusting screw; 145. Mounting block; 150. Protective cover; 151. Mounting hole; 152. First guide tube; 153. First guide member; 154. Second guide tube; 155. Second guide member. DETAILED DESCRIPTION

[0041] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] The following combination Figures 1-10 The rope hoisting device and the working robot of the present application are described.

[0043] See also Figure 1 and Figure 5As shown, the rope lifting device 100 according to the embodiment of the present application includes a seat body 110 , a turntable 111 , a guide assembly 130 and a rotation driving member 120 .

[0044] Specifically, a turntable 111 is rotatably mounted on the base 110. For example, the turntable 111 may be connected to the base 110 via a rotating shaft and bearings. An engagement groove 112 extending circumferentially along the circumference of the turntable 111 is formed on the peripheral wall of the turntable 111. The rope 101 is adapted to be inserted into the engagement groove 112. A rotational drive 120 is coupled to the turntable 111 to drive the turntable 111 to rotate, thereby moving the turntable 111 along the rope 101. The rotational drive 120 may be a motor or a crank. The rope 101 does not need to be threaded through multiple wheels, making the threading process simple and easy.

[0045] The guide assembly 130 is movably connected to the base 110. Together with the engagement groove 112, the guide assembly 130 defines a rope passageway, within which the rope is positioned, and the rope passageway serves as a position limiter for the rope. The distance between a portion of the guide assembly 130 and the bottom wall of the engagement groove 112 is less than the diameter of the rope 101. The rope 101 is threaded between the engagement groove 112 and the guide assembly 130, and a portion of the guide assembly 130 conforms to the rope 101. Thus, during the rotation of the turntable 111, the guide assembly 130 guides the rope 101, defining its position and improving the smoothness of the turntable 111's movement along the rope 101. Furthermore, the guide assembly 130 can press the rope 101 toward the engagement groove 112, causing it to conform to the inner wall of the engagement groove 112. This increases friction between the rope 101 and the engagement groove 112, preventing slippage and enhancing safety. It should be noted that the distance between the partial structure of the guide assembly 130 and the bottom wall of the engagement groove 112 should ensure that the rope 101 can pass through the gap between the two. Figure 2 As shown, in some embodiments, there are multiple groups of guide assemblies 130, and the multiple groups of guide assemblies 130 are spaced apart along the circumferential direction of the turntable 111 to increase friction and improve the stability of the rope climbing process.

[0046] According to the rope hoisting device 100 of the embodiment of the present application, by providing a guide assembly 130 and the distance between a part of the structure of the guide assembly 130 and the bottom wall of the engagement groove 112 being smaller than the diameter of the rope 101, the rope 101 is limited in position, so that the rope 101 and the engagement groove 112 remain in contact during the rotation of the turntable 111, thereby guiding the rope 101. Therefore, when threading the rope into the rope hoisting device 100, only one end of the rope 101 needs to be inserted into the device, and the structure inside the rope hoisting device 100 engages and guides the rope 101, thus achieving automation of the rope threading process, reducing safety hazards during the threading process, and improving the smoothness of the rope hoisting device 100 climbing along the rope. At the same time, the friction between the rope 101 and the engagement groove 112 is increased, reducing the probability of slipping and improving safety.

[0047] According to some embodiments of the present application, the rotating drive member 120 is a motor, which can automatically drive the turntable 111 to rotate for rope climbing. Figure 10 As shown, the base 110 is provided with a first control switch 121 and a second control switch 122. One of the first control switch 121 and the second control switch 122 is connected to the forward rotation circuit of the motor, and the other is connected to the reverse rotation circuit of the motor. For example, the first control switch 121 can be connected to the forward rotation circuit of the motor, and the first control switch 121 can be used to control the forward rotation of the motor; the second control switch 122 can be connected to the reverse rotation circuit of the motor, and the second control switch 122 can be used to control the reverse rotation of the motor. This facilitates operation and does not require the user to simultaneously pull the cord and operate the rotating drive member 120, thereby improving safety during use.

