Foldable lifting arm assembly, inspection robot system and monitoring device

Abstract

The utility model relates to a foldable lifting arm assembly, an inspection robot system and a monitoring device. The foldable lifting arm assembly comprises an upper mounting seat and a lower mounting seat, a lower mounting seat; the at least one lifting arm is mounted and connected between the upper mounting seat and the lower mounting seat and can stretch and retract to realize the lifting of the lower mounting seat in the vertical direction, and each end of the lifting arm is provided with a worm gear-worm mechanism and a matched electric driving mechanism; the foldable lifting arm assembly is configured to be capable of presenting the following two states: (1) a folded state, in which the lower mounting seat ascends to an expected folded position in the vertical direction; and (2) an extended state in which the lower mount is lowered in the vertical direction to an expected extended position.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection robot, concretely relates to inspection robot system, monitoring device and its retractable lifting arm assembly. BACKGROUND

[0002] The inspection robot is ideal for operating and site safety and effectively guaranteeing the personal safety of the inspection personnel in some fields and application occasions, such as long production lines or transportation lines, mines, pipe corridors, coal mines, wind power generation, and inspection work in complex sites. Since the inspection robot has basic characteristics such as perception, decision-making, and execution, it can assist or even replace humans to complete the dangerous, heavy, and complex work of inspection, thereby improving work efficiency and quality.

[0003] When the inspection robot is working, it usually moves on the track along the fixed running path of the track platform and monitors the environment that needs to be inspected. With the progress of technology and the increasing demand, many places have also begun to use track inspection robots, such as factories, breeding plants, intelligent farms, municipal pipe corridors, and coal mine shafts.

[0004] However, the existing inspection robots, although they can freely run and adjust their positions on a plane or a generally planar surface, and some can adjust their heights, all have defects and deficiencies.

[0005] In the invention patent application No. 202310270420.0, entitled "Inspection Robot Trolley and Bidirectional Power-driven Lifting Device", filed by the same applicant on March 20, 2023, a bidirectional power-driven lifting device is disclosed. Although this bidirectional power-driven lifting device can adjust the vertical height of the inspection robot up and down, the adjusted height is relatively limited, and it cannot adjust its position and orientation to the left and right. Moreover, its structure is relatively complex, its own weight is high, the designed structure and components are numerous, the cost is high, and the stability and reliability during work are also limited.

[0006] Another conventional prior art method, joint motor, although it can also be used to adjust the height of the camera or other monitoring and detection devices installed thereon, the joint motor itself has high cost, high power consumption, and serious limitations in work load and load capacity, etc., which is not suitable for industrial application in the inspection robot field.

[0007] There is a continuous need for improved lifting devices for inspection robots to continuously improve the performance of inspection robots and minimize or even eliminate the above technical defects, as well as to achieve other more technical advantages.

[0008] The information included in this Background section of the specification, including any references cited herein and any description or discussion thereof, is included for technical reference purposes only and is not to be regarded as limiting the subject matter of the present utility model. Utility model content

[0009] The present utility model is proposed in view of the above and other more ideas.

[0010] One of the basic ideas of the present utility model is to provide a retractable lifting arm assembly, which comprises: an upper mounting seat; a lower mounting seat configured for mounting a patrol robot, a patrol robot module or a cloud platform; at least one lifting arm installed and connected between the upper mounting seat and the lower mounting seat and capable of stretching and retracting movement to realize the lifting of the lower mounting seat in the vertical direction, wherein each end of the lifting arm is configured with a worm gear mechanism; wherein the retractable lifting arm assembly is configured to be able to present the following two states: (1) a retracted state, in which the worm gear mechanism is driven to rotate by its matched electric drive mechanism to relatively pivot at least one lifting arm, so that the lower mounting seat is lifted to the expected retracted position in the vertical direction; and (2) an extended state, in which the worm gear mechanism is driven to rotate by its matched electric drive mechanism to relatively reverse pivot at least one lifting arm, so that the lower mounting seat is lowered to the expected extended position in the vertical direction.

[0011] According to an embodiment, the electric drive mechanism comprises a motor.

[0012] According to an embodiment, the motor is a stepper motor or a servo motor.

[0013] According to an embodiment, the worm gear mechanism further comprises a gear reduction mechanism.

[0014] According to an embodiment, the at least one lifting arm comprises a first, a second and a third lifting arm.

[0015] According to an embodiment, the upper mounting seat is operatively connected with one end of the first lifting arm through a first worm gear mechanism; the other end of the first lifting arm is operatively connected with one end of the second lifting arm through a second worm gear mechanism; the other end of the second lifting arm is operatively connected with one end of the third lifting arm through a third worm gear mechanism; and the other end of the third lifting arm is operatively connected with the lower mounting seat through a fourth worm gear mechanism.

[0016] According to an embodiment, the other end of the first lifting arm is pivotable relative to the one end of the second lifting arm; the other end of the second lifting arm is pivotable relative to the one end of the third lifting arm.

