CN215796344U

CN215796344U - Lifting device, pattern acquisition equipment and inspection robot

Info

Publication number: CN215796344U
Application number: CN202120528885.8U
Authority: CN
Inventors: 姚秀军; 桂晨光; 王辉
Original assignee: Jingdong Technology Information Technology Co Ltd
Current assignee: Jingdong Technology Information Technology Co Ltd
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2022-02-11
Anticipated expiration: 2031-03-11

Abstract

The application relates to the technical field of lifting equipment, and discloses a lifting device, a graph acquisition device and a patrol robot. The lifting device comprises a fixed frame, a lifting frame, a mounting seat and a power mechanism; the fixing frame comprises a limiting component; the lifting frame is slidably assembled on the fixing frame through a limiting assembly; the lifting frame comprises a traction piece; the mounting seat can be assembled on the lifting frame in a sliding mode, and two ends of the traction piece are connected to the mounting seat and the fixing frame respectively; the lifting frame is driven by the power mechanism to reciprocate relative to the fixed frame; the traction piece traction mounting seat moves in the same direction relative to the lifting frame through the relative movement between the lifting frame and the fixing frame. Compared with the prior art, the linkage among the mounting seat, the lifting frame and the fixing frame is realized through the traction piece, so that the integral moving efficiency of the object is improved, the reliability is increased, and the equipment cost is reduced.

Description

Lifting device, pattern acquisition equipment and inspection robot

Technical Field

The application relates to the technical field of lifting equipment, in particular to a lifting device, a graph acquisition device and a patrol robot.

Background

The lifting device is mainly used for driving the object to move in a certain direction, so that the object can reach a target position, the efficiency and the stability of the object moving process are improved, and manpower is reduced. In the process of driving the object to move by the conventional lifting device, most of the lifting devices adopt an electric push rod mode, the object to be moved is moved to spaces with different heights by a multistage electric push rod, and the object to be moved and the electric push rod move synchronously and equidistantly. When the lifting device is used, the following defects are caused, wherein the lifting of the object to be moved is synchronously carried out with the electric push rod, the lifting speed of the object is slow, and the reliability is poor; in addition, the adoption of the multistage electric push rod causes the great increase of the cost of the whole equipment.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems of high cost, poor lifting speed and low reliability of the conventional lifting device, the main objective of the application is to provide a lifting device, a graph acquisition device and a patrol robot which are low in cost, high in lifting speed and high in reliability.

In order to realize the purpose of the utility model, the following technical scheme is adopted in the application:

according to one aspect of the application, a lifting device is provided, which comprises a fixed frame, a lifting frame, a mounting seat and a power mechanism;

the fixing frame comprises a limiting component;

the lifting frame is slidably assembled on the fixed frame through the limiting assembly; the lifting frame comprises a traction piece;

the mounting seat can be assembled on the lifting frame in a sliding mode, and two ends of the traction piece are connected to the mounting seat and the fixing frame respectively;

the power mechanism drives the lifting frame to reciprocate relative to the fixing frame; and the traction piece pulls the installation seat to move in the same direction relative to the lifting frame by the relative movement between the lifting frame and the fixed frame.

According to an embodiment of the application, wherein the traction piece comprises a flexible traction piece, the lifting frame is equipped with a steering guide wheel, so that the moving direction of the mounting seat is the same as the moving direction of the lifting frame.

According to an embodiment of the application, the steering guide wheel is located at the extending end of the lifting frame.

According to an embodiment of the application, wherein the mount pad with the mount set up respectively in the both sides of crane, the flexible both ends of drawing the piece through turn to the guide pulley with the mount pad reaches the mount pad is connected.

According to an embodiment of the application, the elevator further comprises a guide rail group, and the installation base is slidably assembled on the lifting frame through the guide rail group.

According to an embodiment of the application, wherein the mount pad includes assembly portion and sliding part, assembly portion is used for with outside collection equipment assembly connection, sliding part be used for with crane sliding connection.

