CN210915147U

CN210915147U - Balanced type lifting detection robot

Info

Publication number: CN210915147U
Application number: CN201921018557.2U
Authority: CN
Inventors: 赵琛; 陶泽勇; 裴方晟; 郑楚悦
Original assignee: State Nuclear Power Plant Service Co Ltd
Current assignee: State Nuclear Power Plant Service Co Ltd
Priority date: 2019-07-02
Filing date: 2019-07-02
Publication date: 2020-07-03
Anticipated expiration: 2029-07-02

Abstract

The utility model relates to a balanced lifting detection robot, which comprises a bottom moving vehicle, a balancing device arranged on the bottom moving vehicle, a lifting device arranged on the balancing device and a control box; the upper end of the bottom moving vehicle is provided with a loading platform; the balance device comprises a balance keeping platform, a balance adjusting mechanism for adjusting the balance keeping platform to keep horizontal and a balance monitoring mechanism for detecting the horizontal state of the balance keeping platform, and the balance device is arranged on the loading platform; the lifting device comprises a lifting platform which is positioned above the balance keeping platform and is parallel to the balance keeping platform, and a lifting driving mechanism which drives the lifting platform to move up and down, wherein the lifting platform is used for installing the detection device; the control box is connected with the balance adjusting mechanism, the balance monitoring mechanism and the lifting driving mechanism. The utility model discloses can guarantee that detection device on the elevating gear is steady in the testing process position, and convenient to use is nimble.

Description

Balanced type lifting detection robot

Technical Field

The utility model relates to a detection robot technical field, concretely relates to balanced type lift detection robot.

Background

The intelligent robot is more and more widely used in dangerous workplaces in the production and manufacturing industry, the building industry, the nuclear power station detection industry and the like. In many cases, the robot is required to have a lifting function, for example, in the monitoring of vertical pipelines such as a top cover vertical penetrating piece of a main reactor pressure vessel of an existing nuclear power station, a multi-shaft manipulator is mostly adopted to carry on nondestructive monitoring, the manipulator is also large in size due to the overlarge weight of the scanning device, the installation and the use of workers are not facilitated, the control of the manipulator is also complex, and each nondestructive monitoring requires a large amount of manpower to debug and operate and control.

Although the existing detection robot based on the trolley platform can freely move in any direction, the balance of the bearing platform cannot be kept under the environments such as uneven ground and the like, the consistency of the bearing platform in the quick lifting process and the gravity center direction cannot be ensured, and the application range and the application efficiency of vertical pipeline weld joint detection are seriously influenced.

SUMMERY OF THE UTILITY MODEL

In view of the above shortcoming of the prior art, the to-be-solved technical problem of the utility model is to provide a balanced type lift detection robot, can guarantee that use detection device can keep good balanced state.

In order to achieve the above object, the utility model provides a balanced lifting detection robot, which comprises a bottom moving vehicle, a balancing device arranged on the bottom moving vehicle, a lifting device arranged on the balancing device, and a control box; the upper end of the bottom moving vehicle is provided with a loading platform; the balance device comprises a balance keeping platform, a balance adjusting mechanism for adjusting the balance keeping platform to keep horizontal and a balance monitoring mechanism for detecting the horizontal state of the balance keeping platform, and the balance device is arranged on the loading platform; the lifting device comprises a lifting platform which is positioned above the balance keeping platform and is parallel to the balance keeping platform, and a lifting driving mechanism which drives the lifting platform to move up and down, wherein the lifting platform is used for installing the detection device; the control box is connected with the balance adjusting mechanism, the balance monitoring mechanism and the lifting driving mechanism.

Furthermore, the balance adjusting mechanism of the balancing device comprises four adjusting screw rods which are parallel to each other and perpendicular to the loading platform and four adjusting motors which are respectively connected to the lower ends of the four adjusting screw rods and connected with the control box, the lower ends of the adjusting screw rods penetrate through the loading platform and are in threaded connection with the loading platform, the upper ends of the adjusting screw rods are hinged to the lower end of the balance maintaining platform, hinged points of the four adjusting screw rods are respectively positioned on the front side, the rear side, the left side and the right side of the balance maintaining platform, and a connecting line between the hinged points of the front adjusting screw rod and the rear adjusting screw rod is perpendicular to a connecting line between; the adjusting motor is installed at the lower end of the loading platform and can move up and down relative to the loading platform.