[0048] According to some embodiments of the present application, the rope threading channel has an entrance and an exit. The rope 101 can move from the entrance to the exit of the rope threading channel relative to the turntable 111, or from the exit to the entrance. The angle between the entrance and the exit can be less than 90 degrees, so that the rope 101 can be wrapped around the turntable 111 as much as possible. During the initial threading, the end of the rope 101 is suitable for being inserted from the entrance of the rope threading channel, and then the turntable 111 rotates to drive the rope 101 to move toward the exit of the rope threading channel. Figure 2 and Figure 5 As shown, the rope hoist device 100 further includes a first guide tube 152 and a second guide tube 154. The first guide tube 152 is connected to the entrance of the rope threading channel and extends tangentially to the turntable 111. This allows the rope 101 to move smoothly between the first guide tube 152 and the engagement groove 112, reducing wear on the rope 101. The second guide tube 154 is connected to the exit of the rope threading channel and can extend tangentially to the turntable 111 to reduce wear on the rope 101. In some embodiments, the first guide tube 152 and the second guide tube 154 are integrally formed to facilitate assembly.

[0049] like Figure 5 As shown, according to some embodiments of the present application, a first guide member 153 is provided at the entrance of the first guide tube 152, and the rope 101 is wound around the first guide member 153, and the first guide member 153 is used to guide the rope 101 into the first guide tube 152. Figure 5 In the example, the first guide 153 is a roller, and there are two first guides 153, which are spaced apart. The rope 101 passes between the two first guides 153. When the rope 101 moves, the roller rolls, which can reduce the friction between the rope 101 and the first guide tube 152. Figure 7 As shown, in some embodiments, a second guide member 155 is provided at the outlet of the second guide tube 154. The rope 101 is wound around the second guide member 155, and the second guide member 155 can guide the rope 101 out of the outlet of the second guide tube 154. Specifically, the second guide member 155 can be a roller. The base 110 is provided with a through hole, which is opposite to the outlet of the second guide tube 154. The turntable 111 is located on one side of the base 110. The rope 101 passes through the through hole and reaches the other side of the base 110. The second guide member 155 is provided on the other side of the base 110 and is located at the through hole. After being guided out of the outlet of the second guide tube 154, the rope 101 abuts against the outer peripheral wall of the second guide member 155. The second guide member 155 rotates under the action of friction to guide the second guide member 155 out, thereby reducing the friction between the rope 101 and the second guide tube 154 and making the movement of the rope 101 smoother.

[0050] like Figure 2 and Figure 5 As shown, according to some embodiments of the present application, the guide assembly 130 includes a swing member 131, which has a first end and a second end opposite to each other. The first end is rotatably connected to the base 110, for example, by a pivot shaft or a hinge. The second end is in contact with the rope 101 to press the rope 101 toward the engagement groove 112. Specifically, as shown in FIG. Figure 5 As shown, the swinging member 131 can be in the shape of a plate, the first end of which is connected to the peripheral wall of the connecting column 134, the first end and the connecting column 134 can be welded or pivotally connected, the end of the connecting column 134 is connected to the seat body 110, and one side of the second end is in contact with the rope 101.

[0051] According to some embodiments of the present application, the guide assembly 130 further includes a reset member connected to the swing member 131 to drive the swing member 131 into contact with the rope 101. The reset member can be a spring, specifically a torsion spring or a cylindrical spring. In some embodiments, the swing member 131 is a leaf spring, and the swing member 131 can automatically adjust the distance from the bottom wall of the engagement groove 112 under the action of elastic force to accommodate ropes 101 of different diameters.

[0052] like Figure 6 As shown, according to some embodiments of the present application, a guide wheel 133 is rotatably provided at the second end, and the guide wheel 133 can be fixed at the second end by a rotating shaft. The peripheral wall of the guide wheel 133 contacts the rope 101 to reduce the friction between the rope 101 and the guide assembly 130, reduce the wear of the rope 101, make the rope climbing process smoother, and reduce the resistance encountered by the rope head during the rope threading process, thereby facilitating rope threading.

[0053] like Figure 6 As shown, according to some embodiments of the present application, the swing member 131 is tilted relative to the engagement slot 112, with the first end being closer to the entrance of the rope threading channel than the second end in the circumferential direction of the turntable 111. This reduces the friction of the swing member 131 on the rope 101, allowing the rope 101 to move more smoothly from the entrance to the exit of the rope threading channel.

