Lifting translation mechanism and vehicle bottom detection robot

Abstract

The invention relates to a lifting translation mechanism and a vehicle bottom detection robot, relates to the technical field of locomotive maintenance, and is used for solving the problem that a detection dead angle exists in the detection process of a vehicle bottom detection device. Comprising a supporting base; the first sliding seat is in sliding connection with the supporting base in the first direction; the second sliding seat is in sliding connection with the first sliding seat in the second direction, and the second sliding seat is used for fixing an object to be moved; wherein a groove is formed in the supporting base, and a part of the first sliding seat extends into the groove and slides in the groove in the first direction. The second sliding seat and the first sliding seat are in sliding connection in the second direction, so that the to-be-moved object fixed on the second sliding seat can linearly move in the second direction. The second sliding base and the mechanical arm move linearly in the first direction. Therefore, vertical lifting and horizontal translation of the mechanical arm are achieved. In this way, the mechanical arm can vertically ascend and descend and horizontally move, and therefore the moving space of the mechanical arm is expanded.

Description

Technical Field

[0001] The invention relates to the technical field of locomotive maintenance, and in particular to a lifting and translation mechanism and a vehicle bottom detection robot. Background Art

[0002] At present, the inspection of locomotive underbody is mainly carried out by using a fixed mechanical arm equipped with an optical component, i.e., an underbody inspection device, to photograph the key underbody components, so that the staff can understand the current status of each component of the locomotive underbody for inspection and maintenance. However, during the inspection process, the mechanical arm has limited space for movement and arm span, and some parts of the underbody are narrow or have corners that are blind spots for inspection, making it impossible to collect images. This will affect the integrity and accuracy of on-site inspections, thereby affecting the inspection and maintenance of the locomotive underbody.

[0003] That is to say, the underbody detection device in the prior art has the problem of blind spot detection during the detection process. Summary of the invention

[0004] The invention provides a lifting and translating mechanism for solving the problem of a detection blind spot in a vehicle bottom detection device during the detection process.

[0005] The present invention provides a lifting and translation mechanism, comprising:

[0006] a support base; and

[0007] A first sliding seat, which is slidably connected to the supporting base in a first direction; and

[0008] A second sliding seat, which is slidably connected to the first sliding seat in a second direction, and the second sliding seat is used to fix the object to be moved;

[0009] A groove is provided in the support base, a part of the first sliding seat extends into the groove and slides along the first direction in the groove, and when the first sliding seat slides downward along the first direction to the first extreme position, another part of the first sliding seat is supported on the support base.

[0010] In one embodiment, it further includes a first sliding structure, which is disposed between the first sliding seat and the supporting base, and the first sliding seat is slidably connected to the supporting base in a first direction via the first sliding structure.

[0011] In one embodiment, the first sliding structure comprises:

[0012] at least one first guide rail extending along a first direction and disposed on one side of the first sliding seat; and

[0013] The first sliding block is arranged on the bottom wall of the groove, and the first sliding block is slidably connected with the first guide rail.

[0014] In one embodiment, when the first sliding structure includes a plurality of first guide rails, the plurality of first guide rails are arranged at intervals along the second direction, and a plurality of first sliding blocks are arranged on the plurality of first guide rails in a one-to-one correspondence.

[0015] In one embodiment, it further includes a first driving mechanism, which is provided with a supporting base and a first sliding seat and is used to drive the first sliding seat to slide on the supporting base.

[0016] In one embodiment, the first driving mechanism comprises:

[0017] A first mounting bracket fixed to a side of the support base away from the groove; and

[0018] A first servo motor, a fixed end of which is fixed to the first mounting frame; and

[0019] A first synchronous transmission mechanism, one end of which is connected to the driving shaft of the first servo motor; and

[0020] A first ball screw, wherein the screw of the first ball screw is connected to the other end of the first synchronous transmission mechanism, and the screw nut of the first ball screw is connected to the first sliding seat;

[0021] The first servo motor is used to drive the first synchronous transmission mechanism to operate so that the first ball screw rotates synchronously with the driving shaft of the first servo motor.

