CN216830872U - Lifting device and robot with same - Google Patents

Abstract

The utility model provides a lifting device and have lifting device's robot, lifting device includes: a base plate; the telescopic arms are sequentially nested in a sliding manner from outside to inside, wherein the telescopic arm on the outermost side is fixed on the bottom plate, and the telescopic arm on the innermost side is provided with a top end cover; the elastic component penetrates through the at least two telescopic arms, one end of the elastic component is abutted against the bottom plate, and the other end of the elastic component is abutted against the top end cover; and a pull cord, one end of which is fixed to the top end cover; wherein, the lower extreme of every flexible arm all is equipped with the bottom lid, and the internal diameter of bottom lid is greater than elastomeric element's external diameter. The utility model discloses a lifting device and robot that has lifting device not only can realize automatic raising and lowering functions through setting up the nimble support range that changes of pivotable support unit, and overall dimension is little, whole light in weight, simple structure, with low costs moreover, is suitable for and uses under industry volume production and the multi-scene.

Description

Lifting device and robot with same

Technical Field

The utility model relates to an intelligent robot technical field, in particular to elevating gear and have elevating gear's robot.

Background

Currently, there are many fields and scenes where a light-load type multi-stage lifting product is required, for example, when a camera is used to perform automatic lifting shooting, the camera needs to be lifted to a certain height. In a scenario like this, where the lifting speed requirements for the lifting column are not high and the position reached by the lifting column does not need to be particularly precise, since a lighter-weight item, such as a camera, is lifted, however, there is no lifting product on the market today that matches the above scenario requirements.

Firstly, products with multi-stage lifting functions in the market are not too many; secondly, the product is mainly used in the industrial field, and the size and the weight of the product and the lifting column used by the product are large; thirdly, most of the existing multistage lifting products are realized by adopting multistage screw rods or chain transmission, but the products have complex structures and higher cost.

Therefore, it is desirable to provide a light-load type lifting device which is small in size, light in weight, and low in cost, and which can achieve flexible automatic lifting of an article; the lifting device can also be applied to an intelligent robot, so that an automatic lifting function is provided.

It is noted that the information disclosed in the background section above is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems existing in the prior art, the utility model provides a lifting device and have lifting device's robot, its structural design through simple dexterity realizes automatic rising to overcome the problem that exists among the prior art.

The utility model provides a lifting device, lifting device includes: a base plate; the telescopic arms are sequentially nested in a sliding manner from outside to inside, the telescopic arm on the outermost side is fixed on the bottom plate, and the telescopic arm on the innermost side is provided with a top end cover; the elastic component penetrates through the at least two telescopic arms, one end of the elastic component is abutted against the bottom plate, and the other end of the elastic component is abutted against the top end cover; and a pull cord having one end fixed to the top end cap; the lower end of each telescopic arm is provided with a bottom end cover, and the inner diameter of each bottom end cover is larger than the outer diameter of each elastic component.

According to an embodiment of the present invention, the elastic member is a spring, and the other end of the pulling rope passes through the inside of the spring and extends out of the opening on the bottom plate; and/or the top end cover is arranged at the upper end of the innermost telescopic arm, and one end of the pull rope is fixed to the lower surface part of the top end cover; and/or a limiting ring is arranged on the lower end face of the top end cover so as to limit the position of the elastic component; and/or the bottom end cover is nested on the inner wall of the lower end of each telescopic arm; and/or the outermost telescopic boom is fixed on the bottom plate by fixing the bottom end cover on the outermost telescopic boom on the bottom plate; and/or the outer wall of each telescopic arm is provided with a longitudinal groove matched with the adjacent telescopic arm so as to avoid relative rotation between the adjacent telescopic arms.

According to the utility model discloses an embodiment, elevating gear still includes: and the rope winding mechanism is arranged on the bottom plate, and the other end of the pull rope extends out of the opening in the bottom plate and is contained in the rope winding mechanism.

According to the utility model discloses an embodiment, elevating gear still includes: and a pulley disposed adjacent to the opening in the base plate such that the cord extends from the opening in the base plate and is wound around the pulley to be received in the cord winding mechanism.

According to an embodiment of the present invention, the pulley and the rope winding mechanism are arranged in alignment; and/or

The pulley and the rope winding mechanism are arranged to enable an included angle formed by the pull ropes on two sides of the pulley to be larger than 90 degrees; and/or the pulley is provided with a tensioning device so as to adjust the tensioning force of the pull rope.

According to the utility model discloses an embodiment, elevating gear still includes: and an output shaft of the motor is connected to the rope winding mechanism so as to provide power for winding and unwinding the pull rope by the rope winding mechanism.

According to the utility model discloses an embodiment is equipped with locking mechanism between the adjacent flexible arm, with will at least one flexible arm locking is in the extension state of difference.

