Robot for detecting a gusset weld

Abstract

The application provides a robot for detecting truss welding points, comprising a deformation assembly, a first linkage mechanism and a second linkage mechanism which are centrally symmetrical and closed-loop hinged, each linkage mechanism comprising a first driving rod and a second driving rod which are symmetrically arranged and hinged, the deformation assembly is used for driving one of the first driving rod or the second driving rod to rotate, so that the robot is in a folded state or an unfolded state; an adsorption assembly for adsorbing a truss support column and a wheel assembly for traveling are arranged on the outer side of each first driving rod and second driving rod. In this embodiment, the robot can travel around or omnidirectionally along the axis of the truss support column; during the process that the robot is crossed from the current truss support column to the intersecting target truss support column, the robot is unfolded to an adaptive angle, so that the corresponding adsorption assembly is adsorbed to the target truss support column, and then the robot is folded to complete the crossing. In this way, the flexibility and working efficiency of the robot are improved.

Description

Technical Field

[0001] This invention relates to the field of weld joint inspection technology, and in particular to a robot for inspecting weld joints on trusses. Background Technology

[0002] Trusses are planar or spatial structures formed by welding support columns to create triangular units. They are capable of withstanding tensile and compressive forces, thus providing structural support. Therefore, to ensure the strength of trusses, the welds need to be inspected regularly.

[0003] Relevant inspection methods include visual inspection by workers or inspection of each weld point using relevant equipment. However, if the truss is set high, workers need to work at height, which poses safety hazards and reduces flexibility, resulting in low work efficiency. Summary of the Invention

[0004] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section that follows. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

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

[0006] The robot for inspecting truss weld points includes a deformable assembly and a first and second linkage mechanism that are centrally symmetrical and hinged at both ends.

[0007] Each linkage mechanism includes a first drive rod and a second drive rod that are symmetrically arranged and hinged together. The deformable component is used to drive one of the first drive rods or the second drive rod to rotate, so that the robot is in a folded state or an unfolded state.

[0008] Each of the first and second drive rods is equipped with an adsorption assembly for adsorbing the truss support column and a wheel assembly for traveling, so that the robot can move around the truss support column or travel along the axis of the truss support column in all directions.

[0009] During the process of the robot crossing from the current truss support column to the intersecting target truss support column, the robot unfolds its adaptation angle so that the corresponding adsorption component adsorbs onto the target truss support column, and then enters a folded state to complete the crossing.

[0010] Optionally, the deformable component is a motor, the housing of which is fixed to the open end of the first drive rod of the second linkage mechanism, and the drive shaft of the motor is connected to the open end of the second drive rod in the first linkage mechanism.

[0011] Optionally, the first drive rod of the first linkage mechanism is provided with a rotary joint at both ends for hinged to the two second drive rods; each second drive rod is provided with a rotary joint at both ends for hinged to the two first drive rods; the connecting end of the first drive rod of the second linkage mechanism is provided with a rotary joint parallel to the drive shaft of the motor for hinged to the second drive rod of the second linkage mechanism.

[0012] Optionally, each linkage mechanism further includes a hinged first support rod and a second support rod, the open end of the first support rod being hinged to the open end sidewall of the first drive rod, and the open end of the second support rod being hinged to the open end sidewall of the second drive rod.

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

[0014] Optionally, a rotary joint is provided on the side wall near the open end of each of the first and second drive rods;

[0015] Each of the first and second support rods is provided with a rotary joint at its connecting end for hinged connection with the second and first support rods; each of the first and second support rods is provided with a rotary joint on its side wall near the open end for hinged connection with the corresponding first and second drive rods.

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

[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 travels along the truss support column in all directions, the electromagnet facing the truss support column attracts the truss support column, and the traveling direction of the omnidirectional wheel is parallel to the axis of the truss support column.

[0019] As the robot travels around the truss support column, the electromagnets facing the truss support column attract it, and the omnidirectional wheels travel in a direction around the axis of the truss support column.

[0020] Optionally, the robot is also equipped with a communication module, a data acquisition unit for acquiring images of weld joints, and a battery.

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

[0022] First, the first and second linkage mechanisms form a four-bar structure. Driven by the deformable component, the first and second linkage mechanisms can fold and unfold synchronously, enabling the robot to be in a folded or unfolded state.