Furthermore, the balance adjusting mechanism further comprises four sliding rods fixed at the lower end of the loading platform, and the four adjusting motors are respectively installed on the four sliding rods through a lantern ring.

Furthermore, a ball part is arranged at the upper end of the adjusting screw rod, a ball hole matched with the ball part is arranged at the lower end of the balance keeping platform, and the ball part is embedded in the ball hole to form a hinge structure.

Furthermore, a balance detection mechanism in the balance device comprises a metal ball suspended below the balance maintaining platform through a steel wire rope, and pressure switches fixed below the balance maintaining platform and uniformly arranged around the metal ball, wherein the four pressure switches are respectively positioned in four directions of the metal ball, namely the front direction, the rear direction, the left direction and the right direction, and are equal to the distance between the four pressure switches and the metal ball, and the four pressure switches are connected with the control box; when the balance keeping platform inclines, the metal ball collides with one or two pressure switches.

Further, balanced detection mechanism includes the mounting box of a cuboid, the top surface of installation is the square, and fixes at balanced holding platform lower extreme, the metal ball hangs on the top surface of mounting box, the mounting box is inside still to be equipped with four 1/4 circular cone type detection firmware at four edges of lower limb face, and four pressure switches are fixed four respectively and are detected on the firmware at 1/4 circular cone type.

Furthermore, the lifting driving mechanism comprises a vertical sliding screw rod perpendicular to the balance keeping platform and a lifting motor for driving the vertical sliding screw rod to rotate, the lifting motor is connected with the control box, the lower end of the vertical sliding screw rod is rotatably inserted into the balance keeping platform, the upper end of the vertical sliding screw rod penetrates through the lifting platform and is in threaded connection with the lifting platform, and the lifting platform is used for installing the detection device.

Further, still including setting up fixed camera and the laser device above lift platform, fixed camera and laser device all link to each other with the control box.

Further, still include a plurality of cloud platform cameras of installing on the bottom locomotive, cloud platform camera all links to each other with the control box.

Further, the bottom locomotive is including setting up the walking train in the objective platform below, the walking train is including initiative universal wheel, driven universal wheel and the rolling travel drive mechanism of drive initiative universal wheel.

As described above, the balanced type lifting detection robot according to the present invention has the following beneficial effects:

by arranging the bottom moving vehicle, the balancing device, the lifting device and the control box, when the balanced lifting detection robot is positioned at a flat position, the balance keeping platform is in a horizontal state; when the balance type lifting detection robot inclines, the balance maintaining platform inclines, the balance monitoring mechanism detects the inclination condition of the balance maintaining platform, the inclination information of the balance maintaining platform is transmitted to the control box, the control box controls the balance adjusting mechanism to perform corresponding actions according to the inclination information transmitted by the balance monitoring mechanism, the balance maintaining platform is maintained horizontally again, and the balance monitoring mechanism and the balance adjusting mechanism perform real-time monitoring and adjustment on the balance maintaining platform. The utility model relates to a balanced type lift detection robot can guarantee in the use that elevating gear is in balanced state, guarantees that the detection device on the elevating gear position is steady in the testing process, and lift platform drives the quick in-process moving direction of going up and down of detection device unanimous with the focus direction, can keep stable state in the adjustment lift in-process when guaranteeing balanced type lift detection robot to use, and convenient to use is nimble.

Drawings

Fig. 1 is a schematic structural diagram of the balanced type lifting detection robot of the present invention.

Fig. 2 is a schematic structural view of the bottom moving vehicle of the present invention.

Fig. 3 is a schematic structural diagram of the balancing device according to the present invention, and a part of the structure is omitted in the diagram.

Fig. 4 is a schematic structural diagram of the balance monitoring mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the balance monitoring mechanism according to another view angle of the present invention.