According to an embodiment of the application, wherein spacing subassembly includes the slider, the crane includes spacing slide rail, the slider slidable assembly in spacing slide rail.

According to an embodiment of the application, wherein the crane includes spacing portion, spacing portion set up in crane both ends, draw the piece can drive the spacing butt of mount pad in spacing portion.

According to an embodiment of the application, the crane comprises a containing part, the steering guide wheel is rotatably assembled in the containing part, and the traction piece passes through the containing part and abuts against the steering guide wheel.

According to an embodiment of the present application, the guide rail set includes at least a plurality of guide rails, and the mount is slidably connected to the plurality of guide rails.

According to an embodiment of the application, the traction member is a timing belt, a chain or a steel strand.

According to another aspect of the present application, there is provided a pattern acquisition apparatus comprising the above-mentioned lifting device.

According to another aspect of the application, an inspection robot is provided, and the inspection robot comprises the image acquisition equipment.

According to the technical scheme, the lifting device, the graph acquisition equipment and the inspection robot have the advantages and positive effects that: the fixing frame is provided with a limiting assembly, the lifting frame and the fixing frame can stably slide through the limiting assembly, the stability of the lifting device in the moving process is improved, and the reliability of the lifting device is improved. Through set up the traction piece between mount and crane, will draw the both ends of piece with mount and mount pad be assembled between/be connected, when power unit drives the displacement between mount and the crane, but traction piece tractive mount relative the crane equidirectional removal, and then after the mount pad realizes the displacement because the displacement of crane, still can pass through traction piece highly realizes the secondary movement to the displacement of mount pad, and then improves the speed that the displacement of mount pad removed effectively provides power unit's power conversion efficiency, and then dwindles overall structure's cost, improves the use commonality of integrated device.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic view of an overall structure of an initial position state of a lifting device according to an embodiment of the present disclosure;

fig. 2 is a schematic view of an overall structure of a terminal position state of a lifting device according to an embodiment of the present disclosure;

fig. 3 is a schematic view of an overall structure of an intermediate state of a lifting frame in the lifting device according to the embodiment of the present disclosure;

fig. 4 is a schematic view of an overall structure of a terminal position of a crane in the lifting device according to the embodiment of the present disclosure;

fig. 5 is a schematic side view of a terminal position of a crane in the lifting device according to the embodiment of the present disclosure;

fig. 6 is a schematic structural view of another side of the end point position of the crane in the lifting device according to the embodiment of the present application.

Wherein, 1, fixing frame; 2. a lifting frame; 201. a limiting slide rail; 202. a limiting part; 203. an accommodating portion; 3. a mounting seat; 301. an assembling portion; 302. a sliding part; 4. a power mechanism; 401. a motor; 402. a gear; 403. a rack; 5. a limiting component; 501. a slider; 6. a traction member; 7. a steering guide wheel; 100. an extension end; 8. a guide rail set; 801. a guide rail; 200. An assembly end; 300. the object to be moved.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

At present elevating gear at the in-process that removes, for realizing the displacement of long-range and removing, can borrow multistage electric push rod directly to drive the article mostly and remove, like this at the in-process that the article removed, the distance that the article removed and moving speed are equal to the moving distance and the moving speed of electric push rod, in the in-service use process, just higher requirement has been proposed to the stroke scope of electric push rod, elevating gear's cost has just also been increased, and the moving speed of article is slower, the reliability is relatively poor, make to needing longer moving distance, electric push rod stability is relatively poor, elevating gear's application range and reliability have further been reduced. In order to reduce the cost of the lifting device and improve the efficiency and reliability of the movement of the object, the application provides the lifting device, which comprises a fixed frame 1, a lifting frame 2, a mounting seat 3 and a power mechanism 4; the lifting frame 2 is slidably assembled on the fixed frame 1 through the limiting component 5; the lifting frame 2 comprises a traction piece 6; the mounting base 3 can be assembled on the lifting frame 2 in a sliding mode, and two ends of the traction piece 6 are connected to the mounting base 3 and the fixing frame 1 respectively; the power mechanism 4 drives the lifting frame 2 to reciprocate relative to the fixed frame 1; and the traction piece 6 pulls the installation base 3 to move in the same direction relative to the lifting frame 2 by the relative movement between the lifting frame 2 and the fixed frame 1.