[0022] In one embodiment, the first synchronous transmission mechanism comprises:

[0023] two first synchronous wheels, one of which is connected to the driving shaft of the first servo motor, and the other is connected to the lead screw of the first ball screw; and

[0024] A first transmission belt, one end of which is sleeved on the outer circumference of a first synchronous wheel, and the other end of the first transmission belt is sleeved on the outer circumference of another first synchronous wheel, and the first transmission belt can reciprocate between the two first synchronous wheels;

[0025] Wherein, an opening is arranged on the supporting base, and the first transmission belt is passed through the opening.

[0026] In one embodiment, it further includes a second sliding structure, which is disposed between the first sliding seat and the second sliding seat, and the first sliding seat is slidably connected to the second sliding seat in the second direction via the second sliding structure.

[0027] In one embodiment, it further includes a second driving mechanism, which is provided with a second sliding seat and a first sliding seat and is used to drive the second sliding seat to slide on the first sliding seat.

[0028] The present invention also provides a vehicle bottom detection robot, comprising:

[0029] The lifting and translation mechanism as described above; and

[0030] A mechanical arm, which is arranged on the second sliding seat of the lifting and translation mechanism, and is used to grasp the object to be grasped; and

[0031] A position detection device, which is arranged on the lifting and translating mechanism, and is used to detect the sliding positions of the first sliding seat and the second sliding seat; and

[0032] A control system is electrically connected to the mechanical arm, the position detection device and the lifting and translation mechanism. The control system is used to control the movement of the mechanical arm and the movement of the lifting and translation mechanism.

[0033] Compared with the prior art, the advantages of the present invention are that, since the second sliding seat is slidably connected to the first sliding seat in the second direction, the object to be moved fixed thereon can be linearly moved along the second direction. Since the first sliding seat is slidably connected to the support base in the first direction, the second sliding seat and the mechanical arm thereon can be linearly moved along the first direction. Thus, the lifting and translation mechanism realizes the vertical lifting and horizontal translation of the mechanical arm. In this way, the mechanical arm can be lifted vertically and translated horizontally, thereby extending the activity space of the mechanical arm, thereby solving the problem of the existence of a detection blind spot when the vehicle bottom detection device is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0035] Figure 1 is a schematic diagram of the three-dimensional structure of the lifting and translation mechanism in the first embodiment of the present invention (in the initial state);

[0036] Figure 2 1 is a schematic diagram of the three-dimensional structure of the lifting and translation mechanism in the first embodiment of the present invention (in the lifting state);

[0037] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the lifting and translation mechanism from another angle;

[0038] Figure 4 yes Figure 2 A schematic diagram of the three-dimensional structure of the lifting and translation mechanism from another angle;

[0039] Figure 5 yes Figure 1 A schematic diagram of the assembly relationship between the first driving mechanism and the first sliding seat;

[0040] Figure 6 is a schematic diagram of the three-dimensional structure of the lifting and translation mechanism in the second embodiment of the present invention;

[0041] Figure 7 is a schematic diagram of the three-dimensional structure of the lifting and translation mechanism in the third embodiment of the present invention;

[0042] Figure 8 It is a schematic diagram of the connection of the electrical module of the underbody inspection robot in the third embodiment of the present invention.

[0043] Reference numerals:

[0044] 10. Support base; 11. Groove; 20. First sliding seat; 30. Second sliding seat; 40. First sliding structure; 41. First guide rail; 42. First slider; 50. First driving mechanism; 51. First servo motor; 52. First synchronous transmission mechanism; 521. First synchronous wheel; 522. First transmission belt; 53. First ball screw; 54. First mounting frame; 60. Second sliding structure; 61. Second guide rail; 62. Second slider; 70. Second driving mechanism driving mechanism; 71, second servo motor; 72, second synchronous transmission mechanism; 721, second synchronous wheel; 722, second transmission belt; 73, second ball screw; 74, second mounting frame; 75, second linear motor; 76, transmission wheel; 77, synchronous transmission belt; 78, driving motor; 100, lifting and translation mechanism; 200, position detection device; 201, translation proximity sensor; 202, stroke sensor; 300, control system; 400, robotic arm. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings.