[0017] According to an embodiment, one of the worm gear and worm (and the electric drive mechanism associated therewith) of the first worm and gear mechanism is fixedly mounted with the upper mount, and the other of the worm gear and worm (and the electric drive mechanism) of the first worm and gear mechanism is mounted at one end of the first lifting arm;

[0018] one of the worm gear and worm (and the electric drive mechanism) of the second worm and gear mechanism is fixedly mounted with the other end of the first lifting arm, and the other of the worm gear and worm (and the electric drive mechanism) of the second worm and gear mechanism is mounted at one end of the second lifting arm;

[0019] one of the worm gear and worm (and the electric drive mechanism associated therewith) of the third worm and gear mechanism is fixedly mounted with the one end of the third lifting arm, the other of the worm gear and worm (and the electric drive mechanism associated therewith) of the third worm and gear mechanism is mounted at the other end of the second lifting arm; and

[0020] one of the worm gear and worm (and the electric drive mechanism associated therewith) of the fourth worm and gear mechanism is mounted at the other end of the third lifting arm, and the other of the worm gear and worm (and the electric drive mechanism associated therewith) of the fourth worm and gear mechanism is fixedly mounted with the lower mount.

[0021] According to an embodiment, the worm gear of the first worm and gear mechanism is fixedly mounted with the upper mount, and the worm and the electric drive mechanism associated therewith of the first worm and gear mechanism is mounted at one end of the first lifting arm; the worm gear of the second worm and gear mechanism is fixedly mounted with the other end of the first lifting arm, and the worm and the electric drive mechanism associated therewith of the second worm and gear mechanism is mounted at one end of the second lifting arm; the worm gear of the third worm and gear mechanism is fixedly mounted with the one end of the third lifting arm, the worm and the electric drive mechanism associated therewith of the third worm and gear mechanism is mounted at the other end of the second lifting arm; the worm and the electric drive mechanism associated therewith of the fourth worm and gear mechanism is mounted at the other end of the third lifting arm, and the worm gear of the fourth worm and gear mechanism is fixedly mounted with the lower mount.

[0022] According to an embodiment, the worm gear of the first worm gear mechanism is fixedly mounted with the upper mount, and the worm of the first worm gear mechanism and the electric drive mechanism matched therewith are mounted at one end of the first lifting arm; the worm of the second worm gear mechanism and the electric drive mechanism matched therewith are mounted at the other end of the first lifting arm, the worm gear of the second worm gear mechanism is fixedly mounted with one end of the second lifting arm; the worm gear of the third worm gear mechanism is fixedly mounted with the other end of the second lifting arm, and the worm of the third worm gear mechanism and the electric drive mechanism matched therewith are mounted at one end of the third lifting arm; the worm of the fourth worm gear mechanism and the electric drive mechanism matched therewith are mounted at the other end of the third lifting arm, and the worm gear of the fourth worm gear mechanism is fixedly mounted with the lower mount.

[0023] According to an embodiment, the at least one lifting arm is a single lifting arm.

[0024] According to an embodiment, one end of the single lifting arm is operatively connected with the upper mount through a first worm gear mechanism; the other end of the single lifting arm is operatively connected with the lower mount through a second worm gear mechanism.

[0025] According to an embodiment, the worm gear of the first worm gear mechanism is fixedly mounted with the upper mount, and the worm of the first worm gear mechanism and the electric drive mechanism matched therewith are mounted at the one end of the single lifting arm; the worm of the second worm gear mechanism and the electric drive mechanism matched therewith are mounted at the other end of the single lifting arm, and the worm gear of the second worm gear mechanism is fixedly mounted with the lower mount.

[0026] According to an embodiment, the worm of the first worm gear mechanism and the electric drive mechanism matched therewith are mounted on the upper mount, and the worm gear of the first worm gear mechanism is mounted at the one end of the single lifting arm; the worm gear of the second worm gear mechanism is mounted at the other end of the single lifting arm, and the worm of the second worm gear mechanism and the electric drive mechanism matched therewith are mounted on the lower mount.

[0027] According to an embodiment, the at least one lifting arm each has a hollow inner cavity.

[0028] According to an embodiment, the retractable lifting arm assembly is provided with a position sensor or a travel switch defining the start position and the end position of the relative pivoting of the at least one lifting arm.

[0029] According to an embodiment, a gyroscope or an angle sensor is mounted on the lower mount and / or the inspection robot.

[0030] According to an embodiment, the upper mount is mounted to be movable along a patrol or monitoring track, or is mounted at a fixed monitoring position.

[0031] According to an embodiment, the retractable lifting arm assembly is configured to switch between the retracted state and the extended state by relative pivoting movement of the lifting arms.

[0032] According to an embodiment, during switching between the retracted state and the extended state, each worm-gear mechanism and its associated electric drive mechanism can be controlled individually or in linkage.

[0033] According to an embodiment, during switching between the retracted state and the extended state, the driving of the electric drive mechanisms can be controlled to be performed simultaneously, in sequence, or out of sequence.

[0034] According to another aspect of the present application, there is also provided a patrol robot system, comprising the retractable lifting arm assembly as described above, and a patrol robot or a patrol robot module mounted on the lower mount of the retractable lifting arm assembly.

[0035] According to an embodiment, the upper mount of the retractable lifting arm assembly is mounted to be driven along a patrol track.

[0036] According to another aspect of the present application, there is also provided a monitoring device, comprising the retractable lifting arm assembly as described above, and a monitoring gimbal mounted on the lower mount of the retractable lifting arm assembly; wherein the upper mount of the retractable lifting arm assembly is mounted to be stationary, or is movable along a monitoring path.

[0037] The retractable lifting arm assembly of the present application not only enables wider adjustment of the monitoring gimbal or the patrol robot in vertical height with relatively low cost, high reliability and stability, but also maintains a stable and consistent posture throughout the monitoring and patrol process; moreover, the retractable lifting arm assembly of the present application not only adjusts the vertical height, but also makes it possible to conveniently and reliably achieve and maintain a moderate horizontal position, translation, and posture inclination when needed; the retractable lifting arm assembly of the present application not only enables patrol or monitoring with a stable posture during patrol movement, but also stably changes or maintains a certain required posture without shaking, oscillation, or swinging; moreover, the retractable lifting arm assembly of the present application also enables monitoring / detection at a certain fixed position / station, while reliably achieving vertical / horizontal / inclined posture adjustment and maintenance.

