Detection device and robot

Abstract

The utility model relates to the technical field of detection robots, in particular to a detection device and a robot, which comprises an outer threaded rod, an outer cylinder, an inner cylinder, an outer threaded cylinder and an inner threaded cylinder, the outer cylinder is sleeved outside the outer threaded rod, and the outer cylinder is fixed; the inner cylinder body is arranged in the outer cylinder body and is in sliding connection with the outer cylinder body in the axial direction of the outer cylinder body, the inner cylinder body is arranged on the outer threaded rod in a sleeving mode, and the inner cylinder body is in threaded connection with the outer threaded rod; the outer threaded cylinder is arranged in the inner cylinder body and is in sliding connection with the outer threaded rod in the axial direction of the outer threaded rod, and the outer threaded cylinder is rotationally connected with the inner cylinder body through a limiting structure; and the internal threaded cylinder is arranged on the external threaded cylinder in a sleeving manner, is in threaded connection with the external threaded cylinder, is positioned in the inner cylinder body and is in sliding connection with the inner cylinder body in the axial direction. When the external thread cylinder moves outwards, the internal thread cylinder can be driven to move outwards, and when the external thread cylinder rotates, the internal thread cylinder can also be driven to move outwards, so that two-stage stretching and retracting of the external thread cylinder are achieved, and the stretching and retracting length is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of detection robots, in particular to a detection device and a robot. Background Art

[0002] The largest application direction of detection robots is detection and sampling. The robot's eyes are used to detect and obtain information. With the development of camera technology and computer technology, intelligent robots with visual functions have begun to be manufactured by humans, and the discipline and industry of machine vision have gradually formed. Machine vision is a machine bionic system similar to the human eye.

[0003] The existing detection device generally sets an image acquisition module on the body of the mobile robot, collects images through the image acquisition module, and transmits the collected images to the display module through the transmission module, and the staff views the collected images through the display module. In the prior art, a fixed thread rod and a movable thread sleeve are set, and the fixed thread rod is driven to rotate by a driving mechanism, and the movable thread sleeve and the fixed thread rod rotate relative to each other to realize the extension and retraction of the movable thread sleeve, and the image acquisition module is set at one end of the movable thread sleeve so that the movable thread sleeve drives the extension and retraction of the image acquisition module.

[0004] However, since the image acquisition module must maintain stability during the image acquisition process to ensure the clarity of the acquired image, the prior art sets the image acquisition module at one end of the moving threaded sleeve. Since the moving threaded sleeve rotates and moves upward during use, the stability of the image acquisition module is poor when the image acquisition module is driven to extend and retract. In addition, this telescopic device can only achieve one-level extension and retraction, and the limited extension length leads to a limited detection range of the detection device. Utility Model Content

[0005] In view of the above-mentioned deficiencies in the prior art, the detection device and robot provided by the utility model can improve the stability of the image acquisition module and can increase the telescopic range of the telescopic device, thereby expanding the detection range.

[0006] The detection device and robot provided by the utility model include an external threaded rod, one end of which is connected to a driving mechanism for driving the external threaded rod to rotate, and further include:

[0007] An outer cylinder is sleeved on the outside of the external threaded rod, and the outer cylinder is fixedly arranged;

[0008] An inner cylinder is arranged inside the outer cylinder and is slidably connected to the outer cylinder, and the sliding direction is along the axial direction of the external threaded rod. The inner cylinder is sleeved on the external threaded rod, and one end of the inner cylinder is threadedly connected to the external threaded rod;

[0009] An external threaded barrel is arranged inside the inner barrel and sleeved on the external threaded rod, and is slidably connected to the external threaded rod, and the sliding direction is along the axial direction of the external threaded rod. The external threaded barrel and the inner barrel are connected by a limiting structure, so that the external threaded barrel and the inner barrel can rotate relative to each other;

[0010] The internal threaded barrel is sleeved on the external threaded barrel and threadedly connected to the external threaded barrel. The internal threaded barrel is located inside the inner barrel body and is slidably connected to the inner barrel body. The sliding direction is along the axial direction of the external threaded rod. An image acquisition module is provided at one end of the internal threaded barrel.