[0046] It should be noted that the object to be moved in the present application is a robot arm 400, and the object to be grasped is an optical component. The lifting and translation mechanism 100 in the present application is used to vertically lift and horizontally translate the robot arm 400, and the robot arm 400 grasps the optical component and moves it. The optical component is used to photograph the key components under the vehicle.

[0047] The lifting and translation mechanism 100 in the present application is not limited to the vertical lifting and horizontal translation of the robotic arm 400, but can also move other objects, such as being used in the transportation of objects in a factory and using it as a transportation mechanism.

[0048] Embodiment 1

[0049] like Figures 1 to 5As shown, the present invention provides a lifting and translation mechanism 100, which includes a support base 10, a first sliding seat 20 and a second sliding seat 30. The first sliding seat 20 is connected to the support base 10 in a sliding manner in a first direction; the second sliding seat 30 is connected to the first sliding seat 20 in a sliding manner in a second direction, and the second sliding seat 30 is used to fix the object to be moved; a groove 11 is provided in the support base 10, a part of the first sliding seat 20 extends into the groove 11, and slides in the groove 11 along the first direction, and when the first sliding seat 20 slides downward along the first direction to the first extreme position, another part of the first sliding seat 20 is supported on the support base 10.

[0050] In the above arrangement, since the second sliding seat 30 is slidably connected to the first sliding seat 20 in the second direction, the object to be moved fixed thereon can be linearly moved along the second direction. Since the first sliding seat 20 is slidably connected to the support base 10 in the first direction, the second sliding seat 30 and the mechanical arm 400 thereon can be linearly moved along the first direction. Thus, the vertical lifting and horizontal translation of the mechanical arm 400 by the lifting and translation mechanism 100 is realized. Thus, the mechanical arm 400 can be lifted and lowered vertically and translated horizontally, which extends the activity space of the mechanical arm 400, thereby solving the problem of the existence of a detection blind spot when the vehicle bottom detection device is working.

[0051] In addition, a groove 11 is provided in the support base 10, and a portion of the first sliding seat 20 extends into the groove 11 and slides in the groove 11 along the first direction. When the first sliding seat 20 slides downward along the first direction to the first limit position (initial state), another portion of the first sliding seat 20 is supported on the support base 10. In this way, in the initial state, a portion of the first sliding seat 20 is embedded in the second sliding seat 30, thereby improving the overall compactness of the lifting and translation mechanism 100, while reducing its overall volume and overall weight. This improves the convenience of its transportation and use.

[0052] It should be noted that the robot arm 400 is usually composed of multiple rotating joints, which have the function of rotating movement. Since the base of the robot arm 400 is fixed, the activity space of the robot arm 400 is limited, and it is impossible to achieve vertical and horizontal movement over a long distance. In the present application, a lifting and translation mechanism 100 is set, which is installed at the bottom of the robot arm 400, so that the robot arm 400 can be lifted and translated as a whole. In this way, the activity space of the robot arm 400 is extended by the lifting and translation mechanism 100 to ensure that the optical component can achieve a blind spot shooting of the bottom of the locomotive.

[0053] Specifically, Figures 1 to 5As shown, in one embodiment, the lifting and translation mechanism 100 further includes a first sliding structure 40, which is disposed between the first sliding seat 20 and the support base 10, and the first sliding seat 20 is slidably connected to the support base 10 in the first direction via the first sliding structure 40.

[0054] In the above arrangement, the first sliding structure 40 is provided to realize the sliding connection between the first sliding seat 20 and the support base 10. This can reduce the friction force generated by the first sliding structure 40 sliding on the support base 10, thereby improving the sliding efficiency of the first sliding seat 20.