[0054] See also Figure 8 As shown, according to some embodiments of the present application, the guide assembly 130 includes a movable member 135 and a linear drive member 136. The movable member 135 is connected to the linear drive assembly. One side of the movable member 135 is in contact with the rope 101. The linear drive member 136 drives the movable member 135 to move linearly away from or closer to the engagement groove 112. The driving direction of the linear drive member 136 is along the radial direction of the rotating disk 111. The linear drive member 136 adjusts the distance between the movable member 135 and the bottom wall of the engagement groove 112. The linear drive member 136 can provide pressure along the radial direction of the rotating disk 111 and toward the center of the rotating disk 111 to the rope 101 through the movable member 135, so that the rope 101 remains in contact with the engagement groove 112. The linear drive member 136 can be a spring or a push rod. The movable member 135 and the linear drive member 136 can be rotatably connected. During the process of retracting and releasing the rope, the movable member 135 can swing under the action of friction to adjust the angle and maintain contact with the rope 101. In some embodiments, a guide slope may be provided on the side of the movable part 135 that is in contact with the rope 101 in the direction of movement of the rope 101 to reduce the resistance to the rope 101, reduce the wear of the rope 101, and make the movement of the rope 101 smoother; or, a guide wheel 133 may be rotatably provided on the side of the movable part 135 that is in contact with the rope 101, and the peripheral wall of the guide wheel 133 is in contact with the rope 101 to reduce the resistance to the rope 101 and reduce the wear of the rope 101.

[0055] See also Figure 8 and Figure 9As shown, according to some embodiments of the present application, the rope hoist device 100 further includes a pressure member 140 and a locking member 141. The pressure member 140 is connected to the base 110. The distance between the pressure member 140 and the engagement groove 112 is adjustable. The pressure member 140 is adapted to abut against the rope 101 and exerts pressure on the rope 101 toward the engagement groove 112, thereby increasing the contact friction between the rope 101 and the turntable 111, reducing the probability of rope 101 slipping, and improving safety. The locking member 141 connects the pressure member 140 and the base 110 to fix the relative position of the pressure member 140 and the engagement groove 112. The position of the pressure member 140 can be adjusted for ropes 101 of different diameters, ensuring that the rope 101 is in close contact with the engagement groove 112, thereby increasing the friction between the rope 101 and the turntable 111. After the position of the pressure member 140 is adjusted, the locking member 141 locks the position of the pressure member 140.

[0056] According to some embodiments of the present application, one end of the pressure member 140 is rotatably connected to the base 110, for example, via a pivot or hinge, and the other end of the pressure member 140 abuts against the rope 101. Specifically, one side of the other end of the pressure member 140 abuts against the rope 101. The pressure member 140 may be rod-shaped. The base 110 is provided with a locking block 113, and the locking member 141 passes through the pressure member 140 and is threadedly connected to the locking block 113. Alternatively, the base 110 is provided with a locking block 113, and the locking member 141 passes through the locking member 141 and is threadedly connected to the pressure member 140. The locking member 141 may be a bolt. By turning the locking member 141, the pressure member 140 is moved closer to or further away from the locking block 113, thereby adjusting the pressure applied by the other end of the pressure member 140 on the rope 101.

[0057] like Figure 9 As shown, in some embodiments, one end of the pressure member 140 is rotatably connected to the base 110, for example, by a pivot shaft or a hinge, and the other end of the pressure member 140 abuts against the rope 101. Specifically, one side of the other end of the pressure member 140 abuts against the rope 101. One of the pressure member 140 and the base 110 is provided with a connecting hole 142, and the other is provided with a positioning hole 114. There are multiple positioning holes 114, and multiple limit blocks are distributed at intervals around the connection between the pressure member 140 and the base 110, as shown in FIG. Figure 9 As shown, one end of the pressure member 140 is rotatably connected to the base 110. The pressure member 140 can rotate about the connection between the pressure member 140 and the base 110. A plurality of positioning holes 114 are distributed along an arc, with the center of the arc located at the connection between the pressure member 140 and the base 110. A locking member 141 is inserted into the connecting hole 142 and one of the positioning holes 114. The position of the pressure member 140 can be adjusted by inserting the locking member 141 into the connecting hole 142 and different positioning holes 114. The locking member 141 can be a latch or a bolt.