[0038] The further embodiments of the present application can also achieve other advantageous technical effects not listed one by one, some of which are described below and can be expected and understood by those skilled in the art after reading the present application. BRIEF DESCRIPTION OF DRAWINGS

[0039] The above features and advantages and other features and advantages of the embodiments are more fully comprehended by reference to the following description together with the accompanying drawings, in which the above features and advantages of the embodiments and the manner of achieving them can be better understood, and embodiments of the present application can be better appreciated.

[0040] Figure 1 is a front perspective view of a collapsible lifting arm assembly with three lifting arms according to a first embodiment of the present application, under which view the orientation of the collapsible lifting arm assembly when installed in place for work is basically the same as that of the collapsible lifting arm assembly.

[0041] Figure 2 is Figure 1 is another perspective view of the collapsible lifting arm assembly shown in

[0042] Figure 3 is Figure 2 is a schematic view of the collapsible lifting arm assembly and its lifting arms in a further extended state, in which the lifting arms can be driven to extend downward from Figure 2 the partially extended state shown in Figure 3 the further extended state shown in or to a fully extended state close to a straight line extension.

[0043] Figure 4 is Figure 3 is a partial enlarged schematic view of the collapsible lifting arm assembly and its lifting arms near the upper mounting seat position, which schematically shows the configuration, mounting arrangement and configuration of the upper mounting seat and the first lifting arm connected thereto.

[0044] Figure 5 is Figure 4 is a perspective view of the structure, which shows its internal configuration and mounting configuration in the form of a perspective view, and in particular shows the worm gear-worm mechanism and its mounting relationship and working principle.

[0045] Figure 6 is a schematic view showing the part of the lifting arm assembly connected to the lower mounting seat and the inspection robot module.

[0046] Figure 7A shows the overall schematic view of the collapsible lifting arm assembly of the embodiment shown in Figures 1-2 in the form of a back projection view.

[0047] Figure 7B is a cross-sectional view taken along Figure 7A A-A of FIG. 1, showing a cross-section along its axis of rotation and mounting relationship of one of the worm-gear mechanisms at the junction of the two lifting arms.

[0048] Figure 7C is a cross-sectional view taken along Figure 7A C-C of FIG. 1, showing a partial longitudinal cross-section of one of the lifting arms at the junction of the two lifting arms, schematically showing the mounting arrangement of the worm-gear mechanism thereat and its electric drive mechanism.

[0049] Figure 7D is a cross-sectional view taken along Figure 7B B-B of FIG. 1, further Figure 7B showing the fixed connection (illustrated as a key connection, making the worm gear and the shaft non-rotatable relative to each other) of the worm gear of the worm-gear mechanism to the shaft.

[0050] Figure 8 is a front perspective view of the collapsible lifting arm assembly with a single lifting arm according to the second embodiment of the present application, in which perspective view the orientation of the collapsible lifting arm assembly is substantially the same as when it is installed in place and in operation. DETAILED DESCRIPTION

[0051] The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims.

[0052] It should be understood that the illustrated and described embodiments are not limited in application to the details of construction and arrangement of parts illustrated in the following description or illustrated in the drawings. The illustrated embodiments can be capable of implementation in other embodiments and of being practiced or carried out in various ways. Examples are provided by way of explanation of the disclosed embodiments and not by way of limitation. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made in the present embodiments without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment, can be used with another embodiment to yield still a further embodiment. Thus, it is intended that the present application covers modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0053] Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising" or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items.

[0054] In the present utility model, unless otherwise expressly specified and limited, the terms "mounting", "connection", "connection" and the like should be understood in a broad sense, for example, it can be directly connected, or indirectly connected through an intermediate medium; "fixed connection" can be direct fixed connection or assembly, or indirect fixed connection or assembly. For those skilled in the art, the specific meaning of the above terms in the present utility model can be understood according to the specific circumstances.

[0055] In the present utility model, for those skilled in the art, unless otherwise expressly specified and limited, the orientation and direction terms "up", "down", "left", "right" and the like associated with the retractable lifting arm assembly and its constituent parts are described and limited in conjunction with the orientation of the retractable lifting arm assembly in its normal use state.

[0056] The present utility model will be further described and explained in detail below in combination with the drawings and specific embodiments.

[0057] Figure 1 is the front perspective view of the retractable lifting arm assembly 1000 with three lifting arms according to the first embodiment of the present utility model, under this view, the orientation of the retractable lifting arm assembly 1000 when it is installed and working is basically the same, at this time, the retractable lifting arm assembly 1000 is in the retracted state. The retracted state in this embodiment is as shown in Figure 1 is the fully folded state. Of course, those skilled in the art can understand that according to the needs of design and application, the predetermined retracted state can not necessarily be the fully folded state, but can be the nearly fully folded state, or other states that reach the predetermined retracted height, etc., which can be understood by those skilled in the art, and also belong to the scope of the present utility model.

[0058] Figure 2 is Figure 1 is another perspective view of the retractable lifting arm assembly 1000, which shows that the retractable lifting arm assembly 1000 and its lifting arms are in a partially extended state.

