CN210831113U - Lifting device and robot - Google Patents

Lifting device and robot Download PDF

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Publication number
CN210831113U
CN210831113U CN201921662812.7U CN201921662812U CN210831113U CN 210831113 U CN210831113 U CN 210831113U CN 201921662812 U CN201921662812 U CN 201921662812U CN 210831113 U CN210831113 U CN 210831113U
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CN
China
Prior art keywords
lifting
moving
slide
fixed support
support bracket
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Active
Application number
CN201921662812.7U
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Chinese (zh)
Inventor
王辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Haiyi Tongzhan Information Technology Co Ltd
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Beijing Haiyi Tongzhan Information Technology Co Ltd
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Filing date
Publication date
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Priority to CN201921662812.7U priority Critical patent/CN210831113U/en
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Publication of CN210831113U publication Critical patent/CN210831113U/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/42Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels

Abstract

The utility model provides a lifting device. The lifting device comprises a fixed support bracket, a moving part and a first power mechanism. The moving part is movably connected with the fixed support bracket. The first power mechanism is arranged on the fixed support bracket and comprises a telescopic output shaft. The output shaft is connected with the moving part and used for driving the moving part to move along a first direction relative to the fixed support bracket. The motion part comprises a motion frame, a transmission mechanism and a sliding table. The transmission mechanism is arranged on the moving frame; the sliding table is mounted on the conveying mechanism. Wherein the conveying mechanism may convey the slide table in the first direction in the moving frame.

