Robot for detecting welding spots of truss

Abstract

The invention provides a robot for detecting truss welding spots, which comprises a deformation assembly, a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism are in central symmetry and are hinged end to end in a closed loop mode, and each connecting rod mechanism comprises a first driving rod and a second driving rod which are symmetrically arranged and hinged. The deformation assembly is used for driving one first driving rod or one second driving rod to rotate, so that the robot is in a folded state or an unfolded state; the outer side of each first driving rod and the outer side of each second driving rod are each provided with an adsorption assembly used for adsorbing the corresponding truss supporting column and a wheel assembly used for advancing. In the implementation mode, the robot can advance around or in all directions along the axis of the truss supporting column; in the process that the robot spans from the current truss supporting column to the intersected target truss supporting column, the robot is unfolded by an adaptive angle, so that the corresponding adsorption assembly is adsorbed to the target truss supporting column, and then the robot enters a folded state to complete crossing. Therefore, the flexibility and the working efficiency of the robot are improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding spot detection, and in particular to a robot used for detecting welding spots of trusses. Background Art

[0002] The truss is formed by welding the supporting columns to form a plane or space structure of triangular units, which can withstand tension and pressure and play a supporting role. Therefore, in order to ensure the strength of the truss, the welding points of the truss need to be inspected regularly.

[0003] The relevant detection methods include visual inspection by the staff or inspection of the welds one by one through relevant equipment. However, if the truss is set high, the staff needs to work at high altitude, which poses a safety hazard and has low flexibility, resulting in low work efficiency. Summary of the invention

[0004] The content of the present invention is used to introduce the concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of the present disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0005] Some embodiments of the present invention provide a robot for detecting truss welds to solve the technical problems mentioned in the above background technology section.

[0006] The robot for detecting truss welding points comprises a deformation component and a first link mechanism and a second link mechanism which are centrally symmetrical and articulated in a closed loop from head to tail, wherein:

[0007] Each link mechanism includes a first drive rod and a second drive rod that are symmetrically arranged and hinged, and the deformation assembly is used to drive one of the first drive rod or the second drive rod to rotate, so that the robot is in a folded state or an unfolded state;

[0008] Each first driving rod and the second driving rod are provided with an adsorption assembly for adsorbing the truss support column and a wheel assembly for traveling on the outer side, so that the robot can surround the truss support column or travel along the axis of the truss support column in all directions;

[0009] When the robot crosses from the current truss support column to the intersecting target truss support column, the robot unfolds the adaptation angle so that the corresponding adsorption component is adsorbed to the target truss support column, and then enters the folded state to complete the crossing.

[0010] Optionally, the deformation component is a motor, a housing of the motor is fixed to an open end of a first driving rod of a second connecting rod mechanism, and a transmission shaft of the motor is connected to an open end of a second driving rod in the first connecting rod mechanism.

[0011] Optionally, the first driving rod of the first linkage mechanism is provided with rotating joints at both ends in parallel for being hinged to the two second driving rods; the two ends of each second driving rod are provided with rotating joints at both ends in parallel for being hinged to the two first driving rods; the connecting end of the first driving rod of the second linkage mechanism is provided with a rotating joint parallel to the transmission shaft of the deformation motor for being hinged to the second driving rod of the second linkage mechanism.

[0012] Optionally, each connecting rod mechanism further comprises a first support rod and a second support rod which are hinged, wherein the open end of the first support rod is hinged to the open end side wall of the first driving rod, and the open end of the second support rod is hinged to the open end side wall of the second driving rod.

[0013] Optionally, the cross-sections of the first driving rod, the second driving rod, the first support rod and the second support rod in each connecting rod mechanism are arranged in a fan shape; in the folded state, the inner walls of the first driving rod, the second driving rod, the first support rod and the second support rod are connected to form a cylinder.

