阅读说明：本技术 一种机器人 (Robot ) 是由 李元景 崔锦 胡斌 林东 吴华威 于 2020-05-29 设计创作，主要内容包括：本申请涉及一种机器人,其中,所述机器人包括主体,在主体上设置有可伸展收缩的悬臂、配重以及驱动装置,所述驱动装置同时驱动所述悬臂和配重的动作,使得在悬臂伸展或收缩的同时,配重相对于机器人的重心的距离变大或变小,以平衡所述悬臂的变化带来的重心不稳。采用这样的方案,悬臂和配重总是同时动作,且动作的位移满足了重心匹配的条件,实时进行了重心的平衡,相比于现有技术,使得机器人工作过程更加安全,延长了使用寿命。(The present invention relates to a robot, wherein the robot includes a main body, and a boom, a counterweight, and a driving device that are provided on the main body and are capable of extending and contracting, the driving device simultaneously drives the motions of the boom and the counterweight, so that the distance of the counterweight with respect to the center of gravity of the robot becomes larger or smaller while the boom is extending or contracting, to balance the unstable center of gravity due to the change of the boom. By adopting the scheme, the cantilever and the counterweight always act simultaneously, the displacement of the action meets the condition of gravity center matching, the gravity center balance is carried out in real time, and compared with the prior art, the robot has safer working process and prolonged service life.)

1. A robot comprises a main body, wherein an extensible and contractible cantilever, a counterweight and a driving device are arranged on the main body, and the driving device drives the actions of the cantilever and the counterweight simultaneously, so that the distance between the counterweight and the center of gravity of the robot is increased or decreased while the cantilever is extended or contracted, and the unstable center of gravity caused by the change of the cantilever is balanced.

2. The robot of claim 1, wherein: the distance of the counterweight relative to the center of gravity of the robot is increased or decreased by movement or rotation of the counterweight.

3. The robot of claim 1, wherein: the driving device comprises a first part driven by a motor or manually, a second part matched with the cantilever and a third part matched with the counterweight, and the first part drives the second part and the third part to act simultaneously.

4. A robot as claimed in claim 3, wherein: the third portion causes the motion of the counterweight to have at least a component opposite to the direction of movement of the boom.

5. A robot as claimed in claim 3, wherein: the cantilever is provided with a first matching part matched with the second part, the counterweight is provided with a second matching part matched with the third part, and the end part of the cantilever is also provided with a working device.

6. The robot of claim 5, wherein: the drive device and the counterweight are configured such that: the amount of change in the weight force of the working device relative to the moment of the first portion due to the displacement of the working device is equal to or close to the amount of change in the weight force of the counterweight relative to the moment of the first portion due to the displacement of the counterweight.

7. A robot as claimed in any of claims 3-6, characterized in that: the first part drives the second part and the third part to act in a rotating mode or a moving mode.

8. A robot as claimed in any of claims 3-6, characterized in that: the first part comprises a rotating shaft, the second part and the third part both comprise gears, the first matching part and the second matching part are respectively a first tooth structure and a second tooth structure which can be matched with the gears, the first tooth structure is fixedly connected with the cantilever, and the second tooth structure is fixedly connected with the counterweight.

9. The robot of claim 8, wherein: the second part comprises a first gear, the third part comprises a second gear, and the first gear and the second gear are both mounted on the rotating shaft.

10. The robot of claim 9, wherein: the ratio of the diameter of the first gear to the diameter of the second gear is configured to be equal to or close to the ratio of the weight of the counterweight to the weight of the working device.

11. The robot of claim 8, wherein: the second part comprises a first gear, the third part comprises a second gear and a third gear, and the first gear and the second gear are both arranged on the rotating shaft; a second shaft is disposed on the counterweight adjacent the second tooth structure, the counterweight being rotatable about the second shaft, and a third gear is simultaneously engaged with the second gear and the second tooth structure.