According to the utility model discloses an embodiment, locking mechanism includes: the telescopic arms positioned on the inner side in each pair of two adjacent telescopic arms and the side walls of the bottom end covers of the telescopic arms are respectively provided with a through hole and a mounting hole which are aligned, one end of each elastic locking piece is fixed in the mounting hole, and the other end of each elastic locking piece comprises a locking head which penetrates through the through hole and extends to the radial outer side; and the locking holes are formed in the side wall of the upper end of the telescopic arm positioned at the outer side in each pair of two adjacent telescopic arms, and the inner diameter of each locking hole is smaller than the outer diameter of the locking head, wherein when the two adjacent telescopic arms are completely extended, the locking head extends out of the mounting hole under the action of elastic force and penetrates through the through hole, so that the locking heads are abutted in the locking holes.

According to the utility model discloses a further aspect still provides a robot with elevating gear, its characterized in that, elevating gear is above.

According to the utility model discloses an embodiment, robot with elevating gear includes: a movable chassis, on which the lifting device is supported; and a controller for controlling the movement of the movable chassis and/or the elevation of the elevating device.

The utility model provides a lifting device and have lifting device's robot not only can realize automatic lifting function, and overall dimension is little moreover, whole light in weight, simple structure, with low costs, is suitable for to use under industry volume production and the multi-scene.

Drawings

The above and other features of the present invention will be explained in detail below with reference to certain exemplary embodiments shown in the drawings, which are given by way of illustration only and thus do not limit the present invention, wherein:

fig. 1 shows a front view of a lifting device according to an embodiment of the invention.

Fig. 2 shows a right side view of a lifting device according to an embodiment of the invention.

Fig. 3 shows a bottom view of a lifting device according to an embodiment of the present invention.

Fig. 4 shows a top view of a lifting device according to an embodiment of the present invention.

Fig. 5 shows a side cross-sectional view of a lifting device according to an embodiment of the invention in a compressed state.

Fig. 6 shows a front cross-sectional view of a lifting device according to an embodiment of the invention in a compressed state.

Fig. 7 shows a front cross-sectional view of a lifting device according to an embodiment of the invention in an extended state.

Fig. 8 is a schematic perspective view of the top end cap 50 according to an embodiment of the present invention.

Fig. 9 shows a cross-sectional view of the top end cap 50 and the four-stage telescopic arm 5 assembled according to an embodiment of the present invention.

Fig. 10 shows a schematic perspective view of the bottom end cap 51 according to an embodiment of the present invention.

Fig. 11 is a bottom cross-sectional view of the four-stage telescopic boom 5 and the three-stage telescopic boom 4 in a locked state according to an embodiment of the present invention.

Fig. 12 shows a schematic perspective view of a bottom end cap 21 according to another embodiment of the present invention.

Fig. 13 shows a sectional bottom view of the assembled primary telescopic boom 2 and bottom end cap 21 according to another embodiment of the present invention.

Fig. 14 is a schematic perspective view of a four-stage telescopic cylinder 5 according to an embodiment of the present invention.

Fig. 15 shows a schematic perspective view of the three-stage telescopic cylinder 4 according to an embodiment of the present invention.

Fig. 16 is a schematic perspective view of the primary telescopic cylinder 2 according to an embodiment of the present invention.

Detailed Description

The present invention is described in detail below with reference to specific examples so that those skilled in the art can easily implement the present invention based on the disclosure of the present specification. The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by a person skilled in the art on the basis of the embodiments described in the present specification without any inventive step belong to the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present specification may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Fig. 1 to 4 schematically show a lifting device according to an embodiment of the present invention. The lifting device comprises a bottom plate 1, four telescopic arms, namely a first-stage telescopic arm 2, a second-stage telescopic arm 3, a third-stage telescopic arm 4, a fourth-stage telescopic arm 5, a pull rope 7, a rope winding mechanism 8, a pulley 9 and a motor 10.

Specifically, referring to fig. 14 to 16, a schematic perspective view of a four-stage telescopic boom 5, a three-stage telescopic boom 4 and a one-stage telescopic boom 2 according to an embodiment of the present invention is shown. In this embodiment, the three-stage telescopic boom 4 and the two-stage telescopic boom 3 have the same structure, and therefore the drawings of the present invention omit the three-dimensional structure diagram of the two-stage telescopic boom 3. As shown in fig. 14 to 16, the four telescopic booms, i.e., the first-stage telescopic boom 2, the second-stage telescopic boom 3, the third-stage telescopic boom 4 and the fourth-stage telescopic boom 5, are all designed as hollow cylindrical components and are sized such that they can be slidably nested from outside to inside in sequence, i.e., the first-stage telescopic boom 2 is located on the outermost side, and the second-stage telescopic boom 3 and the third-stage telescopic boom 4 are located on the next, and the fourth-stage telescopic boom 5 is located on the innermost side. In addition, the outer wall of each telescopic arm is provided with a longitudinal groove matched with the adjacent telescopic arm, so that relative rotation between the adjacent telescopic arms is avoided.