[0014] Optionally, a rotation joint is provided on a side wall close to the open end of each of the first driving rod and the second driving rod;

[0015] The connecting end of each of the first support rod and the second support rod is respectively provided with a rotating joint for hinged connection with the second support rod and the first support rod; the side wall of each of the first support rod and the second support rod close to the open end is respectively provided with a rotating joint for hinged connection with the corresponding first driving rod and the second driving rod.

[0016] Optionally, the outer sides of the first support rod and the second support rod are also provided with adsorption components for adsorbing the truss support columns and wheel components for traveling.

[0017] Optionally, the adsorption assembly includes one or more electromagnets; the wheel assembly includes at least one omnidirectional wheel and at least one auxiliary wheel, or includes at least two omnidirectional wheels.

[0018] Optionally, when the robot moves along the truss support column in an omnidirectional manner, the electromagnet facing the truss support column attracts the truss support column, and the moving direction of the omnidirectional wheel is parallel to the axis of the truss support column;

[0019] When the robot moves around the truss support column, the electromagnet facing the truss support column attracts the truss support column, and the moving direction of the omnidirectional wheel moves around the axis of the truss support column.

[0020] Optionally, the robot is also provided with a communication module, a collection unit for collecting welding point images, and a battery.

[0021] The above-mentioned embodiments of the present invention have the following beneficial effects: the robot for detecting truss welds of the present invention can replace manual detection, thereby improving detection flexibility and detection efficiency.

[0022] Firstly, the first link mechanism and the second link mechanism form a four-link structure. Driven by the deformation component, the first link mechanism and the second link mechanism can be folded and unfolded synchronously, so that the robot can be in a folded state or an unfolded state.

[0023] In the folded state, the robot has a lower center of gravity and a more compact structure, which is suitable for the robot to move. During the movement, the movement direction of the wheel assembly can be adjusted to be parallel to the axis of the truss support column, so that the robot can move along the axial direction of the truss support column; the movement direction of the wheel assembly can also be adjusted to surround the axis of the truss support column, so that it can rotate to any position of the truss support column. In this way, the current welding point can be avoided and move to the next welding point to be tested.

[0024] The robot is able to cross over to any adjacent truss support column. As an example, in the folded state, the first driving rod of the first link mechanism and the second driving rod of the second link mechanism are engaged with the truss support column. When traveling to the vicinity of the adjacent target truss support column, the robot can first be made to wrap around the truss support column so that the robot faces the target truss support column. Next, the robot is gradually unfolded under the drive of the deformation component. During the unfolding process, the adsorption component of the first driving rod of the first link mechanism remains in the adsorption state. The adsorption of the first driving rod of the first link mechanism is stopped until the adsorption component of the second driving rod of the first link mechanism is adsorbed to the adjacent truss support column on the left. Under the drive of the deformation component, the robot is folded so that the second driving rod of the first link mechanism and the first driving rod of the second link mechanism are adsorbed to the adjacent truss support column on the left, thereby completing the crossing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of an embodiment of a robot for detecting truss welds of the present invention;

[0027] Figure 2 It is a structural schematic diagram of an embodiment of a first driving rod of a first connecting rod mechanism of the present invention;

[0028] Figure 3 It is a structural schematic diagram of an embodiment of the second driving rod of the first connecting rod mechanism of the present invention;

[0029] Figure 4 It is a structural schematic diagram of an embodiment of a first driving rod of a second connecting rod mechanism of the present invention;

[0030] Figure 5 It is a structural schematic diagram of an embodiment of a second driving rod of a second connecting rod mechanism of the present invention;

[0031] Figure 6 It is a structural schematic diagram of another embodiment of the robot for detecting truss welding points of the present invention;

[0032] Figure 7 It is a structural schematic diagram of an embodiment of a first supporting rod of a first connecting rod mechanism of the present invention;

[0033] Figure 8 It is a structural schematic diagram of an embodiment of a second support rod of a first connecting rod assembly of the present invention;

[0034] Fig. 9 It is a structural schematic diagram of an embodiment of a first support rod of a second connecting rod assembly of the present invention;