[0011] Preferably, a long groove is provided on the inner cylinder, the length direction of the long groove is parallel to the axial direction of the external threaded rod, and the inner wall of the outer cylinder is provided with a first guide key, which is slidably arranged in the long groove.

[0012] Preferably, the outer wall of the internally threaded barrel is provided with a second guide key, and the second guide key is slidably arranged in the long groove.

[0013] Preferably, an annular first boss is fixedly connected to one end of the inner cylinder body close to the driving mechanism, the first boss is threadedly connected to the externally threaded rod, and the externally threaded cylinder and the internally threaded cylinder are both arranged on a side of the first boss away from the driving mechanism.

[0014] Preferably, the limiting structure includes an annular second boss, which is fixedly arranged at one end of the external threaded barrel close to the first boss, the second boss is sleeved on the outside of the first boss, the inner circumference of the second boss is provided with an annular groove, the first boss is fixedly connected with a buckle, and the buckle is slidably arranged in the groove.

[0015] Preferably, the externally threaded barrel and the externally threaded rod are clearance-matched, a limiting groove is provided on the externally threaded rod along its axial direction, a third guide key is provided on the externally threaded barrel, and the third guide key is slidably provided in the limiting groove.

[0016] Preferably, the image acquisition module is arranged at the end of the internal threaded barrel away from the driving mechanism, and the image acquisition module includes a casing, which is arranged at the end of the internal threaded barrel, the casing is provided with the image acquisition module, and the end of the internal threaded barrel is provided with a driving motor, and the output end of the driving motor is connected to the casing for driving the casing to rotate.

[0017] The utility model also provides a robot, which comprises the above-mentioned detection device.

[0018] Compared with the prior art, the detection device and robot provided by the utility model have the following beneficial effects:

[0019] The utility model fixes the outer cylinder body, and drives the inner cylinder body to move axially along the outer threaded rod by rotating the outer threaded rod. Since the outer threaded cylinder and the inner cylinder body are connected by a limiting structure, the inner cylinder body can drive the outer threaded cylinder to move synchronously, and since the outer threaded cylinder and the outer threaded rod are connected in an axial sliding manner, the inner cylinder body drives the outer threaded cylinder to move synchronously and rotates synchronously with the outer threaded rod at the same time; since the inner threaded cylinder and the inner threaded cylinder are threadedly connected, and the inner threaded cylinder and the inner cylinder body slide in the axial direction of the outer threaded rod, the outer threaded cylinder can be driven to move outwards while the outer threaded cylinder moves outwards, and can also be driven to move outwards while the outer threaded cylinder rotates, thereby realizing the two-stage extension and retraction of the outer threaded cylinder, increasing the extension length, and the inner threaded cylinder will not rotate with the outer threaded cylinder while the two-stage extension and retraction is performed, thereby improving the stability of the image acquisition module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a cross-sectional view of the overall structure of the utility model;

[0022] Figure 3 It is a partial cross-sectional view of the utility model.

[0023] Description of reference numerals:

[0024] 1. Outer cylinder; 101. First guide key; 2. Inner cylinder; 201. Internally threaded cylinder; 202. Buckle; 203. First boss; 3. Internally threaded cylinder; 301. Second guide key; 4. Drive motor; 5. Housing; 6. Image acquisition module; 7. Externally threaded cylinder; 701. Second boss; 702. Slot; 8. Externally threaded rod. DETAILED DESCRIPTION

[0025] The following is combined with Figures 1 to 3 , the specific implementation methods of the utility model are described in detail, but it should be understood that the protection scope of the utility model is not limited by the specific implementation methods.