More specifically, with further reference to fig. 14 and 15, the outer wall of the fourth-stage telescopic arm 5 is symmetrically provided with a pair of longitudinal grooves 52 (only one of which is labeled in fig. 14) extending along the length direction of the telescopic arm, the outer wall of the third-stage telescopic arm 4 is symmetrically provided with a pair of longitudinal grooves 42 (only one of which is labeled in fig. 15) extending along the length direction of the telescopic arm, when the fourth-stage telescopic arm 5 is nested in the third-stage telescopic arm 4, the longitudinal grooves 52 and 42 of the two are aligned, and the longitudinal grooves 52 and 42 are sized such that the relative sliding between the fourth-stage telescopic arm 5 and the third-stage telescopic arm 4 can only slide along the length direction of the telescopic arm, i.e., longitudinally, thereby avoiding relative rotation between the two during the telescoping process. With further reference to fig. 16, the outer wall of the primary telescopic arm 2 is also symmetrically provided with a pair of longitudinal grooves 22 (only one of which is marked in fig. 16) extending along the length of the telescopic arm. Similar to the sliding fit between the four-stage telescopic arm 5 and the three-stage telescopic arm 4, the relative rotation between the three-stage telescopic arm 4 and the two-stage telescopic arm 3 and between the two-stage telescopic arm 3 and the one-stage telescopic arm 2 can also be avoided by utilizing respective longitudinal grooves, and specific details are not repeated here.

In other embodiments of the present invention, the number of telescopic arms may be set to other numbers, such as 2, 3, 6, 10, etc., as desired; alternatively, the number of the longitudinal grooves on the telescopic arm can be set to other numbers according to the requirement, and the arrangement mode of the longitudinal grooves can be set to be symmetrical or asymmetrical according to the requirement and the actual situation; additionally, the shape of the longitudinal groove can be set to be an arc concave recess as shown in fig. 14-16, and can also be set to be a concave recess of other shapes such as rectangle, triangle, wave, etc., without limitation.

Referring to fig. 5 to 7, cross-sectional views of a lifting device at different angles and different telescopic states according to an embodiment of the present invention are respectively shown. As shown in fig. 5-7, the lifting device of the present invention further includes a spring 6, the spring 6 is disposed in the four telescopic arms, that is, the spring 6 is disposed in the cavity formed by the four telescopic arms sequentially nested together, that is, the inner diameter of the innermost four-stage telescopic arm 5 is greater than the outer diameter of the spring 6, so as to allow the spring 6 to pass through. With reference to fig. 1 to 4, the first-stage telescopic arm 2 is fixed on the bottom plate 1, the top end cover 50 is nested on the inner wall of the upper end of the fourth-stage telescopic arm 5, one end of the spring 6 is abutted to the bottom plate 1, and the other end of the spring 6 is abutted to the top end cover 50.

With further reference to fig. 5-7, the lifting device of the present invention further comprises a pull cord 7, wherein the end 7a of the pull cord 7 is fixed to the top end cap 50, and the pull cord 7 extends downward through the inside of the spring 6 from the end 7a thereof and extends downward from the opening 11 on the bottom plate 1, i.e. the other end of the pull cord 7 opposite to the end 7a extends downward from the opening 11 on the bottom plate 1. In another embodiment of the present invention, the spring 6 can be replaced by other elastic components known to those skilled in the art, and the present invention is not limited thereto.

Further reference is made to fig. 8, which schematically illustrates a perspective view of a top end cap 50 according to an embodiment of the invention. It should be noted that the placement position of the top end cap 50 shown in fig. 8 and the position direction of the top end cap 50 shown in fig. 5 to 7 are upside down, that is, the lower surface of the top end cap 50 shown in fig. 5 to 7 faces upward in fig. 8. For convenience of description, in the following description with reference to fig. 8, "up" and "down" indicating the orientation or positional relationship shall be based on the positional directions of the top end cap 50 shown in fig. 5 to 7. As shown in fig. 8, a pair of lugs 504 (only one of which is labeled in fig. 8) is provided at a central position of the lower surface of top end cap 50, and a cylindrical pin 505 (shown in fig. 11 and 13) may be fixedly inserted into the pair of lugs 504 to tie the 7a end of pull cord 7 to the cylindrical pin 505, thereby fixing the 7a end of pull cord 7 to the central portion of the lower surface of top end cap 50. As shown in fig. 8, a circumferential stop collar 503 protruding downward is further provided on the lower end surface of the top end cap 50, and the inner diameter of the stop collar 503 is larger than the outer diameter of the spring 6, so that one end of the spring 6 can be limited and held in place by the stop collar 503 while abutting against the lower surface of the top end cap 50, so as to avoid the upper end of the spring 6 from deflecting. As shown in fig. 8, a pair of grooves 501 (only one of which is labeled in fig. 8) are symmetrically provided on both sides of the top end cap 50, and the shape and size of the grooves 501 are adapted to the longitudinal grooves 52 of the four-stage telescopic arm 5, so that the top end cap 50 is snugly fixed to the inner wall of the upper end of the four-stage telescopic arm 5. Referring to fig. 9, which schematically shows a cross-sectional view of the top end cap 50 and the four-stage telescopic arm 5 according to an embodiment of the present invention, four pin holes 502a (only one of which is labeled in fig. 8 and 9) are uniformly provided in a side surface of the top end cap 50 for fixing the top end cap 50 to the upper end of the four-stage telescopic arm 5 by using pins 502 b.