[0023] In its folded state, the robot has a lower center of gravity and a more compact structure, making it suitable for movement. During movement, the wheel assembly's direction of travel can be adjusted to be parallel to the axis of the truss support column, allowing the robot to move along the axial direction of the column; alternatively, the wheel assembly's direction of travel can be adjusted to be around the axis of the truss support column, allowing it to rotate to any position on the column. This allows it to avoid the current weld point and proceed to the next weld point to be inspected.

[0024] This robot is capable of crossing over to any adjacent truss support column. As an example, in its folded state, the first drive rod of the first linkage mechanism and the second drive rod of the second linkage mechanism engage with the truss support column. When approaching an adjacent target truss support column, the robot can first circle around it, causing it to face the target column. Next, driven by the deformation assembly, the robot gradually unfolds. During unfolding, the adsorption assembly of the first drive rod of the first linkage mechanism remains in an adsorption state. The adsorption of the first drive rod of the first linkage mechanism stops once it adsorbs onto the adjacent truss support column on the left. Driven by the deformation assembly, the robot folds over, causing the second drive rod of the first linkage mechanism and the first drive rod of the second linkage mechanism to adsorb onto the adjacent truss support column on the left, thus completing the crossing. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a structure of an embodiment of the robot for detecting truss weld points according to the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of an embodiment of the first drive rod of the first linkage mechanism of the present invention.

[0028] Figure 3 This is a schematic diagram of the structure of an embodiment of the second drive rod of the first linkage mechanism of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of an embodiment of the first drive rod of the second linkage mechanism of the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of an embodiment of the second drive rod of the second linkage mechanism of the present invention;

[0031] Figure 6 This is a schematic diagram of another embodiment of the robot for detecting truss weld points according to the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of an embodiment of the first support rod of the first linkage mechanism of the present invention.

[0033] Figure 8 This is a schematic diagram of the structure of the second support rod of the first linkage assembly of the present invention;

[0034] Figure 9 A schematic diagram of the structure of the first support rod of the second linkage assembly of the present invention;

[0035] Figure 10 This is a schematic diagram of the structure of one embodiment of the second support rod of the second linkage assembly of the present invention;

[0036] Figure 11 This is a schematic diagram of the first traveling state of the robot for detecting truss weld joints according to the present invention;

[0037] Figure 12 This is a schematic diagram of the second traveling state of the robot for detecting truss weld joints according to the present invention;

[0038] Figure 13 This is a schematic diagram of the third travel state of the robot for detecting truss weld joints according to the present invention;

[0039] Figure 14 This is a schematic diagram of one embodiment of the robot for detecting truss weld joints of the present invention, which crosses over to an adjacent truss support column.

[0040] Figure 15 This is a schematic diagram of another embodiment of the robot for detecting truss weld joints of the present invention, which crosses over to an adjacent truss support column. Detailed Implementation

[0041] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] Please refer to the following first. Figure 1 , Figure 1 This is a schematic diagram of one embodiment of the robot for detecting truss weld joints according to the present invention. Figure 1 As shown, the robot used to inspect truss weld points includes a deformable component 3 and a first linkage mechanism 1 and a second linkage mechanism 2 with closed-loop hinges at both ends.

[0046] Please refer to the following. Figure 2 and Figure 3 And continue to refer to Figure 1 , Figure 2 This is a schematic diagram of the structure of an embodiment of the first drive rod of the first linkage mechanism of the present invention. Figure 3This is a schematic diagram of the structure of the second drive rod of the first linkage mechanism of the present invention. Figures 1 to 3 As shown, the first linkage mechanism 1 includes a first drive rod 11 and a second drive rod 12 that are symmetrically arranged and hinged. The connecting end of the first drive rod 11 ( Figure 2 The connection end of the rotating joint 111 (shown on the left end) and the second drive rod 12 (shown on the left end) Figure 3 The rotating joint 121 (shown at the left end) is hinged. When the first drive rod 11 and the second drive rod 12 rotate inward, the inner walls of the first drive rod 11 and the second drive rod 12 can engage, achieving a folded state. When the first drive rod 11 and the second drive rod 12 rotate outward, the inner walls of the first drive rod 11 and the second drive rod 12 can separate, achieving an unfolded state.