The fixed frame 1 and the installation base 3 are assembled and connected through the traction piece 6 arranged on the lifting frame 2, after the power mechanism 4 drives the lifting frame 2 to move, the installation base 3 is simultaneously pulled by the traction frame, so that the same displacement is realized between the installation base 3 and the lifting frame 2, and further the installation base 3 and the fixed frame 1 move by a displacement distance which is two times of the relative movement.

As an example, the power mechanism 4 can drive the lifting device to extend out of the fixing frame 1 by a set distance N, and simultaneously, as the lifting frame 2 moves, the traction member 6 drives the mounting base 3 and the lifting frame 2 to move by the same-direction relative displacement distance N, so that the mounting base 3 can move by a distance 2N relative to the fixing frame 1, and the purpose of realizing rapid displacement is achieved.

Referring to fig. 1-6, according to one embodiment of the present application, wherein the power mechanism 4 may be configured as an electric push rod, or a transmission mode of the motor 401, the gear 402 and the rack 403, as a power for the relative displacement between the fixing frame 1 and the lifting frame 2, for example, the power mechanism 4 may include the motor 401, the gear 402 and the rack 403, the motor 401 may be disposed at one end of the fixing frame 1, and preferably, the motor 401 may be disposed at one side of the fixing frame 1 near the extension end 100 of the lifting frame 2, further reducing the driving stroke of the power mechanism 4, arranging the rack 403 on the lifting frame 2, extending the rack 403 along the lifting moving direction of the lifting frame 2, the motor 401 is in transmission connection with the rack 403 through the gear 402, so that the motor 401 controls the relative movement of the crane 2.

As an example, one end of the traction element 6 may be fixed to the mounting base 3, and the other end of the traction element is assembled to one end of the fixing frame 1, so that the traction element 6 drives the mounting base 3 and the lifting frame 2 to generate relative displacement due to the movement of the lifting frame 2, and further, the displacement difference between the mounting base 3 and the fixing frame 1 is a multiple relation of the displacement difference between the lifting frame 2 and the fixing frame 1, thereby improving the lifting speed of the whole device, reducing the equipment cost, and improving the reliability of use.

As an example, the limiting component 5 may be configured as a matching combination structure of a sliding groove and a sliding rail, and further, the sliding groove and the sliding rail may extend in the extending direction of the lifting frame 2, preferably, the length of the sliding groove and/or the sliding rail that can slide relatively is equal to or greater than the length of the lifting frame 2 that can move relatively to the fixing frame 1, so as to ensure the smoothness and reliability of the lifting of the fixing frame 1 and the lifting frame 2 through the limiting component 5.

It should be understood by those skilled in the art that the position limiting component 5 can be slidably assembled to the fixing frame 1 or the lifting frame 2, and can also be formed with a sliding rail or a sliding groove structure of the fixing frame 1 or the lifting frame 2, or a sliding rail and sliding groove structure that exists independently, and those skilled in the art can select the position limiting component according to the actual use situation.

Further, the mounting base 3 is used for assembling external equipment, such as image acquisition equipment or a size measuring device, and a person skilled in the art can improve the structure of the mounting base 3 by combining with the use condition, so that the mounting base 3 can limit and fix different external equipment, and the use universality of the whole device is further expanded.

Referring to fig. 1-3, according to an embodiment of the present application, wherein the traction element 6 comprises a flexible traction element, the crane 2 is equipped with a steering guide wheel 7, so that the mount 3 moves in the same direction as the crane 2. Furthermore, the steering guide wheel 7 can be arranged at the end part of the lifting frame 2, the displacement distance of the traction piece 6 for driving the mounting base 3 is further increased, and the lifting efficiency is improved. Further, the fixing frame 1 and the lifting frame 2 are arranged after the traction piece 6 turns through the turning guide wheel 7, so that the moving directions of the installation base 3 and the lifting frame 2 are the same, and further, the displacement distance of the installation base 3 relative to the fixing frame 1 is changed through the displacement of the flexible traction piece.