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] In addition, in the description of this application, "plurality" means two or more than two. The terms "first" and "second" are used for descriptive purposes only and should not be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature.

[0028] Example 1

[0029] The detection device and robot provided in this embodiment are as follows: Figure 1 As shown, it includes an external threaded rod 8, one end of which is connected to a driving mechanism for driving the external threaded rod 8 to rotate, and also includes an outer cylinder 1, an inner cylinder 2, an external threaded cylinder 7, and an internal threaded cylinder 3.

[0030] The outer cylinder 1 is sleeved on the outside of the external threaded rod 8, and the outer cylinder 1 is fixedly arranged.

[0031] The inner cylinder 2 is arranged inside the outer cylinder 1 and is slidably connected to the outer cylinder 1. The sliding direction is along the axial direction of the external threaded rod 8. The inner cylinder 2 is sleeved on the external threaded rod 8, and one end of the inner cylinder 2 is threadedly connected to the external threaded rod 8.

[0032] The external threaded barrel 7 is arranged inside the inner cylinder 2, and is sleeved on the external threaded rod 8, and is slidably connected with the external threaded rod 8, and the sliding direction is along the axial direction of the external threaded rod 8. The external threaded barrel 7 and the inner cylinder 2 are connected by a limiting structure, so that the external threaded barrel 7 and the inner cylinder 2 can rotate relative to each other;

[0033] The internal threaded barrel 3 is sleeved on the external threaded barrel 7 and is threadedly connected to the external threaded barrel 7. The internal threaded barrel 3 is located inside the inner barrel body 2 and is slidingly connected to the inner barrel body 2. The sliding direction is along the axial direction of the external threaded rod 8. An image acquisition module is provided at one end of the internal threaded barrel 3.

[0034] When in use, the external threaded rod 8 is driven to rotate by the driving mechanism, and the outer cylinder 1 plays a positioning role for the entire device. At the same time, the outer cylinder 1 limits the inner cylinder 2 and the internal threaded cylinder 3, so that the inner cylinder 2 and the internal threaded cylinder 3 can only move along the length direction, that is, the axial direction of the inner cylinder 2 or the internal threaded cylinder 3. The movement of the inner cylinder 2 along the length direction is driven by the external threaded rod 8; when the inner cylinder 2 moves along the length direction, it can drive the external threaded cylinder 7 to move along the length direction. When the external threaded cylinder 7 moves along the length direction, it drives the internal threaded cylinder 3 to move synchronously to achieve primary telescoping.

[0035] At the same time, since the external threaded tube 7 moves along the length direction, it will rotate synchronously with the external threaded rod 8. Therefore, the rotation of the external threaded tube 7 will also drive the internal threaded tube 3 to move along the length direction, thereby realizing the secondary extension and contraction of the internal threaded tube 3 and increasing the extension length of the internal threaded tube 3.

[0036] Furthermore, during the primary extension and the secondary extension, the internal threaded tube 3 will not be driven to rotate, therefore, the stability of the internal threaded tube 3 during extension and retraction can be improved, thereby improving the stability of the image acquisition module.

[0037] Specifically, in order to guide the inner cylinder 2 for sliding in the length direction, a long groove 201 is opened on the inner cylinder 2, and the length direction of the long groove 201 is parallel to the axial direction of the external threaded rod 8. The inner wall of the outer cylinder 1 is provided with a first guide key 101, and the first guide key 101 is slidably set in the long groove 201.

[0038] In order to guide the internal threaded barrel 3 in sliding in the length direction, a second guide key 301 is provided on the outer wall of the internal threaded barrel 3 , and the second guide key 301 is slidably disposed in the long groove 201 .

[0039] In order to ensure that there is enough accommodating space between the inside of the inner cylinder 2 and the externally threaded rod 8, and at the same time realize the threaded connection between the inner cylinder 2 and the externally threaded rod 8, an annular first boss 203 is fixedly connected to the end of the inner cylinder 2 close to the driving mechanism, and the first boss 203 is threadedly connected to the externally threaded rod 8, and the externally threaded cylinder 7 and the internally threaded cylinder 3 are both arranged on the side of the first boss 203 away from the driving mechanism.