[0047] Please see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the structure of an embodiment of the first drive rod of the second linkage mechanism of the present invention. Figure 5 This is a schematic diagram of the structure of one embodiment of the second drive rod of the second linkage mechanism of the present invention. Figure 1 , Figure 4 and Figure 5 As shown, the second linkage mechanism 2 includes a first drive rod 21 and a second drive rod 22 that are symmetrically arranged and hinged. The connecting end of the first drive rod 21 ( Figure 4 The connection end of the rotating joint 211 (shown on the right end) and the second drive rod (shown on the right end) Figure 5 The rotating joint 221 (shown on the right end) is hinged. When the first drive rod 21 and the second drive rod 22 rotate inward, their inner walls engage, achieving a folded state. When the first drive rod 21 and the second drive rod 22 rotate outward, their inner walls separate, achieving an unfolded state.

[0048] Continue reading Figures 1 to 5 The first linkage mechanism 1 and the second linkage mechanism 2 mentioned above can be arranged symmetrically at the center, that is, the open end of the first drive rod 11 of the first linkage mechanism 1 ( Figure 2 The rotating joint 112 (shown on the right end) and the open end of the second drive rod 22 of the second linkage mechanism 2 (shown on the right end) Figure 5 The rotating joint 222 of the left end (shown) is hinged; the open end of the second drive rod 12 of the first linkage mechanism 1 (shown) Figure 3 The rotating joint 122 (shown on the right end) and the open end of the first drive rod 21 of the second linkage mechanism 2 (shown on the right end) Figure 4 The left end (as shown) is rotatably connected.

[0049] In this way, when any linkage mechanism enters a folded or unfolded state, the other linkage mechanism can change synchronously, causing the robot to be in a folded or unfolded state. The aforementioned deformable component 3 is used to drive the deformation of the first linkage mechanism 1 or the second linkage mechanism 2. Taking the deformation component 3 driving the first linkage 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 and the second drive rod 12 of the first linkage mechanism 1, respectively. When the electric push rod extends, it can cause the first linkage mechanism 1 and the second linkage mechanism 2 to unfold synchronously, causing the robot to enter the unfolded state. When the electric push rod retracts, it can cause the first linkage mechanism 1 and the second linkage mechanism 2 to fold synchronously, causing the robot to enter the folded state.

[0050] The cross-sections of the two first drive rods 11 and 21 and the two second drive rods 12 and 22 can be set in a semi-circular shape, so that when the robot enters the folded state, the first linkage mechanism 1 and the second linkage mechanism 2 can respectively form cylinders, thereby improving the stability of the robot.

[0051] In some alternative implementations, the aforementioned deformable component 3 can also be a motor. As an example, the motor housing can be fixed to the open end of the first drive rod 21 of the second linkage mechanism 2. Figure 4 (As shown on the left end), the drive 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 The rotating joint 122 (shown on the right end) allows the motor to drive the second drive rod 12 of the first linkage mechanism 1 to rotate, thus enabling the robot to fold and unfold.

[0052] Of course, the aforementioned 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 the actual situation. However, such changes do not exceed the protection scope of this disclosure.

[0053] In addition, to enable the robot to fold and unfold, the axes of the drive shafts of the motors, the rotational joints at the ends of each of the first drive rods 11, 21 and the second drive rods 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 of the first drive rods 11, 21 and the second drive rods 12, 22.

[0055] The aforementioned adsorption component 5 can be a vacuum suction cup or an electromagnet, enabling the robot to adhere to the truss support column, allowing the robot to be positioned not only at the top of the truss support column, but also on its sides and bottom. Figure 2As shown, the adsorption component 5 in the first drive rod 11 is illustrated using an electromagnet as an example. There are two electromagnets, but this is not the only one. Those skilled in the art can adjust the number of electromagnets according to the actual situation.

[0056] The aforementioned 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 caster wheel. Figure 2 As shown, the wheel assembly of the first drive rod 11 includes an omnidirectional wheel 41 and an auxiliary wheel 42. 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 wheel 42 can also be replaced by the omnidirectional wheel 41, and those skilled in the art can make adjustments according to the actual situation.