In other embodiments of the present invention, instead of using the lug 504 and the cylindrical pin 505, other connection means may be used or the end 7a of the pull cord 7 may be directly fixed to the middle of the lower surface of the top end cap 50; alternatively, the top end cap 50 may not be provided with the stop collar 503; alternatively, the top end cover 50 may be fixed on the upper end surface of the four-stage telescopic arm 5, that is, the upper end surface of the four-stage telescopic arm 5 is fixedly connected to the lower surface of the top end cover 50; alternatively, the top end cap 50 may be designed such that the lower surface has a circumferential groove to embed the upper end of the four-stage telescopic arm 5 in the top end cap 50; alternatively, the top end cap 50 may be disposed at a different axial (longitudinal) position within the four-stage telescopic arm 5 than at the upper end thereof, and the present invention is not limited to the specific manner of disposing the top end cap 50 on the four-stage telescopic arm 5. It is worth noting that when top end cap 50 is provided in a manner different from that shown in the drawings of the present specification, its structure, shape and connection to other components will also be adapted in a manner that should be known to those skilled in the art.

With further reference to fig. 5-7, the inner wall of the lower end of the first telescopic arm 2 is nested with the bottom end cap 21, the inner wall of the lower end of the second telescopic arm 3 is nested with the bottom end cap 31, the inner wall of the lower end of the third telescopic arm 4 is nested with the bottom end cap 41, the inner wall of the lower end of the fourth telescopic arm 5 is nested with the bottom end cap 51, the bottom end cap 21, the bottom end cap 31, the bottom end cap 41 and the bottom end cap 51 can be set to have an inner diameter larger than the outer diameter of the spring 6, so as to allow the spring 6 to smoothly pass through the bottom end caps without affecting the extension and retraction thereof, and the bottom ends can be set to have the same size and slightly larger than the outer diameter of the spring, which makes up the defect that the sequentially nested telescopic arms cannot well keep the spring 6 from deflection and bending when the telescopic arms are unfolded due to different distances from the spring 6. That is, by means of the bottom end- caps 21, 31, 41 and 51, the spring 6 is always kept substantially in a central position in the cavity formed by the four telescopic arms, and in particular in the fully extended state of the four telescopic arms as shown in fig. 7, these bottom end-caps limit the position of the spring 6 in different longitudinal positions, thus keeping the spring 6 from deflecting and bending.

In other embodiments of the present invention, the inner diameters of bottom end cap 21, bottom end cap 31, bottom end cap 41, and bottom end cap 51 can also be set to be different as desired; alternatively, one or more of bottom end-cap 51, bottom end-cap 41, bottom end-cap 31, bottom end-cap 21 may also be provided at the lower end of their respective telescopic arms in other ways, taking bottom end-cap 51 as an example: the bottom end cap 51 can be fixed on the lower end surface of the four-stage telescopic arm 5, that is, the upper surface of the bottom end cap 51 is fixedly connected with the lower end surface of the four-stage telescopic arm 5; or the bottom end cap 51 can be designed to have a circumferential groove on the upper surface so as to embed the lower end of the four-stage telescopic boom 5 into the circumferential groove, and the utility model aims at the specific setting mode of the bottom end cap at the lower end of the telescopic boom is not limited. It is worth noting that when the bottom end- caps 21, 31, 41 and 51 are arranged in a manner different from that shown in the drawings of the present specification, the structure, shape and connection with other components will be adapted in a manner that should be known to those skilled in the art.