[0059] Figure 3 is Figure 2 is a schematic view of the retractable lifting arm assembly 1000 and its lifting arms in a further extended state, wherein the lifting arms can be extended from Figure 2The partially extended state shown is driven to extend downwards, thereby reaching Figure 3 The further extended state shown, or extended to a fully extended state, for example, can be accessed in a straight line.

[0060] The general concept and implementation of the retractable lifting arm assembly driving the inspection robot (or inspection robot module, gimbal, etc.) to perform lifting operation are introduced below.

[0061] In the present utility model, the retractable lifting arm assembly driving the inspection robot adopts the folding (or retractable) lifting arm to realize the lifting of the inspection robot and achieve the up-down position adjustment. In the present utility model, a motor-driven worm gear-worm mechanism is used to achieve this, which is fundamentally different from the existing technology of using winches, chain drives, etc. for inspection robot lifting. Moreover, compared with the use of joint motors, it also has great advantages, as described in detail below.

[0062] Previously, the same applicant of the present application applied for an invention patent application with the application number No. 202310270420.0 and the invention name of "Inspection Robot Trolley and Its Bidirectional Power-driven Lifting Device" on March 20, 2023. The application discloses a bidirectional power-driven lifting device designed with a winch. This bidirectional power-driven lifting device can adjust the vertical height of the inspection robot up and down, but the height of the adjustment is relatively limited, and the structural design makes the strength of the extended lifting structure very limited, and it cannot adjust its position and orientation left and right, the structural design is complex, there are many parts, the weight is high, the cost is high, and the stability, reliability and maximum load during work have great limitations.

[0063] In the present utility model, the retractable lifting arm assembly adopts a retractable or folding lifting mechanism, which is very different from the prior art. The retractable lifting arm can mainly consist of at least one, for example, three lifting arms (or connecting rods), driven by a conventional low-cost, simple-structure motor, driving a reduction mechanism such as a planetary reducer output, driving a worm gear-worm mechanism, and further driving the entire lifting arm system to extend and retract. An important technical feature in the present utility model is that a worm gear-worm mechanism driven by a common motor, for example, a stepper motor, is used to connect between the lifting arms and the upper and lower mounting seats, rather than a traditional joint motor.

[0064] Compared with the traditional joint motor, the structure design of the worm gear-worm mechanism driven by the stepping motor has many and great technical advantages in the field. For example, in the utility model, the cost of the worm gear-worm mechanism structure driven by the motor is greatly reduced, and the cost of four sets of joint motors is about forty times the cost of four sets of worm gear-worm mechanisms with motor drive reaching the same load standard. In other words, the cost of the utility model is greatly reduced compared with the design of the joint motor.

[0065] Moreover, the worm gear-worm mechanism design of the utility model also has the self-locking feature advantage brought by its own properties. Due to the characteristics of the worm gear-worm mechanical mechanism itself, it can realize self-locking function itself without additional self-locking design or structure, thereby greatly improving the stability of the retractable lifting arm system, simplifying the structure design, reducing the weight, and further reducing the cost.

[0066] In addition, the worm gear-worm mechanism design of the utility model also has the advantage of low power consumption (low power consumption) compared with the joint motor. Due to the adoption of the conventional motor such as the stepping motor and the worm gear-worm mechanism of the utility model, in general inspection robots or gimbal application occasions, the power (power consumption) of the retractable lifting arm assembly of the utility model reaches about 100 watts to meet the requirements. However, in the same application scenario and working load environment, if the joint motor is used, about 1000 watts of (power consumption) power is required. The advantage of the utility model is very obvious and very practical, because in many current application scenarios, inspection robots or gimbal monitoring systems usually work with rechargeable batteries, so smaller power consumption (power consumption) means longer single working time, which is a very advantageous and necessary performance for many application scenarios, and it is one of the advantages of the concept of the utility model that is superior to the prior art.

[0067] As shown in Figures 1-7D , the retractable lifting arm assembly 1000 for inspection robots or gimbals and the like and its components according to the first embodiment of the utility model and the part associated with the inspection robot are schematically shown.

[0068] As shown in the figure, the retractable lifting arm assembly 1000 can include an upper mounting seat 100, which can be used for installation in inspection, mobile monitoring or monitoring occasions, for example, can be configured to be directly or indirectly mounted on the track on which the inspection robot runs and can be driven to travel along the track (not shown).

[0069] As shown in Figure 1As shown, in this first embodiment, the upper mounting base 100 of the retractable lifting arm assembly 1000 in the retracted state is connected to the first lifting arm 300 via a first worm gear-worm mechanism 600. The upper mounting base 100 can be installed on an inspection track and move together with the inspection drive device, or it can be installed at a fixed monitoring position. These are all within the scope of this utility model.

[0070] like Figures 1-7D As shown, the worm wheel of the first worm gear mechanism 600 is mounted to the upper mounting base 100 via a rotating shaft 110, preventing them from rotating relative to each other. The worm of the first worm gear mechanism 600 is assembled with and driven by an electric drive mechanism 610 installed in the inner cavity at one end of the first lifting arm 300, allowing it to rotate relative to the meshing worm wheel. The electric drive mechanism 610 includes a drive motor (not shown in detail), such as a stepper motor, and an optional matching reduction mechanism (not shown in detail), such as a reduction mechanism in the form of a planetary gear mechanism. As previously mentioned, all worm gear mechanisms, including the first worm gear mechanism 600, inherently possess a self-locking function, thus acting as a self-locking or braking device after being driven into place, without the need for additional components or designs.