Description

Lifting device and robot
Technical Field
The present disclosure relates to the field of warehouse logistics, and more particularly, to a lifting device and a robot.
Background
At present, the inspection robot generally adopts a plurality of sets of image acquisition equipment to cover different height spaces or adopts a multistage electric push rod to realize that the image acquisition equipment moves in the height direction by larger displacement for realizing the acquisition of image data in the larger height space.
In the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the prior art: if a plurality of sets of image acquisition equipment are adopted, the cost is greatly increased; when the image acquisition equipment is driven by the multistage electric push rod, on one hand, the multistage electric push rod is low in lifting speed and reliability; on the other hand, there is still a difficulty in image scanning at a position below the mounting point of the image pickup apparatus of the multistage motor-driven putter.
SUMMERY OF THE UTILITY MODEL
In view of this, the present disclosure provides a lifting device and a robot that can realize long-stroke lifting.
One aspect of the present disclosure provides a lifting device. The lifting device comprises a fixed support bracket, a moving part and a first power mechanism. The moving part is movably connected with the fixed support bracket. The first power mechanism is arranged on the fixed support bracket and comprises a telescopic output shaft. The output shaft is connected with the moving part and used for driving the moving part to move along a first direction relative to the fixed support bracket. The motion part comprises a motion frame, a transmission mechanism and a sliding table. The transmission mechanism is arranged on the moving frame; the sliding table is mounted on the conveying mechanism. Wherein the conveying mechanism may convey the slide table in the first direction in the moving frame.
According to an embodiment of the present disclosure, the transfer mechanism includes a transfer belt structure including a second power mechanism, a synchronizing wheel, a synchronous belt idler, and a synchronous belt. The second power mechanism comprises a power shaft; the synchronizing wheel is arranged on the power shaft; the synchronous belt idler is located in the first direction of the synchronous wheel; the synchronous belt is installed between the synchronous wheel and the synchronous belt idler.
According to an embodiment of the present disclosure, the lifting device further includes a rack mounted on a fixed support bracket along the first direction. The second power mechanism further comprises a gear. The gear is mounted on the power shaft and is meshed with the rack. When the moving part moves along a first direction relative to the fixed support bracket, the gear can move along the first direction on the rack through the meshing of the gear and the rack so as to drive the power shaft to rotate.
According to the embodiment of the present disclosure, the transmission ratio of the moving frame and the slide table is set according to the meshing ratio of the gear and the rack.
According to the embodiment of the disclosure, the transmission ratio of the moving frame and the sliding table is 1: 2.
According to an embodiment of the present disclosure, the moving frame further comprises a support slide and a linear slide. The support slide rail and the linear slide rail extend along the first direction. Wherein the support slide rail is located at the edge of the moving frame that contacts the fixed support bracket. The linear slide rail is positioned on the supporting slide rail. The sliding table is further connected with the linear sliding rail in a sliding mode and slides in the linear sliding rail.
According to an embodiment of the present disclosure, the first power mechanism includes an electric cylinder or a pneumatic cylinder.
According to an embodiment of the present disclosure, the fixed support bracket includes a mounting base and a side rail. The side guide rail is connected to the mounting base.
According to an embodiment of the present disclosure, the lifting device further comprises a collecting device. The collection device is installed on the sliding table.
In another aspect of the present disclosure, a robot is provided. The robot comprises the lifting device and the movable robot base. Wherein the lifting device is mounted on the robot base.
According to an embodiment of the present disclosure, the slide table in the lifting device is movable in the first direction with respect to the fixed support bracket as a part of the moving section on the one hand, while the slide table is also movable in the moving section in the first direction with respect to the moving frame. Thus, the movement of the slide with respect to the fixed support frame can be a superposition of the two-part movements. In this way, a long-stroke movement of the slide is achieved. Therefore, according to the embodiment of the disclosure, when various external objects such as an image acquisition device are placed on the sliding table, the external objects can be moved within a longer stroke range.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
figure 1 schematically illustrates a robot according to an embodiment of the present disclosure;
fig. 2a and 2b schematically show a right side view and a front view of a lifting device according to an embodiment of the disclosure;
fig. 3 schematically shows a structural view in which a moving part moves to the uppermost end of a fixed support bracket in a lifting device according to an embodiment of the present disclosure, in which a slide table is transferred to the top of a moving frame;
figure 4 schematically shows a cross-sectional view a-a of the lifting device shown in figure 2 b; and
fig. 5 schematically shows a B-B cross-sectional view of the lifting device shown in fig. 2B.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
In the context of the present disclosure, when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or other elements may be present therebetween. In addition, if a component is "on" another component in one orientation, that component may be "under" the other component when the orientation is reversed. When an element is referred to as being "between" two other elements, it can be directly between the two other elements or intervening elements may also be present.
The embodiment of the disclosure provides a lifting device and a robot comprising the same. The lifting device comprises a fixed support bracket, a moving part and a first power mechanism. The moving part is movably connected with the fixed support bracket. The first power mechanism is arranged on the fixed support bracket and comprises a telescopic output shaft. The output shaft is connected with the moving part and used for driving the moving part to move along a first direction relative to the fixed support bracket. The motion part comprises a motion frame, a transmission mechanism and a sliding table. The transmission mechanism is arranged on the moving frame; the sliding table is mounted on the conveying mechanism. Wherein the conveying mechanism can convey the sliding table in the first direction in the moving frame.
According to an embodiment of the present disclosure, the slide table in the lifting device may be movable in the first direction with respect to the fixed support bracket as a part of the moving section on the one hand, while the slide table may also be movable in the first direction with respect to the moving frame in the moving section. Thus, the movement of the slide with respect to the fixed support frame can be a superposition of the two-part movements. In this way, movement of the slide table over a longer range of travel is achieved. Therefore, according to the embodiment of the disclosure, when the image acquisition device is placed on the sliding table, the environmental information of the external object in a longer stroke range can be acquired.
The following describes a lifting device and a robot according to the present disclosure in more detail by way of example with reference to the accompanying specific embodiments.
Fig. 1 schematically illustrates a robot 100 according to an embodiment of the present disclosure.
As shown in fig. 1, the robot 100 includes a movable robot base 10 and a lifting device 20. The lifting device 20 is mounted on the robot base 10. The lifting device 20 includes a slide table 21, and a pickup device 22 (e.g., a camera) is mounted on the slide table 21. The lifting device 20 can refer to the schematic of fig. 2a to 3.
Fig. 2a and 2b schematically show a right side view and a front view of a lifting device 20 according to an embodiment of the present disclosure.
Fig. 3 schematically shows a structural view in which the moving part 220 moves to the uppermost end of the fixed support bracket 210 in the lifting device 20 according to an embodiment of the present disclosure, in which the slide table 21 is transferred to the top of the moving frame.
Referring to fig. 1 to 3, the lifting device 20 may include a fixed support bracket 210 and a moving part 220, and a first power mechanism 230, wherein the sliding table 21 is located in the moving part 220.