[0035] Fig.10 It is a structural schematic diagram of an embodiment of a second supporting rod of a second connecting rod assembly of the present invention;

[0036] Fig.11 is a schematic diagram of a first traveling state of a robot for detecting truss welding points of the present invention;

[0037] Fig.12 is a schematic diagram of a second traveling state of the robot for detecting truss welding points of the present invention;

[0038] Fig.13 is a schematic diagram of a third traveling state of the robot for detecting truss welding points of the present invention;

[0039] Fig.14 A schematic diagram of an embodiment of a robot for inspecting truss welds of the present invention spanning to an adjacent truss support column;

[0040] Fig.15 It is a schematic diagram of another embodiment of the robot for inspecting truss weld points of the present invention spanning to an adjacent truss supporting column. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, 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 connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0045] First see Figure 1 , Figure 1 FIG. 1 is a schematic diagram of a structure of a robot for detecting truss welds according to an embodiment of the present invention. Figure 1 As shown, the robot for detecting truss welding points includes a deformation component 3 and a first link mechanism 1 and a second link mechanism 2 which are hinged in a closed loop at the head and tail.

[0046] See next Figure 2 and Figure 3 And continue to read Figure 1 , Figure 2 It is a structural schematic diagram of an embodiment of a first driving rod of a first connecting rod mechanism of the present invention; Figure 3FIG. 2 is a schematic structural diagram of an embodiment of the second driving rod of the first connecting rod mechanism of the present invention. Figures 1 to 3 As shown, the first link mechanism 1 comprises a first drive rod 11 and a second drive rod 12 which are symmetrically arranged and hinged. Figure 2 The left end of the rotating joint 111 shown in FIG. 1 and the connecting end of the second driving rod 12 ( Figure 3 When the first drive rod 11 and the second drive rod 12 are rotated inward, the inner walls of the first drive rod 11 and the second drive rod 12 can be engaged to reach a folded state. When the first drive rod 11 and the second drive rod 12 are rotated outward, the inner walls of the first drive rod 11 and the second drive rod 12 can be separated to reach an unfolded state.

[0047] See also Figure 4 and Figure 5 , Figure 4 It is a structural schematic diagram of an embodiment of a first driving rod of a second connecting rod mechanism of the present invention; Figure 5 FIG. 2 is a schematic structural diagram of an embodiment of the second driving rod of the second connecting rod mechanism of the present invention. Figure 1 , Figure 4 and Figure 5 As shown, the second link mechanism 2 includes a first drive rod 21 and a second drive rod 22 that are symmetrically arranged and hinged. The connecting end ( Figure 4 The right end shown in FIG. 2 is a rotation joint 211 and a connection end ( Figure 5 The first drive rod 21 and the second drive rod 22 are hingedly connected to a rotating joint 221 at the right end (shown in FIG. 1 ). When the first drive rod 21 and the second drive rod 22 rotate inward, the inner walls of the first drive rod 21 and the second drive rod 22 can be engaged to reach a folded state. When the first drive rod 21 and the second drive rod 22 rotate outward, the inner walls of the first drive rod 21 and the second drive rod 22 can be separated to reach an unfolded state.

[0048] Continue reading Figures 1 to 5 The first link mechanism 1 and the second link mechanism 2 can be arranged symmetrically with respect to the center, that is, the open end of the first driving rod 11 of the first link mechanism 1 ( Figure 2 The rotation joint 112 of the second driving rod 22 of the second link mechanism 2 ( Figure 5 The left end shown in FIG. 1 is hinged to the rotating joint 222; the open end of the second driving rod 12 of the first link mechanism 1 ( Figure 3 The rotation joint 122 of the second link mechanism 2 (right end) and the open end ( Figure 4 The left end shown) is rotatably connected.

