Detection instrument lifting structure and detection robot
By adopting a combined structure of drive parts and connecting rods in the detection instrument, the linear motion is converted into rotation to form a parallelogram mechanism, which solves the problem of difficulty in height adjustment of the detection instrument and achieves a high degree of flexibility and cost-effectiveness.
Patent Information
- Application Number
- CN202323614545.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-28
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2033-12-28
AI Technical Summary
Existing detection instruments have difficulties in height adjustment. Traditional electric push rods can only move at two fixed points, resulting in limited detection range and high and complex replacement strokes.
A detection instrument lifting structure is designed, using a combination of a drive member, a connecting rod and a sliding groove. Through the telescopic part of the drive member, the linear motion is converted into the rotation of the connector, forming a parallelogram mechanism to ensure that the detection instrument is in the height direction. Adjustability.
The height adjustability of the detection instrument is realized, the problem of difficulty in height adjustment in traditional methods is solved, and the flexibility and cost-effectiveness of the detection range are improved.
Smart Images
Figure CN222142461U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of robot detection, and in particular to a detection instrument lifting structure and a detection robot. Background Art
[0002] Various special robots carry various detection instruments, such as cameras, sensors, etc., but directly fixed instruments may have blind spots during detection, resulting in incomplete scanning.
[0003] Currently, in the prior art, a lifting mechanism is added to the detection instrument to adjust the height of the detection instrument, thereby expanding the detection range of the detection instrument. However, most of the lifting mechanisms use an electric push rod to directly push the detection instrument up and down. The electric push rod can only move between the start and stop points. In other words, the detection instrument can only be lifted to a fixed height. If the height of the detection instrument needs to be adjusted again, the stroke of the electric push rod can only be replaced, which is costly and complicated to replace.
[0004] During the process of implementing the embodiments of the present disclosure, the inventors discovered that the prior art had the problem of difficulty in adjusting the height of the detection instrument. Utility Model Content
[0005] In view of this, the embodiments of the present disclosure provide a detection instrument lifting structure and a detection robot, which at least partially solve the problem of difficulty in adjusting the height of the detection instrument in the prior art.
[0006] In the first aspect, an embodiment of the present disclosure provides a lifting structure for a detection instrument, comprising a driving member arranged on a main body, a first connecting member, a main connecting rod and a secondary connecting rod arranged in parallel and at intervals, the driving member comprising a fixed part and a telescopic part, one end of the first connecting member is hinged to the main body, the telescopic part is slidably arranged at the other end of the first connecting member to drive the first connecting member to rotate around the hinge point, one end of the main connecting rod is fixedly arranged on the first connecting member, and the other end is hinged with a detection instrument, one end of the secondary connecting rod is hinged to the main body, and the other end is hinged to the detection instrument.
[0007] Optionally, the first connecting member is provided with a sliding groove extending along the length direction of the first connecting member, and the telescopic part is slidably disposed in the sliding groove.
[0008] Optionally, it also includes a fixed bracket arranged on the main body, the main connecting rod and the secondary connecting rod are respectively hinged on the fixed bracket, and the fixed bracket, the main connecting rod, the secondary connecting rod and the detection instrument form the parallelogram mechanism.
[0009] Optionally, there are two main connecting rods and two auxiliary connecting rods, which are respectively arranged on two sides of the fixing bracket.
[0010] Optionally, it further includes a connecting shaft hinged on the fixed bracket, and the first connecting member and the main connecting rod are fixedly connected via the connecting shaft.
[0011] Optionally, it further includes a second connecting member arranged on the driving end of the driving member, the number of the first connecting members is two, and the two ends of the second connecting member are respectively slidably arranged in the two sliding grooves.
[0012] Optionally, it further includes a plurality of rotating shafts, the two main connecting rods are hinged to the detection instrument via the rotating shafts, and the two ends of the two secondary connecting rods are hinged to the fixed bracket and the detection instrument respectively via the rotating shafts.
