CN107498589A - Robot with radioscopy imaging function - Google Patents

Robot with radioscopy imaging function Download PDF

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Publication number
CN107498589A
CN107498589A CN201710639664.6A CN201710639664A CN107498589A CN 107498589 A CN107498589 A CN 107498589A CN 201710639664 A CN201710639664 A CN 201710639664A CN 107498589 A CN107498589 A CN 107498589A
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CN
China
Prior art keywords
telescopic frame
outer sleeve
rack
adjusting mechanism
depth adjusting
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710639664.6A
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Chinese (zh)
Inventor
林勇
张晨昱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BEIJING PURPLE SQUARE TECHNOLOGY Co Ltd
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BEIJING PURPLE SQUARE TECHNOLOGY Co Ltd
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Publication date
Application filed by BEIJING PURPLE SQUARE TECHNOLOGY Co Ltd filed Critical BEIJING PURPLE SQUARE TECHNOLOGY Co Ltd
Priority to CN201710639664.6A priority Critical patent/CN107498589A/en
Publication of CN107498589A publication Critical patent/CN107498589A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means

Abstract

The invention discloses a kind of robot with radioscopy imaging function, including:Drive-type chassis, multivariant mechanical arm, X-ray machine and detector;Wherein, the X-ray machine and detector are separately mounted on the multivariant mechanical arm;The multivariant mechanical arm is located on the drive-type chassis, and the X-ray machine and detector can be driven to carry out multi-angle motion on the drive-type chassis.The multivariant mechanical arm of the robot simulates human arm completely, the compound action such as can complete to turn to, stretch, raise, being rotated by 360 °.A pair of the detectors and X-ray machine placed in opposite directions are carried on its arm, can be according to the width and depth between the big minor adjustment X-ray machine of article and detector, detector can surround 360 degree of rotations of inspected object with X-ray machine and check, CT three-dimensional reconstructions can be carried out, dynamic into x-ray imaging, it can also can realize the function of the comprehensive inspection article of zero contact in real time.

Description

Robot with radioscopy imaging function
Technical field
The invention belongs to safety monitoring technology field, be related to it is a kind of using cryptoscopy have radioscopy into As the robot of function.
Background technology
Personnel, luggage and counter to entering important place, implement non-contacting safety inspection, it has also become most extensive at present The safety check measure of use.Each metalloid or non-metallic weapons, poison, explosive are the emphasis of detection.Particularly airport, railway station Et al. stream aggregation place, if it find that, it is necessary to notify special policeman or explosive expert to carry out x-ray fluoroscopy to it when leaving suspicion article Check whether as explosive, and according to circumstances exclude or shift.And mode common at present, it is explosive expert's heavy wearing Protective dress for removing explosive, carry Portable X-ray detector to progress fluoroscopic examination by suspicion article, it is so close from suspicion article, such as Fruit suspicion article is explosive, by offender's ignition or accidental explosion, then explosive personnel can be caused serious injury or even caused Extremely.And robot common at present is often only equipped with an explosive handgrip, when can hold one several kilograms of skinny device, and use (such as undersized, depth is inadequate, no realtime graphic, no three-dimensional structure distribution, and penetration power is inadequate etc.) is limited by various factors, Use very inconvenient.Therefore, how a kind of fluoroscopy installation that can carry automatically is provided and carries out three-dimensional inspection to scene Robot is to need to solve the problems, such as.
The content of the invention
Based on the problems of prior art, it is an object of the invention to provide one kind to have radioscopy imaging function Robot, fluoroscopy installation can be carried automatically and carry out three-dimensional inspection to scene.
The purpose of the present invention is achieved through the following technical solutions:
A kind of robot with radioscopy imaging function of embodiment of the present invention, including:Drive-type chassis, it is more from By the mechanical arm, X-ray machine and detector spent;Wherein,
The X-ray machine and detector are separately mounted on the multivariant mechanical arm;
The multivariant mechanical arm is located on the drive-type chassis, can drive the X-ray machine and detector in institute State progress multi-angle motion on drive-type chassis.
As seen from the above technical solution provided by the invention, it is provided in an embodiment of the present invention have radioscopy into As the robot of function, its advantage is:
By setting drive-type chassis, multivariant mechanical arm, X-ray machine and the detector of organic linking, can complete to turn To, stretch, raise, the compound action such as be rotated by 360 °, carry a pair of detections placed in opposite directions on its multivariant mechanical arm Device and X-ray machine.Because robot is integrated, its carrying capacity is stronger, can carry high-power X-ray machine and large scale detection Device, therefore penetration capacity is bigger than common portable ray machine, can penetrate thicker steel plate, can carry out multi-angle inspection to object Survey.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings Accompanying drawing.