[0055] Specifically, Figures 1 to 5 As shown, in one embodiment, the first sliding structure 40 includes two first guide rails 41 and two first sliders 42. The first guide rail 41 is extended along the first direction and arranged on one side of the first sliding seat 20; the first slider 42 is arranged on the bottom wall of the groove 11, and the first slider 42 is slidably connected with the first guide rail 41. The two first guide rails 41 are arranged at intervals along the second direction, and two first sliders 42 are arranged on the two first guide rails 41 in a one-to-one correspondence.

[0056] Specifically, Figures 1 to 5 As shown, in one embodiment, the first sliding structure 40 can directly adopt a linear guide rail.

[0057] Specifically, Figures 1 to 5 As shown, in one embodiment, the lifting and translation mechanism 100 further includes a first driving mechanism 50 , which is provided with a supporting base 10 and a first sliding base 20 , and is used to drive the first sliding base 20 to slide on the supporting base 10 .

[0058] Specifically, Figures 1 to 5 As shown, in one embodiment, the first driving mechanism 50 includes a first mounting frame 54, a first servo motor 51, a first synchronous transmission mechanism 52 and a first ball screw 53. The first mounting frame 54 is fixed to the side of the support base 10 away from the groove 11; the first servo motor 51 is fixed at its fixed end on the first mounting frame 54; the first synchronous transmission mechanism 52 is connected to the driving shaft of the first servo motor 51 at one end; the first ball screw 53, the screw of the first ball screw 53 is connected to the other end of the first synchronous transmission mechanism 52, and the screw nut of the first ball screw 53 is connected to the first sliding seat 20; the first servo motor 51 is used to drive the first synchronous transmission mechanism 52 to operate, so that the first ball screw 53 rotates synchronously with the driving shaft of the first servo motor 51.

[0059] Specifically, Figures 1 to 5As shown, in one embodiment, the first synchronous transmission mechanism 52 includes two first synchronous wheels 521 and a first transmission belt 522. Among them, one of the two first synchronous wheels 521 is connected to the driving shaft of the first servo motor 51, and the other first synchronous wheel 521 is connected to the screw of the first ball screw 53; one end of the first transmission belt 522 is sleeved on the outer periphery of one first synchronous wheel 521, and the other end of the first transmission belt 522 is sleeved on the outer periphery of the other first synchronous wheel 521, and the first transmission belt 522 can reciprocate between the two first synchronous wheels 521; an opening is provided on the support base 10, and the first transmission belt 522 is passed through the opening.

[0060] Specifically, Figures 1 to 5 As shown, in one embodiment, the lifting and translation mechanism 100 further includes a second sliding structure 60, which is disposed between the first sliding seat 20 and the second sliding seat 30, and the first sliding seat 20 is slidably connected to the second sliding seat 30 in the second direction via the second sliding structure 60.

[0061] In the above arrangement, the second sliding structure 60 is provided to realize the sliding connection between the first and second sliding seats, so as to reduce the friction force generated by the second sliding structure 60 sliding on the first sliding structure, thereby improving the sliding efficiency of the second sliding seat 30.

[0062] Specifically, Figures 1 to 5 As shown, in one embodiment, the second sliding structure 60 includes two second guide rails 61 and two second sliders 62. The second guide rail 61 is extended along the second direction and arranged at the top of the first sliding seat 20; the second slider 62 is slidably connected to the second guide rail 61. The two second guide rails 61 are arranged at intervals along the second direction, and two second sliders 62 are arranged on the two second guide rails 61 in a one-to-one correspondence.

[0063] Specifically, Figures 1 to 5 As shown, in one embodiment, the second sliding structure 60 can directly adopt a linear guide rail.

[0064] Specifically, Figures 1 to 5 As shown, in one embodiment, the lifting and translation mechanism 100 further includes a second driving mechanism 70 , and the second driving mechanism 70 is provided with a second sliding seat 30 and a first sliding seat 20 , and is used for driving the second sliding seat 30 to slide on the first sliding seat 20 .