12. A robot as claimed in any of claims 3-6, characterized in that: the first part comprises a rotating shaft, the second part and the third part respectively comprise a threaded driving piece, and the first matching part and the second matching part are provided with a first threaded matching piece and a second threaded matching piece which are matched with the threaded driving piece.

13. The robot of claim 12, wherein: first screw thread driving piece with the pivot forms first screw rod, second screw thread driving piece with the pivot forms the second screw rod, first screw fitting piece is first nut, and second screw fitting piece is the second nut, and first screw rod and first nut form first lead screw, and second screw rod and second nut form the second lead screw, and the ratio of the helical pitch of first screw thread driving piece and the helical pitch of second screw thread driving piece equals or is close the weight of counter weight and the ratio of the weight of working device.

14. A robot as claimed in any of claims 3-6, characterized in that: the first part comprises a rotating shaft, and the second part and the third part respectively comprise a crank and a connecting rod; the first matching part and the second matching part are provided with a first sliding block and a second sliding block which are hinged with the connecting rod, the first sliding block is fixedly connected with the suspension arm, and the second sliding block is fixedly connected with the balance weight.

Technical Field

The present application relates to the field of backscatter imaging technology, and more particularly to a robot for use in X-ray backscatter imaging technology.

Background

The X-ray back scattering system can scan suspicious objects and is widely applied to various security check places. The common fixed security inspection machine that has, the present emerging has mobilizable back scattering imaging robot, owing to can remove, can carry out the detection in each position to being detected the thing very conveniently, especially to large-scale article such as some cars, containers, convenient and practical a lot more than traditional fixed security inspection machine.

However, since the backscatter imaging robot can move and the cantilever of the backscatter imaging robot that fixes the X-ray emitting device is often extended/shortened as needed, when the robot performs a scanning operation, the arm needs to be extended by a distance of up to 2m, and if there is no method for stabilizing the center of gravity, the center of gravity of the backscatter imaging robot is prone to be unstable, which affects the detection effect and seriously damages the robot.

The dynamic balance of the existing robot is mostly a double-wheel balance robot, the walking balance of a bionic robot is realized, and a technology suitable for dynamic balance of the gravity center during the operation of a cantilever robot is not available. In the related technology seen in the forklift lifting industry, the used method is a method for changing the front and rear wheel distances or the fork loading moment, and the technology is not suitable for being used on a cantilever type backscattering robot.

Disclosure of Invention

An object of the present invention is to provide a robot capable of solving any of the above problems, and more particularly, to a robot including a main body, and a boom, a counterweight, and a driving device that are provided on the main body and are capable of extending and contracting, the driving device simultaneously driving the motions of the boom and the counterweight so that a distance of the counterweight with respect to a center of gravity of the robot becomes larger or smaller while the boom is extending or contracting, thereby balancing unstable center of gravity due to a change in the boom.

In one aspect, the distance of the counterweight relative to the center of gravity of the robot is increased or decreased by movement or rotation of the counterweight.

In one aspect, the drive means comprises a first part driven by a motor or manually, a second part cooperating with the cantilever and a third part cooperating with the counterweight, the first part driving the second and third parts simultaneously.

In one aspect, the third portion causes the movement of the counterweight to have at least a component opposite to the direction of movement of the boom.

In one scheme, a first matching part matched with the second part is arranged on the cantilever, a second matching part matched with the third part is arranged on the balance weight, and a working device is further arranged at the end part of the cantilever.

In one aspect, the drive device and the counterweight are configured such that: the amount of change in the weight force of the working device relative to the moment of the first portion due to the displacement of the working device is equal to or close to the amount of change in the weight force of the counterweight relative to the moment of the first portion due to the displacement of the counterweight.

In one scheme, the first part drives the second part and the third part to act in a rotating mode or a moving mode.