As can be seen from a comparison of fig. 2b and 3, in the lifting device 20, the moving part 220 can move up and down in a first direction (e.g., vertical direction) relative to the fixed support bracket 210, for example, from a state of being located inside the fixed support bracket 210 as shown in fig. 2b to an uppermost state of the fixed support bracket 210 as shown in fig. 3. Wherein, the movement of the moving part 220 with respect to the fixed support bracket 210 can be realized by the driving of the first power mechanism 230.
According to the embodiment of the present disclosure, the slide table 21 may move together with the moving part 220 as a part of the moving part 220 in the process that the moving part 220 moves up and down with respect to the fixed support bracket 210.
According to an embodiment of the present disclosure, the moving part 220 may include a moving frame 221 and a transfer mechanism 222. Among them, the moving frame 221 mainly plays a supporting role, and provides a supporting base for assembling various structures of the moving part 220. The transfer mechanism 222 may be mounted on the moving frame 221. The slide table 21 may be mounted on the transfer mechanism 222. The transfer mechanism 222 can transfer the slide table 21 up and down in the moving frame 221. Accordingly, the slide table 21 can be moved up and down by the conveying action of the conveying mechanism 222 inside the moving section 220. For example, comparing the illustrations of fig. 2b and fig. 3, in fig. 2b the slide table 21 is located at the lowermost end of the moving frame 221 of the moving portion 220, and in fig. 3 the slide table 21 may be moved to the uppermost end of the moving frame 221 of the moving portion 220.
As can be seen, the movement of the slide table 21 relative to the fixed support frame 210 may include two parts, a first movement with the moving part 220 relative to the fixed support frame 210 and a second movement of the slide table 21 relative to the moving frame 221 of the moving part 20. Thus, the total stroke of the up-and-down movement of the slide table 21 is the sum of the movement stroke of the moving section 220 with respect to the fixed support frame 210 and the transmission stroke of the transmission mechanism 222.
In the robot 100 according to the embodiment of the present disclosure, the capturing device 22 may scan image data in the entire range of the stroke from the lowest end of the elevating device 20 to the topmost end of the moving part 220 when the moving part 220 extends and is located at the highest position.
The specific structure of the lifting device 20 and the implementation of the relative movement of the parts are described in detail below.
Referring to fig. 2a, 2b and 3, according to an embodiment of the present disclosure, the lifting device 20 includes a fixed support bracket 210, a moving part 220 and a first power mechanism 230.
The moving part 220 is movably connected with the fixed support bracket 210. The first power mechanism 230 is installed in the fixed support bracket 210. The first power mechanism 230 may be, for example, an electric cylinder or a pneumatic cylinder, and provides power and support for the movement of the moving part 220 with respect to the fixed support bracket 210.
The first power mechanism 230 includes a retractable output shaft 231. The output shaft 231 is connected to the moving part 220. The output shaft 231 shown in fig. 3, for example, supports the moving part 220. When the output shaft 231 is extended outward, the push moving part 220 moves in the vertical direction with respect to the fixed support bracket 210.
The fixed support bracket 210 may further include a mounting base 211 and a side rail 212, wherein the side rail 212 is coupled to the mounting base 211. The mounting base 211 may include mounting holes for coupling with the robot base 10. For example, the mounting base 211 is attached to the robot base 10 in fig. 1. The side rail 212 may also be connected to the support structure of the robot base 10 (as shown in fig. 1), and in addition, the side rail 212 may also provide a moving track for the moving part 220.
The moving part 220 may include a moving frame 221. The moving frame 221 may include a support rail 2211 therein. The support rail 2211 extends in a vertical direction, and is located at an edge of the moving frame 221 contacting the fixed support bracket 210, and may be engaged with the side rail 212. When the output shaft 231 extends outward to push the moving portion 220, the support rail 2211 slides in the side rail 212, so that the moving portion 220 moves upward.
Referring to fig. 2b and 3, the moving part 220 includes a transfer mechanism 222 and the slide table 21 in addition to the moving frame 221. The transfer mechanism 222 is mounted on the moving frame 221. The slide table 21 is mounted on the transfer mechanism 222. Wherein the conveying mechanism 222 can convey the slide table 21 up and down in the vertical direction in the moving frame 221.
Fig. 4 schematically shows a cross-sectional view a-a of the lifting device 20 shown in fig. 2 b.
Referring to fig. 2b and 4, the transmission mechanism 222 is installed in the moving frame 221 and may include a second power mechanism, a timing wheel 42, a timing belt idle wheel 43, and a timing belt 44. Wherein the second power mechanism may comprise a power shaft 41.
A synchronizing wheel 42 is mounted on the power shaft 41. The timing belt idle pulley 43 is located in the vertical position direction of the timing pulley 42. The timing belt 44 is installed between the timing pulley 42 and the timing belt idle pulley 43. In fig. 2b, the power shaft 41 and the timing pulley 42 are mounted at the bottom of the moving frame 221, and the timing idler pulley 43 is mounted at the top of the moving frame 221.
When the power shaft 41 is driven to rotate, the synchronous wheel 42 can be driven to rotate, and the synchronous belt 44 is driven to transmit between the synchronous wheel 42 and the synchronous belt idle wheel 43. The slide table 21 may be mounted on the timing belt 44 so as to move along with the movement of the timing belt 44.
According to an embodiment of the present disclosure, the moving frame 221 may further include a linear guideway 2212 thereon. The linear slide 2212 may be positioned on the support slide 2211 (e.g., inside the support slide 2211) and extend in a vertical direction. The linear slide rail 2212 can provide track limiting and supporting for the up-and-down movement of the sliding table 21. For example, a part of the structure of the slide table 21 may be slidably connected to the linear guide 2212. When the slide table 21 is transported by the timing belt 44, the slide table 21 slides along the linear guide 2212.
According to the embodiment of the present disclosure, by driving the rotation of the power shaft 41, the slide table 21 can be conveyed by the timing belt 44 so that the slide table 21 moves up and down in the moving frame 221. The rotation of the power shaft 41 may be driven by a motor, for example, or may be driven by the engagement of a gear and a rack, for example, by means of the movement of the moving portion 220 with respect to the fixed support portion 210 according to the following example.
Fig. 5 schematically shows a B-B cross-sectional view of the lifting device 20 shown in fig. 2B.
Referring to fig. 2b, 3, 4 and 5, the lifting device 20 further includes a rack 240. The rack gear 240 is installed in the fixed support bracket 210 in a vertical direction.
The second power mechanism in the transmission mechanism 222 may further include a gear 45. Gear 45 is mounted on power shaft 41 by means of bearing 46. Wherein the gear 45 is engaged with the rack 240 (see fig. 5).
When the moving part 220 moves up and down in the vertical direction relative to the fixed support bracket 210, the gear 45 moves up and down in the vertical direction on the rack 240, and simultaneously, the gear 45 rotates through the engagement of the gear 45 and the rack 240, thereby driving the power shaft 41 to rotate. The power shaft 41 rotates to allow the timing belt 44 to move up and down to convey the slide table 21. In this way, the movement of the slide table 21 with respect to the fixed support bracket 210 and the movement of the moving frame 221 (or the moving part 220 as a whole) with respect to the fixed support bracket 210 can be synchronized and have a fixed proportional relationship. The proportional relationship can be characterized by the transmission ratio of the moving frame 221 and the slide table 21.
According to the embodiment of the present disclosure, the transmission ratio of the moving frame 221 and the slide table 21 may be set according to the meshing ratio of the gear 44 and the rack 240. In one embodiment, the transmission ratio of the moving frame 221 and the slide table 21 is 1: 2. Thus, when the moving frame 221 moves to the uppermost end of the fixed support frame 210, the slide table 21 just moves to the top of the moving frame 221 (as shown in fig. 3). When the moving frame 221 is restored to the lowermost end of the fixed support frame 210, the slide table 21 is just moved to the bottom of the moving frame 221. Thus, when the pickup unit 22 is mounted on the slide table 21, for example, the moving speed and position of the slide table 21 can be controlled by controlling the extension and retraction speed and extension and retraction length of the output shaft 231 of the first power mechanism 230, so that the fixed point control of the pickup unit 22 can be realized.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims (10)