Fig. 1 is the overall structure diagram of robot provided in an embodiment of the present invention;
Fig. 2 is the schematic diagram provided in an embodiment of the present invention for realizing helical cone-beam CT scan;
Fig. 3 is each movement dimension schematic diagram of robot provided in an embodiment of the present invention;
In Fig. 1,1. robot chassis (contain battery);2. crawler belt;3. support feet;4. turntable;5. shoulder joint part;On 6. Arm;7. elbow joint part;8. forearm;9. swivel head;10. wrist joint part;11. tranverse connecting rod (band slide rail);12. camera;13. Width adjusting sliding block;14. depth adjustment sliding block;15. vertical connecting rod (band slide rail);16. detector;17.X ray machines;
In Fig. 2,16. detectors;17.X ray machines;18. article to be checked;26. rotation;28. movement;
In Fig. 3,20. robots move forward and backward;21. robot rotates;22. shoulder joint part rotates;23. shoulder joint part Swing up and down;24. elbow joint part is swung up and down;25. wrist joint part is swung up and down;26. spin head;27. width is adjusted Save (moving horizontally);28. depth adjustment (vertically moves);
Fig. 4 is width adjustment mechanism and the structural representation of depth adjusting mechanism of robot provided in an embodiment of the present invention Figure;
Fig. 5 is section view enlarged diagram at the A in Fig. 4;
In Fig. 4,16. detectors;17.X ray machines;41. width adjustment mechanism;42. the first depth adjusting mechanism;43. first Motor;431. second motors;432. the 3rd motors;Telescopic frame on 44.;45. lower telescopic frame;On 45. Rack;451. times racks;46. gear;47. outer sleeve;48. the second depth adjusting mechanism;
Fig. 6 is the width adjustment mechanism of robot provided in an embodiment of the present invention and the structure another kind of depth adjusting mechanism Structural representation;
In Fig. 6,16. detectors;17.X ray machines;51. telescopic sleeve pipe type sucking depth adjustment structure;52. telescopic sleeve pipe type sucking width Adjustment structure;53. hydraulic pump.
Embodiment
With reference to the particular content of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely retouched State, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, Belong to protection scope of the present invention.
As shown in Figures 1 to 3, a kind of robot with radioscopy imaging function of the embodiment of the present invention, including:Driving Formula chassis, multivariant mechanical arm, X-ray machine and detector;Wherein,
The X-ray machine and detector are separately mounted on the multivariant mechanical arm;
The multivariant mechanical arm is located on the drive-type chassis, can drive the X-ray machine and detector in institute State progress multi-angle motion on drive-type chassis.
In above-mentioned robot, multivariant mechanical arm includes:
Turntable part, shoulder joint part, upper arm members, elbow joint part, forearm part, swivel head, wrist joint part, Width adjustment mechanism, the first depth adjusting mechanism and the second depth adjusting mechanism;Wherein,
Turntable part is arranged on drive-type chassis;
Shoulder joint part is arranged on turntable part, upper arm members, elbow joint part, forearm part and wrist joint part It is sequentially connected;
Swivel head is connected with wrist joint part;
Width adjustment mechanism is connected with swivel head;
The both ends of width adjustment mechanism set the first depth adjusting mechanism and the second depth adjusting mechanism respectively, and the width is adjusted Section mechanism can adjust the width between the first depth adjusting mechanism and the second depth adjusting mechanism;
First depth adjusting mechanism is provided with the first position regulating member for being used for installing X-ray machine, can adjust first position Position of the regulating member on the first depth adjusting mechanism;
Second depth adjusting mechanism is provided with the second place regulating member for being used for installing detector, can adjust the second place Position of the regulating member on the second depth adjusting mechanism.