Further reference is made to fig. 10, which schematically illustrates a perspective view of bottom end cap 51, in accordance with an embodiment of the present invention; fig. 11 schematically shows a bottom cross-sectional view of the four-stage telescopic arm 5 and the three-stage telescopic arm 4 in a locked state according to an embodiment of the present invention. As shown in fig. 10 and 11, four pin holes 512a (only one of which is labeled in fig. 10 and 11) are uniformly provided on the side surface of the bottom end cap 51, and as shown in fig. 11 in combination with fig. 14, four through holes 54 (only one of which is labeled in fig. 11 and 14) corresponding to the pin holes 512a are uniformly provided on the side wall of the lower end of the four-stage telescopic arm 5, for fixing the bottom end cap 51 to the lower end of the four-stage telescopic arm 5 by means of pins 512b (only one of which is labeled in fig. 11). As shown in fig. 10 to 11, a pair of grooves 511 (only one of which is labeled in fig. 10 to 11) are symmetrically formed on both sides of the bottom end cap 51, and the shape and size of the groove 511 are adapted to the longitudinal groove 52 of the four-stage telescopic arm 5, so as to fix the bottom end cap 51 on the inner wall of the lower end of the four-stage telescopic arm 5. Since the bottom end cap 41, the bottom end cap 31 and the bottom end cap 51 have the same structure, the drawings of the specification of the present invention omit the three-dimensional structure diagrams of the bottom end cap 41 and the bottom end cap 31. In addition, referring to fig. 15, the lower end of the third-stage telescopic arm 4 is shown to be provided with four through holes 44 similar to the through holes 54 of the fourth-stage telescopic arm 5, and the bottom end cap 41 and the bottom end cap 31 are installed in the same manner as the bottom end cap 51, so the details of the installation of the bottom end cap 41 and the bottom end cap 31 to the third-stage telescopic arm 4 and the second-stage telescopic arm 3, respectively, will not be described herein again.

Referring to fig. 10 to 11, a pair of mounting holes 513 (only one of which is labeled in fig. 10 to 11) is symmetrically formed in the side wall of the bottom end cap 51, an elastic locking member 514 is installed in the mounting hole 513, as is apparent from fig. 11, the elastic locking member 514 is composed of a compressed spring portion 514a and a locking head 514b connected to the compressed spring portion 514a, wherein the top of the locking head 514b is spherical, one end of the elastic locking member 514, i.e., the compressed spring portion 514a, is fixed in the mounting hole 513, and one end of the elastic locking member 514, i.e., the locking head 514b, can extend out of the mounting hole 513 based on the elastic force of the compressed spring portion 514 a. As shown in fig. 11 in combination with fig. 14, the lower end side wall of the four-stage telescopic arm 5 is symmetrically provided with a pair of through holes 55 (only one of which is labeled in fig. 11 and 14) corresponding to the mounting holes 513, and the through holes 55 are sized to allow the locking heads 514b to pass through. As shown in fig. 11 in combination with fig. 15, the upper end side wall of the third telescopic arm 4 is symmetrically provided with a pair of locking holes 43 (only one of which is labeled in fig. 11 and 15) corresponding to the mounting hole 513 and the through hole 55, and the inner diameter of the locking hole 43 is set smaller than the outer diameter of the locking head 514b so as to allow the locking head 514b to abut against the locking hole 43 without passing through the locking hole 43. When the four-stage telescopic arm 5 moves up and down in the three-stage telescopic arm 4, the locking head 514b is limited in the three-stage telescopic arm 4; when the four-stage telescopic arm 5 is raised to a corresponding position relative to the three-stage telescopic arm 4, the locking head 514b is ejected out under the elastic force of the pressure spring part 514a and abuts against the locking hole 43, so that the three-stage telescopic arm 4 and the four-stage telescopic arm 5 are kept at a relatively fixed extension position; when the four-stage telescopic boom 5 is lowered relative to the three-stage telescopic boom 4 to the bottom end cover 51 to be in contact with the bottom end cover 41, the four-stage telescopic boom 5 cannot be further lowered. The components and their arrangement in this embodiment constitute a pair of locking mechanisms between the three-stage telescopic arm 4 and the four-stage telescopic arm 5 which allow the telescopic arms of the lifting device to withstand the load of a weight of an article in the fully extended state without the locking head 514b falling out of the locking hole 43. In addition, referring to fig. 15, the lower end of the third-stage telescopic arm 4 shown therein is provided with a pair of through holes 45 similar to the through hole 55 of the fourth-stage telescopic arm 5, referring to fig. 16, the upper end of the first-stage telescopic arm 2 shown therein is provided with a pair of locking holes 23 (only one of which is labeled in fig. 16) similar to the locking hole 43 of the third-stage telescopic arm 4, and since the locking manner between every two other telescopic arms is the same as the locking manner between the fourth-stage telescopic arm 5 and the third-stage telescopic arm 4, details of the locking mechanism between the third-stage telescopic arm 4 and the second-stage telescopic arm 3, and between the second-stage telescopic arm 3 and the first-stage telescopic arm 2 will not be described herein again.

In another embodiment of the present invention, the locking head may be provided in other shapes such as an oval sphere; alternatively, the resilient latch 514 may be configured as a resilient member of other configurations or shapes; alternatively, the locking mechanism may be set to other numbers according to actual needs, and the position of the locking mechanism may also be changed according to needs, which is not limited by the present invention.

In another embodiment of the present invention, the adjacent telescopic arms may be provided with a buckle that is engaged with each other, or other ways commonly used or known by those skilled in the art, such as to realize locking between the adjacent telescopic arms; additionally, a plurality of locking mechanisms can be arranged on the telescopic arm along the length direction of the telescopic arm, so that the telescopic arm can be locked in different extension states or heights when being extended to different degrees, namely two or more telescopic arms of the lifting device can be locked in different extension states or heights.