Description of the element reference numerals

1 bottom moving vehicle

11 carrying platform

12 driven universal wheel

13 active universal wheel

14-turn motor

15 rolling motor

16 connecting rod

17 connecting bracket

18 support rod

2 balance device

21 balance keeping platform

22 balance monitoring mechanism

221 steel wire rope

222 metal ball

223 pressure switch

224 mounting box

2251/4 cone type detection firmware

23 adjusting screw rod

24-adjustment motor

25 sliding rod

26 Collar

3 lifting device

31 lifting platform

32 vertical sliding screw rod

33 lifting motor

34 sliding guide bar

4 control box

5 tripod head camera

6 fixed camera

7 laser device

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

It should be understood that the drawings of the present application are only used to match the contents disclosed in the specification, so as to be known and read by those skilled in the art, and not to limit the practical limitations of the present invention, so that the present application does not have any technical significance, and any modification of the structure, change of the ratio relationship, or adjustment of the size should still fall within the scope of the present application without affecting the function and the achievable purpose of the present application. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle", and the like used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be considered as the scope of the present invention without substantial changes in the technical content.

Referring to fig. 1 to 5, the present invention provides a balanced type lifting detection robot, which includes a bottom moving vehicle 1, a balancing device 2 installed on the bottom moving vehicle 1, a lifting device 3 installed on the balancing device 2, and a control box 4; the upper end of the bottom moving vehicle 1 is provided with an object carrying platform 11; the balancing device 2 comprises a balance keeping platform 21, a balance adjusting mechanism for adjusting the balance keeping platform 21 to keep horizontal and a balance monitoring mechanism 22 for detecting the horizontal state of the balance keeping platform 21, and the balancing device 2 is arranged on the loading platform 11; the lifting device 3 comprises a lifting platform 31 which is positioned above the balance keeping platform 21 and is parallel to the balance keeping platform 21, and a lifting driving mechanism which drives the lifting platform 31 to move up and down, wherein the lifting platform 31 is used for installing the detection device; the control box 4 is connected with a balance adjusting mechanism, a balance monitoring mechanism 22 and a lifting driving mechanism.

The utility model relates to a balanced type lift inspection robot's theory of operation does: according to specific content to be detected, a corresponding detection device is arranged on the lifting platform 31, the balanced lifting detection robot is arranged at a detection position, and the lifting driving mechanism drives the lifting platform 31 to lift so as to drive the detection device to move up and down for detection; the position of the balanced lifting detection robot is moved by the bottom moving vehicle 1, and when the balanced lifting detection robot is positioned at a flat position, the balanced maintaining platform 21 is in a horizontal state; when the balanced lifting detection robot is located at an uneven position, the balanced lifting detection robot inclines, the balance maintaining platform 21 inclines and is no longer in a horizontal state, the balance monitoring mechanism 22 detects the inclination condition of the balance maintaining platform 21 and transmits the inclination information of the balance maintaining platform 21 to the control box 4, the control box 4 controls the balance adjusting mechanism to perform corresponding action according to the inclination information transmitted by the balance monitoring mechanism 22, the balance maintaining platform 21 is maintained horizontally again, the balance monitoring mechanism 22 and the balance adjusting mechanism perform real-time monitoring and adjustment on the balance maintaining platform 21, and the detection device of the balanced lifting detection robot is guaranteed to be always in a balanced state in the using process. The balance monitoring mechanism 22 may adopt various existing monitoring mechanisms capable of detecting the horizontal state of the object to achieve the above functions; the balance adjusting mechanism can also adopt various existing mechanisms capable of adjusting the platform to keep horizontal so as to realize the functions.

The utility model relates to a balanced type lift inspection robot can guarantee in the use that elevating gear 3 is in balanced state, guarantees that detection device on the elevating gear 3 puts steadily in the testing process, and lift platform 31 drives the quick in-process moving direction of going up and down of detection device and is unanimous with the focus direction, can keep stable state in the adjustment lift in-process when guaranteeing balanced type lift inspection robot to use, and convenient to use is nimble.