In above-mentioned multivariant mechanical arm, width adjustment mechanism preferably use by the first motor, two sliding blocks and The slide block guide rail mechanism that guide rail is formed;Wherein, two sliding blocks install the first depth adjusting mechanism and the second depth adjustment machine respectively Structure, the first motor can drive two sliding blocks to be slided in guide rail, the first depth adjusting mechanism and peace of regulation installation X-ray machine The width between the second depth adjusting mechanism of detector is filled, and then adjusts the width between X-ray machine and detector;
First depth adjusting mechanism is preferably led using the sliding block being made up of the second motor, the second sliding block and the second guide rail Rail mechanism;Wherein, the second sliding block is used to install X-ray machine as first position regulating member, and the second motor can drive second Sliding block slides in the second guide rail, and then adjusts the depth of X-ray machine;
Second depth adjusting mechanism is preferably led using the sliding block being made up of the 3rd motor, the 3rd sliding block and the 3rd guide rail Rail mechanism;Wherein, the 3rd sliding block is used to install detector as second place regulating member, and the 3rd motor can drive the 3rd Sliding block slides in the 3rd guide rail, and then adjusts the depth of detector.
As shown in Figure 4,5, in above-mentioned robot, width adjustment mechanism be by the first motor, upper telescopic frame, under stretch The pinion and rack that contracting framework, upper rack, lower rack, gear and outer sleeve are formed;Wherein, upper telescopic frame and lower telescopic frame Frame is staggered relatively to be located in outer sleeve, upper telescopic frame and lower telescopic frame one square frame of overlapped formation;
Upper rack is fixedly installed on the inner face of upper telescopic frame, lower rack, tooth are fixedly installed on the inner face of lower telescopic frame Wheel is folded between the upper and lower rack on upper and lower telescopic frame;
First motor is connected with gear, and energy drive gear, which rotates, drives upper and lower rack to make upper and lower telescopic frame outside Stretch out or retract in sleeve;
First depth adjusting mechanism be by the second motor, the second telescopic frame, the second telescopic frame, the first rack, The pinion and rack that second rack, second gear, the second outer sleeve and first position regulating member are formed;Wherein, first stretches Contracting framework and the second telescopic frame is staggered relatively is located in the second outer sleeve, the first telescopic frame and the second telescopic frame phase mutual respect It is folded to form a square frame;
The first rack is fixedly installed on the inner face of first telescopic frame, second is fixedly installed on the inner face of the second telescopic frame Rack, second gear are folded between first, second rack on first, second telescopic frame;
Second motor is connected with second gear, and the second gear can be driven to rotate and drive first, second rack to make the Two telescopic frames stretch out or retracted in the second outer sleeve;
First position regulating member is connected with second gear, is located at outside the second outer sleeve;
Second depth adjusting mechanism be by the 3rd motor, the 3rd telescopic frame, the 4th telescopic frame, the 3rd rack, The pinion and rack that 4th rack, the 3rd gear and the 3rd outer sleeve are formed;Wherein, the 3rd telescopic frame and the 4th telescopic frame Frame is staggered relatively to be located in the 3rd outer sleeve, the 3rd telescopic frame and the 4th telescopic frame one square-shaped frame of overlapped formation Frame;
The 3rd rack is fixedly installed on the inner face of 3rd telescopic frame, the 4th is fixedly installed on the inner face of the 4th telescopic frame Rack, the 3rd gear are folded between the three, the 4th racks on the three, the 4th telescopic frames;
3rd motor is connected with the 3rd gear, and the 3rd pinion rotation can be driven to drive the three, the 4th racks to make the 4th Telescopic frame stretches out or retracted in the 3rd outer sleeve;
Second place regulating member is connected with the 3rd gear, is located at outside the 3rd outer sleeve.