[0065] Specifically, Figures 1 to 5As shown, in one embodiment, the second driving mechanism 70 includes a second mounting frame 74, a second servo motor 71, a second synchronous transmission mechanism 72 and a second ball screw 73. The second mounting frame 74 is fixed on the first sliding seat 20; the second servo motor 71 is fixed at its fixed end on the second mounting frame 74; one end of the second synchronous transmission mechanism 72 is connected to the driving shaft of the second servo motor 71; the second ball screw 73, the screw of the second ball screw 73 is connected to the other end of the second synchronous transmission mechanism 72, and the screw nut of the second ball screw 73 is connected to the second sliding seat 30; the second servo motor 71 is used to drive the second synchronous transmission mechanism 72 to operate, so that the second ball screw 73 rotates synchronously with the driving shaft of the second servo motor 71.

[0066] Specifically, Figures 1 to 5 As shown, in one embodiment, the second synchronous transmission mechanism 72 includes two second synchronous wheels 721 and a second transmission belt 722. Among them, one of the two second synchronous wheels 721 is connected to the driving shaft of the second servo motor 71, and the other second synchronous wheel 721 is connected to the screw of the second ball screw 73; one end of the second transmission belt 722 is sleeved on the outer periphery of one second synchronous wheel 721, and the other end of the second transmission belt 722 is sleeved on the outer periphery of the other second synchronous wheel 721, and the second transmission belt 722 can reciprocate between the two second synchronous wheels 721; an opening is provided on the first sliding seat 20, and the second transmission belt 722 is passed through the opening.

[0067] Specifically, Figures 1 to 5 As shown, in one embodiment, the first sliding seat 20 is a T-shaped structure.

[0068] Specifically, Figures 1 to 5 As shown, in one embodiment, the first and second sliding seats are both provided with weight-reducing holes, wire holes and wire routing grooves.

[0069] Embodiment 2

[0070] The second embodiment differs from the first embodiment in the following aspects:

[0071] Specifically, in one embodiment, the first driving mechanism includes a first linear motor, a fixed end of the first linear motor is fixed on the support base 10 , and a driving end of the first linear motor is connected to the first sliding seat 20 .

[0072] Specifically, Figure 6 As shown, in one embodiment, the second driving mechanism includes a second linear motor 75, whose fixed end is fixed to the first sliding seat 20, and the driving end of the second linear motor 75 is fixed to the second sliding seat 30. In this way, the driving functions of the first and second driving mechanisms are realized.

[0073] The other structures of the second embodiment are the same as those of the first embodiment and will not be described in detail here.

[0074] Embodiment 3

[0075] The third embodiment differs from the first embodiment in the following aspects:

[0076] Specifically, Figure 7 As shown, in one embodiment, the second driving mechanism includes two transmission wheels 76 and a synchronous transmission belt 77, the two ends of the synchronous transmission belt 77 are respectively sleeved on the outer circumference of the two transmission wheels 76, the synchronous transmission belt 77 is fixed on the second sliding seat 30, and the two transmission wheels 76 are rotatably set on the first sliding seat 20, one of the transmission wheels 76 is connected to the driving motor 78, and the driving motor 78 is used to drive the transmission wheel 76 to rotate, so that the synchronous transmission belt 77 can drive the first sliding seat 20 to move in the second direction.

[0077] The other structures of the third embodiment are the same as those of the first embodiment and will not be described in detail here.

[0078] Embodiment 4

[0079] like Figures 1 to 5 , Figure 8 As shown, the present invention provides a vehicle bottom detection robot, which includes a lifting and translation mechanism 100, a mechanical arm 400, a position detection device 200 and a control system 300. Among them, the mechanical arm 400 is arranged on the second sliding seat 30 of the lifting and translation mechanism 100, and the mechanical arm 400 is used to grasp the object to be grasped; the position detection device 200 is arranged on the lifting and translation mechanism 100, and the position detection device 200 is used to detect the sliding position of the first sliding seat 20 and the second sliding seat 30; the control system 300 is electrically connected to the mechanical arm, the position detection device 200 and the lifting and translation mechanism 100, and the control system 300 is used to control the action of the mechanical arm 400, and to control the movement of the lifting and translation mechanism 100.