In one scheme, the first part comprises a rotating shaft, the second part and the third part both comprise gears, the first matching part and the second matching part are respectively a first tooth structure and a second tooth structure which can be matched with the gears, the first tooth structure is fixedly connected with the cantilever, and the second tooth structure is fixedly connected with the counterweight.

In one aspect, the second portion includes a first gear, the third portion includes a second gear, and both the first gear and the second gear are mounted on the shaft.

In one aspect, a ratio of the diameter of the first gear to the diameter of the second gear is configured to be equal to or close to a ratio of a weight of the counterweight to a weight of the working device.

In one aspect, the second portion includes a first gear, the third portion includes a second gear and a third gear, and both the first gear and the second gear are mounted on the shaft; a second shaft is disposed on the counterweight adjacent the second tooth structure, the counterweight being rotatable about the second shaft, and a third gear is simultaneously engaged with the second gear and the second tooth structure.

In one aspect, the first portion includes a shaft, the second and third portions each include a threaded drive, and the first and second mating portions have first and second threaded mating elements that mate with the threaded drive.

In one aspect, the first thread driving member and the rotating shaft form a first screw, the second thread driving member and the rotating shaft form a second screw, the first thread fitting member is a first nut, the second thread fitting member is a second nut, the first screw and the first nut form a first lead screw, the second screw and the second nut form a second lead screw, and the ratio of the lead of the first thread driving member to the lead of the second thread driving member is equal to or close to the ratio of the weight of the counterweight to the weight of the working device.

In one aspect, the first portion includes a shaft, and the second and third portions each include a crank and a connecting rod; the first matching part and the second matching part are provided with a first sliding block and a second sliding block which are hinged with the connecting rod, the first sliding block is fixedly connected with the suspension arm, and the second sliding block is fixedly connected with the balance weight.

By adopting the scheme, the cantilever and the counterweight always act simultaneously, the displacement of the action meets the condition of gravity center matching, the gravity center balance is carried out in real time, and compared with the prior art, the robot has safer working process and prolonged service life.

Drawings

FIG. 1 is a block diagram of a robotic system of the present application;

FIG. 2 is a structural view of embodiment 1;

FIG. 3 is a structural view of embodiment 2;

FIG. 4 is a structural view of embodiment 3;

FIG. 5 is a structural view of embodiment 4;

FIG. 6 is a schematic view of another embodiment, wherein A is a dual counterweight structure; b is a rotary counterweight structure.

Detailed Description

In order to better understand the present application for those skilled in the art, the following detailed description of the present application is provided in conjunction with the accompanying drawings and implementation methods, and it is to be noted that the embodiments and features of the embodiments in the present application can be arbitrarily combined with each other without conflict.

As shown in fig. 1, the robot of the present application includes a vehicle body (main body) 1, an extendable and retractable arm 2, a counterweight 3, and a driving device 4 provided on the vehicle body 1, wherein a working device (e.g., an X-ray emitting device) 5 is mounted on the arm 2. The driving device 4 drives the operation of the boom 2 and the counterweight 3 at the same time, thereby balancing the unstable center of gravity due to the change of the boom 2.

Wherein, the driving device 4 makes the balance weight 3 move away from or close to the X-ray emission device 5 at the same time of making the cantilever 2 extend or contract.

Wherein, the action mode of the counterweight 3 is moving or rotating, or the combination thereof.

Preferably, the counterweight 3 is arranged on a smooth guide rail, so that the counterweight 3 is convenient to guide and move quickly.

Preferably, the cantilever 2 and the counterweight 3 are driven to move simultaneously by the driving device 4, the cantilever 2 and the counterweight 3 always act simultaneously by adopting the scheme, the balance of the gravity center is carried out in real time, and compared with the scheme that the two driving devices respectively control the actions of the cantilever 2 and the counterweight 3, the control part is not required to calculate again and match the action time of the cantilever 2 and the counterweight 3, the scheme is simpler, and the safety and the reliability are realized.