Further, above-mentioned width adjustment mechanism can also be used by the first motor, upper telescopic frame, lower telescopic frame The threaded screw rod mechanism that frame, upper leading screw, lower leading screw, jackscrew and outer sleeve are formed;Wherein, upper telescopic frame and lower telescopic frame phase Placement is located in outer sleeve, upper telescopic frame and lower telescopic frame one square frame of overlapped formation;
Upper leading screw is set on the inner face of upper telescopic frame, lower leading screw, jackscrew folder are fixedly installed on the inner face of lower telescopic frame It is located between the upper and lower leading screw on upper and lower telescopic frame;
First motor is connected with jackscrew, and jackscrew can be driven to rotate and drive upper and lower leading screw to make upper and lower telescopic frame outside Stretch out or retract in sleeve;
First depth adjusting mechanism can also be used by the second motor, the second telescopic frame, the second telescopic frame, the The threaded screw rod mechanism that one leading screw, the second leading screw, the second jackscrew, the second outer sleeve and first position regulating member are formed;Wherein,
First telescopic frame and the second telescopic frame is staggered relatively is located in the second outer sleeve, the first telescopic frame and second Telescopic frame is overlapped to form a square frame;
First leading screw is set on the inner face of the first telescopic frame, the second leading screw is set on the inner face of the second telescopic frame, the Two jackscrews are folded between first, second leading screw on first, second telescopic frame;
Second motor is connected with the second jackscrew, and second jackscrew can be driven to rotate and drive first, second leading screw to make the Two telescopic frames stretch out or retracted in the second outer sleeve;
First position regulating member is connected with the second jackscrew, is located at outside the second outer sleeve;
Second depth adjusting mechanism can also be used by the 3rd motor, the 3rd telescopic frame, the 4th telescopic frame, the The lead screw gear mechanism that three leading screws, the 4th leading screw, the 3rd jackscrew and the 3rd outer sleeve are formed;Wherein,
3rd telescopic frame and the 4th telescopic frame is staggered relatively is located in the 3rd outer sleeve, the 3rd telescopic frame and the 4th Telescopic frame is overlapped to form a square frame;
The 3rd leading screw is fixedly installed on the inner face of 3rd telescopic frame, the 4th is fixedly installed on the inner face of the 4th telescopic frame Leading screw, the 3rd jackscrew are folded between the three, the 4th leading screws on the three, the 4th telescopic frames;
3rd motor is connected with the 3rd jackscrew, and the 3rd jackscrew can be driven to rotate and drive the three, the 4th leading screws to make the 4th Telescopic frame stretches out or retracted in the 3rd outer sleeve;
Second place regulating member is connected with the 3rd jackscrew, is located at outside the 3rd outer sleeve.
Further, in above-mentioned robot, width adjustment mechanism is the two ends telescopic driven using hydraulic pressure or air pressure Cylinder mechanism;First, second depth adjusting mechanism is single end head extension sleeve mechanism.
In above-mentioned robot, turntable part, shoulder joint part, upper arm members, elbow joint part, forearm part, rotation Motor is equipped with head and wrist joint part, each part can be driven to rotate.
The mechanical arm of above-mentioned robot coordinates with width adjustment mechanism and first, second depth adjusting mechanism, width adjusting Mechanism and two parallel depth adjusting mechanisms constitute the fixed support of X-ray machine and detector, width adjustment mechanism and two Parallel depth adjusting mechanism coordinates the width and depth depth that can be adjusted between X-ray machine and detector, and width adjusting Mechanism is centrally mounted on swivel head, can be with detector and X-ray machine around 360 degree of rotations of inspected object, and then can be carried out CT scan, x-ray imaging can also be dynamically carried out in real time, can realize the function of the comprehensive inspection article of zero contact.
In above-mentioned robot, swivel head is provided with imaging device installation position;Also include:X-ray imaging equipment, swivel head is installed Imaging device installation position on.
Above-mentioned robot also includes:Swivel head is provided with alternate form installation position;Also include:Mechanical gripper, installed in swivel head Alternate form installation position on.
In above-mentioned robot, drive-type chassis is using crawler type driving chassis or in-wheel driving chassis.
Above-mentioned crawler type driving chassis includes:Chassis body, two driving crawler belts and four support feets;Wherein,
Chassis body both sides set driving crawler belt respectively, and four support feets are respectively provided at chassis body both sides, in both sides Driving crawler belt on the outside of form composite crawler formula driving chassis.
Above-mentioned in-wheel driving chassis includes:Chassis body, two groups of driving wheels and four support feets;Wherein,
Chassis body both sides set driving wheel respectively, and four support feets are respectively provided at chassis body both sides, in both sides On the outside of driving wheel.
Integrated robot provided in an embodiment of the present invention with radioscopy imaging function, solves mesh well The problem of preceding not a special integrated X-ray examination robot, using crawler type driving or in-wheel driving, and it is provided with Support feet, it can be climbed with obstacle detouring, rotated, turned around.And there are four turnover support feets, support feet, which not only has, stablizes machine Device people's center of gravity, can also cross step obstacle detouring.The mechanical arm installed on robot chassis simulates human arm completely, has shoulder joint Part, elbow joint part, wrist joint part, the compound action such as can complete to turn to, stretch, raise, being rotated by 360 °, on its arm Carry a pair of the detectors and X-ray machine placed in opposite directions.Because robot is integrated, its carrying capacity is stronger, can take With high-power X-ray machine and large scale detector, therefore penetration capacity is bigger than common portable ray machine, can penetrate thicker steel Plate.
The advantages of robot of the present invention, is as follows:
(1), can obstacle detouring, climbing, stair climbing, steering, front and rear traveling using composite crawler formula driving chassis.