[0071] The other end of the first lifting arm 300 is operably connected to one end of the second lifting arm 400 via a second worm gear mechanism 700 (i.e., it can be retracted and extended relative to each other). The worm wheel of the second worm gear mechanism 700 (e.g., at its axis position) is fixed to the other end of the first lifting arm 300 and cannot rotate relative to each other. The worm of the second worm gear mechanism 700 is assembled with and driven by an electric drive mechanism 710 installed in the cavity at one end of the second lifting arm 400, allowing it to rotate relative to the meshing worm wheel about itself. This allows the second lifting arm 400 to rotate relative to the first lifting arm 300 about its axis, thereby switching between a retracted state and an extended state.

[0072] Similarly, the other end of the second lifting arm 400 is operably connected to one end of the third lifting arm 500 via a third worm gear mechanism 800 (i.e., it can be retracted and extended relative to each other). The worm of the third worm gear mechanism 800 is assembled with and driven by an electric drive mechanism 810 installed in the cavity at the other end of the second lifting arm 400, allowing it to rotate relative to the meshing worm wheel. The worm wheel of the third worm gear mechanism 800 (e.g., at its axis position) is fixed to one end of the third lifting arm 500 and cannot rotate relative to each other. This allows the third lifting arm 500 to rotate relative to the second lifting arm 400 about its axis, thereby switching between a retracted state and an extended state.

[0073] The retractable lifting arm assembly 1000 can further include a lower mount 200 on which a patrol robot (or other monitoring device, such as a patrol robot module, a pan-tilt head, etc.) 210 can be mounted, as shown in Figures 1-2

[0074] Figure 6 is a schematic diagram showing the third lifting arm 500, the lower mount 200, the fourth worm-gear mechanism 900 operatively connecting the two, and the portion of the lifting arm assembly design associated with the patrol robot module 210. Similarly as previously described, as shown in Figure 6

[0075] The patrol robot (or other monitoring device, such as a patrol robot module, a pan-tilt head, etc.) 210 can be mounted on the lower mount 200, as shown in Figures 1-3

[0076] ​​​According to one example, a gyroscope or an angle sensor can be installed on the lower mount 200 and / or the inspection robot (or other monitoring device, such as an inspection robot module, a pan-tilt head, etc.) 210 for sensing the real-time status (tilt angle, etc.) of the inspection robot (or inspection robot module, pan-tilt head, etc.) 210, which can be connected to the control system / controller of the inspection robot and / or the retractable jib assembly for dynamically controlling and adjusting the rotation of the worm-gear mechanism connected to the lower mount 200 in real time according to the tilt angle and other data measured by the gyroscope or angle sensor, so as to ensure that the inspection robot (or inspection robot module, pan-tilt head, etc.) 210 connected to the lower mount 200 always maintains a stable and consistent monitoring / inspection posture.

[0077] Figure 4 is Figure 3 is a partial enlarged schematic view of the retractable jib assembly 1000 and its jib near the upper mount position, which schematically shows the configuration, mounting arrangement and disposition of the upper mount 100 and the first jib 300 connected thereto. Figure 5 is Figure 4 is a perspective schematic view of the structure, which shows its internal configuration and mounting disposition in the form of a perspective view, and particularly shows the worm-gear mechanism 600 and its mounting relationship and working principle. As Figures 4-5 shown, the worm wheel 620 of the worm-gear mechanism 600 is fixed coaxially with, or fixedly mounted to, the rotating shaft 110 of the upper mount 100. The worm 630 of the worm-gear mechanism 600 is engaged with the worm wheel 620 and rotates relative to the worm wheel 620 under the driving of the electric driving mechanism 610. The electric driving mechanism 610 includes an electric motor, such as a stepper motor, and can also optionally have a speed reduction mechanism 640, such as a conventional planetary gear speed reduction mechanism (conventional configuration, not shown in detail). Figure 5 is also shown in the lower left side of the figure, the jib 300 has a hollow inner cavity to accommodate the electric driving mechanism and the worm-gear components, and mounting holes (not labeled) for mounting the electric wires of the electric driving mechanism. The other jibs 400, 500, and other worm-gear mechanisms and related mounting dispositions, etc., can be of similar configuration and structure, and therefore will not be described in detail one by one with reference to Figures 4-5 shown. In addition, those skilled in the art can understand that in the present application, including the first (and subsequent second) embodiment, the mounting positions and sequences of the worm wheels and worms do not have to be as shown in the figures, and the mounting positions of the worm wheels and worms of each worm-gear mechanism can be reversed, which are all within the scope of the present application.

[0078] The configuration and working principle of the worm-gear mechanism will be further described below with reference to Figures 7A-7D .

[0079] Figure 7A is shown in a back plan view Figures 1-2 is a schematic diagram of the retractable lifting arm assembly 1000 of the embodiment shown. Figure 7B is a cross-sectional view along the section line A-A in Figure 7A , showing the cross-section and mounting relationship of a worm-gear mechanism along its rotation axis at the joint of the two lifting arms 300 and 400 (illustrated, other applicable locations can be similarly designed). Figure 7D is a cross-sectional view along the section line B-B in Figure 7B , further showing Figure 7B the structure and mounting relationship of the worm-gear mechanism 700 in