[0080] Specifically, Figures 1 to 5 As shown, the lifting and translation mechanism 100 includes a support base 10, a first sliding base 20 and a second sliding base 30. The first sliding base 20 is slidably connected to the support base 10 in a first direction; the second sliding base 30 is slidably connected to the first sliding base 20 in a second direction, and the second sliding base 30 is used to fix the object to be moved; a groove 11 is provided in the support base 10, a part of the first sliding base 20 extends into the groove 11, and slides in the groove 11 along the first direction, and when the first sliding base 20 slides downward along the first direction to the first extreme position, another part of the first sliding base 20 is supported on the support base 10.

[0081] Specifically, Figures 1 to 5As shown, in one embodiment, the lifting and translation mechanism 100 further includes a first sliding structure 40, which is disposed between the first sliding seat 20 and the support base 10, and the first sliding seat 20 is slidably connected to the support base 10 in the first direction via the first sliding structure 40.

[0082] In the above arrangement, the first sliding structure 40 is provided to realize the sliding connection between the first sliding seat 20 and the support base 10. This can reduce the friction force generated by the first sliding structure 40 sliding on the support base 10, thereby improving the sliding efficiency of the first sliding seat 20.

[0083] Specifically, Figures 1 to 5 As shown, in one embodiment, the first sliding structure 40 includes two first guide rails 41 and two first sliders 42. The first guide rail 41 is extended along the first direction and arranged on one side of the first sliding seat 20; the first slider 42 is arranged on the bottom wall of the groove 11, and the first slider 42 is slidably connected with the first guide rail 41. The two first guide rails 41 are arranged at intervals along the second direction, and two first sliders 42 are arranged on the two first guide rails 41 in a one-to-one correspondence.

[0084] Specifically, Figures 1 to 5 As shown, in one embodiment, the first sliding structure 40 can directly adopt a linear guide rail.

[0085] Specifically, Figures 1 to 5 As shown, in one embodiment, the lifting and translation mechanism 100 further includes a first driving mechanism 50 , which is provided with a supporting base 10 and a first sliding base 20 , and is used to drive the first sliding base 20 to slide on the supporting base 10 .

[0086] Specifically, Figures 1 to 5 As shown, in one embodiment, the first driving mechanism 50 includes a first mounting frame 54, a first servo motor 51, a first synchronous transmission mechanism 52 and a first ball screw 53. The first mounting frame 54 is fixed to the side of the support base 10 away from the groove 11; the first servo motor 51 is fixed at its fixed end on the first mounting frame 54; the first synchronous transmission mechanism 52 is connected to the driving shaft of the first servo motor 51 at one end; the first ball screw 53, the screw of the first ball screw 53 is connected to the other end of the first synchronous transmission mechanism 52, and the screw nut of the first ball screw 53 is connected to the first sliding seat 20; the first servo motor 51 is used to drive the first synchronous transmission mechanism 52 to operate, so that the first ball screw 53 rotates synchronously with the driving shaft of the first servo motor 51.

[0087] Specifically, Figures 1 to 5As shown, in one embodiment, the first synchronous transmission mechanism 52 includes two first synchronous wheels 521 and a first transmission belt 522. Among them, one of the two first synchronous wheels 521 is connected to the driving shaft of the first servo motor 51, and the other first synchronous wheel 521 is connected to the screw of the first ball screw 53; one end of the first transmission belt 522 is sleeved on the outer periphery of one first synchronous wheel 521, and the other end of the first transmission belt 522 is sleeved on the outer periphery of the other first synchronous wheel 521, and the first transmission belt 522 can reciprocate between the two first synchronous wheels 521; an opening is provided on the support base 10, and the first transmission belt 522 is passed through the opening.