(2) there is the mechanical arm of simulation human arm, the rotation of shoulder joint part, the swing of shoulder joint part, elbow joint can be realized The compound movements such as part is swung, wrist joint part is swung, the rotation of wrist joint part.
(3) width between detector and X-ray machine and depth depth can be adjusted.Adaptive ability is strong.
(4) detector and X-ray machine energy item rotation and translation, therefore CT scan can be realized, according to material density Whether analyze is contraband.
(5) mechanical arm carrying weight is big, the detector and X-ray machine of the different dimensional weights that can change the outfit.
(6) mechanical arm replacing mechanical gripper, after explosive is defined as, can be long-range explosive with control machinery handgrip or turn Move.
The embodiment of the present invention is specifically described in further detail below.
As shown in figure 1, the whole x-ray imaging equipment and mechanical arm of robot provided in an embodiment of the present invention are arranged on On chassis 1, chassis 1 is driven by crawler belt 2, and with four rotatable support feets 3, support feet is also driven using crawler type, and can Rotation.In obstacle-overpass thing, stair climbing etc., support feet 3 rotates and provides additional motive power;After arriving at, support Pin deploys, and keeps vehicle's center of gravity, avoids toppling.
Turntable 4 is installed on chassis 1, mechanical arm is installed, mechanical arm is by shoulder joint part 5, upper arm members on turntable 4 6th, elbow joint part 7, forearm 8, swivel head 9, wrist joint part 10 form.Turntable 4, shoulder joint part 5, elbow joint part 7, Wrist joint part 10, swivel head 9 are all driven by motor, it is possible to achieve complicated motion.Mechanical arm top swivel head 9 is installed X and penetrated Line imaging equipment, is replaced by mechanical gripper if necessary.
X-ray imaging equipment is made up of X-ray machine 17, the parallel vertical connecting rod 15 of the tranverse connecting rod 11, two of detector 16, one, peace On swivel head 9.Vertical connecting rod 15 is connected with tranverse connecting rod 11 by width adjusting sliding block 13, is driven through motor, makes two perpendicular companies The distance between bar 15 is expanded or shunk, and realizes the width between regulation X-ray machine 17 and detector 16.X-ray machine 17 and detector 16 are separately fixed on the depth adjustment sliding block 14 on two vertical connecting rods 15, are driven through motor, can make X-ray machine 17 and detector 16 slide up and down along vertical connecting rod 15, so as to adjust the depth depth between detector 16, X-ray machine 17 and tranverse connecting rod 11.
As shown in Fig. 2 swivel head 9 is driven by motor, inspected object 18 can be surrounded with detector 16 and X-ray machine 17 Do 360 degree of rotations 26;Meanwhile depth adjustment sliding block 14 drives detector 16 and the synchronous vertical of X-ray machine 17 movement 28.Form spiral The scanning route of rising, cone-beam CT scan can be carried out, dynamic into x-ray imaging, can also can realize that zero contact is comprehensive in real time Check the function of article.
Computed tomography (abbreviation CT) has a wide range of applications in the fields such as medical science, aviation, safety check.By Development for many years, CT scan mode develop into three-dimensional cone via initial two-dimensional parallel beam scanning, two-dimensional sector-shaped beam scanning Beam scanning.3 D pyramidal CT has the advantages that ray utilization rate is high, spatial resolution is high, sweep time is short compared with two-dimensional ct. In the present invention, detector 16 uses area array detector, and what X-ray machine 17 was sent is standard cone-beam X-ray, the center of detector 16 with X-ray machine 17 goes out beam mouth and alignd centrally along axis.X-ray imaging equipment is while rotation, synchronous vertical displacement, and whole scanning can To be rebuild with standard cone beam reconstruction algorithm.For from mathematical meaning, cone beam projection algorithm for reconstructing is all based on 3D Radon changes Change theory.Cone-beam CT reconstruction is carried out using common Katsevich formula in the present invention, is not repeated herein.