[0040] The threaded connection between the inner cylinder body 2 and the external threaded rod 8 is achieved by providing the first boss 203 , and the first boss 203 can support the external threaded cylinder 7 .

[0041] In this embodiment, the limiting structure includes an annular second boss 701, which is fixedly arranged at one end of the external threaded tube 7 close to the first boss 203, and the second boss 701 is sleeved on the outside of the first boss 203. The inner circumference of the second boss 701 is provided with an annular groove 702, and the first boss 203 is fixedly connected with a buckle 202, and the buckle 202 is slidably arranged in the groove 702.

[0042] During installation, the external threaded cylinder 7 is installed inside the inner cylinder body 2 , and the clamping groove 702 is clamped by the buckle 202 . After being clamped, the annular clamping groove 702 can rotate relative to the buckle 202 .

[0043] In order to enable the externally threaded barrel 7 and the externally threaded rod 8 to move relative to each other in the length direction, the externally threaded barrel 7 and the externally threaded rod 8 are clearance-fitted.

[0044] In order to enable the external threaded rod 8 to drive the external threaded barrel 7 to rotate synchronously, a limiting groove is provided on the external threaded rod 8 along its axial direction, and a third guide key is provided on the external threaded barrel 7, and the third guide key is slidably set in the limiting groove.

[0045] Working principle of this embodiment

[0046] The detection device provided in this embodiment, when in use, fixes the outer cylinder 1, drives the outer threaded rod 8 to rotate through the driving mechanism, and drives the inner cylinder 2 to move along the length direction when the outer threaded rod 8 rotates. Since the outer threaded cylinder 7 and the inner cylinder 2 are connected by the limiting structure, the inner cylinder 2 can drive the outer threaded cylinder 7 to move along the length direction synchronously, and the outer threaded cylinder 7 drives the inner threaded cylinder 3 to move synchronously to achieve the primary extension and contraction of the inner threaded cylinder 3. Since the outer threaded cylinder 7 and the outer threaded rod 8 are connected by sliding along the axial direction of the outer threaded rod 8, the outer threaded cylinder 7 rotates synchronously with the outer threaded rod 8, and drives the inner threaded cylinder 3 to move in the opposite direction along the length when the outer threaded cylinder 7 rotates, thereby achieving the secondary extension and contraction of the inner threaded cylinder 3, and can increase the extension and contraction length of the inner threaded cylinder 3. At the same time, the inner threaded cylinder 3 cannot rotate during the primary extension and the secondary extension, which can improve the stability of the inner threaded cylinder 3 during extension and contraction, thereby improving the stability of the image acquisition module installed at the end of the inner threaded cylinder 3.

[0047] Example 2

[0048] The detection device provided in this embodiment is based on the embodiment 1. Figure 1 As shown, the image acquisition module is arranged at one end of the internal threaded barrel 3 away from the driving mechanism. The image acquisition module includes a housing 5, which is arranged at the end of the internal threaded barrel 3. The housing 5 is provided with an image acquisition module 6. The end of the internal threaded barrel 3 is provided with a driving motor 4. The output end of the driving motor 4 is connected to the housing 5 for driving the housing 5 to rotate.

[0049] During installation, the drive motor 4 is fixed to the end of the internal threaded tube 3 away from the drive mechanism. When in use, the internal threaded tube 3 is first adjusted to a suitable height according to detection needs, and then the housing 5 is driven to rotate by the drive motor 4, thereby driving the image acquisition module 6 to adjust the angle for detection.

[0050] Example 3

[0051] Based on Example 1 and Example 2, this embodiment provides a robot, which includes the above-mentioned detection device. When in use, the outer cylinder body 1 and the driving mechanism of the above-mentioned detection device are installed on the body of the robot, and the telescopic height of the internal threaded cylinder 3 is adjusted according to the detection height requirements.