1. A lifting device, comprising:
a stationary support bracket (210); and
a moving part (220) movably connected with the fixed support bracket (210); and
the first power mechanism (230) is arranged on the fixed support bracket (210) and comprises a telescopic output shaft; the output shaft is connected with the moving part (220) and is used for driving the moving part (220) to move along a first direction relative to the fixed supporting bracket (210);
wherein the content of the first and second substances,
the motion part (220) includes:
a moving frame (221);
a transfer mechanism (222) mounted on the moving frame (221); and
a slide table (21) mounted on the transport mechanism (222);
wherein the transfer mechanism (222) can transfer the slide table (21) in the first direction in the moving frame (221).
2. The lifting device of claim 1, wherein the conveyor mechanism (222) comprises a conveyor belt structure comprising:
a second power mechanism comprising a power shaft (41);
a synchronizing wheel (42) mounted on the power shaft (41);
a timing belt idler (43) located in the first direction of the timing wheel (42);
and a timing belt (44) installed between the timing wheel (42) and the timing belt idle wheel (43).
3. The lifting device according to claim 2, characterized in that:
the lifting device further comprises a rack (240), and the rack (240) is mounted on a fixed support bracket (210) along the first direction; and
the second power mechanism also comprises a gear (45); the gear (45) is mounted on the power shaft (41), and the gear (45) is meshed with the rack (240);
wherein the content of the first and second substances,
the gear (45) can move on the rack (240) along a first direction through the meshing of the gear (45) and the rack (240) when the moving part (220) moves along the first direction relative to the fixed support bracket (210) so as to drive the power shaft (41) to rotate.
4. The lifting device according to claim 3, characterized in that the transmission ratio of the moving frame (221) and the slide table (21) is set according to the meshing ratio of the gear (45) and the rack (240).
5. Lifting device according to claim 4, characterized in that the transmission ratio of the moving frame (221) and the slide (21) is 1: 2.
6. the lifting device according to claim 1, characterized in that the moving frame (221) further comprises:
a support rail 2211 extending in the first direction at an edge where the moving frame 221 contacts the fixed support bracket 210;
a linear slide rail (2212) extending in the first direction and positioned on the support slide rail;
wherein the content of the first and second substances,
the sliding table (21) is further connected with the linear sliding rail in a sliding mode and slides in the linear sliding rail.
7. Lifting device according to claim 1, characterized in that the first power mechanism (230) comprises an electric or pneumatic cylinder.
8. The lifting device as claimed in claim 1, characterized in that the fixed support bracket (210) comprises:
a mounting base (211); and
and a side rail (212) connected to the mounting base (211).
9. The lifting device as recited in claim 1, further comprising:
and the acquisition device (22) is arranged on the sliding table (21).
10. A robot, comprising:
the lifting device (20) according to any one of claims 1 to 9; and
a mobile robot base (10) on which the lifting device is mounted.
CN201921662812.7U 2019-09-30 2019-09-30 Lifting device and robot Active CN210831113U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921662812.7U CN210831113U (en) 2019-09-30 2019-09-30 Lifting device and robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201921662812.7U CN210831113U (en) 2019-09-30 2019-09-30 Lifting device and robot
PCT/CN2020/109260 WO2021063117A1 (en) 2019-09-30 2020-08-14 Lifting device and machine room inspection robot