As a preferable design, in this embodiment, as shown in fig. 1 and fig. 3, the balance adjustment mechanism of the balance device 2 includes four adjustment screw rods 23 parallel to each other and perpendicular to the loading platform 11, and four adjustment motors 24 connected to the lower ends of the four adjustment screw rods 23 respectively and connected to the control box 4, the lower ends of the adjustment screw rods 23 penetrate through the loading platform 11, and the two adjustment screw rods are in threaded connection, the upper ends of the adjustment screw rods 23 are hinged to the lower end of the balance maintaining platform 21, the hinge points of the four adjustment screw rods 23 are located on the front, rear, left, and right sides of the balance maintaining platform 21 respectively, and the connecting line between the hinge points of the front and rear adjustment screw rods 23 is perpendicular to the connecting line between the; the adjustment motor 24 is installed at the lower end of the loading platform 11 and can move up and down relative to the loading platform 11. The adjusting screw 23 supports the balance maintaining platform 21 through a hinge point at the upper end, the front and rear adjusting screw 23 form a group for adjusting the front and rear level of the balance maintaining platform 21, and the left and right adjusting screw 23 form a group for adjusting the left and right level of the balance maintaining platform 21. Referring to fig. 3, fig. 3 shows a schematic diagram of the installation of the left and right adjusting screws 23 and the balance maintaining platform 21, when the balance maintaining platform 21 is inclined left and right, for example, left low and right high, the control box 4 controls the adjusting motor 24 at the lower end of the left adjusting screw 23 and the adjusting motor 24 at the lower end of the left adjusting screw 23 to rotate synchronously and reversely, the left and right adjusting screws 23 rotate synchronously and reversely, the adjusting screws 23 and the carrying platform 11 form a screw transmission structure, the rotation of the adjusting screws 23 is converted into linear motion of the adjusting screws 23, the left adjusting screw 23 moves upwards, and the right adjusting screw 23 moves downwards, so as to adjust the left and right horizontal states of the balance maintaining platform 21. The adjusting motor 24 moves up and down along with the movement of the adjusting screw rod 23, and the adjusting screw rod 23 can be continuously driven to rotate. Similarly, the control box 4 controls the movement of the front and rear adjusting screws 23 to adjust the front and rear horizontal states of the balance maintaining platform 21.

Further preferably, in this embodiment, as shown in fig. 1 and 3, the balance adjustment mechanism further includes four sliding rods 25 fixed at the lower end of the loading platform 11, and four adjustment motors 24 are respectively mounted on the four sliding rods 25 through a collar 26, so as to ensure that the adjustment motors 24 can smoothly move up and down. As a preferred design, the upper end of the adjusting screw 23 is provided with a spherical portion (shown in the attached drawings), the lower end of the balance keeping platform 21 is provided with a spherical hole (shown in the attached drawings) matched with the spherical portion, the spherical portion is embedded in the spherical hole to form a hinge structure, the spherical portion forms a hinge point, the adjusting screw 23 rotates in each direction relative to the balance keeping platform 21 through the spherical portion, so that the adjusting screw 23 can rotate relative to the balance keeping platform 21, the balance keeping platform 21 is supported well, and the balance adjusting effect of the balance keeping platform 21 is ensured.

As a preferable design, in this embodiment, as shown in fig. 3, 4 and 5, the balance detection mechanism includes a metal ball 222 suspended below the balance maintaining platform 21 by a steel wire 221, and four pressure switches 223 fixed below the balance maintaining platform 21 and uniformly arranged around the metal ball 222, the four pressure switches 223 are respectively located in four directions of the metal ball 222, the distances between the four pressure switches 223 and the metal ball 222 are equal, and the four pressure switches 223 are connected to the control box 4; when the balance maintaining platform 21 is tilted, the metal ball 222 collides with one or both of the pressure switches 223. Specifically, the distance between the metal ball 222 and the pressure switch 223 is determined according to actual conditions. The four front, rear, left, and right pressure switches 223 are preferably located between the metal ball 222 and the four front, rear, left, and right adjustment screws 23, respectively. When the balance keeping platform 21 is in a horizontal state, the metal ball 222 does not collide with the four pressure switches 223. When the balance maintaining platform 21 is no longer horizontal and is inclined, for example, when the left side is low and the right side is high, the metal ball 222 collides with the left pressure switch 223, the left pressure switch 223 transmits a signal to the control box 4, and the control box 4 controls the left and right adjusting screw rods 23 to synchronously and reversely rotate through the adjusting motor 24 according to the signal, so that the balance maintaining platform 21 is adjusted to be restored to the horizontal state. When the balance maintaining platform 21 is left low, right high, and front low, back high, the metal ball 222 collides with the left and front pressure switches 223, the control box 4 controls the four adjusting screw rods 23 to move, and the specific adjusting principle is the same as the above.