[0080] As shown in Figures 7A-7B and Figure 7D , the illustrated right end of the first lifting arm 300 is operatively connected (i.e., can be retracted and extended relative to each other) with the illustrated right end of the second lifting arm 400 through a second worm-gear mechanism 700, wherein the worm gear 720 of the second worm-gear mechanism 700 (e.g., at its rotation axis position) is fixed with the illustrated right end of the first lifting arm 300 and cannot rotate relative to each other, the worm shaft 730 of the second worm-gear mechanism 700 is operatively assembled with and can be driven by the electric drive mechanism 710 installed in the inner cavity of the illustrated right end of the second lifting arm 400 to tend to rotate around the worm gear 730 with which it is engaged (since the worm gear 730 cannot rotate, the worm shaft 730 is rotated relative to the worm gear 730). The rotation axis, e.g., in the form of a spline shaft 740, passes through the center of the worm gear 720 and is fixed thereto (e.g., as shown in Figure 7B , the spline shaft 740 has a spline groove 7401 forming a spline connection with the spline on the worm gear 720, so that the two are fixed and cannot rotate), one end of which is inserted into the mounting position 310 fixed at the right end of the first lifting arm 300 (e.g., as shown in Figure 7B and Figure 7D , the spline shaft 740 has a spline 7402 forming a spline connection with the spline groove in the mounting position 310, so that the two are fixed and cannot rotate), and can be further fixed selectively by the screw 320, as shown in Figure 7B . Thus, when the second worm-gear mechanism 700 is driven by the electric drive mechanism 710, the second lifting arm 400 can be rotated relative to the first lifting arm 300 around the rotation axis 740, thereby switching between the retracted state and the extended state. Those skilled in the art can understand that the non-rotatable mounting and fixing between the worm gear 730 and the rotation axis can also be achieved by other means, and Figure 7B and Figure 7DThe interfitting key groove and spline structure of the key connection structure shown in the figure are also interchangeable as long as the key connection can be realized, which are all within the scope of the present application.

[0081] Figure 7C is along Figure 7A the section line C-C in the figure, mainly shows a partial longitudinal section view of one of the two lifting arms 400 at the connection between the two lifting arms 300 and 400, and schematically shows the installation arrangement of the second worm-gear mechanism 700 and its electric driving mechanism 710 at the position.

[0082] As shown in Figure 7C , the motor of the electric driving mechanism 710 is connected with a speed reduction mechanism, for example, a planetary gear speed reduction mechanism 750, which is operatively connected with the worm 730 for speed reduction, and the worm 730 is operatively engaged with the worm gear 720 to drive the rotation of the right end of the first lifting arm 300 fixed therewith relative to the second lifting arm 400 (i.e., to realize the relative folding / extension between the two).

[0083] In the present application, all worm-gear mechanisms and their speed reduction mechanisms, such as planetary gear mechanisms, have self-locking function, and thus can also serve as brake devices for electric driving mechanisms, such as motors.

[0084] The lifting operation of the foldable lifting arm assembly 1000 according to the first embodiment is further described below.

[0085] Generally, the foldable lifting arm assembly 1000 is configured to be able to assume the following two states: (1) a folded state, in which each worm-gear mechanism and its matched electric driving mechanism is configured to drive the relative pivoting between the two parts connected by itself, such as between the two lifting arms and / or between the lifting arm and the upper and lower mounting seats, to the expected folded state (at this time, the height of the inspection robot 210 is raised), for example, to a predetermined folding state or a substantially folded state, or to a completely folded state (as shown in Figure 1 ), at which time the three lifting arms can be substantially folded together, assuming a substantially parallel / parallel state to each other (wherein the lengths of the first and third lifting arms are substantially equal, and each is about half the length of the second lifting arm, thereby making the entire lifting arm assembly assume an ideal symmetrical structure); and (2) an extended state, in which each worm-gear mechanism and its matched electric driving mechanism is configured to drive the reverse relative pivoting between the two parts connected by itself, such as between the two lifting arms and / or between the lifting arm and the upper and lower mounting seats, to the expected extended state (at this time, the height of the inspection robot 210 is lowered), for example, to a predetermined extended state (as shown in Figure 2 ) or a substantially extended state (as shown inFigure 3 As shown), or in a fully extended state where the three lifting arms can extend almost in a straight line (not shown). An illustrative example of a predetermined extended state is that the angle between two adjacent lifting arms is in the range of 90 degrees or greater to 180 degrees or less. Because the worm gear mechanism has a self-locking property, no additional braking device is required. Thus, the retractable lifting arm assembly of this invention can easily remain in any desired retracted / extended state (corresponding to the desired lifting height position). Therefore, in summary, the retractable lifting arm assembly of this invention can very conveniently and controllably present the above two states / postures, and can conveniently and controllably switch between the two states / postures as needed.

[0086] During the process of realizing the above two states / postures and the switching between them, each worm gear-worm mechanism and its matching electric drive mechanism can be controlled individually or preferably in conjunction; the driving operation of the electric drive mechanism can be performed simultaneously, sequentially, or without any order, all of which are within the scope of this utility model.

[0087] like Figure 1 As shown, the retractable lifting arm assembly, for example, can be equipped with limit switches or position sensors 120, 130 on the upper mounting base 100 to define the start and end positions. This facilitates reliable stopping when the lifting arm 300 pivots to the predetermined start and end positions, preventing over-pivotage. Those skilled in the art will understand that limit switches or position sensors can be installed at corresponding locations on each mounting worm gear mechanism. For example, when adapted or required, limit switches or position sensors can be installed on the upper mounting base, lower mounting base, lifting arm near the worm gear / worm, on the worm gear and / or worm, etc., to set / limit pivoting, i.e., the extreme positions of retraction / extension (including the start and end positions); similarly, in the following... Figure 8 The retractable lifting arm assembly 1000' of the second embodiment shown may also be similarly equipped with limit switches or position sensors (not shown), all of which are within the scope of this utility model.