Publications (1)

Publication Number Publication Date
CN210831113U true CN210831113U (en) 2020-06-23

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WO (1) WO2021063117A1 (en)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2021063117A1 (en) * 2019-09-30 2021-04-08 北京海益同展信息科技有限公司 Lifting device and machine room inspection robot

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JPH07156092A (en) * 1993-12-03 1995-06-20 Tokiyoshi Kuroda Multistage expansion arm device
CN208262854U (en) * 2018-05-14 2018-12-21 深圳博通机器人有限公司 A kind of equipment routing inspection robot
CN109038353B (en) * 2018-08-03 2020-03-31 中国铁路上海局集团有限公司合肥供电段 Inspection robot for power transformation and distribution equipment
CN208888658U (en) * 2018-11-19 2019-05-21 浙江大学滨海产业技术研究院 A kind of interior crusing robot
CN110125901B (en) * 2019-05-24 2021-03-26 合肥工业大学 Manipulator equipment for operating transformer distribution cabinet
CN110233440A (en) * 2019-05-24 2019-09-13 中国铁路上海局集团有限公司合肥供电段 Distribution equipment inspection device
CN210824300U (en) * 2019-09-10 2020-06-23 北京海益同展信息科技有限公司 Inspection robot and lifting device thereof
CN210831113U (en) * 2019-09-30 2020-06-23 北京海益同展信息科技有限公司 Lifting device and robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021063117A1 (en) * 2019-09-30 2021-04-08 北京海益同展信息科技有限公司 Lifting device and machine room inspection robot

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