In particular, said driving means comprise a first portion 41 driven by a motor or manually, a second portion 42 cooperating with the cantilever 2 and a third portion 43 cooperating with the counterweight 3. The first portion 41 drives the second portion 42 and the third portion 43 simultaneously.

Preferably, the cantilever 2 is provided with a first fitting portion 21 to be fitted with the second portion 42, and the counterweight 3 is provided with a second fitting portion 31 to be fitted with the third portion 43.

It is sufficient when designing the balancing system of the robot that the second part 42 and the third part 43 are such that the motions of the boom 2 and the counterweight 3 are opposite in direction, in particular that the motions of the counterweight 3 have at least one component opposite to the direction of movement of the boom.

For a better balancing effect, the drive and the counterweight are preferably designed such that: the amount of change in the weight force of the radiation emitter 5 relative to the moment of the first portion 41 (or the center of the vehicle body 1) due to the movement of the radiation emitter 5 and the amount of change in the weight force of the counterweight 3 relative to the moment of the first portion 41 (or the center of the vehicle body 1) due to the movement of the counterweight 3 are preferably equal to or close to each other, with the proviso that the vehicle body 1 does not overturn at any time during the extension of the boom 2. At this time, firstly, only the gravity of the X-ray emission device 5 is determined, wherein the weight of the cantilever 2 is smaller, and the influence on the gravity center can be not considered, and of course, for more precise control, the gravity center of the cantilever 2 and the X-ray emission device 5 can also be considered; of course, for more precise control, the weight of the second fitting portion 31 also needs to be taken into account. The association then takes into account the weight of the counterweight 3, the distance and/or attitude of the counterweight 3 motion, the transmission ratio of the second portion 42 and the third portion 43.

Wherein, preferably, be provided with sliding guide on the automobile body of counter weight 3's below, facilitate the direction and the removal of counter weight 3.

Wherein, preferably, the first portion 41 drives the second portion 42 and the third portion 43 to act in a rotating manner or a moving manner.

Preferably, the first portion 41, the second portion 42 and the third portion 43 may also be integrally formed.

Wherein the first portion 41 may be a rotating shaft, a moving block, etc.; the second and third portions 42, 43 may be gears, links, screws, bell cranks, slides, etc.

The following describes specific structures of embodiments 1 to 4 of the present application with reference to the drawings.

Example 1

As shown in fig. 2, the robot according to embodiment 1 of the present application, in which the center of gravity of the counterweight 3 is changed by moving, includes a vehicle body 1, an extendable and retractable boom 2, the counterweight 3, and a driving device 4, which are disposed on the vehicle body 1, wherein an X-ray emitting device 5 is mounted on the boom 2.

Said drive means comprise a first portion 41 driven by a motor or manually, a second portion 42 cooperating with the cantilever arm 2 and a third portion 43 cooperating with the counterweight 3. The first portion 41 drives the second portion 42 and the third portion 43 simultaneously. And the cantilever 2 is provided with the first fitting portion 21 fitted with the second portion 42, and the balance weight 3 is provided with the second fitting portion 31 fitted with the third portion 43.

In the present exemplary embodiment, the first part of the drive device 4 is a shaft 41 which can be driven in rotation, the second part is a first gear 42, and the third part is a second gear 43. The first mating portion is a first rack 21 provided on the arm 2, and the second mating portion is a second rack 31 provided on the counterweight 3.

The first gear 42 and the second gear 43 are mounted on the shaft 41, and may be fixed by a mechanical mechanism (e.g., by a key), or may be fixed by welding or integrally molding.

Wherein, preferably, be provided with sliding guide on the automobile body of counter weight 3's below, facilitate the direction and the removal of counter weight 3.

Wherein a stop device (not shown in fig. 2) is provided on the cantilever 2 to prevent the first rack 21 on the cantilever 2 from disengaging from the first gear 42.