Further reference is made to fig. 12, which schematically shows a perspective view of the bottom end cap 21 according to an embodiment of the invention; fig. 13 schematically shows a sectional bottom view of the primary telescopic arm 2 and its bottom end cap 21 according to an embodiment of the present invention. As shown in fig. 12 and 13, four pin holes 212a are uniformly formed in the side surface of the bottom end cap 21; as shown in fig. 16, four pin holes 24 are correspondingly formed in the lower end side wall of the primary telescopic arm 2 for fixing the bottom end cap 21 and the primary telescopic arm 2 together by using the pins 212 b. With further reference to fig. 12 to 13 in combination with fig. 5 to 6, the bottom end cap 21 is uniformly provided with four axial through holes 213a along the circumferential direction thereof to fix the bottom end cap 21 to the base plate 1 by the pins 213b, thereby fixing the primary telescopic arm 2 to the base plate 1. As shown in fig. 12 to 13, a pair of grooves 211 (only one of which is labeled in fig. 12 to 13) is symmetrically formed on both sides of the bottom end cap 21, and the shape and size of the grooves 211 are adapted to the longitudinal grooves 22 of the primary telescopic arm 2, so as to fix the bottom end cap 21 on the inner wall of the lower end of the primary telescopic arm 2 in a fitting manner.

In other embodiments of the present invention, the pins for fixedly connecting the bottom end caps 21, 31, 41, 51 and the top end cap 50 to the respective telescopic arms may also be provided in a greater or lesser number as required; alternatively, the bottom end caps 21, 31, 41, 51 and the top end cap 50 may be connected to the telescopic arm by bonding, welding or other connection methods, and the primary telescopic arm 2 and/or the bottom end cap 21 may be fixed to the bottom plate 1, which is not limited by the present invention.

Further referring to fig. 1-4 and 5-7, the lifting device of the present invention further comprises a rope winding mechanism 8, a motor 10 and a pulley 9. Specifically, as shown in fig. 5, an opening 11 is provided at the center of the position where the bottom plate 1 abuts against the spring 6, the opening 11 extends downward along opposite side edges to form a pair of lugs 12 (only one of which is labeled in fig. 5), and a rotating shaft 13 is inserted into the pair of lugs 12 to form the pulley 9, wherein the rotating shaft 13 is fixedly connected with the lugs 12 or rotatably connected through a shaft sleeve or a bearing. That is, the pulley 9 is disposed right below the opening 11 on the base plate 1, the rope 7 can be extended downward from the opening 11 and wound around the pulley 9 to be received in the rope winding mechanism 8, the rope winding mechanism 8 is mounted on the base plate 1, wherein the rope winding mechanism 8 can be constructed as various types of take-up and pay-off devices known to those skilled in the art. In other embodiments of the present invention, the pulley 9 may be provided in other configurations known to those skilled in the art, such as a configuration in which the lug 12 of the pulley 9 is not formed by the bottom plate 1 extending downward, but is connected to the bottom plate 1 as a separate component, or other pulley configurations capable of allowing the pull cord 7 to pass around may be used; the pulley 9 may be disposed in the opening 11 or adjacent to the opening 11, which is not particularly limited by the present invention.

As shown in FIGS. 1-4 and 5-7, a motor 10 is mounted on the base plate 1 through a mounting frame 101, and an output shaft of the motor 10 is connected to the rope winding mechanism 8 to provide power for the rope winding mechanism 8 to wind and unwind the pull rope 7. Preferably, the motor 10 is a motor with a band-type brake or a self-locking mechanism, so as to ensure that the position of the telescopic arm is not changed when the telescopic arm does not move. Additionally, the pulley 9 may be provided with a tensioning device, for example, the pulley 9 may be configured to be movable relative to the base plate 1, and the pulley 9 may be provided with elasticity within a certain range by using an elastic member such as a spring, or the pulley 9 may be configured to be fixed at different positions and/or angles relative to the base plate 1 to adjust the tensioning force of the pulling rope.

As shown in fig. 2 to 3 and 5, in the embodiment of the present invention, the pulley 9 and the rope winding mechanism 8 are aligned, so that the pulling rope 7 at the end 7a and the part passing through the pulley 9 and the rope winding mechanism 8 are all in the same plane, thereby controlling the lifting of the lifting device through the pulling rope 7 more easily and smoothly. More preferably, the pulley 9 and the rope winding mechanism 8 are arranged so that the included angle formed by the pulling ropes on both sides of the pulley 9 is larger than 90 °, and in this arrangement, the force required when the lifting device is pulled down by the pulling rope 7 will be small, which is beneficial to the smooth pulling down of the lifting device by the pulling rope 7, and at the same time, it should be noted that the included angle cannot be too large to ensure the small structure and size.