[0088] Specifically, Figures 1 to 5 As shown, in one embodiment, the lifting and translation mechanism 100 further includes a second sliding structure 60, which is disposed between the first sliding seat 20 and the second sliding seat 30, and the first sliding seat 20 is slidably connected to the second sliding seat 30 in the second direction via the second sliding structure 60.

[0089] Specifically, Figures 1 to 5 As shown, in one embodiment, the second sliding structure 60 includes two second guide rails 61 and two second sliders 62. The second guide rail 61 is extended along the second direction and arranged at the top of the first sliding seat 20; the second slider 62 is slidably connected to the second guide rail 61. The two second guide rails 61 are arranged at intervals along the second direction, and two second sliders 62 are arranged on the two second guide rails 61 in a one-to-one correspondence.

[0090] Specifically, Figures 1 to 5 As shown, in one embodiment, the second sliding structure 60 can directly adopt a linear guide rail.

[0091] Specifically, Figures 1 to 5 As shown, in one embodiment, the lifting and translation mechanism 100 further includes a second driving mechanism 70 , and the second driving mechanism 70 is provided with a second sliding seat 30 and a first sliding seat 20 , and is used for driving the second sliding seat 30 to slide on the first sliding seat 20 .

[0092] Specifically, Figures 1 to 5As shown, in one embodiment, the second driving mechanism 70 includes a second mounting frame 74, a second servo motor 71, a second synchronous transmission mechanism 72 and a second ball screw 73. The second mounting frame 74 is fixed on the first sliding seat 20; the second servo motor 71 is fixed at its fixed end on the second mounting frame 74; one end of the second synchronous transmission mechanism 72 is connected to the driving shaft of the second servo motor 71; the second ball screw 73, the screw of the second ball screw 73 is connected to the other end of the second synchronous transmission mechanism 72, and the screw nut of the second ball screw 73 is connected to the second sliding seat 30; the second servo motor 71 is used to drive the second synchronous transmission mechanism 72 to operate, so that the second ball screw 73 rotates synchronously with the driving shaft of the second servo motor 71.

[0093] Specifically, Figures 1 to 5 As shown, in one embodiment, the second synchronous transmission mechanism 72 includes two second synchronous wheels 721 and a second transmission belt 722. Among them, one of the two second synchronous wheels 721 is connected to the driving shaft of the second servo motor 71, and the other second synchronous wheel 721 is connected to the screw of the second ball screw 73; one end of the second transmission belt 722 is sleeved on the outer periphery of one second synchronous wheel 721, and the other end of the second transmission belt 722 is sleeved on the outer periphery of the other second synchronous wheel 721, and the second transmission belt 722 can reciprocate between the two second synchronous wheels 721; an opening is provided on the first sliding seat 20, and the second transmission belt 722 is passed through the opening.

[0094] Specifically, Figures 1 to 5 As shown, in one embodiment, the first sliding seat 20 is a T-shaped structure.

[0095] Specifically, Figures 1 to 5 As shown, in one embodiment, the first and second sliding seats are both provided with weight-reducing holes, wire holes and wire routing grooves.

[0096] Specifically, Figures 1 to 5 As shown, in one embodiment, the position detection device 200 includes a translation proximity sensor 201 and a stroke sensor 202. The translation proximity sensor 201 and the stroke sensor 202 are both position sensors, which are respectively arranged on the second and first sliding seats. They are used to monitor the sliding positions of the first and second sliding seats, and send the sliding position information to the control system 300, so that the control system 300 controls the first and second driving mechanisms to prevent the first sliding seat 20 from escaping from the support base 10, and prevent the second sliding seat 30 from escaping from the first sliding seat 20.

[0097] It should be noted that the lifting and translation mechanism 100 in the present application has the following characteristics:

[0098] 1. Compact structure and large travel range, very suitable for the application of compact layout equipment in small space;

[0099] 2. Lifting / translation is orthogonal motion, without motion coupling, the screw drive is linear drive, the motion is precise and the control is simple.