The X-ray emitting device 5 on the cantilever 2 is completely accommodated in the initial position of the vehicle body 1, and even if the product of the weight of the X-ray emitting device 5 and the distance from the X-ray emitting device 5 to the shaft 41 and the product of the weight of the counterweight 3 and the distance from the counterweight 3 to the shaft 41 are not equal, the vehicle body 1 cannot be caused to roll over (overturn), so that the newly increased moment of the X-ray emitting device 5 is equal to or at least close to the newly increased moment of the counterweight 3 as long as the cantilever 2 extends out and the counterweight 3 moves in the process. In one embodiment, when the X-ray emitting device 5 needs to extend for a certain distance, the shaft 41 rotates counterclockwise for a certain angle in the drawing direction, so as to drive the first gear 42 to rotate for the same angle, and the first gear 42 is engaged with the first rack 21 and drives the first rack 21 to move, thereby driving the cantilever 2 and the X-ray emitting device 5 to move for a corresponding distance.

Meanwhile, the second gear 43 is driven by the shaft 41 to rotate counterclockwise by a certain angle, and the second gear 43 drives the counterweight 3 to move by a certain distance. In order to ensure that the balance state is ensured at any moment in the moving process of the X-ray emitting device 5 and the counterweight 3, the product of the weight of the counterweight 3 and the moving distance thereof can be equal to or at least close to the product of the weight of the X-ray emitting device 5 and the moving distance thereof, and the ratio of the moving distance of the counterweight 3 to the moving distance of the X-ray emitting device 5 is equal to or at least close to the ratio of the diameter of the second gear 43 to the diameter of the first gear 42, so that the ratio of the diameter of the first gear 42 to the diameter of the second gear 43 can be designed to be equal to or at least close to the ratio of the weight of the counterweight 3 to the weight of the X-ray emitting device 5, and the dynamic balance of the robot car body can be realized in real time.

When the X-ray emitting device 5 needs to be shortened by a certain distance, the shaft 41 rotates clockwise by a certain angle in the direction of the figure, and the specific process is the reverse of the above process, and will not be described again here.

By adopting the scheme, in the moving process of the cantilever 2, the counterweight 3 moves synchronously with the cantilever, and the moving displacement relation is determined according to the weight relation of the counterweight 3, so that the counterweight 3 can counteract the influence of the cantilever 2 on the gravity center of the vehicle body.

Example 2:

as shown in fig. 3, the robot of embodiment 2 of the present application, in which the center of gravity of the counterweight 3 is changed by rotation, has the same main structure as that of embodiment 1, and is not described again here.

In the present embodiment, the first part of the driving device 4 is the first shaft 41 which can be driven to rotate, the second part is the first gear 42, the third part includes the second gear 43 and the third gear 44, and the second gear 43 is meshed with the third gear 44. The first mating portion is a first rack (first tooth structure) 21 provided on the arm 2, and the second mating portion is a tooth portion (second tooth structure) 31 provided on the counterweight 3. Wherein the counterweight 3 includes a counterweight main body portion 32 and a protruding portion immediately adjacent to the tooth portion 31, a second shaft 33 is provided near a position of the counterweight 3 adjacent to the tooth portion 31 (more specifically, at a boundary of the protruding portion and the counterweight main body portion 32), and the counterweight 3 is rotatable about the second shaft 33. Wherein the counterweight 3 is located below the third gear 44 (the below is not limited to being directly below), preferably, the lower side is offset from the side of the X-ray emitting device 5, so that the counterweight 3 moves the counterweight gravity center to the right in the figure when rotating counterclockwise, and the counterweight 3 moves the counterweight gravity center to the left in the figure when rotating clockwise.

Wherein, the transmission ratio of the second gear 43 passing through the third gear 44 and the tooth part 31 is determined according to the weight of the X-ray emission device 5 and the weight of the balance weight 3.

The shape of the body 32 of the counterweight 3 is not limited to a fan shape, and may be rectangular, circular, or the like.