Referring to fig. 4, according to an embodiment of the present application, the crane 2 includes a receiving portion 203, the guide wheel 7 is rotatably mounted in the receiving portion 203, and the traction member 6 abuts against the guide wheel 7 through the receiving portion 203. Furthermore, the steering guide wheel 7 can be a roller wheel, the roller wheel can be rotationally fixed in the accommodating part 203 through a pin shaft, so that the flexible traction piece traction mounting seat 3 can conveniently move relative to the lifting frame 2, the traction piece 6 can pass through the accommodating part 203 and is fixedly connected with the fixing frame 1 and the mounting seat 3, and an enough space is reserved for traction of the traction piece 6.

Preferably, the mounting base 3 and the fixing frame 1 are respectively arranged on two sides of the lifting frame 2, the steering guide wheel 7 is arranged at the end part of the lifting frame 2, the action of the movable pulley is realized through the steering guide wheel 7, and then the displacement of the mounting base 3 is improved through the steering guide wheel 7 and the flexible traction piece.

Preferably, referring to fig. 4, the steering guide wheel 7 is rotatably assembled to the lifting frame 2, so that the steering guide wheel 7 rotates automatically, and the traction member 6 can move relative to the lifting frame 2 through the steering guide wheel 7, when in use, the lifting frame 2 is equivalent to a power source, the steering guide wheel 7 is equivalent to the movable pulley, one end of the traction member 6 is connected to the fixed frame 1, and the other end of the traction member is connected to the mounting frame 3, that is, the fixed frame 1 is equivalent to a fixed end, and the mounting frame 3 is equivalent to a movable end, so as to form a lifting system for lifting or lowering an object with the movable pulley, so that the displacement distance of the mounting frame 3 relative to the fixed frame 1 is 2 times the displacement distance of the lifting frame 2 relative to the fixed frame 1, and further improve the lifting speed of the object 300 to be moved.

The person skilled in the art can also arrange a plurality of power mechanisms 4, traction members 6 and steering guide wheels 7 to further increase the lifting speed of the object 300 to be moved, with reference to the arrangement principle of the present application.

According to an embodiment of the present application, the traction member 6 is a synchronous belt, a chain or a steel strand, for example, a synchronous belt may be used, the synchronous belt abuts against the steering guide wheel 7, the steering guide wheel 7 is rotated relative to the lifting frame 2, and in the process that the lifting frame 2 moves to the extension end 100, the mounting base 3 can move relative to the lifting frame 2 along with the traction of the traction member 6.

Preferably, the traction element 6 can be a chain, and the steering guide wheel 7 can be a toothed guide wheel matched with the chain, so that the stability of the object in the moving process is improved.

Preferably, the traction element 6 may further include a transmission portion (not shown in the figure) and a traction portion (not shown in the figure), the transmission portion is configured to abut against the steering guide wheel 7, the traction portion is fixedly coupled to the object 300 to be moved, the transmission portion is configured as a chain with high stability, the traction portion is configured as a steel strand rope, the steel strand rope is disposed at two ends of the traction element 6, and the traction portion is connected and fixed to the fixed frame 1 and the mounting base 3, so that the fixing effect between the traction element 6 and the fixed frame 1 and the mounting base 3 is improved, and the convenience in use is improved. The length of the transmission part can be set by those skilled in the art to satisfy that the installation base 3 moves from the assembling end 200 of the crane 2 to the extending end 100, and similarly, the length of the pulling part can also be sufficient for assembling with the fixed frame 1 or the installation base 3.