[0057] Please refer to the following. Figures 6 to 8 And refer to again Figure 2 and Figure 3 , Figure 6 This is a schematic diagram of another embodiment of the robot for detecting truss weld points according to the present invention; Figure 7 This is a schematic diagram of the structure of one embodiment of the first support rod of the first drive assembly of the present invention; Figure 8 This is a schematic diagram of the structure of the second support rod of the first drive assembly of the present invention. Figures 6 to 8 As shown, the first linkage mechanism 1 also includes a first support rod 13 and a second support rod 14 that are hinged together. The connecting end of the first support rod 13 ( Figure 7 The connection end of the rotating joint 131 (shown on the left end) and the second support rod 14 (shown on the left end) Figure 8 The rotating joint 141 (shown on the left end) is hinged.

[0058] The open end of the first support rod 13 ( Figure 7 The rotating joint 132 on the right side wall (shown) is near the open end of the first drive rod 11. Figure 2 The rotating joint 113 on the right end (shown) side wall is hinged. The open end of the second support rod 14 ( Figure 8 The rotating joint 142 on the right side wall (shown) and the open end of the second drive rod (shown) Figure 3 The rotating joint 122 on the right end (shown) sidewall is hinged. This makes the first linkage 1 a Bennett four-bar linkage. When the first drive rod 11 or the second drive rod 12 folds inward, the first support rod 13 and the second support rod 14 fold inward simultaneously. Furthermore, the cross-sections of the first drive rod 11, the second drive rod 12, the first support rod 13, and the second support rod 14 can be fan-shaped, so that in the folded state, the inner walls of the first drive rod 11, the second drive rod 12, the first support rod 13, and the second support rod 14 engage to form a cylinder.

[0059] Please refer to the following. Figure 9 and Figure 10 And refer to again Figure 6 , Figure 9 This is a schematic diagram of the structure of one embodiment of the first support rod of the second drive assembly of the present invention; Figure 10 This is a schematic diagram of the structure of one embodiment of the second support rod of the second drive assembly of the present invention. Figure 6 , Figure 9 as well as Figure 10 As shown, the second linkage mechanism 2 also includes a first support rod 23 and a second support rod 24 that are hinged together. The connecting end of the first support rod 23 ( Figure 9 The connection end of the rotating joint 231 (shown on the right end) and the second support rod 24 (shown on the right end) Figure 10 The rotating joint 241 (shown on the right end) is hinged.

[0060] The open end of the first support rod 23 ( Figure 9 The rotating joint 232 on the side wall of the left end (shown) is near the open end of the first drive rod 21. Figure 4 The rotating joint 212 of the side wall (shown on the left end) is hinged. The open end of the second support rod 24 ( Figure 10 The rotating joint 242 on the side wall of the left end (shown) and the open end of the second drive rod 22 (shown) Figure 5 The rotating joint 223 on the side wall (shown on the left end) is hinged. In this way, the second linkage 2 forms another Bennett four-bar linkage, in which the first support rod 23 and the second support rod 24 fold inward simultaneously when the first drive rod 21 or the second drive rod 22 folds inward.

[0061] Therefore, driven by the deformable components, the first linkage mechanism 1, including the first support rod 13 and the second support rod 14, and the second linkage mechanism 2, including the first support rod 23 and the second support rod 24, can still be folded and unfolded synchronously.

[0062] Each of the first support rods 13, 23 and the second support rods 23, 24 can also be equipped with an adsorption assembly 5 and a wheel assembly. Therefore, in the folded state of the robot, both the upper and lower ends of the first linkage mechanism 1 and the second linkage mechanism 2 have two rows of wheel assemblies and two rows of adsorption assemblies 5, enabling the robot to move around the axis of the truss support column or along the axis of the truss support column in multiple directions. In the folded state, the wheel assemblies of the first drive rod 11 of the first linkage mechanism 1 and the second drive rod 22 of the second linkage mechanism 2 engage with the truss support column, or the wheel assemblies of the second drive rod 12 of the first linkage mechanism 1 and the first drive rod 21 of the second linkage mechanism 2 engage with the truss support column, thereby realizing the function of the robot being able to move around the truss support column or along the axis of the truss support column from multiple directions.