In the embodiment of the present invention, when the lifting device needs to be lifted, the motor 10 rotates, thereby driving the rope winding mechanism 8 to rotate, and at this time, the pulling rope 7 is released, and under the elastic force of the spring 6, the top end cover 50 is lifted, and as the pulling rope 7 is continuously extended, the second-stage telescopic arm 3, the third-stage telescopic arm 4, and the fourth-stage telescopic arm 5 slowly extend out, and when each locking head reaches the position of the locking hole, the elastic force of the spring 6 cannot make the three telescopic arms extend out continuously, and at this time, the lifting device reaches the highest position; when the lifting device needs to descend, the motor 10 rotates reversely, the rope winding mechanism 8 is driven to rotate reversely, the pull rope 7 is slowly retracted into the rope winding mechanism 8, the tension of the pull rope 7 is larger than the elastic force of the spring 6, the second-stage telescopic arm 3, the third-stage telescopic arm 4 and the fourth-stage telescopic arm 5 slowly descend until the bottom end cover 51, the bottom end cover 41, the bottom end cover 31 and the bottom end cover 21 are sequentially contacted, the three telescopic arms are compressed to the maximum, and the lifting device descends to the lowest position. It should be noted that the spring 6 has a certain amount of compression L1 when the three telescopic arms extend to the highest position, so that the spring has enough elastic force F1 to keep the equipment carried on the lifting device from descending, and the elastic force F1 provided by the amount of compression L1 of the spring 6 also needs to ensure that the three telescopic arms do not break through the locking head and continue to extend to cause the disconnection. Moreover, the elastic force F2 provided by the compression amount L2 of the spring 6 when the three telescopic arms are compressed to the lowest position is smaller than the pulling force F3 provided by the motor 10 driving the pull rope 7, so that the three telescopic arms are prevented from being bounced off and extending by the elastic force F2 of the spring 6 after being compressed.

In another embodiment of the present invention, the rope winding mechanism 8, the motor 10 and the pulley 9 may not be provided, but the rope 7 is manually pulled to control the lifting of the lifting mechanism, and the rope 7 may not be provided inside the spring 6 or inside the cavity formed by the four telescopic arms, but may be provided outside the four telescopic arms, that is, the end 7a of the rope 7 extends from the top end cap 51 outside the four telescopic arms, so that the telescopic arms can be controlled to stretch by pulling the other end of the rope 7.

Elevating gear can be applied to multiple scene, especially be applied to the condition that the article that bear is lightweight article. Wherein, the length of each telescopic arm can be designed according to the requirement, the size of the motor 10 and the size of the spring 6 can be designed according to the weight of the jacking article to be born, and when the weight of the jacking article is lighter, the size of the spring 6 and the sectional dimension of the telescopic arm can be very small. In addition, the use of the spring 6 as the elastic member in the above embodiment of the present invention greatly reduces the cost of the lifting device, and has a simple structure. Therefore, elevating gear not only can realize multistage lift, can accomplish simple structure, small in size, light in weight moreover, this elevating gear's low in manufacturing cost has great advantage in the industrialization volume production.

The utility model also provides a robot with elevating gear, elevating gear configures according to the embodiment described above. Further, the robot with a lifting device further comprises: a movable chassis, on which the lifting device is supported; and a controller for controlling the movement of the movable chassis and/or the lifting of the lifting device. In this embodiment, the controller may be electrically connected to the motor 10 and the drive of the movable chassis.

Taking the field of intelligent housing as an example, the three-dimensional scene used for watching the house on line at present mostly needs to be generated based on photos at different angles and heights in the house, and taking the photos at the different angles and heights by using the traditional mode takes much time, manpower and material resources. Utilize robot with elevating gear, the user can be with information input robot such as house type structure, area in house in advance, the robot can shoot position and walking route according to the automatic generation of the information of input, alternatively, the user also can be directly will shoot position and predetermined route input robot. When the robot shoots in the house, the controller can control the robot to walk according to the shooting positions and the preset route which are generated in advance, stop at the preset shooting positions, adjust the height of the lifting device to the preset shooting positions to shoot, and then shoot all the shooting positions in sequence. In the embodiment, intelligent shooting can be completely realized, manual operation is not needed in the whole process, the error rate is low, and the working efficiency is high.

It should be noted that, the lifting device of the present invention can also be used for various robots to provide intelligent and automatic support for various operations of the robots.

It will be appreciated that the structures shown in the figures are merely schematic and may include more or fewer modules or components than shown in the figures or have a different configuration than shown in the figures. It is to be noted that, when the present invention is implemented by using embodiments which are not exhaustive in the present specification, a person skilled in the art may adapt the configuration, position or functional arrangement of the relevant components.

It should be noted that the fixed connection in the present invention may refer to a connection manner known to those skilled in the art, such as bonding, welding, mechanical connection, etc.