As shown in figure 3, crawler belt 2, support feet, turntable, shoulder joint part, elbow joint part, wrist joint part, swivel head All driven by motor, it is possible to achieve complicated motion, such as:
(1) crawler belt 2 can drive chassis 1 to move forward and backward 20, rotation 21;
(2) support feet 3 can drive the obstacle detouring of chassis 1, stair climbing;
(3) turntable 4 can drive shoulder joint part 5 to be rotated by 360 ° 22;
(4) shoulder joint part 5 can drive upper arm 6 to swing 90 degree 23;
(5) elbow joint part 7 can drive forearm 8 to swing 90 degree 24;
(6) wrist joint part 10 can drive swivel head to swing 90 degree 25;
(7) swivel head 9 can drive x-ray imaging equipment to be rotated by 360 ° 26;
(8) width adjusting sliding block 13 can adjust the width 27 between two vertical connecting rods 15;
(9) depth adjustment sliding block 14 can adjust the depth 28 between detector 16, X-ray machine 17 and tranverse connecting rod 11.
As shown in Figure 4,5, depth adjusting mechanism and width adjustment mechanism are realized using rack-and-pinion mode, are adjusted with depth Exemplified by saving mechanism, the depth adjusting mechanism is by the first motor 43, upper telescopic frame 44, lower telescopic frame 441, upper rack 45th, lower rack 451, gear 46 and outer sleeve 47 form.Width adjusting structure has used two due to being that two-way simultaneous stretches Group telescopic frame 44,441 and two groups of teeth bar 45,451, two groups of telescopic frames 44,441 are staggered relatively, can be mutually inserted with overlapping A square frame is synthesized, outer sleeve 47 is quadra, and its internal diameter is more bigger than telescopic frame 44,441 external diameters.First Motor 43 rotates, band moving gear 46 rotate so that upper and lower rack 45,451 moves along the tangent line of gear 46, gear 46 with it is upper, Lower telescopic frame 44 is fixed on one, hence in so that the length of the extension out of outer sleeve 47 of upper and lower telescopic frame 44 occurs Change.Realize the function of adjustment width and depth.The regulative mode of this mechanism is not limited to the structure using rack-and-pinion, The working method of screw thread-like leading screw can also be used to realize (rack to be become female cylinder, becomes gear With externally threaded jackscrew), common electric putter mechanism is exactly this structure, is not repeated herein.
As shown in fig. 6, depth adjusting mechanism and width adjustment mechanism are realized using extension sleeve mode, generally use liquid Pressure or the type of drive such as air pressure, extensible member are the gradual thicker sleeve compositions of external diameter from level to level, sleeve have square, circle or its He is variously-shaped.By adjusting hydraulic pressure (or air pressure) so that thin sleeve stretches out or retracted from thick sleeve, so as to realize width with The regulatory function of depth.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in, It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims Enclose and be defined.

Claims (10)

  1. A kind of 1. robot with radioscopy imaging function, it is characterised in that including:It is drive-type chassis, multivariant Mechanical arm, X-ray machine and detector;Wherein,
    The X-ray machine and detector are separately mounted on the multivariant mechanical arm;
    The multivariant mechanical arm is located on the drive-type chassis, can drive the X-ray machine and detector in the drive Multi-angle motion is carried out on dynamic formula chassis.
  2. 2. the robot according to claim 1 with radioscopy imaging function, it is characterised in that described how free The mechanical arm of degree includes:
    Turntable part, shoulder joint part, upper arm members, elbow joint part, forearm part, swivel head, wrist joint part, width Governor motion, the first depth adjusting mechanism and the second depth adjusting mechanism;Wherein,
    The turntable part is arranged on the drive-type chassis;
    The shoulder joint part is arranged on the turntable part, the upper arm members, elbow joint part, forearm part and wrist Joint component is sequentially connected;
    The swivel head is connected with the wrist joint part;
    The width adjustment mechanism is connected with the swivel head;
    The both ends of the width adjustment mechanism set the first depth adjusting mechanism and the second depth adjusting mechanism respectively, and the width is adjusted Section mechanism can adjust the width between the first depth adjusting mechanism and the second depth adjusting mechanism;
    First depth adjusting mechanism is provided with the first position regulating member for being used for installing the X-ray machine, can adjust first Position of the position adjustment part on first depth adjusting mechanism;
    Second depth adjusting mechanism is provided with the second place regulating member for being used for installing the detector, can adjust second Position of the position adjustment part on second depth adjusting mechanism.
  3. 3. the robot according to claim 2 with radioscopy imaging function, it is characterised in that the turntable Driving electricity is equipped with part, shoulder joint part, upper arm members, elbow joint part, forearm part, swivel head and wrist joint part Machine, each part can be driven to operate.