[0049] In this way, when any link mechanism enters a folded or unfolded state, the other link mechanism can be changed synchronously, so that the robot is in a folded or unfolded state. The above-mentioned deformation component 3 is used to drive the first link mechanism 1 or the second link mechanism 2 to deform. Taking the deformation component 3 driving the first link mechanism 1 as an example, the deformation component can be an electric push rod. The two ends of the electric push rod are pivotally connected to the first drive rod 11 of the first link mechanism 1 and the second drive rod 12 of the first link mechanism 1 respectively. When the electric push rod is extended, the first link mechanism 1 and the second link mechanism 2 can be synchronously unfolded, so that the robot enters the unfolded state. When the electric push rod is retracted, the first link mechanism 1 and the second link mechanism 2 can be synchronously folded, so that the robot enters the folded state.

[0050] The cross-sections of the two first driving rods 11, 21 and the two second driving rods 12, 22 can be set to be semicircular, so that when the robot enters the folded state, the first link mechanism 1 and the second link mechanism 2 can form a cylinder respectively, thereby improving the stability of the robot.

[0051] In some optional implementations, the above-mentioned deformation component 3 can also be a motor. As an example, the housing of the motor can be fixed to the open end ( Figure 4 The transmission shaft of the motor is coaxially connected to the open end of the second drive rod 12 of the first linkage mechanism 1 ( Figure 3 As shown in the right end of the figure, the motor can drive the second driving rod 12 of the first connecting rod mechanism 1 to rotate when rotating, so as to realize the folding and unfolding of the robot.

[0052] Of course, the motor can be fixed to the open end of one of the two first drive rods 11, 21 or the two second drive rods 12, 22, and those skilled in the art can make adjustments according to actual conditions. However, such changes do not exceed the protection scope of the present disclosure.

[0053] In addition, in order to realize the folding and unfolding of the robot, the drive shaft of the motor, the axes of the rotation joints at the ends of each first driving rod 11, 21 and the second driving rod 12, 22 are parallel.

[0054] Continue reading Figures 1 to 5 An adsorption assembly 5 and a wheel assembly are provided on the outer side of each first driving rod 11, 21 and the second driving rod 12, 22.

[0055] The above-mentioned adsorption component 5 can be a vacuum suction cup or an electromagnet, so that the robot can be adsorbed to the truss support column, so that the robot can be located not only at the upper end of the truss support column, but also at both sides and the bottom of the truss support column. Figure 2As shown, the adsorption component 5 in the first driving rod 11 is shown by taking the electromagnet as an example, and the number of the electromagnets is two, but this is not the only one, and those skilled in the art can adjust the number of the electromagnets according to actual conditions.

[0056] The wheel assembly may include an omnidirectional wheel 41 and an auxiliary wheel 42. The omnidirectional wheel 41 can adjust the direction of travel, and the auxiliary wheel 42 may be a universal wheel. Figure 2 As shown, the wheel assembly of the first driving rod 11 includes an omnidirectional wheel 41 and an auxiliary wheel 42. In order to improve the stability of the robot, a double row of omnidirectional wheels 41 and auxiliary wheels 42 can be provided. Of course, the auxiliary wheels 42 can also be replaced by omnidirectional wheels 41, and those skilled in the art can adjust according to actual conditions.

[0057] See next Figures 6 to 8 And re-read Figure 2 and Figure 3 , Figure 6 It is a structural schematic diagram of another embodiment of the robot for detecting truss welding points of the present invention; Figure 7 It is a structural schematic diagram of an embodiment of a first support rod of a first driving assembly of the present invention; Figure 8 FIG. 1 is a schematic structural diagram of an embodiment of the second support rod of the first drive assembly of the present invention. Figures 6 to 8 As shown, the first link mechanism 1 also includes a first support rod 13 and a second support rod 14 which are hinged to each other. The connecting end ( Figure 7 The left end of the rotating joint 131 shown in FIG. 1 is connected to the connecting end ( Figure 8 The left end shown is hingedly connected with a rotating joint 141.