The first gear 42 and the second gear 43 are both mounted on the first shaft 41 and fixed by a mechanical mechanism, or fixed by welding or integral molding.

When the X-ray emitting device 5 needs to extend for a certain distance, the shaft 41 rotates counterclockwise for a certain angle along the direction in the figure, so as to drive the first gear 42 to rotate for the same angle, the first gear 42 is engaged with the first rack 21, and the first rack 21 is driven to move, so as to drive the cantilever 2 and the X-ray emitting device 5 to move for a corresponding distance.

Meanwhile, the second gear 43 is also rotated counterclockwise by a certain angle by the shaft 41, and further drives the third gear 44 to rotate clockwise by a certain angle, the third gear 44 drives the counterweight 3 to rotate counterclockwise around the second shaft 42 by meshing with the tooth portion 31, and further the main body portion 42 of the counterweight 3 moves counterclockwise, so that the center of gravity of the counterweight 3 is shifted to the right.

The newly increased moment of the gravity center offset of the balance weight 3 is the same as the newly increased moment of the movement of the X-ray emission device 5, so that the dynamic balance of the robot car body is realized in real time.

Although the third gear 44 is used for rotating the counterweight 3 in embodiment 2, it should be noted that a gear train may be used instead. In this case, since one gear is omitted and the counterweight 3 rotates in the opposite direction to that of embodiment 2, the counterweight 3 needs to be disposed above the second gear 43 (the above direction is not limited to the right above direction), preferably above and away from the X-ray radiation device 5 side.

Example 3:

as shown in fig. 4, the main structure of the robot according to embodiment 3 of the present application is the same as that of embodiment 1, and is not described again here.

The first part of the drive device 4 is a shaft 41 that can be driven in rotation, the second part is a first screw drive 42, and the third part is a second screw drive 43. The first mating portion is a first threaded mating element 21 fixedly connected with the cantilever 2, and the second mating portion is a second threaded mating element 31 fixedly connected with the counterweight 3.

Wherein the threads of the first threaded driver 42 and the second threaded driver 43 are rotated in opposite directions, i.e., one is left-handed and the other is right-handed (e.g., in fig. 4, the first threaded driver 42 is right-handed and the second threaded driver 43 is left-handed). Wherein preferably the first mating portion is a first nut 21 provided on the cantilever 2 and the second mating portion is a second nut 31 provided on the counterweight 3.

Wherein the first and second threaded drivers 42, 43 may each be threads disposed on the shaft 41. The shaft 41 may be driven in rotation by a drive means, for example by a gear connection of the gear 411 with the drive means. The shaft 41 may be a single integral component or may be two separate components, left and right, fixedly connected to the gear 411. The ratio of the lead of the first threaded drive member 42 to the lead of the second threaded drive member 43 is equal to or close to the ratio of the weight of the counterweight 3 to the weight of the X-ray emitting device 5. In one version, the first threaded driver 42, the second threaded driver 43 and the shaft 41 form a threaded rod of the lead screw having two threads.

In one aspect, balls are disposed between the first nut 21 and the first threaded driver 42, and between the second nut 31 and the second threaded driver 43.

In one aspect, the first and second threaded drivers 42, 43 have the same number of threads, e.g., a single start thread, where the lead of the threaded drivers is equal to the pitch of the thread.

In one aspect, the first and second threaded drivers 42, 43 have different thread configurations, for example, where the first threaded driver 42 is a double start thread and the second threaded driver 43 is a single start thread, the lead of the first threaded driver 42 is twice the pitch and the lead of the second threaded driver 43 is the pitch.