[0013] Optionally, bushings are respectively provided on both ends of the rotating shaft.
[0014] Optionally, a bearing is provided between the connecting shaft and the fixed bracket.
[0015] In a second aspect, an embodiment of the present disclosure provides a detection robot, comprising a main body, a detection instrument, and a detection instrument lifting structure as described in any one of the above technical contents.
[0016] The lifting structure of the detection instrument provided by the embodiment of the present disclosure installs the telescopic part of the driving member on the first connecting member, which can convert the linear motion of the telescopic part into the rotation of the first connecting member, thereby driving the detection instrument to rotate around the hinge point of the first connecting member. The main connecting rod and the auxiliary connecting rod form a parallelogram mechanism, which can ensure that the detection direction of the detection instrument remains unchanged during the rotation process, thereby realizing the adjustment of the detection instrument in the height direction. By adjusting the sliding distance of the telescopic part on the first connecting member, the rotation angle range of the first connecting member is changed, thereby realizing the adjustability of the detection instrument in height.
[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0019] Figure 1 A schematic diagram of a lifting structure of a detection instrument provided in an embodiment of the present disclosure;
[0020] Figure 2 A top view of a lifting structure of a detection instrument provided in an embodiment of the present disclosure;
[0021] Figure 3 A schematic diagram of a detection robot in a lifting state provided in an embodiment of the present disclosure.
[0022] Description of Reference Numerals
[0023] 1. Main body, 2. Driving member, 3. Main connecting rod, 4. Auxiliary connecting rod, 5. Testing instrument, 6. Fixed bracket, 7. First connecting member, 8. Sliding groove, 9. Second connecting member, 10. Connecting shaft, 11. Walking mechanism. DETAILED DESCRIPTION
[0024] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.
[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
[0026] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged in addition without departing from the technical concept of the present disclosure.
[0027] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.
[0028] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.
[0029] For descriptive purposes, the present disclosure may use spatially relative terms such as "under," "beneath," "under," "down," "over," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as "under" or "beneath" other components or features would subsequently be positioned "over" the other components or features. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.
[0030] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values and / or the values provided that will be recognized by those of ordinary skill in the art.
[0031] On the one hand, an embodiment of the present disclosure provides a lifting structure for a detection instrument, including a driving member 2, a first connecting member 7, a main connecting rod 3 and a secondary connecting rod 4 arranged in parallel and at intervals, arranged on a main body 1, the driving member 2 includes a fixed part and a telescopic part, one end of the first connecting member 7 is hinged on the main body 1, and the telescopic part can be slidably arranged on the other end of the first connecting member 7 to drive the first connecting member 7 to rotate around the hinge point, one end of the main connecting rod 3 is fixedly arranged on the first connecting member 7, and the other end is hinged with a detection instrument 5, one end of the secondary connecting rod 4 is hinged on the main body 1, and the other end is hinged on the detection instrument 5.
[0032] like Figure 1 As shown, the fixed part of the driving member 2 is arranged on the main body 1, and the telescopic part can be telescoped in the horizontal direction. The telescopic part slides on the first connecting member 7, thereby driving the first connecting member 7 to rotate around its hinge point; the main connecting rod 3 is fixedly arranged on the first connecting member 7, and can rotate synchronously with the first connecting member 7, thereby driving the detection instrument 5 to rotate around the hinge point of the first connecting member 7, wherein the secondary connecting rod 4 provides support for the detection instrument 5, and the main connecting rod 3 and the secondary connecting rod 4 form a parallelogram mechanism, which can ensure that the detection end face of the detection instrument 5 remains stationary during the rotation process, thereby realizing the adjustment of the detection instrument 5 in the height direction.