[0058] like Figure 3 and Figure 4 As shown, in some embodiments, the rope hoist device 100 further includes an adjusting screw 144 and a mounting block 145. The mounting block 145 is disposed on the base 110. The pressure member 140 is plate-shaped. A pressure wheel 143 is rotatably provided on the side of the pressure member 140 facing the rope 101. The peripheral wall of the pressure wheel 143 abuts against the rope 101 to apply pressure to the rope 101. One end of the adjusting screw 144 is rotatably connected to a locking member 141, which is rotatable between a position parallel to the adjusting screw 144 and a position perpendicular to the adjusting screw 144. The other end of the adjusting screw 144 passes through the mounting block 145 and is threadedly connected to the mounting block 145. The adjusting screw 144 passes through the pressure member 140 and is provided with an abutment portion that abuts against the pressure member 140. When the locking piece 141 is located in a position parallel to the adjusting screw 144, the locking piece 141 can be rotated to drive the adjusting screw 144 to rotate relative to the mounting piece, thereby adjusting the distance between the pressure piece 140 and the pressure wheel 143 and the bottom wall of the engaging groove 112, and adjusting the amount of pressure applied to the rope 101; when the locking piece 141 is located in a position perpendicular to the adjusting screw 144, the adjusting screw 144 cannot rotate, and the positions of the pressure piece 140 and the pressure wheel 143 are fixed.

[0059] like Figure 1 As shown, according to some embodiments of the present application, the rope hoist device 100 further includes a protective cover 150, which is disposed on the turntable 111 and can be connected to the base 110 via screws. The peripheral wall of the protective cover 150 is provided with a mounting hole 151, and the guide assembly 130 is passed through the mounting hole 151 to fit the rope 101. The distance between the inner wall of the protective cover 150 and the bottom wall of the engagement groove 112 is greater than the diameter of the rope 101, and the protective cover 150 can protect the rope 101. At the same time, the channel formed between the inner wall of the protective cover 150 and the engagement groove 112 can guide and limit the rope 101, further improving the smoothness of the movement of the rope 101. In some embodiments, the distance between the inner wall of the protective cover 150 and the bottom wall of the engaging groove 112 is 0.1 mm to 5 mm larger than the diameter of the rope 101. For example, the distance between the inner wall of the protective cover 150 and the bottom wall of the engaging groove 112 is 0.1 mm, 0.2 mm, 0.3 mm or 0.5 mm larger than the diameter of the rope 101.

[0060] According to an embodiment of the present application, a working robot includes a body and the aforementioned rope hoist device 100. The working robot may be a window cleaning robot or a curtain wall cleaning robot, for example. The rope hoist device 100 is connected to the body, which may be equipped with working devices such as rollers and sprayers. The rope hoist device 100 is used to drive the entire working robot to ascend or descend along a rope 101.

[0061] According to the working robot of the present application, the rope hoist device 100 drives the working robot as a whole to overcome the working robot's gravity and climb or descend along the rope 101 to perform work. The rope hoist device 100 is provided with a guide assembly 130, and the distance between a portion of the guide assembly 130 and the bottom wall of the engagement groove 112 is less than the diameter of the rope 101, so as to limit the position of the rope 101. This ensures that the rope 101 and the engagement groove 112 remain in contact during the rotation of the turntable 111, guiding the rope 101 and improving the smoothness of the rope climbing process. At the same time, the friction between the rope 101 and the engagement groove 112 is increased, preventing slipping and improving safety.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A rope hoisting device (100), characterized in that: include: base(110); a turntable (111), the turntable (111) being rotatably disposed on the base (110), the peripheral wall of the turntable (111) being provided with an engagement groove (112) extending along the circumferential direction of the turntable (111), and the rope (101) being adapted to be embedded in the engagement groove (112); A guide assembly (130), wherein the guide assembly (130) is movably connected to the seat (110), the guide assembly (130) and the engagement groove (112) jointly define a rope threading channel, the rope is arranged in the rope threading channel, and the distance between a part of the structure of the guide assembly (130) and the bottom wall of the engagement groove (112) is smaller than the diameter of the rope (101), and the guide assembly (130) is in close contact with the rope (101); A rotating driving member (120) is connected to the rotating disk (111).