[0058] The open end of the first support rod 13 ( Figure 7 The rotation joint 132 on the side wall of the first drive rod 11 (the right end shown in FIG. Figure 2 The open end of the second support rod 14 ( Figure 8 The rotating joint 142 on the side wall of the second drive rod (right end shown) is connected to the open end of the second drive rod ( Figure 3 The first connecting rod mechanism 1 is hinged to the rotating joint 122 of the side wall of the right end (shown in FIG. 1 ). In this way, the first connecting rod mechanism 1 forms a Bennett four-bar mechanism. When the first driving rod 11 or the second driving rod 12 is folded inward, the first support rod 13 and the second support rod 14 are folded inward synchronously. Further, the cross-sections of the first driving rod 11, the second driving rod 12, the first support rod 13 and the second support rod 14 can be arranged in a fan shape, and then in the folded state, the inner walls of the first driving rod 11, the second driving rod 12, the first support rod 13 and the second support rod 14 are connected to form a cylinder.

[0059] See next Fig. 9 and Fig.10 And re-read Figure 6 , Fig. 9 It is a structural schematic diagram of an embodiment of a first support rod of a second driving assembly of the present invention; Fig.10 FIG. 2 is a schematic structural diagram of an embodiment of the second support rod of the second driving assembly of the present invention. Figure 6 , Fig. 9 as well as Fig.10 As shown, the second link mechanism 2 also includes a first support rod 23 and a second support rod 24 which are hinged to each other. The connecting end ( Fig. 9 The right end shown in FIG. 2 is connected to the rotation joint 231 of the second support rod 24 ( Fig.10 The rotating joint 241 (right end as shown) is hinged.

[0060] The open end of the first support rod 23 ( Fig. 9 The rotation joint 232 on the side wall of the first driving rod 21 is connected to the first driving rod 21 near the open end ( Figure 4 The open end of the second support rod 24 ( Fig.10 The rotation joint 242 on the side wall of the second drive rod 22 (left end shown) is connected to the open end of the second drive rod 22 ( Figure 5 In this way, the second connecting rod mechanism 2 forms another Bennett four-bar mechanism, and when the first driving rod 21 or the second driving rod 22 is folded inwards, the first support rod 23 and the second support rod 24 are folded inwards synchronously.

[0061] Therefore, under the drive of the deformation assembly, the first link mechanism 1 including the first support rod 13 and the second support rod 14 and the second link mechanism 2 including the first support rod 23 and the second support rod 24 can still be folded and unfolded synchronously.

[0062] Adsorption components 5 and wheel components may also be provided on each of the first support rods 13, 23 and the second support rods 23, 24. Therefore, when the robot is in the folded state, two rows of wheel components and two rows of adsorption components 5 are formed at the upper and lower ends of the first link mechanism 1 and the second link mechanism 2, so that the robot can move around the axis of the truss support column or along the axis of the truss support column in multiple directions of the truss support column. In the folded state, the wheel components of the first drive rod 11 of the first link mechanism 1 and the second drive rod 22 of the second link mechanism 2 are engaged with the truss support column, or the wheel components of the second drive rod 12 of the first link mechanism 1 and the first drive rod 21 of the second link mechanism 2 are engaged with the truss support column, thereby realizing the function that multiple sides of the robot can move around the truss support column or along the axis of the truss support column.

[0063] Each of the first driving rods 11, 21, the second driving rods 12, 22, the first supporting rods 13, 23 and the second supporting rods 14, 24 may be provided with a battery 6 (eg, Figure 1 ), to provide electrical energy for the adsorption assembly 5 and the wheel assembly. The robot may also be provided with a communication module 7 (as shown in Figure 6 As shown in FIG. 1 , the communication module 7 is used to communicate with the control terminal of the staff to receive instructions to control the robot. The technicians in this field can install the communication module on the robot according to the actual situation. The control terminal can be an operating handle or control software. The acquisition unit can be an industrial camera for collecting image information of the welding point. The technicians in this field can select the specifications of the acquisition unit according to the existing technology and install it on the robot according to the actual situation.