Referring to fig. 3, as an example, the power mechanism 4 adopts a connection mode of a motor 401, a rack 403 and a gear 402, so that the limit and limit assembly 5 is slidably assembled on the fixing frame 1, and when the power mechanism 4 drives the lifting frame 2 to move for a set distance relatively, the traction member 6 can drive the mounting base 3 to move for the same set distance relatively to the lifting frame 2 along with the displacement of the lifting frame 2, thereby realizing that the mounting base 3 moves for a set distance twice relative to the fixing frame 1, and further realizing the rapid movement of the object 300 to be moved.

According to an embodiment of the application, the steering guide wheel 7 is located at the extension end 100 of the crane 2. Preferably, the traction member 6 can abut against and pass through the steering guide wheel 7, and when the moving direction of the traction member 6 is changed, the length of the traction member 6 can be reduced, so that the traction member 6 can pull the installation seat 3 to move between the extension end 100 and the assembly end 200 of the lifting frame 2, and the equipment cost is further reduced.

According to an embodiment of the present application, the lifting frame further comprises a guide rail set 8, and the mounting base 3 is slidably assembled to the lifting frame 2 through the guide rail set 8. The guide rail group 8 is followed the direction of rise and fall of crane 2 extends the setting, and then passes through draw 6 mount pad 3 can be followed 8 spacing slides of guide rail group, and then improves mount pad 3 is at slip in-process stability.

Referring to fig. 4, as an example, the guide rail set 8 may be integrally formed with the crane 2, or may be configured as an independent guide rail 801 to be assembled to the crane 2, and the guide rail set 8 may include a plurality of guide rails 801, where the plurality of guide rails 801 are arranged in parallel and extend in the lifting direction of the crane 2, so as to further improve the stability of the mount base 3 in sliding.

According to an embodiment of the present application, the mounting base 3 includes a mounting portion 301 and a sliding portion 302, the mounting portion 301 is used for being mounted and connected with an external collection device, and the sliding portion 302 is used for being connected with the lifting frame 2 in a sliding manner. As an example, the fitting portion 301 may be provided with a fitting hole for connecting with an external device so as to fasten the object 300 to be moved, the sliding portion 302 may be provided as a sliding slot or a through hole adapted to the guide rail set 8, preferably, the fitting portion 301 and the sliding portion 302 enclose a "concave" structure, and the sliding portion 302 is provided on the periphery of the fitting portion 301, so that the contact surface between the fitting portion 301 and the sliding portion 302 can be improved, so as to improve the stability of the object moving process.

Preferably, one end of the pulling member 6 may be further assembled to one end of the sliding portion 302, thereby providing stability to the mounting base 3 during movement.

Referring to fig. 5 and 6, according to an embodiment of the present application, the position limiting assembly 5 includes a sliding block 501, the lifting frame 2 includes a position limiting sliding rail 201, and the sliding block 501 is slidably assembled to the position limiting sliding rail 201. Further, the sliding block 501 may be fixed to one end of the fixing frame 1, so that one end of the traction member 6 is connected to the sliding block 501, and preferably, the rack 403 in the power mechanism 4 and the limiting slide rail 201 extend in the same direction, thereby further improving the stability of the power mechanism 4 in the process of driving the crane 2 to lift.

According to an embodiment of the present application, the lifting frame 2 includes a limiting portion 202, the limiting portion 202 is disposed at two ends of the lifting frame 2, and the traction member 6 can drive the mounting base 3 to limit and abut against the limiting portion 202. Furthermore, the connection part of the installation base 3 and the traction piece 6 is abutted against the limit part 202, so that the displacement of the installation base 3 is limited to the set position of the lifting frame 2, and the relative displacement of the installation base 3 relative to the lifting frame 2 is limited.

Preferably, the limiting portion 202 is set to be a stop block structure, and when the mounting seat 3 is abutted, the power mechanism 4 is controlled to stop driving the lifting frame 2 to lift, so that the use convenience is improved, meanwhile, the limiting portion 202 can be further provided with an in-place sensor, the in-place sensor is electrically connected with the power mechanism 4, when the in-place sensor is in contact with the mounting seat 3, the power mechanism 4 can be controlled to stop driving, the damage to equipment is avoided, and the use convenience is improved.