[0063] Batteries 6 can be respectively installed on each of the first drive rods 11, 21, the second drive rods 12, 22, the first support rod 13, 23, and the second support rods 14, 24 (e.g., ...). Figure 1 As shown in the diagram, it provides power to the adsorption assembly 5 and the wheel assembly. A communication module 7 (as shown in the diagram) can also be installed on the robot. Figure 6 As shown in the diagram, the robot includes a data acquisition unit and a communication module 7 for communicating with the operator's control terminal to receive instructions for controlling the robot. Those skilled in the art can install the communication module onto the robot according to actual conditions. The control terminal can be a joystick or control software, etc. The data acquisition unit can be an industrial camera for acquiring image information of the welding points. Those skilled in the art can select the specifications of the data acquisition unit based on existing technology and install it onto the robot according to actual conditions.

[0064] Please see Figure 11 and Figure 12 , Figure 11 This is a schematic diagram of the first traveling state of the robot for detecting truss weld joints according to the present invention; Figure 12 This is a schematic diagram of the second traveling state of the robot for detecting truss weld joints according to the present invention. Figure 11 and Figure 12 As shown, the adsorption component 5 adsorbs the truss support column, thereby increasing the bonding strength between the robot and the truss support column and preventing the robot from falling off. The aforementioned truss support column can be as follows: Figure 11 The horizontal truss support column shown in the figure or as Figure 12 The truss support column is shown in an inclined direction. During travel, the direction of travel of the drive 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 travel along the axial direction of the truss support column.

[0065] Please see Figure 13 And refer to again Figure 11 , Figure 13 This is a schematic diagram of the third travel state of the robot for detecting truss weld joints according to the present invention. Figure 11 and Figure 13 As shown, the direction of travel of the drive wheel 41 of the wheel assembly can be adjusted to circumferentially rotate around the axis of the truss support column. Therefore, under the action of the adsorption assembly 5, the robot can move from... Figure 11 The position above the truss support column shown is rotated to, as Figure 13The robot is positioned to the side of the truss support column. It can also be rotated to a position below the truss support column or at other angles. Then, the direction of travel of the drive wheel 41 can be adjusted to be parallel to the axis of the truss support column. With the help of the adsorption component 5, the robot can move along the axial direction of the truss support column in its current position. This improves the robot's flexibility, allowing it to move to the next weld point after inspecting the current one.

[0066] The folded robot has a lower center of gravity, enabling it to reach higher speeds and improving work efficiency. Furthermore, the increased number of adsorption and wheel components enhances the robot's stability and reliability during movement.

[0067] Please see last. Figure 14 and Figure 15 And refer to again Figure 6 , Figure 14 This is a schematic diagram of one embodiment of the robot for detecting truss weld joints of the present invention, which crosses over to an adjacent truss support column. Figure 15 This is a schematic diagram of another embodiment of the robot of the present invention for detecting truss weld joints, traversing to adjacent truss support columns. Since trusses typically comprise structures of multiple triangular units, the robot of this application is capable of traversing between adjacent truss support columns of each triangular unit. Figure 14 As shown, in the folded state, the wheel assemblies of the first drive rod 11 and first support rod 13 of the first linkage mechanism 1, and the second drive rod 22 and second support rod 24 of the second linkage mechanism 2, engage with the current truss support column, enabling the robot to travel to the left and right weld points for inspection. While inspecting the upper weld point, the robot can reach the left weld point, and the deformation component 3 activates, causing the robot to unfold. During unfolding, the adsorption component 5 of the first drive rod 11 of the first linkage mechanism 1 remains in an adsorption state. Unfolding stops once the adsorption component 5 of the second drive rod 12 of the first linkage mechanism 1 adsorbs onto the left truss support column. Next, the adsorption component of the first drive rod 11 of the first linkage mechanism 1 stops adsorption, and the deformation component activates, causing the robot to fold. After folding, the adsorption components 5 of the second drive rod 12 and second support rod 14 of the first linkage mechanism 1, and the first drive rod 21 and first support rod 23 of the second linkage mechanism 2, adsorb onto the left truss support column.