[0064] See also Fig.11 and Fig.12 , Fig.11 is a schematic diagram of a first traveling state of a robot for detecting truss welding points of the present invention; Fig.12 FIG. 2 is a schematic diagram of a second traveling state of a robot for detecting truss welds of the present invention. Fig.11 and Fig.12 As shown, the adsorption component 5 adsorbs the truss support column, thereby improving the bonding strength between the robot and the truss support column and preventing the robot from falling off. The above-mentioned truss support column can be as follows Fig.11 The horizontal truss support columns shown in Fig.12 In the process of moving, the moving direction of the driving wheel 41 can be adjusted to be parallel to the axis of the truss support column. Under the action of the adsorption component 5, the robot can move along the axial direction of the truss support column.

[0065] See also Fig.13 And re-read Fig.11 , Fig.13 FIG. 3 is a schematic diagram of a third traveling state of a robot for detecting truss welds of the present invention. Fig.11 and Fig.13 As shown, the driving wheel 41 of the wheel assembly can be adjusted to move in the direction of the axis of the truss support column. Fig.11 The upper position of the truss support column shown is rotated to Fig.13The robot 41 can be rotated to the side of the truss support column shown in the figure. Of course, it can also be rotated to the bottom of the truss support column or to other angles. After that, the moving direction of the driving wheel 41 can be adjusted to be parallel to the axis of the truss support column. Under the action of the adsorption component 5, the robot can move along the axial direction of the truss support column in the current position. In this way, the flexibility of the robot is improved, and it can jump to the next welding point after detecting the current welding point.

[0066] The robot in the folded state has a lower center of gravity and can reach a faster speed, which improves work efficiency. In addition, the number of adsorption components and wheel components is larger, which can improve the stability and reliability of the robot during the movement process.

[0067] Lastly, please refer to Fig.14 and Fig.15 And re-read Figure 6 , Fig.14 A schematic diagram of an embodiment of a robot for inspecting truss welds of the present invention spanning to an adjacent truss support column; Fig.15 FIG. 1 is a schematic diagram of another embodiment of the robot for inspecting truss welds of the present invention, which spans to adjacent truss support columns. Since the truss generally includes a structure of multiple triangular units, the robot of the present application can span between adjacent truss support columns of each triangular unit. Fig.14 As shown, in the folded state, the first driving rod 11 and the first support rod 13 of the first link mechanism 1 and the wheel assembly of the second driving rod 22 and the second support rod 24 of the second link mechanism 2 are engaged with the current truss support column, and can move to the welding points on the left and right sides for inspection. In the process of inspecting the upper welding points, the robot can reach the welding points on the left, and the deformation assembly 3 works, so that the robot unfolds. During the unfolding process, the adsorption assembly 5 of the first driving rod 11 of the first link mechanism 1 remains in the adsorption state. Until the adsorption assembly 5 of the second driving rod 12 of the first link mechanism 1 is adsorbed with the truss support column on the left, the unfolding stops. Next, the adsorption assembly of the first driving rod 11 of the first link mechanism 1 stops adsorption, and the deformation assembly works, so that the robot folds. After the folding is completed, the second driving rod 12 and the second support rod 14 of the first link mechanism 1 and the adsorption assembly 5 of the first driving rod 21 and the first support rod 23 of the second link mechanism 2 are adsorbed to the truss support column on the left.

[0068] like Fig.15As shown, when the robot moves to the upper welding point, the deformation component 3 works, causing the robot to unfold. During the unfolding process, the adsorption component 5 of the first driving rod 21 of the second link mechanism 2 remains in the adsorption state. The unfolding is stopped until the adsorption component 5 of the second driving rod 22 of the second link mechanism 2 is adsorbed to the truss support column on the right. Next, the adsorption component 5 of the first driving rod 21 of the second link mechanism 2 stops adsorbing, and the deformation component 3 works, causing the robot to fold. After the folding is completed, the adsorption component 5 of the second driving rod 22 and the second support rod 24 of the second link mechanism 2 and the first driving rod 11 and the first support rod 13 of the first link mechanism 1 are adsorbed to the truss support column on the left.