When the lifting frame is used, as shown in a reference figure 1, the bottom of the fixing frame 1 is attached to the assembling end 200 of the lifting frame 2, the top of the fixing frame 1 is overlapped with the extending end 100 of the lifting frame 2, the installation seat 3 is located at the assembling end 200 of the lifting frame 2, when the power mechanism 4 drives the lifting frame 2 to be relative to the fixing frame 1 to displace, as shown in a reference figure 3, h is the distance that the lifting frame 2 is relative to the fixing frame 1, the traction piece 6 simultaneously drives the installation seat 3 to be relative to the assembling end 200 displacement h of the lifting frame 2, so that the installation seat 3 is relative to the bottom of the fixing frame 1 to displace 2h, the moving speed of the installation seat 3 is further improved, and the equipment cost is reduced.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lifting device is characterized by comprising a fixed frame (1), a lifting frame (2), a mounting seat (3) and a power mechanism (4);

the fixing frame (1) comprises a limiting component (5);

the lifting frame (2) is slidably assembled on the fixed frame (1) through the limiting assembly (5); the lifting frame (2) comprises a traction piece (6);

the mounting seat (3) is slidably assembled on the lifting frame (2), and two ends of the traction piece (6) are respectively connected to the mounting seat (3) and the fixing frame (1);

the power mechanism (4) drives the lifting frame (2) to reciprocate relative to the fixed frame (1); and the traction piece (6) pulls the installation seat (3) to move in the same direction relative to the lifting frame (2) by the relative movement between the lifting frame (2) and the fixed frame (1).

2. Lifting device as defined in claim 1, characterized in that the traction means (6) comprise flexible traction means and that the crane (2) is equipped with a steering guide (7) so that the direction of movement of the mounting base (3) is the same as the direction of movement of the crane (2).

3. Lifting device according to claim 2, characterised in that the diverting guide wheel (7) is located at the projecting end (100) of the lifting frame (2).

4. The lifting device as claimed in claim 2, characterized in that the mounting base (3) and the fixing frame (1) are respectively arranged on both sides of the lifting frame (2), and both ends of the flexible traction member are connected with the mounting base (3) and the fixing frame (1) through the steering guide wheel (7).

5. The lifting device as claimed in claim 1, characterized in that it further comprises a guide rail set (8), and the mounting base (3) is slidably mounted to the lifting frame (2) via the guide rail set (8).

6. The lifting device according to claim 1, characterized in that the mounting base (3) comprises a mounting part (301) and a sliding part (302), the mounting part (301) is used for mounting and connecting with an external acquisition device, and the sliding part (302) is used for sliding and connecting with the lifting frame (2).

7. The lifting device as claimed in claim 1, characterized in that the limit stop assembly (5) comprises a slide block (501), the lifting frame (2) comprises a limit stop slide rail (201), and the slide block (501) is slidably assembled on the limit stop slide rail (201).

8. The lifting device as claimed in claim 1, characterized in that the lifting frame (2) comprises a limiting part (202), the limiting part (202) is arranged at two ends of the lifting frame (2), and the traction member (6) can drive the mounting base (3) to limit and abut against the limiting part (202).

9. The lifting device as claimed in claim 2, characterized in that the lifting frame (2) comprises a receiving part (203), the guide wheel (7) is rotatably mounted in the receiving part (203), and the traction element (6) passes through the receiving part (203) and abuts against the guide wheel (7).

10. Lifting device as in claim 5, characterized in that said set of guides (8) comprises at least a plurality of guides (801), said mounting base (3) being fitted to a sliding connection of said plurality of guides (801).

11. Lifting device according to any of claims 1-10, characterised in that the traction element (6) is a timing belt, a chain or a steel strand.

12. A pattern capturing apparatus, characterized in that it comprises a lifting device according to any of claims 1-11.

13. An inspection robot comprising the image capture device of claim 12.