It is to be understood that the features listed above for the different embodiments may be combined with each other, where technically feasible, to form further embodiments within the scope of the invention. Furthermore, the specific examples and embodiments described herein are non-limiting, and various modifications of the structure, dimensions, materials, etc., set forth above may be made without departing from the scope of the invention.

In this application, the use of the conjunction of the contrary intention is intended to include the conjunction. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, references to "the" object or "an" and "an" object are intended to mean one of many such objects possible. Furthermore, the conjunction "or" may be used to convey simultaneous features, rather than mutually exclusive schemes. In other words, the conjunction "or" should be understood to include "and/or". The term "comprising" is inclusive and has the same scope as "comprising".

The above-described embodiments, particularly any "preferred" embodiments, are possible examples of implementations, and are presented merely for a clear understanding of the principles of the invention. Many variations and modifications may be made to the above-described embodiments without departing substantially from the spirit and principles of the technology described herein. All such modifications are intended to be included within the scope of this disclosure.

All documents mentioned in this specification are herein incorporated by reference as if each were incorporated by reference in its entirety.

Furthermore, it should be understood that after reading the above description of the present invention, those skilled in the art may make various changes or modifications to the present invention, and such equivalents also fall within the scope of the present invention.

Claims (10)

1. A lifting device, comprising:

a base plate;

the telescopic arms are sequentially nested in a sliding manner from outside to inside, the telescopic arm on the outermost side is fixed on the bottom plate, and the telescopic arm on the innermost side is provided with a top end cover;

the elastic component penetrates through the at least two telescopic arms, one end of the elastic component is abutted against the bottom plate, and the other end of the elastic component is abutted against the top end cover; and

a pull cord having one end fixed to the top end cap;

the lower end of each telescopic arm is provided with a bottom end cover, and the inner diameter of each bottom end cover is larger than the outer diameter of each elastic component.

2. The lifting device as claimed in claim 1, wherein the elastic member is a spring, and the other end of the pulling rope passes through the inside of the spring and protrudes from the opening on the bottom plate; and/or

The top end cover is arranged at the upper end of the innermost telescopic arm, and one end of the pull rope is fixed to the lower surface part of the top end cover; and/or

A limiting ring is arranged on the lower end face of the top end cover to limit the position of the elastic component; and/or

The bottom end cover is nested on the inner wall of the lower end of each telescopic arm; and/or

Fixing the bottom end cover on the telescopic arm at the outermost side on the bottom plate, and fixing the telescopic arm at the outermost side on the bottom plate; and/or

The outer wall of each telescopic arm is provided with a longitudinal groove matched with the adjacent telescopic arm, so that relative rotation between the adjacent telescopic arms is avoided.

3. The lifting device of claim 2, further comprising: and the rope winding mechanism is installed on the bottom plate, and the other end of the pull rope extends out of the opening in the bottom plate and is contained in the rope winding mechanism.

4. The lifting device of claim 3, further comprising: and a pulley disposed adjacent to the opening in the base plate such that the pull cord extends from the opening in the base plate and is wound around the pulley to be received in the cord winding mechanism.

5. The lift device of claim 4, wherein said pulley and said cord winding mechanism are arranged in alignment; and/or

The pulley and the rope winding mechanism are arranged to enable an included angle formed by the pull ropes on two sides of the pulley to be larger than 90 degrees; and/or

The pulley is provided with a tensioning device to adjust the tension of the pull rope.

6. The lifting device as claimed in any one of claims 3 to 5, further comprising: and an output shaft of the motor is connected to the rope winding mechanism so as to provide power for winding and unwinding the pull rope by the rope winding mechanism.

7. A lifting device as claimed in claim 1, wherein a locking mechanism is provided between adjacent telescopic arms to lock the at least one telescopic arm in different extended positions.

8. The lifting device as recited in claim 7, wherein the locking mechanism comprises:

the telescopic arms positioned on the inner side in each pair of two adjacent telescopic arms and the side walls of the bottom end covers of the telescopic arms are respectively provided with a through hole and a mounting hole which are aligned, one end of each elastic locking piece is fixed in the mounting hole, and the other end of each elastic locking piece comprises a locking head which penetrates through the through hole and extends to the radial outer side; and

the locking holes are formed in the side wall of the upper end of the telescopic arm positioned at the outer side in each pair of two adjacent telescopic arms, the inner diameter of each locking hole is smaller than the outer diameter of the locking head,

when the two adjacent telescopic arms are fully extended, the locking head extends out of the mounting hole under the action of elastic force and penetrates through the through hole, so that the locking head is abutted in the locking hole.

9. A robot with a lifting device, characterized in that the lifting device is a lifting device according to any of claims 1-8.

10. A robot with lifting device according to claim 9, characterized by comprising:

a movable chassis, on which the lifting device is supported; and

a controller for controlling movement of the movable chassis and/or lifting of the lifting device.

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