[0033] The lifting structure of the detection instrument provided by the embodiment of the present disclosure installs the telescopic part of the driving member 2 on the first connecting member 7, and can convert the linear motion of the telescopic part into the rotation of the first connecting member 7, thereby driving the detection instrument 5 to rotate. The parallelogram mechanism formed by the main connecting rod 3 and the auxiliary connecting rod 4 can ensure that the detection direction of the detection instrument 5 remains unchanged during the rotation process. The rotation angle range of the first connecting member 7 is changed by adjusting the sliding distance of the telescopic part on the first connecting member 7, thereby realizing the adjustability of the height of the detection instrument and solving the problem of difficulty in changing the height adjustment range of the detection instrument in the prior art.
[0034] Furthermore, a sliding groove 8 extending along the length direction of the first connecting member 7 is provided on the first connecting member 7 , and the telescopic portion is slidably disposed in the sliding groove 8 .
[0035] Combination Figure 1 and Figure 3 As shown, the extension direction of the sliding groove 8 is inclined relative to the driving direction of the driving member 2. When the telescopic part is extended, the movement trajectory of the sliding groove 8 is: moving from the first end of the sliding groove 8 to the second end, and then moving from the second end to the first end. The corresponding height of the detection instrument 5 is: moving from the lowest point to the highest point; when the telescopic part is retracted, the movement trajectory is opposite.
[0036] As an optional embodiment, the lifting structure of the detection instrument also includes a fixed bracket 6 arranged on the main body 1, the main connecting rod 3 and the secondary connecting rod 4 are respectively hinged on the fixed bracket 6, and the fixed bracket 6, the main connecting rod 3, the secondary connecting rod 4 and the detection instrument 5 form a parallelogram mechanism.
[0037] like Figure 1 As shown, the hinge points of the main connecting rod 3 and the secondary connecting rod 4 are staggered, that is, the hinge point of the main connecting rod 3 is located above the hinge point of the secondary connecting rod 4, and the hinge point of the main connecting rod 3 is located on one side of the rotation direction of the secondary connecting rod 4 ( Figure 1 The left side of the figure) is used to prevent the auxiliary connecting rod 4 from interfering with the main connecting rod 3 during the rotation process; the main connecting rod 3, the auxiliary connecting rod 4, the fixed bracket 6 and the detection instrument 5 together form a parallelogram mechanism.
[0038] Optionally, there are two main connecting rods 3 and two auxiliary connecting rods 4 , which are respectively arranged on both sides of the fixing bracket 6 .
[0039] like Figure 2 As shown, the two sets of parallelogram mechanisms can increase the stability of the lifting structure of the detection instrument during movement.
[0040] The lifting structure of the detection instrument further includes a connecting shaft 10 hinged on the fixed bracket 6 , and the first connecting member 7 and the main connecting rod 3 are fixedly connected via the connecting shaft 10 .
[0041] Combination Figure 1 and Figure 2 As shown, the connecting shaft 10 is hinged on the fixed bracket 6, and both ends protrude relative to the fixed bracket 6. The two main connecting rods 3 are respectively fixed at both ends of the connecting shaft 10, and the first connecting member is fixed in the middle of the connecting shaft 10, thereby realizing the synchronous rotation of the main connecting rod 3 and the first connecting member 7, and at the same time increasing the structural stability.
[0042] Furthermore, the lifting structure of the detection instrument also includes a second connecting member 9 arranged on the driving end of the driving member 2. The number of the first connecting members 7 is two, and both ends of the second connecting member 9 are slidably arranged in the two sliding grooves 8 respectively.
[0043] like Figure 2 As shown, by providing two first connecting members 7, respectively provided at both ends of the second connecting member 9, the sliding stability of the second connecting member 9 in the sliding groove 8 can be increased; wherein, a sliding copper sleeve is embedded in the sliding groove 8, which can enable the second connecting member 9 to slide more smoothly.
[0044] In some embodiments, in combination Figure 1 and Figure 2As shown, the detection instrument lifting structure also includes multiple rotating shafts, two main connecting rods 3 are hinged to the detection instrument 5 through the rotating shafts, and both ends of the two auxiliary connecting rods 4 are hinged to the fixed bracket 6 and the detection instrument 5 through the rotating shafts respectively.