[0100] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A lifting and translation mechanism, characterized in that: include: Support base; as well as A first sliding seat, which is slidably connected to the support base in a first direction; as well as a second sliding seat, which is slidably connected to the first sliding seat in a second direction, and the second sliding seat is used to fix the object to be moved; A groove is provided in the support base, a portion of the first sliding seat extends into the groove and slides along a first direction in the groove, and when the first sliding seat slides downward along the first direction to a first extreme position, another portion of the first sliding seat is supported on the support base.

2. The lifting and translation mechanism according to claim 1, characterized in that: It also includes a first sliding structure, which is arranged between the first sliding seat and the supporting base. The first sliding seat is slidably connected to the supporting base in a first direction through the first sliding structure.

3. The lifting and translation mechanism according to claim 2, characterized in that: The first sliding structure comprises: at least one first guide rail extending along a first direction and disposed on one side of the first sliding seat; and The first sliding block is arranged on the bottom wall of the groove, and the first sliding block is slidably connected with the first guide rail.

4. The lifting and translation mechanism according to claim 3, characterized in that: When the first sliding structure includes a plurality of the first guide rails, the plurality of the first guide rails are arranged at intervals along the second direction, and a plurality of the first sliding blocks are arranged on the plurality of the first guide rails in a one-to-one correspondence.

5. The lifting and translation mechanism according to claim 2, characterized in that: It also includes a first driving mechanism, which is provided with the supporting base and the first sliding seat and is used to drive the first sliding seat to slide on the supporting base.

6. The lifting and translation mechanism according to claim 5, characterized in that: The first driving mechanism comprises: A first mounting bracket, which is fixed to a side of the support base away from the groove; and A first servo motor, a fixed end of which is fixed on the first mounting frame; and A first synchronous transmission mechanism, one end of which is connected to the driving shaft of the first servo motor; and A first ball screw, wherein a screw of the first ball screw is connected to the other end of the first synchronous transmission mechanism, and a screw nut of the first ball screw is connected to the first sliding seat; Wherein, the first servo motor is used to drive the first synchronous transmission mechanism to operate, so that the first ball screw and the driving shaft of the first servo motor rotate synchronously.

7. The lifting and translation mechanism according to claim 6, characterized in that: The first synchronous transmission mechanism comprises: two first synchronous wheels, one of which is connected to the driving shaft of the first servo motor, and the other of which is connected to the lead screw of the first ball screw; and A first transmission belt, one end of which is sleeved on the outer circumference of one of the first synchronous wheels, and the other end of the first transmission belt is sleeved on the outer circumference of another of the first synchronous wheels, and the first transmission belt can reciprocate between the two first synchronous wheels; Wherein, the support base is provided with an opening, and the first transmission belt is inserted into the opening.

8. The lifting and translation mechanism according to any one of claims 1 to 7, characterized in that: It also includes a second sliding structure, which is arranged between the first sliding seat and the second sliding seat, and the first sliding seat is slidably connected to the second sliding seat in a second direction through the second sliding structure.

9. The lifting and translation mechanism according to any one of claims 1 to 7, characterized in that: It also includes a second driving mechanism, which is provided with the second sliding seat and the first sliding seat and is used to drive the second sliding seat to slide on the first sliding seat.

10. A vehicle bottom inspection robot, characterized in that: include: The lifting and translation mechanism according to any one of claims 1 to 9; as well as A mechanical arm, which is arranged on the second sliding seat of the lifting and translation mechanism, and the mechanical arm is used to grasp the object to be grasped; as well as A position detection device, which is arranged on the lifting and translation mechanism, and is used to detect the sliding positions of the first sliding seat and the second sliding seat; as well as A control system is electrically connected to the mechanical arm, the position detection device and the lifting and translation mechanism, and the control system is used to control the movement of the mechanical arm and the lifting and translation mechanism.

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