[0088] Furthermore, in situations where a motor may be required to provide braking force to ensure that the retractable lifting arm assembly 1000 stops and remains at the required height, the electric drive mechanism may also be configured to have an additional built-in braking mechanism, which is also within the scope of this invention.

[0089] Figure 8is the front view of the folding lifting arm assembly 1000' with only one single lifting arm 300' according to the second embodiment of the present application, in this view, the orientation of the folding lifting arm assembly 1000' when it is installed in place is basically the same as that of the folding lifting arm assembly 1000'.

[0090] As shown in Figure 8 the worm of the first worm-gear mechanism 600' installed at the right end of the first lifting arm 300' is assembled with the electric driving mechanism 610' installed in the inner cavity of the right end of the first lifting arm 300' and can be driven by the electric driving mechanism 610' to rotate around the worm gear engaged therewith. The electric driving mechanism 610' can include a driving motor (not shown in detail), such as a stepping motor, and an optional matching speed reduction mechanism (not shown in detail), such as a planetary gear mechanism. As mentioned before, all the worm-gear mechanisms, including the first worm-gear mechanism 600', have the self-locking function by nature, so that the worm-gear mechanism can serve as a self-locking or braking device after being driven in place without the need for additional components or designs.

[0091] As shown in Figure 8 the second worm-gear mechanism 700' is installed at the left end of the first lifting arm 300', so that the left end of the first lifting arm 300' together with the worm installed thereon can be pivoted / rotated in a controlled manner relative to the worm gear installed thereon and the lower mounting base 200'. Specifically, as shown in Figure 8 the worm of the second worm-gear mechanism 700' is assembled with the electric driving mechanism 710' installed in the inner cavity of the left end of the first lifting arm 300' and can be driven by the electric driving mechanism 710' to rotate relative to the worm gear of the second worm-gear mechanism 700' matched therewith; the worm gear of the second worm-gear mechanism 700' is installed with the lower mounting base 200' through the rotating shaft 220' so that the two cannot rotate relative to each other. The electric driving mechanism 710' can include a driving motor (not shown in detail), such as a stepping motor, and an optional matching speed reduction mechanism (not shown in detail), such as a planetary gear mechanism. As mentioned before, the first and second worm-gear mechanisms 600', 700' have the self-locking function by nature, so that the worm-gear mechanism can serve as a self-locking or braking device after being driven in place without the need for additional components or designs.

[0092] According to an example, a gyroscope or an angle sensor can be installed on the lower mount 200' and / or the inspection robot (or inspection robot module, gimbal, etc.) 210', for sensing the real-time state (tilt angle, etc.) of the inspection robot (or inspection robot module, gimbal, etc.) 210', which can be connected with the control system / controller of the inspection robot and / or the retractable lifting arm assembly, for dynamically controlling and adjusting the rotation of the worm-gear mechanism connected with the lower mount 200' in real time according to the tilt angle and other data measured by the gyroscope or angle sensor, so as to ensure that the inspection robot (or inspection robot module, gimbal, etc.) 210' connected with the lower mount 200' always maintains a stable and consistent monitoring / inspection posture.

[0093] According to an example, the motor of the electric driving mechanism can be any suitable, cost-effective and relatively controllable cost type other than the joint motor, such as a stepper motor, a servo motor, etc. Generally speaking, the configuration of the stepper motor or the servo motor is preferred, which has many advantages in terms of cost, structure, reliability, power consumption, working load and other aspects in the application field of the present application, and thus is relatively ideal.

[0094] According to an example, some components of the retractable lifting arm assembly of the present application, including but not limited to each lifting arm, the upper and lower mounts, and other supporting structures / mounts, are preferably designed to be lightweight, for example, designed to be made of aluminum alloy, so as to reduce the weight of the entire retractable lifting arm assembly system.

[0095] The basic concept of the present application is described above in combination with the embodiments. It should be noted that the above is only the preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments, mutual combinations and substitutions without departing from the scope of the present application. The scope of the present application is determined by the scope of the appended claims.

Claims

1. A retractable lifting arm assembly, characterized in that, The retractable lifting arm assembly includes: Upper mounting base; Lower mounting base, the lower mounting base being configured for mounting an inspection robot, an inspection robot module, or a gimbal; At least one lifting arm is installed and connected between the upper mounting base and the lower mounting base, and is capable of extending and retracting to realize the vertical lifting of the lower mounting base, wherein each end of the lifting arm is equipped with a worm gear mechanism. The retractable lifting arm assembly is configured to be able to present the following two states: (1) In the retracted state, the worm gear mechanism is driven to rotate by its associated electric drive mechanism, causing at least one of the lifting arms to pivot relative to each other, so that the lower mounting base rises vertically to the desired retracted position; and (2) Extended state, in which the worm gear mechanism is driven to rotate by its associated electric drive mechanism to cause at least one of the lifting arms to pivot in the opposite direction, so that the lower mounting base descends in the vertical direction to the expected extended position.

2. The retractable lifting arm assembly according to claim 1, characterized in that, The electric drive mechanism includes a motor.

3. The retractable lifting arm assembly according to claim 2, characterized in that, The motor is a stepper motor or a servo motor.

4. The retractable lifting arm assembly according to claim 1, characterized in that, The worm gear mechanism also includes a gear reduction mechanism.

5. The retractable lifting arm assembly according to any one of claims 1-4, characterized in that, The at least one lifting arm includes a first, a second, and a third lifting arm.