[0045] Optionally, bushings are respectively provided on both ends of the rotating shaft.
[0046] The bushings are respectively embedded in the hinge holes of the detection instrument 5 and the hinge holes of the auxiliary connecting rod 4 on the fixed bracket 6, which can make the rotating shaft rotate more smoothly and reduce the wear between the parts.
[0047] Furthermore, a bearing is provided between the connecting shaft 10 and the fixing bracket 6 .
[0048] like Figure 1 As shown, the connecting shaft 10 serves as an active rotating shaft. By setting a bearing, the friction resistance of the connecting shaft 10 during rotation can be reduced, making the rotation smoother and increasing the service life of the connecting shaft 10 and the fixed bracket 6.
[0049] On the other hand, an embodiment of the present disclosure provides a detection robot, including a main body 1, a detection instrument 5 and a detection instrument lifting structure of any one of the above technical contents.
[0050] like Figure 3 As shown, the main body 1 is also provided with a walking mechanism 11 for detecting the movement of the robot.
[0051] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.
[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0053] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.
Claims
1. A detection instrument lifting structure, characterized in that: The invention comprises a driving member (2) arranged on a main body (1), a first connecting member (7), a main connecting rod (3) and a secondary connecting rod (4) arranged in parallel and at intervals, wherein the driving member (2) comprises a fixed portion and a telescopic portion, one end of the first connecting member (7) is hinged on the main body (1), and the telescopic portion can be slidably arranged on the other end of the first connecting member (7) to drive the first connecting member (7) to rotate around a hinge point, one end of the main connecting rod (3) is fixedly arranged on the first connecting member (7), and the other end is hinged with a detection instrument (5), and one end of the secondary connecting rod (4) is hinged on the main body (1), and the other end is hinged on the detection instrument (5).
2. The detection instrument lifting structure according to claim 1, characterized in that: The first connecting member (7) is provided with a sliding groove (8) extending along the length direction of the first connecting member (7), and the telescopic part is slidably arranged in the sliding groove (8).
3. The detection instrument lifting structure according to claim 1, characterized in that: It also includes a fixed bracket (6) arranged on the main body (1), the main connecting rod (3) and the secondary connecting rod (4) are respectively hinged on the fixed bracket (6), and the fixed bracket (6), the main connecting rod (3), the secondary connecting rod (4) and the detection instrument (5) form a parallelogram mechanism.
4. The detection instrument lifting structure according to claim 3, characterized in that: The number of the main connecting rod (3) and the auxiliary connecting rod (4) is two, and they are respectively arranged on both sides of the fixed bracket (6).
5. The detection instrument lifting structure according to claim 3, characterized in that: It also comprises a connecting shaft (10) hinged on the fixed bracket (6), and the first connecting member (7) and the main connecting rod (3) are fixedly connected via the connecting shaft (10).
6. The detection instrument lifting structure according to claim 2, characterized in that: It also comprises a second connecting member (9) arranged on the driving end of the driving member (2), the number of the first connecting members (7) is two, and the two ends of the second connecting member (9) are respectively slidably arranged in the two sliding grooves (8).
7. The detection instrument lifting structure according to claim 4, characterized in that: It also includes a plurality of rotating shafts, the two main connecting rods (3) are hinged to the detection instrument (5) through the rotating shafts, and the two ends of the two auxiliary connecting rods (4) are respectively hinged to the fixed bracket (6) and the detection instrument (5) through the rotating shafts.
8. The detection instrument lifting structure according to claim 7, characterized in that: Bushings are respectively arranged on both ends of the rotating shaft.
9. The detection instrument lifting structure according to claim 5, characterized in that: A bearing is provided between the connecting shaft (10) and the fixing bracket (6).
10. A detection robot, characterized in that: It comprises a main body (1), a detection instrument (5) and a detection instrument lifting structure as described in any one of claims 1 to 9.