When the X-ray emitting device 5 needs to be extended for a certain distance, the shaft 41 is rotated from top to bottom (clockwise when viewed from the left side of the shaft 41) to rotate the first screw driving member 42 by the same angle, and the first screw driving member 42 is engaged with the first nut 21, so that the first nut 21 rotates and simultaneously pushes the cantilever 2 to be extended. Meanwhile, the second screw driving member 43 is driven by the shaft 41 to rotate clockwise by a certain angle, and the second screw driving member 43 is engaged with the second nut 31, so as to push the counterweight 3 to move in a direction away from the gear 411. The ratio of the distance to the moving distance of the X-ray emitting device 5 is equal to the lead ratio of the second threaded driving part 43 to the first threaded driving part 42, and the dynamic balance of the robot car body is realized in real time by combining the weight of the balance weight 3 and the weight of the X-ray emitting device 5.

Example 4:

as shown in fig. 5, the main structure of the robot according to embodiment 4 of the present application is the same as that of embodiment 1, and is not described again here.

The first part of the driving device 4 is a shaft 41 which can be driven to rotate, the second part is a first crank 42 and a first connecting rod 43, and the third part is a second crank 44 and a second connecting rod 45. The first mating portion is a first slider 21 fixedly connected to the suspension 2, and the second mating portion is a second slider 31 fixedly connected to the counterweight 3. The first crank 42 and the second crank 44 are fixedly connected with the shaft 41, one end of the first connecting rod 43 is hinged with the first crank 42, the other end of the first connecting rod is hinged with the first sliding block 21, one end of the second connecting rod 45 is hinged with the second crank 44, and the other end of the second connecting rod is hinged with the second sliding block 31.

When the shaft 41 rotates, the first crank 42 and the first connecting rod 43 are driven to move, wherein the first crank 42 rotates, the first connecting rod 43 translates while rotating, and the first slider 21 is driven to move along the track. The second crank 44, the second connecting rod 45 and the second slider 31 have the same operation mechanism.

When the X-ray emitting device 5 needs to extend for a certain distance, the shaft 41 rotates clockwise for a certain angle along the direction in the figure, and drives the first crank 42 to rotate for the same angle, and the first connecting rod 43 rotates around the tail end of the crank and moves simultaneously, so as to drive the first slider 21 to move towards the direction far away from the shaft 41, and further push the cantilever 2 to extend. Meanwhile, the second crank 44 also rotates clockwise by the same angle, and the second connecting rod 45 rotates around the end of the second crank 44 and moves simultaneously, so as to drive the second slider 31 to move towards the direction far away from the shaft 41, and further push the counterweight 3 to move.

Wherein, the moving distance ratio of the first slide block 21 and the second slide block 31 is determined by selecting the length of the crank and the connecting rod (the relation between the crank rotation angle and the moving distance of the slide blocks belongs to the known content in the field, and is not described herein), and the dynamic balance of the robot car body is realized in real time by combining the weight of the balance weight 3 and the weight of the X-ray emission device 5.

It should be noted that the balance weight 3 in embodiments 3 and 4 may also be a rotatable structure, and the adjustment of the dynamic balance is realized by driving the balance weight 3 to rotate around a rotating shaft through a threaded driving member or a sliding block, similar to embodiment 2.

In addition, the driving device may also adopt other mechanical structures as long as the same driving structure can be realized to drive the cantilever 2 and the counterweight 3 to generate reverse motion.

In other embodiments of the present invention, as shown in fig. 6, the robot may have other forms, as shown in fig. 6A, including two weights 3, and the left side view shows a retracted state of the weights 3, corresponding to a retracted state of the X-ray emitting device 5; the right side view shows a state where the weight 3 is extended corresponding to a state where the X-ray emitting device 5 is extended. Of course the number of said weights may be three or more.

As shown in fig. 6B, the counterweight 3 can be adjusted by rotating the rotating shaft below the counterweight, and the counterweight 3 in the left side view rotates clockwise to retract, corresponding to the retracted state of the X-ray emitting device 5; the right side view shows a state where the weight 3 is extended by rotating counterclockwise, corresponding to the state where the X-ray emitting device 5 is extended.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the disclosure. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.