2. The rope hoisting device (100) according to claim 1, characterized in that The guide components (130) are multiple groups, and the multiple groups of guide components (130) are distributed at intervals along the circumferential direction of the turntable (111).

3. The rope hoisting device (100) according to claim 1, characterized in that The guide assembly (130) includes a swinging member (131), wherein the swinging member (131) has a first end and a second end opposite to each other, wherein the first end is rotatably connected to the seat (110), and the second end is in contact with the rope (101).

4. The rope hoisting device (100) according to claim 3, characterized in that The swinging member (131) is a leaf spring.

5. The rope hoisting device (100) according to claim 3, characterized in that The guide assembly (130) further comprises a reset member, which is connected to the swing member (131) to drive the swing member (131) to fit with the rope (101).

6. The rope hoisting device (100) according to claim 3, characterized in that The second end is rotatably provided with a guide wheel (133), and the peripheral wall of the guide wheel (133) is in contact with the rope (101).

7. The rope hoisting device (100) according to claim 3, characterized in that The rope threading channel has an inlet and an outlet, and in the circumferential direction of the rotating disk (111), the first end is closer to the inlet of the rope threading channel than the second end.

8. The rope hoisting device (100) according to claim 1, characterized in that The guide assembly (130) includes a movable part (135) and a linear driving part (136), wherein the movable part (135) is connected to the linear driving part, one side of the movable part (135) is in contact with the rope (101), and the linear driving part (136) drives the movable part (135) to move linearly to move away from or approach the engagement groove (112), and the driving direction of the linear driving part (136) is along the radial direction of the turntable (111).

9. The rope hoisting device (100) according to claim 1, characterized in that The device further comprises a pressurizing member (140) and a locking member (141), wherein the pressurizing member (140) is connected to the seat body (110), the distance between the pressurizing member (140) and the engaging groove (112) is adjustable, the pressurizing member (140) is adapted to abut against the rope (101), and the pressurizing member (140) exerts pressure on the rope (101) toward the engaging groove (112); The locking member (141) connects the pressurizing member (140) and the seat (110) to fix the relative position of the pressurizing member (140) and the engaging groove (112).

10. The rope hoisting device (100) according to claim 1, characterized in that The invention also includes a protective cover (150), wherein the protective cover (150) is arranged on the turntable (111), a mounting hole (151) is provided on the peripheral wall of the protective cover (150), the guide assembly (130) is passed through the mounting hole (151), and the distance between the inner wall of the protective cover (150) and the bottom wall of the engaging groove (112) is greater than the diameter of the rope (101).

11. The rope hoisting device (100) according to claim 1, characterized in that The invention also includes a first guide tube (152) and a second guide tube (154), the rope threading channel has an inlet and an outlet, the first guide tube (152) is connected to the inlet of the rope threading channel, the extension direction of the first guide tube (152) is tangent to the turntable (111), and the second guide tube (154) is connected to the outlet of the rope threading channel.

12. The rope hoisting device (100) according to claim 11, characterized in that A first guide member (153) is provided at the entrance of the first guide tube (152), and the rope (101) is wound around the first guide member (153); and / or a second guide member (155) is provided at the exit of the second guide tube (154), and the rope (101) is wound around the second guide member (155).

13. The rope hoisting device (100) according to claim 11, characterized in that The first guide tube (152) and the second guide tube (154) are integrally formed parts.

14. The rope hoisting device (100) according to claim 1, characterized in that The rotation driving member (120) is a motor. A first control switch (121) and a second control switch (122) are provided on the base body (110). One of the first control switch (121) and the second control switch (122) is connected to the forward rotation circuit of the motor, and the other is connected to the reverse rotation circuit of the motor.

15. A working robot, characterized in that include: body; The rope hoist device (100) according to any one of claims 1 to 14, wherein the rope hoist device (100) is connected to the fuselage.

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