Further preferably, in this embodiment, as shown in fig. 3, 4 and 5, the balance detecting mechanism includes a rectangular parallelepiped mounting box 224, an upper surface of the mounting box 224 is square and fixed to a lower end of the balance maintaining platform 21, the metal ball 222 is suspended on the upper surface of the mounting box 224 by a wire rope 221, four conical detecting fasteners 225 1/4 are further provided at four corners of the lower surface inside the mounting box 224, and four pressure switches 223 are respectively fixed to the four conical detecting fasteners 1/4. The balance detection mechanism is integrated in a box body through the mounting box 224, the protection performance is good, the pressure switch 223 is fixed through the 1/4 conical detection firmware 225, the position stability of the pressure switch 223 is guaranteed, and therefore the working stability of the whole balance detection mechanism is guaranteed.

In a preferred design, as shown in fig. 1 and fig. 2, the lifting driving mechanism includes a vertical sliding screw 32 perpendicular to the balance maintaining platform 21, and a lifting motor 33 driving the vertical sliding screw 32 to rotate, the lifting motor 33 is connected to the control box 4, the lower end of the vertical sliding screw 32 is rotatably inserted into the balance maintaining platform 21, the upper end of the vertical sliding screw 32 passes through the lifting platform 31, and the two are connected by a screw, and the lifting platform 31 is used for installing the detecting device. The vertical sliding screw rod 32 is inserted into the balance maintaining platform 21 (the two are connected without screw thread) to support the lifting platform 31, and the vertical sliding screw rod 32 can smoothly rotate around the self axis in the balance maintaining platform 21. In this embodiment, the number of the vertical sliding screws 32 is two, and the two vertical sliding screws are respectively driven by two lifting motors 33, the control box 4 controls the lifting motors 33 to synchronously rotate, so as to drive the vertical sliding screws 32 to synchronously rotate and rotate in the same direction, a screw transmission structure is formed between the vertical sliding screws 32 and the lifting platform 31, and the lifting platform 31 is driven to move up and down when the vertical sliding screws 32 rotate, so that the lifting motion of the lifting platform 31 is driven. Further preferably, the lifting device 3 is further provided with a sliding guide rod 34 parallel to the vertical sliding screw 32, the lower end of the sliding guide rod 34 is embedded in the balance maintaining platform 21, and the sliding guide rod 34 penetrates through the lifting platform 31 to play a role in stabilizing the lifting motion of the lifting platform 31.

As a preferable design, in the present embodiment, as shown in fig. 1 and fig. 2, the bottom traveling vehicle 1 includes a traveling wheel train disposed below the loading platform 11, and the traveling wheel train includes a driving universal wheel 13, a driven universal wheel 12, and a traveling driving mechanism for driving the driving universal wheel 13 to roll. Specifically, in the present embodiment, the bottom end of the loading platform 11 is provided with a support rod 18, the rotating shaft of the driven universal wheel 12 is rotatably mounted on the support rod 18, and the rotating shaft of the driven universal wheel 12 can rotate around the support rod 18, so as to realize multi-directional steering of the driven universal wheel 12. The driving universal wheels 13 are two, the walking driving mechanism comprises a rolling motor 15 for driving the rotating shaft of the driving universal wheel 13 to rotate, the rotating shaft of the driving universal wheel 13 is installed on a connecting rod 16, the two connecting rods 16 are fixedly connected through a connecting support 17, the connecting support 17 is installed on a steering motor 14, the steering motor 14 and the rolling motor 15 are both connected with a control box 4, the rolling motor 15 is controlled to rotate through the control box 4, the driving universal wheel 13 is driven to roll to realize walking of the bottom moving vehicle 1, the steering motor 14 is controlled to rotate, the steering motor 14 drives the connecting support 17 to rotate, the connecting support 17 and the connecting rod 16 drive the two driving universal wheels to rotate around an output shaft of the steering motor 14, and therefore steering is achieved. By adopting the driving universal wheel and the driven universal wheel 12, the multidirectional movement of the bottom locomotive 1 can be realized through the control box 4, so that the functions of advancing/retreating, left/right turning, acceleration/deceleration, braking and the like of the whole device can be realized, and the use is flexible.