6. The retractable lifting arm assembly according to claim 5, characterized in that, The upper mounting base is operably connected to one end of the first lifting arm via a first worm gear-worm mechanism; The other end of the first lifting arm is operably connected to one end of the second lifting arm via a second worm gear-worm mechanism; The other end of the second lifting arm is operably connected to one end of the third lifting arm via a third worm gear-worm mechanism; and The other end of the third lifting arm is operably connected to the lower mounting base via a fourth worm gear-worm mechanism.

7. The retractable lifting arm assembly according to claim 6, characterized in that, The other end of the first lifting arm is pivotable relative to the first end of the second lifting arm; and The other end of the second lifting arm is pivotable relative to the first end of the third lifting arm.

8. The retractable lifting arm assembly according to claim 6, characterized in that, One of the worm gear and worm of the first worm gear-worm mechanism is fixedly mounted to the upper mounting base, and the other of the worm gear and worm of the first worm gear-worm mechanism is mounted at one end of the first lifting arm; One of the worm wheel and worm of the second worm gear mechanism is fixedly installed to the other end of the first lifting arm, and the other of the worm wheel and worm of the second worm gear mechanism is installed at one end of the second lifting arm; One of the worm gear and worm in the third worm gear-worm mechanism is fixedly installed at one end of the third lifting arm, and the other of the worm gear and worm in the third worm gear-worm mechanism is installed at the other end of the second lifting arm; and One of the worm gear and worm in the fourth worm gear-worm mechanism is mounted on the other end of the third lifting arm, and the other of the worm gear and worm in the fourth worm gear-worm mechanism is fixedly mounted to the lower mounting base.

9. The retractable lifting arm assembly according to claim 8, characterized in that, The worm wheel of the first worm gear-worm mechanism is fixedly mounted to the upper mounting base, and the worm of the first worm gear-worm mechanism and the matching electric drive mechanism are mounted at one end of the first lifting arm; The worm wheel of the second worm gear mechanism is fixedly installed at the other end of the first lifting arm, and the worm of the second worm gear mechanism and the matching electric drive mechanism are installed at one end of the second lifting arm; The worm gear of the third worm gear-worm mechanism is fixedly installed at one end of the third lifting arm, and the worm of the third worm gear-worm mechanism and its matching electric drive mechanism are installed at the other end of the second lifting arm; and The worm of the fourth worm gear mechanism and its matching electric drive mechanism are installed at the other end of the third lifting arm, and the worm wheel of the fourth worm gear mechanism is fixedly installed with the lower mounting base.

10. The retractable lifting arm assembly according to any one of claims 1-4, characterized in that, The at least one lifting arm is a single lifting arm.

11. The retractable lifting arm assembly according to claim 10, characterized in that, One end of the single lifting arm is operably connected to the upper mounting base via a first worm gear-worm mechanism; and The other end of the single lifting arm is operably connected to the lower mounting base via a second worm gear-worm mechanism.

12. The retractable lifting arm assembly according to claim 11, characterized in that, The worm wheel of the first worm gear mechanism is fixedly mounted to the upper mounting base, and the worm of the first worm gear mechanism and the matching electric drive mechanism are mounted on one end of the single lifting arm; the worm of the second worm gear mechanism and the matching electric drive mechanism are mounted on the other end of the single lifting arm, and the worm wheel of the second worm gear mechanism is fixedly mounted to the lower mounting base. or The worm of the first worm gear-worm mechanism and its matching electric drive mechanism are mounted on the upper mounting base, and the worm wheel of the first worm gear-worm mechanism is mounted on one end of the single lifting arm; the worm wheel of the second worm gear-worm mechanism is mounted on the other end of the single lifting arm, and the worm of the second worm gear-worm mechanism and its matching electric drive mechanism are mounted on the lower mounting base.

13. The retractable lifting arm assembly according to any one of claims 1-4, 6-9 and 11-12, characterized in that, Each of the at least one lifting arm has a hollow inner cavity.

14. The retractable lifting arm assembly according to any one of claims 1-4, 6-9 and 11-12, characterized in that, The retractable lifting arm assembly is provided with a position sensor or limit switch that defines at least one starting position and ending position of the lifting arm pivot.

15. The retractable lifting arm assembly according to any one of claims 1-4, 6-9, and 11-12, characterized in that, A gyroscope or angle sensor is installed on the lower mounting base and / or the inspection robot.

16. The retractable lifting arm assembly according to any one of claims 1-4, 6-9 and 11-12, characterized in that, The upper mounting base is configured to move along the inspection or monitoring track, or to be installed at a fixed monitoring position.

17. The retractable lifting arm assembly according to any one of claims 1-4, 6-9, and 11-12, characterized in that, The retractable lifting arm assembly is configured to switch between the retracted state and the extended state via relative pivoting motion of the lifting arm.

18. An inspection robot system, characterized in that, The inspection robot system includes: The retractable lifting arm assembly according to any one of claims 1-17; and An inspection robot or inspection robot module is mounted on the lower mounting base of the retractable lifting arm assembly.

19. The inspection robot system according to claim 18, characterized in that, The upper mounting base of the retractable lifting arm assembly is installed to be driven along the inspection track.

20. A monitoring device, characterized in that, The monitoring device includes: The retractable lifting arm assembly according to any one of claims 1-17; and A monitoring pan-tilt unit is installed on the lower mounting base of the retractable lifting arm assembly; The upper mounting base of the retractable lifting arm assembly is either fixed or movable along the monitoring path.

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