[0069] Of course, the robot can also be positioned around the axis of the truss support column to adjust its position, and can cross over to the adjacent triangular unit by the above-mentioned method of crossing over to the adjacent truss support column, thereby completing the detection of all welding points of the truss.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for detecting truss welds, characterized in that: It includes a deformation component and a first link mechanism and a second link mechanism that are centrally symmetrical and hinged in a closed loop, wherein: Each link mechanism includes a first drive rod and a second drive rod that are symmetrically arranged and hinged, and the deformation assembly is used to drive one of the first drive rod or the second drive rod to rotate, so that the robot is in a folded state or an unfolded state; Each first driving rod and the second driving rod are provided with an adsorption assembly for adsorbing the truss support column and a wheel assembly for traveling on the outer side, so that the robot can surround the truss support column or travel along the axis of the truss support column in all directions; When the robot crosses from the current truss support column to the intersecting target truss support column, the robot unfolds an adaptation angle so that the corresponding adsorption component is adsorbed to the target truss support column, and then enters a folded state to complete the crossing.

2. The robot for truss weld spot detection according to claim 1, characterized in that: The deformation component is a motor, a housing of the motor is fixed to the open end of the first driving rod of the second connecting rod mechanism, and a transmission shaft of the motor is connected to the open end of the second driving rod in the first connecting rod mechanism.

3. The robot for truss weld spot detection according to claim 2, characterized in that: The first driving rod of the first linkage mechanism is provided with rotating joints for being hinged to the two second driving rods at both ends in parallel; the two ends of each second driving rod are provided with rotating joints for being hinged to the two first driving rods at both ends in parallel; the connecting end of the first driving rod of the second linkage mechanism is provided with a rotating joint parallel to the transmission shaft of the deformation motor and for being hinged to the second driving rod of the second linkage mechanism.

4. The robot for truss weld spot detection according to claim 3, characterized in that: Each linkage mechanism further comprises a first support rod and a second support rod which are hinged, wherein an open end of the first support rod is hinged to an open end side wall of the first driving rod, and an open end of the second support rod is hinged to an open end side wall of the second driving rod.

5. The robot for truss weld spot detection according to claim 4, characterized in that: The cross-sections of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod in each connecting rod mechanism are arranged in a fan shape; in the folded state, the inner walls of the first driving rod, the second driving rod, the first supporting rod and the second supporting rod are connected to form a cylinder.

6. The robot for truss weld spot detection according to claim 5, characterized in that: A rotating joint is provided on the side wall of each of the first driving rod and the second driving rod close to the open end; The connecting end of each of the first support rod and the second support rod is respectively provided with a rotating joint for hinged connection with the second support rod and the first support rod; the side wall of each of the first support rod and the second support rod close to the open end is respectively provided with a rotating joint for hinged connection with the corresponding first driving rod and the second driving rod.

7. The robot for truss weld spot detection according to claim 6, characterized in that: The outer sides of the first support rod and the second support rod are also provided with an adsorption assembly for adsorbing the truss support column and a wheel assembly for traveling.

8. The robot for truss weld spot detection according to claim 7, characterized in that: The adsorption component includes one or more electromagnets; the wheel component includes at least one omnidirectional wheel and at least one auxiliary wheel, or includes at least two omnidirectional wheels.

9. The robot for truss weld spot detection according to claim 8, characterized in that: When the robot moves along the truss support column in an omnidirectional manner, the electromagnet facing the truss support column attracts the truss support column, and the moving direction of the omnidirectional wheel is parallel to the axis of the truss support column; When the robot moves around the truss support column, the electromagnet facing the truss support column attracts the truss support column, and the moving direction of the omnidirectional wheel moves around the axis of the truss support column.

10. The robot for truss weld spot detection according to claim 9, characterized in that: The robot is also provided with a communication module, a collection unit for collecting welding spot images, and a battery.

Images