[0068] like Figure 15As shown, when the robot travels to the welding point above, the deformation component 3 activates, causing the robot to unfold. During the unfolding process, the adsorption component 5 of the first drive rod 21 of the second linkage mechanism 2 remains in an adsorption state. The unfolding stops when the adsorption component 5 of the second drive rod 22 of the second linkage mechanism 2 adsorbs onto the right-side truss support column. Next, the adsorption component 5 of the first drive rod 21 of the second linkage mechanism 2 stops adsorption, and the deformation component 3 activates, causing the robot to fold. After folding, the adsorption components 5 of the second drive rod 22 and the second support rod 24 of the second linkage mechanism 2, as well as the first drive rod 11 and the first support rod 13 of the first linkage mechanism 1, adsorb onto the left-side truss support column.

[0069] Of course, the robot's position can also be adjusted by circling the axis of the truss support column, and by crossing to the adjacent triangular unit using the method described above, the inspection of all weld points of the truss can be completed.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 inspecting a gusset weld, characterized by, The robot comprises a transformation assembly, and a first linkage mechanism and a second linkage mechanism which are symmetrically arranged and hinge-coupled at the head and tail, Each linkage mechanism comprises symmetrically arranged and hinge-coupled first driving rods and second driving rods, and the transformation assembly is used to drive one first driving rod or 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 second driving rod is provided with an adsorption assembly for adsorbing a truss support column and a wheel assembly for traveling, so that the multiple surfaces of the robot can surround the truss support column or travel along the axis of the truss support column in all directions; During the process that the robot is stridden over the target truss support column intersecting with the current truss support column, the robot is unfolded to adapt to the angle, so that the corresponding adsorption assembly is adsorbed to the target truss support column, and then the robot is in the folded state to complete the striding over.

2. The robot for detecting a gusset weld according to claim 1, characterized in that, The transformation assembly is a motor, the shell of the motor is fixed to the open end of the first driving rod of the second linkage mechanism, and the transmission shaft of the motor is connected with the open end of the second driving rod in the first linkage mechanism.

3. The robot for detecting a gusset weld according to claim 2, characterized in that, The two ends of the first driving rod of the first linkage mechanism are provided with rotation joints in parallel for hinge-coupling with two second driving rods; the two ends of each second driving rod are provided with rotation joints in parallel for hinge-coupling with two first driving rods; and the connecting end of the first driving rod of the second linkage mechanism is provided with a rotation joint in parallel with the transmission shaft of the motor for hinge-coupling with the second driving rod of the second linkage mechanism.

4. The robot for detecting a gusset weld according to claim 3, characterized in that, Each linkage mechanism further comprises hinge-coupled first support rods and second support rods, the open end of the first support rod is hinge-coupled to the open end side wall of the first driving rod, and the open end of the second support rod is hinge-coupled to the open end side wall of the second driving rod.

5. The robot for detecting a gusset weld according to claim 4, characterized in that, The cross sections of the first driving rod, the second driving rod, the first support rod and the second support rod in each linkage 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 jointed to form a cylindrical body.

6. The robot for detecting a gusset weld according to claim 5, wherein The side wall close to the open end of each first driving rod and second driving rod is provided with a rotation joint; The connecting end of each first support rod and second support rod is respectively provided with a rotation joint for hinge-coupling with the second support rod and the first support rod; and the side wall close to the open end of each first support rod and second support rod is respectively provided with a rotation joint for hinge-coupling with the corresponding first driving rod and second driving rod.

7. The robot for detecting a gusset weld according to claim 6, wherein The outer side of the first support rod and the second support rod is also provided with an adsorption assembly for adsorbing a truss support column and a wheel assembly for traveling.

8. The robot for detecting a gusset weld according to claim 7, characterized in that, The adsorption assembly comprises one or more electromagnets; and the wheel assembly comprises at least one omni-directional wheel and at least one auxiliary wheel, or comprises at least two omni-directional wheels.

9. The robot for detecting a gusset weld according to claim 8, wherein, When the robot travels along the truss support column in all directions, the electromagnets towards the truss support column adsorb the truss support column, and the traveling direction of the omni-directional wheel is parallel to the axis of the truss support column; When the robot travels around the truss support column, the electromagnets towards the truss support column adsorb the truss support column, and the traveling direction of the omni-directional wheel is around the axis of the truss support column.

10. The robot for detecting a gusset weld according to claim 9, wherein, The robot is also provided with a communication module, an acquisition unit for acquiring a welding point image, and a battery.

Images