As a preferred design, in this embodiment, as shown in fig. 1 and fig. 2, the balanced type lift detection robot further includes a plurality of pan/tilt cameras 5 installed on the bottom moving vehicle 1, the pan/tilt cameras 5 are connected to the control box 4, and the pan/tilt cameras 5 can be arranged at different directions outside the bottom moving vehicle 1, so that the running state and the surrounding and ground environments of the balanced type lift detection robot can be observed, and the observed video signals are transmitted to the control box 4. In addition, the outer side of the bottom moving vehicle 1 is provided with an anti-collision rubber ring to prevent collision damage.

The upper end of the lifting platform 31 of the balanced lifting detection robot can be used for installing various types of detection devices for different detection purposes. For example, may be used to install a scanner for detecting vertical nuclear power plant primary reactor pressure vessel head cover penetration conduit welds. In a preferred design, as shown in fig. 1, the balanced type lifting detection robot further includes a fixed camera 6 and a laser device 7 disposed above the lifting platform 31, and the fixed camera 6 and the laser device 7 are both connected to the control box 4. In the present embodiment, specifically, the fixed camera 6 and the laser device 7 may be mounted on the upper end of the vertical slide screw 32 or the slide guide bar 34. Laser device 7 is used for fixing a position vertical pipeline, observes the surrounding environment through fixed camera 6, and fixed camera 6 and laser device 7 transmit its information that detects or observe to control box 4.

In this embodiment, the control box 4 integrates functions of drive control, video acquisition, audio communication and the like of all the motors, and the control box 4 is used for providing a stable power supply for all the motors, controlling the rotation of the motors and acquiring decoding signals of an encoder for detecting the rotation condition of the motors; the control box 4 converts analog video signals of the fixed camera 6 and the pan-tilt camera 5 into digital signals, the video signals are processed through a built-in signal divider, signals such as field video signals and motor motion parameters are transmitted to an external remote server through optical fibers after the video signals are collected and processed in the control box 4, multi-picture real-time monitoring can be achieved through an external human-computer interface, and various motions and detection actions of the balanced type lifting detection robot are controlled remotely. The circuit of the control box 4 is simple, and the control box 4 is small in size. The utility model discloses in, control box 4 specifically can adopt the current treater that has control function and processing function commonly used, can realize above-mentioned function can.

From the above, the balanced type lift detection robot in this embodiment can adapt to multiple detection environment, and it is nimble convenient to remove and turn to, and the level through control balance keeping platform 21 during the use guarantees that elevating gear 3's balance is stable to this guarantees that detecting device can keep stable balanced state, has guaranteed detection effect in the use, especially the balanced type lift detection robot removes about around and in the oscilaltion adjustment process. The balanced type lifting detection robot can realize remote monitoring and use flexible direction through the control box 4. And the balanced lifting detection robot has simple and stable structure and light whole mass, and can play a great role in the technical field of vertical pipeline weld joint detection.

To sum up, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a balanced type lift inspection robot which characterized in that: comprises a bottom moving vehicle (1), a balancing device (2) arranged on the bottom moving vehicle (1), a lifting device (3) arranged on the balancing device (2) and a control box (4); the upper end of the bottom moving vehicle (1) is provided with an object carrying platform (11); the balance device (2) comprises a balance keeping platform (21), a balance adjusting mechanism for adjusting the balance keeping platform (21) to keep horizontal and a balance monitoring mechanism (22) for detecting the horizontal state of the balance keeping platform (21), and the balance device (2) is installed on the object platform (11); the lifting device (3) comprises a lifting platform (31) which is positioned above the balance maintaining platform (21) and is parallel to the balance maintaining platform (21), and a lifting driving mechanism for driving the lifting platform (31) to move up and down, wherein the lifting platform (31) is used for installing a detection device; the control box (4) is connected with the balance adjusting mechanism, the balance monitoring mechanism (22) and the lifting driving mechanism.