[0052] The above disclosure is only a preferred specific embodiment of the present invention, but the embodiments of the present invention are not limited thereto, and any changes that can be conceived by technicians in this field should fall within the protection scope of the present invention.

Claims

1. A detection device, comprising an externally threaded rod (8), one end of which is connected to a driving mechanism for driving the externally threaded rod (8) to rotate. It is characterized in that Also includes: An outer cylinder (1) is sleeved on the outside of the external threaded rod (8), and the outer cylinder (1) is fixedly arranged; The inner cylinder (2) is arranged inside the outer cylinder (1) and is slidably connected to the outer cylinder (1), and the sliding direction is along the axial direction of the external threaded rod (8). The inner cylinder (2) is sleeved on the external threaded rod (8), and one end of the inner cylinder (2) is threadedly connected to the external threaded rod (8); An externally threaded barrel (7) is arranged inside the inner barrel (2) and sleeved on the externally threaded rod (8), and is slidably connected to the externally threaded rod (8), with the sliding direction being along the axial direction of the externally threaded rod (8). The externally threaded barrel (7) and the inner barrel (2) are connected via a limiting structure, so that the externally threaded barrel (7) and the inner barrel (2) can rotate relative to each other; The internal threaded barrel (3) is sleeved on the external threaded barrel (7) and is threadedly connected to the external threaded barrel (7). The internal threaded barrel (3) is located inside the inner barrel body (2) and is slidably connected to the inner barrel body (2). The sliding direction is along the axial direction of the external threaded rod (8). An image acquisition module is provided at one end of the internal threaded barrel (3).

2. The detection device according to claim 1, It is characterized in that The inner cylinder (2) is provided with a long groove (201), the length direction of the long groove (201) is parallel to the axial direction of the external threaded rod (8), and the inner wall of the outer cylinder (1) is provided with a first guide key (101), and the first guide key (101) is slidably arranged in the long groove (201).

3. The detection device according to claim 2, It is characterized in that The outer wall of the internally threaded barrel (3) is provided with a second guide key (301), and the second guide key (301) is slidably arranged in the long groove (201).

4. The detection device according to claim 1, It is characterized in that An annular first boss (203) is fixedly connected to one end of the inner cylinder (2) close to the driving mechanism, the first boss (203) is threadedly connected to the externally threaded rod (8), and the externally threaded cylinder (7) and the internally threaded cylinder (3) are both arranged on a side of the first boss (203) away from the driving mechanism.

5. The detection device according to claim 4, It is characterized in that The limiting structure comprises an annular second boss (701) fixedly arranged at one end of the externally threaded barrel (7) close to the first boss (203); the second boss (701) is sleeved on the outer side of the first boss (203); an annular groove (702) is provided on the inner circumference of the second boss (701); a buckle (202) is fixedly connected to the first boss (203); and the buckle (202) is slidably arranged in the groove (702).

6. The detection device according to claim 1, It is characterized in that The externally threaded barrel (7) and the externally threaded rod (8) are clearance-matched, a limiting groove is provided on the externally threaded rod (8) along its axial direction, and a third guide key is provided on the externally threaded barrel (7), and the third guide key is slidably arranged in the limiting groove.

7. The detection device according to claim 1, It is characterized in that The image acquisition module is arranged at an end of the internally threaded barrel (3) away from the driving mechanism, and the image acquisition module comprises a casing (5) arranged at the end of the internally threaded barrel (3); an image acquisition module (6) is arranged on the casing (5); a driving motor (4) is arranged at the end of the internally threaded barrel (3); an output end of the driving motor (4) is connected to the casing (5) for driving the casing (5) to rotate.

8. A robot, It is characterized in that The invention comprises a detection device as described in any one of claims 1 to 7.

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