  4. 4. the robot with radioscopy imaging function according to Claims 2 or 3, it is characterised in that the width Governor motion uses the slide block guide rail mechanism being made up of the first motor, two sliding blocks and guide rail;Wherein, two sliding block difference First depth adjusting mechanism and the second depth adjusting mechanism are installed;
    First depth adjusting mechanism uses the slide block guide rail machine being made up of the second motor, the second sliding block and the second guide rail Structure;Wherein, the sliding block is used to install X-ray machine as first position regulating member;
    Second depth adjusting mechanism uses the slide block guide rail machine being made up of the 3rd motor, the 3rd sliding block and the 3rd guide rail Structure;Wherein, the sliding block is used to install detector as second place regulating member.
  5. 5. the robot with radioscopy imaging function according to Claims 2 or 3, it is characterised in that the width Governor motion is to be made up of the first motor, upper telescopic frame, lower telescopic frame, upper rack, lower rack, gear and outer sleeve Pinion and rack;Wherein, the upper telescopic frame with lower telescopic frame is staggered relatively is located in the outer sleeve, it is upper flexible Framework and lower telescopic frame one square frame of overlapped formation;
    Upper rack is fixedly installed on the inner face of the upper telescopic frame, lower tooth is fixedly installed on the inner face of the lower telescopic frame Bar, the gear are folded between the upper and lower rack on the upper and lower telescopic frame;
    First motor is connected with the gear, and energy drive gear, which rotates, drives upper and lower rack to make upper and lower telescopic frame Stretch out or retract in the outer sleeve;
    First depth adjusting mechanism be by the second motor, the second telescopic frame, the second telescopic frame, the first rack, The pinion and rack that second rack, second gear, the second outer sleeve and first position regulating member are formed;Wherein, described One telescopic frame and the second telescopic frame is staggered relatively is located in second outer sleeve, the first telescopic frame and the second telescopic frame Frame is overlapped to form a square frame;
    The first rack is fixedly installed on the inner face of first telescopic frame, is fixedly installed on the inner face of second telescopic frame Second rack, the second gear are folded between first, second rack on first, second telescopic frame;
    Second motor is connected with the second gear, and the second gear can be driven to rotate and drive first, second rack The second telescopic frame is set to stretch out or retract in second outer sleeve;
    The first position regulating member is connected with the second gear, is located at outside second outer sleeve;
    Second depth adjusting mechanism be by the 3rd motor, the 3rd telescopic frame, the 4th telescopic frame, the 3rd rack, The pinion and rack that 4th rack, the 3rd gear and the 3rd outer sleeve are formed;Wherein, the 3rd telescopic frame is stretched with the 4th Contracting framework is staggered relatively to be located in the 3rd outer sleeve, the 3rd telescopic frame and the overlapped formation one of the 4th telescopic frame Square frame;
    The 3rd rack is fixedly installed on the inner face of 3rd telescopic frame, is fixedly installed on the inner face of the 4th telescopic frame 4th rack, the 3rd gear are folded between the three, the 4th racks on the three, the 4th telescopic frame;
    3rd motor is connected with the 3rd gear, and the 3rd pinion rotation can be driven to drive the three, the 4th racks to make 4th telescopic frame stretches out or retracted in the 3rd outer sleeve;
    The second place regulating member is connected with the 3rd gear, is located at outside the 3rd outer sleeve.