2. The balanced lift detection robot of claim 1, wherein: the balance adjusting mechanism of the balance device (2) comprises four adjusting screw rods (23) which are parallel to each other and perpendicular to the objective platform (11) and four adjusting motors (24) which are respectively connected to the lower ends of the four adjusting screw rods (23) and connected with the control box (4), the lower ends of the adjusting screw rods (23) penetrate through the objective platform (11), the objective platform (11) and the adjusting screw rods are in threaded connection, the upper ends of the adjusting screw rods (23) are hinged to the lower end of the balance maintaining platform (21), hinged points of the four adjusting screw rods (23) are respectively located on the front side, the rear side, the left side and the right side of the balance maintaining platform (21), and a connecting line between the hinged points of the front adjusting screw rods (23) and the rear adjusting screw rods is perpendicular to; the adjusting motor is arranged at the lower end of the object carrying platform and can move up and down relative to the object carrying platform (11).

3. The balanced lift detection robot of claim 2, wherein: the balance adjusting mechanism further comprises four sliding rods (25) fixed to the lower end of the object platform (11), and the four adjusting motors (24) are installed on the four sliding rods (25) through lantern rings (26) respectively.

4. The balanced lift detection robot of claim 2, wherein: the upper end of the adjusting screw rod (23) is provided with a spherical part, the lower end of the balance keeping platform (21) is provided with a spherical hole matched with the spherical part, and the spherical part is embedded in the spherical hole to form a hinged structure.

5. The balanced lift detection robot of claim 1, wherein: the balance detection mechanism in the balance device (2) comprises a metal ball (222) hung below the balance maintaining platform (21) through a steel wire rope (221) and pressure switches (223) fixed below the balance maintaining platform (21) and uniformly arranged on the periphery of the metal ball (222), the four pressure switches (223) are respectively positioned in the four directions of the metal ball (222) in the front, back, left and right directions and are equal in distance with the metal ball (222), and the four pressure switches (223) are connected with the control box (4); when the balance maintaining platform (21) inclines, the metal ball (222) collides with one or two pressure switches (223).

6. The balanced lift detection robot of claim 5, wherein: balanced detection mechanism includes mounting box (224) of a cuboid, the up side of mounting box (224) is the square, and fixes at balanced holding platform (21) lower extreme, metal ball (222) hang on the up side of mounting box (224), mounting box (224) inside still is equipped with four 1/4 circular cone type detection firmware (225) in four edges of lower limb face, and four pressure switch (223) are fixed four respectively and are detected on firmware (225) in 1/4 circular cone type.

7. The balanced lift detection robot of claim 1, wherein: the lifting driving mechanism comprises a vertical sliding screw rod (32) perpendicular to the balance keeping platform (21) and a lifting motor (33) driving the vertical sliding screw rod (32) to rotate, the lifting motor (33) is connected with the control box (4), the lower end of the vertical sliding screw rod (32) is rotatably inserted into the balance keeping platform (21), the upper end of the vertical sliding screw rod (32) penetrates through the lifting platform (31) and is in threaded connection with the lifting platform (31), and the lifting platform (31) is used for installing the detection device.

8. The balanced lift detection robot of claim 1, wherein: still including setting up fixed camera (6) and laser device (7) above lift platform (31), fixed camera (6) and laser device (7) all link to each other with control box (4).

9. The balanced lift detection robot of claim 1, wherein: still include a plurality of cloud platform cameras (5) of installing on bottom locomotive (1), cloud platform camera (5) all link to each other with control box (4).

10. The balanced lift detection robot of claim 1, wherein: bottom locomotive (1) is including setting up the walking train in cargo platform (11) below, the walking train is including initiative universal wheel (13), driven universal wheel (12) and the rolling travel drive mechanism of drive initiative universal wheel (13).