  6. 6. the robot with radioscopy imaging function according to Claims 2 or 3, it is characterised in that the width Governor motion is to be made up of the first motor, upper telescopic frame, lower telescopic frame, upper leading screw, lower leading screw, jackscrew and outer sleeve Threaded screw rod mechanism;Wherein, the upper telescopic frame with lower telescopic frame is staggered relatively is located in the outer sleeve, it is upper flexible Framework and lower telescopic frame one square frame of overlapped formation;
    Upper leading screw is set on the inner face of the upper telescopic frame, lower leading screw is fixedly installed on the inner face of the lower telescopic frame, institute State between the upper and lower leading screw that jackscrew is folded on the upper and lower telescopic frame;
    First motor is connected with the jackscrew, and jackscrew can be driven to rotate and drive upper and lower leading screw to make upper and lower telescopic frame Stretch out or retract in the outer sleeve;
    First depth adjusting mechanism be by the second motor, the second telescopic frame, the second telescopic frame, the first leading screw, The threaded screw rod mechanism that second leading screw, the second jackscrew, the second outer sleeve and first position regulating member are formed;Wherein,
    First telescopic frame and the second telescopic frame are staggered relatively to be located in second outer sleeve, the first telescopic frame with Second telescopic frame is overlapped to form a square frame;
    First leading screw is set on the inner face of first telescopic frame, second is set on the inner face of second telescopic frame Thick stick, second jackscrew are folded between first, second leading screw on first, second telescopic frame;
    Second motor is connected with second jackscrew, and second jackscrew can be driven to rotate and drive first, second leading screw The second telescopic frame is set to stretch out or retract in second outer sleeve;
    The first position regulating member is connected with second jackscrew, is located at outside second outer sleeve;
    Second depth adjusting mechanism be by the 3rd motor, the 3rd telescopic frame, the 4th telescopic frame, the 3rd leading screw, The lead screw gear mechanism that 4th leading screw, the 3rd jackscrew and the 3rd outer sleeve are formed;Wherein,
    3rd telescopic frame and the 4th telescopic frame is staggered relatively is located in the 3rd outer sleeve, the 3rd telescopic frame with 4th telescopic frame is overlapped to form a square frame;
    The 3rd leading screw is fixedly installed on the inner face of 3rd telescopic frame, is fixedly installed on the inner face of the 4th telescopic frame 4th leading screw, the 3rd jackscrew are folded between the three, the 4th leading screws on the three, the 4th telescopic frame;
    3rd motor is connected with the 3rd jackscrew, and the 3rd jackscrew can be driven to rotate and drive the three, the 4th leading screws to make 4th telescopic frame stretches out or retracted in the 3rd outer sleeve;
    The second place regulating member is connected with the 3rd jackscrew, is located at outside the 3rd outer sleeve.
  7. 7. the robot according to claim 2 with radioscopy imaging function, it is characterised in that the width is adjusted It is the two ends extension sleeve mechanism driven using hydraulic pressure or air pressure to save mechanism;
    First, second depth adjusting mechanism is single end head extension sleeve mechanism.
  8. 8. the robot with radioscopy imaging function according to Claims 2 or 3, it is characterised in that the rotation Head is provided with imaging device installation position;Also include:X-ray imaging equipment, install on the imaging device installation position of the swivel head.
  9. 9. the robot according to claim 1 with radioscopy imaging function, it is characterised in that the swivel head Provided with alternate form installation position, in addition to:Mechanical gripper, on the alternate form installation position of the swivel head.
  10. 10. the robot according to claim 1 with radioscopy imaging function, it is characterised in that the drive-type Chassis is using crawler type driving chassis or in-wheel driving chassis;Wherein,
    The crawler type driving chassis includes:Chassis body, two driving crawler belts and four support feets;Wherein,
    The chassis body both sides set driving crawler belt respectively, and four support feets are respectively provided at the chassis body both sides, Composite crawler formula driving chassis is formed on the outside of driving crawler belt in the both sides;
    The in-wheel driving chassis includes:Chassis body, two groups of driving wheels and four support feets;Wherein,
    The chassis body both sides set driving wheel respectively, and four support feets are respectively provided at the chassis body both sides, place On the outside of the driving wheel of the both sides.
CN201710639664.6A 2017-07-31 2017-07-31 Robot with radioscopy imaging function Pending CN107498589A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201710639664.6A CN107498589A (en) 2017-07-31 2017-07-31 Robot with radioscopy imaging function

Publications (1)

Publication Number Publication Date
CN107498589A true CN107498589A (en) 2017-12-22

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Family Applications (1)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110154050A (en) * 2019-05-27 2019-08-23 上海中为智能机器人有限公司 A kind of multi-functional explosive-removal robot
CN112129791A (en) * 2020-09-09 2020-12-25 武汉大学 General in-situ experimental device based on rotary X-ray computed tomography
WO2021082387A1 (en) * 2019-11-01 2021-05-06 南京全设智能科技有限公司 Portable x-ray ct imaging device
WO2021082388A1 (en) * 2019-11-01 2021-05-06 南京全设智能科技有限公司 Portable x-ray ct imaging device and operating method therefor

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110154050A (en) * 2019-05-27 2019-08-23 上海中为智能机器人有限公司 A kind of multi-functional explosive-removal robot
WO2021082387A1 (en) * 2019-11-01 2021-05-06 南京全设智能科技有限公司 Portable x-ray ct imaging device
WO2021082388A1 (en) * 2019-11-01 2021-05-06 南京全设智能科技有限公司 Portable x-ray ct imaging device and operating method therefor
CN112129791A (en) * 2020-09-09 2020-12-25 武汉大学 General in-situ experimental device based on rotary X-ray computed tomography

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